公开(公告)号：US20150261206A1

公开(公告)日：2015-09-17

申请号：US14724815

申请日：2015-05-29

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Takashi SHIINO ,  Katsunori URABE ,  Takahisa IKENAGA ,  Toshiyuki HARADA

IPC: G05B19/409 ,  B32B43/00 ,  B25J9/16

CPC classification number: G05B19/409 ,  B25J9/1612 ,  B25J9/1694 ,  B25J9/1697 ,  B32B38/10 ,  B32B41/00 ,  B32B43/006 ,  B32B2038/1891 ,  G05B2219/39432 ,  H05K3/3447 ,  H05K2203/1383

Abstract: A robot system according to an aspect of an embodiment includes a touch panel (display device), a camera, a tape position identification unit (identification unit), a fine adjustment unit, and an instruction unit. The camera captures images of a workpiece with and without a member thereon to be handled by a robot. The tape position identification unit identifies a position of the member based on image data captured by the camera. The fine adjustment unit is provided as an interface by which an operator conducts a fine adjustment of a teaching point for the robot based on the position of the member while viewing the workpiece displayed on the touch panel. The instruction unit instructs the robot to perform an operation for a predetermined process on the basis of teaching information generated by reflecting the teaching point finely adjusted through the fine adjustment unit.

Abstract translation: 根据实施例的一个方面的机器人系统包括触摸面板（显示装置），照相机，磁带位置识别单元（识别单元），微调单元和指令单元。 摄像机捕获具有和不具有要由机器人处理的构件的工件的图像。 磁带位置识别单元基于由照相机拍摄的图像数据来识别该成员的位置。 微调单元被提供作为接口，通过该接口，操作者在观察触摸面板上显示的工件的同时基于构件的位置对机器人的教导点进行微调。 指令单元根据通过微调微单元微调的教导点产生的教学信息，指示机器人执行预定处理的操作。

公开(公告)号：US20150014123A1

公开(公告)日：2015-01-15

申请号：US14504427

申请日：2014-10-02

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Ryuichi MATSUDA ,  Toshiaki IKEDA ,  Keigo ISHIBASHI ,  Takahisa IKENAGA ,  Toshiyuki HARADA

IPC: B65G47/24 ,  B65G43/08

CPC classification number: B65G47/24 ,  B23P19/001 ,  B25J9/0093 ,  B65G43/08 ,  B65G47/68 ,  B65G2207/14 ,  G05B19/188 ,  G05B19/4182 ,  G05B2219/37555 ,  G05B2219/50052 ,  G05B2219/50362 ,  G05B2219/50375 ,  G05B2219/50386 ,  Y02P90/083 ,  Y02P90/265

Abstract: A production system according to an embodiment includes a workpiece circulator, a robot, and a posture changer. The workpiece circulator circulates a workpiece along a certain path. The robot holds the workpiece circulated by the workpiece circulator in a holding region that is part of the certain path, to move the workpiece to a certain place. The posture changer is arranged in the workpiece circulator and changes a posture of the workpiece circulated by the workpiece circulator.

Abstract translation: 根据实施例的生产系统包括工件循环器，机器人和姿态更换器。 工件循环器沿一定路径循环工件。 机器人将通过工件循环器循环的工件保持在作为特定路径的一部分的保持区域中，以将工件移动到某个位置。 姿态变换器布置在工件循环器中，改变由工件循环器循环的工件的姿势。

公开(公告)号：US20140288710A1

公开(公告)日：2014-09-25

申请号：US14218981

申请日：2014-03-19

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Takahisa IKENAGA ,  Takashi NAGASAKI ,  Takuya MURAYAMA ,  Yuji ICHIMARU

IPC: B25J9/16

CPC classification number: B25J9/1697 ,  B25J9/1692 ,  G05B2219/39008 ,  G05B2219/39022 ,  G05B2219/50132 ,  Y10S901/02 ,  Y10S901/47

Abstract: A robot system includes: a robot arm; a camera; a calibration jig with a marker that allows image recognition; and a calibration apparatus configured to derive a correlation between camera coordinates being coordinates in a photographed image and robot coordinates using the robot arm as a reference. The robot arm is configured to have a posture corresponding to a relative position of the camera with respect to the marker. The calibration apparatus sets a plurality of photographing positions by changing the relative position, acquires the camera coordinates of the marker in the plurality of photographing positions and information of the posture of the robot arm, and derives the correlation.

Abstract translation: 机器人系统包括：机器人手臂; 相机; 具有允许图像识别的标记的校准夹具; 以及校准装置，被配置为导出作为拍摄图像中的坐标的摄像机坐标与使用机器人手臂的机器人坐标之间的相关性作为参考。 机器人臂被配置为具有与相机相对于标记的相对位置相对应的姿势。 校准装置通过改变相对位置，获取多个拍摄位置中的标记的相机坐标和机器人手臂的姿势的信息来设置多个拍摄位置，并导出相关性。

公开(公告)号：US20140286565A1

公开(公告)日：2014-09-25

申请号：US14218979

申请日：2014-03-19

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Takahisa IKENAGA ,  Takuya MURAYAMA ,  Hidefumi NIHARA

IPC: G06F3/041 ,  G06K9/62

CPC classification number: G06F3/041 ,  G06K9/6254 ,  G06K2209/19

Abstract: A robot system includes: a touchscreen panel; and an image processing apparatus configured to recognize a workpiece in an image of the workpiece acquired by photography, in accordance with a registered image recognition program. The image processing apparatus includes: a storage unit configured to store a base program serving as the image recognition program by inputting a plurality of parameters regarding the workpiece, a workpiece registration guiding portion configured to display an input screen to prompt input of the parameters on the touchscreen panel and acquire the parameters via the touchscreen panel, and a registration portion configured to build and register the image recognition program by applying the parameters acquired by the workpiece registration guiding portion to the base program in the storage unit.

Abstract translation: 机器人系统包括：触摸屏面板; 以及图像处理装置，被配置为根据注册的图像识别程序识别通过摄影获取的工件的图像中的工件。 图像处理装置包括：存储单元，被配置为通过输入关于工件的多个参数来存储用作图像识别程序的基本程序;工件配准引导部分，被配置为显示输入画面，以便在 触摸屏面板，并且通过触摸屏面板获取参数;以及登记部分，被配置为通过将由工件登记引导部分获取的参数应用于存储单元中的基本程序来构建和注册图像识别程序。