公开(公告)号：US20230294285A1

公开(公告)日：2023-09-21

申请号：US18112772

申请日：2023-02-22

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Naoyuki OHTSUBO ,  Katsuhiko YOSHINO ,  Yasuhiro KATAOKA ,  Yoshihide YAMATO ,  Yuji ISHIMARU ,  Tsuyoshi ITO

IPC: B25J9/16 ,  B25J9/04 ,  B25J9/00 ,  B25J11/00

CPC classification number: B25J9/1664 ,  B25J9/0084 ,  B25J9/0093 ,  B25J9/042 ,  B25J9/1679 ,  B25J11/0075

Abstract: A robot apparatus includes: a door opening/closing robot and a controller. The door opening/closing robot includes a base, a first arm, a second arm, a third arm, and a fourth arm. The door opening/closing robot is disposed between a side surface of the vehicle body and a booth side wall. The controller sequentially performs a door opening control for controlling the door opening/closing robot such that a tool opens a door at an upstream side of a first axis in a direction of a conveyance line, a door following control for controlling the door opening/closing robot such that an opened state of the door is maintained while the vehicle body is being conveyed along the conveyance line, and a door closing control for controlling the door opening/closing robot such that the tool closes the door at a downstream side of the first axis in the direction of the conveyance line.