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公开(公告)号：US09333654B2
公开(公告)日：2016-05-10
申请号：US12934850
申请日：2009-03-30
申请人： Heping Chen , George Zhang , Thomas A. Fuhlbrigge
发明人： Heping Chen , George Zhang , Thomas A. Fuhlbrigge
CPC分类号： B25J9/1697 , G05B2219/39387 , G05B2219/40554 , G05B2219/45021
摘要： An industrial robot is used to assemble a part to a predetermined location on a randomly moving workpiece. The workpiece may be an automobile on an assembly line and the part may be a wheel (a tire mounted on a rim) to be assembled on one of the wheel hubs of the automobile. The robot has mounted on it a camera, a force sensor and a gripper to grip the part. After the robot grips the part, signals from both the force sensor and vision are used by a computing device to move the robot to a position where the robot can assemble the part to the predetermined location on the workpiece. The computing device can be the robot controller or a separate device such as a PC that is connected to the controller.
摘要翻译： 使用工业机器人将部件组装到随机移动的工件上的预定位置。 工件可以是装配线上的汽车，并且该部件可以是要组装在汽车的一个轮毂上的车轮（安装在轮辋上的轮胎）。 机器人已经安装了相机，力传感器和夹持器来夹持部件。 在机器人抓握部件之后，计算装置使用来自力传感器和视觉的信号将机器人移动到机器人可以将部件组装到工件上的预定位置的位置。 计算设备可以是机器人控制器或连接到控制器的单独的设备，例如PC。
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公开(公告)号：US20110223000A1
公开(公告)日：2011-09-15
申请号：US13061342
申请日：2008-08-29
申请人： Carlos Martinez , Thomas A. Fuhlbrigge , William Eakins , Heping Chen , Gregory Rossano , Steven West
发明人： Carlos Martinez , Thomas A. Fuhlbrigge , William Eakins , Heping Chen , Gregory Rossano , Steven West
CPC分类号： B25J9/1687 , B23P19/007 , B25J13/085 , G05B2219/40035 , G05B2219/40053 , G05B2219/40537
摘要： A robot is used to pick parts from a bin. The robot has a compliant apparatus and one or more tools are connected to the apparatus to perform the picking. The compliant apparatus has mechanisms for monitoring and/or controlling its compliance. The compliant apparatus can have various embodiments. Force sensing can be used during removal of grasped parts from the bin to determine the force exerted on the picking tool(s). The signal indicative of the exerted force can be used by the robot controller to determine the weight of the parts that may be held by the picking tool(s). The robot has one or more devices which can be the picking tool to stir the parts in the bin.
摘要翻译： 机器人用于从垃圾桶中取出零件。 机器人具有柔性装置，并且一个或多个工具连接到该装置以执行拾取。 合规装置具有用于监视和/或控制其顺从性的机构。 兼容装置可以具有各种实施例。 在从仓中取出抓取的零件时可以使用力传感来确定施加在拾取工具上的力。 指示施加的力的信号可以由机器人控制器用于确定可由拾取工具保持的部件的重量。 机器人具有一个或多个装置，其可以是拾取工具来搅动箱中的部件。
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公开(公告)号：US09079308B2
公开(公告)日：2015-07-14
申请号：US13061342
申请日：2008-08-29
申请人： Carlos Martinez , Thomas A. Fuhlbrigge , William Eakins , Heping Chen , Gregory Rossano , Steven West
发明人： Carlos Martinez , Thomas A. Fuhlbrigge , William Eakins , Heping Chen , Gregory Rossano , Steven West
CPC分类号： B25J9/1687 , B23P19/007 , B25J13/085 , G05B2219/40035 , G05B2219/40053 , G05B2219/40537
摘要： A robot is used to pick parts from a bin. The robot has a compliant apparatus and one or more tools are connected to the apparatus to perform the picking. The compliant apparatus has mechanisms for monitoring and/or controlling its compliance. The compliant apparatus can have various embodiments. Force sensing can be used during removal of grasped parts from the bin to determine the force exerted on the picking tool(s). The signal indicative of the exerted force can be used by the robot controller to determine the weight of the parts that may be held by the picking tool(s). The robot has one or more devices which can be the picking tool to stir the parts in the bin.
摘要翻译： 机器人用于从垃圾桶中取出零件。 机器人具有柔性装置，并且一个或多个工具连接到该装置以执行拾取。 合规装置具有用于监视和/或控制其顺从性的机构。 兼容装置可以具有各种实施例。 在从仓中取出抓取的零件时可以使用力传感来确定施加在拾取工具上的力。 指示施加的力的信号可以由机器人控制器用于确定可由拾取工具保持的部件的重量。 机器人具有一个或多个装置，其可以是拾取工具来搅动箱中的部件。
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公开(公告)号：US08606398B2
公开(公告)日：2013-12-10
申请号：US13061245
申请日：2008-08-29
IPC分类号： G06F19/00
CPC分类号： B25J9/1694 , B25J9/1687 , B25J13/085 , B25J15/0019 , B25J15/0052 , B25J15/04 , B25J17/0208 , G05B2219/39574 , G05B2219/40035 , G05B2219/40053 , G05B2219/40537 , Y10T74/20329
摘要： A robot (12) is used to pick parts from a bin (40 in FIG. 1). The robot has a compliant apparatus (42) and one or more tools are connected to the apparatus to perform the picking. The compliant apparatus has mechanisms for monitoring and/or controlling its compliance. The compliant apparatus can have various embodiments. Force sensing can be used during removal of grasped parts from the bin to determine the force exerted on the picking tool (s). The signal indicative of the exerted force can be used by the robot controller to determine the weight of the parts that may be held by the picking tool(s). The robot has one or more devices (FIG. 16, 17) which can be the picking tool to stir the parts in the bin.
摘要翻译： 机器人（12）用于从箱（图1中的40）拾取零件。 机器人具有柔性装置（42），并且一个或多个工具连接到装置以执行拾取。 合规装置具有用于监视和/或控制其顺从性的机构。 兼容装置可以具有各种实施例。 在从仓中取出抓取的零件时可以使用力传感来确定施加在拾取工具上的力。 指示施加的力的信号可以由机器人控制器用于确定可由拾取工具保持的部件的重量。 机器人具有一个或多个装置（图16,17），其可以是拾取工具以搅拌箱中的部件。
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公开(公告)号：US20110211938A1
公开(公告)日：2011-09-01
申请号：US13061245
申请日：2008-08-29
CPC分类号： B25J9/1694 , B25J9/1687 , B25J13/085 , B25J15/0019 , B25J15/0052 , B25J15/04 , B25J17/0208 , G05B2219/39574 , G05B2219/40035 , G05B2219/40053 , G05B2219/40537 , Y10T74/20329
摘要： A robot (12) is used to pick parts from a bin (40 in FIG. 1). The robot has a compliant apparatus (42) and one or more tools are connected to the apparatus to perform the picking. The compliant apparatus has mechanisms for monitoring and/or controlling its compliance. The compliant apparatus can have various embodiments. Force sensing can be used during removal of grasped parts from the bin to determine the force exerted on the picking tool (s). The signal indicative of the exerted force can be used by the robot controller to determine the weight of the parts that may be held by the picking tool(s). The robot has one or more devices (FIG. 16, 17) which can be the picking tool to stir the parts in the bin.
摘要翻译： 机器人（12）用于从箱（图1中的40）拾取零件。 机器人具有柔性装置（42），并且一个或多个工具连接到装置以执行拾取。 合规装置具有用于监视和/或控制其顺从性的机构。 兼容装置可以具有各种实施例。 在从仓中取出抓取的零件时可以使用力传感来确定施加在拾取工具上的力。 指示施加的力的信号可以由机器人控制器用于确定可由拾取工具保持的部件的重量。 机器人具有一个或多个装置（图16,17），其可以是拾取工具以搅拌箱中的部件。
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公开(公告)号：US20110087360A1
公开(公告)日：2011-04-14
申请号：US12934850
申请日：2009-03-30
申请人： Heping Chen , George Zhang , Thomas A. Fuhlbrigge
发明人： Heping Chen , George Zhang , Thomas A. Fuhlbrigge
CPC分类号： B25J9/1697 , G05B2219/39387 , G05B2219/40554 , G05B2219/45021
摘要： An industrial robot is used to assemble a part to a predetermined location on a randomly moving workpiece. The workpiece may be an automobile on an assembly line and the part may be a wheel (a tire mounted on a rim) to be assembled on one of the wheel hubs of the automobile. The robot has mounted on it a camera, a force sensor and a gripper to grip the part. After the robot grips the part, signals from both the force sensor and vision are used by a computing device to move the robot to a position where the robot can assemble the part to the predetermined location on the workpiece. The computing device can be the robot controller or a separate device such as a PC that is connected to the controller.
摘要翻译： 使用工业机器人将部件组装到随机移动的工件上的预定位置。 工件可以是装配线上的汽车，并且该部件可以是要组装在汽车的一个轮毂上的车轮（安装在轮辋上的轮胎）。 机器人已经安装了相机，力传感器和夹持器来夹持部件。 在机器人抓握部件之后，计算装置使用来自力传感器和视觉的信号将机器人移动到机器人可以将部件组装到工件上的预定位置的位置。 计算设备可以是机器人控制器或连接到控制器的单独的设备，例如PC。
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公开(公告)号：US09126336B2
公开(公告)日：2015-09-08
申请号：US14067549
申请日：2013-10-30
CPC分类号： B25J9/1694 , B25J9/1687 , B25J13/085 , B25J15/0019 , B25J15/0052 , B25J15/04 , B25J17/0208 , G05B2219/39574 , G05B2219/40035 , G05B2219/40053 , G05B2219/40537 , Y10T74/20329
摘要： A robot is used to pick parts from a bin. The robot has a compliant apparatus and one or more tools are connected to the apparatus to perform the picking. The compliant apparatus has mechanisms for monitoring and/or controlling its compliance. The compliant apparatus can have various embodiments. Force sensing can be used during removal of grasped parts from the bin to determine the force exerted on the picking tool(s). The signal indicative of the exerted force can be used by the robot controller to determine the weight of the parts that may be held by the picking tool(s). The robot has one or more devices which can be the picking tool to stir the parts in the bin.
摘要翻译： 机器人用于从垃圾桶中取出零件。 机器人具有柔性装置，并且一个或多个工具连接到该装置以执行拾取。 合规装置具有用于监视和/或控制其顺从性的机构。 兼容装置可以具有各种实施例。 在从仓中取出抓取的零件时可以使用力传感来确定施加在拾取工具上的力。 指示施加的力的信号可以由机器人控制器用于确定可由拾取工具保持的部件的重量。 机器人具有一个或多个装置，其可以是拾取工具来搅动箱中的部件。
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公开(公告)号：US08862269B2
公开(公告)日：2014-10-14
申请号：US13061437
申请日：2008-08-29
申请人： Carlos Martinez , Thomas A. Fuhlbrigge , William Eakins , Heping Chen , Gregory Rossano , Steven West
发明人： Carlos Martinez , Thomas A. Fuhlbrigge , William Eakins , Heping Chen , Gregory Rossano , Steven West
CPC分类号： B25J9/1687 , B25J9/1697 , B25J13/08 , G05B2219/40035 , G05B2219/40053 , G05B2219/40537
摘要： A robot for picking one or more parts (41) randomly distributed in a bin (40), this robot comprising a moveable arm (16a, 16b), a computing device (14) connected to said robot for controlling motion of said moveable arm and a tool (24) connected to said moveable arm for picking one or more of said parts from said bin,—said robot using said picking tool by itself or another tool (96, 98) mounted on the robot or grasped by the picking tool to stir one or more of said one or more randomly distributed parts in said bin when said computing device determines that a predetermined event requiring stirring of said parts has occurred.
摘要翻译： 一种用于拾取随机分布在箱体（40）中的一个或多个部件（41）的机器人，该机器人包括可动臂（16a，16b），连接到所述机器人的计算装置（14），用于控制所述可动臂的运动， 连接到所述可移动臂的工具（24），用于从所述仓拾取一个或多个所述部件， - 使用所述拾取工具自身或由安装在所述机器人上或由所述拾取工具抓握的另一工具（96,98）来使用所述拾取工具 当所述计算装置确定发生需要搅拌所述部件的预定事件时，将所述一个或多个随机分布的部件中的一个或多个随机分布的部分搅拌。
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公开(公告)号：US20110223001A1
公开(公告)日：2011-09-15
申请号：US13061437
申请日：2008-08-29
申请人： Carlos Martinez , Thomas A. Fuhlbrigge , William Eakins , Heping Chen , Gregory Rossano , Steven West
发明人： Carlos Martinez , Thomas A. Fuhlbrigge , William Eakins , Heping Chen , Gregory Rossano , Steven West
CPC分类号： B25J9/1687 , B25J9/1697 , B25J13/08 , G05B2219/40035 , G05B2219/40053 , G05B2219/40537
摘要： A robot for picking one or more parts (41) randomly distributed in a bin (40), this robot comprising a moveable arm (16a, 16b), a computing device (14) connected to said robot for controlling motion of said moveable arm and a tool (24) connected to said moveable arm for picking one or more of said parts from said bin,—said robot using said picking tool by itself or another tool (96, 98) mounted on the robot or grasped by the picking tool to stir one or more of said one or more randomly distributed parts in said bin when said computing device determines that a predetermined event requiring stirring of said parts has occurred.
摘要翻译： 一种用于拾取随机分布在箱体（40）中的一个或多个部件（41）的机器人，该机器人包括可动臂（16a，16b），连接到所述机器人的计算装置（14），用于控制所述可动臂的运动， 连接到所述可移动臂的工具（24），用于从所述仓拾取一个或多个所述部件， - 使用所述拾取工具自身或由安装在所述机器人上或由所述拾取工具抓握的另一工具（96,98）来使用所述拾取工具 当所述计算装置确定发生需要搅拌所述部件的预定事件时，将所述一个或多个随机分布的部件中的一个或多个随机分布的部分搅拌。
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20.发明申请公开(公告)号：US20100312391A1
公开(公告)日：2010-12-09
申请号：US12479185
申请日：2009-06-05
IPC分类号： G06F19/00
CPC分类号： G05B19/423 , B25J9/1656 , B25J9/1692
摘要： A lead-through teaching device for an industrial robot is calibrated by moving the device to each of a predetermined number of reference poses. A controller responds to a signal from the device induced by gravity at each of the reference poses to calibrate the device to a predetermined coordinate frame. If necessary, a removable weight can be mounted to the device. The robot can hold either the tool that is to perform work on a workpiece or the workpiece. In those applications where the tool has a removable component, the lead-through teaching device can replace the removable component during its calibration to the predetermined coordinate frame.
摘要翻译： 通过将设备移动到预定数量的参考姿势中的每一个来校准用于工业机器人的直通式教学装置。 控制器响应于在每个参考姿态处由重力引起的装置的信号，以将装置校准到预定的坐标系。 如果需要，可以将可拆卸的重物安装到设备上。 机器人可以握住要在工件或工件上进行加工的刀具。 在工具具有可移动部件的那些应用中，直通式教导装置可以在校准期间将可拆卸部件替换为预定的坐标系。
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