公开(公告)号：US20060039768A1

公开(公告)日：2006-02-23

申请号：US11204225

申请日：2005-08-16

申请人： Kazunori Ban ,  Takashi Sato ,  Kokoro Hatanaka

发明人： Kazunori Ban ,  Takashi Sato ,  Kokoro Hatanaka

IPC分类号： B23C1/16

CPC分类号： G05B19/4163 ,  Y02P90/265 ,  Y10T409/30084 ,  Y10T409/301792 ,  Y10T409/303472 ,  Y10T409/304256

摘要： A surface of a workpiece, from which the burr is removed, is traced when a machining tool is pressed onto the surface of the workpiece under force control so as to find the positional data of the surface shape (S1). This positional data is corrected by an error caused by a bend of a robot (S2). The thus obtained positional data is compared with the target shape of the surface, from which the burr is removed, obtained from CAD data (S6, S10). A shift of the surface shape in the normal line direction is found (S7, S11). The burr generation start position, the burr generation end position and the height of the burr are found by the shift start position (S8), the shift end position and the shift size (S14). A machining program is made which is composed of a pass connecting the burr end position with the burr start position and also composed of a cutting pass for removing the burr, and the thus made machining program is executed (S16, S17). As the burr position is found and the burr is removed when the machining tool is moved to the burr position, the burr can be effectively removed. Due to the foregoing, it is possible to provide a finishing machine characterized in that useless burr removing actions can be reduced and, further, that the overcutting of a workpiece can be prevented.

摘要翻译： 当加工工具在力控制下被压在工件的表面上时，跟踪去除毛刺的工件的表面，以找到表面形状的位置数据（S 1）。 该位置数据由机器人的弯曲引起的误差进行校正（S 2）。 将如此获得的位置数据与从CAD数据获得的表面的目标形状（从其中除去毛刺）进行比较（S 6，S 10）。 发现在法线方向上的表面形状的偏移（S 7，S 11）。 通过换档开始位置（S 8），换档结束位置和换档尺寸（S14）找到毛刺生成开始位置，毛刺生成结束位置和毛刺高度。 进行加工程序，该加工程序由将毛刺末端位置与毛刺开始位置连接的通路构成，并且还包括用于去除毛刺的切割道，并且由此制造的加工程序被执行（S16，S17）。 当加工刀具移动到毛刺位置时，当发现毛刺位置并除去毛刺时，可以有效地去除毛刺。 由于上述原因，可以提供一种整理机，其特征在于可以减少无用的毛刺去除动作，另外可以防止工件的过度切割。

公开(公告)号：US20050075752A1

公开(公告)日：2005-04-07

申请号：US10959455

申请日：2004-10-07

申请人： Kazunori Ban ,  Takashi Jyumonji

发明人： Kazunori Ban ,  Takashi Jyumonji

IPC分类号： G01B11/00 ,  B25J13/00 ,  B25J13/08 ,  B65G47/90 ,  G01B21/00 ,  G05B19/418 ,  G06F7/00

CPC分类号： B25J9/1697 ,  G05B19/4182 ,  Y02P90/083

摘要： An image of a workpiece (10) conveyed by a feeding conveyor (3) is taken by a camera (7) of a visual sensor to detect a position of the workpiece. The moving amount of the feeding conveyor (3) is detected by a pulse coder (8). When a request for picking up a workpiece is issued to a plurality of robots (RB1, RB2), it is judged whether or not the robots can grip the workpiece positioned most downstream, based on current positions of the robots and a current position of the workpiece. The workpiece should be gripped before it reaches the downstream boundary line (TR1e, TR2e) in the tracking range of the robot. If the workpiece can be gripped, the robot picks up the workpiece. Based on the robot operating speed, the feeding speed of the feeding conveyor (3) is adjusted to reduce the waiting time of the plurality of robots (RB1, RB2) and to reduce the number of failures to hold the workpiece as far as possible.

摘要翻译： 由进给输送机（3）输送的工件（10）的图像由视觉传感器的照相机（7）拍摄，以检测工件的位置。 进料输送机（3）的移动量由脉冲编码器（8）检测。 当向多个机器人（RB1，RB2）发出拾取工件的请求时，根据机器人的当前位置和机器人的当前位置来判断机器人是否能抓住位于最下游的工件 工件。 在机器人的跟踪范围内到达下游边界线（TR1e，TR2e）之前，应抓住工件。 如果可以抓住工件，机器人将拾取工件。 基于机器人的操作速度，调整进给输送机（3）的进给速度以减少多个机器人（RB1，RB2）的等待时间，并尽可能减少保持工件的故障次数。

公开(公告)号：US08326460B2

公开(公告)日：2012-12-04

申请号：US13014769

申请日：2011-01-27

申请人： Kazunori Ban ,  Fumikazu Warashina ,  Makoto Yamada ,  Yuuta Namiki

发明人： Kazunori Ban ,  Fumikazu Warashina ,  Makoto Yamada ,  Yuuta Namiki

IPC分类号： G05B15/00 ,  G05B19/00

CPC分类号： B25J9/1697

摘要： A robot system calculates positional information of a workpiece with respect to a visual sensor and calculates positional information of an arm tip at a second time based on first times stored by a storing section and the second time at which the visual sensor measures the workpiece.

摘要翻译： 机器人系统基于视觉传感器计算工件的位置信息，并且基于存储部存储的第一次和视觉传感器测量工件的第二次来计算第二时间的臂尖的位置信息。

公开(公告)号：US07853359B2

公开(公告)日：2010-12-14

申请号：US12068113

申请日：2008-02-01

申请人： Kazunori Ban ,  Katsutoshi Takizawa ,  Gang Shen

发明人： Kazunori Ban ,  Katsutoshi Takizawa ,  Gang Shen

IPC分类号： G06F17/00 ,  G05B19/02

CPC分类号： B25J9/1692 ,  G01B11/002 ,  G01B21/042 ,  G05B2219/39045 ,  G05B2219/39393

摘要： A calibration device and method for automatically determining the position and the orientation of a robot used for measurement. First, an initial position of a preliminary position is generated based on a designated basic position, and it is judged whether the initial position is within an operation range of the robot. If the robot cannot reach the initial position, the preliminary position is adjusted close to the basic position. Otherwise, the preliminary position is evaluated by calculating an evaluation index of the preliminary position. When the evaluation index does not satisfy a predetermined condition, an initial value of an posture angle is increased.

摘要翻译： 一种用于自动确定用于测量的机器人的位置和方位的校准装置和方法。 首先，基于指定的基本位置生成预备位置的初始位置，并且判断初始位置是否在机器人的操作范围内。 如果机器人不能到达初始位置，则初步位置被调整为接近基本位置。 否则，通过计算初步位置的评价指标来评价初步位置。 当评价指标不满足预定条件时，姿势角的初始值增加。

公开(公告)号：US20060212171A1

公开(公告)日：2006-09-21

申请号：US11375440

申请日：2006-03-15

申请人： Kazunori Ban ,  Taro Arimatsu ,  Takashi Jumonji

发明人： Kazunori Ban ,  Taro Arimatsu ,  Takashi Jumonji

IPC分类号： G06F19/00

CPC分类号： G05B19/4207 ,  B25J9/1697

摘要： An off-line teaching device, for adjusting a vision sensor and carrying out set-up work off-line, which used to be done in the field, so as to reduce the operation time in the field. The off-line teaching device has a storing device for storing data including the shapes and the dimensions of a workpiece, a robot and a vision sensor, and a display for indicating images of the workpiece, the robot and the vision sensor. The teaching device also has a simulation program for generating the images of the workpiece, the robot and the vision sensor on the display and for calculating measurement data of the vision sensor based on the arrangement of the images on the display, and a sensor program for carrying out measurement on the display by the vision sensor based on the measurement data.

摘要翻译： 一种离线教学装置，用于调整视觉传感器并进行离线的设置，这在现场已经完成，以减少现场的操作时间。 离线示教装置具有用于存储包括工件，机器人和视觉传感器的形状和尺寸的数据的存储装置，以及用于指示工件，机器人和视觉传感器的图像的显示器。 教学装置还具有用于在显示器上生成工件，机器人和视觉传感器的图像的模拟程序，并且用于基于显示器上的图像的布置来计算视觉传感器的测量数据，以及传感器程序 基于测量数据，通过视觉传感器在显示器上进行测量。

公开(公告)号：US20060145494A1

公开(公告)日：2006-07-06

申请号：US11245012

申请日：2005-10-07

申请人： Ryo Nihei ,  Kazunori Ban ,  Takashi Sato ,  Toshinari Tamura ,  Kokoro Hatanaka

发明人： Ryo Nihei ,  Kazunori Ban ,  Takashi Sato ,  Toshinari Tamura ,  Kokoro Hatanaka

IPC分类号： B66C1/42

CPC分类号： B25J9/1612 ,  B25J13/082 ,  B25J15/08 ,  Y10S294/907

摘要： A gripping type hand including a plurality of finger mechanisms provided respectively with finger joints, actuators for driving the finger joints, and links supported by the finger joints and operating under driving force of the actuators. The gripping type hand includes an operation controlling section capable of respectively controlling the actuators of the plurality of finger mechanisms independently from each other; a position detecting section for respectively detecting operating positions of the finger joints of the plurality of finger mechanisms; and strain detecting sections provided respectively for the plurality of finger mechanisms and detecting strains generating in the links due to force applied to the finger mechanisms. The operation controlling section coordinately controls the actuators of the plurality of finger mechanisms to adjust gripping force generated by the plurality of finger mechanisms, based on the operating positions of the finger joints detected by the position detecting section and the strains of the links detected by the strain detecting sections.

摘要翻译： 夹持型手包括分别设置有手指接头的多个指状机构，用于驱动指关节的致动器，以及由手指接头支撑的链节，并且在致动器的驱动力下操作。 夹持型手包括能够彼此独立地分别控制多个手指机构的致动器的操作控制部; 位置检测部分，用于分别检测多个手指机构的手指关节的操作位置; 和应变检测部分分别设置用于多个手指机构，并且由于施加到手指机构的力而检测在链接中产生的应变。 操作控制部基于由位置检测部检测到的手指关节的操作位置和由所述多个手指机构检测到的链节的张力，协调地控制多个手指机构的致动器，以调整由多个手指机构产生的夹持力 应变检测部分。

公开(公告)号：US20050107920A1

公开(公告)日：2005-05-19

申请号：US10989432

申请日：2004-11-17

申请人： Kazunori Ban ,  Katsutoshi Takizawa

发明人： Kazunori Ban ,  Katsutoshi Takizawa

IPC分类号： B25J9/10 ,  B25J9/16 ,  B25J13/08 ,  G05B19/401 ,  G05B19/404 ,  G05B19/408 ,  G05B19/42 ,  G06F19/00

CPC分类号： G05B19/4083 ,  B25J9/1692 ,  G05B2219/36504 ,  G05B2219/37555 ,  G05B2219/39024 ,  G05B2219/39057

摘要： A teaching position correcting device which can easily correct, with high precision, teaching positions after shifting at least one of a robot and an object worked by the robot. Calibration is carried out using a vision sensor (i.e., CCD camera) that is mounted on a work tool. The vision sensor measures three-dimensional positions of at least three reference marks not aligned in a straight line on the object. The vision sensor is optionally detached from the work tool, and at least one of the robot and the object is shifted. After the shifting, calibration (this can be omitted when the vision sensor is not detached) and measuring of three-dimensional positions of the reference marks are carried out gain. A change in a relative positional relationship between the robot and the object is obtained using the result of measuring three-dimensional positions of the reference marks before and after the shifting respectively. To compensate for this change, the teaching position data that is valid before the shifting is corrected. The robot can have a measuring robot mechanical unit having a vision sensor, and a separate working robot mechanical unit that works the object. In this case, positions of the working robot mechanical unit before and after the shifting, respectively, are also measured.

摘要翻译： 一种教学位置校正装置，其能够在移动机器人和由机器人工作的对象中的至少一个之后以高精度的方式校正教学位置。 使用安装在工作工具上的视觉传感器（即，CCD照相机）进行校准。 视觉传感器测量至少三个参考标记的三维位置，该参考标记在物体上的直线上未排列。 视觉传感器可选地从工作工具分离，并且机器人和物体中的至少一个被移动。 移位后，校准（当视觉传感器未分离时可以省略），并且对参考标记的三维位置的测量进行增益。 使用分别测量前后的基准标记的三维位置的结果，获得机器人与物体之间的相对位置关系的变化。 为了补偿这种变化，校正在换档之前有效的教学位置数​​据。 机器人可以具有具有视觉传感器的测量机器人机械单元，以及工作该对象的单独的工作机器人机械单元。 在这种情况下，也分别测量移动前后的作业机器人机械单元的位置。

公开(公告)号：US20050065653A1

公开(公告)日：2005-03-24

申请号：US10930850

申请日：2004-09-01

申请人： Kazunori Ban ,  Katsutoshi Takizawa

发明人： Kazunori Ban ,  Katsutoshi Takizawa

IPC分类号： B25J13/08 ,  B25J9/10 ,  B25J9/16 ,  G06F19/00

CPC分类号： B25J9/1697 ,  G05B2219/36431 ,  G05B2219/40003

摘要： A robot automatically moving a distal end portion of a robot arm to an arbitrary target position, and method therefor. A camera mounted at the distal end portion of the robot arm captures an image of an object. A position R1 corresponding to the target Q is specified in the image. Assuming that the number of pixels between the position R1 and the center of an image screen is equal to N1, a distance W1 observed at a distance L0 at the time of calibration is determined as W1=C0·N1, where C0 is a transformation coefficient. The camera is moved by the distance W1 in an X axis direction toward the target Q. A position R2 corresponding to the target W is specified in the image. The number, N2, of pixels between the position R2 and the screen center is determined. A motion vector q is determined from C0, N1, N2 and L0. The camera is moved according to the motion vector q. The robot is positioned at a position where the camera center is opposed to the target Q at the distance L0. By specifying the target Q in the image, a motion to the specified target Q position is automatically realized.

摘要翻译： 机器人臂的远端部自动移动到任意目标位置的机器人及其方法。 安装在机器人臂的远端部分的相机捕获物体的图像。 在图像中指定与目标Q对应的位置R1。 假设位置R1和图像屏幕的中心之间的像素数量等于N1，则在校准时在距离L0观察到的距离W1被确定为W1 = C0.N1，其中C0是变换系数 。 相机在X轴方向上朝向目标Q移动距离W1。在图像中指定与目标W对应的位置R2。 确定位置R2和屏幕中心之间的像素数N2。 从C0，N1，N2和L0确定运动矢量q。 摄像机根据运动矢量q移动。 机器人位于相机中心与距离L0的目标Q相对的位置。 通过指定图像中的目标Q，自动实现到指定的目标Q位置的运动。

公开(公告)号：US06763284B2

公开(公告)日：2004-07-13

申请号：US10001991

申请日：2001-12-05

申请人： Atsushi Watanabe ,  Tetsuya Kosaka ,  Katsutoshi Takizawa ,  Fumikazu Warashina ,  Kazunori Ban ,  Makoto Yamada ,  Akihiro Terada ,  Mitsuhiro Okuda

发明人： Atsushi Watanabe ,  Tetsuya Kosaka ,  Katsutoshi Takizawa ,  Fumikazu Warashina ,  Kazunori Ban ,  Makoto Yamada ,  Akihiro Terada ,  Mitsuhiro Okuda

IPC分类号： G05B1900

CPC分类号： B25J9/1697 ,  G05B19/4202 ,  G05B2219/35506 ,  G05B2219/36415 ,  G05B2219/37288 ,  G05B2219/37571 ,  G05B2219/37572 ,  G05B2219/40005

摘要： An image of a reference object is captured using a camera and displayed. A measurement starting point is pointed by an image position pointing device. A corresponding view line is obtained using a position on the image and a position and a direction of the camera, a robot approaches to the reference object such that it does not deviate from a projecting direction to move to a position suitable for measurement. A light is projected on the reference object and measurement of an inclination of a face of the object in the vicinity of a measuring point is started. An image including a bright line image on the reference object is photographed and 3-dimensional positions of points sequentially measured along a working line. A movement path of a robot is created using these positions as teaching points for a working robot.

摘要翻译： 使用相机拍摄参考对象的图像并进行显示。 测量起点由图像位置指示装置指向。 使用图像上的位置和相机的位置和方向获得对应的视线，机器人接近参考对象，使得其不偏离投影方向移动到适合于测量的位置。 光照射在基准对象上，开始测量对象附近的测量点的面的倾斜度。 拍摄包括参考物体上的亮线图像的图像，并沿着工作线顺序地测量点的3维位置。 使用这些位置创建机器人的移动路径作为工作机器人的教导点。

公开(公告)号：US06382012B2

公开(公告)日：2002-05-07

申请号：US09253719

申请日：1999-02-22

申请人： Ryuichi Hara ,  Kazunori Ban

发明人： Ryuichi Hara ,  Kazunori Ban

IPC分类号： G01L2500

CPC分类号： G01L25/00

摘要： A method for executing calibration without having to dismount a force sensor from a robot, and an apparatus for executing this method are provided. When a robot mounted with a calibrated force sensor begins to be operated, any tool whose position of the center of gravity and weight are immune from change is fitted, and a command for acquiring reference data is given to execute operational programs. Reference data V0 of matrices consisting of differences between strain gage outputs (S1, S2) of the force sensor in any predetermined posture and strain gage outputs in other predetermined postures differing both from that posture and from one another are calculated and stored (S3-1 to S7). When the measuring accuracy of the force sensor drops, the tool used when the reference data were acquired is mounted on the robot, and the same procedures S1 to S6 are executed, and the data V0 corresponding to the reference data are calculated. From the data V′0 and the reference data V0 is calculated a parameter M for updating the calibration matrices.

摘要翻译： 提供了一种用于执行校准而不必从机器人拆卸力传感器的方法，以及用于执行该方法的装置。 当安装有校准力传感器的机器人开始操作时，任何重心和重量位置都不受变化影响的工具被安装，并且获得参考数据的命令来执行操作程序。 计算并存储由任意预定姿势的力传感器的应变计输出（S1，S2）和应变计输出之间的差异的矩阵的参考数据V0和不同于其他预定姿势的应变计输出（S3-1 到S7）。 当力传感器的测量精度下降时，将获取参考数据时使用的工具安装在机器人上，并且执行相同的步骤S1至S6，并且计算与参考数据相对应的数据V0。 从数据V'0和参考数据V0计算用于更新校准矩阵的参数M.