Patent ID: 11878431
Assignee: SHIMIZU CORPORATION
Field: Handling (Mechanical engineering)
Classification: CPC B  E  G | IPC B

Claim 0:
1. An end effector comprising:
a driving roller and presser rollers, the driving roller and the presser rollers being configured to hold a threaded member in a manner rotatable about an axis of the threaded member;
a motor configured to rotate the threaded member about the axis of the threaded member;
a linear guide and an air cylinder including a rod, the linear guide and the air cylinder including the rod being configured to move the threaded member linearly along the axis of the threaded member;
a detector configured to detect a position and a direction of a threaded hole member;
a robot arm configured to change a position and a direction of the threaded member with respect to the threaded hole member; and
a controller configured to:
provide the threaded member near a position coaxially facing the 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.