Production system having cooperating process area between human and robot
    1.
    发明授权
    Production system having cooperating process area between human and robot 有权
    生产系统具有人与机器人之间的协作处理区域

    公开(公告)号:US08315735B2

    公开(公告)日:2012-11-20

    申请号:US12694201

    申请日:2010-01-26

    IPC分类号: G06F19/00

    摘要: A production system in which a human and a robot may simultaneously perform a cooperative task in the same area while ensuring human's safety. A robot is positioned at one side of a working table, and an operator is positioned at the other side of the working table. The reachable area of the operator is limited by the working table. An area of the working table is divided into an area where only the operator may perform a task, an area where only the robot may perform a task, and an area where both the operator and the robot may enter. In a cooperation mode, the maximum movement speed of a component of the robot is limited lower than when the component of the robot is outside the cooperative task area, and, the motion of the robot is limited so that the robot does not enter a robot entry-prohibited area.

    摘要翻译: 人和机器人可以同时在同一地区执行合作任务同时确保人的安全的生产系统。 机器人位于工作台的一侧,操作者位于工作台的另一侧。 操作员的可达区域受工作台的限制。 工作台的区域被划分为仅操作者可以执行任务的区域,仅机器人可以执行任务的区域以及操作者和机器人可以进入的区域。 在协作模式中,机器人的部件的最大移动速度被限制在比机器人的部件在协作任务区域之外的最小移动速度,并且机器人的运动受到限制,使得机器人不进入机器人 入境禁区。

    Human robot interactive system
    2.
    发明授权
    Human robot interactive system 有权
    人机交互系统

    公开(公告)号:US08788093B2

    公开(公告)日:2014-07-22

    申请号:US13185667

    申请日:2011-07-19

    摘要: A human-robot interactive system in which a robot and a human share an area for performing interactive work, the human-robot interactive system including a force sensor which is set at an end effector attached to a front end of the robot or which is set at the robot and, when a detected value of the force sensor exceeds a predetermined value, is configured to stop the robot or controlling operation of the robot so that a detected value of the force sensor becomes smaller, the system further including a limiter which limits a work area of said human so as to prevent contact by the human with the first robot portion of the robot that is positioned further from the human than a set position of the force sensor during operation even when the robot approaches the human.

    摘要翻译: 一种人机交互系统,其中机器人和人共享用于进行交互工作的区域,所述人 - 机器人交互系统包括力传感器,所述力传感器被设置在附接到所述机器人的前端的末端执行器或被设置 在机器人处,并且当力传感器的检测值超过预定值时,被配置为停止机器人或控制机器人的操作,使得力传感器的检测值变小,该系统还包括限制器 所述人的工作区域,以便即使在机器人接近人的情况下,也可以防止操作人员与机器人远离人的第一机器人部分接触,而不是在操作过程中力传感器的设定位置。

    Double-hand unit
    3.
    发明授权
    Double-hand unit 失效
    双手单位

    公开(公告)号:US4484855A

    公开(公告)日:1984-11-27

    申请号:US387881

    申请日:1982-06-04

    IPC分类号: B23Q7/04 B25J15/00

    CPC分类号: B25J15/0052

    摘要: A double-hand unit adapted to be secured to the wrist part of an industrial robot and to be used for gripping shaft works or the like is disclosed. The double-hand unit comprises two hand units (2, 3) comprising at least two pairs of fingers (2-1, 2-2 and 3-1, 3-2), respectively, and being disposed in a back-to-back relationship with the respective opening sides of the fingers directed in opposite directions with each other. The driving mechanisms for operating the associated fingers of the hand units (2, 3) are disposed one over the other along a plane including the fingers.

    摘要翻译: PCT No.PCT / JP81 / 00265 Sec。 371日期1982年6月4日 102(e)日期1982年6月4日PCT提交1981年10月7日PCT公布。 公开号WO82 / 01153 日期:1982年4月15日。公开了一种适于固定在工业机器人的腕部上并用于夹紧轴工件等的双手单元。 双手单元包括分别包括至少两对手指(2-1,2-2和3-1,3-2)的两个手动单元(2,3),并且设置成背对背 与相互指向相反方向的手指的相应开口侧相反的关系。 用于操作手动单元(2,3)的相关联的手指的驱动机构沿着包括手指的平面彼此一个地布置。

    Hand of an industrial robot
    4.
    发明授权
    Hand of an industrial robot 失效
    工业机器人的手

    公开(公告)号:US4479673A

    公开(公告)日:1984-10-30

    申请号:US387855

    申请日:1982-06-01

    CPC分类号: B25J15/10

    摘要: A hand (34) of an industrial robot for gripping a workpiece (14) and the like comprising: a hand base plate member (36) connected to a wrist portion (32); a plurality of pairs of opening and closing gripping fingers (38a and 38b, 38d) arranged on the palm face (36a) of the hand base plate member (36), and; an actuator (48 or 48') being arranged for each pair of the opening and closing fingers (38a and 38b, 38c and 38d) to actuate the fingers. The hand (34) is capable of securely and stably holding a workpiece having a heavy weight and/or an angular shape, or other complicated shape.

    摘要翻译: PCT No.PCT / JP81 / 00259 Sec。 371日期1982年6月1日 102(e)1982年6月1日PCT PCT 1991年9月30日PCT公布。 出版物WO82 / 01152 日期:1982年04月15日。一种用于夹持工件(14)等的工业机器人的手(34),包括:连接到腕部(32)的手基板构件(36)。 配置在手持基板部件(36)的手掌面(36a)上的多对开闭夹持指(38a,38b,38d) 为每对打开和关闭指状物(38a和38b,38c和38d)布置致动器(48或48')以致动手指。 手(34)能够牢固且稳定地保持具有重量和/或角形或其他复杂形状的工件。

    Device for operating a hand of an industrial robot
    5.
    发明授权
    Device for operating a hand of an industrial robot 失效
    用于操作工业机器人的手的装置

    公开(公告)号:US4530636A

    公开(公告)日:1985-07-23

    申请号:US387886

    申请日:1982-06-04

    CPC分类号: B25J13/082

    摘要: A device for operating a hand of an industrial robot is so constructed that fluid pressure cylinders (43, 44) are provided as a driving mechanism of the hand (4) of the industrial robot, branch passages including a pressure-reducing valve (47) are provided in a fluid supply passage to the fluid pressure cylinders (43, 44), the supply of fluid is switched by solenoid valves (SV.sub.2, SV.sub.3, SV.sub.4), and the switching of the solenoid valves (SV.sub.2, SV.sub.3, SV.sub.4) is carried out in accordance with the selected grasping force which has been selected in the teaching mode of the industrial robot, whereby the grasping force of the hand can be controlled stepwisely.

    摘要翻译: PCT No.PCT / JP81 / 00267 Sec。 371日期1982年6月4日 102(e)日期1982年6月4日PCT提交1981年10月7日PCT公布。 公开号WO82 / 01155 日本1984年4月15日。一种用于操作工业机器人的手的装置被构造成使得流体压力缸(43,44)被设置为工业机器人的手(4)的驱动机构,分支通道包括 在流体压力缸(43,44)的流体供给通路中设置有减压阀(47),通过电磁阀(SV2,SV3,SV4)切换流体供给,并且电磁阀 SV2,SV3,SV4)根据在工业机器人的教学模式中选择的所选抓取力进行,从而可以逐步地控制手的抓握力。

    Double hand with a through hole
    6.
    发明授权
    Double hand with a through hole 失效
    双手带通孔

    公开(公告)号:US4488746A

    公开(公告)日:1984-12-18

    申请号:US387840

    申请日:1982-06-04

    CPC分类号: B25J15/0273

    摘要: A double hand applicable to an industrial robot comprises two hand units (2, 3) comprising at least two pairs, one each, of fingers (2-1 and 2-2, 3-1 and 3-2) and plate members (2-3, 3-3) of a pressing unit (4) disposed in parallel along the center axis of the fingers. The hand units (2, 3) are connected through a pressing mechanism (4) to constitute a double hand in a manner that the respective gripping center axis of the two hand units are in alignment, the respective plate members (2-3, 3-3) of the pressing unit are disposed opposite to each other and the opening sides of the respective pairs of fingers of the two hand units are directed in opposite directions to each other. An opening (6) for allowing a workpiece to penetrate through the plate members is provided for each of the plate members (2-3, 3-3) of the pressing unit attached to the hand units (2, 3 ) respectively coaxially with the gripping center axis so that both hand units (2, 3) are allowed to move freely relative to the workpiece gripped by the hand units (2, 3) along the gripping center axis.

    摘要翻译: PCT No.PCT / JP81 / 00269 Sec。 371日期1982年6月4日 102(e)日期1982年6月4日PCT提交1981年10月7日PCT公布。 公开号WO82 / 01157 日期:1982年4月15日。适用于工业机器人的双手包括两个手单元(2,3),其包括至少两对,每个手指(2-1和2-2,3-1和3- 2)和沿着手指的中心轴线平行布置的按压单元(4)的板构件(2-3,3-3)。 手单元(2,3)通过按压机构(4)连接,以使两个手单元的相应夹持中心轴对准的方式构成双手,各个板构件(2-3,3 -3)彼此相对设置,并且两只手单元的各对手指的开口侧彼此相反地指向。 对于分别与分别同轴地设置在手部单元(2,3)上的按压单元的每个平板构件(2-3,3-3)设置用于允许工件穿过板构件的开口(6) 夹持中心轴线,使得两个手动单元(2,3)能够相对于由手动单元(2,3)夹持的工件沿夹持中心轴线自由移动。

    Robot hand of an industrial robot
    7.
    发明授权
    Robot hand of an industrial robot 失效
    工业机器人的机器人手

    公开(公告)号:US4482289A

    公开(公告)日:1984-11-13

    申请号:US299585

    申请日:1981-09-04

    IPC分类号: B25J1/00 B25J15/00

    CPC分类号: B25J15/0052

    摘要: A robot hand of an industrial robot used as a manipulating device of a bar-like workpiece having a pair of gripping members attached to a base member and arranged so as to be slid toward and away from one another so that an appropriate distance between the pair of gripping members is established depending on the difference of lengths of workpieces to be gripped by the gripping members of the robot hand.

    摘要翻译: 工业机器人的机器人手用作棒状工件的操纵装置,其具有附接到基部构件的一对夹持构件,并且被布置成彼此滑动并相互滑动,使得该对之间的适当距离 取决于由机器人手的夹持构件夹紧的工件的长度的差异来建立夹持构件。

    Robot control system
    8.
    发明授权
    Robot control system 失效
    机器人控制系统

    公开(公告)号:US4562551A

    公开(公告)日:1985-12-31

    申请号:US414355

    申请日:1982-08-26

    摘要: A hand of a robot is moved from an instant position P.sub.1 to a first command position P.sub.2 to grip one of the workpieces W.sub.1, W.sub.2, W.sub.3 placed at the first command position and conveys the same to a second command position P.sub.3. As a sensor is contacted by the workpiece when the hand takes an intermediate position Px, on its way from the instant position P.sub.1 to the first command position P.sub.2, the robot control system decelerates the hand without delay or after a travel of the hand over a predetermined distance and, after travel of the hand over a predetermined deceleration distance, stops the hand. The hand is then moved from the stopping position to the second command position P.sub.3 neglecting the remaining stroke or movement between the stopping position and the first command position.

    摘要翻译: PCT No.PCT / JP81 / 00383 Sec。 371日期1982年8月26日 102(e)日期1982年8月26日PCT提交1981年12月16日PCT公布。 出版物WO82 / 02437 日期:1982年7月22日。机器人的手从即时位置P1移动到第一指令位置P2,以抓握放置在第一指令位置的工件W1,W2,W3中的一个,并将其传送到第二指令 位置P3。 当手从中间位置Px在从即时位置P1到第一指令位置P2的途中传感器被工件接触时,机器人控制系统使手慢慢减速,或者在手移过 预定距离,并且在手超过预定的减速距离之后,停止手。 然后将手从停止位置移动到第二指令位置P3,忽略剩余行程或停止位置与第一指令位置之间的移动。

    Robot control system
    10.
    发明授权
    Robot control system 失效
    机器人控制系统

    公开(公告)号:US4571694A

    公开(公告)日:1986-02-18

    申请号:US414366

    申请日:1982-08-26

    摘要: The hand of a robot is moved from an instant position P.sub.1 to a first command position P.sub.2 to grip one of the workpiece W.sub.1,W.sub.2,W.sub.3 placed at the first command position and conveys the same to a second command position P.sub.3. A sensor is contacted by the workpiece when the hand takes an intermediate position Px on its way from the instant position P.sub.1 to the first command position P.sub.2, the robot control system stops the hand without delay or after travel of the hand over a predetermined distance and, after the travel of the hand over a predetermined deceleration distance, stops the hand. The hand is then moved from the stopping position to the second command position P.sub.3 neglecting the remaining stroke or movement between the stopping position and the first command position.

    摘要翻译: PCT No.PCT / JP81 / 00384 Sec。 371日期1982年8月26日 102(e)日期1982年8月26日PCT提交1981年12月16日PCT公布。 出版物WO82 / 02438 日期:1982年7月22日。机器人的手从即时位置P1移动到第一指令位置P2,以抓握放置在第一指令位置的工件W1,W2,W3中的一个,并将其传送到第二指令 位置P3。 当手从即时位置P1到第一指令位置P2的手中取出中间位置Px时,传感器被工件接触,机器人控制系统不间断地停止手或者在手移动预定距离之后, 手指超过预定的减速距离后,停止手。 然后将手从停止位置移动到第二指令位置P3,忽略剩余行程或停止位置与第一指令位置之间的移动。