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公开(公告)号：EP3616856A1
公开(公告)日：2020-03-04
申请号：EP19159349.0
申请日：2019-02-26
发明人： Eto, Haruna , Ogawa, Akihito , Tokura, Seiji , Komoda, Kazuma , Jiang, Ping , Sugahara, Atsushi
摘要： According to one embodiment, a handling device of an embodiment includes a holding unit and a control unit. The holding unit can hold an object. When an outline of the holding unit protrudes from an outline of the object when viewed from a direction in which the object and the holding unit overlap, the control unit controls the holding unit to hold the object at a position of an end of the holding unit.
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公开(公告)号：EP3881979A1
公开(公告)日：2021-09-22
申请号：EP20193085.6
申请日：2020-08-27
发明人： Eto, Haruna , Tokura, Seiji , Komoda, Kazuma , Jiang, Ping , Ogawa, Akihito
IPC分类号： B25J9/16
摘要： A handling device (10), e.g. a robot comprising a holding part (200) that includes two or more supporting parts (201) , e.g. a gripper holding an object (O), wherein a safety factor is calculated , indicating safety of a state of the holding part (200) holding the object (O), in particular how safe the object (O) is held, e.g. small contact area and/or grip friction, and wherein the object (O) is held and moved according to the calculated safety factor, e.g. in high or low speed motion.
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公开(公告)号：EP3792013A1
公开(公告)日：2021-03-17
申请号：EP20159793.7
申请日：2020-02-27
发明人： Komoda, Kazuma , Tokura, Seiji , Eto, Haruna , Jiang, Ping , Sugahara, Atsushi , Ogawa, Akihito
摘要： A handling device according to an embodiment has an arm, a holder, a storage, and a controller. The arm includes at least one joint. The holder is attached to the arm and is configured to hold an object. The storage stores a function map including at least one of information about holdable positions of the holder and information about possible postures of the holder. The detector is configured to detect information about the object. The controller is configured to generate holdable candidate points on the basis of the information detected by the detector, to search the function map for a position in an environment in which the object is present, the position being associated with the generated holdable candidate points, and to determine a holding posture of the holder on the basis of the searched position. The function map associates a manipulability with each position in the environment in which the object is present. The manipulability is a parameter calculated from at least one joint angle of the holder.
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公开(公告)号：EP3970923A1
公开(公告)日：2022-03-23
申请号：EP21160433.5
申请日：2021-03-03
发明人： Jiang, Ping , Ishihara, Yoshiyuki , Ogawa, Akihito , Sugahara, Atsushi , Tokura, Seiji , Eto, Haruna , Komoda, Kazuma
IPC分类号： B25J9/16
摘要： A handling device (100) according to an arrangement includes a manipulator (1, 2), a normal grid generation unit (322), a hand kernel generation unit (323), a calculation unit (324), and a control unit (33). The normal grid generation unit (322) converts a depth image into a point cloud, generates spatial data including an object to be grasped that is divided into a plurality of grids from the point cloud, and calculates a normal vector of the point cloud included in the grid using spherical coordinates. The hand kernel generation unit (323) generates a hand kernel of each suction pad. The calculation unit (324) calculates ease of grasping the object to be grasped by a plurality of suction pads (6, 6a, 6b) based on a 3D convolution calculation using a grid including the spatial data and the hand kernel. The control unit (33) controls a grasping operation of the manipulator (1, 2) based on the ease of grasping the object to be grasped by the plurality of suction pads (6, 6a, 6b).
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公开(公告)号：EP3785865A1
公开(公告)日：2021-03-03
申请号：EP20159507.1
申请日：2020-02-26
发明人： Eto, Haruna , Tokura, Seiji , Komoda, Kazuma , Jiang, Ping , Ogawa, Akihito
摘要： A handling device according to an arrangement has a holder, a calculator, and a controller. The holder is capable of holding an object. The calculator calculates an estimated holding safety factor when the holder holds an object. The controller causes the holder to hold the object on the basis of the estimated holding safety factor calculated by the calculator.
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公开(公告)号：EP3617936A1
公开(公告)日：2020-03-04
申请号：EP19159684.0
申请日：2019-02-27
发明人： Komoda, Kazuma , Ogawa, Akihito , Tokura, Seiji , Eto, Haruna , Jiang, Ping , Sugahara, Atsushi
摘要： According to an arrangement, a handling device includes a holder and a controller. The holder includes a plurality of attachment portions and is capable of holding an object. In a case where a surface of the object has a first curvature in a first direction and has a second curvature larger than the first curvature in a second direction different from the first direction, the controller determines a holding posture of the holder so as to line up at least two attachment portions included in the plurality of attachment portions in a predetermined direction that is any one of the first direction and the second direction.
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公开(公告)号：EP3881978A1
公开(公告)日：2021-09-22
申请号：EP20193084.9
申请日：2020-08-27
发明人： Komoda, Kazuma , Tokura, Seiji , Eto, Haruna , Jiang, Ping , Sugahara, Atsushi , Ogawa, Akihito
IPC分类号： B25J9/16
摘要： A handling apparatus has an arm having a joint; a holding portion attached to the arm and configured to hold an object; a sensor configured to detect a plurality of the objects; and a control apparatus configured to control the arm and the holding portion, wherein the control apparatus is configured to calculate an ease of holding the object by the holding portion as a score based on information acquired by the sensor with respect to each object and each holding method, select the object to hold and the holding method according to the score, and calculate a position for holding the selected object and an orientation of the arm.
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公开(公告)号：EP3834999A1
公开(公告)日：2021-06-16
申请号：EP20193078.1
申请日：2020-08-27
发明人： Nakamoto, Hideichi , Ogawa, Akihito , Ooga, Junichiro , Ogawa, Hideki , Eto, Haruna , Higo, Ryosuke
IPC分类号： B25J9/16 , G05B19/409
摘要： A work support device (10) for assisting handling of an object (T) by a worker (M), comprising:
an arm unit (30) including a grasping part (32) with a handle (48), a plurality of joint parts (34), a plurality of link parts (36), a brake unit (41), and a plurality of drive units (40);
and a control unit (20) including a state determination unit (50G) configured to determine a state of the arm unit (30), and a brake control unit (50H) configured to control the brake unit (41) to restrict the actuation of the arm unit (30), wherein the control unit (20) is configured to control actuation of the arm unit (30).
The worker (M) is intuitively assisted in moving the arm unit (30) and safely performs work, wherein the movement of the arm unit (30) is restricted in accordance with the state of the arm unit (30), e.g. if the joint parts (34) have reached a target angle. Furthermore, obstacles may be sensed as well and collision may be avoided.-
公开(公告)号：EP3792714A1
公开(公告)日：2021-03-17
申请号：EP20159504.8
申请日：2020-02-26
IPC分类号： G05B19/409 , B25J9/16 , B23Q17/24
摘要： According to an arrangement, a work support device 10 includes a measurement unit 23 and an irradiation control unit 32F. The measurement unit 23 measures an in-passage structure of a passage inside of which a user can work. The irradiation control unit 32F controls an irradiation unit 24 to emit light indicative of a work region to a corrected work position obtained by correcting work position information set based on a predetermined designed in-passage structure indicative of an ideal structure in the passage by using a result of the measurement by the measurement unit 23.
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