METHOD OF OPENING AND CLOSING DOOR OF AUTOMOBILE BODY AND ROBOT FOR OPENING AND CLOSING DOOR

WIPO Patent Application WO/2020/096025

A1

A robot for opening and closing a door is provided with: a door operation tool having an insertion unit and a regulation unit; a robot arm that moves the door operation tool; and a control device. The control device operates the robot arm such that the door operation tool moves to a first reference position and further moves from the first reference position to a first presence confirmation position. The control device then acquires the position of the door operation tool as a first evaluation position, computes the difference between the first presence confirmation position and the first evaluation position, and if the difference is equal to or less than a predetermined first threshold value, detects a failure in the presence of the insertion unit in a window groove. The first reference position is the position of the door operation tool at which the insertion unit is inserted into the window groove and the regulation unit is in contact with the edge of the window groove or located above the edge of the window groove. The first presence confirmation position is the position of the door operation tool separate from the first reference position in the insertion direction.

OSHIMA TAKASHI
NAGAO TOMOYUKI
ISODA HIDEKI

PCT/JP2019/043789

May 14, 2020

November 08, 2019

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KAWASAKI HEAVY IND LTD (JP)

B05B13/02; B05B12/08; B25J9/16; B62D65/00

JP2008514504A	2008-05-08
JP2512766B2	1996-07-03
US20170266808A1	2017-09-21
JPH0648336A	1994-02-22
JPS63272677A	1988-11-10

PATENT CORPORATE BODY ARCO PATENT OFFICE (JP)

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