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公开(公告)号：US20130199010A1
公开(公告)日：2013-08-08
申请号：US13754096
申请日：2013-01-30
发明人： Toshiaki Osato , Takashi Arai , Shuichi Hirasawa
IPC分类号： B23Q1/00
CPC分类号： B23Q1/00 , B23P19/04 , B25J9/0084 , B25J9/0087 , B25J9/0096 , B25J17/025 , Y10T29/53991
摘要： Assembly equipment comprises a base, a first holding hand provided in a first robot arm set on the base, a second holding hand provided in a second robot arm set on the base, and a control device configured to control the first and second robot arms and the first and second holding hands. The first holding hand comprises an attachment connected to the first robot arm and having a rotation shaft, and an aligning holding mechanism provided in a rotation mechanism having a rotation shaft located to intersect the rotation shaft of the attachment or located in a skewed positional relationship with the rotation shaft of the attachment. A cooperative working area of the first and second holding hands is provided in an overlapping area where working areas of the first and second holding hands overlap with each other.
摘要翻译： 组装设备包括基座，设置在设置在基座上的第一机器人手臂中的第一保持手，设置在设置在基座上的第二机器人手臂中的第二握持手和被配置为控制第一和第二机器人手臂的控制装置， 第一和第二手牵着手。 第一握持手包括连接到第一机器人手臂并具有旋转轴的附件和设置在旋转机构中的对准保持机构，该旋转机构具有旋转轴，该旋转轴定位成与附件的旋转轴相交或以与倾斜位置关系的位置关系 附件的旋转轴。 在第一和第二握持器的工作区域彼此重叠的重叠区域中设置第一和第二握持手的协作工作区域。
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公开(公告)号：US09868181B2
公开(公告)日：2018-01-16
申请号：US13754096
申请日：2013-01-30
发明人： Toshiaki Osato , Takashi Arai , Shuichi Hirasawa
CPC分类号： B23Q1/00 , B23P19/04 , B25J9/0084 , B25J9/0087 , B25J9/0096 , B25J17/025 , Y10T29/53991
摘要： Assembly equipment comprises a base, a first holding hand provided in a first robot arm set on the base, a second holding hand provided in a second robot arm set on the base, and a control device configured to control the first and second robot arms and the first and second holding hands. The first holding hand comprises an attachment connected to the first robot arm and having a rotation shaft, and an aligning holding mechanism provided in a rotation mechanism having a rotation shaft located to intersect the rotation shaft of the attachment or located in a skewed positional relationship with the rotation shaft of the attachment. A cooperative working area of the first and second holding hands is provided in an overlapping area where working areas of the first and second holding hands overlap with each other.
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公开(公告)号：US20180099365A1
公开(公告)日：2018-04-12
申请号：US15837947
申请日：2017-12-11
发明人： Toshiaki Osato , Takashi Arai , Shuichi Hirasawa
CPC分类号： B23Q1/00 , B23P19/04 , B25J9/0084 , B25J9/0087 , B25J9/0096 , B25J17/025 , Y10T29/53991
摘要： Assembly equipment comprises a base, a first holding hand provided in a first robot arm set on the base, a second holding hand provided in a second robot arm set on the base, and a control device configured to control the first and second robot arms and the first and second holding hands. The first holding hand comprises an attachment connected to the first robot arm and having a rotation shaft, and an aligning holding mechanism provided in a rotation mechanism having a rotation shaft located to intersect the rotation shaft of the attachment or located in a skewed positional relationship with the rotation shaft of the attachment. A cooperative working area of the first and second holding hands is provided in an overlapping area where working areas of the first and second holding hands overlap with each other.
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