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31. 发明公开

EP2783801A3 Robot system and method for transferring workpiece 审中-公开
标题翻译：机器人系统和方法，用于传送工件
公开(公告)号：EP2783801A3
公开(公告)日：2015-03-04
申请号：EP14157417.8
申请日：2014-03-03
申请人： Kabushiki Kaisha Yaskawa Denki
发明人： Tomo, Toshihiro , Shimono, Toshiaki
IPC分类号： B25J9/16
CPC分类号： B25J9/1612 , B25J15/06 , G05B2219/39558 , G05B2219/40006 , Y10S901/40
摘要： A robot system 100 includes a robot hand 12, 31, 32 and a controller 6. The robot hand 12, 31, 32 includes a plurality of holders 121 configured to hold a workpiece placed on a workpiece placement stand 201 using at least one of electromagnetic force and suction force. The controller 6 is configured to control the plurality of holders 121 to hold the workpiece while controlling the plurality of holders 121 to switch between operation mode and nonoperation mode in accordance with at least one of a shape and a size of the workpiece.

32. 发明公开

EP2783799A3 Robot system and method for transferring workpiece 审中-公开
标题翻译：机器人系统和方法，用于传送工件
公开(公告)号：EP2783799A3
公开(公告)日：2015-03-04
申请号：EP14157160.4
申请日：2014-02-28
申请人： Kabushiki Kaisha Yaskawa Denki
发明人： Tomo, Toshihiro , Shimono, Toshiaki
IPC分类号： B25J9/16
CPC分类号： B25J9/1612 , B25J9/16 , B25J9/1615 , B25J15/0616 , G05B2219/40006
摘要： A robot system 100 includes a first robot arm 14 and a robot controller 6. The first robot arm 14 extends in a first direction and includes a holder 12 to hold a workpiece placed on a workpiece placement stand 201. The holder 12 includes a distal end portion and a base portion. The base portion is coupled to the first robot arm 14 such that a turning axis of a portion of the first robot arm 14 to which the base portion of the holder 12 is coupled is apart from a geometrical center of the holder 12. The robot controller 6 controls the holder 12 to hold the workpiece while controlling the first robot arm 14 to turn the holder 12 with the distal end portion of the holder 12 oriented in a direction crossing the first direction.

33. 发明公开

EP2783799A2 Robot system and method for transferring workpiece 审中-公开
标题翻译：机器人系统和转移工件的方法
公开(公告)号：EP2783799A2
公开(公告)日：2014-10-01
申请号：EP14157160.4
申请日：2014-02-28
申请人： Kabushiki Kaisha Yaskawa Denki
发明人： Tomo, Toshihiro , Shimono, Toshiaki
IPC分类号： B25J9/16
CPC分类号： B25J9/1612 , B25J9/16 , B25J9/1615 , B25J15/0616 , G05B2219/40006
摘要： A robot system 100 includes a first robot arm 14 and a robot controller 6. The first robot arm 14 extends in a first direction and includes a holder 12 to hold a workpiece placed on a workpiece placement stand 201. The holder 12 includes a distal end portion and a base portion. The base portion is coupled to the first robot arm 14 such that a turning axis of a portion of the first robot arm 14 to which the base portion of the holder 12 is coupled is apart from a geometrical center of the holder 12. The robot controller 6 controls the holder 12 to hold the workpiece while controlling the first robot arm 14 to turn the holder 12 with the distal end portion of the holder 12 oriented in a direction crossing the first direction.
摘要翻译：机器人系统100包括第一机器人臂14和机器人控制器6.第一机器人臂14沿第一方向延伸并且包括用于保持放置在工件放置台201上的工件的保持器12.保持器12包括远端部分和基部。基部与第一机器人臂14连结，使得与保持件12的基部连结的第一机器人臂14的一部分的转动轴线与保持件12的几何中心分开。机器人控制装置 6控制保持器12保持工件，同时控制第一机器人臂14转动保持器12，使保持器12的远端部分沿与第一方向交叉的方向取向。

34. 发明公开

EP2732933A2 Robot system 审中-公开
标题翻译：机器人系统
公开(公告)号：EP2732933A2
公开(公告)日：2014-05-21
申请号：EP13190633.1
申请日：2013-10-29
申请人： Kabushiki Kaisha Yaskawa Denki
发明人： Iruma, Daisuke , Minami, Yusuke
IPC分类号： B25J9/16
CPC分类号： B25J9/1633 , B25J9/1612 , G05B2219/40006
摘要： A robot system includes a plurality of claw members movably provided in a hand and configured to hold and release a workpiece. Further, one or more servo motors is provided to move the claw members. A controller controls an operation of each of the servo motors. The controller includes an acquisition unit configured to acquire dimension information of the workpiece, a position control unit configured to perform position control on the servo motors so that the claw members move to first positions and then to second positions pursuant to the dimension information, and a torque limiting unit configured to limit a torque command relating to each of the servo motors to a predetermined torque or less after the claw members are moved to the first positions.
摘要翻译：机器人系统包括可移动地设置在手中并构造成保持和释放工件的多个爪构件。此外，提供一个或多个伺服马达以移动爪构件。控制器控制每个伺服电机的操作。控制器包括：获取单元，被配置为获取工件的尺寸信息;位置控制单元，被配置为对伺服马达执行位置控制，使得爪构件根据尺寸信息移动到第一位置然后移动到第二位置; 转矩限制单元，其构造成在爪构件移动到第一位置之后将与每个伺服电机相关的转矩命令限制到预定转矩或更小。

35. 发明公开

EP2324968A1 ROBOT AND ITS TEACHING METHOD 有权
标题翻译：机器人及其教学方法
公开(公告)号：EP2324968A1
公开(公告)日：2011-05-25
申请号：EP08778039.1
申请日：2008-07-10
申请人： Kawasaki Jukogyo Kabushiki Kaisha
发明人： SHIMOMURA, Nobuyasu
IPC分类号： B25J9/22 , G05B19/42 , H01L21/677
CPC分类号： H01L21/68707 , B25J9/1692 , G05B2219/40006 , G05B2219/45063 , H01L21/67265
摘要： A robot control unit (40) related to the present invention is configured to turn off a holding unit (60) for a plate member (50), while the plate member (50) is placed on an end effector (25), and lower the end effector (25), by a predetermined distance, from an initial position higher than a preset temporary placing position toward the temporary placing position. Then the robot control unit (40) switches the holding member (60), from an OFF state to an ON state, while the end effector (25) is stopped, and determines whether or not the plate member (50) is held by the holding unit (60), by using a holding-state detection unit (63). When the plate member (50) is determined to be held by the holding unit (60), the robot control unit (40) will turn off the holding unit (60) while further lowering the end effector (25) by the predetermined distance. Meanwhile, when the plate member (50) is determined not to be held by the holding unit (60), the robot control unit (40) will detect a position of the end effector (25) at this point of time, as a normal placing position.
摘要翻译：与本发明有关的机器人控制单元（40）被构造成当板构件（50）被放置在末端执行器（25）上时关闭用于板构件（50）的保持单元（60），并且更低将末端执行器25从比预先设定的临时放置位置高的初始位置向临时放置位置移动规定距离。然后，在末端执行器25停止的状态下，机械手控制部40将保持部件60从OFF状态切换为ON状态，判断板状部件50是否被通过使用保持状态检测单元（63）来保持保持单元（60）。当确定板构件50由保持单元60保持时，机器人控制单元40将断开保持单元60，同时使端部执行器25进一步下降预定距离。另一方面，当板部件50被判定为不被保持部60保持时，机器人控制部40在该时刻检测出末端执行器25的位置，放置位置。

36. 发明公开

EP1982246A1 VERFAHREN ZUM ABLEGEN VON STÜCKGÜTERN IN BEHÄLTER 有权转让
标题翻译：方法用于沉积布匹集装箱
公开(公告)号：EP1982246A1
公开(公告)日：2008-10-22
申请号：EP06830313.0
申请日：2006-12-04
申请人： ROBERT BOSCH GMBH
发明人： STIFTER, Christian
IPC分类号： G05B19/418
CPC分类号： G05B19/4182 , B65B5/12 , G05B2219/32128 , G05B2219/40006 , G05B2219/40014 , G05B2219/45063 , Y02P90/083 , Y02P90/12
摘要： A method for depositing real piece goods into real containers, wherein real piece goods are transported along a picking line and are deposited into spaces in the real containers, which are predetermined by a controller, using robots, is characterized in that the real piece goods and the real containers are previously associated with one another by virtue of graphical symbols for piece goods being placed into at least one graphical symbol for a container on a screen that is connected to the controller. The method according to the invention thus makes it possible to easily and quickly fill a container with an assortment of piece goods in the desired manner using real robot movements.

37. 发明授权

EP1020383B1 LOADING PATTERN GENERATING METHOD 有权
标题翻译：用于生产电荷图
公开(公告)号：EP1020383B1
公开(公告)日：2005-12-21
申请号：EP98950378.4
申请日：1998-10-23
申请人： KABUSHIKI KAISHA YASKAWA DENKI
发明人： NOGUCHI, Yasuhiko, Kabushi Kaisha Yaskawa Denki , KUWAHARA, Koichi, Kabushi Kaisha Yaskawa Denki , KOGA, Ayumi, Kabushi Kaisha Yaskawa Denki , AKIBA, Keishi, Kabushi Kaisha Yaskawa Denki
IPC分类号： G06F17/60 , B25J9/16
CPC分类号： B65G61/00 , B65H54/2821 , B65H54/2824 , B65H54/385 , B65H2701/31 , G05B2219/40006
摘要： An area (22) where the planar shape of a pallet is shown is displayed on the screen of a computer and a figure (23) showing the planar shape and orientation of an object is displayed on another area of the screen different from the area (22) of the screen. The figure (23) is moved to a required position in the area (22) and the orientation of the figure (23) is changed to a required orientation to determine the placement of the figure (23) in the area (22). Similarly, the display and placement of the figure (23) are repeated to form the loading pattern of the object on the pallet.

38. 发明授权

EP0298128B1 ROBOT CONTROLLER 失效
标题翻译： ROBOTERREGELANORDNUNG。
公开(公告)号：EP0298128B1
公开(公告)日：1994-06-08
申请号：EP88900789.4
申请日：1988-01-07
申请人： FANUC LTD.
发明人： MIZUNO, Tohru , ISHIKAWA, Haruyuki
IPC分类号： G05B19/403 , G05B19/18
CPC分类号： G05B19/237 , B25J9/1664 , B25J9/1679 , G05B2219/40006 , G05B2219/50109
摘要： A robot controller enables the robot to hold a work by a robot hand and to stack it on a predetermined place or take it down. The robot controller has memory means (3) for storing a plurality of approaching patterns in relation to the movement of the hand. This controller can arbitrarily set a path pattern from stacking the work from a position where the robot hand starts to move to a poistion where the work is taken down, as well as a path from the point of operation to the position where the robot hand ceases to move, depending upon the kind of work and the position of operation. The controller can also change the attitude of the robot hand at a position of operation.

39. 发明公开

EP0298128A1 ROBOT CONTROLLER 失效
标题翻译： ROBOTERREGELANORDNUNG。
公开(公告)号：EP0298128A1
公开(公告)日：1989-01-11
申请号：EP88900789.4
申请日：1988-01-07
申请人： FANUC LTD
发明人： MIZUNO, Tohru , ISHIKAWA, Haruyuki
IPC分类号： G05B19/403 , G05B19/18
CPC分类号： G05B19/237 , B25J9/1664 , B25J9/1679 , G05B2219/40006 , G05B2219/50109
摘要： A robot controller enables the robot to hold a work by a robot hand and to stack it on a predetermined place or take it down. The robot controller has memory means (3) for storing a plurality of approaching patterns in relation to the movement of the hand. This controller can arbitrarily set a path pattern from stacking the work from a position where the robot hand starts to move to a position where the work is taken down, as well as a path from the point of operation to the position where the robot hand ceases to move, depending upon the kind of work and the position of operation. The controller can also change the attitude of the robot hand at a position of operation.
摘要翻译：机器人手握住工作并将其堆叠在预定的位置或将其取下。机器人臂的五个轴中的每一个由伺服电机（8）和具有位置，速度和电流的反馈控制回路的控制电路（6）控制。 ROM（2）存储包括G代码和用于堆叠操作的操作数的控制程序。 RAM（3）存储包括底点位置，机器人手的接近图案和机器人姿态参数的数据。通过从CRT上显示的菜单进行选择，任意地设定从起点到终点的路径图案，其他参数也是如此。当需要操作时，基于已经指定的数据，实时地在RAM（3）上产生链路缓冲器，并向伺服控制电路（6）发出指令。

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