公开(公告)号：EP2949419A1

公开(公告)日：2015-12-02

申请号：EP15168847.0

申请日：2015-05-22

申请人： Kabushiki Kaisha Yaskawa Denki

发明人： HIRANO, Yusuke ,  HASHIGUCHI, Yukio ,  SATO, Takashi

IPC分类号： B23P15/14

CPC分类号： B25J9/1687 ,  B23P15/14 ,  B23P19/105

摘要： A gear incorporation system includes a robot to hold a gear from among gears including first and second gears that are not to be engaged with each other. The robot moves and attaches the gear to an attachment position. A control apparatus controls the robot and includes a first determiner, a temporary placer, and a turner. The first determiner determines whether the gears include an intermediate gear that is to be engaged between and with the first and second gears. When the first determiner determines that the gears include the intermediate gear, the temporary placer controls the robot to give priority to the first and second gears to attach them to respective attachment positions, and then to temporarily place the intermediate gear on the attachment position. The turner controls the robot to turn one of the first and second gears by a slight amount.

摘要翻译： 齿轮结合系统包括机器人，以从包括彼此不接合的第一和第二齿轮的齿轮中保持齿轮。 机器人移动并将齿轮连接到附件位置。 控制装置控制机器人并且包括第一确定器，临时放置器和翻转器。 第一确定器确定齿轮是否包括将要在第一和第二齿轮之间啮合的中间齿轮。 当第一确定器确定齿轮包括中间齿轮时，临时放置器控制机器人优先于第一和第二齿轮以将它们附接到相应的附接位置，然后暂时将中间齿轮放置在附接位置上。 翻转器控制机器人将第一档和第二档之一转动一小段。