Packing apparatus and packing method
For accurate housing of an object to be packed even in an unfixed box body, a packing apparatus includes a movable unit and a force detection part provided in the movable unit and houses an object to be packed in a box body formed from a packing material based on an output value of the force detection part.
1. A robot comprising:
a base
a first arm provided on the base, the first arm having a first end effector;
a second arm provided on the base, the second arm having a second end effector and a force sensor;
an imaging device configured to capture an image of an inside of a package, the package having first and second walls opposite to each other, the package being configured to contain an object in the inside of the package;
a memory storing computer-readable instructions; and
a processor executing the computer-readable instructions to control the robot to:
cause the imaging device to capture the image including the package and the object;
perform a first operation to position the first and second end effectors between the object and the second wall;
after the first operation, perform a second operation to contact the object with the first end effector by moving the first end effector toward the first wall;
after the second operation, perform a third operation to move the object toward the first wall with the first end effector so that the object will be placed in contact with the first wall; and
after the third operation commences, perform a fourth operation to move the second wall into contact with the second end effector and when the force sensor detects a force applied to the second end effector that is equal to or larger than a threshold value, the processor causes the first end effector to stop moving.
2. The robot according to claim 1 ,
wherein the processor is further configured to:
cause the first end effector to selectively apply a force to the first wall so that the package moves; and
cause the second end effector to selectively contact the second wall so as to adjust a location of the package in response to an output signal from the force sensor and place the object in the package.