公开(公告)号：US08630736B2

公开(公告)日：2014-01-14

申请号：US13398944

申请日：2012-02-17

申请人： Kazuo Hariki ,  Shigenori Kajio ,  Takaki Aiba

发明人： Kazuo Hariki ,  Shigenori Kajio ,  Takaki Aiba

IPC分类号： G05B19/04 ,  G05B19/18 ,  G06F7/00 ,  G06F19/00

CPC分类号： B25J19/021 ,  B25J9/0051 ,  B25J9/0093 ,  B25J15/0616

摘要： A conveying device capable of sequentially and efficiently picking up a plurality of randomly located rods, and conveying the picked up rod to a predetermined place, without using a complicated mechanism. A sucking unit has a nozzle attached to a robot hand, and is configured to move the nozzle close to an end of a first cylindrical portion of a rod to be picked. The nozzle is configured to hold the rod by being lifted while sucking the first portion within the nozzle.

摘要翻译： 一种输送装置，其能够顺序地且有效地拾取多个随机定位的杆，并且将拾取的杆输送到预定的位置，而不使用复杂的机构。 抽吸单元具有附接到机器人手的喷嘴，并且被配置为使喷嘴移动靠近待拾取的杆的第一圆柱形部分的端部。 所述喷嘴构造成通过在吸入所述喷嘴内的所述第一部分的同时提升而保持所述杆。

公开(公告)号：US20120213623A1

公开(公告)日：2012-08-23

申请号：US13398944

申请日：2012-02-17

申请人： Kazuo HARIKI ,  Shigenori KAJIO ,  Takaki AIBA

发明人： Kazuo HARIKI ,  Shigenori KAJIO ,  Takaki AIBA

IPC分类号： B25J9/00 ,  B25J15/06

CPC分类号： B25J19/021 ,  B25J9/0051 ,  B25J9/0093 ,  B25J15/0616

摘要： A conveying device capable of sequentially and efficiently picking up a plurality of randomly located rods, and conveying the picked up rod to a predetermined place, without using a complicated mechanism. A sucking unit has a nozzle attached to a robot hand, and is configured to move the nozzle close to an end of a first cylindrical portion of a rod to be picked. The nozzle is configured to hold the rod by being lifted while sucking the first portion within the nozzle.

摘要翻译： 一种输送装置，其能够顺序地且有效地拾取多个随机定位的杆，并且将拾取的杆输送到预定的位置，而不使用复杂的机构。 抽吸单元具有附接到机器人手的喷嘴，并且被配置为使喷嘴移动靠近待拾取的杆的第一圆柱形部分的端部。 所述喷嘴构造成通过在吸入所述喷嘴内的所述第一部分的同时提升而保持所述杆。

公开(公告)号：US20090025199A1

公开(公告)日：2009-01-29

申请号：US12128877

申请日：2008-05-29

申请人： Kazuo HARIKI ,  Masaru ODA ,  Shigenori KAJIO ,  Ryo NIHEI

发明人： Kazuo HARIKI ,  Masaru ODA ,  Shigenori KAJIO ,  Ryo NIHEI

IPC分类号： B23P11/00

CPC分类号： B25J9/1682 ,  B25J9/1687 ,  G05B2219/39109 ,  G05B2219/39123 ,  G05B2219/39469 ,  G05B2219/40052 ,  G05B2219/40307 ,  G05B2219/45064 ,  Y10T29/49829

摘要： A flexible workpiece assembling method for assembling a flexible workpiece (W) with an object by using a first robot comprising a first hand and a second robot comprising a second hand includes the steps of: gripping a first portion of the flexible workpiece by the first hand and gripping a second portion of the flexible workpiece different from the first portion by the second hand; moving the flexible workpiece to the object through a cooperating operation of the first and second robots; deforming the flexible workpiece into a shape corresponding to the nonflexible object by the first and second robots; and assembling the flexible workpiece onto the nonflexible object by the first and second robots. As a result, the flexible workpiece can be accurately assembled onto the nonflexible object without breaking or tearing. The first and second robots may comprise a pushing means for pushing the flexible workpiece into the object.

摘要翻译： 通过使用包括第一只手的第一机器人和包括第二只手的第二机器人来组装柔性工件（W）与物体的柔性工件组装方法包括以下步骤：通过第一只手抓住柔性工件的第一部分 以及用所述秒针夹住与所述第一部分不同的所述柔性工件的第二部分; 通过第一和第二机器人的协作操作将柔性工件移动到物体; 通过第一和第二机器人将柔性工件变形成对应于非柔性物体的形状; 以及通过第一和第二机器人将柔性工件组装到非柔性物体上。 结果，柔性工件可以精确地组装到非挠性物体上而不破裂或撕裂。 第一和第二机器人可以包括用于将柔性工件推入物体的推动装置。