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：EP1621296A1

公开(公告)日：2006-02-01

申请号：EP05016425.0

申请日：2005-07-28

申请人： FANUC LTD

发明人： Hariki, Kazuo ,  Oda, Masaru FANUC Manshonharimomi

IPC分类号： B25J9/00 ,  B25J5/02 ,  B25J9/16

CPC分类号： B25J5/02 ,  B25J9/0096 ,  B25J9/1697 ,  G05B2219/37555 ,  G05B2219/45063

摘要： A transfer robot system with a manipulator (18). The transfer robot system includes a track (16) extending between a first position (12) at which a container (60) containing a workpiece (64) is placed and a second position (14) to which the workpiece in the container is fed; a manipulator (12) movable along the track and capable of holding the container and the workpiece; a temporary container-depository (20) movable along the track synchronously with the manipulator, the container taken out from the first position by the manipulator being temporarily put thereon; a workpiece detecting section (22) for detecting the position and the orientation of the workpiece, contained in the container put on the temporary container-depository, during a period when the manipulator and the temporary container-depository move along the track synchronously with each other; and a transfer control section (24) for controlling the manipulator, based on a detection result in the workpiece detecting section, to make the manipulator pick out the workpiece from the container put on the temporary container-depository and feed the workpiece picked from the container to the second position.

摘要翻译： 搬运机器人系统，具有操纵器（18）。 传送机器人系统包括在其中的第一位置（12）之间延伸的容器（60）含有一个工件（64）被放置在第二位置（14）其中在所述容器中的工件被输送轨道（16）; 沿着轨道和能够保持所述容器和所述工件上的操纵器（12）移动; 一个临时的容器存（20）同步地沿与操纵器的轨道移动，该容器从由操纵器被临时放置在其上的第一位置中取出; 用于检测的时间段期间的位置和工件的定向，包含在放置在临时容器保管容器，工件检测部（22）在所述操纵器和沿轨道海誓山盟临时容器保管同步运动 ; 和用于控制所述操纵器中，基于在所述工件的检测结果检测部，以使操纵器挑出从放置在临时容器保管容器中的工件和馈送工件上的传送控制部（24）从所述容器拾取 到第二位置。

公开(公告)号：EP1714750A1

公开(公告)日：2006-10-25

申请号：EP06007907.6

申请日：2006-04-13

申请人： FANUC LTD

发明人： Hariki, Kazuo ,  Akiyama, Kazuhiko Room 12-506 ,  Oda, Masaru Room 12-104 ,  Ochiishi, Yoshinori FANUC Dai2virakaramatsu

IPC分类号： B25J15/02

CPC分类号： B25J15/0206

摘要： A robot hand (10) includes a drive unit (12) having a pair of moving elements (14,16) provided so as to be movable in a lateral direction with respect to a center axis (O) extending parallel with a longitudinal direction of an arm part to which the robot hand is attached, a pair of gripping claws (18,20) each coupled to one of the pair of moving elements of the drive unit, and a joint (22) for coupling the pair of gripping claws to each other so as to be pivotable. Each of the pair of gripping claws has a base end (18a,20a) coupled to one of the moving elements so as to be pivotable and a front end (18b,20b) for engaging with a workpiece (W). The pair of moving elements are operated to approach and move apart from each other in a lateral direction with respect to the center axis, thereby making the pair of gripping claws pivot about the joint and making the front ends of the gripping claws move apart from or approach each other.

摘要翻译： 机器人手（10）包括具有一对移动元件（14,16）的驱动单元（12），所述一对移动元件（14,16）设置成能够相对于与纵向方向平行延伸的中心轴线 机器人手附接到的​​手臂部分，一对各自联接到驱动单元的一对移动元件中的一个的夹紧爪（18,20）和用于将该对夹爪连接到 彼此以便可枢转。 所述一对夹爪中的每一个具有连接到所述移动元件之一以便可枢转的基端（18a，20a）和用于与工件（W）接合的前端（18b，20b）。 一对移动元件被操作成在相对于中心轴线的横向方向上彼此接近并移动，从而使得一对夹紧爪绕关节枢转，并使夹爪的前端离开或 互相接近

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：EP1704969A1

公开(公告)日：2006-09-27

申请号：EP06004141.5

申请日：2006-03-01

申请人： FANUC LTD

发明人： Hariki, Kazuo ,  Oda, Masaru Room 12-104 FANUC ,  Ochiishi, Yoshinori ,  Ueda, Tetsuji Room 6-304 FANUC

IPC分类号： B25J9/04

CPC分类号： B25J9/046 ,  B25J17/0283

摘要： A robot handling system (10) using a robot hand (30) to convey a workpiece (40), provided with a first wrist element (24) at a front end (12a) of an arm (12) of the robot, a second wrist element (25) perpendicular to this, a third wrist element (26) perpendicular to this, and a connecting means (60) connecting the third wrist element and a hand body (31) of the robot hand, the hand body being arranged so that an inertia moment of the hand body about a vertical axial line becomes larger than the inertia moments of the hand body about two mutually perpendicular horizontal axial lines, the connecting means (60) connects the third wrist element (26) and hand body (31) so that a third axial line of the third wrist element (J6) and the hand body are arranged in a horizontal plane, and a posture of the hand body is changed about the vertical axial line in the state with the third axial line of the third wrist element arranged in a horizontal plane. Due to this, the robot hand can be made to rotate over the limit of the allowable inertia moment.

摘要翻译： 一种使用机器人手（30）来传送在所述机器人的臂（12）的前端（12a）处设置有第一腕部（24）的工件（40）的机器人处理系统（10），第二 垂直于其的腕部元件（25），与其垂直的第三腕部（26），以及连接第三腕部和机身手的手柄（31）的连接装置（60），手柄 手部围绕垂直轴线的惯性力矩大于手部围绕两个相互垂直的水平轴线的惯性矩，连接装置（60）将第三腕部（26）和手柄（31）连接起来 ），使得第三腕部（J6）和手主体的第三轴线布置在水平面中，并且在第三轴线的第三轴线的状态下，手体的姿势围绕垂直轴线变化 第三腕部元件布置在水平面上。 因此，可以使机器人手旋转超过容许惯性力矩的极限。

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：EP1714750B1

公开(公告)日：2008-06-04

申请号：EP06007907.6

申请日：2006-04-13

申请人： FANUC LTD

发明人： Hariki, Kazuo ,  Akiyama, Kazuhiko Room 12-506 ,  Oda, Masaru Room 12-104 ,  Ochiishi, Yoshinori FANUC Dai2virakaramatsu

IPC分类号： B25J15/02

CPC分类号： B25J15/0206

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）。