Door opening and closing robot and method of opening and closing door using the same
AssigneesKawasaki Jukogyo Kabushiki Kaisha, Kawasaki Robotics (USA), Inc.
InventorsHideki Isoda, Kenichi Miyazaki, Shusaku Yamaguchi
Life of this patent
Estimating the term…
Abstract
A door opening and closing robot according to one or more embodiments may include a base; a robot arm connected to the base that includes an arm that is rotatable and a motor that rotates the arm; and a door operating tool that is connected to the robot arm and moves with a rotation of the arm. The robot arm drives the motor to rotate the door operating tool and detects presence of the door based on a change in torque of the motor.
Claims15
A robot that opens and closes a door comprising:
- a base;
- a robot arm connected to the base comprising;
- a multi-link arm rotatable about a plurality of rotation axes associated with a plurality of links;
- and
- a driver that rotates the arm;
- and
- a door operating tool connected to a tip end link of the plurality of links of the arm and moving with a rotation of the tip end link of the arm around one of the plurality of rotation axes, wherein
- the robot arm drives the driver to rotate the door operating tool and detects a presence of the door based on a change in torque of a motor,
- detecting the presence of the door comprises detecting whether the door is in a correct position for the door operating tool by rotating the tip end link of the arm about the one of the plurality of rotation axes corresponding thereto, and detecting the change in torque of the motor based on the rotation of the tip end link.
A method of opening and closing a door using a door opening and closing robot comprising:
- in response to receiving an instruction of door opening, moving a multi-link robot arm of the door opening and closing robot to an opening position of the door, the robot arm rotatable about a plurality of rotation axes associated with a plurality of links;
- rotating a door operating tool connected to a tip end link of the plurality of links of the robot arm by a motor;
- detecting a change in torque of the motor by rotating the door operating tool and detecting the change in torque of the motor based on the rotation;
- recognizing presence of a door when a change in torque is detected by detecting whether the door is in a correct position for the door operating tool by rotating the tip end link of the arm about the one of the plurality of rotation axes corresponding thereto, and detecting the change in torque of the motor based on the rotation of the tip end link;
- and
- in response to the recognition of the presence of the door in the correct position for the door operating tool, performing a door opening operation.
Dependencies are inferred from the claim text.