专利快速检索-快速检索全球专利，免费商用专利数据库-IPRDB

31. 发明申请

US20180333857A1 WORKPIECE PICKING SYSTEM 审中-公开
公开(公告)号：US20180333857A1
公开(公告)日：2018-11-22
申请号：US15925883
申请日：2018-03-20
申请人： Fanuc Corporation
发明人： Toshiyuki Ando
IPC分类号： B25J9/16 , B25J13/08 , G01B21/16
CPC分类号： B25J9/1684 , B25J9/0096 , B25J9/1612 , B25J9/1694 , B25J9/1697 , B25J13/08 , B25J13/088 , B25J19/02 , G01B21/16 , G05B2219/39058 , G05B2219/39473 , G05B2219/39484 , G05B2219/39527 , G05B2219/40053
摘要： A workpiece picking system including: a robot; a hand, attached to a hand tip portion of the robot, for picking workpieces; a three-dimensional sensor, attached to the hand tip portion, for acquiring positional information of a three-dimensional point group in a partial region in a container; a workpiece state calculation unit which calculates a position and posture of a workpiece based on positional information of a three-dimensional point group in an acquired first partial region; a data acquisition position calculation unit which calculates a robot corresponding to a second partial region where positional information is to be acquired next, based on the positional information of the three-dimensional point group in the acquired first partial region; and a control unit which controls the robot and the hand based on the calculated position and posture of the workpiece and based on the calculated robot position corresponding to the second partial region.

32. 发明申请

US20180141211A1 ROBOTIC GRASPING OF ITEMS IN INVENTORY SYSTEM 审中-公开
公开(公告)号：US20180141211A1
公开(公告)日：2018-05-24
申请号：US15865067
申请日：2018-01-08
申请人： Amazon Technologies, Inc.
发明人： Parris S. Wellman , Matthew David Verminski , Andrew Stubbs , Robert Michael Shydo, JR. , Ennio Claretti , Boris Aronchik , John Gregory Longtine
IPC分类号： B25J9/16 , G06Q10/08 , B65G1/10 , B65G1/137 , B25J9/00 , B65G1/04
CPC分类号： B25J9/1602 , B25J9/0084 , B25J9/1612 , B25J9/1664 , B25J9/1669 , B25J9/1697 , B65G1/0492 , B65G1/10 , B65G1/1378 , G05B2219/39468 , G05B2219/39473 , G05B2219/39536 , G05B2219/39543 , G05B2219/39546 , G06Q10/08 , G06Q10/087 , Y10S901/03 , Y10S901/09 , Y10S901/30 , Y10S901/31 , Y10S901/47
摘要： Robotic arms or manipulators can be utilized to grasp inventory items within an inventory system. Information can be obtained about constraints relative to relevant elements of a process of transferring the item from place to place. Examples of such elements may include a grasping location from which an item is to be grasped, a receiving location in which a grasped item is to be placed, or a space between the grasping location and the receiving location. The information about the constraints can be used to select from multiple possible grasping options, such as by eliminating options that conflict with the constraints or preferring options that outperform others given the constraints.

33. 发明授权

US09868207B2 Generating robotic grasping instructions for inventory items 有权
公开(公告)号：US09868207B2
公开(公告)日：2018-01-16
申请号：US15289864
申请日：2016-10-10
申请人： Amazon Technologies, Inc.
发明人： Parris S. Wellman , Matthew David Verminski , Andrew Stubbs , Robert Michael Shydo, Jr. , Ennio Claretti , Boris Aronchik , John Gregory Longtine
IPC分类号： B25J9/16 , G06Q10/08 , B65G1/137 , B25J9/00 , B65G1/04 , B65G1/10
CPC分类号： B25J9/1602 , B25J9/0084 , B25J9/1612 , B25J9/1664 , B25J9/1669 , B25J9/1697 , B65G1/0492 , B65G1/10 , B65G1/1378 , G05B2219/39468 , G05B2219/39473 , G05B2219/39536 , G05B2219/39543 , G05B2219/39546 , G06Q10/08 , G06Q10/087 , Y10S901/03 , Y10S901/09 , Y10S901/30 , Y10S901/31 , Y10S901/47
摘要： Robotic arms may be utilized to grasp inventory items within an inventory system. Information about an inventory item to be grasped can be detected and used to determine a grasping strategy in conjunction with information from a database. Instructions for grasping an inventory item can be generated based on the detected information and the database.

34. 发明申请

US20170050315A1 Method And Facility For Automatically Gripping An Object 审中-公开
标题翻译：自动抓取对象的方法和设施
公开(公告)号：US20170050315A1
公开(公告)日：2017-02-23
申请号：US15306715
申请日：2015-04-23
申请人： SILEANE
发明人： Herve Henry , Florian Sella , Romain Bregier
IPC分类号： B25J9/16 , B25J15/00 , B25J15/06
CPC分类号： B25J9/1612 , B25J9/1664 , B25J9/1687 , B25J9/1697 , B25J15/0028 , B25J15/0616 , G05B2219/39473 , G05B2219/39536 , G05B2219/39553 , G05B2219/40053
摘要： A method of using a polyarticulated system associated with a vision system for automatically picking up an article situated in a zone suitable for receiving at least one article, the polyarticulated system including at least one pick-up member suitable for taking hold of an article via at least one specific zone of the article. In accordance with the invention, the method includes at least the steps of: taking an image of the article-receiving zone; processing the information resulting from the 3D image and identifying all of the specific zones that are present on the articles to be taken hold of, and that are compatible with the pick-up member(s); locating the identified compatible specific zone(s); choosing one of the located compatible specific zones and automatically defining a pick path; and taking hold of the corresponding article along the defined path.
摘要翻译：一种使用与视觉系统相关联的多分类系统的方法，用于自动拾取位于适于接收至少一个物品的区域中的物品，该多分散系统包括适合于通过以下方式保持物品的至少一个拾取构件：文章的至少一个特定区域。根据本发明，该方法至少包括以下步骤：拍摄物品接收区域的图像; 处理由3D图像产生的信息，并且识别存在于待拍摄的物品上并与拾取构件兼容的所有特定区域; 找到所识别的兼容特定区域; 选择一个位于兼容的特定区域并自动定义拾取路径; 并沿着定义的路径抓住相应的文章。

35. 发明申请

US20160167227A1 ROBOTIC GRASPING OF ITEMS IN INVENTORY SYSTEM 有权
标题翻译：库存系统物品的机器人格式化
公开(公告)号：US20160167227A1
公开(公告)日：2016-06-16
申请号：US14572332
申请日：2014-12-16
申请人： Amazon Technologies, Inc.
发明人： Parris S. Wellman , Matthew David Verminski , Andrew Stubbs , Robert Michael Shydo, JR. , Ennio Claretti , Boris Aronchik , John Gregory Longtine
IPC分类号： B25J9/16 , B25J9/00
CPC分类号： B25J9/1602 , B25J9/0084 , B25J9/1612 , B25J9/1664 , B25J9/1669 , B25J9/1697 , B65G1/0492 , B65G1/10 , B65G1/1378 , G05B2219/39468 , G05B2219/39473 , G05B2219/39536 , G05B2219/39543 , G05B2219/39546 , G06Q10/08 , G06Q10/087 , Y10S901/03 , Y10S901/09 , Y10S901/30 , Y10S901/31 , Y10S901/47
摘要： Robotic arms or manipulators can be utilized to grasp inventory items within an inventory system. Information about an item to be grasped can be detected and/or accessed from one or more databases to determine a grasping strategy for grasping the item with a robotic arm or manipulator. For example, one or more accessed databases can contain information about the item, characteristics of the item, and/or similar items, such as information indicating grasping strategies that have been successful or unsuccessful for such items in the past.
摘要翻译：机器人手臂或机械手可用于掌握库存系统中的库存物品。可以从一个或多个数据库检测和/或访问关于待抓取的物品的信息，以确定用机器人手臂或操纵器抓取物品的抓取策略。例如，一个或多个被访问的数据库可以包含关于该项目的信息，该项目的特征和/或类似的项目，诸如指示过去已经成功或不成功的抓取策略的信息。

36. 发明授权

US09095978B2 Planning a grasp approach, position, and pre-grasp pose for a robotic grasper based on object, grasper, and environmental constraint data 有权
标题翻译：基于对象，抓取器和环境约束数据，为机器人抓取器规划抓握方法，位置和预先掌握姿势
公开(公告)号：US09095978B2
公开(公告)日：2015-08-04
申请号：US14099095
申请日：2013-12-06
申请人： GM GLOBAL TECHNOLOGY OPERATIONS LLC
发明人： Jianying Shi , Gurdayal Singh Koonjul
IPC分类号： B25J9/16 , B25J9/00 , B25J15/00
CPC分类号： B25J9/1669 , B25J9/0096 , B25J9/1612 , B25J9/1633 , B25J9/1664 , B25J15/0009 , G05B2219/36432 , G05B2219/39322 , G05B2219/39473 , G05B2219/39505 , G05B2219/39536 , G05B2219/39543 , G05B2219/39545
摘要： A system including a memory having instructions causing a processor to perform operations, for planning a grasping-device approach to an object by a grasping device, a pre-grasp device position, and a pre-grasp device pose. The operations comprise obtaining input data including grasping-device data, object data, and environmental-constraint data, determining, based on the grasping-device data, a grasp volume model, determining a test approach vector, and determining, using the vector, the constraint data, and the model, whether approach vector modification is needed. The operations also include modifying, if modification is needed, the test approach, yielding a resulting approach vector, and determining, if modification is not needed, that the test approach is the resulting approach vector. And the operations include determining a virtual floor indicating a position below which the grasping device cannot move, and determining, based on the resulting vector, virtual floor, model, and object data, the device approach, position, and pose.
摘要翻译：一种包括具有使处理器执行操作的指令的存储器的系统，用于通过抓握装置规划对物体的抓握装置接近，预抓取装置位置和预抓取装置姿态。操作包括获取包括抓握装置数据，对象数据和环境约束数据的输入数据，基于抓握装置数据确定抓握体积模型，确定测试方法矢量，以及使用矢量确定约束数据和模型，是否需要进行向量修改。操作还包括修改（如果需要修改）测试方法，产生结果方法向量，以及如果不需要修改，则确定测试方法是所得到的方法向量。并且，所述操作包括确定指示所述抓握装置不能移动的位置的虚拟楼层，以及基于所得到的向量，虚拟楼层，模型和对象数据，设备方法，位置和姿态来确定。

37. 发明申请

US20120072022A1 ROBOT AND CONTROL METHOD THEREOF 有权
标题翻译：机器人及其控制方法
公开(公告)号：US20120072022A1
公开(公告)日：2012-03-22
申请号：US13232374
申请日：2011-09-14
申请人： Myung Hee KIM , Kyung Shik Roh , Young Bo Shim , San Lim
发明人： Myung Hee KIM , Kyung Shik Roh , Young Bo Shim , San Lim
IPC分类号： B25J9/16
CPC分类号： B25J9/1679 , B25J9/1612 , B25J9/1666 , G05B2219/39113 , G05B2219/39473 , G05B2219/39474 , G05B2219/39542
摘要： A robot and a control method thereof. The robot has plural robot arms, each having at least one joint unit and a hand, and the control method includes calculating in advance and storing a plurality of grasp poses to generate grasp routes, sensing respective orientations of an object, the robot arms, and an obstacle, selecting one grasp pose from among the plurality of grasp poses by judging a movable angle range of the at least one joint unit, whether or not the object collides with the obstacle, and self-collision between the robot hands based on the sensed respective orientations, and generating grasp routes using the selected grasp pose. In the control method, the plurality of feasible grasp poses is calculated in advance and then stored, thereby rapidly and stably performing grasping of the object.
摘要翻译：机器人及其控制方法。机器人具有多个机械手臂，每个具有至少一个关节单元和手，并且该控制方法包括预先计算并存储多个抓握姿势以产生抓握路线，感测物体的各个取向，机器人手臂和障碍物，通过判断所述至少一个关节单元的可移动角度范围，所述物体是否与障碍物碰撞，以及基于所感测到的机器人手之间的自身碰撞，从所述多个抓握姿态中选择一个抓握姿态各个取向，并使用所选择的抓握姿势产生抓握路线。在该控制方法中，预先计算出多个可能抓握姿势，然后存储，由此快速且稳定地执行对象的抓握。

38. 发明授权

KR100841075B1 자율이동로봇 및 자율이동로봇에 의한 물품운반방법 有权
标题翻译：自主移动机器人及自主移动机器人运送物体的方法
公开(公告)号：KR100841075B1
公开(公告)日：2008-06-24
申请号：KR1020060124991
申请日：2006-12-08
申请人： 혼다 기켄 고교 가부시키가이샤
发明人： 스기야마겐이치로 , 요코야마다로 , 고시이시다케시 , 마키노히로유키
IPC分类号： B25J5/00 , B25J13/00
CPC分类号： B25J9/1612 , B25J9/1641 , G05B2219/39005 , G05B2219/39195 , G05B2219/39241 , G05B2219/39473 , G05B2219/39484 , G05B2219/40014 , G05B2219/40042 , G05B2219/40073 , G05B2219/40571
摘要： 자율이동로봇이 물품을 취득원으로부터 주체적으로 수취하고, 진동억제 제어에 의해 흔들림이 억제된 상태로 운반하며, 송달처로 확실히 보내는 것을 가능하게 한다.
물품의 운반에는 소정 사양의 운반용기(M)를 사용한다. 운반용기에는, 화상 식별을 위한 패턴(M2) 및 파지에 적합한 형상의 파지부분(M3)을 구비한다. 로봇(R)은, 취득원의 화상으로부터, 운반해야 할 물품을 놓아둔 소정 사양의 운반용기의 파지에 적합한 소정 위치를 인식하는 파지위치 인식수단(261)과, 파지부를 운반용기의 소정 위치로 구동하고, 소정 위치를 파지하는 제어를 행하는 파지 제어수단(262)과, 파지부에 작용하는 외력에 기초하여 파지에 성공했는지의 여부를 판단하는 파지 성공여부 판정수단(245)을 구비한다. 또, 운반 중에, 파지부에 작용하는 외력을 상쇄하는 귀환제어를 행함으로써, 파지부의 진동을 억제하는 진동억제 제어수단(410)을 구비한다.

39. 发明公开

KR1020070062423A 자율이동로봇 및 자율이동로봇에 의한 물품운반방법 有权
标题翻译：自动移动机器人和自动移动机器人运输对象的方法
公开(公告)号：KR1020070062423A
公开(公告)日：2007-06-15
申请号：KR1020060124991
申请日：2006-12-08
申请人： 혼다 기켄 고교 가부시키가이샤
发明人： 스기야마겐이치로 , 요코야마다로 , 고시이시다케시 , 마키노히로유키
IPC分类号： B25J5/00 , B25J13/00
CPC分类号： B25J9/1612 , B25J9/1641 , G05B2219/39005 , G05B2219/39195 , G05B2219/39241 , G05B2219/39473 , G05B2219/39484 , G05B2219/40014 , G05B2219/40042 , G05B2219/40073 , G05B2219/40571
摘要： An autonomous mobile robot and an object transporting method by the autonomous mobile robot are provided to transport an object without shake by restricting vibration of a grip part during transporting of the object. An autonomous mobile robot includes a grip part(71) and a control unit(160). The grip part is opened to grasp an object. The control unit for transporting a camera, an autonomous transportation unit, and an object from a transmitter to a receiver includes a grip location identification unit, a grip control unit, and a grip success determination unit. The grip location identification unit identifies a proper location for grasping a predetermined transportation container containing the object based on a transmitter image photographed by the camera. The grip control unit controls to move the grip part to the proper location of the transportation container and to grasp the proper location of the transportation container. The grip success determination unit determines whether the grasping of the container is successful or not based on an external force applied to the grip part.
摘要翻译：提供了一种由自主移动机器人构成的自主移动机器人和物体传送方法，用于通过在传送物体期间限制把手部分的振动来传送物体而不发生抖动。自主移动机器人包括握持部分（71）和控制单元（160）。把手部分打开以抓住物体。用于将照相机，自主传送单元和物体从发射器传送到接收器的控制单元包括握持位置识别单元，把手控制单元和抓握成功确定单元。抓地位置识别单元基于由照相机拍摄的发射机图像来识别用于抓住包含对象的预定运输容器的适当位置。把手控制单元控制将把手部分移动到运输容器的正确位置并且抓住运输容器的适当位置。握持成功确定单元基于施加到把手部分的外力来确定容器的抓持是否成功。

40. 发明专利

JP2018504333A 在庫システムにおけるロボットによるアイテム把持审中-公开
公开(公告)号：JP2018504333A
公开(公告)日：2018-02-15
申请号：JP2017531491
申请日：2015-12-14
申请人：アマゾンテクノロジーズインコーポレイテッド
发明人：スタッブスアンドリュー
IPC分类号： B65G1/137 , B25J13/08
CPC分类号： B25J9/1602 , B25J9/0084 , B25J9/1612 , B25J9/1664 , B25J9/1669 , B25J9/1697 , B65G1/0492 , B65G1/10 , B65G1/1378 , G05B2219/39468 , G05B2219/39473 , G05B2219/39536 , G05B2219/39543 , G05B2219/39546 , G06Q10/08 , G06Q10/087 , Y10S901/03 , Y10S901/09 , Y10S901/30 , Y10S901/31 , Y10S901/47
摘要：在庫システム内で在庫アイテムを把持するためにロボットアームまたはマニピュレータを利用することができる。ロボットアームまたはマニピュレータを用いてアイテムを把持するための把持戦略を判定するために、1つまたは複数のデータベースから把持されるアイテムに関する情報を検出し、及び/またはアクセスすることができる。例えば、1つまたは複数のアクセスされるデータベースは、過去にこのようなアイテムに関して把持戦略が有効または無効であったことを示す情報などの、アイテム、アイテムの特性、及び/または、同様のアイテムに関する情報を含むことができる。【選択図】図1

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