专利快速检索-快速检索全球专利，免费商用专利数据库-IPRDB

1. 发明公开

EP2746000A1 ROBOT SYSTEM, ROBOT, AND ROBOT CONTROL DEVICE 审中-公开
标题翻译： ROBOTERSYSTEM，ROBOTER UND ROBOTERSTEUERVORRICHTUNG
公开(公告)号：EP2746000A1
公开(公告)日：2014-06-25
申请号：EP11871270.2
申请日：2011-08-19
申请人： Kabushiki Kaisha Yaskawa Denki
发明人： YASUDA Ken' ichi , NAGATA Hideo
IPC分类号： B25J13/08 , B25J13/00
CPC分类号： B25J9/1633 , B25J9/1676 , B25J13/081 , G05B2219/39183 , G05B2219/40219
摘要： A robot system, a robot, and a robot control device are provided that can more flexibly operate joint axes of links that touch an object.
A robot system (10) includes a robot (12) and a robot control device (14). The robot 12 includes a plurality of links (28) connected to via a plurality of joint axes, servo motors that drive the joint axes, and a contact detection sensor (30) that detects that one of the links (28) touches an object. The robot control device (14) includes a contact position determination unit (46) that determines a contact position of the link (28) based on an output of the contact detection sensor (30), a retracting direction vector calculation unit (48) that calculates a retracting direction vector in a retracting direction of the link (28) corresponding to the contact position, an assist torque calculation unit (50) that calculates assist torque references for moving the links (28) in the direction of the retracting direction vector, and a flexible control unit (52) that adds the assist torque references to torque references for the servo motors to flexibly control the links (28).
摘要翻译：提供机器人系统，机器人和机器人控制装置，其可以更灵活地操作触摸物体的连杆的关节轴。机器人系统（10）包括机器人（12）和机器人控制装置（14）。机器人12包括通过多个关节轴连接的多个连杆（28），驱动关节轴的伺服电动机;以及检测链接（28）中的一个与物体相接触的接触检测传感器（30）。机器人控制装置（14）包括接触位置确定单元（46），其基于接触检测传感器（30）的输出来确定连杆（28）的接触位置;回缩方向矢量计算单元（48），其计算与所述接触位置对应的所述连杆（28）的回退方向的退回方向矢量;辅助转矩计算单元，计算用于沿所述缩回方向矢量的方向移动所述连杆（28）的辅助转矩基准; 以及灵活的控制单元（52），其将所述辅助转矩参考值与所述伺服电动机的转矩基准相加以灵活地控制所述连杆（28）。

2. 发明公开

EP2741065A1 POSITIONAL DISPLACEMENT DETECTOR, ROBOT HAND, AND ROBOT SYSTEM 审中-公开
标题翻译： POSITIONSVERÄNDERUNGSDETEKTOR，ROBOTERHAND UND ROBOTERSYSTEM
公开(公告)号：EP2741065A1
公开(公告)日：2014-06-11
申请号：EP11870313.1
申请日：2011-08-03
申请人： Kabushiki Kaisha Yaskawa Denki
发明人： NAGAI Ryoichi , NAGATA Hideo
IPC分类号： G01L5/00 , B25J15/08
CPC分类号： B25J19/02 , B25J9/1612 , B25J13/083 , B25J15/0028 , G01H17/00 , G01L5/009 , G05B2219/39507 , G05B2219/40567 , Y10S901/31 , Y10S901/46
摘要： Provided is a positional displacement detector 20, a robot hand 10, and a robot system 64 that are capable of detecting an object's positional displacement equal to or beyond a set range.
The positional displacement detector 20 includes a contact member 22, a prohibition member 24, and a vibration detector 26. The contact member 22 is configured to make contact with the object and deform with a positional displacement of the object. The prohibition member 24 is configured to make contact with the deformed contact member 22 to prohibit a deformation of a magnitude equal to or more than a predetermined magnitude from being caused to the contact member 22. The vibration detector 26 is configured to detect a vibration generated when the contact member 22 has made contact with the prohibition member 24.
摘要翻译：提供能够检测物体的位置位移等于或超过设定范围的位置检测器20，机器人手10和机器人系统64。位置位移检测器20包括接触构件22，禁止构件24和振动检测器26.接触构件22构造成与物体接触并且随着物体的位置偏移而变形。禁止构件24被构造成与变形的接触构件22接触，以防止对接触构件22造成等于或大于预定大小的大小的变形。振动检测器26被配置为检测所产生的振动当接触构件22已经与禁止构件24接触时。

3. 发明公开

EP2752650A1 FORCE SENSOR AND ROBOT 审中-公开
标题翻译： KRAFTSENSOR UND ROBOTER
公开(公告)号：EP2752650A1
公开(公告)日：2014-07-09
申请号：EP11871463.3
申请日：2011-09-01
申请人： Kabushiki Kaisha Yaskawa Denki
发明人： NAGATA Hideo , NAGAI Ryoichi , INOUE Yasuyuki , KUBOTA Yoshiaki
IPC分类号： G01L1/26 , B25J13/08 , B25J19/02 , G01L5/00
CPC分类号： G01L5/0028 , B25J9/1633 , B25J13/085 , G01L5/16 , G01L5/162 , G05B2219/40586 , Y10S901/09 , Y10T74/20305
摘要： A force sensor 10 and a robot 14 that can suppress a load applied to load sensor elements are provided.
A force sensor 110 includes: a first base member 30a one surface of which is fixed on a fixed member; a plurality of load sensor elements S1 to S4 that is provided on another surface of the first base member 30a to detect a load; a second base member 130b that is disposed facing the other surface of the first base member 30a to generate a preload to be applied to each of the load sensor elements S1 to S4 toward the first base member 30a; a preload adjusting unit 140 that adjusts the magnitude of the preload generated by the second base member 130b; and buffer bodies 32a and 32b that receive a part of an external load to be applied to each of the load sensor elements S1 to S4 from the outside.
摘要翻译：提供能够抑制施加到负载传感器元件的负载的力传感器10和机器人14。力传感器110包括：第一基部构件30a，其一个表面固定在固定构件上; 多个负载传感器元件S1〜S4，设置在第一基座部件30a的另一个表面上，以检测负载; 第二基座构件130b，其被布置为面对第一基座构件30a的另一个表面，以产生施加到每个负载传感器元件S1至S4朝向第一基座构件30a的预载荷; 预调节单元140，其调节由第二基座构件130b产生的预载荷的大小; 以及从外部接收要施加到各负载传感器元件S1〜S4的外部负载的一部分的缓冲体32a，32b。

4. 发明公开

EP2745999A1 ROBOT SYSTEM, ROBOT CONTROL DEVICE, ROBOT HAND AND METHOD FOR CONTROLLING ROBOT 审中-公开
标题翻译： ROBOTERSYSTEM，ROBOTERSTEUERUNGSVORRICHTUNG，ROBOTERHAND UND VERFAHREN ZUR ROBOTERSTEUERUNG
公开(公告)号：EP2745999A1
公开(公告)日：2014-06-25
申请号：EP11871135.7
申请日：2011-08-19
申请人： Kabushiki Kaisha Yaskawa Denki
发明人： NAGATA Hideo , SEKIYAMA Tomoyuki , INOUE Yasuyuki
IPC分类号： B25J13/00 , B25J13/08
CPC分类号： B25J9/1697 , G05B2219/39057 , G05B2219/40053 , G05B2219/40575 , G05B2219/40613
摘要： There are provided a robot system 100 capable of taking an object OBJ from a container BOX even if an error is in a position of the object OBJ acquired from a camera unit 130, a robot control device 120, a robot hand 108 and a method for controlling a robot.
A method for controlling a robot 110 includes a step of calculating information on a position or orientation of the container BOX as first information based on a stereo image of the container BOX, a step of causing the hand 108 to contact the container BOX and calculating information on the position or orientation of the container BOX as second information, a step of calculating information on a position or orientation of the object OBJ based on a stereo image of the object OBJ, and a step of correcting the information on the position or orientation of the object OBJ based on the first and second information.
摘要翻译：提供了一种能够从容器BOX获取物体OBJ的机器人系统100，即使在从相机单元130获取的对象OBJ的位置，机器人控制装置120，机器人手108以及用于控制机器人。用于控制机器人110的方法包括以下步骤：基于容器BOX的立体图像计算作为第一信息的容器BOX的位置或取向的信息，使手108与容器BOX接触并计算信息的步骤在作为第二信息的容器BOX的位置或取向上，基于对象OBJ的立体图像来计算关于对象OBJ的位置或取向的信息的步骤，以及校正关于对象OBJ的位置或取向的信息的步骤基于第一和第二信息的对象OBJ。

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