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2. 发明公开

KR1020040018196A 로봇 핸들링 장치 有权
标题翻译：机器人处理装置
公开(公告)号：KR1020040018196A
公开(公告)日：2004-03-02
申请号：KR1020030058112
申请日：2003-08-22
申请人： 화낙 코퍼레이션
发明人： 와따나베아쯔시 , 오오쯔까가즈히사 , 오다마사루 , 스즈끼다다노리
IPC分类号： B25J9/10
CPC分类号： B25J9/1697 , G05B2219/39533 , G05B2219/40583
摘要： PURPOSE: To dispense with a pallet with an object positioning jig, to definitely grasp the object and to accurately deliver the object to the next process. CONSTITUTION: The position of the object provided by a first visual sensor is detected to find the compensation quantities of positional deviations(S1, S2). The object is grasped by the hands of a robot(S3, S5), with the object grasped, the relative position and attitude between the object and the hand are detected by a second visual sensor(S8, S9). The deviation of the relative position and attitude between the object and the hand are compensated and the object is delivered to the next process(S11, S12). Since the deviation of the relative position and attitude between the grasped object and the hand is compensated and the robot is moved to a delivery position for the next process, the object can be accurately delivered. In addition, a position and a grasping force can be controlled when the object is grasped by allowing the hand to be a servo hand which is driven by a servo motor. his allows the device to dispense with an expensive pallet with a mounting jig.
摘要翻译：目的：为了放弃带有物体定位夹具的托盘，要明确地抓住物体并将物体准确地传递到下一个过程。构成：检测由第一视觉传感器提供的物体的位置以找到位置偏差的补偿量（S1，S2）。通过机器人的手掌握对象（S3，S5），通过第二视觉传感器检测对象与手之间的相对位置和姿态（S8，S9）。补偿对象和手之间的相对位置和姿态的偏差，并将对象传送到下一个处理（S11，S12）。由于被抓物体和手之间的相对位置和姿态的偏差被补偿，并且机器人被移动到下一处理的传送位置，所以可以准确地传送对象。此外，当通过使手是由伺服电动机驱动的伺服手来抓握物体时，可以控制位置和抓握力。他允许设备用安装夹具省去昂贵的托盘。

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