US 11,919,157 B2
Conveyance system, conveyance method and computer-readable recording medium
Kunihiro Iwamoto, Nagakute (JP); Yuta Itozawa, Nagoya (JP); Hirotaka Komura, Tokyo (JP); and Yutaro Takagi, Tokyo (JP)
Assigned to TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed by TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed on Dec. 9, 2021, as Appl. No. 17/546,244.
Claims priority of application No. 2021-017625 (JP), filed on Feb. 5, 2021.
Prior Publication US 2022/0250239 A1, Aug. 11, 2022
Int. Cl. B25J 9/04 (2006.01); B25J 9/12 (2006.01); B25J 18/04 (2006.01)
CPC B25J 9/042 (2013.01) [B25J 9/126 (2013.01); B25J 18/04 (2013.01); Y10S 901/01 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A conveyance system for conveying an object by use of a conveyance robot, wherein the conveyance robot includes:
an arm including a shaft portion extensible and retractable in an axial direction of the shaft portion, and a protruding portion extending from the shaft portion in a direction different from the axial direction, the protruding portion being configured to be engaged with a groove formed on the object;
a drive mechanism configured to rotate the arm around the axial direction as a rotating axis;
a detecting unit configured to detect an abnormality in a rotation angle of the arm; and
a top plate that supports an object placed thereon, wherein the top plate includes a top face comprising a first plate material and a lower face comprising a second plate material, and wherein the top plate has a space between the top face and the lower face and the arm is accommodated in the space;
wherein the arm is extensible towards the groove formed in the object, and rotatable with the shaft portion as the rotation axis so that the protruding portion enters the groove formed in the object.