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1. 发明申请

WO2012156579A1 METHOD AND APPARATUS FOR MOVING AND POSITIONING A GRIPPING UNIT, AND A ROBOT PROVIDED WITH GRIPPING UNIT 审中-公开
标题翻译：用于移动和定位传送单元的方法和装置，以及提供有传送单元的机器人
公开(公告)号：WO2012156579A1
公开(公告)日：2012-11-22
申请号：PCT/FI2012/050440
申请日：2012-05-08
申请人： ZENROBOTICS OY , LUKKA, Tuomas
发明人： LUKKA, Tuomas
IPC分类号： B25J9/10 , B25J11/00 , B25J17/00 , B25J18/00 , B07C5/34 , B23Q7/12
CPC分类号： B25J9/0078 , Y10T74/20323
摘要： A method and apparatus for moving and positioning a gripping unit (3; 23; 43), in which method the gripping unit is moved and positioned by intermediation of cables (9, 10, 11, 12; 29, 30, 31; 48, 49, 50), so that at least one degree of freedom of the gripping unit is removed by fastening the gripping unit mechanically (4; 24; 44) to the support structure. The invention also relates to a robot (1; 21; 41) provided with this kind of apparatus.
摘要翻译：一种用于移动和定位夹持单元（3; 23; 43）的方法和装置，其中夹持单元通过电缆（9,10,11,12; 29,30,31; 48，以使得通过将所述夹持单元机械地（4; 24; 44）紧固到所述支撑结构来移除所述夹持单元的至少一个自由度。本发明还涉及设置有这种装置的机器人（1; 21; 41）。

2. 发明申请

WO2012136885A1 METHOD FOR INVALIDATING SENSOR MEASUREMENTS AFTER A PICKING ACTION IN A ROBOT SYSTEM 审中-公开
标题翻译：在机器人系统中采集动作后无法传感器测量的方法
公开(公告)号：WO2012136885A1
公开(公告)日：2012-10-11
申请号：PCT/FI2012/050307
申请日：2012-03-28
申请人： ZENROBOTICS OY , VALPOLA, Harri , LUKKA, Tuomas
发明人： VALPOLA, Harri , LUKKA, Tuomas
IPC分类号： B07C5/34 , B25J9/16 , B65G47/90 , G05B19/418
CPC分类号： B25J9/1697 , G05B2219/40004 , G05B2219/40005 , G05B2219/40078 , Y10S901/31 , Y10S901/47
摘要： The invention relates to a method and system for invalidating sensor measurements after a sorting action on a target area of a robot sorting system. In the method there are obtained sensor measurements using sensors from a target area. A first image is captured of the target area using a sensor over the target area. A first sorting action is performed in the target area using a robot arm based on the sensor measurements and the first image. Thereupon, a second image of the target area is captured using a sensor over the target area. The first and the second images are compared to determine invalid areas in the target area. The invalid areas are avoided in future sorting actions based on the sensor measurements.
摘要翻译：本发明涉及一种在对机器人分类系统的目标区域进行排序动作之后使传感器测量无效的方法和系统。在该方法中，使用来自目标区域的传感器获得传感器测量。使用目标区域上的传感器捕获目标区域的第一图像。基于传感器测量和第一图像，使用机器人臂在目标区域中执行第一分类动作。于是，使用目标区域上的传感器捕获目标区域的第二图像。比较第一和第二图像以确定目标区域中的无效区域。基于传感器测量的未来排序动作可以避免无效区域。

3. 发明申请

WO2011161304A1 METHOD FOR THE SELECTION OF PHYSICAL OBJECTS IN A ROBOT SYSTEM 审中-公开
标题翻译：在机器人系统中选择物理对象的方法
公开(公告)号：WO2011161304A1
公开(公告)日：2011-12-29
申请号：PCT/FI2011/050414
申请日：2011-05-05
申请人： ZENROBOTICS OY , VALPOLA, Harri , LUKKA, Tuomas
发明人： VALPOLA, Harri , LUKKA, Tuomas
IPC分类号： B25J13/08 , B25J19/02 , B25J9/10 , B25J9/16 , B07C5/36 , B65G47/90 , B65F5/00 , G21C19/32
CPC分类号： B25J9/00 , B25J9/1694 , B25J9/1697 , B25J13/08 , B25J13/085 , G05B2219/39528 , G05B2219/40053 , G05B2219/40571 , Y10S901/09
摘要： The invention relates to a method in which an apparatus receives first sensor data from first sensors and determines a target position from the data, the target position may be a position in space or an orientation of a gripper in a robot arm First instructions are issued to the robot arm or the gripper in order to move a gripper to the target position. Force feedback sensor data is received from force feedback sensors associated with either the robot arm or the gripper or from the first sensors. A failure in carrying out the first instructions is determined. Second sensor data is received from the at least one first sensor. Successful gripping of an object is determined from the second sensor data. Verification sensor data is received from at least one second sensor, in response to the determining of the successful gripping, second instructions are issued to the robot arm in order to move the arm to a predetermined position to release the grip of the gripper.
摘要翻译：本发明涉及一种方法，其中装置从第一传感器接收第一传感器数据并根据数据确定目标位置，目标位置可以是空间中的位置或机器人手臂中的夹持器的取向首先指示机器人手臂或夹具，以将夹具移动到目标位置。力反馈传感器数据从与机器人手臂或夹具相关联的力反馈传感器或从第一传感器接收。确定执行第一指令失败。从至少一个第一传感器接收第二传感器数据。从第二传感器数据确定对象的成功夹持。从至少一个第二传感器接收验证传感器数据，响应于成功夹持的确定，向机器人臂发出第二指令，以便将臂移动到预定位置以释放夹具的把手。

4. 发明申请

WO2019207201A1 WASTE SORTING GANTRY ROBOT 审中-公开
公开(公告)号：WO2019207201A1
公开(公告)日：2019-10-31
申请号：PCT/FI2019/050319
申请日：2019-04-18
申请人： ZENROBOTICS OY , LUKKA, Tuomas , BORKOWSKI, Maciej
发明人： HOLOPAINEN, Harri
IPC分类号： B65G47/61 , B07C5/00 , B25J15/00 , B25J15/06
摘要： A waste sorting robot gripper comprises a suction cup engageable with the surface of a waste object. The suction cup has an air hole for evacuating air from the suction cup. A suction tube is coupled to the suction cup. The suction tube comprises a longitudinal axis. A first air inlet is in fluid communication with the air hole at one end of the suction tube and an air outlet at the other end of the suction tube. A path of the air flow between the air inlet and the air outlet is substantially along the longitudinal axis. The suction tube comprises a second air inlet in fluid communication with an air source, the second air inlet being between the first air inlet and the air outlet.

5. 发明申请

WO2012089928A1 METHOD, COMPUTER PROGRAM AND APPARATUS FOR DETERMINING A GRIPPING LOCATION 审中-公开
标题翻译：方法，计算机程序和用于确定搬运位置的装置
公开(公告)号：WO2012089928A1
公开(公告)日：2012-07-05
申请号：PCT/FI2011/051172
申请日：2011-12-30
申请人： ZENROBOTICS OY , LUKKA, Tuomas
发明人： LUKKA, Tuomas
IPC分类号： B25J9/16 , G06T7/60
CPC分类号： G06T7/004 , G06T7/70 , G06T2207/20076 , G06T2207/30164
摘要： According to one aspect of the invention, there is provided a method com- prising: obtaining at least one image comprising at least one object; analysing the at least one image to determine at least one gripping location to grip an object; selecting a gripping location from the at least one gripping lo- cation based on a predetermined criterion; and issuing at least one instruction to a gripper to grip the object at the selected gripping location.
摘要翻译：根据本发明的一个方面，提供了一种方法，包括：获得包括至少一个对象的至少一个图像; 分析所述至少一个图像以确定至少一个夹持位置以夹持物体; 基于预定标准从所述至少一个夹持位置选择夹持位置; 以及向夹具发出至少一个指令以在所选择的夹持位置处夹持物体。

6. 发明申请

WO2011144796A1 ROBOT HAND MECHANISM 审中-公开
标题翻译：机器手机
公开(公告)号：WO2011144796A1
公开(公告)日：2011-11-24
申请号：PCT/FI2011/050088
申请日：2011-02-02
申请人： ZENROBOTICS OY , BORKOWSKI, Maciej , LUKKA, Tuomas
发明人： BORKOWSKI, Maciej , LUKKA, Tuomas
IPC分类号： B25J17/02 , B25J19/06 , B25J15/08 , B65G47/90
CPC分类号： B25J19/063
摘要： The invention relates to a robot hand (1) mechanism, comprising an actuator block with a plurality of fingers (4) for gripping objects, and a joint for attaching said actuator block (3) to a robot arm (2). In order to avoid permanent damage due to collisions said robot hand (1) mechanism comprises at least one component (21, 23) constructed in a way that allows a change in the shape of the robot hand mechanism such that the robot hand mechanism temporarily yields when a force exceeding a predetermined threshold is directed towards said robot hand mechanism, and said robot hand (1) mechanism comprises at least one sensor for triggering an emergency stop when said temporary yielding occurs.
摘要翻译：本发明涉及一种机器人手（1）机构，其包括具有用于抓握物体的多个指状物（4）的致动器块和用于将所述致动器块（3）附接到机械手臂（2）的接头。为了避免由于碰撞引起的永久性损坏，所述机器人手（1）机构包括以允许机器人手动机构的形状改变的方式构造的至少一个部件（21,23），使得机器人手部机构暂时产生当超过预定阈值的力被引向所述机器人手动机构时，并且所述机器人手（1）机构包括至少一个传感器，用于当发生所述临时屈服时触发紧急停止。

7. 发明申请

WO2011124752A1 SENSITIVE BUT DURABLE TACTILE SENSE 审中-公开
标题翻译：敏感但耐用的手段感觉
公开(公告)号：WO2011124752A1
公开(公告)日：2011-10-13
申请号：PCT/FI2011/050277
申请日：2011-03-31
申请人： ZENROBOTICS OY , LUKKA, Tuomas, J. , BORKOWSKI, Maciej
发明人： LUKKA, Tuomas, J. , BORKOWSKI, Maciej
IPC分类号： G01L5/22 , B25J13/08 , B25J19/02
CPC分类号： B25J13/085 , G01L5/228
摘要： The invention shows embodiments of a robotic tactile appendage structure that is comprised of a mechanical body (100) further comprising a grasping surface (101 ) on the layer of the mechanical body (100) of the structure, wherein the structure further comprises at least one sensor member (1, 2, SG, PZ) which is configured underneath said grasping surface (101 ), to respond to a tactile force applied on the grasping surface (101 ). The invention shows also a robotic tactile appendage module and a robotic tactile appendage system, but also manufacturing method thereof.
摘要翻译：本发明示出了机器人触觉附属结构的实施例，其包括机械体（100），其还包括在所述结构的机械体（100）的层上的抓握表面（101），其中所述结构还包括至少一个传感器构件（1,2，SG，PZ），其构造在所述抓握表面（101）的下方，以响应于施加在所述抓握表面（101）上的触觉力。本发明还显示了机器人触觉附件模块和机器人触觉附属系统，还包括其制造方法。

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