发明授权
- 专利标题: Object handling apparatus
- 专利标题(中): 物品处理装置
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申请号: US10627722申请日: 2003-07-28
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公开(公告)号: US07244093B2公开(公告)日: 2007-07-17
- 发明人: Atsushi Watanabe , Kazuhisa Otsuka , Masaru Oda , Tadanori Suzuki
- 申请人: Atsushi Watanabe , Kazuhisa Otsuka , Masaru Oda , Tadanori Suzuki
- 申请人地址: JP Yamanashi
- 专利权人: Fanuc Ltd.
- 当前专利权人: Fanuc Ltd.
- 当前专利权人地址: JP Yamanashi
- 代理机构: Staas & Halsey LLP
- 优先权: JP2002-243498 20020823
- 主分类号: B25J9/16
- IPC分类号: B25J9/16
摘要:
An object handling apparatus capable of securely holding an object and precisely transferring the held object from a first place to a second place without need of a specific jig for positioning the object on a pallet. A position of an object supplied to the first place is detected by a first visual sensor to obtain a compensation amount for compensating a position displacement of the supplied object. The object is held by a robot hand having position/orientation compensated using the compensation amount and position/orientation of the object held by the robot hand relative to the robot hand is detected by a second visual sensor. A displacement of the position/orientation of the object held by the robot hand from a reference position/orientation is compensated based on the detected position/orientation of the object on the robot hand, so that the object held by the robot hand is precisely moved to have a predetermined position/orientation to be transferred to the second place. The robot hand may be a servo hand having fingers driven by one or more servomotors so that position and force of the fingers in holding the object is controlled.
公开/授权文献
- US20040037689A1 Object handling apparatus 公开/授权日:2004-02-26