公开(公告)号：EP2060368A1

公开(公告)日：2009-05-20

申请号：EP08017577.1

申请日：2008-10-07

申请人： Fanuc Ltd

发明人： Hariki, Kazuo ,  Oda, Masaru ,  Ochiishi, Yoshinori

IPC分类号： B25J15/02

CPC分类号： B25J15/0253

摘要： A holding apparatus and a holding unit are disclosed. The holding apparatus (4) includes a base plate (21), a fixed holding member (22) fixed on the base plate, a first movable holding member (11) arranged in opposed relation to and having a face adapted to operate in collaboration with the fixed holding member for holding a workpiece, a second movable holding member (12) adapted to operate in collaboration with said face of said first movable holding member in operatively interlocked relationship therewith for holding a workpiece, and a drive device (19) for driving the first movable holding member and the second movable holding member in operatively interlocked relationship with each other. Therefore, holding power can be increased easily without a large space. The holding apparatus may further include a removing device (24,25,26) for removing the second movable holding member from between the first movable holding member and the fixed holding member when holding the workpiece (20) with the first movable holding member and the fixed holding member.

摘要翻译： 的保持装置和保持单元是游离缺失盘。 所述保持装置（4）包括一底板（21），固定在底板上的固定保持部件（22），在相对的关系设置在第一可动把持部件（11）和具有面angepasst到协同操作 用于保持工件的固定保持部件，第二可动把持部件（12）angepasst到在与所述第一可动保持部件的所述面合作以用于保持工件操作中可操作地互锁关系存在，以及驱动装置（19），用于驱动 所述第一可动把持部件和在与海誓山盟联动地，第二可动保持构件。 因此，控股权可以很容易地没有大的空间增加。 所述保持装置可以包括用于从所述第一可动把持部件和所述固定把持部件之间移除所述第二可动保持构件保持时所述工件（20）与所述第一可动把持部件和所述一个进一步去除装置（24,25,26） 固定把持部件。

公开(公告)号：EP1442848A2

公开(公告)日：2004-08-04

申请号：EP04250500.8

申请日：2004-01-29

申请人： FANUC LTD

发明人： Oda, Masaru ,  Tamura, Toshinari

IPC分类号： B25J15/00 ,  B25J9/16 ,  G06T1/00

CPC分类号： B25J9/1697 ,  B25J15/00 ,  G05B2219/40053

摘要： An object taking-out apparatus for taking out objects (13) randomly stacked in a container (11) according to a condition of how each object is placed, which includes a robot hand (3) having telescopic means (32) and a coupling member (31) whose one ends are connected to a robot arm end (10), and holding means (35) coupled to their other ends. The telescopic means (32) expands and contracts to cause the holding means (35) to assume either a first orientation where a small angle (θ1) is formed or a second orientation where a large angle (θ2) is formed between a holding direction axis (A) of the holding means (35) and a rotary axis (B) of the robot arm end (10), thereby taking out objects (13) without causing interaction between the robot (1) and the container (11).

摘要翻译： 取出对象的对象取出装置（13）随机地堆叠在容器（11）雅丁到的每个对象是如何放置的状态下，其包括机械手（3），其具有可伸缩装置（32）和联接构件 （31），其一个端部连接到机器人臂端部（10），以及耦合到它们的另一端保持装置（35）。 所述伸缩装置（32）膨胀和收缩，以使保持装置（35）假定无论其中一个小的角度（1）形成的第一取向或者其中一个大的角度（2）的保持之间形成的第二取向 所述保持装置（35）和机器人臂端（10）的旋转轴线（B）的方向轴线（A），从而取出对象（13）而没有所述机器人（1）和容器之间曹景伟相互作用（11） ，

公开(公告)号：EP1391795A3

公开(公告)日：2004-04-07

申请号：EP03254998.2

申请日：2003-08-12

申请人： FANUC LTD

发明人： Watanabe, Atsushi ,  Otsuka, Kazuhisa ,  Oda, Masaru

IPC分类号： G05B19/418

CPC分类号： G05B19/41835 ,  G05B19/41825 ,  G05B2219/31069 ,  G05B2219/31078 ,  Y02P90/083 ,  Y02P90/087 ,  Y02P90/12

摘要： A machining system capable of displaying operation programs and associated information for a plurality of components of the system on the same display screen for confirming, creating and editing of the operation programs and associated information. A machine tool (1), a jig device (2) for fixing/unfixing a workpiece on the machine tool (1), a handling robot (3) and a visual sensor (4) are connected with an information processing device (5) by a communication path (6). A list of items specifying operation programs and associated information for the respective components (1-4) is displayed with respect to different kinds of workpieces on a display screen of the information processing device (5). When one or more of the items are selected by an operator, the operation program or programs and the associated information specified by the selected item or items are displayed in the form of a window on the display screen. Since the operation programs and the associated information for the respective components (1-4) are displayed on the same display screen, this allows the operator to confirm, create and edit the operation programs and the associated information at one place.

公开(公告)号：EP2018940A3

公开(公告)日：2009-09-30

申请号：EP08009956.7

申请日：2008-05-30

申请人： Fanuc Ltd

发明人： Hariki, Kazuo ,  Oda, Masaru ,  Kajio, Shigenori ,  Nihei, Ryo

IPC分类号： B25J9/16

CPC分类号： B25J9/1682 ,  B25J9/1687 ,  G05B2219/39109 ,  G05B2219/39123 ,  G05B2219/39469 ,  G05B2219/40052 ,  G05B2219/40307 ,  G05B2219/45064 ,  Y10T29/49829

摘要： A flexible workpiece assembling method for assembling a flexible workpiece (W) with an object (60) by using a first robot (20) comprising a first hand (21) and a second robot (30) comprising a second hand (31) includes the steps of: gripping a first portion of the flexible workpiece by the first hand and gripping a second portion of the flexible workpiece different from the first portion by the second hand; moving the flexible workpiece to the object through a cooperating operation of the first and second robots; deforming the flexible workpiece into a shape corresponding to the nonflexible object by the first and second robots; and assembling the flexible workpiece onto the nonflexible object by the first and second robots. As a result, the flexible workpiece can be accurately assembled onto the nonflexible object without breaking or tearing. The first and second robots may comprise a pushing means for pushing the flexible workpiece into the object.

公开(公告)号：EP1642853A3

公开(公告)日：2008-03-19

申请号：EP05020000.5

申请日：2005-09-14

申请人： Fanuc Ltd

发明人： Hariki, Kazuo ,  Oda, Masaru

IPC分类号： B65G47/14

CPC分类号： B65G47/1457 ,  B65G47/1471

摘要： A handling robot system, including a table (14) having a placement surface (12) for placing a plurality of articles (Wa,Wb); an article dispersing mechanism (16) for dispersing the articles (Wa,Wb) placed on the placement surface (12) of the table (14) across the placement surface (12); a vision sensor (18) for detecting each of the articles (Wa,Wb) dispersed on the placement surface (12) of the table (14); and a robot (20) operating, based on article detection data (Dw) from the vision sensor (18), to hold the articles (Wa,Wb) one by one.

公开(公告)号：EP1642853A2

公开(公告)日：2006-04-05

申请号：EP05020000.5

申请日：2005-09-14

申请人： FANUC LTD

发明人： Hariki, Kazuo ,  Oda, Masaru

IPC分类号： B65G47/14

CPC分类号： B65G47/1457 ,  B65G47/1471

摘要： A handling robot system, including a table having a placement surface for placing a plurality of articles; an article dispersing mechanism for dispersing the articles placed on the placement surface of the table across the placement surface; a vision sensor for detecting each of the articles dispersed on the placement surface of the table; and a robot operating, based on article detection data from the vision sensor, to hold the articles one by one. The article dispersing mechanism includes a partition member capable of producing a relative motion in relation to the table, the partition member being disposed in proximity to the placement surface with a gap defined therebetween, to divide a space adjoining the placement surface into a first region to which the articles are brought and a second region at which the robot operates to hold the articles transferred from the first region; and a drive control section for causing the relative motion between the table and the partition member in accordance with a program describing a mode of the relative motion. A certain number of articles are dispersed, as a result of the relative motion produced under the control of the drive control section, to permit the articles to pass through the gap on the placement surface, and are transferred from the first region to the second region.

摘要翻译： 一种处理机器人系统，包括具有用于放置多个物品（Wa，Wb）的放置表面（12）的台（14）; 用于将放置在台子（14）的放置表面（12）上的物品（Wa，Wb）穿过放置表面（12）的物品分散机构（16）; 用于检测分散在所述工作台（14）的所述放置表面（12）上的每个所述物品（Wa，Wb）的视觉传感器（18）。 和基于来自视觉传感器（18）的物品检测数据（Dw））一个一个地保持物品（Wa，Wb）的机器人（20）。

公开(公告)号：EP1391795A2

公开(公告)日：2004-02-25

申请号：EP03254998.2

申请日：2003-08-12

申请人： FANUC LTD

发明人： Watanabe, Atsushi ,  Otsuka, Kazuhisa ,  Oda, Masaru

IPC分类号： G05B19/409

CPC分类号： G05B19/41835 ,  G05B19/41825 ,  G05B2219/31069 ,  G05B2219/31078 ,  Y02P90/083 ,  Y02P90/087 ,  Y02P90/12

摘要： A machining system capable of displaying operation programs and associated information for a plurality of components of the system on the same display screen for confirming, creating and editing of the operation programs and associated information. A machine tool (1), a jig device (2) for fixing/unfixing a workpiece on the machine tool (1), a handling robot (3) and a visual sensor (4) are connected with an information processing device (5) by a communication path (6). A list of items specifying operation programs and associated information for the respective components (1-4) is displayed with respect to different kinds of workpieces on a display screen of the information processing device (5). When one or more of the items are selected by an operator, the operation program or programs and the associated information specified by the selected item or items are displayed in the form of a window on the display screen. Since the operation programs and the associated information for the respective components (1-4) are displayed on the same display screen, this allows the operator to confirm, create and edit the operation programs and the associated information at one place.

摘要翻译： 一种加工系统，能够在同一显示屏幕上显示用于系统的多个部件的操作程序和相关信息，用于确认，创建和编辑操作程序和相关信息。 在信息处理装置（5）上连接有机床（1），用于将工件固定/解除固定在机床（1）上的夹具装置（2），搬运机器人（3）和视觉传感器（4） 通过通信路径（6）。 在信息处理装置（5）的显示屏幕上针对不同种类的工件显示指定各个部件（1-4）的操作程序和相关信息的项目列表。 当操作员选择一个或多个项目时，在显示屏幕上以窗口的形式显示由所选择的一个或多个项目指定的操作程序或相关信息。 由于各部件（1-4）的操作程序和相关信息显示在同一显示屏上，因此操作员可以在一个地方确认，创建和编辑操作程序和相关信息。

公开(公告)号：EP1442848B1

公开(公告)日：2008-11-19

申请号：EP04250500.8

申请日：2004-01-29

申请人： FANUC LTD

发明人： Oda, Masaru ,  Tamura, Toshinari

IPC分类号： B25J15/00 ,  B25J9/16 ,  G06T1/00

CPC分类号： B25J9/1697 ,  B25J15/00 ,  G05B2219/40053

公开(公告)号：EP2018940A2

公开(公告)日：2009-01-28

申请号：EP08009956.7

申请日：2008-05-30

申请人： Fanuc Ltd

发明人： Hariki, Kazuo ,  Oda, Masaru ,  Kajio, Shigenori ,  Nihei, Ryo

IPC分类号： B25J9/16

CPC分类号： B25J9/1682 ,  B25J9/1687 ,  G05B2219/39109 ,  G05B2219/39123 ,  G05B2219/39469 ,  G05B2219/40052 ,  G05B2219/40307 ,  G05B2219/45064 ,  Y10T29/49829

摘要： A flexible workpiece assembling method for assembling a flexible workpiece (W) with an object (60) by using a first robot (20) comprising a first hand (21) and a second robot (30) comprising a second hand (31) includes the steps of: gripping a first portion of the flexible workpiece by the first hand and gripping a second portion of the flexible workpiece different from the first portion by the second hand; moving the flexible workpiece to the object through a cooperating operation of the first and second robots; deforming the flexible workpiece into a shape corresponding to the nonflexible object by the first and second robots; and assembling the flexible workpiece onto the nonflexible object by the first and second robots. As a result, the flexible workpiece can be accurately assembled onto the nonflexible object without breaking or tearing. The first and second robots may comprise a pushing means for pushing the flexible workpiece into the object.

摘要翻译： 一种用于通过使用包括第二手（21）的第一机器人（20）和包括二手（31）的第二机器人（30）来组装柔性工件（W）与物体（60）的柔性工件组装方法，包括： 步骤：通过第一只手抓住柔性工件的第一部分，并用二手夹持不同于第一部分的柔性工件的第二部分; 通过第一和第二机器人的协作操作将柔性工件移动到物体; 通过第一和第二机器人将柔性工件变形成对应于不柔性物体的形状; 以及通过第一和第二机器人将柔性工件组装到非柔性物体上。 结果，柔性工件可以精确地组装到非柔性物体上而不破裂或撕裂。 第一和第二机器人可以包括用于将柔性工件推入物体的推动装置。

公开(公告)号：EP1391795B1

公开(公告)日：2007-04-11

申请号：EP03254998.2

申请日：2003-08-12

申请人： FANUC LTD

发明人： Watanabe, Atsushi ,  Otsuka, Kazuhisa ,  Oda, Masaru

IPC分类号： G05B19/418

CPC分类号： G05B19/41835 ,  G05B19/41825 ,  G05B2219/31069 ,  G05B2219/31078 ,  Y02P90/083 ,  Y02P90/087 ,  Y02P90/12