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1. 发明公开

EP2018940A3 Flexible workpiece assembling method 审中-公开
标题翻译：一种用于组装可挠性工件的方法
公开(公告)号：EP2018940A3
公开(公告)日：2009-09-30
申请号：EP08009956.7
申请日：2008-05-30
申请人： Fanuc Ltd
发明人： Hariki, Kazuo , Oda, Masaru , Kajio, Shigenori , Nihei, Ryo
IPC分类号： B25J9/16
CPC分类号： B25J9/1682 , B25J9/1687 , G05B2219/39109 , G05B2219/39123 , G05B2219/39469 , G05B2219/40052 , G05B2219/40307 , G05B2219/45064 , Y10T29/49829
摘要： A flexible workpiece assembling method for assembling a flexible workpiece (W) with an object (60) by using a first robot (20) comprising a first hand (21) and a second robot (30) comprising a second hand (31) includes the steps of: gripping a first portion of the flexible workpiece by the first hand and gripping a second portion of the flexible workpiece different from the first portion by the second hand; moving the flexible workpiece to the object through a cooperating operation of the first and second robots; deforming the flexible workpiece into a shape corresponding to the nonflexible object by the first and second robots; and assembling the flexible workpiece onto the nonflexible object by the first and second robots. As a result, the flexible workpiece can be accurately assembled onto the nonflexible object without breaking or tearing. The first and second robots may comprise a pushing means for pushing the flexible workpiece into the object.

2. 发明公开

EP2018940A2 Flexible workpiece assembling method 审中-公开
标题翻译：维斯特胡尔·芬萨布森
公开(公告)号：EP2018940A2
公开(公告)日：2009-01-28
申请号：EP08009956.7
申请日：2008-05-30
申请人： Fanuc Ltd
发明人： Hariki, Kazuo , Oda, Masaru , Kajio, Shigenori , Nihei, Ryo
IPC分类号： B25J9/16
CPC分类号： B25J9/1682 , B25J9/1687 , G05B2219/39109 , G05B2219/39123 , G05B2219/39469 , G05B2219/40052 , G05B2219/40307 , G05B2219/45064 , Y10T29/49829
摘要： A flexible workpiece assembling method for assembling a flexible workpiece (W) with an object (60) by using a first robot (20) comprising a first hand (21) and a second robot (30) comprising a second hand (31) includes the steps of: gripping a first portion of the flexible workpiece by the first hand and gripping a second portion of the flexible workpiece different from the first portion by the second hand; moving the flexible workpiece to the object through a cooperating operation of the first and second robots; deforming the flexible workpiece into a shape corresponding to the nonflexible object by the first and second robots; and assembling the flexible workpiece onto the nonflexible object by the first and second robots. As a result, the flexible workpiece can be accurately assembled onto the nonflexible object without breaking or tearing. The first and second robots may comprise a pushing means for pushing the flexible workpiece into the object.
摘要翻译：一种用于通过使用包括第二手（21）的第一机器人（20）和包括二手（31）的第二机器人（30）来组装柔性工件（W）与物体（60）的柔性工件组装方法，包括：步骤：通过第一只手抓住柔性工件的第一部分，并用二手夹持不同于第一部分的柔性工件的第二部分; 通过第一和第二机器人的协作操作将柔性工件移动到物体; 通过第一和第二机器人将柔性工件变形成对应于不柔性物体的形状; 以及通过第一和第二机器人将柔性工件组装到非柔性物体上。结果，柔性工件可以精确地组装到非柔性物体上而不破裂或撕裂。第一和第二机器人可以包括用于将柔性工件推入物体的推动装置。

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