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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

EP2647757A1 DEVICE FOR SPREADING SHAPEABLE THIN ITEMS AND METHOD FOR SPREADING SHAPEABLE THIN ITEMS 有权转让
标题翻译：设备分发可延展的薄的物体和方法SPREAD延展性薄的物体
公开(公告)号：EP2647757A1
公开(公告)日：2013-10-09
申请号：EP11845921.3
申请日：2011-11-30
申请人： Seven Dreamers Laboratories, Inc.
发明人： ENDO, Yoshimasa , KITAGAWA, Hiroshi , KIMURA, Hiroshi
IPC分类号： D06F73/00 , B25J13/00
CPC分类号： B23Q3/18 , B25J9/026 , B25J9/1679 , B25J15/0253 , D06F67/04 , G05B2219/39469 , G05B2219/39571 , G05B2219/40011 , G05B2219/40044 , Y10T29/49998
摘要： It is an object of the present invention to provide a deformable thin object spreading device capable of spreading a deformable thin object with a simple structure.
In the deformable thin object spreading device of the present invention, a control part is configured to: control a clamping unit and a moving mechanism to cause the clamping unit to clamp a first point of a deformable thin object (S1); cause an end point detecting part to detect an end point (S3); control the clamping unit and the moving mechanism to cause the clamping unit to clamp the end point detected in S3 (a first end point) of the deformable thin object (S4); cause the end point detecting part to detect an end point (S6); control the clamping unit and the moving mechanism to cause the clamping unit to clamp both of "the first end point" and "the end point detected in S6 (a second end point) " of the deformable thin object (S7); cause the end point detecting part to detect an end point (S9); and control the clamping unit and the moving mechanism to cause the clamping unit to clamp both of "the first end point or the second end point" and "the end point detected in S9" of the deformable thin object (S10).
摘要翻译：它是简单的目的，本发明以提供能够与结构扩展可变形薄片物的可变形薄片物展开装置。在本发明的可变形薄片物展开装置中，控制部件被配置为：控制夹持单元和移动机构，以使所述夹紧部夹紧的可变形薄片物（S1）的第一点; 引起的结束点检测部在结束点（S3），以检测; 控制把持部和移动机构，以使夹紧单元夹紧在可变形薄片物的S3（第一端点）（S4）检测出的结束点; 引起的结束点检测部在结束点（S6），以检测; 控制把持部和移动机构，以使夹紧单元夹紧这两个变形性薄片物（S7）的“第一端点”和“在S6中检测出的结束点（第二端点）”的; 引起的结束点检测部在结束点（S9）来检测; 和控制所述夹持单元和移动机构，以使夹紧单元夹紧变形薄对象（S10）的“在S9检测出的结束点”，“第一端点或第二端点”和的两个。

3. 发明公开

EP2647757A4 DEVICE FOR SPREADING SHAPEABLE THIN ITEMS AND METHOD FOR SPREADING SHAPEABLE THIN ITEMS 有权转让
标题翻译：设备分发可延展的薄的物体和方法SPREAD延展性薄的物体
公开(公告)号：EP2647757A4
公开(公告)日：2015-07-29
申请号：EP11845921
申请日：2011-11-30
申请人： SEVEN DREAMERS LAB INC
发明人： ENDO YOSHIMASA , KITAGAWA HIROSHI , KIMURA HIROSHI
IPC分类号： B25J9/02 , B25J9/16 , B25J15/02 , D06F67/04 , D06F89/00
CPC分类号： B23Q3/18 , B25J9/026 , B25J9/1679 , B25J15/0253 , D06F67/04 , G05B2219/39469 , G05B2219/39571 , G05B2219/40011 , G05B2219/40044 , Y10T29/49998
摘要： It is an object of the present invention to provide a deformable thin object spreading device capable of spreading a deformable thin object with a simple structure. In the deformable thin object spreading device of the present invention, a control part is configured to: control a clamping unit and a moving mechanism to cause the clamping unit to clamp a first point of a deformable thin object (S1); cause an end point detecting part to detect an end point (S3); control the clamping unit and the moving mechanism to cause the clamping unit to clamp the end point detected in S3 (a first end point) of the deformable thin object (S4); cause the end point detecting part to detect an end point (S6); control the clamping unit and the moving mechanism to cause the clamping unit to clamp both of "the first end point" and "the end point detected in S6 (a second end point) " of the deformable thin object (S7); cause the end point detecting part to detect an end point (S9); and control the clamping unit and the moving mechanism to cause the clamping unit to clamp both of "the first end point or the second end point" and "the end point detected in S9" of the deformable thin object (S10).

4. 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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