Robot and article dimension obtainment method
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.
1 . A robot, comprising:
a holder that holds an article placed on a supporter;
a puller that pulls the holder to a front side;
a limit switch that detects that the article being pulled out ceased being on the supporter;
a dimension obtainer that 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 limit switch detects that the article ceased being on the supporter,
a robot body; and
an end effector that is attached to a distal end of the robot body, wherein the limit switch is arranged at the end effector.
2 . The robot according to claim 1 , wherein a pullout of the article starts with a face of the article on the front side and a face of the supporter on the front side belonging to a same plane.
3 . The robot according to claim 1 , comprising a controller that controls the robot body and the end effector,
wherein the end effector includes a receiver that carries the article that ceased being on the supporter, and
wherein the controller controls the puller so that the article is pulled out while a top surface of the receiver being lower than a bottom edge of a face of the article on the front side.
4 . The robot according to claim 3 , wherein the limit switch is arranged at the receiver.
5 . The robot according to claim 1 , wherein the holder is arranged at the end effector that is attached to a distal end of the robot body, and
wherein the puller includes a pulling conveyor that is arranged at the end effector and slides the holder.
6 . The robot according to claim 5 , wherein, if the limit switch does not detect that the article ceased being on the supporter even after the pulling conveyor moved the holder to a limit of slide movement, the robot body pulls out the article further together with the end effector until the limit switch detects it.
7 . A robot, comprising:
a holder that holds an article placed on a supporter;
a puller that pulls the holder to a front side;
a strain sensor that detects that the article being pulled out ceased being on the supporter;
a dimension obtainer that 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 strain sensor detects that the article ceased being on the supporter;
a robot body; and
an end effector that is attached to a distal end of the robot body, wherein the strain sensor is arranged at the end effector.
8 . 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;
a dimension obtainer that 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;
a robot body; and
an end effector that is attached to a distal end of the robot body, wherein
the sensor is a force sensor that is arranged at a distal end of the robot body.
9 . 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 from when the puller starts to pull out the article until when the sensor detects that the article ceased being on the supporter, wherein the holder is arranged at an end effector that is attached to a distal end of a robot body, and
wherein the puller includes a pulling conveyor that is arranged at the end effector and slides the holder.