Kawasaki Jukogyo Kabushiki Kaisha

Jun Takebayashi

Shuhei Kuraoka

Hiroyuki Mizumoto

Hideshi Yamane

Tatsuhiro Uto

Shinichi Fujisawa

Toshihiko Miyazaki

Masaya Yoshida

Yukio Iwasaki

Satoshi Ouchi

Atsushi Kameyama

Toshiyuki Tsujimori

Mitsunobu Oka

Yusuke Fujimoto

Akio Yoda

A method includes: (a) causing a robotic arm to position a contacting structure of the arm laterally in a horizontal direction in relation to a first subject on a target object; (b) causing the arm to bring the contacting structure into contact with at least three locations on the first subject; (c) detecting positions of the contacting structure in relation to the robot when contacting the locations; (d) detecting a position of the first subject in relation to the robot by using the detected positions of the contacting structure; (e) performing same steps as the steps (a) to (d) for a second subject on the target object; and (f) detecting a position of the robot in relation to the target object by using the positions of the subjects in relation to the robot and using positions of the subjects in relation to the target object.

Position detection method, controller, and robot system

A control method includes: recording information of an operation target point that is a destination, each time an end effector of a robot moves to the operation target point on an operation path; acquiring a present position of the end effector upon receiving an origin return command; detecting information of a return target point on a return path for returning the end effector to an origin; detecting information of the operation target point already reached immediately before a kth return target point or having a distance closest to the kth return target point, as a (k+1)th return target point; repeating detection of the information of the return target point to detect information of second to (n+1)th return target points; and moving the end effector along the return path passing through the first to (n+1)th return target points and returning to the origin.

Control method, control device, robot system, program, and recording medium

A lubricant injection system is provided, which includes a pedestal, a robotic arm including a plurality of arm bodies sequentially coupled from pedestal, lubricant injecting hand having a discharge part configured to be sequentially coupled to each of a plurality of filler ports of a target machine, robot control device configured to control operation of robotic arm, a lubricant pumping device in which pumping of lubricant is controlled, a lubricant pumping channel configured to lead lubricant from the lubricant pumping device to the discharge part, and a flow rate sensor provided to the lubricant pumping channel and configured to send the detected flow rate information to the robot control device. Robot control device calculates an injection quantity based on the flow rate information sent from flow rate sensor, and when calculated injection quantity reaches target injection quantity, robot control device controls to stop pumping of lubricant.

Lubricant injection system

A leak check system is provided, which supplies air to inspection target space that an object to be inspected has and checks leak based on a pressure change of inspection target space. System includes pedestal, robotic arm including plurality of arm bodies serially coupled from pedestal, robot control device configured to control operation of robotic arm, air supply hand, having air discharge part connected to object to be inspected to discharge air into inspection target space, and attachably and detachably attached to a tip-end part of robotic arm, air supply source, air supply pipe configured to lead air from air supply source to air discharge part, pressure sensor, provided to air supply pipe, and configured to send detected pressure data to robot control device, and air supply mechanism of which supply of air from air supply source to air discharge part is controlled by robot control device.

Leak check system and method of checking leak using the same

Nut runner system which includes holder table having tightening point at one end and coupling part at other end, and configured to hold plurality of bits, and nut runner main body including carrier coupled to wrist part of robotic arm, spindle supported by carrier, and bit changer coupled to spindle and which one of plurality of bits is attached. Coupling part of each of plurality of bits has an engaging hole coaxial with tightening point, and annular protrusion that continues in circumferential directions is formed in inner circumferential surface of engaging hole. Bit changer includes actuator, actuator made of engaging shaft to be inserted into engaging hole and operating pieces formed in engaging shaft, operating pieces moving between engaging position wherein operating pieces protrude radially outward from inner circumferential edge of annular protrusion and retracted position wherein operating pieces are retracted radially inward from inner circumferential edge of annular protrusion.

Nut runner system

A method of automatically conveying an object, using a suspending moving device and a robot having an arm configured to hold the object, the suspending moving device including a suspender and a moving mechanism configured to move the suspender, and the suspender including a coupler configured to be coupled to the object and a suspending member configured to suspend the coupler, is provided. The method includes a step for locating the coupler of the suspender at a given first position, a step for locating the object at a given second position, a step for causing the robot to hold the coupler located at the first position and coupling the held coupler to the object located at the second position, and a step for causing the suspending moving device to move, by the moving mechanism, the object coupled to the coupler together with the suspender.

Method of automatically conveying object and automatic object conveying system

An end effector has an end effector base portion connected to a robot arm, and an elastic component holding unit provided to the end effector base portion so as to hold an elastic component. The elastic component holding unit has a plurality of elastic component gripping members which releasably grip the elastic component, and a biasing unit for repulsively biasing each distal end portion of the plurality of elastic component gripping members from a releasing position for releasing the elastic component toward a gripping position for gripping the elastic component. An end effector capable of simplifying a fitting work of an elastic component such as the O ring can be provided.

End effector, industrial robot, and operation method thereof

This electric apparatus mounting device includes: a robot side contact jig which is provided to an end effector mounted to an arm of a robot and which has a robot side contact; and an electric apparatus side contact jig which is detachably provided to an electric apparatus and which has an electric apparatus side contact electrically connected with the electric apparatus. The robot side contact jig and the electric apparatus side contact jig are configured such that the robot side contact and the electric apparatus side contact are in a connection state in a state that the electric apparatus is held by the end effector. Thus, a work for conveying and mounting an electric apparatus such as a motor to a given position using a robot can be performed without hindrance.

Electric apparatus mounting device and method

A workpiece conveying system is provided, which includes a workpiece including a workpiece main body, a cylindrical gripping part protruding from the workpiece main body, and an engaging plate attached to a tip-end surface of the gripping part, a chuck device including three jaws configured to grip the gripping part in radial directions of the gripping part, and a robot to which the chuck device is attached. The engaging plate includes an overhang part protruding from the gripping part along the tip-end surface of the gripping part, and an engaging slot, into which one of the three jaws fits, is formed in the overhang part.

Workpiece conveying system

An access control system configured to manage access of a worker to an interference area that the worker and a robot share, includes the indicating lamps which are disposed at least in four directions from a center of the interference area, a door which opens and closes a gate of the interference area, a lock device which locks and unlocks the door, and a control device which controls the indicating lamps and the lock device corresponding to the operation of the robot.

Access control system to interference area

An end effector of the industrial robot has an end effector base portion connected to a robot arm, a first object holding mechanism provided to the end effector base portion so as to hold a first type of object to be handled, a second object holding unit for holding a second type of object to be handled, and a unit holding mechanism provided to the end effector base portion so as to releasably hold the second object holding unit. The second object holding unit which is held by the unit holding mechanism is driven by the first object holding mechanism. The end effector is capable of considerably enlarging a range of kind and size of an object which can be handled while suppressing increase of manufacturing cost and decline in credibility and increase in changing hand installation space accompanying complication of the configuration.

Growing community of inventors

Kakogawa, Japan

Jun Takebayashi