公开(公告)号：EP3290165A3

公开(公告)日：2018-04-04

申请号：EP17188748.2

申请日：2017-08-31

申请人： Seiko Epson Corporation

发明人： Aiso, Seiji ,  Setsuda, Nobuyuki ,  Tsukamoto, Kentaro

IPC分类号： B25J9/16

CPC分类号： B25J15/02 ,  B25J9/1697 ,  G05B19/41845 ,  G05B2219/31264 ,  G05B2219/39163 ,  G05B2219/40004 ,  G05B2219/45063 ,  G06F9/00 ,  G06F11/00 ,  Y02P90/265

摘要： On the basis of received first region information indicating a first region, which is a region designated for an acquired picked-up image of a plurality of target objects (P1-P7), and second region information indicating a second region different from the first region, a robot control device (30) causes a robot to grip the target object (P) for which the second region not overlapping the first region of another of the target objects (P1-P7) is designated and/or for which the first region not overlapping the first region designated for the other target object is designated.

公开(公告)号：EP3290164A2

公开(公告)日：2018-03-07

申请号：EP17188306.9

申请日：2017-08-29

申请人： Seiko Epson Corporation

发明人： Tsukamoto, Kentaro ,  Setsuda, Nobuyuki

IPC分类号： B25J9/16

CPC分类号： B25J9/1697 ,  B25J9/1687 ,  B25J13/08 ,  B25J19/04 ,  G05B2219/40004 ,  G05B2219/45063

摘要： A robot (20) includes an arm. A predetermined region in an image pickup region (21) where an image pickup section (21) provided in the arm is capable of picking up an image coincides with, among image regions of a picked-up image picked up by the image pickup section (21) when the arm is moved to a position for picking up an image of each of a plurality of target objects (O), the image region including the target object or a region smaller than the image region. The robot (20) detects information concerning the target object on the basis of the picked-up image of the target object picked up by the image pickup section (21) in the position and grips the target object on the basis of the detected information.

公开(公告)号：EP3221078A1

公开(公告)日：2017-09-27

申请号：EP15802295.4

申请日：2015-11-17

申请人： Apex Brands, Inc.

发明人： ROLA, Martin Douglas ,  WANG, Yen-Chien

IPC分类号： B23B39/28 ,  B23B35/00

CPC分类号： B23B35/00 ,  B23B39/14 ,  B23B39/16 ,  B23B39/28 ,  B23B2215/04 ,  B25J9/1687 ,  B25J11/005 ,  G05B19/402 ,  G05B2219/40284 ,  G05B2219/45059 ,  G05B2219/45063 ,  Y10S901/01 ,  Y10S901/14 ,  Y10S901/41 ,  Y10T408/03 ,  Y10T408/368 ,  Y10T408/3806

摘要： Systems and methods for robotic positioning of multiple tools. The system may include one or more robotic devices, multiple tools, and one or more controllers. The one or more robotic devices are each configured to connect to the tools, move the tools to a desired work position, and release the tools at the work position. The tools are able to operate mechanically independently from the robotic devices to perform an operation at the position to which they are delivered. After releasing the tools the robotic devices are able to perform other operations including moving additional tools to different work positions. The one or more controllers oversee the operation of the one or more robotic devices and tools and control the overall operation on a work piece.

摘要翻译： 用于机器人定位多个工具的系统和方法（30）。 该系统可以包括一个或多个机器人设备（20），多个工具（30）以及一个或多个控制器（40,50）。 所述一个或多个机器人装置（20）各自被配置成连接到所述工具（30），将所述工具（30）移动到期望的工作位置，并且在所述工作位置处释放所述工具（30）。 工具（30）能够独立于机器人装置（20）机械地操作以在它们被递送的位置处执行操作。 在释放工具（30）之后，机器人设备（20）能够执行其他操作，包括将附加工具（30）移动到不同的工作位置。 一个或多个控制器（40,50）监督一个或多个机器人装置（20）和工具（30）的操作并控制工件上的整体操作。

公开(公告)号：EP3081900A1

公开(公告)日：2016-10-19

申请号：EP16163811.9

申请日：2016-04-05

申请人： Canon Kabushiki Kaisha

发明人： KITAMURA, Tsuyoshi ,  TOKIMITSU, Takumi

IPC分类号： G01B11/25 ,  G06T7/00 ,  G06T1/00 ,  G06K9/20

CPC分类号： G06T7/0057 ,  B25J9/1687 ,  B25J19/021 ,  G01B11/24 ,  G01B11/2513 ,  G05B2219/45063 ,  G06K9/2036 ,  G06K2209/401 ,  G06T1/0014 ,  G06T7/521

摘要： A measurement device (1) measuring a shape of an object (5), including a processing unit (4) obtaining information on the shape of the object based on an image obtained by imaging the object on which a pattern light including a plurality of lines in which a distinguishing portion that distinguishes the lines from each other has been provided. In the measurement device the processing unit acquires, in a luminosity distribution of the image, in a direction intersecting the lines, positions including positions in which luminance is the largest and is the smallest, and the processing unit specifies a position to be excluded from the positions in which the luminance is the largest and is the smallest on a basis of the position of the distinguishing portion and obtains the information on the shape of the object based on positions except for the specified position.

摘要翻译： 的测量装置（1）测量物体（5）包括：（4）基于通过成像对象而获得的图像上获得的物体的形状信息的处理部的形状在其上的图案的光包括条线的多个 其中A特征部分没有区别，已经提供彼此的行。 在该测量装置中的处理单元获取，在图像的亮度分布，在一个方向交叉的线，职位，包括位置在哪个亮度是大最大和是最小的，并且所述处理单元指定的位置处从所述排除 其位置在亮度为大最大和最小区别部分的位置的基础上，获得关于基于除的指定位置的位置的物体的形状的信息。

公开(公告)号：EP2497611A3

公开(公告)日：2014-03-19

申请号：EP11188796.4

申请日：2011-11-11

申请人： Omron Corporation

发明人： Ikeda, Yasuyuki ,  Nakashita, Naoya

IPC分类号： B25J9/16

CPC分类号： B25J9/1697 ,  B25J9/1692 ,  G05B2219/40014 ,  G05B2219/40022 ,  G05B2219/40554 ,  G05B2219/40607 ,  G05B2219/45063

摘要： The present invention provides an image processing apparatus and an image processing system with which processing such as conveyor tracking can be easily implemented even in a production line in which a general-purpose robot is disposed, and a guidance apparatus therefor. The image processing apparatus includes: a management means for managing position information of a workpiece on the conveying apparatus; an obtaining means for performing measurement processing on an image obtained by image capturing with an image capturing unit and thereby obtaining position information of a region corresponding to a pre-registered workpiece in the image; an update means for updating the position information of the workpiece managed by the management means to values corresponding to a timing when the image capturing unit performed image capturing; an identifying means for identifying a workpiece newly conveyed into the image capturing range of the image capturing unit by comparing the position information that has been updated by the update means and the position information of the workpiece obtained by the measurement processing; and a transmitting means for transmitting position information of the workpiece identified by the identifying means to the control apparatus.

公开(公告)号：EP2396495A4

公开(公告)日：2013-11-27

申请号：EP10741596

申请日：2010-02-08

申请人： BAKER HUGHES INC

发明人： LUCE DAVID KEITH ,  WIRTH SEAN W ,  MASSEY ALAN J ,  PARROTT CRYSTAL A

IPC分类号： E21B10/56 ,  B25J9/16

CPC分类号： E21B10/00 ,  B21B23/00 ,  B23K31/025 ,  B25J9/1687 ,  B25J9/1697 ,  B25J11/00 ,  B25J11/005 ,  E21B10/02 ,  E21B10/08 ,  E21B10/26 ,  E21B10/42 ,  E21B10/43 ,  E21B10/62 ,  G05B2219/2616 ,  G05B2219/39387 ,  G05B2219/39393 ,  G05B2219/40032 ,  G05B2219/45063 ,  Y10S901/42 ,  Y10T29/49826 ,  Y10T29/49993 ,  Y10T156/10

摘要： Methods include one or more of robotically positioning a cutting element on an earth-boring tool, using a power-driven device to move a cutting element on an earth-boring tool, and robotically applying a bonding material for attaching a cutting element to an earth-boring tool. Robotic systems are used to robotically position a cutting element on an earth-boring tool. Systems for orienting a cutting element relative to a tool body include a power-driven device for moving a cutting element on or adjacent the tool body. Systems for positioning and orienting a cutting element on an earth-boring tool include such a power-driven device and a robot for carrying a cutting element. Systems for attaching a cutting element to an earth-boring tool include a robot carrying a torch for heating at least one of a cutting element, a tool body, and a bonding material.

摘要翻译： 方法包括一个或多个的上机器人定位的切割元件至钻地工具，使用动力驱动装置上，以钻地工具移动的切割元件，和机器人应用的接合材料用于切割元件附接至地球上 -boring工具。 机器人系统用于机器人的切削元件上，以钻地工具进行定位。 用于定向的切削元件相对于工具体系统包括用于上或邻近所述工具主体移动切削元件的动力驱动装置。 用于定位和定向到钻地工具上的切削元件的系统包括寻求一种动力驱动装置以及用于承载的切割元件的机器人。 系统在钻地工具的切割元件附接至包括机器人携带用于加热的切割元件，一个工具主体中的至少一个火炬，和接合材料。

公开(公告)号：EP2497611A2

公开(公告)日：2012-09-12

申请号：EP11188796.4

申请日：2011-11-11

申请人： Omron Corporation

发明人： Ikeda, Yasuyuki ,  Nakashita, Naoya

IPC分类号： B25J9/16

CPC分类号： B25J9/1697 ,  B25J9/1692 ,  G05B2219/40014 ,  G05B2219/40022 ,  G05B2219/40554 ,  G05B2219/40607 ,  G05B2219/45063

摘要： The present invention provides an image processing apparatus and an image processing system with which processing such as conveyor tracking can be easily implemented even in a production line in which a general-purpose robot is disposed, and a guidance apparatus therefor. The image processing apparatus includes: a management means for managing position information of a workpiece on the conveying apparatus; an obtaining means for performing measurement processing on an image obtained by image capturing with an image capturing unit and thereby obtaining position information of a region corresponding to a pre-registered workpiece in the image; an update means for updating the position information of the workpiece managed by the management means to values corresponding to a timing when the image capturing unit performed image capturing; an identifying means for identifying a workpiece newly conveyed into the image capturing range of the image capturing unit by comparing the position information that has been updated by the update means and the position information of the workpiece obtained by the measurement processing; and a transmitting means for transmitting position information of the workpiece identified by the identifying means to the control apparatus.

摘要翻译： 本发明提供一种图像处理装置和图像处理系统，即使在其中设置通用机器人的生产线中也可以容易地实现诸如输送机跟踪的处理及其引导装置。 图像处理装置包括：管理装置，用于管理输送装置上的工件的位置信息; 一种获取装置，用于对通过图像捕获单元进行图像捕获获得的图像执行测量处理，从而获得与图像中预先登记的工件相对应的区域的位置信息; 更新装置，用于将由管理装置管理的工件的位置信息更新为与图像捕获单元执行图像捕获的定时相对应的值; 识别装置，用于通过比较由更新装置更新的位置信息和通过测量处理获得的工件的位置信息来识别新传送到图像捕获单元的图像捕获范围中的工件; 以及发送装置，用于将由识别装置识别的工件的位置信息发送到控制装置。

公开(公告)号：EP1849417A2

公开(公告)日：2007-10-31

申请号：EP07075648.1

申请日：1998-04-29

申请人： ETHICON, INC.

发明人： Esteves, Anthony ,  Blanch, John F. ,  Daniele, Robert A. ,  Demarest, David D. ,  Shaw, Teresa

IPC分类号： A61B17/06

CPC分类号： B25J9/1697 ,  A61B17/06004 ,  A61B17/06133 ,  A61B2017/00526 ,  B21G1/08 ,  G05B19/4182 ,  G05B2219/37555 ,  G05B2219/45063

摘要： A semi-automated machine for singulating individual surgical needles from an bulk supply and attaching a suture to the surgical needle is described. Each of the surgical needles has a suture receiving opening formed therein for receiving a suture. The machine includes a singulation station having a sliding surface that assists an operator in singulating needles and depositing them in a pair of drop locations for subsequent automatic handling. Indexing conveyors, an articulated robot and a precision conveyor are used with a precise positioning station for orienting each needle for automatic handling. A universal gripper mounted on a rotary indexing device automatically receives each individual needle in a predetermined orientation and conveys the needle for sequential processing from station to station to form the needle-suture assembly. A suture feeding and cutting station automatically cuts an indefinite length of suture material to a definite length suture strand and automatically inserts an end of the definite length suture strand into the suture receiving opening formed in the needle. A swage station is provided for swaging the needle to close the suture receiving opening about the suture to secure said suture thereto and form therefrom a needle and suture assembly. A suture pull-test station test each needle suture bond, and selectively and destructively tests the bond for adjusting the swage dies and for statistical quality control. A final off-load station provides an apparatus for assembling a predetermined number of need-suture assemblies in a bundle for subsequent packaging.

摘要翻译： 描述了一种半自动化机器，用于从大量供应单独分离外科手术针并将缝合线附接到外科手术针。 每个外科用针具有形成在其中的用于接收缝线的缝合线接收孔。 该机器包括一个具有滑动表面的分割台，该滑动表面帮助操作者分离针头并将它们放置在一对下落位置中，用于随后的自动处理。 分度输送机，铰接机器人和精密输送机与精确的定位站一起使用，用于定向每个针头进行自动处理。 安装在旋转分度装置上的通用夹具自动地以预定的方向接收每个单独的针，并且传送针用于从站到站的顺序处理以形成针缝合组件。 缝合线进给和切割台自动地将不定长度的缝合材料切割成一定长度的缝合线，并且将一定长度的缝合线自动插入形成在针中的缝合线接收开口中。 提供了一个挤压工位，用于模锻针以围绕缝合线封闭缝合线接收开口以将所述缝合线固定到其上并由其形成针和缝合线组件。 缝合线拉力试验台测试每根针缝合线，并选择性地和破坏性地测试粘合剂，以调整模具和统计质量控制。 最终的卸载站提供了用于组装预定数量的用于随后包装的束中的需要缝合组件的装置。

公开(公告)号：EP0875207B1

公开(公告)日：2007-10-10

申请号：EP98303353.1

申请日：1998-04-29

申请人： ETHICON, INC.

发明人： Esteves, Anthony ,  Blanch, John F. ,  Daniele, Robert A. ,  Demarest, David D. ,  Shaw, Teresa

IPC分类号： A61B17/06

CPC分类号： B25J9/1697 ,  A61B17/06004 ,  A61B17/06133 ,  A61B2017/00526 ,  B21G1/08 ,  G05B19/4182 ,  G05B2219/37555 ,  G05B2219/45063

公开(公告)号：EP1014241A1

公开(公告)日：2000-06-28

申请号：EP99125537.3

申请日：1999-12-21

申请人： YAMAZAKI MAZAK KABUSHIKI KAISHA

发明人： Yamaoka, Yoshihisa ,  Suzumura, Katsumi

IPC分类号： G05B19/418

CPC分类号： G05B19/41815 ,  G05B2219/39558 ,  G05B2219/40078 ,  G05B2219/45047 ,  G05B2219/45063 ,  Y02P90/08

摘要： A parts classification unit 15 displays parts 70 and a palletizing robot 20 so as to compute the absorbing position of the palletizing robot 20 with respect to the parts 70 displayed as part · robot information BRJ by the instruction of an operator. The moving · positioning instruction FRn of the robot 20 between the classification head 5 and the pallet 10 is composed on the basis of the parts · robot information BRJ, sheet nesting information SNJ showing location state of the parts in the classification head and pallet nesting information PNJ showing location state of the parts on the pallet 10. By this structure, the time of machining and classification is made shortened without teaching.