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1. 发明公开

CN103814281A 错位检测器、机器人手和机器人系统无效
公开(公告)号：CN103814281A
公开(公告)日：2014-05-21
申请号：CN201180073382.5
申请日：2011-08-03
申请人：株式会社安川电机
发明人：永井亮一 , 永田英夫
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：本发明提供能检测出物体的错位已达到设定范围以上的错位检测器（20）、机器人手（10）及机器人系统（64）。错位检测器（20）具有：接触部件（22），其与物体接触，并伴随物体的错位而变形；限制部件（24），通过接触已变形的接触部件（22），限制接触部件（22）的变形达到预先确定的大小以上；以及振动检测部（26），用于检测接触部件（22）与限制部件（24）接触时产生的振动。

2. 发明申请

US20140062345A1 ACTUATING APPARATUS 有权
标题翻译：执行装置
公开(公告)号：US20140062345A1
公开(公告)日：2014-03-06
申请号：US14013513
申请日：2013-08-29
申请人： HONDA MOTOR CO., LTD.
发明人： Atsuo Orita
IPC分类号： H02P31/00
CPC分类号： H02P31/00 , B25J9/1641 , G05B2219/39507 , G05D17/02
摘要： An actuating apparatus includes a first pulley to which a rotational power of a motor is transmitted, a second pulley to which a rotational power of the first pulley is transmitted through a wire, displacement encoders for detecting respective rotational angles of the first pulley and the second pulley, a slip amount calculator for calculating a slip amount of the second pulley with respect to the wire, and a motor controller for controlling a torque output from the motor based on the slip amount. The slip amount calculator calculates the slip amount based on a change in a rotational angular velocity of the first pulley, a difference between the rotational angles of the first pulley and the second pulley, and the torque output from the motor.
摘要翻译：驱动装置包括：第一皮带轮，电动机的旋转动力传递到该第一滑轮;第二滑轮，第一滑轮的旋转动力通过导线传递到其上;第二滑轮，用于检测第一滑轮和第二滑轮的各旋转角度的位移编码器; 滑轮，用于计算第二滑轮相对于导线的滑移量的滑移量计算器，以及用于基于滑移量控制从马达输出的扭矩的马达控制器。滑移量计算器基于第一滑轮的旋转角速度的变化，第一滑轮和第二滑轮的旋转角度之间的差以及从马达输出的扭矩来计算滑移量。

3. 发明申请

US20140145458A1 POSITIONAL DISPLACEMENT DETECTOR, ROBOT HAND, AND ROBOT SYSTEM 审中-公开
标题翻译：位置移动探测器，机器手和机器人系统
公开(公告)号：US20140145458A1
公开(公告)日：2014-05-29
申请号：US14169153
申请日：2014-01-31
申请人： KABUSHIKI KAISHA YASKAWA DENKI
发明人： Ryoichi NAGAI , Hideo NAGATA
IPC分类号： B25J19/02 , B25J15/00 , G01H17/00
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： The positional displacement detector includes a contact member, a prohibition member, and a vibration detector. The contact member is configured to make contact with the object and deform with a positional displacement of the object. The prohibition member is configured to make contact with the deformed contact member to prohibit a deformation of a magnitude equal to or more than a predetermined magnitude from being caused to the contact member. The vibration detector is configured to detect a vibration generated when the contact member has made contact with the prohibition member.
摘要翻译：位置检测器包括接触构件，禁止构件和振动检测器。接触构件被构造成与物体接触并且随着物体的位置偏移而变形。禁止构件被构造成与变形的接触构件接触以防止对接触构件造成等于或大于预定大小的大小的变形。振动检测器被配置为检测当接触构件与禁止构件接触时产生的振动。

4. 发明公开

EP2741065A4 POSITIONAL DISPLACEMENT DETECTOR, ROBOT HAND, AND ROBOT SYSTEM 审中-公开
标题翻译：位置变化检测，机械手和机器人系统
公开(公告)号：EP2741065A4
公开(公告)日：2015-06-03
申请号：EP11870313
申请日：2011-08-03
申请人： YASKAWA DENKI SEISAKUSHO KK
发明人： NAGAI RYOICHI , NAGATA HIDEO
IPC分类号： G01L5/00 , B25J13/08 , 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

5. 发明授权

US08467898B2 Method and a device for recognizing, collecting and repositioning objects 有权
标题翻译：用于识别，收集和重新定位物体的方法和装置
公开(公告)号：US08467898B2
公开(公告)日：2013-06-18
申请号：US12529257
申请日：2008-03-04
申请人： Patrizio Cardoni
发明人： Patrizio Cardoni
IPC分类号： G06F7/00
CPC分类号： B25J9/1612 , B25J9/1694 , G05B2219/37054 , G05B2219/37286 , G05B2219/37319 , G05B2219/39487 , G05B2219/39497 , G05B2219/39507 , G05B2219/39513 , G05B2219/39531 , G05B2219/39532 , G05B2219/39534 , G05B2219/40053 , G05B2219/40252 , G05B2219/40564 , G05B2219/40567 , G05B2219/45045
摘要： A method for recognizing, collecting and repositioning objects (1) having non-predetermined dimensional characteristics and which are arranged on a support surface (2) is implemented by means of a gripper group (30). The gripper group (30) is mobile in at least a lengthwise direction of movement relative to an object (1) to be handled, a direction of moving towards/away from the object (1), and a direction of adjustment of the height relative to the object (1). The gripper group (30) is controlled by a computerized control unit. The method comprises the following operating stages: a stage of approaching and recognizing an object (1), comprising the approximately-set approach of the gripper group (30) to the object (1), performed with the assistance of positional information stored in the control unit; identification of the outline of the object (1), by perpendicular three-dimensional scanning performed, using sequences of movements of the gripper group (30), by means for gauging punctual distance (50) arranged near at least one finger (35, 36) of the gripper group (30), and by sensor means (55) for detecting the presence of the object (1), which identify the depth of the object and are arranged at the head of the fingers (35, 36); a stage of gripping the object (1); a stage of collection the object (1), comprising operations of lifting and moving the object (1).
摘要翻译：用于识别，收集和重新定位具有非预定尺寸特征并且布置在支撑表面（2）上的物体（1）的方法通过夹持器组（30）来实现。夹具组30可相对于要被处理的物体（1）至少沿长度方向移动，朝向/远离物体（1）移动的方向以及高度相对的调节方向到对象（1）。夹具组（30）由计算机控制单元控制。该方法包括以下操作阶段：接近和识别对象（1）的阶段，包括夹具组（30）到对象（1）的近似设置的方式，借助于存储在对象控制单元通过垂直三维扫描来进行物体（1）的轮廓的识别，通过使用排列在至少一个手指（35,36）附近的准时距离（50）的装置，使用夹持器组（30）的运动顺序）和用于检测物体（1）的存在的传感器装置（55），其识别物体的深度并布置在手指（35,36）的头部; 夹持物体（1）的阶段; 收集物体（1）的阶段，包括提升和移动物体（1）的操作。

6. 发明授权

US08333129B2 Robotic manipulator arm 有权
标题翻译：机器人手臂
公开(公告)号：US08333129B2
公开(公告)日：2012-12-18
申请号：US12260895
申请日：2008-10-29
申请人： Sam Johnson , Taylor Drew Ritchie , Gerald Vincent Castillo, Jr. , Eric D. Schroder , Eric James Versluys
发明人： Sam Johnson , Taylor Drew Ritchie , Gerald Vincent Castillo, Jr. , Eric D. Schroder , Eric James Versluys
IPC分类号： B25J17/00
CPC分类号： B25J13/088 , B25J9/1641 , F16D7/00 , F16D7/028 , F16D2300/18 , G05B19/404 , G05B2219/39507 , Y10T74/19614 , Y10T74/20329
摘要： In one embodiment, a robotic manipulator arm includes a robotic joint, a rotational position sensor, and a control system. The rotational position sensor is coupled to the main housing of the robotic joint. The control system is connected to the rotational position sensor. During normal rotational motion toward a commanded motor position of joint output, the control system determines that normal joint un-slipped motion is occurring with respect to the joint output in response to the motor input commands. Responsive to joint slip during commanded motor motion, the control system compares position data from the rotational position sensor to commanded motor position to generate an error value and, based on the error value, compensates for the joint slip.
摘要翻译：在一个实施例中，机器人操纵臂包括机器人接头，旋转位置传感器和控制系统。旋转位置传感器联接到机器人接头的主壳体。控制系统连接到旋转位置传感器。在正常旋转运动中，朝向接合输出的指令电动机位置，控制系统根据电动机输入命令确定相对于联合输出正在发生正常关节无滑动运动。响应于指令电机运动期间的关节滑移，控制系统将来自旋转位置传感器的位置数据与指令的电机位置进行比较，以产生误差值，并根据误差值补偿关节滑移。

7. 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。

8. 发明公开

EP2132008A2 A METHOD AND A DEVICE FOR RECOGNISING, COLLECTING AND REPOSITIONING OBJECTS 有权
标题翻译：方法和设备的识别，收集和重新定位物体
公开(公告)号：EP2132008A2
公开(公告)日：2009-12-16
申请号：EP08719210.0
申请日：2008-03-04
申请人： Smv S.R.L.
发明人： CARDONI, Patrizio
IPC分类号： B25J9/16
CPC分类号： B25J9/1612 , B25J9/1694 , G05B2219/37054 , G05B2219/37286 , G05B2219/37319 , G05B2219/39487 , G05B2219/39497 , G05B2219/39507 , G05B2219/39513 , G05B2219/39531 , G05B2219/39532 , G05B2219/39534 , G05B2219/40053 , G05B2219/40252 , G05B2219/40564 , G05B2219/40567 , G05B2219/45045
摘要： A method for recognising, collecting and repositioning objects (1 ) having non-predetermined dimensional characteristics and which are arranged on a support surface (2) is implemented by means of a gripper group (30). The gripper group (30) is mobile in at least a lengthwise direction of movement relative to an object (1) to be handled, a direction of moving towards/away from the object (1 ), and a direction of adjustment of the height relative to the object (1). The gripper group (30) is controlled by a computerised control unit. The method comprises the following operating stages: a stage of approaching and recognising an object (1 ), comprising the approximately-set approach of the gripper group (30) to the object (1 ), performed with the assistance of positional information stored in the control unit; identification of the outline of the object (1), by perpendicular three- dimensional scanning performed, using sequences of movements of the gripper group (30), by means for gauging punctual distance (50) arranged near at least one finger (35, 36) of the gripper group (30), and by sensor means (55) for detecting the presence of the object (1), which identify the depth of the object and are arranged at the head of the fingers (35, 36); a stage of gripping the object (1); a stage of collection the object (1), comprising operations of lifting and moving the object (1 ).

9. 发明授权

EP2132008B1 A METHOD AND A DEVICE FOR RECOGNISING, COLLECTING AND REPOSITIONING OBJECTS 有权
标题翻译：方法和设备的识别，收集和重新定位物体
公开(公告)号：EP2132008B1
公开(公告)日：2010-10-06
申请号：EP08719210.0
申请日：2008-03-04
申请人： Smv S.R.L.
发明人： CARDONI, Patrizio
IPC分类号： B25J9/16
CPC分类号： B25J9/1612 , B25J9/1694 , G05B2219/37054 , G05B2219/37286 , G05B2219/37319 , G05B2219/39487 , G05B2219/39497 , G05B2219/39507 , G05B2219/39513 , G05B2219/39531 , G05B2219/39532 , G05B2219/39534 , G05B2219/40053 , G05B2219/40252 , G05B2219/40564 , G05B2219/40567 , G05B2219/45045

10. 发明授权

US09209740B2 Actuating apparatus 有权
标题翻译：执行装置
公开(公告)号：US09209740B2
公开(公告)日：2015-12-08
申请号：US14013513
申请日：2013-08-29
申请人： HONDA MOTOR CO., LTD.
发明人： Atsuo Orita
IPC分类号： G05B11/01 , H02P31/00 , G05D17/02 , B25J9/16
CPC分类号： H02P31/00 , B25J9/1641 , G05B2219/39507 , G05D17/02
摘要： An actuating apparatus includes a first pulley to which a rotational power of a motor is transmitted, a second pulley to which a rotational power of the first pulley is transmitted through a wire, displacement encoders for detecting respective rotational angles of the first pulley and the second pulley, a slip amount calculator for calculating a slip amount of the second pulley with respect to the wire, and a motor controller for controlling a torque output from the motor based on the slip amount. The slip amount calculator calculates the slip amount based on a change in a rotational angular velocity of the first pulley, a difference between the rotational angles of the first pulley and the second pulley, and the torque output from the motor.
摘要翻译：驱动装置包括：第一皮带轮，电动机的旋转动力传递到该第一滑轮;第二滑轮，第一滑轮的旋转动力通过导线传递到其上;第二滑轮，用于检测第一滑轮和第二滑轮的各旋转角度的位移编码器; 滑轮，用于计算第二滑轮相对于导线的滑移量的滑移量计算器，以及用于基于滑移量控制从马达输出的扭矩的马达控制器。滑移量计算器基于第一滑轮的旋转角速度的变化，第一滑轮和第二滑轮的旋转角度之间的差以及从马达输出的扭矩来计算滑移量。

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