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1. 发明申请

US20160068352A1 ARTICLE CONVEYOR SYSTEM 有权
标题翻译：文章输送系统
公开(公告)号：US20160068352A1
公开(公告)日：2016-03-10
申请号：US14840238
申请日：2015-08-31
申请人： FANUC CORPORATION
发明人： MASARU ODA
IPC分类号： B65G43/08 , B25J9/16
CPC分类号： G06T7/11 , B25J9/1679 , B25J9/1697 , B65G43/08 , G05B2219/39394 , G05B2219/40082 , G05B2219/40613 , G05D3/12 , G06T7/13 , G06T7/70 , Y10S901/02 , Y10S901/47
摘要： An article conveyor system comprising a conveyor device which conveys a conveyance article in accordance with a command to convey the conveyance article to a target position on a workpiece, a visual detection device which has a camera device which is attached to the conveyor device so as to acquire an image which includes both of the conveyance article and the workpiece after conveyance by the conveyor device and analyzes the image acquired by the camera device to detect the respective positions of the conveyance article and the workpiece, and a judgment device which judges if a position of the conveyance article which has been detected by the visual detection device is located within a permission area which is set for the position of the workpiece.
摘要翻译：一种物品输送机系统，其特征在于，具备：输送装置，其将输送物品按照将所述输送物品输送到工件的目标位置的指示传送装置;视觉检测装置，具有安装在所述输送装置上的相机装置，在通过传送装置输送之后，获取包括传送物品和工件两者的图像，并且分析由照相机装置获取的图像以检测传送物品和工件的各个位置，以及判断装置，其判断位置已经被视觉检测装置检测到的传送物品位于对工件的位置设定的许可区域内。

2. 发明授权

US09233377B2 Method, system, and apparatus for aligning the angle of a polar coordinate system device to the axis of an end-effector 有权
标题翻译：用于将极坐标系装置的角度对准端部执行器的轴线的方法，系统和装置
公开(公告)号：US09233377B2
公开(公告)日：2016-01-12
申请号：US14111061
申请日：2012-03-02
申请人： Thomas Creazzo
发明人： Thomas Creazzo
IPC分类号： B04B9/14 , B25J9/02 , B25J9/16 , B04B11/04 , G01N35/00
CPC分类号： B04B9/14 , B04B2011/046 , B25J9/023 , B25J9/1692 , G01N35/0099 , G01N2035/00495 , G05B2219/40082
摘要： A method, system, and apparatus for aligning the index angle of a polar coordinate system device, such as the rotor of a centrifuge, with the vertical axis of a Cartesian coordinate system device, such as a robotic end-effector. The apparatus includes a first registration device, that is removably attached to the gripping means of the end-effector and a second registration device, that is removably insertable into a pivoting platform, such as a bucket to a centrifuge rotor. As the first registration device is lowered into the second registration device, the fixed orientation of the notches of the second registration device and the rigid nature of the first registration device cause a linear ball slide to displace and the bucket to rotate until the primary axis of the linear ball slide is in compliance with the cross pin axis of the first registration device.
摘要翻译：用于将诸如离心机的转子的极坐标系统装置的分度角与诸如机器人末端执行器之类的笛卡尔坐标系装置的垂直轴对准的方法，系统和装置。该装置包括第一配准装置，其可移除地附接到末端执行器的夹持装置和第二对准装置，其可拆卸地插入诸如铲斗的枢转平台到离心机转子。当第一配准装置下降到第二配准装置中时，第二配准装置的槽口的固定取向和第一配准装置的刚性使得直线球滑动件移动并且铲斗旋转直到主轴线线性球滑块符合第一配准装置的十字销轴线。

3. 发明授权

US09073212B2 Apparatus and method for testing printed circuit board 有权
标题翻译：印刷电路板测试装置及方法
公开(公告)号：US09073212B2
公开(公告)日：2015-07-07
申请号：US14261444
申请日：2014-04-25
申请人： Fu Tai Hua Industry (Shenzhen) Co., Ltd. , HON HAI PRECISION INDUSTRY CO., LTD.
发明人： Yong Li , Xi-Song Shuai , Yun-Qing Liu
IPC分类号： B25J9/16 , H01L21/66 , H01L21/677
CPC分类号： B25J9/1664 , G01R31/2808 , G05B2219/40082 , G05B2219/40465 , G05B2219/45026 , H01L22/14 , H05K2203/162
摘要： A printed circuit board testing method includes determining a position of a robot at a predetermined time interval and determining whether the determined position of the robot is within a preset position range. The method determines whether one or more shielding boxes are open according to unique identifiers of the shielding boxes stored in a storage system when the determined position of the robot is within the preset position range. The method obtains a predetermined path of each determined open shielding box from the storage system when one or more shielding boxes are open. The method further determines a shortest predetermined path among the obtained predetermined paths, and transmits a control signal including the determined predetermined path to the robot.
摘要翻译：印刷电路板测试方法包括以预定时间间隔确定机器人的位置，并确定所确定的机器人的位置是否在预设位置范围内。当所确定的机器人的位置在预设位置范围内时，该方法根据存储在存储系统中的屏蔽盒的唯一标识符确定一个或多个屏蔽盒是否打开。当一个或多个屏蔽盒打开时，该方法从存储系统获得每个确定的开放屏蔽盒的预定路径。该方法进一步确定所获得的预定路径中的最短预定路径，并将包括所确定的预定路径的控制信号发送到机器人。

4. 发明申请

US20020107611A1 Feeding robot and control method therefor 有权
公开(公告)号：US20020107611A1
公开(公告)日：2002-08-08
申请号：US09822364
申请日：2001-04-02
发明人： Tae-Kyu Son
IPC分类号： G06F019/00
CPC分类号： B25J9/1664 , G05B2219/40082 , G05B2219/49113 , G05B2219/49148
摘要： A feeding robot which is capable of drawing a glass panel for a liquid crystal display from a cassette without bringing it into collision with the cassette, and then feeding the drawn glass panel with a reduced error, and a method for controlling the same. Determination is made as to whether an object to be fed has been accurately aligned with a traveling axis of the feeding robot. A turned angle of the object relative to the traveling axis is calculated if the object has not been accurately aligned with the traveling axis. The robot is turned by the turned angle and then draws the object. While the robot moves to a target position, a correction value for the target position is calculated, and the target position is then corrected by the calculated correction value. The feeding robot control method is capable of aligning the glass panel with a hand of the feeding robot using sensors in the robot. The feeding robot is able to draw the glass panel from the cassette safely without bringing it into collision with the cassette and to lay the drawn glass panel on an outlet stage with a high degree of positional precision.

5. 发明授权

US5812395A Vision based forklift control system for autonomous pallet loading 失效
标题翻译：基于视觉的叉车控制系统，用于自主托盘装载
公开(公告)号：US5812395A
公开(公告)日：1998-09-22
申请号：US556023
申请日：1995-11-13
申请人： Stefano Masciangelo , Marco Ilic
发明人： Stefano Masciangelo , Marco Ilic
IPC分类号： B25J9/16 , B66F9/075 , G06K9/36 , B66F9/06 , G05B19/18
CPC分类号： B25J9/1697 , B66F9/0755 , G05B2219/37555 , G05B2219/37563 , G05B2219/40082 , G05B2219/45049
摘要： An forklift system which provides for autonomous pallet loading through the use of a telecamera rigidly connected to a pair of fork prongs located on the forklift, wherein the telecamera is connected to an image acquisition and processing apparatus and a computer which controls and moves the pair of fork prongs. The movement of the fork prongs is based upon the input received into the computer in the form of a processed image from the image processing apparatus. The image processing apparatus creates a digital image which enables the computer to estimate the position and orientation of the framed pallet relative to the telecamera.
摘要翻译：一种叉车系统，其通过使用刚性地连接到位于叉车上的一对叉叉头的电视摄像机来提供自主的托盘装载，其中所述电视摄像机连接到图像采集和处理装置以及控制和移动所述一对叉叉叉叉的移动是基于从图像处理装置以处理的图像的形式接收到计算机中的输入。图像处理装置创建数字图像，其使得计算机能够估计框架托盘相对于电视摄影机的位置和取向。

6. 发明授权

US5030869A Device testing system with cable pivot 失效
标题翻译：带电缆枢轴的设备测试系统
公开(公告)号：US5030869A
公开(公告)日：1991-07-09
申请号：US558144
申请日：1990-07-25
申请人： Alyn R. Holt , Robert E. Matthiessen
发明人： Alyn R. Holt , Robert E. Matthiessen
IPC分类号： G01R31/00 , B25J19/00 , G01R1/04 , G01R31/28
CPC分类号： B25J19/0025 , G01R1/04 , G05B2219/37404 , G05B2219/40082 , G05B2219/45089
摘要： A device testing system of the type in which an electronic test head is mounted for pivotal movement about three orthogonal axes. Cables are connected between a test cabinet and the test head to carry electronic signals. The test head is directly mounted to, and the cable is introduced to the test head through, a split ring cable pivot.

7. 发明申请

US20170182665A1 ROBOT, ROBOT CONTROL DEVICE, AND ROBOT SYSTEM 审中-公开
公开(公告)号：US20170182665A1
公开(公告)日：2017-06-29
申请号：US15391137
申请日：2016-12-27
申请人： Seiko Epson Corporation
发明人： Masayuki OKUYAMA , Makoto KOBAYASHI , Masato YOKOTA
IPC分类号： B25J9/16
CPC分类号： B25J9/1697 , B25J9/1687 , G05B2219/39394 , G05B2219/40079 , G05B2219/40082 , G05B2219/40087 , G05B2219/40607 , Y10S901/47
摘要： A robot moves a first target object in a second direction different from a first direction based on an image captured by an imaging device from a time when the imaging device images the first target object at a first position until a time when the first target object reaches a second position which is in the same first direction as the first position.

8. 发明授权

US09636824B2 Transfer system 有权
公开(公告)号：US09636824B2
公开(公告)日：2017-05-02
申请号：US14453688
申请日：2014-08-07
申请人： DAIHEN Corporation
发明人： Takumi Kobayashi
IPC分类号： G05B19/18 , B25J9/16 , B25J11/00 , H01L21/677 , H01L21/68
CPC分类号： B25J9/1697 , B25J11/0095 , G05B2219/37555 , G05B2219/40014 , G05B2219/40082 , G05B2219/45031 , H01L21/67766 , H01L21/681 , Y10S901/09 , Y10S901/47
摘要： A transfer system includes a first station at which a workpiece is placed, a second station which receives the workpiece from the first station, a robot including a holder for holding the workpiece and for transferring the workpiece from the first station to the second station, an image capturing unit for capturing an image of the workpiece that reflects a position of the workpiece in the first station, a first memory unit that stores intended placement position information indicating an intended placement position of the workpiece in the first station, and a deviation calculator that calculates a deviation of the position of the workpiece in the first station relative to the intended placement position. The deviation calculator calculates the deviation based on the image of the workpiece and the intended placement position information.

9. 发明申请

US20140277732A1 ROBOT APPARATUS 有权
标题翻译：机器人装置
公开(公告)号：US20140277732A1
公开(公告)日：2014-09-18
申请号：US14183526
申请日：2014-02-19
申请人： KABUSHIKI KAISHA YASKAWA DENKI
发明人： Akihiro SHIOTA , Ken OKAWA , Toshiaki IKEDA
IPC分类号： B25J9/16
CPC分类号： B25J9/1697 , B25J9/1669 , G05B2219/39391 , G05B2219/39568 , G05B2219/40082 , G05B2219/40087
摘要： A robot apparatus that performs the work of attaching a cable includes a gripper that grips the cable having first and second ends, the first end being fixed; an arm main body that guides the second end of the cable being gripped by the gripper to the interior of a guide area; a force censer that is provided on the arm main body and detects that the gripper has come into contact with the second end of the cable; a camera that captures an image of the guide area when the force center detects that the gripper has come into contact with the second end of the cable; and an image processor that detects the posture of the second end of the cable based on the captured image. The robot apparatus performs the work of attaching the cable in accordance with the detected posture of the connector.
摘要翻译：执行安装电缆的工作的机器人装置包括夹持具有第一端和第二端的电缆的夹具，第一端被固定; 手柄主体，其将由夹持器夹持的电缆的第二端引导到引导区域的内部; 设置在所述臂主体上并检测到所述夹具已经与所述电缆的第二端接触的力检查器; 当所述力中心检测到所述夹具已经与所述电缆的第二端接触时，捕获所述引导区域的图像的照相机; 以及图像处理器，其基于所捕获的图像来检测所述电缆的第二端的姿态。机器人装置根据检测到的连接器的姿势进行安装电缆的工作。

10. 发明授权

US07353135B2 Positioning and aligning the parts of an assembly 失效
标题翻译：定位和对准组件的部件
公开(公告)号：US07353135B2
公开(公告)日：2008-04-01
申请号：US11308101
申请日：2006-03-07
申请人： Robert Malm
发明人： Robert Malm
IPC分类号： G01C9/00 , G01C17/00 , G01C19/00 , G06F15/00 , G06F19/00 , G05B19/18 , G05B11/32
CPC分类号： G05B19/41805 , G05B2219/39246 , G05B2219/40082 , G05B2219/45018
摘要： The invention is an apparatus and process for obtaining values for one or more alignment quantities using one or more transportable devices. The process consists of establishing and maintaining a transportable device in a reference position and a reference orientation, then establishing and maintaining the transportable device in a fixed position and orientation with respect to a target object, then determining the transportable object's position and orientation with respect to the target object from measurements of acceleration and angular velocity of the transportable device as it moves from the reference position and orientation to the fixed position and orientation with respect to the target object, determining the position and orientation of the target object from the position and orientation of the transportable device, repeating the preceding steps as required to obtain position and orientation data for other target objects, and finally determining the values of the alignment quantities.
摘要翻译：本发明是一种用于使用一个或多个可移动装置获得一个或多个对准量的值的装置和过程。该过程包括在参考位置和参考方向建立和维护可移动装置，然后建立并维持可移动装置相对于目标物体处于固定位置和方位，然后确定可移动物体的相对于从可移动装置的距离参考位置和方位移动到相对于目标对象的固定位置和方向的加速度和角速度的测量的目标对象，从位置和方向确定目标对象的位置和方向，根据需要重复前述步骤以获得其他目标对象的位置和方向数据，并最终确定对准量的值。

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