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1. 发明授权

EP3469431B1 A METHOD AND A ROBOT SYSTEM FOR HANDLING OBJECTS 有权
公开(公告)号：EP3469431B1
公开(公告)日：2024-06-05
申请号：EP16729554.2
申请日：2016-06-14
IPC分类号： G05B19/418 , B25J9/00
CPC分类号： B25J9/0093 , G05B19/4182 , G05B2219/4000720130101 , Y02P90/02

2. 发明公开

EP3412414A3 CONTROL APPARATUS OF ROBOT SYSTEM AND ROBOT SYSTEM 无效
公开(公告)号：EP3412414A3
公开(公告)日：2018-12-26
申请号：EP18175990.3
申请日：2018-06-05
申请人： Seiko Epson Corporation
发明人： KINOSHITA, Toyotaro , ISHIGAKI, Toshiyuki
IPC分类号： B25J9/00 , G05B19/418 , B25J9/16 , B65G27/16
CPC分类号： B25J9/1687 , B25J9/0093 , B25J9/1697 , B65G47/1421 , G05B11/01 , G05B19/4182 , G05B2219/39102 , G05B2219/39241
摘要： A robot system includes a part feeder (400) having a part accommodating unit (410) that accommodates a part (PP) and a plurality of vibration actuators (424a-d), and a robot (100) having an end effector (160a) for picking up a part (PP) from the part accommodating unit (410). A control apparatus (200) of the robot system includes a robot control unit (211) and a part feeder control unit (212) . The part feeder control unit (212) selects one or more control commands from a plurality of control commands respectively including control parameters of the plurality of vibration actuators (424a-d) and transmits the selected control command to the part feeder (400) for causing the part feeder (400) to perform an operation according to the selected control command.

3. 发明公开

EP3351352A1 ARBEITSZELLE FÜR EINEN FERTIGUNGSROBOTER 有权
公开(公告)号：EP3351352A1
公开(公告)日：2018-07-25
申请号：EP18152523.9
申请日：2018-01-19
申请人： Benteler Maschinenbau GmbH
发明人： Besik, Martin , Kout, Radovan , Malý, Jiri , Masilko, Petr , Sula, Vaclav , Urban, Lukas
IPC分类号： B25J9/00 , B23K37/04 , B25J21/00 , B23Q37/00
CPC分类号： G05B19/4182 , B23K9/0953 , B23K9/1006 , B23K31/02 , B23K37/006 , B23K37/02 , B23K37/04 , B23K37/0443 , B23K37/0461 , B23Q37/00 , B25J9/0009 , B25J9/0096 , B25J9/08 , B25J21/00
摘要： Arbeitszelle für einen Fertigungsroboter 2, der auf einem Basismodul 17 innerhalb der modular aufgebauten Arbeitszelle angeordnet ist, wobei die Arbeitszelle 1 Wandelemente, einen Schaltschrank 3 und einen Zugang 11 aufweist, sowie eine zwischen Zugang 11 und Fertigungsroboter 2 angeordnete Zuführeinheit 16 für Werkstücke, wobei während eines Transports das Basismodul 17 des wenigstens eines Fertigungsroboters 2, der Schaltschrank 3, die Zuführeinheit 16 und der Zugang 11 eine mechanisch zusammenhängende und elektrisch miteinander verbundene Transportbaugruppe 21 bilden, von welcher die Wandelemente getrennt transportierbar sind.

4. 发明公开

EP3282220A1 INFORMATION PROCESSING SYSTEM, INFORMATION PROCESSING DEVICE, WORKPIECE POSITION IDENTIFYING METHOD, AND WORKPIECE POSITION IDENTIFYING PROGRAM 审中-公开
标题翻译：信息处理系统，信息处理装置，工件位置识别方法和工件位置识别程序
公开(公告)号：EP3282220A1
公开(公告)日：2018-02-14
申请号：EP17157183.9
申请日：2017-02-21
申请人： Omron Corporation
发明人： SHIMAMURA, Junji , KOBAYASHI, Akiro
IPC分类号： G01B11/00 , G01B21/04
CPC分类号： G05B19/4183 , B25J9/0093 , B65G43/08 , G01B11/002 , G01B21/045 , G01D5/244 , G05B19/4182 , G05B2219/40005 , G06T7/70 , H04N7/183
摘要： An information processing system for identifying a position of a workpiece conveyed on a conveyor is provided. A counter measures a movement amount of a conveyor a plurality of times at intervals shorter than a cycle of communication with a controller, and transmits measured movement amounts and respective measurement timings to the controller. The controller receives a position of a workpiece measured from an image obtained by imaging the workpiece and an imaging timing, identifies measurement timings relatively close to the imaging timing from among measurement timings, and identifies a reference movement amount associated with the measurement timing, identifies a reference position of the workpiece at the imaging timing based on the position of the workpiece within the image, and adds a difference between the current movement amount of the conveyor and the reference movement amount to the reference position to calculate a current position of the workpiece.
摘要翻译：提供了一种用于识别在输送机上输送的工件的位置的信息处理系统。计数器以比与控制器的通信周期短的间隔多次测量输送机的移动量，并且将测量的移动量和各个测量定时传送给控制器。控制器接收从通过对工件成像获得的图像测量的工件的位置和成像定时，从测量定时中识别相对接近成像定时的测量定时，并且识别与测量定时相关联的参考移动量，识别基于图像内的工件的位置来确定摄像定时的工件的基准位置，将传送带的当前的移动量和基准移动量之差与基准位置相加，来计算工件的当前位置。

5. 发明公开

EP2998077A3 ROBOT SYSTEM, ROBOT APPARATUS, AND METHOD FOR PICKING WORKPIECE 有权
标题翻译：机器人系统，机械手设备和方法，用于记录工件
公开(公告)号：EP2998077A3
公开(公告)日：2016-07-27
申请号：EP15183826.5
申请日：2015-09-04
申请人： Kabushiki Kaisha Yaskawa Denki
发明人： NISHIZAKA, Yoshitaka , NAKAMURA, Ken , KAWANO, Tomoki , UCHIDA, Yutaro
IPC分类号： B25J9/16 , G05B19/418
CPC分类号： B65G47/905 , B25J9/0093 , B25J9/16 , B25J9/1679 , B25J9/1697 , B65G43/08 , B65G47/52 , G05B19/41815 , G05B19/4182 , G05B2219/39102 , Y02P90/083 , Y10S901/02
摘要： A robot system includes a first conveyor, a second conveyor, a robot, and a controller. The first conveyor conveys a plurality of kinds of workpieces. The second conveyor conveys workpiece groups each including a combination of the workpieces. The controller controls the robot, and includes a situation acquirer, a determiner, and an instructor. The situation acquirer acquires a situation in a predetermined monitor area on the first and second conveyors. The monitor area is set based on a movable range of the robot. Based on the situation, the determiner determines whether one of the workpieces on the first conveyor in the monitor area is a missing workpiece of one of the workpiece groups in the monitor area. The instructor instructs the robot to hold the one workpiece and to transfer the one workpiece from the first conveyor to the second conveyor.

6. 发明公开

EP2998077A2 ROBOT SYSTEM, ROBOT APPARATUS, AND METHOD FOR PICKING WORKPIECE 有权
标题翻译： ROBOTERSYSTEM，ROBOTERVORRICHTUNG UND VERFAHREN ZUM AUFNEHMEN EINESWERKSTÜCKS
公开(公告)号：EP2998077A2
公开(公告)日：2016-03-23
申请号：EP15183826.5
申请日：2015-09-04
申请人： Kabushiki Kaisha Yaskawa Denki
发明人： NISHIZAKA, Yoshitaka , NAKAMURA, Ken , KAWANO, Tomoki , UCHIDA, Yutaro
IPC分类号： B25J9/16 , G05B19/418
CPC分类号： B65G47/905 , B25J9/0093 , B25J9/16 , B25J9/1679 , B25J9/1697 , B65G43/08 , B65G47/52 , G05B19/41815 , G05B19/4182 , G05B2219/39102 , Y02P90/083 , Y10S901/02
摘要： A robot system includes a first conveyor, a second conveyor, a robot, and a controller. The first conveyor conveys a plurality of kinds of workpieces. The second conveyor conveys workpiece groups each including a combination of the workpieces. The controller controls the robot, and includes a situation acquirer, a determiner, and an instructor. The situation acquirer acquires a situation in a predetermined monitor area on the first and second conveyors. The monitor area is set based on a movable range of the robot. Based on the situation, the determiner determines whether one of the workpieces on the first conveyor in the monitor area is a missing workpiece of one of the workpiece groups in the monitor area. The instructor instructs the robot to hold the one workpiece and to transfer the one workpiece from the first conveyor to the second conveyor.
摘要翻译：机器人系统包括第一输送机，第二输送机，机器人和控制器。第一输送机输送多种工件。第二输送机传送各自包括工件的组合的工件组。控制器控制机器人，并且包括情况获取器，确定器和指导者。情况获取器获取第一和第二输送机上的预定监视区域中的情况。监视器区域是基于机器人的可移动范围来设定的。基于这种情况，确定器确定监视区域中的第一传送带上的工件中的一个工件是否是监视区域中的一个工件组的缺失工件。指导员指示机器人握住一个工件并将一个工件从第一传送器传送到第二传送器。

7. 发明公开

EP2835214A4 PRODUCTION SYSTEM AND MANUFACTURING METHOD FOR PROCESSED PRODUCTS 审中-公开
标题翻译：生产系统和方法加工产品
公开(公告)号：EP2835214A4
公开(公告)日：2015-12-16
申请号：EP12873854
申请日：2012-04-02
申请人： YASKAWA DENKI SEISAKUSHO KK
发明人： MATSUDA RYUICHI , IKEDA TOSHIAKI , ISHIBASHI KEIGO , IKENAGA TAKAHISA , HARADA TOSHIYUKI
IPC分类号： G05B19/418 , B23P19/00 , B25J13/00 , B65G47/22 , G05B19/18
CPC分类号： B65G47/24 , B23P19/001 , B25J9/0093 , B65G43/08 , B65G47/68 , B65G2207/14 , G05B19/188 , G05B19/4182 , G05B2219/37555 , G05B2219/50052 , G05B2219/50362 , G05B2219/50375 , G05B2219/50386 , Y02P90/083 , Y02P90/265

8. 发明授权

EP2610036B1 Method for anti-collision control and the management of picking devices with shared working areas in a packaging line 有权
标题翻译：用于在包装线碰撞保护控制，并用共享的工作区Kommissioniervorrichtungen的管理方法
公开(公告)号：EP2610036B1
公开(公告)日：2015-02-11
申请号：EP11196187.6
申请日：2011-12-30
申请人： CAMA 1 SpA
发明人： Bellante, Daniele
IPC分类号： B25J9/16 , G05B19/418
CPC分类号： G05B19/4182 , Y02P90/083

9. 发明公开

EP2784614A2 Production system and production method 审中-公开
标题翻译：产品系统和产品
公开(公告)号：EP2784614A2
公开(公告)日：2014-10-01
申请号：EP14159727.8
申请日：2014-03-14
申请人： Kabushiki Kaisha Yaskawa Denki
发明人： Fukuda, Takuya , Ando, Shingo
IPC分类号： G05B19/418
CPC分类号： B23Q41/06 , B25J9/1682 , G05B19/4182 , G05B19/41865 , Y02P90/083 , Y02P90/20 , Y10T29/49829 , Y10T29/53048
摘要： A production system (1) includes: a plurality of production robots (10 to 50) configured to share and perform processing works on a workpiece; a controller (60) configured to control the processing works by the plurality of production robots; and a conveying member (70) configured to convey the workpiece between the plurality of production robots. The controller is configured to: acquire work-delay information on a first production robot in which a processing work is delayed compared with a predetermined processing time; acquire work-ready information on a second production robot that can substitutively perform the processing work being performed by the first production robot; and convey the workpiece from the first production robot to the second production robot using the conveying member based on a result of cross-checking the work-delay information and the work-ready information.
摘要翻译：一种生产系统（1）包括：多个生产机器人（10〜50），被配置为共享和执行对工件的加工; 被配置为控制所述多个生产机器人的处理工作的控制器（60）以及构造成在多个生产机器人之间输送工件的输送构件（70）。控制器被配置为：在与预定处理时间相比延迟处理工作的第一生产机器人上获取工作延迟信息; 获取可替代地执行由第一生产机器人执行的处理工作的第二生产机器人上的就绪信息; 并且基于工作延迟信息和就绪信息的交叉检查的结果，使用传送部件将工件从第一生产机器人传送到第二生产机器人。

10. 发明公开

EP2730987A2 Robot system for improving accuracy of a synchronizing control between a robot and a conveying device 审中-公开
标题翻译：用于改善机器人和输送机之间的同步控制精度机器人系统
公开(公告)号：EP2730987A2
公开(公告)日：2014-05-14
申请号：EP13189833.0
申请日：2013-10-23
申请人： Kabushiki Kaisha Yaskawa Denki
发明人： Majima, Reiko , Inoue, Hikaru
IPC分类号： G05B19/418
CPC分类号： G05B19/4182 , Y02P90/083 , Y02P90/28
摘要： A robot system (1, 1a, 1b) is provided, which includes a conveying device (2, 20, 21, 22, 23, 30) for conveying a workpiece (W), a robot (3) for performing a predetermined task to the workpiece (W) being conveyed by the conveying device (2, 20, 21, 22, 23, 30), a drive source (4, 31, 40, 41, 42, 43) for driving the conveying device (2, 20, 21, 22, 23, 30); and a control device (5) for controlling operations of the robot (3) and the drive source (4, 31, 40, 41, 42, 43). The control device (5) includes a drive source instruction value calculation module (5a1) for calculating a drive source instruction value indicative of an instruction to operate the drive source (4, 31, 40, 41, 42, 43), and a robot instruction value calculation module (5a2) for calculating a robot instruction value indicative of an instruction to operate the robot (3) based on the drive source instruction value calculated by the drive source instruction value calculation module (5a1).
摘要翻译：一种机器人系统（1，1A，1B）被提供，其包括传送装置（2，20，21，22，23，30），用于输送工件（W），机器人（3），用于执行预定的任务来工件（W）由所述输送装置（2，20，21，22，23，30），驱动源（4，31，40，41，42，43），用于驱动所述输送装置输送（2,20 ，21，22，23，30）; 和用于控制机器人（3）和驱动源（4，31，40，41，42，43）的动作的控制装置（5）。所述控制装置（5）包括用于计算指示操作驱动源的指令的驱动源指令值的驱动源指令值计算模块（5A1）（4，31，40，41，42，43）和机器人指令值计算模块（5A2），用于计算指示来操作机器人的指令的机器人指令值（3）的基础上由驱动源指令值计算模块（5A1）计算出的驱动源的指令值。

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