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    Method for measuring three-dimensional position of object to be captured and method for capturing the object
    1.
    发明授权
    Method for measuring three-dimensional position of object to be captured and method for capturing the object 失效
    用于测量待捕获对象的三维位置的方法和用于捕获对象的方法

    公开(公告)号：US5280436A

    公开(公告)日：1994-01-18

    申请号：US686390

    申请日：1991-04-17

    申请人： Hitoshi Kubota ,  Manabu Yamane ,  Takashi Anezaki ,  Hiroyuki Inoue ,  Tomohiro Maruo

    发明人： Hitoshi Kubota ,  Manabu Yamane ,  Takashi Anezaki ,  Hiroyuki Inoue ,  Tomohiro Maruo

    IPC分类号： G01B11/00 ,  B25J9/16 ,  G01S17/46 ,  G01S17/89 ,  H05K13/04 ,  H05K13/08 ,  G06F15/20

    CPC分类号： G01S17/46 ,  B25J9/1697 ,  G01S17/89 ,  G05B2219/36404 ,  G05B2219/37275 ,  G05B2219/40621 ,  G05B2219/45034

    摘要： A method for measuring the three-dimensional position of an object to be captured. A laser measuring unit is provided having an image recognition camera confronting the object, first and second laser light emitting sources respectively irradiating from a slant direction a lateral slit light onto the object relative to a vertical axis of a vision coordinate system and irradiating a vertical slit light onto the object relative to a lateral axis of the vision coordinate system, one slit image on the vertical axis of the object and one slit image on the lateral axis of the object and one of the slit images on the vertical and lateral axes formed before and after the laser measuring unit is moved a predetermined amount in a direction of a camera optical axis relative to the object are taken into the camera, and the three-dimensional position is calculated from the relationship between the predetermined moving distance amount and the deviation of the slit images on the vision coordinates of the coordinate system. This method can be used to locate an electric adjustment position of an electronic component and to move the hand of an industrial robot carrying an electric adjustment member to the electronic component for adjusting the electronic component in the electric adjustment position.

    摘要翻译： 一种用于测量待捕获对象的三维位置的方法。 本发明提供了一种激光测量单元，其具有面对物体的图像识别摄像机，第一和第二激光发射源相对于视觉坐标系的垂直轴分别从倾斜方向照射到物体上的横向狭缝光并照射垂直狭缝 相对于视觉坐标系的横轴将光照射到物体上，在物体的垂直轴上的一个狭缝图像和物体的横向轴上的一个狭缝图像以及之前形成的垂直和横向轴上的一个狭缝图像 并且在激光测量单元移动之后，将相机相对于物体的相机光轴的方向上的预定量取入照相机，并且根据预定移动距离量与偏差之间的关系来计算三维位置 在坐标系的视觉坐标上的狭缝图像。 该方法可以用于定位电子部件的电动调节位置，并且将携带电动调节部件的工业机器人的手移动到用于调整电气调节位置的电子部件的电子部件。

    Method of measuring three-dimensional postion of workpiece
    2.
    发明授权
    Method of measuring three-dimensional postion of workpiece 失效
    测量工件立体位置的方法

    公开(公告)号：US5198876A

    公开(公告)日：1993-03-30

    申请号：US791223

    申请日：1991-11-13

    申请人： Takashi Anezaki ,  Hitoshi Kubota ,  Manabu Yamane

    发明人： Takashi Anezaki ,  Hitoshi Kubota ,  Manabu Yamane

    IPC分类号： G01B11/00 ,  B25J9/16 ,  G01S17/06 ,  G05B19/408 ,  G06T1/00

    CPC分类号： B25J9/1697 ,  G01S17/06 ,  G05B19/4083

    摘要： A method of measuring a three-dimensional position of a workpiece by using a laser measuring unit provided at a hand portion of an industrial robot, the laser measuring unit including an image recognition camera and first and second laser beam sources for emitting lateral and vertical slit beams, respectively, the method comprising the steps of: positioning the laser measuring unit such that the laser measuring unit confronts the workpiece; emitting the lateral and vertical slit beams towards the workpiece from the first and second laser beam sources, respectively; inputting the lateral and vertical slit beams on the workpiece, as first and second slit images, into the image recognition camera, respectively; detecting a first point of a maximum output of the lateral slit beam at an edge of the workpiece in the first slit image and a second point of a maximum output of the vertical slit beam at another edge of the workpiece in the second slit image; and calculating the three-dimensional position of the workpiece based on a first amount of deviation of the first point from a first preset reference point and a second amount of deviation of the second point from a second preset reference point.

    摘要翻译： 一种通过使用设置在工业机器人的手部的激光测量单元来测量工件的三维位置的方法，所述激光测量单元包括图像识别相机和用于发射横向和纵向狭缝的第一和第二激光束源 所述方法包括以下步骤：定位所述激光测量单元，使得所述激光测量单元面对所述工件; 分别从第一和第二激光束源向工件发射横向和纵向狭缝光束; 将作为第一和第二狭缝图像的工件上的横向和纵向狭缝光束分别输入到图像识别摄像机中; 检测所述第一狭缝图像中的所述工件的边缘处的横向狭缝光束的最大输出的第一点和所述第二狭缝图像中所述工件的另一边缘处的所述垂直狭缝光束的最大输出的第二点; 以及基于所述第一点与第一预设参考点的偏移的第一量和所述第二点与第二预设参考点的偏差的第二量来计算所述工件的三维位置。

    Apparatus for mounting a flat package type IC
    3.
    发明授权
    Apparatus for mounting a flat package type IC 失效
    用于安装平板封装类型IC的装置

    公开(公告)号：US5068588A

    公开(公告)日：1991-11-26

    申请号：US452909

    申请日：1989-12-19

    申请人： Hitoshi Kubota ,  Manabu Yamane ,  Takashi Anezaki

    发明人： Hitoshi Kubota ,  Manabu Yamane ,  Takashi Anezaki

    IPC分类号： G01B11/00 ,  B23P21/00 ,  B25J13/08 ,  G06T1/00 ,  H05K13/04 ,  H05K13/08

    CPC分类号： H05K13/046 ,  H05K13/08

    摘要： An apparatus for mounting a flat package type IC on a printed circuit board is disclosed. The apparatus includes: a robot hand for holding the IC; cameras each for taking an image of a part of the IC taking an image of a part of the board, which cameras are fixed to the hand and arranged symmetrically with respect to the rotation axis of the hand; a first processor for obtaining linear deviation and rotational deviation of leads from the images of the IC, and for obtaining linear deviations and rotational deviation of lands from the images of the board; a second processor for obtaining a linear difference between the linear deviations of the IC and board, and for obtaining a rotational difference between the rotational deviations of the IC and board; and a driver for adjusting the position of the IC, by linearly moving the hand by the linear difference, and by rotating the hand by the rotational difference, thereby correctly positioning the leads on the corresponding lands.

    Apparatus and method for robot handling control
    5.
    发明授权
    Apparatus and method for robot handling control 有权
    机器人处理控制的装置和方法

    公开(公告)号：US07443115B2

    公开(公告)日：2008-10-28

    申请号：US10694116

    申请日：2003-10-27

    申请人： Shusasku Okamoto ,  Masamichi Nakagawa ,  Yasunao Okazaki ,  Takashi Anezaki ,  Tamao Okamoto

    发明人： Shusasku Okamoto ,  Masamichi Nakagawa ,  Yasunao Okazaki ,  Takashi Anezaki ,  Tamao Okamoto

    IPC分类号： H02P1/54

    CPC分类号： B25J9/1612 ,  B25J13/083

    摘要： A robot arm is provided with an end effecter for grasping an object and a force sensor for detecting a force acted upon the end effecter. In the state in which end effecter grasps an object, when there is a change in the force acting on the end effecter detected by the force sensor, outputted is a signal for releasing the force of the end effecter grasping the object. The object grasped by the end effecter can be taken out as if the object were handed from person over to person.

    摘要翻译： 机器人臂设置有用于抓握物体的末端执行器和用于检测作用在末端执行器上的力的力传感器。 在末端执行器抓住物体的状态下，当由力传感器检测到的作用在末端执行器上的力的变化时，输出的是用于释放抓住物体的末端执行器的力的信号。 终端执行者掌握的物体可以被拿走，好像物体由人转移到人身上。

    Contour line characteristic point detecting apparatus
    10.
    发明授权
    Contour line characteristic point detecting apparatus 失效
    轮廓线特征点检测装置

    公开(公告)号：US5345547A

    公开(公告)日：1994-09-06

    申请号：US902373

    申请日：1992-06-23

    申请人： Takashi Anezaki ,  Kinji Horikami

    发明人： Takashi Anezaki ,  Kinji Horikami

    IPC分类号： G06T7/60 ,  G06K9/48 ,  G06T9/20 ,  G06F15/16

    CPC分类号： G06T9/20 ,  G06K9/481

    摘要： A contour line characteristic point detecting apparatus arranged so that direction codes of respective tracing points are obtained by contour line data, and then, their directional difference values are found by a directional difference value calculating part. Thus, permutational direction codes are obtained through addition of the directional difference value at the tracing point, to the direction code at the tracing starting point or to the permutational direction code at the previous tracing point by an adder. Thus, by inputting this permutational direction code into a calculation table through delay registers of a plurality of stages, the linear component detection and corner detection can be effected without depending on the directions.

    摘要翻译： 轮廓线特征点检测装置，其被布置为使得通过轮廓线数据获得各个跟踪点的方向代码，然后由方向差值计算部分找到它们的方向差值。 因此，通过在跟踪点处添加方向差值，通过加法器在跟踪起点处的方向代码或前一跟踪点处的排列方向代码来获得排列方向代码。 因此，通过多级的延迟寄存器将该排列方向代码输入到计算表中，可以不依赖于方向来实现线性分量检测和角检测。