Robot and article dimension obtainment method
AssigneeKawasaki Jukogyo Kabushiki Kaisha
InventorsHideshi Yamane, Eiji Yoshikuwa, Toshiyuki Tsujimori
Life of this patent
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Abstract
A robot includes a holder, a puller, a sensor, and a dimension obtainer. The holder holds an article placed on a supporter. The puller pulls the holder to a front side. The sensor detects that the article being pulled out ceased being on the supporter. The dimension obtainer obtains a dimension of the article along a pullout direction based on a distance that the article is pulled for from when the puller starts to pull out the article until when the sensor detects that the article ceased being on the supporter.
Claims9
A robot, comprising:
- a holder that holds an article placed on a supporter;
- a puller that pulls the holder to a front side;
- a limit switch that detects that the article being pulled out ceased being on the supporter;
- a dimension obtainer that obtains a dimension of the article along a pullout direction based on a distance that the article is pulled for from when the puller starts to pull out the article until when the limit switch detects that the article ceased being on the supporter,
- a robot body;
- and
- an end effector that is attached to a distal end of the robot body, wherein the limit switch is arranged at the end effector.
A robot, comprising:
- a holder that holds an article placed on a supporter;
- a puller that pulls the holder to a front side;
- a strain sensor that detects that the article being pulled out ceased being on the supporter;
- a dimension obtainer that obtains a dimension of the article along a pullout direction based on a distance that the article is pulled for from when the puller starts to pull out the article until when the strain sensor detects that the article ceased being on the supporter;
- a robot body;
- and
- an end effector that is attached to a distal end of the robot body, wherein the strain sensor is arranged at the end effector.
A robot, comprising:
- a holder that holds an article placed on a supporter;
- a puller that pulls the holder to a front side;
- a sensor that detects that the article being pulled out ceased being on the supporter;
- a dimension obtainer that obtains a dimension of the article along a pullout direction based on a distance that the article is pulled for from when the puller starts to pull out the article until when the sensor detects that the article ceased being on the supporter;
- a robot body;
- and
- an end effector that is attached to a distal end of the robot body, wherein
- the sensor is a force sensor that is arranged at a distal end of the robot body.
A robot, comprising:
- a holder that holds an article placed on a supporter;
- a puller that pulls the holder to a front side;
- a sensor that detects that the article being pulled out ceased being on the supporter;
- and
- a dimension obtainer that obtains a dimension of the article along a pullout direction based on a distance that the article is pulled for from when the puller starts to pull out the article until when the sensor detects that the article ceased being on the supporter, wherein the holder is arranged at an end effector that is attached to a distal end of a robot body, and
- wherein the puller includes a pulling conveyor that is arranged at the end effector and slides the holder.
Dependencies are inferred from the claim text.