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1. 发明专利

JP5133721B2 Production system with a work-sharing feature 有权
公开(公告)号：JP5133721B2
公开(公告)日：2013-01-30
申请号：JP2008020425
申请日：2008-01-31
申请人：ファナック株式会社
发明人：亮二瓶 , 伸介榊原 , 一訓伴 , 昌宏森岡 , 悟志足立 , 象太滝澤
IPC分类号： G05B19/418 , G06Q50/00 , G06Q50/04
CPC分类号： Y02P90/30

2. 发明专利

JP5502348B2 Simulation method 有权
公开(公告)号：JP5502348B2
公开(公告)日：2014-05-28
申请号：JP2009059678
申请日：2009-03-12
申请人：ファナック株式会社
发明人：亮二瓶 , 伸介榊原 , 一訓伴 , 昌宏森岡 , 悟志足立 , 象太滝澤
IPC分类号： G05B19/418 , B25J9/22 , B25J13/00
CPC分类号： Y02P90/265

3. 发明专利

JP5345869B2 Production system using a parts kit 有权
公开(公告)号：JP5345869B2
公开(公告)日：2013-11-20
申请号：JP2009034142
申请日：2009-02-17
申请人：ファナック株式会社
发明人：亮二瓶 , 伸介榊原 , 一訓伴 , 昌宏森岡 , 悟志足立 , 象太滝澤
IPC分类号： B23P21/00 , B25J13/08
摘要： PROBLEM TO BE SOLVED: To improve reliability of formation of a part kit composed of parts required for production. SOLUTION: A production system has a parts storage section for housing a plurality of parts and a robot taking out and collecting a plurality of parts required for production of products from the parts storage section to form a part kit. The production system is provided with: storage means of storing part reference images 51 which are images of respective types of parts photographed in advance and part kit components information 52 which are information of parts to be included in the part kit for respective products; photographing means 6 of photographing the part kit actually formed by the robot; part identification means 42a of comparing the images of the part kit photographed by the photographing means with the part reference images 51 and identifying the types and number of parts actually included in the part kit; and check means 43 of comparing the types and number of parts identified by the part identification means with the part kit components information 52 and checking that required parts are included in the part kit in just proportion. COPYRIGHT: (C)2010,JPO&INPIT

4. 发明专利

JP4708464B2 Work gripping device 有权
公开(公告)号：JP4708464B2
公开(公告)日：2011-06-22
申请号：JP2008254508
申请日：2008-09-30
申请人：ファナック株式会社
发明人：一訓伴 , 象太滝澤 , 文和藁科
IPC分类号： B25J15/00 , B25J15/06 , B25J15/08
CPC分类号： B25J15/0616 , B25J15/0266

5. 发明专利

JP4648486B2 Production system with a coordinated operation area between humans and robots 有权
公开(公告)号：JP4648486B2
公开(公告)日：2011-03-09
申请号：JP2010012494
申请日：2010-01-22
申请人：ファナック株式会社
发明人：亮二瓶 , 一訓伴 , 昌宏森岡 , 伸介榊原 , 象太滝澤 , 悟志足立
IPC分类号： B25J19/06
CPC分类号： B25J9/1676 , F16P1/00 , G05B2219/40203

6. 发明专利

JP4309439B2 Object take-out apparatus 有权
标题翻译：空值
公开(公告)号：JP4309439B2
公开(公告)日：2009-08-05
申请号：JP2007091730
申请日：2007-03-30
申请人：ファナック株式会社
发明人：一訓伴 , 象太滝澤 , 一郎管野 , 英俊組谷
IPC分类号： B25J13/08 , G01B11/00 , G01B11/26 , G01C3/06 , G06T1/00 , G06T7/60
CPC分类号： B25J9/1697 , G06T1/0007 , G06T7/13 , G06T7/75 , G06T7/77 , G06T2207/30164 , G06T2207/30248
摘要： An apparatus for picking up objects including a robot (1) for picking up an object (6), at least one part of the object having a curved shape, having a storing means (30) for storing a gray gradient distribution model of the object (6), a recognizing means (2) for recognizing a gray image of the object (6), a gradient extracting means (34) for extracting a gray gradient distribution from the gray image recognized by the recognizing means (2), an object detecting means (26) for detecting a position or position posture of the object (6) in the gray image in accordance with the gray gradient distribution extracted by the gradient extracting means (34) and the gray gradient distribution model stored by the storing means (30), a detection information converting means (37) for converting information of the position or position posture detected by the object detecting means (36) into information of position or position posture in a coordinate system regarding the robot (1); and a robot moving means (1a) for moving the robot (1) to the position or position posture converted by the detection information converting means (37) to pick up the object (6). Thus, the object (6) having a curved shape can be detected and picked up in a reasonably short period of time.
摘要翻译：一种用于拾取物体的装置，包括用于拾取物体（6）的机器人（1），所述物体的至少一部分具有弯曲形状，具有用于存储物体的灰度梯度分布模型的存储装置（30）（6），用于识别对象（6）的灰度图像的识别装置（2），用于从由识别装置（2）识别的灰色图像中提取灰度梯度分布的梯度提取装置（34），对象检测装置（26），用于根据由梯度提取装置（34）提取的灰度梯度分布和由存储装置存储的灰度梯度分布模型，检测灰色图像中的对象（6）的位置或位置姿势（ 30），用于将由对象检测装置（36）检测到的位置或位置姿势的信息转换成关于机器人（1）的坐标系中的位置或位置姿势的信息的检测信息转换装置（37）; 以及用于将机器人（1）移动到由检测信息转换装置（37）转换的位置姿势的机器人移动装置（1a），以拾取物体（6）。因此，具有弯曲形状的物体（6）可以在相当短的时间内被检测和拾取。

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