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公开(公告)号：EP2777893A8
公开(公告)日：2014-10-29
申请号：EP14157430.1
申请日：2014-03-03
CPC分类号： B66C1/34 , B25J9/0084 , B25J19/00 , B25J19/002 , Y10S901/48
摘要： A crane tool (40, 70) includes: a hook portion (42) for hanging a work (W), attached to one arm section (13) in a first robot arm (10A, 60A) having a base (11), a plurality of arm sections (12 to 14) connected to the base in series, and a plurality of joints (15 to 17) adapted to swing the arm sections, respectively, the crane tool; a counterweight portion (43); and a joint portion (J1, J2) connecting the hook portion to the counterweight portion. The counterweight portion is located such that a joint (16) swinging the arm section to which the hook portion is attached is interposed between the hook portion and the counterweight portion in substantially a horizontal direction.
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2.发明公开Workpiece assembling apparatus and workpiece assembling method 审中-公开WerkstückmontagevorrichtungundWerkstückmontageverfahren
公开(公告)号：EP2781299A2
公开(公告)日：2014-09-24
申请号：EP14159076.0
申请日：2014-03-12
IPC分类号： B23P21/00
CPC分类号： B23P21/006 , B23P19/00 , B23P21/004 , Y10T29/49826 , Y10T29/53417
摘要： A workpiece assembling apparatus (10) includes: a conveyor (C) configured to convey a workpiece (W); a plurality of robots (R1, R2, and R3) arranged along the conveyor, the plurality of robots being configured to perform a same work on a workpiece conveyed by the conveyor; a parts-supplier (S) configured to supply parts to the plurality of robots; and a controller (30) configured to control the robots and the conveyor. The controller controls the robot disposed at a downstream side to perform an unfinished work of the robot disposed at an upstream side in addition to a predetermined work in a case where the robot disposed at the upstream side has not completed a predetermined work.
摘要翻译： 工件组装装置（10）包括：输送机（C），其构造成输送工件（W）; 多个机器人（R1，R2和R3）沿着输送机布置，多个机器人构造成对由输送机输送的工件执行相同的作业; 配置为向所述多个机器人供给零件的零件供应器（S）; 以及被配置为控制机器人和输送机的控制器（30）。 在设置在上游侧的机器人尚未完成预定工作的情况下，控制器还控制设置在下游侧的机器人，以进行设置在上游侧的机器人的未完成作业。
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公开(公告)号：EP2784613A2
公开(公告)日：2014-10-01
申请号：EP14157429.3
申请日：2014-03-03
IPC分类号： G05B19/418
CPC分类号： G05B19/4188 , G05B19/41805 , G05B19/41865 , G05B19/41875 , G05B2219/31001 , Y02P90/04 , Y02P90/10 , Y02P90/20 , Y02P90/22 , Y02P90/24
摘要： A manufacturing system (1) includes: a plurality of processing devices (30) capable of outputting processing information including a processing detail performed to a work (W); a processing tool (40) capable of outputting backup information including a processing detail performed to the work; and a management device (20) configured to create management information by associating the processing information and the backup information with identification information identifying the work.
摘要翻译： 一种制造系统（1）包括：能够输出包括对工件（W）执行的处理细节的处理信息的多个处理装置（30）。 处理工具（40），其能够输出包括对所述工作执行的处理细节的备份信息; 以及管理装置（20），其被配置为通过将所述处理信息和所述备份信息与识别所述作品的识别信息相关联来创建管理信息。
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公开(公告)号：EP2422937A3
公开(公告)日：2014-05-07
申请号：EP11179416.0
申请日：2011-08-30
IPC分类号： B25J9/16
CPC分类号： B25J9/1697 , B25J9/1682 , G05B2219/39109 , G05B2219/40053 , Y10S901/30
摘要： A robot system includes a manipulator; a work table arranged within a movement extent of the manipulator; an imaging unit for taking a two-dimensional image of the workpieces loaded on the work table; a workpiece supply unit for supplying workpieces onto the work table; and a control system for controlling operations of the manipulator and the imaging unit. The control system includes an imaging control unit for controlling the imaging unit to take the two-dimensional image of the workpieces loaded on the work table, a workpiece detecting unit for detecting a position and a posture of each of the workpieces loaded on the work table by comparing the two-dimensional image taken by the imaging unit with templates stored in advance, and a manipulator control unit for operating the manipulator to perform a work with respect to the workpieces detected by the workpiece detecting unit.
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公开(公告)号：EP2422937A2
公开(公告)日：2012-02-29
申请号：EP11179416.0
申请日：2011-08-30
IPC分类号： B25J9/16
CPC分类号： B25J9/1697 , B25J9/1682 , G05B2219/39109 , G05B2219/40053 , Y10S901/30
摘要： A robot system includes a manipulator; a work table arranged within a movement extent of the manipulator; an imaging unit for taking a two-dimensional image of the workpieces loaded on the work table; a workpiece supply unit for supplying workpieces onto the work table; and a control system for controlling operations of the manipulator and the imaging unit. The control system includes an imaging control unit for controlling the imaging unit to take the two-dimensional image of the workpieces loaded on the work table, a workpiece detecting unit for detecting a position and a posture of each of the workpieces loaded on the work table by comparing the two-dimensional image taken by the imaging unit with templates stored in advance, and a manipulator control unit for operating the manipulator to perform a work with respect to the workpieces detected by the workpiece detecting unit.
摘要翻译： 机器人系统包括机械手; 布置在操纵器的移动范围内的工作台; 成像单元，用于拍摄装载在工作台上的工件的二维图像; 用于将工件供应到工作台上的工件供应单元; 以及用于控制机械手和成像单元的操作的控制系统。 控制系统包括：成像控制单元，用于控制成像单元拍摄装载在工作台上的工件的二维图像;工件检测单元，用于检测装载在工作台上的每个工件的位置和姿势 通过将由成像单元拍摄的二维图像与预先存储的模板进行比较，以及机械手控制单元，用于操作机械手以对由工件检测单元检测到的工件执行工作。
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公开(公告)号：EP2784613A3
公开(公告)日：2015-12-02
申请号：EP14157429.3
申请日：2014-03-03
IPC分类号： G05B19/418
CPC分类号： G05B19/4188 , G05B19/41805 , G05B19/41865 , G05B19/41875 , G05B2219/31001 , Y02P90/04 , Y02P90/10 , Y02P90/20 , Y02P90/22 , Y02P90/24
摘要： A manufacturing system (1) includes: a plurality of processing devices (30) capable of outputting processing information including a processing detail performed to a work (W); a processing tool (40) capable of outputting backup information including a processing detail performed to the work; and a management device (20) configured to create management information by associating the processing information and the backup information with identification information identifying the work.
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公开(公告)号：EP2777893A3
公开(公告)日：2015-04-01
申请号：EP14157430.1
申请日：2014-03-03
CPC分类号： B66C1/34 , B25J9/0084 , B25J19/00 , B25J19/002 , Y10S901/48
摘要： A crane tool (40, 70) includes: a hook portion (42) for hanging a work (W), attached to one arm section (13) in a first robot arm (10A, 60A) having a base (11), a plurality of arm sections (12 to 14) connected to the base in series, and a plurality of joints (15 to 17) adapted to swing the arm sections, respectively, the crane tool; a counterweight portion (43); and a joint portion (J1, J2) connecting the hook portion to the counterweight portion. The counterweight portion is located such that a joint (16) swinging the arm section to which the hook portion is attached is interposed between the hook portion and the counterweight portion in substantially a horizontal direction.
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8.发明公开Workpiece assembly system and method for assembling workpiece 审中-公开Bauteilanordnungssystem und Verfahren zur Montage vonWerkstücken
公开(公告)号：EP2781298A2
公开(公告)日：2014-09-24
申请号：EP14159042.2
申请日：2014-03-12
IPC分类号： B23P21/00
CPC分类号： B23P21/004 , Y10T29/49829 , Y10T29/53417
摘要： A workpiece assembly system (10, 20, 30, 40) includes a first manual station (S M ) in which a person (M) performs an operation of providing a first component set (50S) onto a pallet (P); a first robot station (S A ) in which a robot (R) performs an operation of assembling the first component set (50S) into a workpiece (W) on a surface plate (Q, Q1, Q2); and a conveyor (C1, C2, C3, C4) that conveys the pallet (P) and the surface plate (Q, Q1, Q2) from the first robot station (S A ) to a subsequent manual station. After the robot (R) has removed the first component set (50S) from the pallet (P) and before the robot (R) finishes the operation in the first robot station (S A ), the pallet (P) is conveyed to the subsequent manual station prior to the surface plate (Q, Q1, Q2).
摘要翻译： 工件组装系统（10,20,30,40）包括第一手动工位（S M），其中人（M）执行向托盘（P）提供第一组件组（50S）的操作; 第一机器人站（S A），其中机器人（R）执行将第一组件组（50S）组装到表面板（Q，Q1，Q2）上的工件（W）中的操作; 以及将托盘（P）和表面板（Q，Q1，Q2）从第一机器人站（S A）传送到随后的手动站的输送机（C1，C2，C3，C4）。 在机器人（R）从托盘（P）移除第一组件（50S）之后并且在机器人（R）完成第一机器人站（SA）中的操作之前，托盘（P）被传送到随后的 手动台前面板（Q，Q1，Q2）。
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