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1. 发明申请

US20120323363A1 ROBOT SYSTEM 有权
标题翻译：机器人系统
公开(公告)号：US20120323363A1
公开(公告)日：2012-12-20
申请号：US13354723
申请日：2012-01-20
申请人： Tetsuro Izumi , Kenichi Koyanagi , Kenji Matsukuma , Yukio Hashiguchi
发明人： Tetsuro Izumi , Kenichi Koyanagi , Kenji Matsukuma , Yukio Hashiguchi
IPC分类号： G05B19/418
CPC分类号： G05B19/4182 , B25J9/1697 , G05B2219/37555 , G05B2219/39102 , G05B2219/40007 , Y02P90/083
摘要： A robot system according to embodiments includes a conveying device, a plurality of robots, an image capturing device, a workpiece detecting device, and a control device. The control device includes an operation instruction unit and an allocating unit. The operation instruction unit generates an operation instruction for performing a holding operation on workpieces on the basis of the detection result of the workpiece detecting device and transmits the operation instruction to the robots. The allocating unit determines which of the plurality of robots to which the operation instruction unit transmits the operation instruction on the basis of conveying situations of the workpieces obtained from the detection result of the workpiece detecting device.
摘要翻译：根据实施例的机器人系统包括输送装置，多个机器人，图像捕获装置，工件检测装置和控制装置。控制装置包括操作指令单元和分配单元。操作指示单元基于工件检测装置的检测结果生成用于对工件执行保持操作的操作指令，并将操作指令发送给机器人。分配单元基于从工件检测装置的检测结果获得的工件的传送情况，确定操作指令单元发送操作指令的多个机器人中的哪一个。

2. 发明申请

US20120323358A1 PICKING SYSTEM 有权
标题翻译：拍摄系统
公开(公告)号：US20120323358A1
公开(公告)日：2012-12-20
申请号：US13337818
申请日：2011-12-27
申请人： Tetsuro IZUMI , Kenichi KOYANAGI , Kenji MATSUKUMA , Yukio HASHIGUCHI
发明人： Tetsuro IZUMI , Kenichi KOYANAGI , Kenji MATSUKUMA , Yukio HASHIGUCHI
IPC分类号： G06F7/00
CPC分类号： G06K9/34
摘要： A picking system includes a conveyer, a robot, a main camera, and a control device. The conveyer conveys workpieces. The robot performs a holding operation and a moving operation on the workpieces. The main camera captures the transport path of the conveyer. The control device detects the workpiece on the basis of the image captured by the main camera and instructs the robot to perform the holding operation on the detected workpiece. Moreover, the control device instructs the robot to perform the holding operation on the overlapped workpieces when the overlapping of the workpieces is detected.
摘要翻译：拾取系统包括输送机，机器人，主摄像机和控制装置。输送机输送工件。机器人对工件执行保持操作和移动操作。主相机捕获输送机的输送路径。控制装置基于由主摄像机拍摄的图像来检测工件，并指示机器人对检测到的工件执行保持操作。此外，当检测到工件的重叠时，控制装置指示机器人对重叠的工件进行保持操作。

3. 发明申请

US20110098859A1 ROBOT SYSTEM AND WORKPIECE PICKING METHOD 失效
标题翻译：机器人系统与工作取样方法
公开(公告)号：US20110098859A1
公开(公告)日：2011-04-28
申请号：US12911667
申请日：2010-10-25
申请人： Toshimitsu IRIE , Yukio Hashiguchi , Shinji Murai
发明人： Toshimitsu IRIE , Yukio Hashiguchi , Shinji Murai
IPC分类号： G05B15/00
CPC分类号： B25J9/1697 , B25J9/1687 , G05B2219/37555 , G05B2219/40053 , G05B2219/40564
摘要： A robot system includes a robot. A robot control device is configured to control an operation of the robot, and includes a workpiece shape memory configure to store a shape of workpieces. A shape sensor is configured to detect shape information about the workpieces. A target workpiece detector is configured to detect a graspable workpiece based on the shape information detected by the shape sensor. A grasping information memory is configured to store a grasping position indicating which portion of the graspable workpiece is to be grasped by the robot. A grasping operation controller is configured to control the robot to grasp the graspable workpiece detected by the target workpiece detector and to pick the grasped workpiece. A disturbing operation controller is configured to control, if no graspable workpiece is detected by the target workpiece detector, the robot to perform a workpiece disturbing operation.
摘要翻译：机器人系统包括机器人。机器人控制装置被配置为控制机器人的操作，并且包括被配置为存储工件的形状的工件形状存储器。形状传感器被配置为检测关于工件的形状信息。目标工件检测器被配置为基于由形状传感器检测到的形状信息来检测可抓握的工件。握持信息存储器被配置为存储指示可抓握工件的哪个部分被机器人抓握的把持位置。抓握操作控制器被配置为控制机器人抓住由目标工件检测器检测到的可抓握工件并拾取被抓取的工件。如果没有被目标工件检测器检测到可抓握的工件，则机器人进行工件干扰操作。

4. 发明授权

US08880217B2 Picking system 有权
标题翻译：采摘系统
公开(公告)号：US08880217B2
公开(公告)日：2014-11-04
申请号：US13337818
申请日：2011-12-27
申请人： Tetsuro Izumi , Kenichi Koyanagi , Kenji Matsukuma , Yukio Hashiguchi
发明人： Tetsuro Izumi , Kenichi Koyanagi , Kenji Matsukuma , Yukio Hashiguchi
IPC分类号： G06F7/00 , G06K9/34
CPC分类号： G06K9/34
摘要： A picking system includes a conveyer, a robot, a main camera, and a control device. The conveyer conveys workpieces. The robot performs a holding operation and a moving operation on the workpieces. The main camera captures the transport path of the conveyer. The control device detects the workpiece on the basis of the image captured by the main camera and instructs the robot to perform the holding operation on the detected workpiece. Moreover, the control device instructs the robot to perform the holding operation on the overlapped workpieces when the overlapping of the workpieces is detected.
摘要翻译：拾取系统包括输送机，机器人，主摄像机和控制装置。输送机输送工件。机器人对工件执行保持操作和移动操作。主相机捕获输送机的输送路径。控制装置基于由主摄像机拍摄的图像来检测工件，并指示机器人对检测到的工件执行保持操作。此外，当检测到工件的重叠时，控制装置指示机器人对重叠的工件执行保持操作。

5. 发明授权

US08660685B2 Robot system and workpiece picking method 失效
标题翻译：机器人系统和工件采摘方法
公开(公告)号：US08660685B2
公开(公告)日：2014-02-25
申请号：US12911667
申请日：2010-10-25
申请人： Toshimitsu Irie , Yukio Hashiguchi , Shinji Murai
发明人： Toshimitsu Irie , Yukio Hashiguchi , Shinji Murai
IPC分类号： G05B15/00
CPC分类号： B25J9/1697 , B25J9/1687 , G05B2219/37555 , G05B2219/40053 , G05B2219/40564
摘要： A robot system includes a robot. A robot control device is configured to control an operation of the robot, and includes a workpiece shape memory configure to store a shape of workpieces. A shape sensor is configured to detect shape information about the workpieces. A target workpiece detector is configured to detect a graspable workpiece based on the shape information detected by the shape sensor. A grasping information memory is configured to store a grasping position indicating which portion of the graspable workpiece is to be grasped by the robot. A grasping operation controller is configured to control the robot to grasp the graspable workpiece detected by the target workpiece detector and to pick the grasped workpiece. A disturbing operation controller is configured to control, if no graspable workpiece is detected by the target workpiece detector, the robot to perform a workpiece disturbing operation.
摘要翻译：机器人系统包括机器人。机器人控制装置被配置为控制机器人的操作，并且包括被配置为存储工件的形状的工件形状存储器。形状传感器被配置为检测关于工件的形状信息。目标工件检测器被配置为基于由形状传感器检测到的形状信息来检测可抓握的工件。握持信息存储器被配置为存储指示可抓握工件的哪个部分被机器人抓握的把持位置。抓握操作控制器被配置为控制机器人抓住由目标工件检测器检测到的可抓握工件并拾取被抓取的工件。如果没有被目标工件检测器检测到可抓握的工件，则机器人执行工件干扰操作。

6. 发明授权

US08880216B2 Picking system 有权
标题翻译：采摘系统
公开(公告)号：US08880216B2
公开(公告)日：2014-11-04
申请号：US13338169
申请日：2011-12-27
申请人： Tetsuro Izumi , Kenichi Koyanagi , Kenji Matsukuma , Yukio Hashiguchi
发明人： Tetsuro Izumi , Kenichi Koyanagi , Kenji Matsukuma , Yukio Hashiguchi
IPC分类号： G06F7/00 , B25J9/16 , G05B19/418
CPC分类号： G05B19/4182 , B25J9/1697 , Y02P90/083
摘要： A picking system includes a conveyer, a robot, and a control device. The conveyer conveys workpieces. The robot includes a plurality of holding parts and a supporting part. The holding parts hold the workpieces. The supporting part is rotatably provided against an arm to support the plurality of holding parts. Then, the control device instructs the robot to rotate the supporting part by a predetermined amount in such a manner that the direction of the workpiece becomes a predetermined direction for each the workpiece held by the holding parts and then to place the workpiece on a predetermined place.
摘要翻译：拾取系统包括输送机，机器人和控制装置。输送机输送工件。机器人包括多个保持部和支撑部。夹持件夹持工件。支撑部分可旋转地设置成抵靠臂以支撑多个保持部。然后，控制装置指示机器人使支撑部旋转预定量，使得对于由保持部保持的每个工件，工件的方向成为预定方向，然后将工件放置在预定位置。

7. 发明授权

US08650965B2 Robot, robot system, robot control device, and state determining method 有权
标题翻译：机器人，机器人系统，机器人控制装置和状态确定方法
公开(公告)号：US08650965B2
公开(公告)日：2014-02-18
申请号：US13221868
申请日：2011-08-30
申请人： Yukio Hashiguchi , Shingo Ando , Takuya Fukuda , Takenori Oka , Shinji Murai , Takeomi Hidaka , Manabu Okahisa
发明人： Yukio Hashiguchi , Shingo Ando , Takuya Fukuda , Takenori Oka , Shinji Murai , Takeomi Hidaka , Manabu Okahisa
IPC分类号： G01L1/00
CPC分类号： B25J9/1633 , B25J9/0087 , B25J13/085
摘要： A robot according to an embodiment includes an arm, a strain sensor, one or more actuator, and a sensor fixing jig. The strain sensor includes a piezoelectric body that has a natural frequency higher than a natural frequency of a structural material forming the arm. The one or more actuators are provided in the arm to drive the arm. The sensor fixing jig is provided in a base of the actuator, among the actuators in the arm, closest to a base end of the arm. The strain sensor is provided in the sensor fixing jig.
摘要翻译：根据实施例的机器人包括臂，应变传感器，一个或多个致动器和传感器固定夹具。应变传感器包括具有比形成臂的结构材料的固有频率高的固有频率的压电体。一个或多个致动器设置在臂中以驱动臂。传感器固定夹具设置在致动器的基部中，臂中的致动器最靠近臂的基端。应变传感器设置在传感器固定夹具中。

8. 发明申请

US20120323357A1 PICKING SYSTEM 有权
标题翻译：拍摄系统
公开(公告)号：US20120323357A1
公开(公告)日：2012-12-20
申请号：US13338169
申请日：2011-12-27
申请人： Tetsuro IZUMI , Kenichi KOYANAGI , Kenji MATSUKUMA , Yukio HASHIGUCHI
发明人： Tetsuro IZUMI , Kenichi KOYANAGI , Kenji MATSUKUMA , Yukio HASHIGUCHI
IPC分类号： G06F7/00
CPC分类号： G05B19/4182 , B25J9/1697 , Y02P90/083
摘要： A picking system includes a conveyer, a robot, and a control device. The conveyer conveys workpieces. The robot includes a plurality of holding parts and a supporting part. The holding parts hold the workpieces. The supporting part is rotatably provided against an arm to support the plurality of holding parts. Then, the control device instructs the robot to rotate the supporting part by a predetermined amount in such a manner that the direction of the workpiece becomes a predetermined direction for each the workpiece held by the holding parts and then to place the workpiece on a predetermined place.
摘要翻译：拾取系统包括输送机，机器人和控制装置。输送机输送工件。机器人包括多个保持部和支撑部。夹持件夹持工件。支撑部分可旋转地设置成抵靠臂以支撑多个保持部。然后，控制装置指示机器人使支撑部旋转预定量，使得对于由保持部保持的每个工件，工件的方向成为预定方向，然后将工件放置在预定位置。

9. 发明申请

US20120048027A1 ROBOT, ROBOT SYSTEM, ROBOT CONTROL DEVICE, AND STATE DETERMINING METHOD 有权
标题翻译：机器人，机器人系统，机器人控制装置和状态确定方法
公开(公告)号：US20120048027A1
公开(公告)日：2012-03-01
申请号：US13221868
申请日：2011-08-30
申请人： Yukio HASHIGUCHI , Shingo Ando , Takuya Fukuda , Takenori Oka , Shinji Murai , Takeomi Hidaka , Manabu Okahisa
发明人： Yukio HASHIGUCHI , Shingo Ando , Takuya Fukuda , Takenori Oka , Shinji Murai , Takeomi Hidaka , Manabu Okahisa
IPC分类号： G01L1/16
CPC分类号： B25J9/1633 , B25J9/0087 , B25J13/085
摘要： A robot according to an embodiment includes arm and a strain sensor. The strain sensor includes a piezoelectric body that has a natural frequency higher than a natural frequency of a structural material forming the arm.
摘要翻译：根据实施例的机器人包括臂和应变传感器。应变传感器包括具有比形成臂的结构材料的固有频率高的固有频率的压电体。

10. 发明授权

US06554144B2 Boom positioning device for high-position working 失效
公开(公告)号：US06554144B2
公开(公告)日：2003-04-29
申请号：US10130303
申请日：2002-05-31
申请人： Yukio Hashiguchi , Shinji Murai , Shinichi Ishikawa
发明人： Yukio Hashiguchi , Shinji Murai , Shinichi Ishikawa
IPC分类号： B66C1344
CPC分类号： H02G1/02 , B60M1/28 , B66F11/044
摘要： A boom positioning device for high-position working, capable of ensuring a desired positional accuracy even in positioning a work location at the tip end of a boom from a distant place, the device comprising an imaging means (4) having a multi-axis driving unit and provided with a boom tip-end position computing means (2) for computing the position and attitude of the boom tip-end from positions of respective axes of the boom detected by a boom respective-axis-position detecting means (1) and with a distance measuring means (3) for detecting the distance from the boom tip-end position to a work object, a first boom working amount calculating means (11) for calculating, from an output from the distance measuring means (3) and an output from a measuring error judging means (10), a boom working amount up to an approach enabled area where the measuring accuracy of the distance measuring means (3) is guaranteed, and a second boom working amount calculating means (15) for calculating, from a distance from the boom tip-end position detected by the distance measuring means (3) up to a work object and from a specified work location and boom tip-end position with respect to the work object in the approach enabled area, a boom working amount up to a specified work location with respect to the work object.

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