公开(公告)号：EP2002945A1

公开(公告)日：2008-12-17

申请号：EP08010707.1

申请日：2008-06-12

申请人： Fanuc Ltd

发明人： Sato, Takashi ,  Yamaoka, Nobuaki

IPC分类号： B25J9/16

CPC分类号： B25J9/1633 ,  B25J9/1687 ,  G05B2219/39529 ,  G05B2219/40032

摘要： A fitting apparatus includes a robot arm having, at the forward end thereof, a gripper for holding a workpiece, a force detector for detecting a force and moment received by the workpiece held by the gripper, and a controller for controlling an operation of the robot arm. The controller includes a motion command generating unit for generating an operation command to fit two workpieces to each other, and an operation command correcting unit for correcting the operation command so as to correct the position of the gripper in a direction perpendicular to the fitting direction and the orientation of the gripper around an axis perpendicular to the fitting direction until the detected force and moment become less than or equal to a threshold value, based on either maximum values of the force and moment detected by the force detector while the two workpieces are in contact with each other or the force and moment detected by the force detector when the two workpieces first come into contact with each other.

摘要翻译： 一种装配装置，包括：机器人臂，其前端具有用于保持工件的夹持器，用于检测由夹持器保持的工件所接收的力和力矩的力检测器;以及用于控制机器人的操作的控制器 臂。 控制器包括：运动指令生成单元，用于产生用于彼此配合两个工件的操作命令;以及操作指令校正单元，用于校正操作命令，以便在与安装方向垂直的方向上校正夹持器的位置，以及 基于垂直于装配方向的轴线的夹持器的取向，直到检测到的力和力矩变得小于或等于阈值时，基于在两个工件处于该力的情况下由力检测器检测到的力和力矩的最大值 当两个工件首先接触时，彼此接触或由力检测器检测到的力和力矩。

公开(公告)号：EP1628177A2

公开(公告)日：2006-02-22

申请号：EP05017763.3

申请日：2005-08-16

申请人： FANUC LTD

发明人： Ban, Kazunori ,  Sato, Takashi ,  Hatanaka, Kokoro

IPC分类号： G05B19/416

CPC分类号： G05B19/4163 ,  Y02P90/265 ,  Y10T409/30084 ,  Y10T409/301792 ,  Y10T409/303472 ,  Y10T409/304256

摘要： A surface of a workpiece, from which the burr is removed, is traced when a machining tool is pressed onto the surface of the workpiece under force control so as to find the positional data of the surface shape (S1). This positional data is corrected by an error caused by a bend of a robot (S2). The thus obtained positional data is compared with the target shape of the surface, from which the burr is removed, obtained from CAD data (S6, S10). A shift of the surface shape in the normal line direction is found (S7, S11). The burr generation start position, the burr generation end position and the height of the burr are found by the shift start position (S8), the shift end position and the shift size (S14). A machining program is made which is composed of a pass connecting the burr end position with the burr start position and also composed of a cutting pass for removing the burr, and the thus made machining program is executed (S16, S17). As the burr position is found and the burr is removed when the machining tool is moved to the burr position, the burr can be effectively removed. Due to the foregoing, it is possible to provide a finishing machine characterized in that useless burr removing actions can be reduced and, further, that the overcutting of a workpiece can be prevented.

摘要翻译： 当加工工具在力控制下被压在工件表面上时，跟踪去除毛刺的工件的表面，以找到表面形状的位置数据（S1）。 该位置数据由机器人的弯曲引起的误差进行校正（S2）。 将如此获得的位置数据与从CAD数据获得的从毛数除去的表面的目标形状进行比较（S6，S10）。 发现在法线方向上的表面形状的偏移（S7，S11）。 通过换档开始位置（S8），换档结束位置和换档尺寸（S14）找到毛刺生成开始位置，毛刺生成结束位置和毛刺高度。 进行加工程序，该加工程序由将毛刺末端位置与毛刺开始位置连接的通路构成，并且还包括用于去除毛刺的切割道，并且执行这样的加工程序（S16，S17）。 当加工刀具移动到毛刺位置时，当找到毛刺位置并除去毛刺时，可以有效地去除毛刺。 由于上述原因，可以提供一种整理机，其特征在于可以减少无用的毛刺去除动作，另外可以防止工件的过度切割。

公开(公告)号：EP1628177A3

公开(公告)日：2008-11-12

申请号：EP05017763.3

申请日：2005-08-16

申请人： FANUC LTD

发明人： Ban, Kazunori ,  Sato, Takashi ,  Hatanaka, Kokoro

IPC分类号： G05B19/416

CPC分类号： G05B19/4163 ,  Y02P90/265 ,  Y10T409/30084 ,  Y10T409/301792 ,  Y10T409/303472 ,  Y10T409/304256

摘要： A surface of a workpiece, from which the burr is removed, is traced when a machining tool is pressed onto the surface of the workpiece under force control so as to find the positional data of the surface shape (S1). This positional data is corrected by an error caused by a bend of a robot (S2). The thus obtained positional data is compared with the target shape of the surface, from which the burr is removed, obtained from CAD data (S6, S10). A shift of the surface shape in the normal line direction is found (S7, S11). The burr generation start position, the burr generation end position and the height of the burr are found by the shift start position (S8), the shift end position and the shift size (S14). A machining program is made which is composed of a pass connecting the burr end position with the burr start position and also composed of a cutting pass for removing the burr, and the thus made machining program is executed (S16, S17). As the burr position is found and the burr is removed when the machining tool is moved to the burr position, the burr can be effectively removed. Due to the foregoing, it is possible to provide a finishing machine characterized in that useless burr removing actions can be reduced and, further, that the overcutting of a workpiece can be prevented.

公开(公告)号：EP2011610A3

公开(公告)日：2010-03-24

申请号：EP08007791.0

申请日：2008-04-22

申请人： Fanuc Ltd

发明人： Hatanaka, Kokoro ,  Sato, Takashi

IPC分类号： B25J9/16 ,  B23P19/00

CPC分类号： B25J9/1687 ,  G05B2219/39529 ,  G05B2219/40032

摘要： A fitting device (10) for fitting a first fitting member held in a hand (4) mounted at the forward end of a robot arm (2) to a corresponding second fitting member, comprising a detection unit (3) for detecting the force or moment generated when the first and second fitting members come into contact with each other, and a judging unit (12) for judging, based on the force or moment detected by the detection unit (3), whether a one-point contact state prevails in which the first and second fitting members are in contact with each other at one point or a two-point contact state prevails in which the first and second fitting members are in contact with each other at least two points. In the one-point contact state, the first fitting member held in the hand is pressed against the second fitting member in the fitting direction thereby to proceed with the fitting operation while maintaining the holding posture of the robot arm (2). In the two-point contact state, the fitting operation is caused to proceed further while the holding posture of the robot arm is changeable. As a result, the first fitting member can be fitted in the second fitting member while keeping the robot arm in the normal posture.

公开(公告)号：EP2011610A2

公开(公告)日：2009-01-07

申请号：EP08007791.0

申请日：2008-04-22

申请人： Fanuc Ltd

发明人： Hatanaka, Kokoro ,  Sato, Takashi

IPC分类号： B25J9/16

CPC分类号： B25J9/1687 ,  G05B2219/39529 ,  G05B2219/40032

摘要： A fitting device (10) for fitting a first fitting member held in a hand (4) mounted at the forward end of a robot arm (2) to a corresponding second fitting member, comprising a detection unit (3) for detecting the force or moment generated when the first and second fitting members come into contact with each other, and a judging unit (12) for judging, based on the force or moment detected by the detection unit (3), whether a one-point contact state prevails in which the first and second fitting members are in contact with each other at one point or a two-point contact state prevails in which the first and second fitting members are in contact with each other at least two points. In the one-point contact state, the first fitting member held in the hand is pressed against the second fitting member in the fitting direction thereby to proceed with the fitting operation while maintaining the holding posture of the robot arm (2). In the two-point contact state, the fitting operation is caused to proceed further while the holding posture of the robot arm is changeable. As a result, the first fitting member can be fitted in the second fitting member while keeping the robot arm in the normal posture.

摘要翻译： 一种用于将保持在安装在机器人臂（2）的前端的手（4）中的第一装配构件装配到相应的第二装配构件的装配装置（10），包括用于检测力的检测单元（3） 当第一和第二装配构件彼此接触时产生的力矩;以及判断单元（12），用于基于由检测单元（3）检测到的力或力矩判断单点接触状态是否存在于 其中第一和第二装配构件在一个点处彼此接触，或者两点接触状态占优势，其中第一和第二装配构件彼此接触至少两个点。 在一点接触状态下，保持在手中的第一装配构件在装配方向上压靠第二装配构件，从而在维持机器人臂（2）的保持姿态的同时进行装配操作。 在两点接触状态下，机器人手臂的保持姿势可变，使嵌合动作继续进行。 结果，第一装配构件可以在保持机器人臂处于正常姿态的同时装配在第二装配构件中。

公开(公告)号：EP1930131A2

公开(公告)日：2008-06-11

申请号：EP07023557.7

申请日：2007-12-05

申请人： FANUC LTD

发明人： Sato, Takashi ,  Iwatake, Takahiro

IPC分类号： B25J9/16

CPC分类号： B25J9/1638 ,  B25J9/1633 ,  G05B2219/39178 ,  G05B2219/39194 ,  G05B2219/39319 ,  G05B2219/39341 ,  G05B2219/39343

摘要： A robot control apparatus (10) for controlling force exerted between a working tool (52) mounted at the forward end of a robot arm (50a) and a workpiece (60) is disclosed. The apparatus includes a force measuring unit (51) for acquiring the force data required for the control operation, a calculating unit (13) for calculating the force exerted by gravity on the force measuring unit and the dynamic terms generated by the motion of the robot arm, of all the forces exerted on the force measuring unit from the working tool, a compensation unit (14) for compensating the force measured by the force measuring unit using the force exerted by gravity and the dynamic terms calculated by the calculating unit, and a command adjusting unit (12) for adjusting the operation command for the robot arm in accordance with the force exerted on the force measuring unit by the dynamic terms and gravity in the case where each of the dynamic terms is larger than a predetermined threshold value. As a result, the workpiece can be accurately machined even in the case where the forward end portion of the robot arm is changed a comparatively great degree in the direction of movement thereof.

摘要翻译： 公开了一种用于控制施加在安装在机器人手臂（50a）的前端的工作工具（52）和工件（60）之间的力的机器人控制装置（10）。 该装置包括用于获取控制操作所需的力数据的力测量单元（51），用于计算由重力施加在力测量单元上的力的计算单元（13）和由机器人运动产生的动态项 由所述作用工具施加在所述力测量单元上的所有力的臂;补偿单元，用于使用由重力施加的力和由所述计算单元计算的动态项来补偿由所述力测量单元测量的力;以及 指令调整单元（12），用于在每个动态项大于预定阈值的情况下，通过动态项和重力根据施加在力测量单元上的力来调节机器人手臂的操作指令。 结果，即使在机器人手臂的前端部沿其移动方向变化较大程度的情况下也能够精确地加工工件。