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1. 发明授权

US06665588B2 Workpiece unloading apparatus 有权
标题翻译：工件卸载装置
公开(公告)号：US06665588B2
公开(公告)日：2003-12-16
申请号：US10193172
申请日：2002-07-12
申请人： Atsushi Watanabe , Katsutoshi Takizawa , Kazunori Ban , Ichiro Kanno
发明人： Atsushi Watanabe , Katsutoshi Takizawa , Kazunori Ban , Ichiro Kanno
IPC分类号： G05B1500
CPC分类号： B23Q7/10 , B23Q7/04 , B23Q17/24 , B25J9/1697 , B65G61/00 , G05B2219/40053 , G05B2219/40613
摘要： A workpiece is gripped and unloaded by moving workpiece unloading means based on the results of measuring the workpiece position and orientation with a visual sensor. When a plurality of loaded workpieces are unloaded in a regular order one by one, or in groups, the position and orientation of the workpiece which is to be unloaded next change for each unloading. However, since a visual sensor is moved when necessary to the position appropriate for measuring the workpiece position and orientation, measurements of the workpieces with the visual sensor are conducted accurately. Therefore, the workpiece unloading is conducted reliably.
摘要翻译：基于通过视觉传感器测量工件位置和方向的结果，通过移动工件卸载装置来夹紧和卸载工件。当多个装载的工件以规则的顺序逐个或组合地卸载时，待卸载的工件的位置和取向接下来对于每次卸载而改变。然而，由于视觉传感器在必要时移动到适于测量工件位置和方位的位置，所以可以精确地进行用视觉传感器的工件的测量。因此，可靠地进行工件卸载。

2. 发明授权

US08121731B2 Teaching position correcting apparatus and teaching position correction method 有权
标题翻译：教学位置校正装置及教学位置校正方法
公开(公告)号：US08121731B2
公开(公告)日：2012-02-21
申请号：US11684503
申请日：2007-03-09
申请人： Kazunori Ban , Ichiro Kanno , Gang Shen , Katsutoshi Takizawa
发明人： Kazunori Ban , Ichiro Kanno , Gang Shen , Katsutoshi Takizawa
IPC分类号： B25J9/22
CPC分类号： B25J9/1656 , G05B19/425 , G05B2219/40385 , G05B2219/45104
摘要： A teaching position correcting apparatus corrects plural teaching point positions of a robot in a robot operation program, by sequentially moving the robot to each of the plural teaching points and by sequentially reading a current position of the robot at each of the plural teaching points. The apparatus includes: a position correction amount calculating unit that calculates a position correction amount, based on corrected teaching point positions and teaching point positions before correction; and a corrected-position calculating unit that calculates corrected positions of teaching point positions before correction out of the plural teaching points, based on the position correction amount. At the time of moving the robot to uncorrected teaching points, a moving unit moves the robot to corrected positions of the teaching point positions before correction.
摘要翻译：教学位置校正装置通过将机器人顺序地移动到多个教学点中的每一个，并且通过在多个教学点中的每一个依次读取机器人的当前位置，来校正机器人操作程序中的机器人的多个教学点位置。该装置包括：位置校正量计算单元，其基于校正前的校正教学点位置和教学点位置来计算位置校正量; 以及校正位置计算单元，基于位置校正量计算多个教学点之前的校正前的教学点位置的校正位置。在将机器人移动到未校正的教学点时，移动单元将机器人移动到校正前的教学点位置的校正位置。

3. 发明授权

US07590468B2 Robot system 有权
标题翻译：机器人系统
公开(公告)号：US07590468B2
公开(公告)日：2009-09-15
申请号：US10952101
申请日：2004-09-29
申请人： Atsushi Watanabe , Kazunori Ban , Ichiro Kanno
发明人： Atsushi Watanabe , Kazunori Ban , Ichiro Kanno
IPC分类号： G05B19/00
CPC分类号： G05B19/4069 , B25J9/1664 , B25J9/1674 , G05B2219/37555 , G05B2219/40053 , G05B2219/40125 , G05B2219/40213
摘要： A robot system can grasp and take out one of a plurality of workpieces placed in a basket-like container by a hand mounted at the forward end of a robot arm. The workpiece is detected by a visual sensor, and the robot is controlled depending on a position and an orientation of the workpiece. When a problem such as interference or the like occurs, information relating to the problem is stored in a robot control unit or a visual sensor control unit. Information relating to the problem includes a predetermined amount of the latest data retrospectively traced from the time point of problem occurrence, a position which the robot has reached, the target position data, the content of the process executed by the visual sensor, and the detection result. When the problem is reproduced, these data are used to simulate the situation at the time of problem occurrence by using simulation unit. The situation at the time of problem occurrence can also be reproduced by using the actual robot without using the simulation unit.
摘要翻译：机器人系统可以通过安装在机器人臂的前端的手抓住并取出放置在篮状容器中的多个工件中的一个。通过视觉传感器检测工件，根据工件的位置和方向来控制机器人。当发生诸如干扰等的问题时，与问题有关的信息存储在机器人控制单元或视觉传感器控制单元中。与问题有关的信息包括从问题发生的时间点，机器人到达的位置，目标位置数据，由视觉传感器执行的处理的内容以及检测的追溯地追溯的预定量的最新数据结果。当问题复制时，这些数据用于通过使用模拟单元来模拟出现问题时的情况。发生问题时的情况也可以通过使用实际的机器人而不使用模拟单元来再现。

4. 发明授权

US07355725B2 Measuring system 失效
标题翻译：测量系统
公开(公告)号：US07355725B2
公开(公告)日：2008-04-08
申请号：US11073681
申请日：2005-03-08
申请人： Atsushi Watanabe , Kazunori Ban , Ichiro Kanno
发明人： Atsushi Watanabe , Kazunori Ban , Ichiro Kanno
IPC分类号： G01B11/14
CPC分类号： B25J9/1697 , G05B19/401 , G05B2219/37555 , G05B2219/40564
摘要： A measuring system for easily detecting Misjudged Detection (M/D). A camera for measurement attached to a robot is used to obtain an image for measurement of a workpiece so as to measure and detect a set point. Next, a camera for validation is used to obtain an image for validation of the workpiece so as to measure and detect the set point. One camera may capture both of the images for measurement and validation, by utilizing movement of the robot. It is judged whether the measured results obtained from the images represent the same point on the workpiece or not. If yes, the measured results are judged to be valid, otherwise, the measured results are judged to be invalid and an exception process, such as a retrial, is executed. The images by the camera may also be used for judging a moving path of the robot during measurement of a large object.
摘要翻译：一种易于检测误判测（M / D）的测量系统。使用附属于机器人的测量用照相机来获得用于测量工件的图像，以便测量和检测设定点。接下来，使用用于验证的相机来获得用于确认工件的图像，以便测量和检测设定点。一个相机可以通过利用机器人的移动来捕获两个图像以进行测量和验证。判断从图像获得的测量结果是否表示工件上的相同点。如果是，则将测量结果判定为有效，否则判断为无效，并执行例如重试等异常处理。照相机的图像也可以用于在大物体的测量期间判断机器人的移动路径。

5. 发明申请

US20060074526A1 Robot program generating device and robot program analyzing device 有权
标题翻译：机器人程序生成装置和机器人程序分析装置
公开(公告)号：US20060074526A1
公开(公告)日：2006-04-06
申请号：US11239672
申请日：2005-09-30
申请人： Atsushi Watanabe , Kazunori Ban , Ichiro Kanno
发明人： Atsushi Watanabe , Kazunori Ban , Ichiro Kanno
IPC分类号： G06F19/00
CPC分类号： B25J9/1697 , B25J9/1671 , G05B2219/35346 , G05B2219/37205 , G05B2219/37208
摘要： A work model (or an image) is displayed on an image plane of a robot simulator (201), and a measuring portion and a measuring method are designated (202, 203) and a work shape and a work loading state are designated (204), and then it is judged whether or not the measuring portion and the measuring method are good (205). When the measuring portion and the measuring method are good, a program is generated and the processing is completed (207, 208). When the measuring portion and the measuring method are not good, an alarm is given (206), and the continuation (207) or the repetition (201) of the processing is directed. At the time of analyzing the program, the loading (101), the analysis and display of the measuring portion and the measuring method (102, 103) and the work information (104) are designated, and then it is judged whether or not the measuring portion and the measuring method, which have been analyzed, are good (105). When the measuring portion and the measuring method are good, the processing is finished (107). When the measuring portion and the measuring method are not good, an alarm is given (106), and either the completion of the processing (107) or the correction of the program (201) is selected. Due to the foregoing, a burden imposed for raising and maintaining the visual sensor robot system can be reduced.
摘要翻译：工件模型（或图像）显示在机器人模拟器（201）的图像平面上，并且指定测量部分和测量方法（202,203），并且指定工件形状和加载状态（204 ），然后判断测量部分和测量方法是否良好（205）。当测量部分和测量方法良好时，产生程序并完成处理（207,208）。当测量部分和测量方法不好时，给出警报（206），并且指示处理的继续（207）或重复（201）。在分析程序时，指定负载（101），测量部分的分析和显示以及测量方法（102,103）和工作信息（104），然后判断是否测量部分和测量方法都很好（105）。当测量部分和测量方法良好时，处理结束（107）。当测量部分和测量方法不好时，给出警报（106），并且选择处理（107）的完成或程序（201）的校正。由于上述原因，可以降低用于升高和维持视觉传感器机器人系统的负担。

6. 发明授权

US07684897B2 Robot program generating device and robot program analyzing device 有权
标题翻译：机器人程序生成装置和机器人程序分析装置
公开(公告)号：US07684897B2
公开(公告)日：2010-03-23
申请号：US11239672
申请日：2005-09-30
申请人： Atsushi Watanabe , Kazunori Ban , Ichiro Kanno
发明人： Atsushi Watanabe , Kazunori Ban , Ichiro Kanno
IPC分类号： G06F19/00
CPC分类号： B25J9/1697 , B25J9/1671 , G05B2219/35346 , G05B2219/37205 , G05B2219/37208
摘要： A work model (or an image) is displayed on an image plane of a robot simulator (201), and a measuring portion and a measuring method are designated (202, 203) and a work shape and a work loading state are designated (204), and then it is judged whether or not the measuring portion and the measuring method are good (205). When the measuring portion and the measuring method are good, a program is generated and the processing is completed (207, 208). When the measuring portion and the measuring method are not good, an alarm is given (206), and the continuation (207) or the repetition (201) of the processing is directed. At the time of analyzing the program, the loading (101), the analysis and display of the measuring portion and the measuring method (102, 103) and the work information (104) are designated, and then it is judged whether or not the measuring portion and the measuring method, which have been analyzed, are good (105). When the measuring portion and the measuring method are good, the processing is finished (107). When the measuring portion and the measuring method are not good, an alarm is given (106), and either the completion of the processing (107) or the correction of the program (201) is selected. Due to the foregoing, a burden imposed for raising and maintaining the visual sensor robot system can be reduced.
摘要翻译：工件模型（或图像）显示在机器人模拟器（201）的图像平面上，并且指定测量部分和测量方法（202,203），并且指定工件形状和加载状态（204 ），然后判断测量部分和测量方法是否良好（205）。当测量部分和测量方法良好时，产生程序并完成处理（207,208）。当测量部分和测量方法不好时，给出警报（206），并且指示处理的继续（207）或重复（201）。在分析程序时，指定负载（101），测量部分的分析和显示以及测量方法（102,103）和工作信息（104），然后判断是否测量部分和测量方法都很好（105）。当测量部分和测量方法良好时，处理结束（107）。当测量部分和测量方法不好时，给出警报（106），并且选择处理（107）的完成或程序（201）的校正。由于上述原因，可以降低用于升高和维持视觉传感器机器人系统的负担。

7. 发明授权

US07386367B2 Workpiece conveying apparatus 有权
标题翻译：工件输送装置
公开(公告)号：US07386367B2
公开(公告)日：2008-06-10
申请号：US10780757
申请日：2004-02-19
申请人： Atsushi Watanabe , Kazunori Ban , Ichiro Kanno
发明人： Atsushi Watanabe , Kazunori Ban , Ichiro Kanno
IPC分类号： G05B15/00
CPC分类号： B25J9/1697 , B25J9/1612
摘要： A workpiece is gripped by a robot hand and an image of the workpiece is captured by a camera. An image processing device detects the position and posture of a characteristic portion of the workpiece. On the basis of the present position of the robot, the relative position and posture between a flange of the robot and the workpiece characteristic portion is detected. The relative position and posture is compared with that observed when the workpiece is gripped correctly, to determine a gripping error. If the gripping error exceeds a permissible error, the robot is stopped. If the gripping error is equal to or less than the permissible error, a taught position where the workpiece is to be released is corrected so as to cancel the adverse effect of the gripping error.
摘要翻译：工件由机器人手握住，工件的图像由相机捕获。图像处理装置检测工件的特征部分的位置和姿势。基于机器人的当前位置，检测机器人的凸缘与工件特性部分之间的相对位置和姿势。将相对位置和姿势与正确握住工件时观察到的相对位置和姿势进行比较，以确定夹紧误差。如果夹紧误差超过允许误差，则机器人停止。如果夹紧误差等于或小于允许误差，则校正要释放工件的教导位置，以消除夹紧误差的不利影响。

8. 发明申请

US20050195409A1 Measuring system 失效
标题翻译：测量系统
公开(公告)号：US20050195409A1
公开(公告)日：2005-09-08
申请号：US11073681
申请日：2005-03-08
申请人： Atsushi Watanabe , Kazunori Ban , Ichiro Kanno
发明人： Atsushi Watanabe , Kazunori Ban , Ichiro Kanno
IPC分类号： G06T1/00 , B25J9/16 , G01B11/24
CPC分类号： B25J9/1697 , G05B19/401 , G05B2219/37555 , G05B2219/40564
摘要： A measuring system for easily detecting Misjudged Detection (M/D). A camera for measurement attached to a robot is used to obtain an image for measurement of a workpiece so as to measure and detect a set point. Next, a camera for validation is used to obtain an image for validation of the workpiece so as to measure and detect the set point. One camera may capture both of the images for measurement and validation, by utilizing movement of the robot. It is judged whether the measured results obtained from the images represent the same point on the workpiece or not. If yes, the measured results are judged to be valid, otherwise, the measured results are judged to be invalid and an exception process, such as a retrial, is executed. The images by the camera may also be used for judging a moving path of the robot during measurement of a large object.
摘要翻译：一种易于检测误判测（M / D）的测量系统。使用附属于机器人的测量用照相机来获得用于测量工件的图像，以便测量和检测设定点。接下来，使用用于验证的相机来获得用于确认工件的图像，以便测量和检测设定点。一个相机可以通过利用机器人的移动来捕获两个图像以进行测量和验证。判断从图像获得的测量结果是否表示工件上的相同点。如果是，则将测量结果判定为有效，否则判断为无效，并执行例如重试等异常处理。照相机的图像也可以用于在大物体的测量期间判断机器人的移动路径。

9. 发明申请

US20050071048A1 Robot system 有权
标题翻译：机器人系统
公开(公告)号：US20050071048A1
公开(公告)日：2005-03-31
申请号：US10952101
申请日：2004-09-29
申请人： Atsushi Watanabe , Kazunori Ban , Ichiro Kanno
发明人： Atsushi Watanabe , Kazunori Ban , Ichiro Kanno
IPC分类号： B25J19/06 , B25J9/16 , B25J13/08 , G05B19/4067 , G06F19/00
CPC分类号： G05B19/4069 , B25J9/1664 , B25J9/1674 , G05B2219/37555 , G05B2219/40053 , G05B2219/40125 , G05B2219/40213
摘要： A robot system can grasp and take out one of a plurality of workpieces placed in a basket-like container by a hand mounted at the forward end of a robot arm. The workpiece is detected by a visual sensor, and the robot is controlled depending on a position and an orientation of the workpiece. When a problem such as interference or the like occurs, information relating to the problem is stored in a robot control unit or a visual sensor control unit. Information relating to the problem includes a predetermined amount of the latest data retrospectively traced from the time point of problem occurrence, a position which the robot has reached, the target position data, the content of the process executed by the visual sensor, and the detection result. When the problem is reproduced, these data are used to simulate the situation at the time of problem occurrence by using simulation unit. The situation at the time of problem occurrence can also be reproduced by using the actual robot without using the simulation unit.
摘要翻译：机器人系统可以通过安装在机器人臂的前端的手抓住并取出放置在篮状容器中的多个工件中的一个。通过视觉传感器检测工件，根据工件的位置和方向来控制机器人。当发生诸如干扰等的问题时，与问题有关的信息存储在机器人控制单元或视觉传感器控制单元中。与问题有关的信息包括从问题发生的时间点，机器人到达的位置，目标位置数据，由视觉传感器执行的处理的内容以及检测的追溯地追溯的预定量的最新数据结果。当问题复制时，这些数据用于通过使用模拟单元来模拟出现问题时的情况。发生问题时的情况也可以通过使用实际的机器人而不使用模拟单元来再现。

10. 发明授权

US06970802B2 Three-dimensional measuring device 有权
标题翻译：三维测量装置
公开(公告)号：US06970802B2
公开(公告)日：2005-11-29
申请号：US10740567
申请日：2003-12-22
申请人： Kazunori Ban , Ichiro Kanno
发明人： Kazunori Ban , Ichiro Kanno
IPC分类号： G01B11/00 , B25J9/16 , B25J13/08 , G01B11/03 , G01B21/04 , G01C17/00 , G05B19/18
CPC分类号： G01B21/045 , B25J9/1641 , B25J9/1697 , G05B2219/39057
摘要： Three-dimensional measurement capable of reducing an error in coupling robot and sensor coordinate systems and adverse effects of backlash in a robot. A position/orientation of the robot for obtaining a measurement value on the sensor coordinate system is set beforehand with a workpiece positioned at a reference position. Then, the robot is moved to a preparatory measurement position, a preparatory measurement for the workpiece positioned at an arbitrary position is performed (SV1), and based on a measurement result, a main measurement position is calculated (SV2). Next, an auxiliary position is determined (SV3), which serves as a start position from which a movement to the main measurement position can be made without making a reversal of respective axes. The robot is moved to the auxiliary position (SV4), and to the main measurement position (SV5), and a measurement for the workpiece is made and a measurement result is stored (SV6).
摘要翻译：能够减少耦合机器人和传感器坐标系的误差的三维测量以及机器人中的间隙的不利影响。预先设置用于获取传感器坐标系上的测量值的机器人的位置/方向，其中工件位于参考位置。然后，将机器人移动到准备测量位置，执行位于任意位置的工件的准备测量（SV 1），并且基于测量结果，计算主测量位置（SV2）。接下来，确定辅助位置（SV 3），其作为起始位置，从而能够进行到主测量位置的移动而不使各轴的反转。机器人移动到辅助位置（SV 4）和主测量位置（SV 5），进行工件测量并存储测量结果（SV 6）。

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