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1. 发明授权

EP2324968B1 ROBOT AND ITS TEACHING METHOD 有权
公开(公告)号：EP2324968B1
公开(公告)日：2018-11-21
申请号：EP08778039.1
申请日：2008-07-10
申请人： Kawasaki Jukogyo Kabushiki Kaisha
发明人： SHIMOMURA, Nobuyasu
IPC分类号： B25J9/22 , G05B19/42 , H01L21/677 , B25J9/16
CPC分类号： H01L21/68707 , B25J9/1692 , G05B2219/40006 , G05B2219/45063 , H01L21/67265
摘要： A robot control unit (40) related to the present invention is configured to turn off a holding unit (60) for a plate member (50), while the plate member (50) is placed on an end effector (25), and lower the end effector (25), by a predetermined distance, from an initial position higher than a preset temporary placing position toward the temporary placing position. Then the robot control unit (40) switches the holding member (60), from an OFF state to an ON state, while the end effector (25) is stopped, and determines whether or not the plate member (50) is held by the holding unit (60), by using a holding-state detection unit (63). When the plate member (50) is determined to be held by the holding unit (60), the robot control unit (40) will turn off the holding unit (60) while further lowering the end effector (25) by the predetermined distance. Meanwhile, when the plate member (50) is determined not to be held by the holding unit (60), the robot control unit (40) will detect a position of the end effector (25) at this point of time, as a normal placing position.

2. 发明公开

EP2783801A2 Robot system and method for transferring workpiece 审中-公开
标题翻译：机器人系统和Verfahren zurÜbertragungeinesWerkstückes
公开(公告)号：EP2783801A2
公开(公告)日：2014-10-01
申请号：EP14157417.8
申请日：2014-03-03
申请人： Kabushiki Kaisha Yaskawa Denki
发明人： Tomo, Toshihiro , Shimono, Toshiaki
IPC分类号： B25J9/16
CPC分类号： B25J9/1612 , B25J15/06 , G05B2219/39558 , G05B2219/40006 , Y10S901/40
摘要： A robot system 100 includes a robot hand 12, 31, 32 and a controller 6. The robot hand 12, 31, 32 includes a plurality of holders 121 configured to hold a workpiece placed on a workpiece placement stand 201 using at least one of electromagnetic force and suction force. The controller 6 is configured to control the plurality of holders 121 to hold the workpiece while controlling the plurality of holders 121 to switch between operation mode and nonoperation mode in accordance with at least one of a shape and a size of the workpiece.
摘要翻译：机器人系统100包括机器人手12,31,32和控制器6.机器人手12,31,32包括多个保持器121，其被配置为使用电磁体中的至少一个来保持放置在工件放置台201上的工件力和吸力。控制器6被配置为根据工件的形状和尺寸中的至少一个来控制多个保持器121以保持工件，同时控制多个保持器121在操作模式和非操作模式之间切换。

3. 发明公开

EP0298128A4 ROBOT CONTROLLER 失效
标题翻译：机器人控制器
公开(公告)号：EP0298128A4
公开(公告)日：1990-09-05
申请号：EP88900789
申请日：1988-01-07
申请人： FANUC LTD
发明人： MIZUNO, TOHRU , ISHIKAWA, HARUYUKI
IPC分类号： G05B19/18 , B25J9/16 , B25J9/18 , B62D1/18 , B65G61/00 , G05B19/23 , G05B19/404 , G05B19/403
CPC分类号： G05B19/237 , B25J9/1664 , B25J9/1679 , G05B2219/40006 , G05B2219/50109
摘要： A robot controller enables the robot to hold a work by a robot hand and to stack it on a predetermined place or take it down. The robot controller has memory means (3) for storing a plurality of approaching patterns in relation to the movement of the hand. This controller can arbitrarily set a path pattern from stacking the work from a position where the robot hand starts to move to a poistion where the work is taken down, as well as a path from the point of operation to the position where the robot hand ceases to move, depending upon the kind of work and the position of operation. The controller can also change the attitude of the robot hand at a position of operation.
摘要翻译：机器人控制器使机器人能够通过机器人手握住工件并将其堆叠在预定位置或将其取下。机器人控制器具有用于存储与手的移动有关的多个接近模式的存储器装置（3）。该控制器可以将工件从机器人手开始移动的位置堆叠到工件被取下的位置以及从操作点到机器人手停止的位置的路径中任意设置路径模式取决于工作的种类和操作的位置。控制器还可以在操作位置改变机器人手的姿态。

4. 发明公开

EP3260243A1 METHOD AND SYSTEM FOR PLACING AT LEAST ONE OBJECT ON A SURFACE 有权转让
标题翻译：用于在表面上放置至少一个对象的方法和系统
公开(公告)号：EP3260243A1
公开(公告)日：2017-12-27
申请号：EP16176016.0
申请日：2016-06-23
申请人： CBot AB
发明人： Moe, Anders , Johansson, Björn
IPC分类号： B25J9/16 , G01C15/00 , E04F21/20
CPC分类号： B25J9/1687 , E04F21/20 , G05B2219/40006 , G05B2219/40058 , G05B2219/45086
摘要： A method and system for placing at least one object on a surface, the object being carried and positioned by a tool. The method comprises determining a deviation in at least one dimension between a line of sight between a first and a second object placed on the surface and an optical line directed from the first towards the second object, determining a position in at least one dimension for the tool based on the determined deviation, and positioning the tool so that the position is achieved, thereby placing the object on the surface.
摘要翻译：一种用于将至少一个物体放置在表面上的方法和系统，所述物体由工具携带和定位。该方法包括确定放置在表面上的第一和第二物体之间的视线与从第一物体朝向第二物体引导的光学线之间的至少一个维度上的偏差，确定至少一个维度中用于基于所确定的偏差确定工具的位置，并且定位工具以实现位置，从而将物体放置在表面上。

5. 发明公开

EP3152010A1 TRUCK UNLOADER VISUALIZATION 审中-公开
标题翻译： VISUALISIERUNGFÜRENTLADEVORRICHTUNG EINES LASTKRAFTWAGENS
公开(公告)号：EP3152010A1
公开(公告)日：2017-04-12
申请号：EP15803243.3
申请日：2015-06-04
申请人： Intelligrated Headquarters LLC
发明人： WICKS, Matthew R. , NILSON, Benjamin , YUVARAJ, Karthikeyan , TANKASALA, Sriram, Pavan
IPC分类号： B25J13/08 , B25J9/16 , B65G67/24
CPC分类号： B25J9/1679 , B25J9/1664 , B25J9/1687 , B25J9/1697 , B65G67/24 , G05B2219/40006 , G05B2219/45056 , G06K9/00664 , Y10S901/02 , Y10S901/47
摘要： Methods, devices, systems, and non-transitory process-readable storage media for a computing device of a robotic carton unloader to identify items to be unloaded from an unloading area within imagery.
摘要翻译：用于机器人纸箱卸载机的计算装置的方法，装置，系统和非暂时过程可读存储介质，用于从图像中的卸载区域识别要卸载的物品。

6. 发明公开

EP1020383A4 LOADING PATTERN GENERATING METHOD 有权
标题翻译： VERFAHREN ZUR ERZEUGUNG VON LADEMUSTERN
公开(公告)号：EP1020383A4
公开(公告)日：2004-06-09
申请号：EP98950378
申请日：1998-10-23
申请人： YASKAWA DENKI SEISAKUSHO KK
发明人： NOGUCHI YASUHIKO , KUWAHARA KOICHI , KOGA AYUMI , AKIBA KEISHI
IPC分类号： B65G57/03 , B65G61/00 , B65H54/28 , G06F17/60 , B25J9/16
CPC分类号： B65G61/00 , B65H54/2821 , B65H54/2824 , B65H54/385 , B65H2701/31 , G05B2219/40006
摘要： An area (22) where the planar shape of a pallet is shown is displayed on the screen of a computer and a figure (23) showing the planar shape and orientation of an object is displayed on another area of the screen different from the area (22) of the screen. The figure (23) is moved to a required position in the area (22) and the orientation of the figure (23) is changed to a required orientation to determine the placement of the figure (23) in the area (22). Similarly, the display and placement of the figure (23) are repeated to form the loading pattern of the object on the pallet.
摘要翻译：指示托盘的平面图的区域（22）显示在计算机的显示屏幕上，指示平面图的图案（23）和所述商品的方向显示在与所述的区域（22）分开的位置上显示屏幕，并且所述图案（23）移动到所述显示屏幕上的所述区域（22）的指定位置，由此通过改变所述图案（23）来确定所述区域（22）中的所述图案（23）的布局，通过重复所述图案（23）的布置的显示和决定来准备所述托盘上的货物的装载模式。

7. 发明公开

EP1324268A2 Position detecting device for takeout apparatus 有权
标题翻译：一种用于确定用于去除装置的位置
公开(公告)号：EP1324268A2
公开(公告)日：2003-07-02
申请号：EP02257724.1
申请日：2002-11-07
申请人： Fanuc Ltd
发明人： Watanabe, Atsushi , Takizawa, Katsutoshi
IPC分类号： G06T7/00
CPC分类号： G06T7/74 , G05B2219/37555 , G05B2219/37563 , G05B2219/40006 , G05B2219/40564 , Y10T29/53061
摘要： A position detecting device and a takeout apparatus capable of obtaining information on height or stage number of an object in a stack of objects by a two-dimensional image capturing device for an operation of taking out the object by a robot. A CCD camera (20) is arranged at a position above a place where workpieces (50) stacked in multiple stages are provided. An image processing device (30) determines a size of the image of the uppermost workpiece in a two-dimensional image captured by the camera. The height or stage number (A1..A4) of the workpieces is determined from the size of the workpiece image using a stored relation table or arithmetic expression representing relationship between the height or stage number of the workpiece and the size of the workpiece. For a plurality of kinds of workpieces, the relation table/arithmetic expression is stored for each kind of workpiece and selectively used in accordance with a mark (M) on the workpiece which indicates the kind of workpiece. The obtained positional information on height or stage number is sent to a robot controller (10) so that a robot (30) is operated to a takeout position which is corrected based on the positional information for taking out the workpiece from a stack of workpieces.

8. 发明公开

EP3152010A4 TRUCK UNLOADER VISUALIZATION 审中-公开
公开(公告)号：EP3152010A4
公开(公告)日：2018-01-24
申请号：EP15803243
申请日：2015-06-04
申请人： INTELLIGRATED HEADQUARTERS LLC
发明人： WICKS MATTHEW R , NILSON BENJAMIN , YUVARAJ KARTHIKEYAN , TANKASALA SRIRAM PAVAN
IPC分类号： B25J9/16 , G06K9/00
CPC分类号： B25J9/1679 , B25J9/1664 , B25J9/1687 , B25J9/1697 , B65G67/24 , G05B2219/40006 , G05B2219/45056 , G06K9/00664 , Y10S901/02 , Y10S901/47
摘要： Methods, devices, systems, and non-transitory process-readable storage media for a computing device of a robotic carton unloader to identify items to be unloaded from an unloading area within imagery.

9. 发明授权

EP1324268B1 Position detecting device for takeout apparatus 有权
标题翻译： Vorrichtung zur Ermittlung der Positionfüreine Entnahmevorrichtung
公开(公告)号：EP1324268B1
公开(公告)日：2016-07-13
申请号：EP02257724.1
申请日：2002-11-07
申请人： FANUC CORPORATION
发明人： Watanabe, Atsushi , Takizawa, Katsutoshi
IPC分类号： G06T7/00
CPC分类号： G06T7/74 , G05B2219/37555 , G05B2219/37563 , G05B2219/40006 , G05B2219/40564 , Y10T29/53061

10. 发明公开

EP2845699A3 Robot hand, robot system, and method for depalletizing article 审中-公开
标题翻译：机器人手，机器人系统和方法，用于卸垛的制品
公开(公告)号：EP2845699A3
公开(公告)日：2016-04-27
申请号：EP14182407.8
申请日：2014-08-27
申请人： Kabushiki Kaisha Yaskawa Denki
发明人： Shimono, Toshiaki
IPC分类号： B25J13/08 , B25J15/00 , B25J9/16
CPC分类号： B65G59/04 , B25J9/0093 , B25J9/1687 , B25J9/1697 , B25J13/086 , B25J15/0616 , G05B2219/40006
摘要： A robot hand (10) of a first robot (2) that handles an article (W) includes a baseplate (21); an attraction pad (22) that is disposed at the baseplate (21) and that is configured to hold the article (W); and first to third proximity sensors (24, 25, 26) that are disposed at the baseplate (21), each of the proximity sensors (24, 25, 26) being configured to detect whether or not the article (W) exists at a side of the attraction pad (22).

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