专利快速检索-快速检索全球专利，免费商用专利数据库-IPRDB

1. 发明专利

JP2001113480A ROBOT CONTROL METHOD AND CONTROL DEVICE 失效
公开(公告)号：JP2001113480A
公开(公告)日：2001-04-24
申请号：JP29147999
申请日：1999-10-13
申请人： KAWASAKI HEAVY IND LTD
发明人： MIURA KATSUYA , KARIYA YOSHIKI
IPC分类号： B23P19/00 , B25J13/00 , B25J15/00 , G05B19/18
摘要： PROBLEM TO BE SOLVED: To provide a robot control method and a control device capable of remarkably improving processing capacity by simplifying a system when performing relatively simple work such as transfer of a work by a robot. SOLUTION: In this robot control method and the control device used for an arranging device A being constituted so as return an uncarried-out work W to a carry starting point and arranging/carrying-out the work W carried at random, plural arms 12, 13 are provided in a single robot controlled by a single robot controller 40, and the arm 12 is made independent of the other arm 13 to transfer the work W to a carrying-out position of a carrying-out conveyor 22 from a carrying position of a carrying-in conveyor 21.

2. 发明专利

JPH0618222A CENTRAL POSITION DETECTING METHOD FOR GAUGE HOLE 失效
公开(公告)号：JPH0618222A
公开(公告)日：1994-01-25
申请号：JP17208592
申请日：1992-06-30
申请人： TOYOTA MOTOR CORP , KAWASAKI HEAVY IND LTD
发明人： YASUMATSU SATOSHI , SAKAI HIROHISA , NAKAGAWA OSAMU , MIURA KATSUYA , NAKAMURA YOICHI
IPC分类号： G01B11/00
摘要： PURPOSE:To enhance detection accuracy of the central position of gauge hole. CONSTITUTION:The center of gravity G of an image representing a gauge hole is operated. Distance (r) between the center of gravity G and each point on the circumference of the image is then determined followed by determination of maximum value rmax and minimum value rmin thereof. Direction of a large protrusion 100 is then detected based on the ratio between rmax and rmin followed by detection of points (a)-(c) present in the direction substantially opposite thereto. A circle is defined by the points (a)-(c) and the ceter of the circle is detected as the center P of the gauge hole.

3. 发明专利

JP2002037441A ALIGNING METHOD AND ALIGNING APPARATUS FOR RANDOM WORK 失效
公开(公告)号：JP2002037441A
公开(公告)日：2002-02-06
申请号：JP2000218394
申请日：2000-07-19
申请人： KAWASAKI HEAVY IND LTD
发明人： MIURA KATSUYA , FUKUDA TAKUYA , SHOJI AKIRA
IPC分类号： B25J13/00 , B23P19/00 , B25J13/08 , B65G47/24 , B65G47/91
摘要： PROBLEM TO BE SOLVED: To provide an aligning method and aligning apparatus for a random work improved in the case of aligning various works conveyed at random by a robot and carrying out the same to the next process. SOLUTION: In aligning works W conveyed at random by the robot and carrying out the same, one robot 10 controlled by one robot controller 40 is provided with plural arms 12, 13, and each arm 12 (13) is controlled independently of the other arm 13 (12) by the robot controller 40 to transfer the work W from the conveyance position to the carry-out position.

4. 发明专利

JPH0626770B2 失效
公开(公告)号：JPH0626770B2
公开(公告)日：1994-04-13
申请号：JP30036789
申请日：1989-11-17
申请人： KAWASAKI HEAVY IND LTD
发明人： IIJIMA GOHEI , TANEDA SADAHIRO , KANAMARU TAKAO , HIRAMATSU ARATA , NAKANO YASUO , MIURA KATSUYA , UEDA SUMIHIRO
IPC分类号： B23P19/00 , B23P19/02

5. 发明专利

JPH03228589A POSITIONING METHOD FOR WORK 失效
公开(公告)号：JPH03228589A
公开(公告)日：1991-10-09
申请号：JP2388690
申请日：1990-02-01
申请人： KAWASAKI HEAVY IND LTD
发明人： IIJIMA GOHEI , TANEDA SADAHIRO , KANAMARU TAKAO , MIURA KATSUYA
IPC分类号： B23Q17/24 , B23P19/00 , B23Q7/18 , B25J9/10 , B25J13/08 , G05D3/12
摘要： PURPOSE:To position a work at a set position correctly with a high accuracy employing a robot, even in the case of the work position being not so much highly accurate, by positioning the work at the set position with the corrected operation of the dislocation from the set position of the work which should be positioned in a reference holding state by a robot. CONSTITUTION:A work 102 having been transferred by a transfer means 100 is held by a robot 105. Thereafter, the terminal 115 of the robot is brought to a preset position, a work 102b which is held by this terminal is picked up at its image by a two-dimensional camera 110 and the position and posture of the work are detected. The work is then picked up at its image by a camera by moving the terminal 115 at a preset position in a preset posture so that the work is located within the visual field 111 of the camera by holding the work in a preset reference holding state in the robot 105. The reference position and posture of the work are thus stored, this is compared with the detection result and the dislocation from the set position 107 of the work is subjected to a correction operation.

6. 发明专利

JPH03161223A FITTING OF WORK 失效
公开(公告)号：JPH03161223A
公开(公告)日：1991-07-11
申请号：JP30036789
申请日：1989-11-17
申请人： KAWASAKI HEAVY IND LTD
发明人： IIJIMA GOHEI , TANEDA SADAHIRO , KANAMARU TAKAO , HIRAMATSU ARATA , NAKANO YASUO , MIURA KATSUYA , UEDA SUMIHIRO
IPC分类号： B23P19/00 , B23P19/02
摘要： PURPOSE:To position a work with a high accuracy by determining the amount of dislocation between a present gripping position and a predetermined reference gripping position, based on the detection result by a three-dimensional sensor, and by compensating a teaching data regarding the movement of a work to a pair of pins provided at predetermined positions corresponding to the reference gripping position, using the amount of dislocation. CONSTITUTION:The gripping position of a work 102 to be gripped by a robot 105 is detected based on the photograph result of a two-dimensional sensor 109, and the gripping position is gripped by the robot, so as to bring the work 102 to the visual field of a three-dimensional sensor 110. The position of a pair of holes 103 is detected by the three-dimensional sensor 110, under the condition that the work is gripped by the robot, and the dislocation amount between a present gripping position and a predetermined reference gripping position is determined, based on the detection result of the position of the pair of holes by the three-dimensional sensor. A teaching data of the movement of the work to a pair of pins 107 provided on a predetermined fixed position in relation to the reference gripping position, is compensated using the dislocation amount, so as to fit the pair of holes to the pair of pins.

7. 发明专利

JP2012183593A Electromagnetic hand, and robot system using the same 有权
标题翻译：电磁手柄和使用它的机器人系统
公开(公告)号：JP2012183593A
公开(公告)日：2012-09-27
申请号：JP2011046444
申请日：2011-03-03
申请人： Kawasaki Heavy Ind Ltd , 川崎重工業株式会社
发明人： AKAMATSU MASAHIKO , ENOMOTO MASAYUKI , YAMAMOTO TAKESHI , MIURA KATSUYA , TAKEMOTO YUTAKA
IPC分类号： B25J15/06 , B25J13/08
摘要： PROBLEM TO BE SOLVED: To pick workpieces stored in bulk state within a casing one by one without interruption and interference.SOLUTION: The robot system 10 includes a robot 12 picking the plurality of columnar or cylindrical workpieces W stored in bulk state within the casing C. The robot 12 includes an electromagnetic hand 18. The electromagnetic hand 18 includes: a main electromagnetic attraction part 20 electromagnetically attracting a circumferential face Wp or an end face We of the workpiece W by a first electromagnetic attraction face 20a; and an auxiliary electromagnetic attraction part 22 electromagnetically attracting the circumferential face Wp of the workpiece W by both second and third electromagnetic attraction faces 22a, 22b which are arranged at a tip 24 to form an obtuse angle or electromagnetically attracting the end face We of the workpiece W by either one of the second and third electromagnetic attraction faces 22a, 22b. The robot 12 picks each of the plurality of workpieces W in bulk state in the plurality of different electromagnetic attraction forms.
摘要翻译：要解决的问题：一个接一个地在壳体内以体积状态存储的工件不受中断和干扰。机器人系统10包括机器人12，其拾取在壳体C内以体积状态存储的多个柱状或圆柱形工件W.机器人12包括电磁手18.电磁手18包括：主电磁吸引第二部分20通过第一电磁吸引面20a电磁吸引工件W的周面Wp或端面We; 以及辅助电磁吸引部22，通过布置在尖端24处的第二和第三电磁吸引面22a，22b电磁吸引工件W的周面Wp，以形成钝角或电磁吸引工件的端面We W通过第二和第三电磁吸引面22a，22b中的任意一个。机器人12以多种不同的电磁吸引方式在批量状态下拾取多个工件W中的每一个。版权所有（C）2012，JPO＆INPIT

你已经成功收藏专利！

检索式保存成功!

IPRDB

热门服务

关于我们

友情链接

联系方式