Patent ID: 11970344
Assignee: DENSO WAVE INCORPORATED
Field: Handling (Mechanical engineering)
Classification: CPC B | IPC B

Claim 1:
2. The apparatus according to claim 1, wherein:
the box-shaped open container has a first side wall as the at least one side wall, and the box-shaped open container has a second side wall adjacent to the first side wall; and
the predetermined safety zone comprises a first safety zone and a second safety zone,
the first safety zone representing a first internal space of the container defined between an inner surface of the first side wall and a first virtual plane that is parallel to the first side wall and is separated away therefrom by, as the predetermined safety distance, a predetermined first safety distance in a first horizontal direction perpendicular to the first side wall and the first virtual plane,
the second safety zone representing a second internal space of the container defined between an inner surface of the second side wall and a second virtual plane that is parallel to the second side wall and is separated away therefrom by, as the predetermined safety distance, a predetermined second safety distance in a second horizontal direction perpendicular to the second side wall and the second virtual plane; and

the operation controlling unit is configured to:
instruct the robot arm to move the selected and picked-up workpiece downward while preventing the selected and picked-up workpiece from entering each of the first safety zone and the second safety zone in response to a determination that the specified position in the box-shaped open container is adjacent to the inner surface of the first side wall and the inner surface of the second side wall of the box-shaped open container.