公开(公告)号：US07386367B2

公开(公告)日：2008-06-10

申请号：US10780757

申请日：2004-02-19

申请人： Atsushi Watanabe ,  Kazunori Ban ,  Ichiro Kanno

发明人： Atsushi Watanabe ,  Kazunori Ban ,  Ichiro Kanno

IPC分类号： G05B15/00

CPC分类号： B25J9/1697 ,  B25J9/1612

摘要： A workpiece is gripped by a robot hand and an image of the workpiece is captured by a camera. An image processing device detects the position and posture of a characteristic portion of the workpiece. On the basis of the present position of the robot, the relative position and posture between a flange of the robot and the workpiece characteristic portion is detected. The relative position and posture is compared with that observed when the workpiece is gripped correctly, to determine a gripping error. If the gripping error exceeds a permissible error, the robot is stopped. If the gripping error is equal to or less than the permissible error, a taught position where the workpiece is to be released is corrected so as to cancel the adverse effect of the gripping error.

摘要翻译： 工件由机器人手握住，工件的图像由相机捕获。 图像处理装置检测工件的特征部分的位置和姿势。 基于机器人的当前位置，检测机器人的凸缘与工件特性部分之间的相对位置和姿势。 将相对位置和姿势与正确握住工件时观察到的相对位置和姿势进行比较，以确定夹紧误差。 如果夹紧误差超过允许误差，则机器人停止。 如果夹紧误差等于或小于允许误差，则校正要释放工件的教导位置，以消除夹紧误差的不利影响。

公开(公告)号：US07203573B2

公开(公告)日：2007-04-10

申请号：US10733308

申请日：2003-12-12

申请人： Kazunori Ban ,  Ichiro Kanno

发明人： Kazunori Ban ,  Ichiro Kanno

IPC分类号： G05B15/00 ,  G05G19/00

CPC分类号： B25J9/1697 ,  G05B2219/40053 ,  G06T7/70 ,  G06T2207/30164

摘要： A workpiece taking-out apparatus performs snap with a camera of a three-dimensional visual sensor in a robot position for snap and captures an image in a personal computer. The workpiece taking-out apparatus detects workpieces to find a line of sight of the camera for each workpiece, decides an area for height measurement by a range finder to save height data in the area, and finds an intersection of line of sight data of the camera and height distribution for each detected workpiece to find a posture of the workpiece from the height data around it. Then, the workpiece taking-out apparatus decides a workpiece to be taken out this time from the position and the posture and decides a measurement position of the three-dimensional visual sensor close to the workpiece. In the measurement position, the workpiece taking-out apparatus performs main measurement by the three-dimensional visual sensor to decide a robot position for taking out a workpiece through check of the possibility of interference and execute taking-out of the workpiece in the robot position for taking out a workpiece through check of the possibility of interference again.

摘要翻译： 工件取出装置与机器人位置中的三维视觉传感器的照相机进行卡扣，并捕获个人计算机中的图像。 工件取出装置检测工件以找到每个工件的相机的视线，通过测距仪确定用于高度测量的区域，以将高度数据保存在该区域中，并且找到视线数据的交点 相机和高度分布为每个检测到的工件从其周围的高度数据找到工件的姿势。 然后，工件取出装置从该位置和姿势决定待取出的工件，并将三维视觉传感器的测量位置决定在靠近工件的位置。 在测量位置，工件取出装置通过三维视觉传感器执行主要测量，以通过检查干涉的可能性来确定用于取出工件的机器人位置，并且在机器人位置执行工件的取出 通过检查再次产生干扰的可能性来取出工件。

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：US20050195409A1

公开(公告)日：2005-09-08

申请号：US11073681

申请日：2005-03-08

申请人： Atsushi Watanabe ,  Kazunori Ban ,  Ichiro Kanno

发明人： Atsushi Watanabe ,  Kazunori Ban ,  Ichiro Kanno

IPC分类号： G06T1/00 ,  B25J9/16 ,  G01B11/24

CPC分类号： B25J9/1697 ,  G05B19/401 ,  G05B2219/37555 ,  G05B2219/40564

摘要： A measuring system for easily detecting Misjudged Detection (M/D). A camera for measurement attached to a robot is used to obtain an image for measurement of a workpiece so as to measure and detect a set point. Next, a camera for validation is used to obtain an image for validation of the workpiece so as to measure and detect the set point. One camera may capture both of the images for measurement and validation, by utilizing movement of the robot. It is judged whether the measured results obtained from the images represent the same point on the workpiece or not. If yes, the measured results are judged to be valid, otherwise, the measured results are judged to be invalid and an exception process, such as a retrial, is executed. The images by the camera may also be used for judging a moving path of the robot during measurement of a large object.

摘要翻译： 一种易于检测误判测（M / D）的测量系统。 使用附属于机器人的测量用照相机来获得用于测量工件的图像，以便测量和检测设定点。 接下来，使用用于验证的相机来获得用于确认工件的图像，以便测量和检测设定点。 一个相机可以通过利用机器人的移动来捕获两个图像以进行测量和验证。 判断从图像获得的测量结果是否表示工件上的相同点。 如果是，则将测量结果判定为有效，否则判断为无效，并执行例如重试等异常处理。 照相机的图像也可以用于在大物体的测量期间判断机器人的移动路径。

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.

公开(公告)号：US06328523B1

公开(公告)日：2001-12-11

申请号：US09295364

申请日：1999-04-21

申请人： Atsushi Watanabe ,  Ryuichi Hara ,  Kazunori Ban ,  Hidetoshi Kumiya

发明人： Atsushi Watanabe ,  Ryuichi Hara ,  Kazunori Ban ,  Hidetoshi Kumiya

IPC分类号： B25J1308

CPC分类号： B25J9/1697 ,  B25J9/1687 ,  G05B2219/37555 ,  G05B2219/37563 ,  G05B2219/37572 ,  G05B2219/40053

摘要： A group of bolts are suppled into a placing surface of a tray, an isolated bolt is searched for by a visual sensor, and its deviation from a standard position at the time of teaching is determined. The isolated bolt is picked up by a robot that has been taught how to pick up an isolated bolt laying in a standard position. The position of the robot's hand is corrected according to the deviation from the standard position before the robot attempts to pick up the located isolated bolt. If no isolated bolt is found, a shaking device 1 is operated to loosen the piled-up bolts, and a new isolated bolt is again searched for by the visual sensor. The isolated bolt, if found, is picked up. The picking-up operation may be performed by searching for an isolated small set of bolts using a three-dimensional visual sensor. The oscillating excitation can also be provided by a robot. Also, the piled-up bolts may be loosened or disentangled using a robot equipped with a tool for leveling the pile of bolts or by using a gas jet.

摘要翻译： 一组螺栓被提供到托盘的放置表面中，由视觉传感器搜索隔离的螺栓，并且确定其在教导时与标准位置的偏差。 被隔离的螺栓由机器人拾取，该机器人已经被教导如何拿起放置在标准位置的隔离螺栓。 机器人的手的位置根据机器人试图拿起定位的隔离螺栓之前与标准位置的偏差进行校正。 如果没有发现隔离的螺栓，则操作摇动装置1以松开堆积螺栓，并且再次通过视觉传感器搜索新的隔离螺栓。 被隔离的螺栓，如果发现，被拾起。 可以通过使用三维视觉传感器搜索隔离的小套螺栓来执行拾取操作。 振荡激励也可由机器人提供。 此外，堆叠的螺栓可以使用装备有用于使螺栓堆整平或使用气体射流的工具的机器松动或解开。

公开(公告)号：US08380342B2

公开(公告)日：2013-02-19

申请号：US13184721

申请日：2011-07-18

申请人： Kazunori Ban ,  Hidetoshi Kumiya ,  Toshiyuki Ando

发明人： Kazunori Ban ,  Hidetoshi Kumiya ,  Toshiyuki Ando

IPC分类号： G06F7/00

CPC分类号： B25J9/1679 ,  B25J9/1697 ,  G05B2219/40053

摘要： A workpiece removing device including a camera for imaging a workpiece loading area including a plurality of workpieces loaded in bulk; a workpiece detection section for detecting a workpiece, based on a camera image taken with the camera; a workpiece selection section for selecting a workpiece adapted to be removed, based on a detection result by the workpiece detection section; a robot for removing the workpiece selected by the workpiece selection section; a loading state determination section for determining whether a loading state of the workpieces in the workpiece loading area has changed due to a operation of the robot; and an area setting section for setting a workpiece detection area where the workpiece detection section detects a workpiece. If the loading state determination section determines that the loading state of the workpieces has changed, the area setting section sets the workpiece detection area in a peripheral area of a changing position of the loading state, i.e., in a portion of the workpiece loading area.

摘要翻译： 一种工件移除装置，包括用于对包括多个装载的工件的工件装载区域进行成像的照相机; 基于用所述照相机拍摄的照相机图像来检测工件的工件检测部; 工件选择部，其基于所述工件检测部的检测结果来选择适于被去除的工件; 用于去除由工件选择部选择的工件的机器人; 装载状态判定部，其判定由于所述机器人的动作而使所述工件装载区域内的工件的装载状态发生了变化; 以及区域设定部，用于设定工件检测部检测出工件的工件检测区域。 如果装载状态确定部确定工件的装载状态已经改变，则区域设定部将工件检测区域设定在装载状态的变更位置的周边区域中，即在工件装载区域的一部分中。

公开(公告)号：US08306660B2

公开(公告)日：2012-11-06

申请号：US13116463

申请日：2011-05-26

申请人： Kazunori Ban ,  Gang Shen ,  Kyouhei Kokubo

发明人： Kazunori Ban ,  Gang Shen ,  Kyouhei Kokubo

IPC分类号： G05B19/18

CPC分类号： B25J9/1692 ,  B25J9/101

摘要： A device for restoring positional information of a robot provided with a first member and a second member; a motor moving the second member; and a sensor outputting a sensor signal. The device includes an imaging section obtaining an image signal in a region including a first mark and a second mark; a mark position computation section computing a first positional relationship between the first mark and the second mark at a first time and a second positional relationship at a second time, based on an image signal obtained by the imaging section at the first time and at the second time; and a correction section correcting positional information depending on a sensor signal, based on the first and second positional relationship, a first sensor signal output by the sensor at the first time and a second sensor signal output by the sensor at the second time.

摘要翻译： 一种用于恢复设置有第一构件和第二构件的机器人的位置信息的装置; 移动第二构件的电动机; 以及输出传感器信号的传感器。 该装置包括：成像部，其在包括第一标记和第二标记的区域中获得图像信号; 标记位置计算部分，基于由第一时间和第二时间由成像部分获得的图像信号，计算第一时间的第一标记和第二标记之间的第一位置关系和第二时间的第二位置关系 时间; 以及校正部，根据第一和第二位置关系，根据传感器信号校正位置信息，由第一时间由传感器输出的第一传感器信号和第二传感器输出的第二传感器信号。

公开(公告)号：US08132835B2

公开(公告)日：2012-03-13

申请号：US12555150

申请日：2009-09-08

申请人： Kazunori Ban ,  Fumikazu Warashina ,  Shouta Takizawa

发明人： Kazunori Ban ,  Fumikazu Warashina ,  Shouta Takizawa

IPC分类号： B25B7/00

CPC分类号： B25J15/0616 ,  B25J15/0266

摘要： A workpiece gripping device includes a primary catching mechanism having a suction pad adapted to hold a workpiece by suction power and a rod-like part having the suction pad mounted on one end thereof, gripping pawls sandwiching and gripping the workpiece, a drive unit for supplying a drive power, and a transmission mechanism transmitting the drive power of the drive unit to the gripping pawls. The transmission mechanism moves the gripping pawls along an axis of the rod-like part between a gripping position where the gripping pawls are projected beyond the suction pad and a retreated position where the gripping pawls are retreated from the suction pad toward the base plate. The gripping pawls are moved to the gripping position along the axis of the rod-like part while shortening the distance between the gripping pawls.

摘要翻译： 工件夹持装置包括主捕捉机构，其具有适于通过抽吸动力保持工件的吸盘和具有安装在其一端上的吸盘的杆状部件，夹持夹持工件的夹爪，用于供给的驱动单元 驱动力和将驱动单元的驱动力传递到夹爪的传动机构。 所述传动机构沿着所述杆状部件的轴线将所述抓持爪沿夹持位置移动到所述抓持爪突出超过所述吸盘之间的夹持位置和所述夹持爪从所述吸盘朝向所述基板后退的位置。 夹持爪沿杆状部件的轴线移动到夹紧位置，同时缩短夹紧爪之间的距离。