公开(公告)号：US20160136813A1

公开(公告)日：2016-05-19

申请号：US14979554

申请日：2015-12-28

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Tatsuo HIRO ,  Kuniaki KATAMINE ,  Ryuta KAGAWA ,  Yusuke KINOSHITA ,  Manabu OKAHISA ,  Masami NAKAKURA

IPC: B25J9/16 ,  B25J11/00 ,  B23K11/31

CPC classification number: B25J9/1664 ,  B25J9/0027 ,  B25J9/0084 ,  B25J9/161 ,  B25J9/1643 ,  Y10S901/02 ,  Y10S901/14

Abstract: A machining apparatus includes a robot including a first arm portion, a second arm portion, a tip portion, a second actuator swinging the first arm portion around a second axis, a third actuator swinging the second arm portion around a third axis, a seventh actuator adjusting a distance between the second axis and the third axis, and an end effector provided to a tip portion and applying machining to a workpiece. The robot is positioned such that a movable range of a tip portion of the first arm portion or a base end portion of the second arm portion interferes with the workpiece when the first arm portion is rotated around the second axis, where the distance is made longest, in a state where the robot exactly faces the workpiece.

Abstract translation: 一种加工设备包括：机器人，包括第一臂部分，第二臂部分，末端部分，绕第二轴线摆动第一臂部分的第二致动器;绕第三轴线摆动第二臂部分的第三致动器;第七致动器 调节第二轴线与第三轴线之间的距离，以及设置在尖端部分上的端部执行器，并对工件进行加工。 机器人被定位成使得当第一臂部分围绕第二轴线旋转时，第一臂部分的末端部分或第二臂部分的基端部分的可移动范围与工件干涉，其中距离最长 在机器人精确面对工件的状态下。