专利快速检索-快速检索全球专利，免费商用专利数据库-IPRDB

1. 发明申请

US20170312917A1 METHOD AND DEVICE FOR ROBOTIC DIRECT LEAD-THROUGH TEACHING 审中-公开
公开(公告)号：US20170312917A1
公开(公告)日：2017-11-02
申请号：US15338864
申请日：2016-10-31
申请人： INDUSTRIAL TECHNOLOGY RESEARCH INSTITUTE
发明人： WEI-DER CHUNG , CHUN-CHIEH WANG , PING-CHENG HSIEH , XIAO HU
IPC分类号： B25J9/16 , B25J13/08
CPC分类号： B25J13/085 , B25J9/1664 , G05B19/423 , G05B2219/36418 , G05B2219/39529 , G05B2219/40586 , Y10S901/03 , Y10S901/46
摘要： A device for robotic direct lead-through teaching includes a robot, a replacing member and a lead-through teaching member. The robot has an operation member coupled with the replacing member. The lead-through teaching member mounted replaceably at the replacing member has a force sensor. The force sensor has six-axis load information. A path teaching is executed manually upon the operation member of the robot so as to store coordinate information. In additional, a method for robotic direct lead-through teaching is also provided.

2. 发明申请

US20170266816A1 ROBOT CONTROL APPARATUS, ROBOT, AND ROBOT SYSTEM 审中-公开
公开(公告)号：US20170266816A1
公开(公告)日：2017-09-21
申请号：US15458319
申请日：2017-03-14
申请人： Seiko Epson Corporation
发明人： Kaoru TAKEUCHI
IPC分类号： B25J13/08 , B25J9/00 , B25J9/04
CPC分类号： B25J13/085 , B25J9/1633 , G05B2219/39343 , G05B2219/39348 , G05B2219/39529 , G05B2219/40586
摘要： A robot control apparatus includes a robot control part that controls a robot; and a force detection information acquisition part that acquires force detection information from a force detection unit. The robot control part, in which a range of control values for operating a robot by force control based on the force detection information is designated, operates the robot based on the control values and the designated range.

3. 发明申请

US20170080571A1 SYSTEMS AND METHODS FOR PROVIDING DYNAMIC ROBOTIC CONTROL SYSTEMS 审中-公开
公开(公告)号：US20170080571A1
公开(公告)日：2017-03-23
申请号：US15254592
申请日：2016-09-01
申请人： Berkshire Grey Inc.
发明人： Thomas WAGNER , Kevin AHEARN , Michael DAWSON-HAGGERTY , Christopher GEYER , Thomas KOLETSCHKA , Kyle MARONEY , Matthew T. MASON , Gene Temple PRICE , Joseph ROMANO , Daniel SMITH , Siddhartha SRINIVASA , Prassandra VELAGAPUDI , Thomas ALLEN
IPC分类号： B25J9/16 , B25J15/06
CPC分类号： B25J9/1694 , B25J9/1602 , B25J9/1612 , B25J13/081 , B25J13/085 , B25J13/086 , B25J15/0616 , G05B2219/37401 , G05B2219/39529 , G05B2219/39531 , G05B2219/39533 , G05B2219/39555 , G05B2219/39556 , G05B2219/39558
摘要： An articulated arm system is disclosed that includes an articulated arm including an end effector, and a robotic arm control systems including at least one sensor for sensing at least one of the position, movement or acceleration of the articulated arm, and a main controller for providing computational control of the articulated arm, and an on-board controller for providing, responsive to the at least one sensor, a motion signal that directly controls at least a portion of the articulated arm.

4. 发明申请

US20160221193A1 ROBOT APPARATUS, METHOD FOR CONTROLLING ROBOT, PROGRAM, AND RECORDING MEDIUM 审中-公开
标题翻译：机器人装置，控制机器人，程序和记录介质的方法
公开(公告)号：US20160221193A1
公开(公告)日：2016-08-04
申请号：US15002831
申请日：2016-01-21
申请人： CANON KABUSHIKI KAISHA
发明人： Shuuichi Sato
IPC分类号： B25J9/16 , B25J9/06
CPC分类号： B25J9/1694 , B25J9/1674 , B25J9/1676 , B25J13/085 , G05B2219/39529 , G05B2219/40599 , G05B2219/40607 , Y10S901/04 , Y10S901/09
摘要： An object of the present invention is to sense forces from a fine external force to a large external force with high precision, and enable high-precision control. A multi-joint robot arm has a first sensor arranged in an end portion, and second sensors arranged in joints, respectively. The first sensor and the second sensor have different detectable ranges from each other for a detectable force. A controlling apparatus selects which sensing result of a sensor should be used between sensing results of the first sensor 131 and the second sensor, and controls a robot arm by using the selected sensing result of the sensor.
摘要翻译：本发明的目的是以高精度从良好的外力力到大的外力感测力，并且能够进行高精度的控制。多关节机器人臂具有布置在端部中的第一传感器和分别布置在接头中的第二传感器。第一传感器和第二传感器对于可检测力彼此具有不同的可检测范围。控制装置选择在第一传感器131和第二传感器的感测结果之间应使用传感器的感测结果，并且通过使用所选择的传感器的感测结果来控制机器人手臂。

5. 发明申请

US20150323398A1 FORCE/TORQUE SENSOR, APPARATUS AND METHOD FOR ROBOT TEACHING AND OPERATION 有权
标题翻译：力/扭矩传感器，机器人教学和操作的装置和方法
公开(公告)号：US20150323398A1
公开(公告)日：2015-11-12
申请号：US14802337
申请日：2015-07-17
申请人： ROBOTIQ INC.
发明人： Nicolas LAUZIER , Simon LEFRANÇOIS , David CASTONGUAY , Louis-Alexis ALLEN DEMERS , Jean-François DUVAL , Yan DROLET MIHELIC , Pierre Olivier PROULX , Rachid BEKHTI , Philippe CARDOU , Vincent DUCHAINE , Samuel BOUCHARD , Jean-Philippe JOBIN
IPC分类号： G01L1/14 , B25J9/16
CPC分类号： G01L1/14 , B25J9/0081 , B25J9/163 , B25J13/085 , G01L5/16 , G01L5/226 , G01L25/00 , G05B19/423 , G05B2219/39529 , Y10S901/02 , Y10S901/30
摘要： This invention relates to force/torque sensor and more particularly to multi-axis force/torque sensor and the methods of use for directly teaching a task to a mechatronic manipulator. The force/torque sensor has a casing, an outer frame forming part of or connected to the casing, an inner frame forming part of or connected to the casing, a compliant member connecting the outer frame to the inner frame, and one or more measurement elements mounted in the casing for measuring compliance of the compliant member when a force or torque is applied between the outer frame and the inner frame.
摘要翻译：本发明涉及力/扭矩传感器，更具体地涉及多轴力/转矩传感器以及用于直接将任务教导给机电一体机械手的方法。力/扭矩传感器具有壳体，形成壳体的一部分或连接到壳体的外框架，形成壳体的一部分或连接到壳体的内框架，将外框架连接到内框架的柔顺构件以及一个或多个测量当在外框架和内框架之间施加力或扭矩时，安装在壳体中的元件用于测量柔顺构件的顺应性。

6. 发明申请

US20150112487A1 ROBOT CONTROL SYSTEM, ROBOT SYSTEM, AND SENSOR INFORMATION PROCESSING APPARATUS 审中-公开
标题翻译：机器人控制系统，机器人系统和传感器信息处理装置
公开(公告)号：US20150112487A1
公开(公告)日：2015-04-23
申请号：US14590032
申请日：2015-01-06
申请人： Seiko Epson Corporation
发明人： Mitsuhiro INAZUMI
IPC分类号： B25J9/16
CPC分类号： B25J9/1694 , B25J9/16 , B25J9/1612 , B25J9/1633 , B25J13/08 , G05B2219/39325 , G05B2219/39343 , G05B2219/39529 , G05B2219/41166 , Y10S901/09
摘要： A robot control system includes a force control unit configured to output a correction value of a target track of a robot on the basis of sensor information acquired from a force sensor, a target-value output unit configured to apply correction processing based on the correction value to the target track to calculate a target value and output the calculated target value, and a robot control unit configured to perform feedback control of the robot on the basis of the target value. The force control unit includes a digital filter unit. The force control unit applies digital filter processing by the digital filter unit to the sensor information to calculate a solution of an ordinary differential equation in force control and outputs the correction value on the basis of the calculated solution.
摘要翻译：机器人控制系统包括力控制单元，其被配置为基于从力传感器获取的传感器信息输出机器人的目标轨迹的校正值，目标值输出单元，被配置为基于校正值应用校正处理到目标轨道以计算目标值并输出计算出的目标值;以及机器人控制单元，被配置为基于目标值执行机器人的反馈控制。力控制单元包括数字滤波器单元。力控制单元通过数字滤波器单元对传感器信息进行数字滤波处理，以计算力控制中的常微分方程的解，并根据计算出的解输出校正值。

7. 发明申请

US20120197438A1 DUAL ARM ROBOT 有权
标题翻译：双ARM机器人
公开(公告)号：US20120197438A1
公开(公告)日：2012-08-02
申请号：US13500961
申请日：2010-11-29
申请人： Kazunori Ogami
发明人： Kazunori Ogami
IPC分类号： B25J13/08 , B25J19/04
CPC分类号： B25J9/1682 , B25J9/1697 , G05B2219/39123 , G05B2219/39529 , G05B2219/40307 , G05B2219/45064
摘要： The dual arm robot includes a first arm including a first hand, a first visual sensor and a first force sensor, and a second arm including a second hand, a second visual sensor and a second force sensor, uses each visual sensor to detect positions of a lens barrel and a fixed barrel to hold and convey them to a central assembling area, uses the first visual sensor to measure a position of a flexible printed circuits to insert the flexible printed circuits into the fixed barrel, and uses outputs of the force sensors to fit and assemble the fixed barrel onto the lens barrel under force control. The dual arm robot converts a position coordinate of a workpiece detected by each visual sensor to a robot coordinate to calculate a trajectory of each hand and drive each arm, to thereby realize cooperative operation of the two arms.
摘要翻译：双臂机器人包括第一臂，包括第一只手，第一视觉传感器和第一力传感器，以及包括秒针，第二视觉传感器和第二力传感器的第二臂，使用每个视觉传感器来检测位置透镜镜筒和固定镜筒，用于保持并将其传送到中央组装区域，使用第一视觉传感器来测量柔性印刷电路的位置以将柔性印刷电路插入固定筒中，并且使用力传感器在力控制下将固定筒装配到镜筒上。双臂机器人将由每个视觉传感器检测的工件的位置坐标转换为机器人坐标，以计算每只手的轨迹并驱动每个臂，从而实现两个臂的协同操作。

8. 发明申请

US20050113971A1 Industrial robot with controlled flexibility and simulated force for automated assembly 有权
标题翻译：具有控制灵活性和模拟力的工业机器人，用于自动组装
公开(公告)号：US20050113971A1
公开(公告)日：2005-05-26
申请号：US10720592
申请日：2003-11-24
申请人： Hui Zhang , Zhongxue Gan , Torgny Brogardh , Jianjun Wang
发明人： Hui Zhang , Zhongxue Gan , Torgny Brogardh , Jianjun Wang
IPC分类号： B25J9/16 , G06F19/00
CPC分类号： B25J9/1687 , B25J9/1633 , G05B2219/36437 , G05B2219/39339 , G05B2219/39529 , G05B2219/40032 , G05B2219/45058 , Y02P80/114 , Y10S414/136 , Y10T74/20317
摘要： An industrial robot that has uses a simulated force vector to allow a work piece held by the robot end effector to be mated with a work piece whose location and orientation is not precisely known to the robot. When the end effector makes contact with the location and orientation in which the other work piece is held the robot provides a velocity command to minimize the force of the contact and also provides a search pattern in all directions and orientations to cause the end effector to bring the work piece it is holding in contact with the other work piece. The search pattern and the velocity command are continued until the two work pieces mate.
摘要翻译：一种工业机器人，其使用模拟的力向量来允许由机器人末端执行器保持的工件与其机器人的位置和取向不是精确地知道的工件配合。当末端执行器与保持另一工件的位置和方向接触时，机器人提供速度命令以使接触力最小化，并且还在所有方向和方向上提供搜索模式以使端部执行器带动其工件与其他工件接触。搜索模式和速度命令一直持续到两个工件交配。

9. 发明授权

US5987958A Methods and apparatus for backgaging and sensor-based control of bending operation 失效
标题翻译：用于回溯和传感器控制弯曲操作的方法和装置
公开(公告)号：US5987958A
公开(公告)日：1999-11-23
申请号：US980301
申请日：1997-11-28
申请人： Richard M. Moore, Jr. , David Alan Bourne , Kerry L. Elkins , Anne Marie Murray , Robert H. Sturgas, Jr. , Kensuke Hazama
发明人： Richard M. Moore, Jr. , David Alan Bourne , Kerry L. Elkins , Anne Marie Murray , Robert H. Sturgas, Jr. , Kensuke Hazama
IPC分类号： B21D5/00 , B21D5/02 , B21D43/00 , B23Q3/18 , B23Q15/22 , B23Q17/22 , B25J9/16 , B25J19/02 , B21D43/10
CPC分类号： B21D5/002 , B21D5/02 , B23Q15/22 , B23Q15/225 , B23Q17/225 , B23Q3/186 , B25J9/1679 , G05B2219/31103 , G05B2219/31326 , G05B2219/37571 , G05B2219/39508 , G05B2219/39528 , G05B2219/39529 , G05B2219/39532 , G05B2219/39542 , G05B2219/40054 , G05B2219/45143 , Y02P90/18
摘要： Several methods and subsystems are disclosed for aligning a workpiece as it is being loaded into a die space of a bending apparatus, and for performing sensor-based control of a robot as it moves a workpiece from one location to another within a bending apparatus environment. A backgaging mechanism is provided with finger gaging mechanisms having force sensors for sensing forces in directions perpendicular to and parallel to a die. In addition, a robot gripper sensor is provided for sensing either or both of shear forces and normal forces created by movement of a workpiece being held by the gripper. Several sensor-based control modules are disclosed, including a bend-following control module, a speed control module, a module for actively damping vibrations in a workpiece, a module for controlling active compliance/contact between a workpiece and an obstacle, a module for performing a guarded move to intentionally bring a workpiece into contact with an obstacle, and a module for detecting unintentional impacts between a workpiece and an obstacle. Several droop sensing methods and systems are also disclosed, including methods for performing droop sensing and compensation with the use of a vision-based droop sensor, a compound break-beam droop sensor, and a single break-beam droop sensor. In addition, an angle sensor is disclosed, along with a springback control method utilizing the disclosed angle sensor.
摘要翻译：公开了几种方法和子系统，用于在工件被装载到弯曲装置的模具空间中时对准工件，并且用于在机器人在弯曲装置环境中将工件从一个位置移动到另一个位置时执行基于传感器的控制。提供了后退机构，其具有手指测量机构，其具有用于感测与模具垂直并平行的方向的力的力传感器。此外，提供了一种机器人夹持器传感器，用于感测由夹持器保持的工件的运动产生的剪切力和法向力中的任一者或两者。公开了几个基于传感器的控制模块，包括弯曲跟随控制模块，速度控制模块，用于主动地阻尼工件中的振动的模块，用于控制工件和障碍物之间的主动顺应/接触的模块，用于执行有保护的动作以有意地使工件与障碍物接触，以及用于检测工件和障碍物之间的无意冲击的模块。还公开了若干下垂感测方法和系统，包括使用基于视觉的下垂传感器，复合断路器下垂传感器和单个断路器下垂传感器执行下垂感测和补偿的方法。此外，公开了一种角度传感器以及利用所公开的角度传感器的回弹控制方法。

10. 发明授权

US11833687B2 Robot apparatus, control method for the robot apparatus, assembly method using the robot apparatus, and recording medium 有权
公开(公告)号：US11833687B2
公开(公告)日：2023-12-05
申请号：US16036542
申请日：2018-07-16
申请人： CANON KABUSHIKI KAISHA
发明人： Takayuki Ogawara
IPC分类号： B25J13/08 , B25J9/16
CPC分类号： B25J9/1635 , B25J9/1633 , B25J9/1692 , B25J9/1694 , B25J13/085 , G05B2219/39246 , G05B2219/39529
摘要： A robot apparatus includes a robot arm having an end effector. The robot apparatus includes a position detection unit configured to detect a position of the end effector, and a control unit configured to control the robot apparatus, wherein the control unit includes a force control unit configured to control the end effector by force control, and information about a plurality of operation ranges in which the end effector operates by the force control, the plurality of operation ranges being set for the plurality of contact works, wherein the control unit controls the end effector using the position detection unit and the force control unit such that one of the plurality of contact works is performed within one of the plurality of operation ranges corresponding to the one of the plurality of contact works.

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