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    Industrial robot
    3.
    发明公开
    Industrial robot 有权
    Industrieroboter

    公开(公告)号：EP1894683A1

    公开(公告)日：2008-03-05

    申请号：EP07015965.2

    申请日：2007-08-14

    申请人： Fanuc Ltd

    发明人： Tamura, Toshinari ,  Kurebayashi, Hidenori ,  Tanaka, Yasuyoshi

    IPC分类号： B25J17/02 ,  B25J9/02

    CPC分类号： B25J9/046 ,  B25J9/104 ,  Y10T74/20305

    摘要： An industrial robot (10) comprising three power transmission units (21, 22, 23) arranged concentrically and three drive means for driving the three power transmission units, respectively, is disclosed. The drive means for at least one of the three power transmission units includes two motors (31, 34). Also, all of the three power transmission units and the three drive means are desirably built into the base (15) of the industrial robot. This configuration makes it possible to have high-duty operation with a comparatively compact structure.

    摘要翻译： 公开了一种工业机器人（10），其包括同心设置的三个电力传输单元（21,22,23）和分别驱动三个电力传输单元的三个驱动装置。 用于三个动力传递单元中的至少一个的驱动装置包括两个马达（31,34）。 此外，三个动力传递单元和三个驱动装置中的所有三个驱动装置都希望内置在工业机器人的基座（15）中。 这种结构使得可以以比较紧凑的结构进行高功率操作。

    Three-dimensional measurement apparatus
    4.
    发明公开
    Three-dimensional measurement apparatus 有权
    Messungen Apparatfürdreidimensionale

    公开(公告)号：EP1524492A1

    公开(公告)日：2005-04-20

    申请号：EP04256285.0

    申请日：2004-10-12

    申请人： FANUC LTD

    发明人： Aizawa, Atsushi, Fanuc Manshonharimomi ,  Tamura, Toshinari

    IPC分类号： G01B11/25

    CPC分类号： G01B11/25 ,  G06T7/521

    摘要： A three-dimensional measurement apparatus of a slit light (or pseudo slit light) projection type that is adapted to prevent deterioration of measurement accuracy and to be easily miniaturized. When there is a disturbance in a region A in a distribution of pixels whose detected luminances exceed a threshold, a detected position C3 determined from a weighted average of luminances of pixels selected under a threshold condition along a scanning line traversing a linearly extending bright portion image 4 and liable to be deviated from a correct detected position line B-B is excluded from data to be used for the three-dimensional measurement, whereas detected positions C1, C2 are adopted that are determined so as to correspond,to scanning lines on each of which pixels whose number falls within an allowable range are detected. The allowable range varies from Nav x αmin to Nav x αmax or from Nav - β to Nav + γ, where Nav is an average of the numbers of pixels detected on scanning lines for each of which at least one pixel is determined, and αmin, αmax, β, and γ are minimum proper ratio, maximum proper ratio, subtract number of pixels, and add number of pixels, respectively, which are set in advance as parameters.

    摘要翻译： 狭缝光（或伪狭缝光）投射型的三维测量装置，其适于防止测量精度的劣化并且容易地小型化。 当检测到的亮度超过阈值的像素分布中的区域A中存在干扰时，根据沿着穿过线性延伸的亮部图像的扫描线在阈值条件下选择的像素的亮度的加权平均值确定的检测位置C3 4并且容易偏离正确的检测位置线BB被排除在用于三维测量的数据之外，而采用被确定为对应于每个扫描线上的扫描线的检测位置C1，C2 检测其数量在容许范围内的像素。 允许的范围从Nav x alpha min到Nav x alpha max或Nav-beta到Nav + gamma，其中Nav是扫描线上检测到的像素数量的平均值，每个像素的像素数至少确定一个像素， αmin，αmax，β和gamma分别是作为参数预先设置的最小适当比率，最大适当比例，减去像素数量和相加像素数。

    Robot hand for taking out objects with means for changing the orientation of the hand
    6.
    发明公开
    Robot hand for taking out objects with means for changing the orientation of the hand 有权
    机械手用于去除对象与设备用于改变手的取向

    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） ，

    Gripping hand with strain detecting means for adjusting its gripping force
    8.
    发明公开
    Gripping hand with strain detecting means for adjusting its gripping force 有权
    Greiferhand mit Dehnungsmessvorrichtungen zur Steuerung der Greifkraft

    公开(公告)号：EP1645374A1

    公开(公告)日：2006-04-12

    申请号：EP05021848.6

    申请日：2005-10-06

    申请人： FANUC LTD

    发明人： Nihei, Ryo ,  Ban, Kazunori ,  Sato, Takashi Room8-107, FANUC Manshonharimomi ,  Tamura, Toshinari ,  Hatanaka, Kokoro Room6-305, FANUC Manshonharimomi

    IPC分类号： B25J13/08 ,  B25J9/16 ,  B25J15/08

    CPC分类号： B25J9/1612 ,  B25J13/082 ,  B25J15/08 ,  Y10S294/907

    摘要： A gripping type hand including a plurality of finger mechanisms (18) provided respectively with finger joints (12), actuators (14) for driving the finger joints, and links (16) supported by the finger joints and operating under driving force of the actuators. The gripping type hand includes an operation controlling section (20) capable of respectively controlling the actuators of the plurality of finger mechanisms independently from each other; a position detecting section (22) for respectively detecting operating positions of the finger joints of the plurality of finger mechanisms; and strain detecting sections (24) provided respectively for the plurality of finger mechanisms and detecting strains generating in the links due to force applied to the finger mechanisms. The operation controlling section coordinately controls the actuators of the plurality of finger mechanisms to adjust gripping force generated by the plurality of finger mechanisms, based on the operating positions of the finger joints detected by the position detecting section and the strains of the links detected by the strain detecting sections.

    摘要翻译： 夹持型手包括分别设置有手指接头（12）的指状机构（18），用于驱动手指接头的致动器（14）和由手指接头支撑并且在致动器的驱动力下操作的连杆（16） 。 夹持型手包括能够彼此独立地分别地控制多个手指机构的致动器的操作控制部（20） 位置检测部分（22），用于分别检测多个手指机构的手指关节的操作位置; 和应变检测部分（24），分别为多个手指机构提供并且由于施加到手指机构的力而检测在链节中产生的应变。 操作控制部分基于由位置检测部检测到的手指关节的操作位置和由该检测部分检测到的链节的应变来协调地控制多个手指机构的致动器来调整由多个手指机构产生的夹紧力 应变检测部分。

    Articulated robot
    10.
    发明公开
    Articulated robot 有权
    Gelenkroboter

    公开(公告)号：EP1010499A1

    公开(公告)日：2000-06-21

    申请号：EP99309082.8

    申请日：1999-11-16

    申请人： Fanuc Ltd

    发明人： Terada, Akihiro ,  Ogawa, Hisashi, FANUC Dai3virakarmatsu ,  Tamura, Toshinari ,  Hase, Takahiro, FANUC Dai3virakaramatsu

    IPC分类号： B25J19/00

    CPC分类号： B25J19/0029 ,  Y10S414/13 ,  Y10S414/131 ,  Y10T74/20311 ,  Y10T74/20317 ,  Y10T74/20329

    摘要： A first arm (3) of an articulated robot has a double arm structure composed of a first arm piece (3a) and a second arm piece (3b). The first arm piece (3a) transmits a drive force, and a housing (4a) of a second arm (4) is rotatably mounted to the first arm piece (3a) at the end thereof. The second arm piece (3b) houses cables and pipes or the like, and a cover (4b) of the housing (4a) is rotatably mounted to the second arm piece at the end thereof. The cover (4b) is fixed to the housing (4a) through fixing means (6). The housing (4a) is permitted to be opened by separating the housing (4a) and the cover (4b) from each other by causing the second arm piece (3b) to rotate relatively to the first arm piece (3a) after the removal of the fixing means (6).

    摘要翻译： 铰接机器人的第一臂（3）具有由第一臂片（3a）和第二臂片（3b）组成的双臂结构。 第一臂片（3a）传递驱动力，并且第二臂（4）的壳体（4a）在其末端可旋转地安装到第一臂片（3a）。 第二臂片（3b）容纳电缆和管子等，并且壳体（4a）的盖（4b）在其末端可旋转地安装到第二臂片。 盖（4b）通过固定装置（6）固定在壳体（4a）上。 通过使第二臂片（3b）相对于第一臂片（3a）相对于第一臂片（3a）旋转，通过将壳体（4a）和盖（4b）分开来使壳体（4a）打开， 固定装置（6）。