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公开(公告)号：EP3053711B1
公开(公告)日：2018-10-03
申请号：EP16153094.4
申请日：2016-01-28
发明人： NAGAI, Masayuki
CPC分类号： B25J9/1612 , B25J15/026 , B25J15/08 , G05B2219/39505 , Y10S901/36
摘要： A robot hand controlling method executes calculating a position and changing grip force when the grip force for gripping a work W is to be changed in a state that fingers are gripping the work W with first grip force. In the calculating the position, the hand controlling unit uses a correlation value indicating a relationship between the grip force of the fingers and position of fixing portions, the first grip force, and second grip force that is a target value of the grip force to calculate the position of the fixing portions in gripping the work W with the second grip force. In the changing the grip force, the hand controlling unit drives a motor by calculating a driving quantity of the motor necessary for moving the fingers to the calculated position of the fixing portions.
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公开(公告)号：EP3202530A4
公开(公告)日：2018-05-30
申请号：EP15846239
申请日：2015-09-16
CPC分类号： B23P19/084 , B23P19/02 , B25J15/08 , B25J15/10
摘要： An O-ring mounting device 1 has an O-ring support unit 15, 16 capable of supporting an O-ring from its inside at at least three support points, an O-ring pressing-in unit 14, 27 for pressing-in the O-ring from its outside between two support points of the at least three support points; and an pressed-in state releasing unit 23 for releasing a pressed-in state of the O-ring made by the O-ring pressing-in unit 14, 27. An O-ring mounting device which is applicable in a wide range without being restricted by a dimension of the O-ring or the like can be provided.
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公开(公告)号：EP3150342A4
公开(公告)日：2018-05-30
申请号：EP14892935
申请日：2014-05-27
CPC分类号： B25J15/04 , B25J15/0052 , B25J15/0206 , B25J15/0253 , B25J15/0441 , B25J15/06 , B25J15/0616 , B25J15/08 , B25J15/103
摘要： An end effector 4 of the industrial robot has an end effector base portion 5 connected to a robot arm, a first object holding mechanism 6 provided to the end effector base portion 5 so as to hold a first type of object to be handled, a second object holding unit 9 for holding a second type of object to be handled O2, and a unit holding mechanism 10 provided to the end effector base portion 5 so as to releasably hold the second object holding unit 9. The second object holding unit 9 which is held by the unit holding mechanism 10 is driven by the first object holding mechanism 6. The end effector is capable of considerably enlarging a range of kind and size of an object which can be handled while suppressing increase of manufacturing cost and decline in credibility and increase in changing hand installation space accompanying complication of the configuration.
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公开(公告)号：EP3187313A4
公开(公告)日：2018-05-09
申请号：EP15835983
申请日：2015-08-13
CPC分类号： B25J15/04 , B23P19/084 , B25J15/0052 , B25J15/0408 , B25J15/08 , B25J15/10
摘要： An end effector (4) has an end effector base portion (5) connected to a robot arm, and an elastic component holding unit (9) provided to the end effector base portion (5) so as to hold an elastic component (02). The elastic component holding unit (9) has a plurality of elastic component gripping members which releasably grip the elastic component (O2), and a biasing unit (14) for repulsively biasing each distal end portion of the plurality of elastic component gripping members (12) from a releasing position for releasing the elastic component (02) toward a gripping position for gripping the elastic component (02). An end effector capable of simplifying a fitting work of an elastic component such as the O ring can be provided.
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公开(公告)号：EP3287516A1
公开(公告)日：2018-02-28
申请号：EP16764727.0
申请日：2016-03-03
发明人： KOIKE, Tetsuo , TAKIMOTO, Masahiro , YAGI, Yoshiki
CPC分类号： C12M1/32 , B25J15/08 , B25J18/007 , C12M3/00 , C12M23/38 , C12M23/44 , C12M23/50 , C12M33/10 , C12M37/00 , C12M41/14 , C12M41/36 , C12M41/48
摘要： Provided is an apparatus to produce cultured cell products including: an incubator 2 configured to house cell culture vessels 1; an isolator 3 configured to process the cell culture vessels 1 conveyed from the incubator 2; and a pass box 4 capable of carrying, into the isolator 3, articles and reagents to be used for subdividing and placing the cells cultured in the cell culture vessels 1, wherein the isolator 3 includes: an observation section 8 including first robot arms 6 and 7 configured to move the cell culture vessels 1 to an observation position so as to check the degree of growth of the cells in the cell culture vessels 1 taken out of the incubator 2; a processing section 13 including second robot arms 10 to 12 configured to perform various processes to transfer the cells in the cell culture vessels 1 that have a specified number of cells into product containers 9; and an outlet 14 configured to allow a large number of product containers 9 into which the cells have been transferred to be taken out therethrough.
摘要翻译： 本发明提供一种生产培养细胞产品的设备，包括：配置为容纳细胞培养容器1的培养箱2; 隔离器3，其构造成处理从培养箱2输送的细胞培养容器1; 以及能够将细胞培养容器1中培养的细胞进行细分和放置的物品和试剂输送到隔离器3中的传递箱4，其中隔离器3包括：包括第一机器人臂6的观察部分8和 7，将细胞培养容器1移动到观察位置，检查从培养器2取出的细胞培养容器1内的细胞的生长程度; 包括第二机器人臂10至12的处理部13，该第二机器人臂10至12被配置为执行将具有特定细胞数的细胞培养容器1中的细胞转移至产品容器9中的各种处理; 以及出口14，该出口14构造成允许大量的已经转移有细胞的产品容器9通过其中被取出。
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公开(公告)号：EP3162517A1
公开(公告)日：2017-05-03
申请号：EP15811647
申请日：2015-03-18
申请人： TSUBAKIMOTO CHAIN CO
发明人： TSUTSUMI KAZUHIRO , ITO GO
CPC分类号： A01G9/108 , A01C11/025 , A01G1/001 , A01G9/045 , A01G9/088 , A01G9/1026 , A01G9/104 , B25J15/08 , B25J15/10
摘要： There is provided a seedbed holding unit capable of reliably and firmly holding a seedbed with a simple structure, causing no damage to a plant. A seedbed holding unit 160 that holds a seedbed B used in plant cultivation includes a first holding member 170 and a second holding member 180 that are rotatable relative to each other about a predetermined rotation axis A, the first holding member 170 is provided with a first claw part 173 in a fixed state, the second holding member 180 is provided with a second claw part 183 in a fixed state, and the seedbed B is held between the first claw part 173 and the second claw part 183 by rotating the first holding member 170 and the second holding member 180 relative to each other.
摘要翻译： 提供了一种能够可靠且牢固地保持苗床的苗床保持单元，其结构简单，不会对植物造成损害。 保持植物栽培中使用的苗床B的苗床保持部160具备能够相对于规定的旋转轴线A相对旋转的第一保持部件170和第二保持部件180，第一保持部件170具备第一 第二保持部件180具有固定状态的第二爪部183，通过使第一保持部件173旋转，从而将苗床B保持在第一爪部173与第二爪部183之间 170和第二保持构件180相对于彼此。
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8.发明公开BIONIC BAG OPENING DEVICE FOR AUTOMATIC FILLING LINE 有权BIONISCHE BEUTELNFFGUNRICHTUNGFÜRAUTOMATISCHEABFÜLLINIE
公开(公告)号：EP3040287A1
公开(公告)日：2016-07-06
申请号：EP14891128.2
申请日：2014-11-05
发明人： FU, Zhengbing , ZHANG, Xinquan , WU, Weidong , XU, Jingcheng
IPC分类号： B65B43/26
CPC分类号： B65B43/30 , B25J15/00 , B25J15/0009 , B25J15/0071 , B25J15/08 , B25J15/086 , B25J15/106 , B65B1/04 , B65B43/16 , B65B43/26 , B65B43/465 , B65B65/02 , B65H3/22
摘要： The present invention discloses a biomimetic bag opening device for an automatic filling line, comprising brackets left and right symmetrically arranged on the filling line for filling bags, the symmetrically arranged brackets moving in a horizontal relative motion respectively driven by a pull rod, a push bag plate facing the filling bag provided at a front end of the bracket, a row of gripper holes provided on the push bag plate in the upper and lower of the horizontal level respectively, two rows of grippers provided on the brackets behind the push bag plate and corresponding to the two rows of gripper holes, a gripper drive device driving two rows of grippers open or closed, and grasping fingertips of the grippers projecting or retracting from two rows of the upper and lower of the gripper holes. The present invention solves the problem that woven bags are automatically opened in a full-automatic weighing and packaging device, which can be used for the production of the non-lamination woven bag, semi-lamination woven bag and full-lamination woven bag. The grippers of present invention imitate the human fingers to grip woven bags and separate the bag mouth, the bag mouth can also be closed to prepare for next process after bagging completed, and structure installation and adjustment are convenient.
摘要翻译： 本发明公开了一种用于自动灌装线的仿生袋打开装置，包括左右对称地布置在用于填充袋的填充线上的托架，对称布置的托架以水平相对运动分别由拉杆，推袋 面对设置在支架前端的填充袋，分别设置在水平位置上下的推袋板上的一排夹爪孔，设置在推袋板后面的支架上的两排夹具， 对应于两排夹持器孔，夹持器驱动装置驱动两行夹持器打开或关闭，并且抓住从夹爪的上下两行伸出或缩回的夹持器的指尖。 本发明解决了在全自动称重包装装置中自动打开编织袋的问题，可用于生产非层压编织袋，半层压编织袋和全层压编织袋。 本发明的夹子模仿人的手指握住编织袋并分离袋口，袋口也可以封闭以准备装袋完成后的下一个工序，结构安装调整方便。
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公开(公告)号：EP2123580B1
公开(公告)日：2014-06-04
申请号：EP08703465.8
申请日：2008-01-18
CPC分类号： A61L2/087 , A61L2202/122 , A61L2202/23 , B25J15/08 , B65B55/08 , B65G47/842 , B65G47/90 , B65G2201/0247 , Y10S294/902
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公开(公告)号：EP2474394A1
公开(公告)日：2012-07-11
申请号：EP12150060.7
申请日：2012-01-03
IPC分类号： B25J15/10
CPC分类号： B25J15/08 , B25J15/10 , Y10S901/31 , Y10S901/39
摘要： An aspect of the invention provides a robot hand that performs an action for gripping an object between plural finger sections (112) provided to be capable of changing a distance between the finger sections. Between the plural finger sections, a palm section (130) movable along a direction in which a base side of the plural finger sections and a distal end side of the plural finger section.
摘要翻译： 本发明的一个方面提供了一种机器人手，其执行用于在被设置为能够改变指部之间的距离的多个指部（112）之间夹持物体的动作。 在多个指状部之间，能够沿多个指部的基部侧和多个指状部的前端侧的方向移动的手掌部（130）。
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