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1. 发明授权

US08132835B2 Workpiece gripping device 有权
标题翻译：工件夹紧装置
公开(公告)号：US08132835B2
公开(公告)日：2012-03-13
申请号：US12555150
申请日：2009-09-08
申请人： Kazunori Ban , Fumikazu Warashina , Shouta Takizawa
发明人： Kazunori Ban , Fumikazu Warashina , Shouta Takizawa
IPC分类号： B25B7/00
CPC分类号： B25J15/0616 , B25J15/0266
摘要： A workpiece gripping device includes a primary catching mechanism having a suction pad adapted to hold a workpiece by suction power and a rod-like part having the suction pad mounted on one end thereof, gripping pawls sandwiching and gripping the workpiece, a drive unit for supplying a drive power, and a transmission mechanism transmitting the drive power of the drive unit to the gripping pawls. The transmission mechanism moves the gripping pawls along an axis of the rod-like part between a gripping position where the gripping pawls are projected beyond the suction pad and a retreated position where the gripping pawls are retreated from the suction pad toward the base plate. The gripping pawls are moved to the gripping position along the axis of the rod-like part while shortening the distance between the gripping pawls.
摘要翻译：工件夹持装置包括主捕捉机构，其具有适于通过抽吸动力保持工件的吸盘和具有安装在其一端上的吸盘的杆状部件，夹持夹持工件的夹爪，用于供给的驱动单元驱动力和将驱动单元的驱动力传递到夹爪的传动机构。所述传动机构沿着所述杆状部件的轴线将所述抓持爪沿夹持位置移动到所述抓持爪突出超过所述吸盘之间的夹持位置和所述夹持爪从所述吸盘朝向所述基板后退的位置。夹持爪沿杆状部件的轴线移动到夹紧位置，同时缩短夹紧爪之间的距离。

2. 发明授权

US08315735B2 Production system having cooperating process area between human and robot 有权
标题翻译：生产系统具有人与机器人之间的协作处理区域
公开(公告)号：US08315735B2
公开(公告)日：2012-11-20
申请号：US12694201
申请日：2010-01-26
申请人： Ryo Nihei , Shinsuke Sakakibara , Kazunori Ban , Masahiro Morioka , Satoshi Adachi , Shouta Takizawa
发明人： Ryo Nihei , Shinsuke Sakakibara , Kazunori Ban , Masahiro Morioka , Satoshi Adachi , Shouta Takizawa
IPC分类号： G06F19/00
CPC分类号： B25J9/1676 , F16P1/00 , G05B2219/40203
摘要： A production system in which a human and a robot may simultaneously perform a cooperative task in the same area while ensuring human's safety. A robot is positioned at one side of a working table, and an operator is positioned at the other side of the working table. The reachable area of the operator is limited by the working table. An area of the working table is divided into an area where only the operator may perform a task, an area where only the robot may perform a task, and an area where both the operator and the robot may enter. In a cooperation mode, the maximum movement speed of a component of the robot is limited lower than when the component of the robot is outside the cooperative task area, and, the motion of the robot is limited so that the robot does not enter a robot entry-prohibited area.
摘要翻译：人和机器人可以同时在同一地区执行合作任务同时确保人的安全的生产系统。机器人位于工作台的一侧，操作者位于工作台的另一侧。操作员的可达区域受工作台的限制。工作台的区域被划分为仅操作者可以执行任务的区域，仅机器人可以执行任务的区域以及操作者和机器人可以进入的区域。在协作模式中，机器人的部件的最大移动速度被限制在比机器人的部件在协作任务区域之外的最小移动速度，并且机器人的运动受到限制，使得机器人不进入机器人入境禁区。

3. 发明申请

US20080240511A1 APPARATUS FOR PICKING UP OBJECTS 有权
标题翻译：摄制对象的装置
公开(公告)号：US20080240511A1
公开(公告)日：2008-10-02
申请号：US12057423
申请日：2008-03-28
申请人： Kazunori BAN , Ichiro KANNO , Hidetoshi KUMIYA , Shouta TAKIZAWA
发明人： Kazunori BAN , Ichiro KANNO , Hidetoshi KUMIYA , Shouta TAKIZAWA
IPC分类号： G06K9/00
CPC分类号： B25J9/1697 , G06T1/0007 , G06T7/13 , G06T7/75 , G06T7/77 , G06T2207/30164 , G06T2207/30248
摘要： An apparatus for picking up objects including a robot for picking up an object, at least one part of the object having a curved shape, having a storing means for storing a gray gradient distribution model of the object, a recognizing means for recognizing a gray image of the object, a gradient extracting means for extracting a gray gradient distribution from the gray image recognized by the recognizing means, an object detecting means for detecting a position or position posture of the object in the gray image in accordance with the gray gradient distribution extracted by the gradient extracting means and the gray gradient distribution model stored by the storing means, a detection information converting means for converting information of the position or position posture detected by the object detecting means into information of position or position posture in a coordinate system regarding the robot; and a robot moving means for moving the robot to the position or position posture converted by the detection information converting means to pick up the object. Thus, the object having a curved shape can be detected and picked up in a reasonably short period of time.
摘要翻译：一种用于拾取物体的装置，包括用于拾取物体的机器人，具有弯曲形状的物体的至少一部分具有用于存储物体的灰度梯度分布模型的存储装置，用于识别灰色图像的识别装置的梯度提取装置，用于从由识别装置识别的灰度图像中提取灰度梯度分布;对象检测装置，用于根据提取的灰度梯度分布来检测灰色图像中的对象的位置或位置姿势; 通过由存储装置存储的梯度提取装置和灰度梯度分布模型，检测信息转换装置，用于将由对象检测装置检测到的位置或位置姿势的信息转换成关于坐标系的位置或位置姿势的信息机器人; 以及机器人移动装置，用于将机器人移动到由检测信息转换装置转换的位置或位置姿势以拾取对象。因此，可以在相当短的时间段内检测和拾取具有弯曲形状的物体。

4. 发明授权

US08098928B2 Apparatus for picking up objects 有权
标题翻译：拾取物品的装置
公开(公告)号：US08098928B2
公开(公告)日：2012-01-17
申请号：US12057423
申请日：2008-03-28
申请人： Kazunori Ban , Ichiro Kanno , Hidetoshi Kumiya , Shouta Takizawa
发明人： Kazunori Ban , Ichiro Kanno , Hidetoshi Kumiya , Shouta Takizawa
IPC分类号： G06K9/00
CPC分类号： B25J9/1697 , G06T1/0007 , G06T7/13 , G06T7/75 , G06T7/77 , G06T2207/30164 , G06T2207/30248
摘要： An apparatus for picking up objects including a robot for picking up an object, at least one part of the object having a curved shape, having a storing means for storing a gray gradient distribution model of the object, a recognizing means for recognizing a gray image of the object, a gradient extracting means for extracting a gray gradient distribution from the gray image recognized by the recognizing means, an object detecting means for detecting a position or position posture of the object in the gray image in accordance with the gray gradient distribution extracted by the gradient extracting means and the gray gradient distribution model stored by the storing means, a detection information converting means for converting information of the position or position posture detected by the object detecting means into information of position or position posture in a coordinate system regarding the robot; and a robot moving means for moving the robot to the position or position posture converted by the detection information converting means to pick up the object. Thus, the object having a curved shape can be detected and picked up in a reasonably short period of time.
摘要翻译：一种用于拾取物体的装置，包括用于拾取物体的机器人，具有弯曲形状的物体的至少一部分具有用于存储物体的灰度梯度分布模型的存储装置，用于识别灰色图像的识别装置的梯度提取装置，用于从由识别装置识别的灰度图像中提取灰度梯度分布;对象检测装置，用于根据提取的灰度梯度分布来检测灰色图像中的对象的位置或位置姿势; 通过由存储装置存储的梯度提取装置和灰度梯度分布模型，检测信息转换装置，用于将由对象检测装置检测到的位置或位置姿势的信息转换成关于坐标系的位置或位置姿势的信息机器人; 以及机器人移动装置，用于将机器人移动到由检测信息转换装置转换的位置或位置姿势以拾取对象。因此，可以在相当短的时间段内检测和拾取具有弯曲形状的物体。

5. 发明申请

US20100078953A1 WORKPIECE GRIPPING DEVICE 有权
标题翻译：工作设备
公开(公告)号：US20100078953A1
公开(公告)日：2010-04-01
申请号：US12555150
申请日：2009-09-08
申请人： Kazunori BAN , Fumikazu WARASHINA , Shouta TAKIZAWA
发明人： Kazunori BAN , Fumikazu WARASHINA , Shouta TAKIZAWA
IPC分类号： B66C1/42 , B66C1/02 , B66C1/04
CPC分类号： B25J15/0616 , B25J15/0266
摘要： A workpiece gripping device includes a primary catching mechanism having a suction pad adapted to hold a workpiece by suction power and a rod-like part having the suction pad mounted on one end thereof, gripping pawls sandwiching and gripping the workpiece, a drive unit for supplying a drive power, and a transmission mechanism transmitting the drive power of the drive unit to the gripping pawls. The transmission mechanism moves the gripping pawls along an axis of the rod-like part between a gripping position where the gripping pawls are projected beyond the suction pad and a retreated position where the gripping pawls are retreated from the suction pad toward the base plate. The gripping pawls are moved to the gripping position along the axis of the rod-like part while shortening the distance between the gripping pawls.
摘要翻译：工件夹持装置包括主捕捉机构，其具有适于通过抽吸动力保持工件的吸盘和具有安装在其一端上的吸盘的杆状部件，夹持夹持工件的夹爪，用于供给的驱动单元驱动力和将驱动单元的驱动力传递到夹爪的传动机构。所述传动机构沿着所述杆状部件的轴线将所述抓持爪沿夹持位置移动到所述抓持爪突出超过所述吸盘之间的夹持位置和所述夹持爪从所述吸盘朝向所述基板后退的位置。夹持爪沿杆状部件的轴线移动到夹紧位置，同时缩短夹紧爪之间的距离。

6. 发明申请

US20100191372A1 PRODUCTION SYSTEM HAVING COOPERATING PROCESS AREA BETWEEN HUMAN AND ROBOT 有权
标题翻译：生产系统具有人机与机器人之间的合作过程
公开(公告)号：US20100191372A1
公开(公告)日：2010-07-29
申请号：US12694201
申请日：2010-01-26
申请人： Ryo NIHEI , Shinsuke SAKAKIBARA , Kazunori BAN , Masahiro MORIOKA , Satoshi ADACHI , Shouta TAKIZAWA
发明人： Ryo NIHEI , Shinsuke SAKAKIBARA , Kazunori BAN , Masahiro MORIOKA , Satoshi ADACHI , Shouta TAKIZAWA
IPC分类号： G06F19/00
CPC分类号： B25J9/1676 , F16P1/00 , G05B2219/40203
摘要： A production system in which a human and a robot may simultaneously perform a cooperative task in the same area while ensuring human's safety. A robot is positioned at one side of a working table, and an operator is positioned at the other side of the working table. The reachable area of the operator is limited by the working table. An area of the working table is divided into an area where only the operator may perform a task, an area where only the robot may perform a task, and an area where both the operator and the robot may enter. In a cooperation mode, the maximum movement speed of a component of the robot is limited lower than when the component of the robot is outside the cooperative task area, and, the motion of the robot is limited so that the robot does not enter a robot entry-prohibited area.
摘要翻译：人和机器人可以同时在同一地区执行合作任务同时确保人的安全的生产系统。机器人位于工作台的一侧，操作者位于工作台的另一侧。操作员的可达区域受工作台的限制。工作台的区域被划分为仅操作者可以执行任务的区域，仅机器人可以执行任务的区域以及操作者和机器人可以进入的区域。在协作模式中，机器人的部件的最大移动速度被限制在比机器人的部件在协作任务区域之外的最小移动速度，并且机器人的运动受到限制，使得机器人不进入机器人入境禁区。

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