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1. 发明公开

EP2783801A2 Robot system and method for transferring workpiece 审中-公开
标题翻译：机器人系统和Verfahren zurÜbertragungeinesWerkstückes
公开(公告)号：EP2783801A2
公开(公告)日：2014-10-01
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.
摘要翻译：机器人系统100包括机器人手12,31,32和控制器6.机器人手12,31,32包括多个保持器121，其被配置为使用电磁体中的至少一个来保持放置在工件放置台201上的工件力和吸力。控制器6被配置为根据工件的形状和尺寸中的至少一个来控制多个保持器121以保持工件，同时控制多个保持器121在操作模式和非操作模式之间切换。

2. 发明公开

EP2845699A3 Robot hand, robot system, and method for depalletizing article 审中-公开
标题翻译：机器人手，机器人系统和方法，用于卸垛的制品
公开(公告)号：EP2845699A3
公开(公告)日：2016-04-27
申请号：EP14182407.8
申请日：2014-08-27
申请人： Kabushiki Kaisha Yaskawa Denki
发明人： Shimono, Toshiaki
IPC分类号： B25J13/08 , B25J15/00 , B25J9/16
CPC分类号： B65G59/04 , B25J9/0093 , B25J9/1687 , B25J9/1697 , B25J13/086 , B25J15/0616 , G05B2219/40006
摘要： A robot hand (10) of a first robot (2) that handles an article (W) includes a baseplate (21); an attraction pad (22) that is disposed at the baseplate (21) and that is configured to hold the article (W); and first to third proximity sensors (24, 25, 26) that are disposed at the baseplate (21), each of the proximity sensors (24, 25, 26) being configured to detect whether or not the article (W) exists at a side of the attraction pad (22).

3. 发明公开

EP2845699A2 Robot hand, robot system, and method for depalletizing article 审中-公开
标题翻译： Roboterhand，Robotersystem und Verfahren zum Depalettieren eines Artikels
公开(公告)号：EP2845699A2
公开(公告)日：2015-03-11
申请号：EP14182407.8
申请日：2014-08-27
申请人： Kabushiki Kaisha Yaskawa Denki
发明人： Shimono, Toshiaki
IPC分类号： B25J13/08 , B25J15/00
CPC分类号： B65G59/04 , B25J9/0093 , B25J9/1687 , B25J9/1697 , B25J13/086 , B25J15/0616 , G05B2219/40006
摘要： A robot hand (10) of a first robot (2) that handles an article (W) includes a baseplate (21); an attraction pad (22) that is disposed at the baseplate (21) and that is configured to hold the article (W); and first to third proximity sensors (24, 25, 26) that are disposed at the baseplate (21), each of the proximity sensors (24, 25, 26) being configured to detect whether or not the article (W) exists at a side of the attraction pad (22).
摘要翻译：处理物品（W）的第一机器人（2）的机器人手（10）包括基板（21）; 设置在所述基板（21）上并被配置为保持所述物品（W）的吸引垫（22）; 以及设置在基板（21）处的第一至第三接近传感器（24,25,26），每个接近传感器（24,25,26）被配置为检测物品（W）是否存在于吸引垫（22）的一侧。

4. 发明公开

EP2711143A2 Robot system and article manufacturing method 审中-公开
标题翻译： Robotersystem und Artikelherstellungsverfahren
公开(公告)号：EP2711143A2
公开(公告)日：2014-03-26
申请号：EP13182350.2
申请日：2013-08-30
申请人： Kabushiki Kaisha Yaskawa Denki
发明人： Shimono, Toshiaki
IPC分类号： B25J9/16
CPC分类号： B25J9/1697 , G05B2219/37359 , G05B2219/40607 , H01L21/681 , H01L21/6838
摘要： A robot system (100) includes a controller (14a) that performs control such that corner portions (311a to 311d) of a glass substrate (311), which is different in size from a reference glass substrate (301), are detected by cameras (2) in a state in which the glass substrate (311) is held and shifted by an end effecter (13) of a robot arm (12).
摘要翻译：机器人系统（100）包括控制器（14a），其执行控制，使得尺寸与参考玻璃基板（301）尺寸不同的玻璃基板（311）的角部（311a至311d）通过照相机检测（2）在玻璃基板（311）被机械臂（12）的末端执行器（13）保持和移动的状态下进行。

5. 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.

6. 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.

7. 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。

8. 发明公开

EP2711144A1 Robot system and workpiece transfer method 审中-公开
标题翻译： Robotersystem undWerkstückübertragungsverfahren
公开(公告)号：EP2711144A1
公开(公告)日：2014-03-26
申请号：EP13182982.2
申请日：2013-09-04
申请人： Kabushiki Kaisha Yaskawa Denki
发明人： Shimono, Toshiaki , Namba, Taro , Tomo, Toshihiro
IPC分类号： B25J9/16 , G05B19/418
CPC分类号： B65G59/02 , B25J9/1669 , B25J9/1682 , B25J9/1697 , G05B19/41815 , G05B2219/39117 , G05B2219/40053 , G05B2219/40564 , G05B2219/40613 , G05B2219/45063 , Y02P90/08
摘要： There is provided a robot system including a first robot arm provided with a holding unit for holding one of workpieces arranged on a workpiece arrangement unit and configured to transfer the one workpiece held by the holding unit, and a second robot arm provided with a detecting unit for detecting an arrangement state of the one workpiece. The robot system further includes a detecting operation control unit configured to perform a control operation in such a way that, during the operation of the first robot arm, the detecting unit detects the arrangement state of another one of the workpieces.
摘要翻译：提供了一种机器人系统，包括：第一机器人臂，其具有保持单元，该保持单元用于保持布置在工件布置单元上的工件之一并且构造成传送由保持单元保持的一个工件;以及第二机器人臂，设置有检测单元用于检测一个工件的布置状态。机器人系统还包括检测操作控制单元，其被配置为执行控制操作，使得在第一机器人手臂的操作期间，检测单元检测另一个工件的布置状态。

9. 发明公开

EP2614934A2 Processing apparatus and processing method 审中-公开
标题翻译： Verarbeitungsvorrichtung und Verarbeitungsverfahren
公开(公告)号：EP2614934A2
公开(公告)日：2013-07-17
申请号：EP12173582.3
申请日：2012-06-26
申请人： Kabushiki Kaisha Yaskawa Denki
发明人： Shimono, Toshiaki
IPC分类号： B25J9/16
CPC分类号： B25J9/1679 , G05B2219/37405 , G05B2219/45031
摘要： This processing apparatus (100) includes a tool (34, 64, 134) processing a protruding portion of a sheet member (302, 304) covering a base substrate (301) protruding from the base substrate and a control portion (41) mechanically or electrically detecting a position where the tool comes into contact with the base substrate and acquiring a processing position based on the position where the tool comes into contact with the base substrate.
摘要翻译：该处理装置（100）包括：工件（34,64,134），其处理覆盖从基底基板突出的基底基板（301）的片材（302,304）的突出部分和机械地电检测工具与基底基板接触的位置，并且基于工具与基底基板接触的位置获取处理位置。

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