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    GEAR INCORPORATION SYSTEM AND GEAR INCORPORATION METHOD
    1.
    发明公开
    GEAR INCORPORATION SYSTEM AND GEAR INCORPORATION METHOD 审中-公开
    齿轮装配系统和齿轮装配方法

    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。

    Gripping device and system including the same
    4.
    发明公开
    Gripping device and system including the same 有权
    Greifvorrichtung und System damit

    公开(公告)号：EP2181814A1

    公开(公告)日：2010-05-05

    申请号：EP09174701.4

    申请日：2009-10-30

    申请人： CANON KABUSHIKI KAISHA

    发明人： Meisho, Ken

    IPC分类号： B25J13/08 ,  B25J15/02 ,  B25J17/02 ,  B23P19/00

    CPC分类号： B25J17/0208 ,  B23P19/105 ,  B25J13/085 ,  B25J15/02 ,  Y10T74/20335

    摘要： In a gripping device (100), a displacement-type force sensor (170) is provided on a side of a driving mechanism (120) opposite fingers (110) to which the driving mechanism (120) is connected to form a grip section. The driving mechanism (120) is supported on a housing (140) with an elastic member (130) being disposed therebetween at a position closer to the fingers (110) than the center of gravity of the grip section.

    摘要翻译： 在夹持装置（100）中，位于驱动机构（120）的与驱动机构（120）连接的相对的指状物（110）的一侧上设置有位移型力传感器（170），形成抓握部。 驱动机构（120）支撑在壳体（140）上，弹性构件（130）设置在与握持部分的重心相比更靠近手指（110）的位置处。

    WORK MOUNTING SYSTEM AND METHOD OF MOUNTING WORK
    7.
    发明公开
    WORK MOUNTING SYSTEM AND METHOD OF MOUNTING WORK 审中-公开
    WERKSTÜCKMONTAGES系统VERFAHREN ZUR MONTAGE EINESWERKSTÜCKS

    公开(公告)号：EP2258513A1

    公开(公告)日：2010-12-08

    申请号：EP09726833.8

    申请日：2009-02-25

    申请人： Honda Motor Co., Ltd.

    发明人： ASAMIZU, Kenichi

    IPC分类号： B23P19/06 ,  B25J13/08 ,  B62D65/06 ,  B23P21/00

    CPC分类号： B62D65/06 ,  B23P19/105 ,  B25J9/0084 ,  B25J9/1697 ,  G05B19/41805 ,  G05B2219/36404 ,  G05B2219/39114 ,  G05B2219/39393 ,  G05B2219/39559 ,  G05B2219/45025 ,  Y02P90/04 ,  Y02P90/083

    摘要： This object aims to provide a work mounting system which has an improved usability and can be miniaturized. A work mounting system (1) is used to mount a sunroof member (3) on the inner panel (2A) of a body (2). The work mounting system (1) comprises a conveying robot (4) for holding and conveying the sunroof member (3), a mounting robot (5) with a nut runner for tightening bolts and a CCD camera, and a controller (6) for controlling the conveying robot (4) and the mounting robot (5). The controller (6) controls the conveying robot (4) so as to hold the sunroof member (3) and convey the member to the inner panel (2A) of the body (2), and controls the mounting robot (5) so as to photograph the bolt holes of the sunroof member (3) and the inner panel (2A) by the CCD camera, calculates the positions of the bolt holes and the inner panel (2A), corrects operation of the mounting robot (5) according to the calculated positions, and secures the sunroof member (3) to the inner panel (2A) at two positions by nut runners.

    摘要翻译： 本发明的目的在于提供一种工作安装系统，其具有改进的可用性并且可以小型化。 工件安装系统（1）用于将天窗部件（3）安装在主体（2）的内板（2A）上。 工件安装系统（1）包括用于保持和输送天窗构件（3）的输送机器人（4），具有用于紧固螺栓的螺母扳手和CCD照相机的安装机器人（5），以及用于 控制输送机器人（4）和安装机器人（5）。 控制器（6）控制输送机器人（4）以保持天窗构件（3）并将构件传送到主体（2）的内板（2A），并且将安装机器人（5）控制为 通过CCD照相机拍摄天窗部件（3）和内板（2A）的螺栓孔，计算螺栓孔和内板（2A）的位置，根据安装机器人（5）的操作来修正 计算出的位置，并且通过螺母扳手在两个位置将天窗构件（3）固定到内板（2A）。

    Numerical control screw tightening machine
    9.
    发明公开
    Numerical control screw tightening machine 失效
    数控螺丝紧固机

    公开(公告)号：EP0131961A3

    公开(公告)日：1985-03-06

    申请号：EP84108438

    申请日：1984-07-17

    申请人： Matsushita Electric Industrial Co., Ltd.

    发明人： Otsuki, Toshinori ,  Maruyama, Teruo

    IPC分类号： B23P19/06

    CPC分类号： B23P19/105

    摘要： By utilizing a movable table (19), an electrical driver (21) attachedtothetable (19), a hole position detecting means (26) for detecting a hole position of the work roughly disposed beforehand, with using an ultra-sonic element (53), the hole position can be detected precisely and a screw tightening can be executed exactly and automatically even when the hole position is so discrepant within predetermined area.