专利快速检索-快速检索全球专利，免费商用专利数据库-IPRDB

51. 发明授权

US08014899B2 Article conveying robot system 有权
标题翻译：物品输送机器人系统
公开(公告)号：US08014899B2
公开(公告)日：2011-09-06
申请号：US12768868
申请日：2010-04-28
申请人： Kazunori Ban , Ichiro Kanno , Fumikazu Warashina , Masafumi Ooba
发明人： Kazunori Ban , Ichiro Kanno , Fumikazu Warashina , Masafumi Ooba
IPC分类号： G06F19/00 , G06F7/00 , B65G43/10
CPC分类号： B25J9/0093 , B25J9/1697 , G05B19/4182 , G05B2219/39102 , G05B2219/40007 , Y02P90/083
摘要： An article conveying robot system capable of effectively containing an article in a container conveyed by a conveyor by using a robot. A container detecting part measures the distribution of shading of an image of each containing cell based on a detection result of the container, detects the containing state of each cell, and stores the detection result of each cell. An information managing part of a controller of an upstream side robot receives information from a container detecting part of a controller of a downstream side robot, and then generates containing cell information. An information managing part checks the cell information to be processed, and then transmits the cell information to a task executing part only when an article is not located in the corresponding cell. Task executing part controls the robot so as to locate an article in the selected cell based on the cell information.
摘要翻译：一种能够通过使用机器人有效地容纳由输送机输送的容器中的物品的物品输送机器人系统。容器检测部基于容器的检测结果来测量包含单元的图像的阴影分布，检测各单元的容纳状态，存储各单元的检测结果。上游侧机器人的控制器的信息管理部分从下游侧机器人的控制器的容器检测部分接收信息，然后生成包含单元信息。信息管理部分检查要处理的小区信息，然后仅当物品不在相应的小区中时将小区信息发送到任务执行部分。任务执行部分控制机器人，以便基于单元信息来定位所选单元中的文章。

52. 发明授权

US07526121B2 Three-dimensional visual sensor 有权
标题翻译：三维视觉传感器
公开(公告)号：US07526121B2
公开(公告)日：2009-04-28
申请号：US10689721
申请日：2003-10-22
申请人： Kazunori Ban , Ichiro Kanno
发明人： Kazunori Ban , Ichiro Kanno
IPC分类号： G06K9/00
CPC分类号： G01B11/25 , G06T7/74
摘要： Slit light is projected onto the surface of an object, the reflected light is received using a video camera and analyzed by means of an image processor to thereby determine an equation of the surface onto which the slit light is projected. Then, an image is captured through normal image taking using the video camera and a straight line (line of sight) passing through the measuring point on the object and the center of the video camera is determined. Furthermore, parameters such as an affine transformation are determined by a comparison between the image of a characteristic area F of the object and a reference image. Then, the three-dimensional position and posture of the measuring point are determined from an intersection between the line of sight and the determined surface.
摘要翻译：狭缝光投射到物体的表面上，使用摄像机接收反射光并借助于图像处理器进行分析，从而确定投射有狭缝光的表面的方程式。然后，通过使用摄像机的正常拍摄拍摄图像，并且确定通过物体上的测量点和摄像机中心的直线（视线）。此外，诸如仿射变换的参数通过对象的特征区域F的图像和参考图像之间的比较来确定。然后，测量点的三维位置和姿势由视线与确定的表面之间的交点确定。

53. 发明授权

US07386367B2 Workpiece conveying apparatus 有权
标题翻译：工件输送装置
公开(公告)号：US07386367B2
公开(公告)日：2008-06-10
申请号：US10780757
申请日：2004-02-19
申请人： Atsushi Watanabe , Kazunori Ban , Ichiro Kanno
发明人： Atsushi Watanabe , Kazunori Ban , Ichiro Kanno
IPC分类号： G05B15/00
CPC分类号： B25J9/1697 , B25J9/1612
摘要： A workpiece is gripped by a robot hand and an image of the workpiece is captured by a camera. An image processing device detects the position and posture of a characteristic portion of the workpiece. On the basis of the present position of the robot, the relative position and posture between a flange of the robot and the workpiece characteristic portion is detected. The relative position and posture is compared with that observed when the workpiece is gripped correctly, to determine a gripping error. If the gripping error exceeds a permissible error, the robot is stopped. If the gripping error is equal to or less than the permissible error, a taught position where the workpiece is to be released is corrected so as to cancel the adverse effect of the gripping error.
摘要翻译：工件由机器人手握住，工件的图像由相机捕获。图像处理装置检测工件的特征部分的位置和姿势。基于机器人的当前位置，检测机器人的凸缘与工件特性部分之间的相对位置和姿势。将相对位置和姿势与正确握住工件时观察到的相对位置和姿势进行比较，以确定夹紧误差。如果夹紧误差超过允许误差，则机器人停止。如果夹紧误差等于或小于允许误差，则校正要释放工件的教导位置，以消除夹紧误差的不利影响。

54. 发明授权

US07203573B2 Workpiece taking-out apparatus 有权
标题翻译：工件取出装置
公开(公告)号：US07203573B2
公开(公告)日：2007-04-10
申请号：US10733308
申请日：2003-12-12
申请人： Kazunori Ban , Ichiro Kanno
发明人： Kazunori Ban , Ichiro Kanno
IPC分类号： G05B15/00 , G05G19/00
CPC分类号： B25J9/1697 , G05B2219/40053 , G06T7/70 , G06T2207/30164
摘要： A workpiece taking-out apparatus performs snap with a camera of a three-dimensional visual sensor in a robot position for snap and captures an image in a personal computer. The workpiece taking-out apparatus detects workpieces to find a line of sight of the camera for each workpiece, decides an area for height measurement by a range finder to save height data in the area, and finds an intersection of line of sight data of the camera and height distribution for each detected workpiece to find a posture of the workpiece from the height data around it. Then, the workpiece taking-out apparatus decides a workpiece to be taken out this time from the position and the posture and decides a measurement position of the three-dimensional visual sensor close to the workpiece. In the measurement position, the workpiece taking-out apparatus performs main measurement by the three-dimensional visual sensor to decide a robot position for taking out a workpiece through check of the possibility of interference and execute taking-out of the workpiece in the robot position for taking out a workpiece through check of the possibility of interference again.
摘要翻译：工件取出装置与机器人位置中的三维视觉传感器的照相机进行卡扣，并捕获个人计算机中的图像。工件取出装置检测工件以找到每个工件的相机的视线，通过测距仪确定用于高度测量的区域，以将高度数据保存在该区域中，并且找到视线数据的交点相机和高度分布为每个检测到的工件从其周围的高度数据找到工件的姿势。然后，工件取出装置从该位置和姿势决定待取出的工件，并将三维视觉传感器的测量位置决定在靠近工件的位置。在测量位置，工件取出装置通过三维视觉传感器执行主要测量，以通过检查干涉的可能性来确定用于取出工件的机器人位置，并且在机器人位置执行工件的取出通过检查再次产生干扰的可能性来取出工件。

55. 发明申请

US20060212171A1 Off-line teaching device 审中-公开
标题翻译：离线教学装置
公开(公告)号：US20060212171A1
公开(公告)日：2006-09-21
申请号：US11375440
申请日：2006-03-15
申请人： Kazunori Ban , Taro Arimatsu , Takashi Jumonji
发明人： Kazunori Ban , Taro Arimatsu , Takashi Jumonji
IPC分类号： G06F19/00
CPC分类号： G05B19/4207 , B25J9/1697
摘要： An off-line teaching device, for adjusting a vision sensor and carrying out set-up work off-line, which used to be done in the field, so as to reduce the operation time in the field. The off-line teaching device has a storing device for storing data including the shapes and the dimensions of a workpiece, a robot and a vision sensor, and a display for indicating images of the workpiece, the robot and the vision sensor. The teaching device also has a simulation program for generating the images of the workpiece, the robot and the vision sensor on the display and for calculating measurement data of the vision sensor based on the arrangement of the images on the display, and a sensor program for carrying out measurement on the display by the vision sensor based on the measurement data.
摘要翻译：一种离线教学装置，用于调整视觉传感器并进行离线的设置，这在现场已经完成，以减少现场的操作时间。离线示教装置具有用于存储包括工件，机器人和视觉传感器的形状和尺寸的数据的存储装置，以及用于指示工件，机器人和视觉传感器的图像的显示器。教学装置还具有用于在显示器上生成工件，机器人和视觉传感器的图像的模拟程序，并且用于基于显示器上的图像的布置来计算视觉传感器的测量数据，以及传感器程序基于测量数据，通过视觉传感器在显示器上进行测量。

56. 发明申请

US20060145494A1 Gripping type hand 有权
标题翻译：握手式手
公开(公告)号：US20060145494A1
公开(公告)日：2006-07-06
申请号：US11245012
申请日：2005-10-07
申请人： Ryo Nihei , Kazunori Ban , Takashi Sato , Toshinari Tamura , Kokoro Hatanaka
发明人： Ryo Nihei , Kazunori Ban , Takashi Sato , Toshinari Tamura , Kokoro Hatanaka
IPC分类号： B66C1/42
CPC分类号： B25J9/1612 , B25J13/082 , B25J15/08 , Y10S294/907
摘要： A gripping type hand including a plurality of finger mechanisms provided respectively with finger joints, actuators for driving the finger joints, and links supported by the finger joints and operating under driving force of the actuators. The gripping type hand includes an operation controlling section capable of respectively controlling the actuators of the plurality of finger mechanisms independently from each other; a position detecting section for respectively detecting operating positions of the finger joints of the plurality of finger mechanisms; and strain detecting sections provided respectively for the plurality of finger mechanisms and detecting strains generating in the links due to force applied to the finger mechanisms. The operation controlling section coordinately controls the actuators of the plurality of finger mechanisms to adjust gripping force generated by the plurality of finger mechanisms, based on the operating positions of the finger joints detected by the position detecting section and the strains of the links detected by the strain detecting sections.
摘要翻译：夹持型手包括分别设置有手指接头的多个指状机构，用于驱动指关节的致动器，以及由手指接头支撑的链节，并且在致动器的驱动力下操作。夹持型手包括能够彼此独立地分别控制多个手指机构的致动器的操作控制部; 位置检测部分，用于分别检测多个手指机构的手指关节的操作位置; 和应变检测部分分别设置用于多个手指机构，并且由于施加到手指机构的力而检测在链接中产生的应变。操作控制部基于由位置检测部检测到的手指关节的操作位置和由所述多个手指机构检测到的链节的张力，协调地控制多个手指机构的致动器，以调整由多个手指机构产生的夹持力应变检测部分。

57. 发明申请

US20050195409A1 Measuring system 失效
标题翻译：测量系统
公开(公告)号：US20050195409A1
公开(公告)日：2005-09-08
申请号：US11073681
申请日：2005-03-08
申请人： Atsushi Watanabe , Kazunori Ban , Ichiro Kanno
发明人： Atsushi Watanabe , Kazunori Ban , Ichiro Kanno
IPC分类号： G06T1/00 , B25J9/16 , G01B11/24
CPC分类号： B25J9/1697 , G05B19/401 , G05B2219/37555 , G05B2219/40564
摘要： A measuring system for easily detecting Misjudged Detection (M/D). A camera for measurement attached to a robot is used to obtain an image for measurement of a workpiece so as to measure and detect a set point. Next, a camera for validation is used to obtain an image for validation of the workpiece so as to measure and detect the set point. One camera may capture both of the images for measurement and validation, by utilizing movement of the robot. It is judged whether the measured results obtained from the images represent the same point on the workpiece or not. If yes, the measured results are judged to be valid, otherwise, the measured results are judged to be invalid and an exception process, such as a retrial, is executed. The images by the camera may also be used for judging a moving path of the robot during measurement of a large object.
摘要翻译：一种易于检测误判测（M / D）的测量系统。使用附属于机器人的测量用照相机来获得用于测量工件的图像，以便测量和检测设定点。接下来，使用用于验证的相机来获得用于确认工件的图像，以便测量和检测设定点。一个相机可以通过利用机器人的移动来捕获两个图像以进行测量和验证。判断从图像获得的测量结果是否表示工件上的相同点。如果是，则将测量结果判定为有效，否则判断为无效，并执行例如重试等异常处理。照相机的图像也可以用于在大物体的测量期间判断机器人的移动路径。

58. 发明授权

US06382012B2 Method for calibrating force sensor mounted on robot, and robot 失效
标题翻译：用于校准安装在机器人上的力传感器和机器人的方法
公开(公告)号：US06382012B2
公开(公告)日：2002-05-07
申请号：US09253719
申请日：1999-02-22
申请人： Ryuichi Hara , Kazunori Ban
发明人： Ryuichi Hara , Kazunori Ban
IPC分类号： G01L2500
CPC分类号： G01L25/00
摘要： A method for executing calibration without having to dismount a force sensor from a robot, and an apparatus for executing this method are provided. When a robot mounted with a calibrated force sensor begins to be operated, any tool whose position of the center of gravity and weight are immune from change is fitted, and a command for acquiring reference data is given to execute operational programs. Reference data V0 of matrices consisting of differences between strain gage outputs (S1, S2) of the force sensor in any predetermined posture and strain gage outputs in other predetermined postures differing both from that posture and from one another are calculated and stored (S3-1 to S7). When the measuring accuracy of the force sensor drops, the tool used when the reference data were acquired is mounted on the robot, and the same procedures S1 to S6 are executed, and the data V0 corresponding to the reference data are calculated. From the data V′0 and the reference data V0 is calculated a parameter M for updating the calibration matrices.
摘要翻译：提供了一种用于执行校准而不必从机器人拆卸力传感器的方法，以及用于执行该方法的装置。当安装有校准力传感器的机器人开始操作时，任何重心和重量位置都不受变化影响的工具被安装，并且获得参考数据的命令来执行操作程序。计算并存储由任意预定姿势的力传感器的应变计输出（S1，S2）和应变计输出之间的差异的矩阵的参考数据V0和不同于其他预定姿势的应变计输出（S3-1 到S7）。当力传感器的测量精度下降时，将获取参考数据时使用的工具安装在机器人上，并且执行相同的步骤S1至S6，并且计算与参考数据相对应的数据V0。从数据V'0和参考数据V0计算用于更新校准矩阵的参数M.

59. 发明授权

US06328523B1 Apparatus for picking up articles using a vision controlled robot 有权
标题翻译：使用视觉控制机器人拾取物品的装置
公开(公告)号：US06328523B1
公开(公告)日：2001-12-11
申请号：US09295364
申请日：1999-04-21
申请人： Atsushi Watanabe , Ryuichi Hara , Kazunori Ban , Hidetoshi Kumiya
发明人： Atsushi Watanabe , Ryuichi Hara , Kazunori Ban , Hidetoshi Kumiya
IPC分类号： B25J1308
CPC分类号： B25J9/1697 , B25J9/1687 , G05B2219/37555 , G05B2219/37563 , G05B2219/37572 , G05B2219/40053
摘要： A group of bolts are suppled into a placing surface of a tray, an isolated bolt is searched for by a visual sensor, and its deviation from a standard position at the time of teaching is determined. The isolated bolt is picked up by a robot that has been taught how to pick up an isolated bolt laying in a standard position. The position of the robot's hand is corrected according to the deviation from the standard position before the robot attempts to pick up the located isolated bolt. If no isolated bolt is found, a shaking device 1 is operated to loosen the piled-up bolts, and a new isolated bolt is again searched for by the visual sensor. The isolated bolt, if found, is picked up. The picking-up operation may be performed by searching for an isolated small set of bolts using a three-dimensional visual sensor. The oscillating excitation can also be provided by a robot. Also, the piled-up bolts may be loosened or disentangled using a robot equipped with a tool for leveling the pile of bolts or by using a gas jet.
摘要翻译：一组螺栓被提供到托盘的放置表面中，由视觉传感器搜索隔离的螺栓，并且确定其在教导时与标准位置的偏差。被隔离的螺栓由机器人拾取，该机器人已经被教导如何拿起放置在标准位置的隔离螺栓。机器人的手的位置根据机器人试图拿起定位的隔离螺栓之前与标准位置的偏差进行校正。如果没有发现隔离的螺栓，则操作摇动装置1以松开堆积螺栓，并且再次通过视觉传感器搜索新的隔离螺栓。被隔离的螺栓，如果发现，被拾起。可以通过使用三维视觉传感器搜索隔离的小套螺栓来执行拾取操作。振荡激励也可由机器人提供。此外，堆叠的螺栓可以使用装备有用于使螺栓堆整平或使用气体射流的工具的机器松动或解开。

60. 发明授权

US08380342B2 Workpiece removing device and method 有权
标题翻译：工件拆卸装置及方法
公开(公告)号：US08380342B2
公开(公告)日：2013-02-19
申请号：US13184721
申请日：2011-07-18
申请人： Kazunori Ban , Hidetoshi Kumiya , Toshiyuki Ando
发明人： Kazunori Ban , Hidetoshi Kumiya , Toshiyuki Ando
IPC分类号： G06F7/00
CPC分类号： B25J9/1679 , B25J9/1697 , G05B2219/40053
摘要： A workpiece removing device including a camera for imaging a workpiece loading area including a plurality of workpieces loaded in bulk; a workpiece detection section for detecting a workpiece, based on a camera image taken with the camera; a workpiece selection section for selecting a workpiece adapted to be removed, based on a detection result by the workpiece detection section; a robot for removing the workpiece selected by the workpiece selection section; a loading state determination section for determining whether a loading state of the workpieces in the workpiece loading area has changed due to a operation of the robot; and an area setting section for setting a workpiece detection area where the workpiece detection section detects a workpiece. If the loading state determination section determines that the loading state of the workpieces has changed, the area setting section sets the workpiece detection area in a peripheral area of a changing position of the loading state, i.e., in a portion of the workpiece loading area.
摘要翻译：一种工件移除装置，包括用于对包括多个装载的工件的工件装载区域进行成像的照相机; 基于用所述照相机拍摄的照相机图像来检测工件的工件检测部; 工件选择部，其基于所述工件检测部的检测结果来选择适于被去除的工件; 用于去除由工件选择部选择的工件的机器人; 装载状态判定部，其判定由于所述机器人的动作而使所述工件装载区域内的工件的装载状态发生了变化; 以及区域设定部，用于设定工件检测部检测出工件的工件检测区域。如果装载状态确定部确定工件的装载状态已经改变，则区域设定部将工件检测区域设定在装载状态的变更位置的周边区域中，即在工件装载区域的一部分中。

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