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1. 发明授权

EP1598153B1 MULTIJOINT MANIPULATOR 有权转让
标题翻译：更多关节机械手
公开(公告)号：EP1598153B1
公开(公告)日：2011-01-19
申请号：EP04708466.0
申请日：2004-02-05
申请人： KAWASAKI JUKOGYO KABUSHIKI KAISHA , Toyota Jidosha Kabushiki Kaisha
发明人： HAMA, Yasuhiro , TANAKA, Yoshiaki , INADA, Takahiro
IPC分类号： B25J17/00
CPC分类号： B25J19/0029 , B25J9/06 , B25J17/025 , Y10T74/20329 , Y10T74/20335
摘要： A first arm body (30A) and a second arm body (30B) constituting a multijoint manipulator (20) are downsized so as to reduce the length in the straightened direction of the manipulator. In order to downsize the second arm body (30B), two drive motors (33, 34) are built in the first arm body (30A), so that the second arm body (30B) is formed without a drive motor in it. Further, in order to reduce the dimension in the axis direction of the first arm body (30A), the two drive motors (33, 34) are arranged in the direction perpendicular to the axis direction of the first arm body (30A).

2. 发明授权

EP3238883B1 ROBOT 有权
公开(公告)号：EP3238883B1
公开(公告)日：2020-12-09
申请号：EP14908911.2
申请日：2014-12-26
申请人： Kawasaki Jukogyo Kabushiki Kaisha
发明人： MURAKAMI, Junichi , BANDO, Kenji , IWASAKI, Yukio , HIBINO, Satoru , TANAKA, Yoshiaki , HASHIMOTO, Yasuhiko , INADA, Takahiro
IPC分类号： B25J9/06 , B25J9/16

3. 发明公开

EP3238885A1 DOUBLE-ARMED ROBOT 有权
标题翻译：双臂机器人
公开(公告)号：EP3238885A1
公开(公告)日：2017-11-01
申请号：EP14908913.8
申请日：2014-12-26
申请人： Kawasaki Jukogyo Kabushiki Kaisha
发明人： HASHIMOTO, Yasuhiko , INADA, Takahiro , BANDO, Kenji , TANAKA, Yoshiaki , MURAKAMI, Junichi , HIBINO, Satoru , IWASAKI, Yukio
IPC分类号： B25J9/06
CPC分类号： B25J9/06 , B25J17/0258 , B25J18/00
摘要： A dual-arm robot includes a first arm and a second arm, each having a first link rotatable about a first axis, and a second link rotatably coupled to the first link and defined with an end effector attaching portion. The first link of the first arm is disposed to be separated from the first link of the second arm in an extending direction of the first axis. Further, the second link of the first arm and the second link of the second arm are disposed so as to be located between the first link of the first arm and the first link of the second arm in the extending direction of the first axis and so that the end effector attaching portions are located at substantially the same position in the extending direction of the first axis.
摘要翻译：双臂机器人包括第一臂和第二臂，每个第一臂和第二臂具有可绕第一轴线旋转的第一连杆以及可旋转地联接到第一连杆并与端部执行器附接部分一起限定的第二连杆。第一臂的第一连杆设置成在第一轴的延伸方向上与第二臂的第一连杆分离。此外，第一臂的第二连杆和第二臂的第二连杆被布置成在第一轴的延伸方向上位于第一臂的第一连杆和第二臂的第一连杆之间，因此所述末端执行器安装部位于所述第一轴的延伸方向上的大致相同的位置。

4. 发明公开

EP3238883A1 ROBOT 有权
标题翻译：机器人
公开(公告)号：EP3238883A1
公开(公告)日：2017-11-01
申请号：EP14908911.2
申请日：2014-12-26
申请人： Kawasaki Jukogyo Kabushiki Kaisha
发明人： MURAKAMI, Junichi , BANDO, Kenji , IWASAKI, Yukio , HIBINO, Satoru , TANAKA, Yoshiaki , HASHIMOTO, Yasuhiko , INADA, Takahiro
IPC分类号： B25J9/06 , B25J9/16
CPC分类号： B25J9/06 , B23P19/04 , B25J9/16 , B25J9/162 , B25J9/1682 , B25J13/089 , B25J15/02
摘要： The present invention provides a robot capable of easily performing positioning of a workpiece without providing a positioning jig at a predetermined position. The robot includes: a restricting member configured to restrict a horizontal movement of a predetermined workpiece, the restricting member being provided at a first hand tip provided at a tip end of a first arm; and a workpiece moving member configured to generate an action for horizontally moving the workpiece, the workpiece moving member being provided at a second hand tip provided at a tip end of a second arm. The controller performs a control operation of positioning the workpiece at a stop position in such a manner that: based on predetermined size information of the workpiece and preset stop position information of the workpiece, the restricting member is positioned at a predetermined restricting position included in the stop position for the workpiece, and the workpiece moving member acts on the workpiece and is moved toward the restricting position to horizontally move the workpiece; and the workpiece is brought into contact with the restricting member.
摘要翻译：本发明提供了一种机器人，其能够在预定位置不提供定位夹具的情况下容易地执行工件的定位。所述机器人包括：限制构件，所述限制构件构造成限制预定工件的水平移动，所述限制构件设置在设置在第一臂的末端处的第一手尖端处; 以及工件移动构件，该工件移动构件被构造为产生用于水平移动工件的动作，所述工件移动构件设置在设置在第二臂的末端处的第二手尖上。控制器执行如下控制操作：将工件定位在停止位置，使得：基于预定的工件的尺寸信息和预设的工件的停止位置信息，限制部件位于包括在工件中的预定限制位置并且工件移动部件作用于工件上并朝限制位置移动以水平移动工件; 并且工件与限制构件接触。

5. 发明公开

EP3238882A1 PRODUCTION SYSTEM 有权
标题翻译：生产系统
公开(公告)号：EP3238882A1
公开(公告)日：2017-11-01
申请号：EP14908915.3
申请日：2014-12-26
申请人： Kawasaki Jukogyo Kabushiki Kaisha
发明人： HASHIMOTO, Yasuhiko , INADA, Takahiro , BANDO, Kenji , TANAKA, Yoshiaki , MURAKAMI, Junichi , HIBINO, Satoru , IWASAKI, Yukio
IPC分类号： B25J5/00 , B25J9/06 , B25J13/00
CPC分类号： B25J5/02 , B25J5/00 , B25J9/0093 , B25J9/06 , B25J9/1687 , B25J13/00
摘要： A production system is provided, which includes a rail extending horizontally, and a self-traveling articulated robot that is self-travelable along the rail in parallel to an extending direction of the rail. The self-traveling articulated robot includes a carriage having at least one operating shaft configured to be driven by a servomotor and to self-travel along the rail, a slider projecting toward the rail from the carriage and configured to releasably engage with the rail, a robotic arm supported by the carriage and having at least one operating shaft that is driven by a servomotor and constitutes a joint, an end effector provided to a tip-end of the robotic arm, and a control unit provided inside the carriage and configured to control the operating shaft of the robotic arm and the operating shaft of the carriage so that a control point defined in the robotic arm or the end effector reaches a target position by a collaboration of the operating shaft of the robotic arm and the operating shaft of the carriage.
摘要翻译：提供了一种生产系统，其包括水平延伸的导轨以及能够沿导轨自行行进并与导轨的延伸方向平行的自动多关节机器人。自行走多关节机器人包括：具有至少一个操作轴的滑架，该至少一个操作轴被构造成由伺服电机驱动并且沿着所述轨道自行行进;滑动件，从所述滑架向所述轨道突出并且构造成与所述轨道可释放地接合; 机器人臂，其由滑架支撑并具有至少一个由伺服马达驱动并构成关节的操作轴;末端执行器，其设置于机器人手臂的末端;以及控制单元，其设置在滑架内并被配置为控制机器人手臂的操作轴和滑架的操作轴，从而通过机器人手臂的操作轴和滑架的操作轴的协作，机器人臂或者手动操作器中限定的控制点到达目标位置。

6. 发明公开

EP3238881A1 SELF-PROPELLED ARTICULATED ROBOT 有权
标题翻译：自推式铰接机器人
公开(公告)号：EP3238881A1
公开(公告)日：2017-11-01
申请号：EP14908914.6
申请日：2014-12-26
申请人： Kawasaki Jukogyo Kabushiki Kaisha
发明人： HASHIMOTO, Yasuhiko , INADA, Takahiro , BANDO, Kenji , TANAKA, Yoshiaki , MURAKAMI, Junichi , HIBINO, Satoru , IWASAKI, Yukio
IPC分类号： B25J5/00
CPC分类号： G05D1/0234 , B25J5/007 , B25J9/0087 , B25J9/0096 , B25J9/043 , B25J9/044 , B25J13/089 , B25J19/005
摘要： A self-traveling articulated robot for working in a production factory is provided, which includes a carriage having at least two operation shafts driven by servomotors, respectively, and self-travelable in a two-dimensional plane, a robotic arm supported by the carriage and having at least one operation shaft driven by a servomotor and constituting a joint, an end effector provided to a tip portion of the robotic arm, and a control unit provided in the carriage and for controlling the operation shaft of the robotic arm and the operation shafts of the carriage to operate in cooperation with each other so that a control point defined in one of the robotic arm and the end effector reaches a target position.
摘要翻译：提供了一种用于在生产工厂中工作的自行走多关节机器人，其包括具有至少两个分别由伺服马达驱动的操作轴并且可在二维平面内自行行走的托架，由托架支撑的机器人臂和具有至少一个由伺服马达驱动并构成关节的操作轴，设置于机器人手臂前端部的末端执行器以及设置于该滑架并用于控制机器人手臂的操作轴和操作轴的控制单元使得在机器人臂和末端执行器中的一个中限定的控制点到达目标位置。

7. 发明公开

EP3238884A1 MULTI-ARTICULATED ROBOT AND MODULE THEREFOR 有权
标题翻译：多铰接的机器人和模块
公开(公告)号：EP3238884A1
公开(公告)日：2017-11-01
申请号：EP14908912.0
申请日：2014-12-26
申请人： Kawasaki Jukogyo Kabushiki Kaisha
发明人： HASHIMOTO, Yasuhiko , INADA, Takahiro , BANDO, Kenji , TANAKA, Yoshiaki , MURAKAMI, Junichi , HIBINO, Satoru , IWASAKI, Yukio
IPC分类号： B25J9/06
CPC分类号： B25J9/06
摘要： An articulated robot includes a pedestal and two or more modules supported by the pedestal. Each of the two or more modules includes a support member, a link member supported by the support member to be rotatable about a first axis, and a first drive unit provided in the link member and for rotating the link member about the first axis with respect to the support member.
摘要翻译：多关节机器人包括基座和由基座支撑的两个或更多个模块。两个或更多个模块中的每一个包括支撑构件，由支撑构件支撑以可围绕第一轴线旋转的连杆构件，以及设置在连杆构件中并用于使连杆构件关于第一轴线旋转的第一驱动单元到支持成员。

8. 发明公开

EP1598153A1 MULTIJOINT MANIPULATOR 有权转让
标题翻译： MEHRGELENK操作器
公开(公告)号：EP1598153A1
公开(公告)日：2005-11-23
申请号：EP04708466.0
申请日：2004-02-05
申请人： KAWASAKI JUKOGYO KABUSHIKI KAISHA
发明人： HAMA, Yasuhiro , TANAKA, Yoshiaki , INADA, Takahiro
IPC分类号： B25J17/00
CPC分类号： B25J19/0029 , B25J9/06 , B25J17/025 , Y10T74/20329 , Y10T74/20335
摘要： A miniaturized articulated manipulator 20 has a first arm member 31A internally provided with two driving motors 33 and 34, and a second arm member 30B not provided with any devices corresponding to the driving motors 33 and 34 and capable of being miniaturized. The driving motors 33 and 34 can be disposed in common areas 135 at least partially overlapping each other with respect to a direction parallel to the axis of the first arm member 30A and can be arranged in a direction perpendicular to the axis. Thus the first arm member 30A can be formed in a small axial size. Thus the first arm 30A and the second arm 30B can be miniaturized and hence the articulated manipulator 20 can be formed in a short overall length.
摘要翻译：小型铰接操纵器20具有内部设置有两个驱动马达33和34的第一臂构件31A和不具有与驱动马达33和34对应的并且能够小型化的任何装置的第二臂构件30B。驱动电动机33,34可以相对于与第一臂部件30A的轴线平行的方向至少部分地重叠的公共区域135配置，并且能够沿垂直于轴线的方向配置。因此，第一臂构件30A可以以小的轴向尺寸形成。因此，第一臂30A和第二臂30B可以小型化，因此铰接式操纵器20可以形成为总体短的长度。

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