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：EP1698441A1

公开(公告)日：2006-09-06

申请号：EP06004033.4

申请日：2006-02-28

申请人： FANUC LTD

发明人： Watanabe, Atsushi ,  Ban, Kazunori ,  Arimatsu, Taro ,  Oda, Masaru Room 12-104 ,  Ochiishi, Yoshinori ,  Kubota, Hiroaki

IPC分类号： B25J15/00

CPC分类号： B25J15/00

摘要： A hand (10,40) as an end effector. The hand includes a base (12,42) , a hook element (14,44) associated with the base and capable of hooking and lifting an object, a holding element (16,46) associated with the base and cooperating with the hook element to hold the object therebetween, and a drive section (18,48) causing a relative movement between the hook element and the holding element. For example, the hook element is arranged movably in a direction toward and away from the holding element on the base, and the drive section drives the hook element. Alternatively, the holding element is arranged movably in a direction toward and away from the hook element on the base, and the drive section drives the holding element. A handling robot (30) includes an arm (34) and the above-described hand (10,40) attached to the arm.

摘要翻译： 一只手（10,40）作为末端执行器。 手包括基部（12,42），与基部相关联并能够钩住和提起物体的钩元件（14,44），与基部相关联并与钩元件配合的保持元件（16,46） 以保持其间的对象;以及驱动部分（18,48），其引起钩元件和保持元件之间的相对运动。 例如，钩元件可以在朝向和远离基座上的保持元件的方向上可移动地布置，并且驱动部分驱动钩元件。 或者，保持元件在朝向和远离基座上的钩元件的方向上可移动地布置，并且驱动部分驱动保持元件。 处理机器人（30）包括臂（34）和附接到臂的上述手（10,40）。

公开(公告)号：EP1698441B1

公开(公告)日：2009-04-29

申请号：EP06004033.4

申请日：2006-02-28

申请人： FANUC LTD

发明人： Watanabe, Atsushi ,  Ban, Kazunori ,  Arimatsu, Taro ,  Oda, Masaru Room 12-104 ,  Ochiishi, Yoshinori ,  Kubota, Hiroaki

IPC分类号： B25J15/00

CPC分类号： B25J15/00

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。