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1. 发明公开

EP1905548A2 Workpiece picking apparatus 有权转让
标题翻译：一种用于工件保持器
公开(公告)号：EP1905548A2
公开(公告)日：2008-04-02
申请号：EP07019095.4
申请日：2007-09-27
申请人： FANUC LTD
发明人： Ban, Kazunori , Kanno, Ichiro , Watanabe, Keisuke
IPC分类号： B25J9/16 , G06T1/00 , G06T7/00
CPC分类号： B25J9/1697 , G05B2219/40038 , G06T7/0004 , G06T7/73 , G06T2207/30164
摘要： A workpiece picking apparatus (11) includes a robot (13), a workpiece recognition device (15,19,25) for recognizing the workpieces (W) located in a wide area, an accurate measurement device (17,19,27) for accurately measuring the three-dimensional position of the workpiece (W), a workpiece select device (37) for selecting the workpiece (W) to be picked, and an NG workpiece storage device (35) for storing information on the rough position of a failed NG workpiece (Wf) when the measurement of the three-dimensional position or the picking for the workpiece (W) has failed. The workpiece select device (37) excludes the NG workpiece (Wf) stored in the NG workpiece storage device (35) and selects the next workpiece (W) to be measured. The robot (13) picks the selected workpiece (W) based on the three-dimensional position of the workpiece (W) measured by the accurate measurement device (17,19,27).

2. 发明公开

EP1862270A2 Workpiece picking device and method 有权
标题翻译： Werkstückaufnahmevorrichtungund -verfahren
公开(公告)号：EP1862270A2
公开(公告)日：2007-12-05
申请号：EP07010356.9
申请日：2007-05-24
申请人： Fanuc Ltd
发明人： Ban, Kazunori , Watanabe, Keisuke
IPC分类号： B25J9/16
CPC分类号： B25J9/1697 , G05B2219/37555 , G05B2219/40053
摘要： A workpiece picking device and method for reducing the cycle time of a picking operation of workpieces, by omitting or reducing the movement of a robot manipulator when an image of the workpieces is captured. An image processor of the picking device includes a camera controlling part for reading image data from a camera, a memory for storing the image data, a workpiece detecting part for extracting one or more images from the memory and detecting one or more workpieces in the image, and a workpiece selecting part for selecting a workpiece to be picked among the workpieces detected by the workpiece detecting part. The image processor further includes a stacked condition judging part for determining whether the condition of the stacked workpieces in a container is changed.
摘要翻译：一种用于通过省略或减少当工件的图像被捕获时机器人操纵器的移动来减少工件的拾取操作的循环时间的工件拾取装置和方法。拾取装置的图像处理器包括用于从相机读取图像数据的相机控制部分，用于存储图像数据的存储器，用于从存储器中提取一个或多个图像的工件检测部分，并检测图像中的一个或多个工件以及工件选择部，用于选择由工件检测部检测出的工件中要拾取的工件。图像处理器还包括用于确定容器中堆叠的工件的状态是否改变的层叠条件判断部分。

3. 发明公开

EP1905548A3 Workpiece picking apparatus 有权转让
标题翻译：工件拣选装置
公开(公告)号：EP1905548A3
公开(公告)日：2009-01-28
申请号：EP07019095.4
申请日：2007-09-27
申请人： FANUC LTD
发明人： Ban, Kazunori , Kanno, Ichiro , Watanabe, Keisuke
IPC分类号： B25J9/16 , G06T1/00 , G06T7/00
CPC分类号： B25J9/1697 , G05B2219/40038 , G06T7/0004 , G06T7/73 , G06T2207/30164
摘要： A workpiece picking apparatus (11) includes a robot (13), a workpiece recognition device (15,19,25) for recognizing the workpieces (W) located in a wide area, an accurate measurement device (17,19,27) for accurately measuring the three-dimensional position of the workpiece (W), a workpiece select device (37) for selecting the workpiece (W) to be picked, and an NG workpiece storage device (35) for storing information on the rough position of a failed NG workpiece (Wf) when the measurement of the three-dimensional position or the picking for the workpiece (W) has failed. The workpiece select device (37) excludes the NG workpiece (Wf) stored in the NG workpiece storage device (35) and selects the next workpiece (W) to be measured. The robot (13) picks the selected workpiece (W) based on the three-dimensional position of the workpiece (W) measured by the accurate measurement device (17,19,27).
摘要翻译：工件拾取装置（11）包括机器人（13），用于识别位于广阔区域的工件（W）的工件识别装置（15,19,25），用于准确测量装置（17,19,27）精确地测量工件（W）的三维位置;工件选择装置（37），用于选择要拾取的工件（W）; NG工件存储装置（35），用于存储关于当三维位置的测量或工件（W）的拾取失败时失败的NG工件（Wf）。工件选择装置（37）将NG工件收纳装置（35）中收纳的NG工件（Wf）排除，选择下一个被测量工件（W）。机器人（13）根据由精确测量装置（17,19,27）测量的工件（W）的三维位置来拾取选定的工件（W）。

4. 发明公开

EP1816604A2 Workpiece picking device 有权转让
标题翻译： Vorrichtung zurWerkstückaufnahme
公开(公告)号：EP1816604A2
公开(公告)日：2007-08-08
申请号：EP07001878.3
申请日：2007-01-29
申请人： FANUC LTD
发明人： Ban, Kazunori , Warashina, Fumikazu , Watanabe, Keisuke
IPC分类号： G06T7/00 , B25J9/16
CPC分类号： B25J9/1697 , G05B2219/37555 , G05B2219/40053
摘要： A workpiece picking device capable of correctly detecting the size of a workpiece (14). The picking device has a robot (16) capable of picking the same kind of workpieces (14) contained in a work container (12), a robot controller (18) for controlling the robot (16), a video camera (20) positioned above the work container (12) so as to widely image the workpieces (14) and an image processor (22) for processing an image obtained by the video camera (20). The three-dimensional position and posture of each workpiece (14) is measured by a three-dimensional vision sensor (24) arranged on a wrist element of the robot.
摘要翻译：一种能够正确地检测工件（14）的尺寸的工件拾取装置。拾取装置具有能够拾取包含在工作容器（12）中的相同种类的工件（14）的机器人（16），用于控制机器人的机器人控制器（18），位于在工作容器（12）的上方，以广泛地对工件（14）进行成像和图像处理器（22），用于处理由摄像机（20）获得的图像。每个工件（14）的三维位置和姿势通过布置在机器人的腕部上的三维视觉传感器（24）来测量。

5. 发明授权

EP1905548B1 Workpiece picking apparatus 有权转让
标题翻译： Vorrichtung zurWerkstückaufnahme
公开(公告)号：EP1905548B1
公开(公告)日：2010-09-15
申请号：EP07019095.4
申请日：2007-09-27
申请人： FANUC LTD
发明人： Ban, Kazunori , Kanno, Ichiro , Watanabe, Keisuke
IPC分类号： B25J9/16 , G06T1/00 , G06T7/00
CPC分类号： B25J9/1697 , G05B2219/40038 , G06T7/0004 , G06T7/73 , G06T2207/30164

6. 发明公开

EP1816604A3 Workpiece picking device 有权转让
标题翻译：一种用于工件保持器
公开(公告)号：EP1816604A3
公开(公告)日：2009-01-28
申请号：EP07001878.3
申请日：2007-01-29
申请人： FANUC LTD
发明人： Ban, Kazunori , Warashina, Fumikazu , Watanabe, Keisuke
IPC分类号： G06T7/00 , B25J9/16
CPC分类号： B25J9/1697 , G05B2219/37555 , G05B2219/40053
摘要： A workpiece picking device capable of correctly detecting the size of a workpiece (14). The picking device has a robot (16) capable of picking the same kind of workpieces (14) contained in a work container (12), a robot controller (18) for controlling the robot (16), a video camera (20) positioned above the work container (12) so as to widely image the workpieces (14) and an image processor (22) for processing an image obtained by the video camera (20). The three-dimensional position and posture of each workpiece (14) is measured by a three-dimensional vision sensor (24) arranged on a wrist element of the robot.

7. 发明公开

EP1862270A3 Workpiece picking device and method 有权
标题翻译：工件接收装置和方法
公开(公告)号：EP1862270A3
公开(公告)日：2009-12-02
申请号：EP07010356.9
申请日：2007-05-24
申请人： FANUC LTD
发明人： Ban, Kazunori , Watanabe, Keisuke
IPC分类号： B25J9/16
CPC分类号： B25J9/1697 , G05B2219/37555 , G05B2219/40053
摘要： A workpiece picking device and method for reducing the cycle time of a picking operation of workpieces, by omitting or reducing the movement of a robot manipulator when an image of the workpieces is captured. An image processor of the picking device includes a camera controlling part for reading image data from a camera, a memory for storing the image data, a workpiece detecting part for extracting one or more images from the memory and detecting one or more workpieces in the image, and a workpiece selecting part for selecting a workpiece to be picked among the workpieces detected by the workpiece detecting part. The image processor further includes a stacked condition judging part for determining whether the condition of the stacked workpieces in a container is changed.

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