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.

公开(公告)号：US20230271213A1

公开(公告)日：2023-08-31

申请号：US18112749

申请日：2023-02-22

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Yuji ISHIMARU ,  Yoshiaki MIYAZONO ,  Tsuyoshi ITO ,  Katsuhiko YOSHINO ,  Naoyuki OHTSUBO

IPC: B05B13/02 ,  B25J9/04 ,  B25J11/00

CPC classification number: B05B13/0292 ,  B25J9/042 ,  B25J11/0075

Abstract: A door opening/closing robot includes: a base provided at a position different from a conveyance line on which a vehicle body is conveyed; a first arm attached to the base to rotate around a first axis and extending away from the first axis; a second arm attached to the first arm to rotate around a second axis and extending away from the second axis; a third arm attached to the second arm to rotate around a third axis and extending away from the third axis; and a fourth arm attached to the third arm to extend vertically and configured to vertically move a tool for holding a door of the vehicle body. At least a portion of a connection area including a distal end of the second arm and a proximal end of the third arm is positioned at a same height as at least a portion of the base.