Shimizu Corporation

Taku Tani

Syunsuke Igarashi

Yuji Kinoshita

A construction robot for mounting a member with a changeable height on a body at a predetermined height includes: a manipulator; an end effector provided at a distal end of the manipulator; a recognizing unit configured to recognize positions of the member and the body; and a measuring unit configured to measure a positional relation between the member and the body. The end effector includes a holding unit configured to hold the member in a releasable manner, and a height adjusting unit configured to adjust a height of the member by moving the member in contact with the body in a direction moving closer to or in a direction moving away from the body.

Construction robot

An end effector comprising: a driving roller and presser rollers configured to hold a threaded member; a motor; a linear guide and an air cylinder including a rod configured to move the threaded member linearly along the axis of the threaded member; a detector; a robot arm; and a controller configured to: provide the threaded member near a position coaxially facing a threaded hole member by controlling the robot arm based on the position and the direction of the threaded hole member detected by the detector; and insert and screw the threaded member into the threaded hole member by controlling: the air cylinder including the rod to advance the threaded member toward the threaded hole member and insert a tip of the threaded member into the threaded hole member; and the motor to rotate the threaded member about the axis of the threaded member.

End effector and member mounting method

A horizontal conveying carriage includes: a carriage body including: a base part; a drive wheel; and a steering wheel; a forklift attached to the carriage body, and configured to pick up a conveyed object and unload the conveyed object; an extending and shrinking mechanism configured to extend and shrink the forklift in a front-and-rear direction; a lifting and lowering mechanism configured to lift and lower the forklift in a vertical direction; a supporting mechanism configured to support the forklift from a lower side; an own position estimation unit configured to estimate an own position of the carriage body; a positional relation recognition unit configured to recognize a positional relation between the own position and the conveyed object; and a control unit configured to control movement of the carriage body and to control an operation of the forklift based on the own position and the positional relation.

Horizontal conveying carriage

An end effector including: a supporter configured to support a plate member; a support table provided at an end portion of the supporter via an universal joint and configured to support the plate member by making surface contact with the plate member; holding unit including a pair of holders configured to move linearly in a planar direction while the support table is interposed between the pair of holders in the planar direction, the holding unit being fixed to a base portion of the support table; and electric cylinders configured to change an inclination angle of the support table with respect to the supporter.

Growing community of inventors

Tokyo, Japan

Taku Tani