Robot and article dimension obtainment method
AssigneeKawasaki Jukogyo Kabushiki Kaisha
InventorsHideshi YAMANE, Eiji YOSHIKUWA, Toshiyuki TSUJIMORI
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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.
Claims11
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 form when the puller starts to pull out the article until when the sensor detects that the article ceased being on the supporter.
An article dimension obtainment method, comprising:
- a pulling out process wherein an article placed on a supporter is pulled out to a front by at least one of a robot body or an end effector;
- a detecting process wherein a sensor detects that the article being pulled out ceased being on the supporter;
- and
- an obtaining process wherein a dimension of the article along a pullout direction is obtained based on a distance that the article is pulled for from when the pulling out process starts until when the sensor detects that the article ceased being on the supporter.
Dependencies are inferred from the claim text.