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    • 47. 发明授权
    • Industrial robot
    • 工业机器人
    • US07715946B2
    • 2010-05-11
    • US10976049
    • 2004-10-29
    • Atsushi WatanabeRyo NiheiToshihiko Inoue
    • Atsushi WatanabeRyo NiheiToshihiko Inoue
    • G06F19/00
    • B25J19/023
    • An industrial robot, having an end-effector supporting mechanism for holding an end-effector and accommodating an imaging device of a visual sensor, which is free from the interference with the periphery and capable of taking an image of the working position. A container-shaped adaptor of the end-effector supporting mechanism is attached to a distal end of a wrist flange provided in a robot wrist supported by a robot arm. The adaptor has a first attachment section provided with a first attachment surface to be attached to the wrist flange, and a second attachment section provided with a second attachment surface disposed generally parallel to a wrist flange surface at a position apart from the first attachment section by a predetermined distance along a rotary center axis of the wrist flange. On the second attachment surface, a tool holding member of the end-effector supporting mechanism for holding the working tool is attached.
    • 一种工业机器人,其具有用于保持末端执行器并且容纳视觉传感器的成像装置的末端执行器支撑机构,其不受与周边的干涉并能够拍摄工作位置的图像。 末端执行器支撑机构的容器形适配器安装在由机器人手臂支撑的机器手腕中设置的腕部凸缘的远端。 适配器具有第一附接部分,该第一附接部分设置有附接到腕部凸缘的第一附接表面,以及第二附接部分,其设置有第二附接表面,该第二附接表面设置成大致平行于手腕凸缘表面设置在与第一附接部分分开的位置处 沿着腕部凸缘的旋转中心轴线的预定距离。 在第二安装面上安装有用于保持加工工具的端部执行器支撑机构的工具保持部件。
    • 50. 发明授权
    • Offline programming device
    • 离线编程设备
    • US07613545B2
    • 2009-11-03
    • US11099504
    • 2005-04-06
    • Atsushi WatanabeHirohiko KobayashiYoshiharu Nagatsuka
    • Atsushi WatanabeHirohiko KobayashiYoshiharu Nagatsuka
    • G06F19/00
    • G05B19/4061B25J9/1666G05B2219/40317G05B2219/40515Y02P90/265
    • An offline programming device in which a path for preventing interference may be automatically inserted such that a welding robot does not interfere with a jig clamping a workpiece to be welded. The models of the robot, the workpiece and the clamp jig are indicated on a display for determining the path for preventing interference. A simulation is carried out to judge that interference with the jig may occur. When it is judged that interference will occur, data of the preventing path suitable for a straight path passing through the jig are read out from a library including registered preventing paths corresponding to shapes of various jigs. The data of the preventing path includes the three-dimensional data of each point of the path as the incremental value in relation to a reference point of the path. Also, the orientation of a welding torch is registered. The corrected welding program may be downloaded to the actual robot so as to correct the uploaded offline program by using a test result in the actual robot.
    • 可以自动插入用于防止干扰的路径的离线编程装置,使得焊接机器人不干涉夹具待焊接的工件的夹具。 在显示器上指示机器人,工件和夹具的型号,以确定用于防止干扰的路径。 进行模拟以判断可能发生对夹具的干扰。 当判断出会发生干扰时,从包括对应于各种夹具的形状的登记防止路径的库中读出适合于穿过夹具的直线路径的防止路径的数据。 防止路径的数据包括路径的每个点的三维数据作为与路径的参考点相关的增量值。 另外,记录了焊炬的取向。 校正焊接程序可以下载到实际的机器人中,以便通过在实际机器人中使用测试结果来校正上传的脱机程序。