公开(公告)号：US07244093B2

公开(公告)日：2007-07-17

申请号：US10627722

申请日：2003-07-28

申请人： Atsushi Watanabe ,  Kazuhisa Otsuka ,  Masaru Oda ,  Tadanori Suzuki

发明人： Atsushi Watanabe ,  Kazuhisa Otsuka ,  Masaru Oda ,  Tadanori Suzuki

IPC分类号： B25J9/16

CPC分类号： B25J9/1697 ,  G05B2219/39533 ,  G05B2219/40583

摘要： An object handling apparatus capable of securely holding an object and precisely transferring the held object from a first place to a second place without need of a specific jig for positioning the object on a pallet. A position of an object supplied to the first place is detected by a first visual sensor to obtain a compensation amount for compensating a position displacement of the supplied object. The object is held by a robot hand having position/orientation compensated using the compensation amount and position/orientation of the object held by the robot hand relative to the robot hand is detected by a second visual sensor. A displacement of the position/orientation of the object held by the robot hand from a reference position/orientation is compensated based on the detected position/orientation of the object on the robot hand, so that the object held by the robot hand is precisely moved to have a predetermined position/orientation to be transferred to the second place. The robot hand may be a servo hand having fingers driven by one or more servomotors so that position and force of the fingers in holding the object is controlled.

摘要翻译： 一种能够可靠地保持物体并将被保持物体从第一位置精确地传送到第二位置的物体处理装置，而不需要用于将物体定位在托盘上的特定夹具。 通过第一视觉传感器检测提供给第一位置的物体的位置，以获得用于补偿所提供物体的位置偏移的补偿量。 该物体由具有位置/方位补偿的机器人手保持，使用补偿量，并且通过第二视觉传感器检测由机器人手相对于机器人手保持的对象的位置/方位。 基于检测到的机器人手上的物体的位置/取向来补偿由机器人手保持的物体的位置/取向与基准位置/取向的位移，使得由机器人手保持的物体被精确地移动 以具有预定的位置/方向被转移到第二位置。 机器人手可以是具有由一个或多个伺服电机驱动的手指的伺服手，从而控制手指在保持物体时的位置和力。