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公开(公告)号：US09713870B2
公开(公告)日：2017-07-25
申请号：US14716158
申请日：2015-05-19
CPC分类号： B25J9/1697 , B25J9/1687 , G05B2219/40003 , G05B2219/40033 , G06K9/0063 , G06T1/0014 , G06T2207/10016 , G06T2207/10028 , Y10S901/09
摘要： A method for locating a first vehicle component relative to a second vehicle component includes the following steps: (a) moving the robotic arm to a first position such that a form feature of the first vehicle component is within a field of view of a camera; (b) capturing an image the form feature of the first vehicle component; (c) moving the robotic arm to a second position such that the form feature of the second vehicle component is within the field of view of the camera; (d) capturing an image of the form feature of the second vehicle component; (e) picking up the second vehicle component using the robotic arm; and (f) moving the robotic arm along with the second vehicle component toward the first vehicle component.
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32.发明申请PART HOLDING ASSEMBLY, AN ASSEMBLY SYSTEM AND A METHOD OF LOCATING AND SECURING A PART 审中-公开部件保持组件，组装系统和定位和安全部件的方法公开(公告)号：US20170050323A1
公开(公告)日：2017-02-23
申请号：US14830309
申请日：2015-08-19
CPC分类号： B62D65/022 , B25J15/0047 , B25J15/0061 , B25J15/009
摘要： An assembly system and a part holding assembly are configured to locate and secure a part defining holes. The part holding assembly further includes a first clamping device movable along a first track for positioning the first clamping device relative to the part. The first clamping device is configured to engage the part to secure the part to the first clamping device. The part holding assembly also includes a first pin device movable along a second track for positioning the first pin device relative to the location of one of the holes of the part. The first pin is configured to be disposed through the one of the holes of the part when in a closed position for locating the part. The first pin is configured to expand in the one of the holes when in an open position for securing the part to the first pin device.
摘要翻译： 组装系统和部件保持组件被构造成定位和固定限定孔的部件。 部件保持组件还包括可沿着第一轨道移动的第一夹紧装置，用于相对于部件定位第一夹紧装置。 第一夹紧装置构造成接合零件以将部件固定到第一夹紧装置。 部件保持组件还包括可沿着第二轨道移动的第一销装置，用于相对于部件的一个孔的位置定位第一销装置。 当处于关闭位置时，第一销被配置成穿过部件的一个孔布置，用于定位零件。 第一销被构造成在处于打开位置时在一个孔中扩张，以将部件固定到第一销装置。
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公开(公告)号：US20170050279A1
公开(公告)日：2017-02-23
申请号：US14830296
申请日：2015-08-19
IPC分类号： B23Q1/72 , B23Q1/52 , F16D55/225
CPC分类号： F16D55/225 , B23Q1/48 , B23Q3/18 , B23Q16/105
摘要： A tooling pivot is configured to pivot and to hold a tool in a plurality of operating positions. The tooling pivot includes a bracket, a tooling plate, a motor, a brake, and a controller. The tooling plate is connected to the bracket, connectable to the tool, and rotatable. The motor is connected to the bracket and to the tooling plate and is configured to rotate the tooling plate to an operating position. The brake is connected to the bracket and is configured to hold the tooling plate in the operating position. The controller is connected to the motor and to the brake and is configured to control the motion and position of the tooling plate and to control the holding of the tooling plate. The brake is configured to release the tooling plate when the motor rotates the tooling plate to the operating position.
摘要翻译： 工具枢轴构造成枢转并将工具保持在多个操作位置。 工具枢轴包括支架，工具板，马达，制动器和控制器。 工具板连接到支架，可连接到工具，并可旋转。 电动机连接到支架和工具板，并被配置为将工具板旋转到操作位置。 制动器连接到支架，并被配置为将工具夹持在操作位置。 控制器连接到电动机和制动器，并且被配置为控制工具板的运动和位置并且控制工具板的保持。 制动器被配置为当电动机将工具盘旋转到操作位置时释放工具板。
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公开(公告)号：US20170050277A1
公开(公告)日：2017-02-23
申请号：US14830314
申请日：2015-08-19
发明人： Jianying Shi , Scott A. McLeod
CPC分类号： B25J9/1687 , B23K9/16 , B23K9/32 , B23K37/02 , B23K37/0443 , B23K2101/006 , B23K2101/18 , B23P21/00 , B23P2700/01 , B23P2700/50 , B25J9/0084 , B25J9/1682 , B25J15/0061 , B62D65/026 , B62D65/18 , G05B2219/39129 , G05B2219/40032 , Y10T29/49829
摘要： A method of assembling a component includes gripping a first subcomponent with a first end-of-arm tool and grasping a second subcomponent with a second end-of-arm tool. The first tool is attached to a first robot arm and the first subcomponent defines a first plurality of locating holes. The second tool is attached to a second robot arm and the second subcomponent defines a second plurality of locating holes. After grasping, the method includes aligning at least one of the first locating holes adjacent to at least one of the second locating holes to set an initial position of the second subcomponent with respect to the first subcomponent without releasing the first and second subcomponents. After aligning, the method includes forming a joint between the first and second subcomponents with a joining tool attached to a joining robot arm to thereby assemble the component. A component assembly system is also disclosed.
摘要翻译： 一种组件的组装方法包括用第一端臂工具夹住第一副构件并用第二端臂工具抓住第二副构件。 第一工具附接到第一机器人臂，并且第一子部件限定第一多个定位孔。 第二工具附接到第二机器人臂，而第二子部件限定第二多个定位孔。 在抓取之后，该方法包括使与第二定位孔中的至少一个相邻的第一定位孔中的至少一个对准，以相对于第一副部件设置第二子部件的初始位置，而不释放第一和第二子部件。 在对准之后，该方法包括在连接机器人手臂上的接合工具之间形成第一和第二子部件之间的接头，从而组装该部件。 还公开了一种部件组装系统。
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35.发明授权Planning a grasp, for use by a robotic grasper to pick up a complex object, based on object, grasper, and grasper approach data 有权根据物体，抓取器和抓取方法数据，规划抓握机器人抓取器使用来拾取复杂对象公开(公告)号：US09399291B2
公开(公告)日：2016-07-26
申请号：US14099062
申请日：2013-12-06
CPC分类号： B25J9/1612 , G05B2219/39466 , G05B2219/39486 , G05B2219/39505 , Y10S901/31
摘要： A system, for planning a grasp for implementation by a grasping device having multiple grasping members, including a processor and a computer-readable storage device having stored thereon computer-executable instructions that, when executed by the processor, cause the processor to perform multiple operations. The operations include generating, for each of the multiple grasping members, multiple planar polygon representations of a three-dimensional object model. The operations also include transforming a planar polygon, of the multiple polygons generated, to a frame of a link of multiple links of a subject member of the multiple grasping members, forming a transformed polygon, being a cross-section of the object model taken along a member-curling plane of the subject member. The operations further include sweeping, in iterations associated respectively with each link of the subject member, the link from a fully-open position for the link to a point at which the link contacts the transformed planar polygon.
摘要翻译： 一种系统，用于通过具有多个抓握构件的抓握装置规划抓握，包括处理器和计算机可读存储装置，其中存储有计算机可执行指令，所述指令在由所述处理器执行时使所述处理器执行多个操作 。 这些操作包括为多个抓握构件中的每一个生成三维对象模型的多个平面多边形表示。 这些操作还包括将生成的多个多边形的平面多边形变换为多个抓握构件的主体构件的多个链节的链接的框架，形成变换多边形，作为沿着对象模型截取的横截面 主题成员的成员卷曲平面。 这些操作还包括在与对象构件的每个链接相关联的迭代中的扫描，从链接的完全打开位置到链接接触变换的平面多边形的点的链接。
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公开(公告)号：US20160056734A1
公开(公告)日：2016-02-25
申请号：US14746091
申请日：2015-06-22
发明人： John Patrick Spicer , Jianying Shi
IPC分类号： H02N13/00
CPC分类号： H02N13/00
摘要： A gripping device is described, and includes a holder including a base and a conformable jamming element having an electroadhesive element on a surface thereof and a controllable voltage source that is electrically connected to the electroadhesive element.
摘要翻译： 描述了夹持装置，并且包括保持器，其包括基部和在其表面上具有电粘附元件的适形阻塞元件和电连接到电粘合元件的可控电压源。
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37.发明申请LOW-IMPEDANCE ARTICULATED DEVICE AND METHOD FOR ASSISTING A MANUAL ASSEMBLY TASK 审中-公开低阻抗装置和用于辅助手动组装任务的方法公开(公告)号：US20160039093A1
公开(公告)日：2016-02-11
申请号：US14811072
申请日：2015-07-28
发明人： Muhammad E. Abdallah , Dalong Gao , Clement Gosselin , Jacques Hache , Pascal Labrecque , Jianying Shi
CPC分类号： B25J9/1687 , B25J5/04 , B25J9/0018 , B25J9/046 , B25J9/1065 , B25J9/1615 , Y10S901/09
摘要： A system for assisting an operator in a manual assembly task includes a base assembly, end-effector, and controller. The base assembly has joint actuators providing three or more degrees of freedom (DOF). The end-effector is in series with the base assembly and has additional joints providing one or more additional DOFs. The base assembly and end-effector support a task load, including a weight and/or a reaction torque of an object. Sensors measure joint positions. The controller receives the measured positions, controls the joint actuators to support the task load, and extends a range of motion of the object. A method includes receiving the position signals as the operator manipulates the object, generating an output signal using the measured positions, and transmitting the output signal to the joint actuators to control the joint actuators, support the task load, and extending a range of motion of the object.
摘要翻译： 用于辅助操作者进行手动组装任务的系统包括基座组件，端部执行器和控制器。 基座组件具有提供三个或更多自由度（DOF）的连接致动器。 末端执行器与基座组件串联并且具有提供一个或多个附加自由度的附加关节。 基座组件和末端执行器支持任务负载，包括物体的重量和/或反作用力矩。 传感器测量关节位置。 控制器接收测量位置，控制关节致动器以支持任务负载，并延伸对象的运动范围。 一种方法包括当操作者操纵物体时接收位置信号，使用测量位置产生输出信号，并将输出信号发送到关节致动器以控制关节致动器，支撑任务负载，并且延伸一定范围的运动 物体。
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公开(公告)号：US20150367514A1
公开(公告)日：2015-12-24
申请号：US14310567
申请日：2014-06-20
IPC分类号： B25J9/16
CPC分类号： B25J9/1669 , G05B2219/39536
摘要： A method of determining an optimal grasp pose of an object by an end-effector of a robot in the execution of a task includes receiving a set of inputs via a controller, including a descriptive parameter of the object, a task wrench having a frame of reference, and a commanded end-effector grasp force. The method includes calculating a grasp wrench in the frame of reference of the task wrench, rotating and shifting the grasp pose, and then computing a resultant new grasp wrench via the controller until the task wrench and the grasp wrench are optimally balanced. Additionally, the method includes recording the optimal grasp pose as the grasp pose at which the grasp and task wrenches are optimally balanced, and then executing a control action via the controller using the recorded optimal grasp pose. A robotic system includes the robot and a controller programmed to execute the method.
摘要翻译： 在执行任务时由机器人的末端执行器确定物体的最佳抓握姿态的方法包括经由控制器接收一组输入，包括对象的描述性参数，任务扳手具有框架 参考和命令的末端执行器抓紧力。 该方法包括在任务扳手的参考框架中计算把手扳手，旋转和移动抓握姿势，然后通过控制器计算一个新的抓握扳手，直到任务扳手和把手扳手达到最佳平衡。 此外，该方法包括记录最佳抓握姿势作为抓握和任务扳手最佳平衡的抓握姿势，然后通过使用记录的最佳抓握姿势的控制器执行控制动作。 机器人系统包括机器人和被编程为执行该方法的控制器。
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39.发明申请公开(公告)号：US20150343640A1
公开(公告)日：2015-12-03
申请号：US14716158
申请日：2015-05-19
CPC分类号： B25J9/1697 , B25J9/1687 , G05B2219/40003 , G05B2219/40033 , G06K9/0063 , G06T1/0014 , G06T2207/10016 , G06T2207/10028 , Y10S901/09
摘要： A method for locating a first vehicle component relative to a second vehicle component includes the following steps: (a) moving the robotic arm to a first position such that a form feature of the first vehicle component is within a field of view of a camera; (b) capturing an image the form feature of the first vehicle component; (c) moving the robotic arm to a second position such that the form feature of the second vehicle component is within the field of view of the camera; (d) capturing an image of the form feature of the second vehicle component; (e) picking up the second vehicle component using the robotic arm; and (f) moving the robotic arm along with the second vehicle component toward the first vehicle component.
摘要翻译： 一种用于相对于第二车辆部件定位第一车辆部件的方法包括以下步骤：（a）将机器人臂移动到第一位置，使得第一车辆部件的形状特征在照相机的视场内; （b）拍摄第一车辆部件的形状特征的图像; （c）将所述机器臂移动到第二位置，使得所述第二车辆部件的形状特征在所述相机的视场内; （d）拍摄第二车辆部件的形状特征的图像; （e）使用机器臂拾取第二车辆部件; 和（f）将机器手臂与第二车辆部件一起移向第一车辆部件。
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40.发明授权Planning a grasp approach, position, and pre-grasp pose for a robotic grasper based on object, grasper, and environmental constraint data 有权基于对象，抓取器和环境约束数据，为机器人抓取器规划抓握方法，位置和预先掌握姿势公开(公告)号：US09095978B2
公开(公告)日：2015-08-04
申请号：US14099095
申请日：2013-12-06
CPC分类号： B25J9/1669 , B25J9/0096 , B25J9/1612 , B25J9/1633 , B25J9/1664 , B25J15/0009 , G05B2219/36432 , G05B2219/39322 , G05B2219/39473 , G05B2219/39505 , G05B2219/39536 , G05B2219/39543 , G05B2219/39545
摘要： A system including a memory having instructions causing a processor to perform operations, for planning a grasping-device approach to an object by a grasping device, a pre-grasp device position, and a pre-grasp device pose. The operations comprise obtaining input data including grasping-device data, object data, and environmental-constraint data, determining, based on the grasping-device data, a grasp volume model, determining a test approach vector, and determining, using the vector, the constraint data, and the model, whether approach vector modification is needed. The operations also include modifying, if modification is needed, the test approach, yielding a resulting approach vector, and determining, if modification is not needed, that the test approach is the resulting approach vector. And the operations include determining a virtual floor indicating a position below which the grasping device cannot move, and determining, based on the resulting vector, virtual floor, model, and object data, the device approach, position, and pose.
摘要翻译： 一种包括具有使处理器执行操作的指令的存储器的系统，用于通过抓握装置规划对物体的抓握装置接近，预抓取装置位置和预抓取装置姿态。 操作包括获取包括抓握装置数据，对象数据和环境约束数据的输入数据，基于抓握装置数据确定抓握体积模型，确定测试方法矢量，以及使用矢量确定 约束数据和模型，是否需要进行向量修改。 操作还包括修改（如果需要修改）测试方法，产生结果方法向量，以及如果不需要修改，则确定测试方法是所得到的方法向量。 并且，所述操作包括确定指示所述抓握装置不能移动的位置的虚拟楼层，以及基于所得到的向量，虚拟楼层，模型和对象数据，设备方法，位置和姿态来确定。
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