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US 12,370,670 B2Granted
Dual-arm robot system
AssigneeKawasaki Jukogyo Kabushiki Kaisha
InventorsTakashi Ohige, Keisuke Mukai
Life of this patent
Estimating the term…
Abstract
A dual-arm robot system includes a controller configured or programmed to determine whether or not interference determination targets interfere with each other based on whether or not three-dimensional models generated with a plurality of portions including at least a hand among the hand, a horizontal link, and a body as the interference determination targets overlap each other.
Claims20
A dual-arm robot system comprising:
- a first robot arm and a second robot arm each including a horizontal link to which a hand is attached, the horizontal link being operable to rotate along a horizontal plane;
- a body to support the first robot arm and the second robot arm such that the first robot arm and the second robot arm coaxially rotate;
- a controller configured or programmed to determine whether or not interference determination targets interfere with each other based on whether or not three-dimensional models generated with a plurality of portions including at least the hand among the hand, the horizontal link, and the body as the interference determination targets overlap each other;
- a vertical link including a plate-shaped member provided at a tip end of each of the first robot arm and the second robot arm, and a hand attachment member provided on the plate-shaped member and to which the hand is attached, the vertical link being operable to rotate the plate-shaped member about a predetermined axis to move the hand attachment member up and down so as to move the hand in a vertical direction;
- and
- a storage to store in advance the three-dimensional models of the hand, the horizontal link, the plate-shaped member, the hand attachment member, and the body;
- wherein:
- the controller is configured or programmed to determine whether or not the interference determination targets including the vertical link interfere with each other,
- the plate-shaped member has a substantially elliptical shape, and
- the three-dimensional model of the vertical link is set based on a radius about the predetermined axis, a length of the plate-shaped member, and a thickness of the plate-shaped member.
7 more elements
A dual-arm robot system comprising:
- a first robot arm and a second robot arm each including a horizontal link to which a hand is attached, the horizontal link being operable to rotate along a horizontal plane;
- a body to support the first robot arm and the second robot arm such that the first robot arm and the second robot arm coaxially rotate;
- a controller configured or programmed to determine whether or not interference determination targets interfere with each other based on whether or not three-dimensional models generated with a plurality of portions including at least the hand among the hand, the horizontal link, and the body as the interference determination targets overlap each other;
- a second link including a plate-shaped member provided at a tip end of each of the first robot arm and the second robot arm, and a hand attachment member provided on the plate-shaped member and to which the hand is attached, the vertical link being operable to rotate the plate-shaped member about a predetermined axis to move the hand attachment member up and down so as to move the hand in a vertical direction;
- a storage to store in advance the three-dimensional models of the hand, the horizontal link, the plate-shaped member, the hand attachment member, and the body, wherein the controller is configured or programmed to determine whether or not the interference determination targets including the vertical link interfere with each other;
- and
- a cover to cover a drive operable to rotate the plate-shaped member;
- wherein:
- the controller is configured or programmed to determine whether or not the interference determination targets including the cover interfere with each other;
- the cover is attached to the vertical link;
- and
- the three-dimensional model of the cover is set separately from the three-dimensional model of the vertical link, and has vertical and horizontal lengths set with respect to a rotation axis of the horizontal link.
9 more elements
Dependencies are inferred from the claim text.