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公开(公告)号：US20170336776A1
公开(公告)日：2017-11-23
申请号：US15532688
申请日：2014-12-26
IPC分类号： G05B19/409 , B25J9/16
CPC分类号： G05B19/409 , B25J9/161 , B25J9/1664 , B25J9/1682 , B25J9/1687 , G05B19/425 , G05B2219/34202 , G05B2219/40099 , G05B2219/40392 , G05B2219/40395
摘要： The purpose is to enable an instructor who does not know any programming language to easily teach robot movements and operation content to a robot without using a teach pendant. This method for generating a robot operation program includes a step, using a GUI, for sequentially executing in a plurality of template element operation programs the feature of displaying a variable specification screen for specifying a variable of a certain template element operation program, and then storing the template element operation program for which the variable was specified in a storage unit as a custom element operation program. The plurality of template element operation programs is configured so that: one or more finger position coordinates specifying a robot motion required for the element operation corresponding to the program are included as variables; and the one or more finger position coordinates are all specified, thereby specifying the robot motion.
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公开(公告)号：US20160325439A1
公开(公告)日：2016-11-10
申请号：US15103503
申请日：2014-12-09
CPC分类号： B25J15/0616 , B24B41/06 , B25J9/0018 , B25J11/0065 , B25J15/009 , B25J15/0253
摘要： A robot hand has a hand base portion mounted on the distal end of the arm, a workpiece holding unit provided to the hand base portion, and a workpiece positioning unit for positioning the workpiece held by the workpiece holding unit in a predetermined position with respect to the workpiece holding unit. The workpiece holding unit has an sucking portion for sucking the surface of the workpiece so as to releasably hold the workpiece, and the sucking portion is elastically deformable in a direction parallel to the surface of the workpiece in the state that the workpiece is sucked. A robot hand having a function of positioning a workpiece in a predetermined position with respect to a workpiece holding unit can be provided.
摘要翻译： 机器人手具有安装在臂的远端上的手基部，设置在手基部的工件保持单元，以及工件定位单元，用于将由工件保持单元保持的工件定位在相对于 工件夹持单元。 工件保持单元具有用于吸附工件的表面以便可释放地保持工件的吸入部分，并且在被吸收工件的状态下，吸引部分可在与工件的表面平行的方向上弹性变形。 可以提供具有将工件相对于工件保持单元定位在预定位置的功能的机器人手。
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公开(公告)号：US20160325400A1
公开(公告)日：2016-11-10
申请号：US15103546
申请日：2014-12-09
CPC分类号： B24B51/00 , B23Q7/047 , B23Q37/00 , B24B41/02 , B25J9/0018 , B25J11/0065 , B25J21/00
摘要： A robot cell has a cell skeleton, a ceiling-suspended type robot installed inside of the cell skeleton and having a robot hand for holding a workpiece, and a processing device installed inside of the cell skeleton so as to process the workpiece in a state of being held by the robot hand. In a robot cell for processing a workpiece in a state of being held by a robot hand by a processing device, its space efficiency can be improved.
摘要翻译： 机器人单元具有细胞骨架，安装在细胞骨架内部并具有用于保持工件的机器人手的天花板悬挂型机器人，以及安装在细胞骨架内部的处理装置，以处理工件的状态 由机器人手握住。 在用于通过处理装置由机器人手保持的状态下处理工件的机器人单元中，可以提高其空间效率。
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4.发明申请WORKPIECE REVERSE SUPPORT DEVICE AND ROBOT CELL INCLUDING THE SAME DEVICE 审中-公开工作反向支持设备和机器人电池，包括相同的设备公开(公告)号：US20160318191A1
公开(公告)日：2016-11-03
申请号：US15103537
申请日：2014-12-09
CPC分类号： B25J15/0253 , B24B21/008 , B24B41/005 , B25J9/0018 , B25J9/0096 , B25J15/0616 , B25J21/00
摘要： A workpiece reverse support device has a pair of workpiece pinching members for abutting on their respective opposing side portions of the workpiece held by the robot hand so as to pinch the workpiece and a pinching state switching unit for switching the pair of workpiece pinching members between a pinching state of pinching the workpiece and a releasing state of releasing the workpiece. In a workpiece reverse support device for supporting a face/back reverse of a workpiece in a robot hand, flexibility of its installation state, namely installation location, installation posture, or the like can be enhanced.
摘要翻译： 工件反向支撑装置具有一对工件夹持构件，用于抵靠由机器人手保持的工件的相应的相对侧部分，以夹紧工件;夹持状态切换单元，用于在一个工件夹持构件之间切换 夹持工件的夹持状态和释放工件的释放状态。 在用于在机器人手中支撑工件的面/背反向的工件反向支撑装置中，可以提高其安装状态的灵活性，即安装位置，安装姿势等。
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公开(公告)号：US20210154826A1
公开(公告)日：2021-05-27
申请号：US16643767
申请日：2018-08-27
摘要： A robot system includes an operating device that receives an operation instruction from an operator, a real robot that is installed in a work space and performs a series of works constituted of a plurality of steps, a camera configured to image the real robot, a display device configured to display video information of the real robot imaged by the camera and a virtual robot, and a control device, in which the control device is configured to operate the virtual robot displayed on the display device based on instruction information input from the operating device, and thereafter operate the real robot in a state that the virtual robot is displayed on the display device when operation execution information to execute an operation of the real robot is input from the operating device.
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公开(公告)号：US20200156258A1
公开(公告)日：2020-05-21
申请号：US16636139
申请日：2018-07-27
摘要： A robot system includes an operating device that receives an operation instruction from an operator, a real robot that is installed in a work space and performs a series of works constituted of a plurality of steps, a transmission type display device configured to allow the operator to visually recognize a real world and configured to display a virtual robot, and a control device, in which the control device is configured to operate the virtual robot displayed on the transmission type display device based on instruction information input from the operating device, and thereafter operate the real robot in a state that the virtual robot is displayed on the transmission type display device when operation execution information to execute an operation of the real robot is input from the operating device.
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公开(公告)号：US20160325431A1
公开(公告)日：2016-11-10
申请号：US15108334
申请日：2014-12-22
CPC分类号： B25J9/163 , B25J9/1656 , B25J9/1664 , G05B19/42 , G05B2219/40449 , Y10S901/03
摘要： An operation program creating method comprises performing, with a computer, a speed setting step that creates an operation program of a robot in such a manner that speeds at a plurality of teaching points are set, and in the speed setting step, the speed at a specified teaching point on the designed movement path is set based on a position change or a posture change in a plurality of teaching points including the specified teaching point, a teaching point which is upstream of the specified teaching point on the designed movement path, and/or a teaching point which is downstream of the specified teaching point on the designed movement path.
摘要翻译： 一种操作程序创建方法，包括以计算机执行速度设置步骤，该速度设置步骤以设置多个教学点的速度的方式创建机器人的操作程序，并且在速度设定步骤中， 基于所设计的运动路径上的指定教导点，基于在指定教导点的多个教学点中的位置变化或姿势变化，设计运动路径上的指定教导点的上游的教导点和/ 或在设计的运动路径上的指定教导点的下游的教导点。
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