# US 12,594,663 B2 · Robot system and cart > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,594,663 B2 - Document ID: US12594663B2 - Status: Granted - Kind: B2 - Application number: 18/844,616 - Filed: 2023-03-07 - Published: 2025-06-12 - Granted: 2026-04-07 - Earliest claimed: 2022-03-08 - Assignees: Kawasaki Jukogyo Kabushiki Kaisha - Applicants: Kawasaki Jukogyo Kabushiki Kaisha - Inventors: Tomoki Oka; Shunsuke Arima - Web page: https://patentgrep.com/patent/US12594663B2 ## CPC - B25J 5/007: {mounted on wheels} - B25J 9/0087: {Dual arms (double SCARA arms B25J9/043)} - B25J 9/162: {Mobile manipulator, movable base with manipulator arm mounted on it} - B25J 9/1664: {characterised by motion, path, trajectory planning} - B25J 9/1682: {Dual arm manipulator; Coordination of several manipulators} - B25J 11/008: {Manipulators for service tasks} - B25J 13/08: by means of sensing devices, e.g. viewing or touching devices - B25J 19/021: {Optical sensing devices} - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) ## Abstract A robot system includes a robot that includes a first robot arm provided with a first end effector, a second robot arm provided with a second end effector, a moving device on which the first robot arm and the second robot arm are mounted, and a control device; and a cart that includes a first support to which a plurality of wheels are attached, and a gripping portion. The first support includes, at a first end portion of the first support in a first direction, a recess for receiving a part of the robot. The control device causes the moving device to move the robot together with the cart while causing the first end effector and the second end effector to grip the gripping portion in a state where the part of the robot is fitted into the recess. ## Claims ### Claim 1 A robot system, comprising: a robot including a first robot arm provided with a first end effector, a second robot arm provided with a second end effector, a moving device on which the first robot arm and the second robot arm are mounted, and a control device controlling operations of the first robot arm, the second robot arm, the first end effector, the second end effector, and the moving device; and a cart that includes a first support to which a plurality of wheels are attached, and a gripping portion to be gripped by the first end effector and the second end effector, wherein the first support includes a recess for receiving a part of the robot and arranged at a first end portion of the first support in a first direction, and the control device causes the moving device to move the robot together with the cart while causing the first end effector and the second end effector to grip the gripping portion in a state where the part of the robot is fitted into the recess. ### Claim 2 (depends on 1) The robot system according to claim 1, wherein the robot further includes a sensor that scans a periphery of the robot, the cart further includes a second support arranged away from the first support in a second direction intersecting the first direction, the second support having a placement surface on which an article is placed on a side opposite to the first support, and the first support and the second support of the cart are arranged such that the sensor is positioned between the first support and the second support in the state in which the part of the robot is fitted into the recess. ### Claim 3 (depends on 2) The robot system according to claim 2, wherein the cart further includes a third support supporting the gripping portion and arranged at the first end portion of the first support. ### Claim 4 (depends on 3) The robot system according to claim 3, wherein a second end portion of the second support in the first direction is fixed to the third support. ### Claim 5 (depends on 2) The robot system according to claim 2, wherein the second support includes a recess for receiving the part of the robot and arranged at a second end portion of the second support in the first direction. ### Claim 6 A cart, comprising: a first support to which a plurality of wheels are attached, the first support including a recess for receiving a part of a robot and arranged at a first end portion of the first support in a first direction; and a gripping portion to be gripped by two end effectors of two robot arms provided in the robot, and the recess and the gripping portion are arranged at positions in which the gripping portion is gripped by the two end effector in a state where the part of the robot is fitted into the recess. ### Claim 7 (depends on 6) The cart according to claim 6, further comprising: a second support arranged away from the first support in a second direction intersecting the first direction, the second support having a placement surface on which an article is placed on a side opposite to the first support, and the first support and the second support are arranged such that a sensor provided in the robot is positioned between the first support and the second support in the state where the part of the robot is fitted into the recess. ### Claim 8 (depends on 7) The cart according to claim 7, further comprising: a third support supporting the gripping portion and arranged at the first end portion of the first support. ### Claim 9 (depends on 8) The cart according to claim 8, wherein a second end portion of the second support in the first direction is fixed to the third support. ### Claim 10 (depends on 7) The cart according to claim 7, wherein the second support includes a recess for receiving the part of the robot and arranged at a second end portion of the second support in the first direction.