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1. 发明公开

EP0146682A1 Wrist mechanism for industrial robot 失效
标题翻译： Gelenkfüreinen Industrieroboter。
公开(公告)号：EP0146682A1
公开(公告)日：1985-07-03
申请号：EP84109077.2
申请日：1984-08-01
申请人： KABUSHIKI KAISHA YASKAWA DENKI SEISAKUSHO
发明人： Kimura, Kaoru , Sato, Shunji , Ogawa, Junichiro , Nakano, Mitsuyoshi
IPC分类号： B25J17/00
CPC分类号： B25J17/0291 , Y10T74/19051 , Y10T74/20207 , Y10T403/17
摘要： A wrist mechanism for an industrial robot has three degrees of freedom. The first degree of freedom is associated with a first input shaft for rotating a wrist portion at a low speed. The second and third degrees of freedom are associated with rotating the tool or tilting the wrist, In order to attain these motions, second and third input shafts are concentrically arranged relative to the first input shaft. Furthermore in a wrist mechanism of the type that two sets of differential speed reduction devices are provided within a wrist and arranged symmetrically of and perpendicularly to the axis of an arm and that the adjustment of the angle of the wrist and the rotation of a tool carried out through the differential speed reduction devices, a novel wrist mechanism is provided for preventing a wrist cover from entering into a dead point condition. The wrist mechanism comprises a guide protrusion and a guide.
摘要翻译：用于工业机器人的手腕机构具有三个自由度。第一自由度与用于以低速旋转腕部的第一输入轴相关联。第二和第三自由度与旋转工具或倾斜手腕有关。为了获得这些运动，第二和第三输入轴相对于第一输入轴同心地布置。此外，在手腕机构中，两组差速减速装置设置在手腕内并且对称地并且垂直于臂的轴线并且手腕的角度和所携带的工具的旋转的调节通过差速减速装置，提供了一种新颖的手腕机构，用于防止腕套进入死点状态。手腕机构包括导向突起和引导件。

2. 发明公开

EP0264031A3 Locus interpolation device 失效
标题翻译： LOCUS插值器件
公开(公告)号：EP0264031A3
公开(公告)日：1989-12-27
申请号：EP87114348.3
申请日：1987-10-01
申请人： KABUSHIKI KAISHA YASKAWA DENKI
发明人： Kimura, Kaoru , Nishi, Masanori , Minami, Yoshikatsu
IPC分类号： G05B19/415 , G05B19/41
CPC分类号： G05B19/39 , B25J9/1015 , G05B2219/40297 , G05B2219/40353
摘要： A locus interpolation device characterized in that the device is attached to an end of a wrist of a movable structure such as a robot, with a tool supported by the device, and a circular or noncircular locus is interpolated by controlling the operation of the tool independently from that of the movable structure.

3. 发明公开

EP2641702A3 Robot system, robot hand, and robot system operating method 审中-公开
公开(公告)号：EP2641702A3
公开(公告)日：2015-04-01
申请号：EP12199464.4
申请日：2012-12-27
申请人： Kabushiki Kaisha Yaskawa Denki
发明人： Kimura, Kaoru , Mizoguchi, Hiromi , Yamamoto, Yoshiaki
IPC分类号： B25J9/16 , B25J5/02 , B25J9/00 , B25J15/00 , B25J15/04 , G05B19/418
CPC分类号： G05B19/418 , B25J5/02 , B25J9/0084 , B25J9/1676 , B25J9/1682 , B25J15/0009 , B25J15/0475 , G05B2219/39121 , G05B2219/40203 , G05B2219/40252
摘要： A robot system (1) comprises a robot arm (12), a robot hand (13) provided to the robot arm (12), and a plurality of finger members (40) for holding a target object (W; 200), installed to the robot hand (13). The robot hand (13) comprises a hand main body portion (131) which is connected to the robot arm (12) and comprises an actuator, and a finger holding mechanism (132) which replaceably holds at least a pair of the finger members (40) is connected to the hand main body portion (131) and is driven by the actuator.

4. 发明公开

EP2641701A3 Robot system, robot hand, and robot system operating method 审中-公开
标题翻译：机器人系统，机器人手和机器人系统操作程序
公开(公告)号：EP2641701A3
公开(公告)日：2015-04-01
申请号：EP12199395.0
申请日：2012-12-27
申请人： Kabushiki Kaisha Yaskawa Denki
发明人： Kimura, Kaoru , Mizoguchi, Hiromi , Yamamoto, Yoshiaki
IPC分类号： B25J9/16 , B25J19/06 , B25J5/02 , B25J9/00 , B25J15/00 , B25J15/04 , G05B19/418
CPC分类号： G05B19/418 , B25J5/02 , B25J9/0084 , B25J9/1676 , B25J9/1682 , B25J15/0009 , B25J15/0475 , G05B2219/39121 , G05B2219/40203 , G05B2219/40252
摘要： A robot system (1) comprises a robot arm (12), a robot hand (13) provided to the robot arm (12), and a plurality of finger members (40) for holding a target object (W; 200), installed to the robot hand (13). The robot hand (13) comprises a hand main body portion (131) which is connected to the robot arm (12) and comprises an actuator, and a finger holding mechanism (132) which replaceably holds at least a pair of the finger members (40) is connected to the hand main body portion (131) and is driven by the actuator.

5. 发明公开

EP2641702A2 Robot system, robot hand, and robot system operating method 审中-公开
标题翻译：机器人系统，机器人手和机器人系统的操作方法
公开(公告)号：EP2641702A2
公开(公告)日：2013-09-25
申请号：EP12199464.4
申请日：2012-12-27
申请人： Kabushiki Kaisha Yaskawa Denki
发明人： Kimura, Kaoru , Mizoguchi, Hiromi , Yamamoto, Yoshiaki
IPC分类号： B25J9/16
CPC分类号： G05B19/418 , B25J5/02 , B25J9/0084 , B25J9/1676 , B25J9/1682 , B25J15/0009 , B25J15/0475 , G05B2219/39121 , G05B2219/40203 , G05B2219/40252
摘要： A robot system (1) comprises a robot arm (12), a robot hand (13) provided to the robot arm (12), and a plurality of finger members (40) for holding a target object (W; 200), installed to the robot hand (13). The robot hand (13) comprises a hand main body portion (131) which is connected to the robot arm (12) and comprises an actuator, and a finger holding mechanism (132) which replaceably holds at least a pair of the finger members (40) is connected to the hand main body portion (131) and is driven by the actuator.
摘要翻译：一种机器人系统（1），包括机器人臂（12），设置于该机器人臂（12）的机器人手（13），以及用于保持目标物体（W; 200）的多个手指构件（40）到机器人手（13）。机器人手13包括与机器人手臂12连接并且包括致动器的手主体部131和可更换地保持至少一对手指构件13的手指保持机构132， 40）连接到手主体部分（131）并由致动器驱动。

6. 发明公开

EP2641701A2 Robot system, robot hand, and robot system operating method 审中-公开
标题翻译：机器人系统，Roboterhand和Robotersystembetriebsverfahren
公开(公告)号：EP2641701A2
公开(公告)日：2013-09-25
申请号：EP12199395.0
申请日：2012-12-27
申请人： Kabushiki Kaisha Yaskawa Denki
发明人： Kimura, Kaoru , Mizoguchi, Hiromi , Yamamoto, Yoshiaki
IPC分类号： B25J9/16 , B25J19/06
CPC分类号： G05B19/418 , B25J5/02 , B25J9/0084 , B25J9/1676 , B25J9/1682 , B25J15/0009 , B25J15/0475 , G05B2219/39121 , G05B2219/40203 , G05B2219/40252
摘要： A robot system (1) comprises a robot arm (12), a robot hand (13) provided to the robot arm (12), and a plurality of finger members (40) for holding a target object (W; 200), installed to the robot hand (13). The robot hand (13) comprises a hand main body portion (131) which is connected to the robot arm (12) and comprises an actuator, and a finger holding mechanism (132) which replaceably holds at least a pair of the finger members (40) is connected to the hand main body portion (131) and is driven by the actuator.
摘要翻译：机器人系统（1）包括机器人手臂（12），设置在机器人臂（12）上的机器人手（13）和用于保持目标物体（W; 200）的多个指状构件（40）到机器人手（13）。机器人手（13）包括连接到机器人手臂（12）并包括致动器的手主体部分（131）和可置换地保持至少一对手指部件的手指保持机构（132） 40）连接到手主体部分（131）并由致动器驱动。

7. 发明公开

EP2641703A1 Robot system, robot hand, and robot system operating method 审中-公开
公开(公告)号：EP2641703A1
公开(公告)日：2013-09-25
申请号：EP12199479.2
申请日：2012-12-27
申请人： Kabushiki Kaisha Yaskawa Denki
发明人： Kimura, Kaoru , Mizoguchi, Hiromi , Yamamoto, Yoshiaki
IPC分类号： B25J15/04
CPC分类号： G05B19/418 , B25J5/02 , B25J9/0084 , B25J9/1676 , B25J9/1682 , B25J15/0009 , B25J15/0475 , G05B2219/39121 , G05B2219/40203 , G05B2219/40252
摘要： A robot system (1) comprises a robot arm (12), a robot hand (13) provided to the robot arm (12), and a plurality of finger members (40) for holding a target object (W; 200), installed to the robot hand (13). The robot hand (13) comprises a hand main body portion (131) which is connected to the robot arm (12) and comprises an actuator, and a finger holding mechanism (132) which replaceably holds at least a pair of the finger members (40) is connected to the hand main body portion (131) and is driven by the actuator.

8. 发明授权

EP0264031B1 Locus interpolation device 失效
标题翻译： LOCUS插值器件
公开(公告)号：EP0264031B1
公开(公告)日：1993-07-14
申请号：EP87114348.3
申请日：1987-10-01
申请人： KABUSHIKI KAISHA YASKAWA DENKI
发明人： Kimura, Kaoru , Nishi, Masanori , Minami, Yoshikatsu
IPC分类号： G05B19/415 , G05B19/41
CPC分类号： G05B19/39 , B25J9/1015 , G05B2219/40297 , G05B2219/40353

9. 发明公开

EP0264031A2 Locus interpolation device 失效
标题翻译： KreisförmigesInterpolationsgerät。
公开(公告)号：EP0264031A2
公开(公告)日：1988-04-20
申请号：EP87114348.3
申请日：1987-10-01
申请人： KABUSHIKI KAISHA YASKAWA DENKI
发明人： Kimura, Kaoru , Nishi, Masanori , Minami, Yoshikatsu
IPC分类号： G05B19/415 , G05B19/41
CPC分类号： G05B19/39 , B25J9/1015 , G05B2219/40297 , G05B2219/40353
摘要： A locus interpolation device characterized in that the device is attached to an end of a wrist of a movable structure such as a robot, with a tool supported by the device, and a circular or noncircular locus is interpolated by controlling the operation of the tool independently from that of the movable structure.
摘要翻译：一种轨迹插值装置，其特征在于，所述装置安装在诸如机器人的可移动结构的手腕的一端，具有由所述装置支撑的工具，并且通过独立地控制所述工具的操作来内插圆形或非圆形轨迹从可移动结构的。

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