公开(公告)号：US07580773B2

公开(公告)日：2009-08-25

申请号：US11227077

申请日：2005-09-16

申请人： Kazuo Hariki ,  Masaru Oda

发明人： Kazuo Hariki ,  Masaru Oda

IPC分类号： G06F19/00

CPC分类号： B65G47/1457 ,  B65G47/1471

摘要： A handling robot system, including a table having a placement surface for placing articles; an article dispersing mechanism for dispersing the articles placed on the placement surface of the table across the placement surface; a vision sensor for detecting each of the articles dispersed on the placement surface of the table; and a robot operating, based on article detection data from the vision sensor, to hold the articles one by one. The article dispersing mechanism includes a partition member for producing a relative motion in relation to the table, the partition member being disposed in proximity to the placement surface with a gap defined therebetween, to divide a space adjoining the placement surface into a first region to which the articles are brought and a second region at which the robot operates to hold the articles transferred from the first region; and a drive control section for causing the relative motion between the table and the partition member in accordance with a program describing a mode of the relative motion. A certain number of articles are dispersed, as a result of the relative motion produced under the control of the drive control section, to permit the articles to pass through the gap on the placement surface, and are transferred from the first region to the second region.

摘要翻译： 一种处理机器人系统，包括具有用于放置物品的放置表面的台子; 用于将放置在桌子的放置表面上的物品分散在放置表面上的物品分散机构; 用于检测分散在桌子的放置表面上的每个物品的视觉传感器; 以及基于来自视觉传感器的物品检测数据的机器人，一个接一个地保持物品。 物品分散机构包括用于相对于工作台产生相对运动的分隔构件，分隔构件设置在放置表面附近，间隔限定在其间，以将与放置表面相邻的空间分隔成第一区域， 所述物品被带入和所述机器人操作以保持从所述第一区域传送的物品的第二区域; 以及驱动控制部分，用于根据描述相对运动的模式的程序引起工作台和分隔部件之间的相对运动。 作为在驱动控制部的控制下产生的相对运动的结果，一定数量的物品被分散，以允许物品穿过放置表面上的间隙，并且从第一区域转移到第二区域 。

公开(公告)号：US20060072988A1

公开(公告)日：2006-04-06

申请号：US11192094

申请日：2005-07-29

申请人： Kazuo Hariki ,  Masaru Oda

发明人： Kazuo Hariki ,  Masaru Oda

IPC分类号： B65G1/00

CPC分类号： B25J5/02 ,  B25J9/0096 ,  B25J9/1697 ,  G05B2219/37555 ,  G05B2219/45063

摘要： A transfer robot system with a manipulator. The transfer robot system includes a track extending between a first position at which a container containing a workpiece is placed and a second position to which the workpiece in the container is fed; a manipulator movable along the track and capable of holding the container and the workpiece; a temporary container-depository movable along the track synchronously with the manipulator, the container taken out from the first position by the manipulator being temporarily put thereon; a workpiece detecting section for detecting the position and the orientation of the workpiece, contained in the container put on the temporary container-depository, during a period when the manipulator and the temporary container-depository move along the track synchronously with each other; and a transfer control section for controlling the manipulator, based on a detection result in the workpiece detecting section, to make the manipulator pick out the workpiece from the container put on the temporary container-depository and feed the workpiece picked from the container to the second position.

摘要翻译： 具有机械手的传送机器人系统。 传送机器人系统包括在放置容纳工件的容器的第一位置与容器内的工件进给到的第二位置之间延伸的轨道; 操纵器，沿着所述轨道移动并能够保持所述容器和所述工件; 临时集装箱托架可与机械手同步地沿着轨道移动，由操纵器从第一位置取出的容器暂时放置在其上; 工件检测部，用于在操作器和临时容器保持部沿着轨道同步移动的期间，检测容纳在放置在临时容器托架中的容器中的工件的位置和取向; 以及转移控制部分，用于基于工件检测部分的检测结果来控制操纵器，以使操纵器从放置在临时容器托架上的容器中取出工件，并将从容器拾取的工件送入第二 位置。

公开(公告)号：US07406362B2

公开(公告)日：2008-07-29

申请号：US10932286

申请日：2004-09-02

申请人： Kazuo Hariki ,  Kazuhisa Otsuka ,  Masaru Oda

发明人： Kazuo Hariki ,  Kazuhisa Otsuka ,  Masaru Oda

IPC分类号： H01L21/68 ,  G05B19/18 ,  B21C49/00 ,  G06F19/00

CPC分类号： B25J9/1612 ,  B25J9/0096

摘要： A workpiece regrasping system for a robot. The system includes a manipulator grippable a workpiece; a deck member having a deck surface on which a workpiece is placeable; a support mechanism rotatably supporting the deck member about an axis parallel to the deck surface; a workpiece-orientation control section for controlling the manipulator so as to grip a workpiece at a first point of the workpiece and to bring the workpiece into abutment with the deck surface of the deck member, and configured to displace the workpiece together with the deck member about the axis, while maintaining a mutually abutted condition, until the workpiece occupies a desired orientation, with at least a part of a weight of the workpiece being carried on the deck surface; and a regrasping control section for controlling the manipulator so as to temporarily release the workpiece placed on the deck surface in the desired orientation and to regrasp the workpiece at a second point different from the first point. The workpiece-orientation control section may control an operation of the manipulator, or control a rotational drive section for the deck member, while maintaining the workpiece in abutment with the deck surface, to displace the workpiece to the desired orientation.

摘要翻译： 机器人的工件重新磨边系统。 该系统包括可夹持工件的操纵器; 具有甲板表面的甲板构件，工件可放置在其上; 支撑机构，其可旋转地支撑所述甲板构件绕平行于所述甲板表面的轴线; 工件取向控制部分，用于控制所述操纵器以便在所述工件的第一点处夹持工件并使所述工件与所述甲板构件的所述甲板表面邻接，并且被构造成使所述工件与所述甲板构件一起移位 围绕所述轴线，同时保持相互抵接的状态，直到所述工件占据期望的取向，其中所述工件的重量的至少一部分被承载在所述甲板表面上; 以及重新配置控制部分，用于控制操纵器，以便以期望的方向临时释放放置在甲板表面上的工件，并且在不同于第一点的第二点上重新抓住工件。 工件取向控制部分可以控制操纵器的操作，或者控制用于甲板部件的旋转驱动部分，同时保持工件与甲板表面邻接，以将工件移动到期望的方位。

公开(公告)号：US20060057239A1

公开(公告)日：2006-03-16

申请号：US11227077

申请日：2005-09-16

申请人： Kazuo Hariki ,  Masaru Oda

发明人： Kazuo Hariki ,  Masaru Oda

IPC分类号： A23G1/22

CPC分类号： B65G47/1457 ,  B65G47/1471

摘要： A handling robot system, including a table having a placement surface for placing a plurality of articles; an article dispersing mechanism for dispersing the articles placed on the placement surface of the table across the placement surface; a vision sensor for detecting each of the articles dispersed on the placement surface of the table; and a robot operating, based on article detection data from the vision sensor, to hold the articles one by one. The article dispersing mechanism includes a partition member capable of producing a relative motion in relation to the table, the partition member being disposed in proximity to the placement surface with a gap defined therebetween, to divide a space adjoining the placement surface into a first region to which the articles are brought and a second region at which the robot operates to hold the articles transferred from the first region; and a drive control section for causing the relative motion between the table and the partition member in accordance with a program describing a mode of the relative motion. A certain number of articles are dispersed, as a result of the relative motion produced under the control of the drive control section, to permit the articles to pass through the gap on the placement surface, and are transferred from the first region to the second region.

摘要翻译： 一种处理机器人系统，包括具有用于放置多个物品的放置表面的台子; 用于将放置在桌子的放置表面上的物品分散在放置表面上的物品分散机构; 用于检测分散在桌子的放置表面上的每个物品的视觉传感器; 以及基于来自视觉传感器的物品检测数据的机器人，一个接一个地保持物品。 物品分散机构包括能够相对于工作台产生相对运动的分隔构件，分隔构件设置在放置表面附近，间隔开间隔，以将与放置表面相邻的空间分隔成第一区域 所述物品被带入的第二区域和所述机器人操作以保持从所述第一区域传送的物品的第二区域; 以及驱动控制部分，用于根据描述相对运动的模式的程序引起工作台和分隔部件之间的相对运动。 作为在驱动控制部的控制下产生的相对运动的结果，一定数量的物品被分散，以允许物品穿过放置表面上的间隙，并且从第一区域转移到第二区域 。

公开(公告)号：US20050065654A1

公开(公告)日：2005-03-24

申请号：US10932286

申请日：2004-09-02

申请人： Kazuo Hariki ,  Kazuhisa Otsuka ,  Masaru Oda

发明人： Kazuo Hariki ,  Kazuhisa Otsuka ,  Masaru Oda

IPC分类号： B25J9/10 ,  B25J9/00 ,  B25J9/16 ,  B25J15/00 ,  G06F19/00

CPC分类号： B25J9/1612 ,  B25J9/0096

摘要： A workpiece regrasping system for a robot. The system includes a manipulator grippable a workpiece; a deck member having a deck surface on which a workpiece is placeable; a support mechanism rotatably supporting the deck member about an axis parallel to the deck surface; a workpiece-orientation control section for controlling the manipulator so as to grip a workpiece at a first point of the workpiece and to bring the workpiece into abutment with the deck surface of the deck member, and configured to displace the workpiece together with the deck member about the axis, while maintaining a mutually abutted condition, until the workpiece occupies a desired orientation, with at least a part of a weight of the workpiece being carried on the deck surface; and a regrasping control section for controlling the manipulator so as to temporarily release the workpiece placed on the deck surface in the desired orientation and to regrasp the workpiece at a second point different from the first point. The workpiece-orientation control section may control an operation of the manipulator, or control a rotational drive section for the deck member, while maintaining the workpiece in abutment with the deck surface, to displace the workpiece to the desired orientation.

摘要翻译： 机器人的工件重新磨边系统。 该系统包括可夹持工件的操纵器; 具有甲板表面的甲板构件，工件可放置在其上; 支撑机构，其可旋转地支撑所述甲板构件绕平行于所述甲板表面的轴线; 工件取向控制部分，用于控制所述操纵器以便在所述工件的第一点处夹持工件并使所述工件与所述甲板构件的所述甲板表面邻接，并且被构造成使所述工件与所述甲板构件一起移位 围绕所述轴线，同时保持相互抵接的状态，直到所述工件占据期望的取向，其中所述工件的重量的至少一部分被承载在所述甲板表面上; 以及重新配置控制部分，用于控制操纵器，以便以期望的方向临时释放放置在甲板表面上的工件，并且在不同于第一点的第二点上重新抓住工件。 工件取向控制部分可以控制操纵器的操作，或者控制用于甲板部件的旋转驱动部分，同时保持工件与甲板表面邻接，以将工件移动到期望的方位。

公开(公告)号：US20060245897A1

公开(公告)日：2006-11-02

申请号：US11375441

申请日：2006-03-15

申请人： Kazuo Hariki ,  Masaru Oda ,  Yoshinori Ochiishi ,  Tetsuji Ueda

发明人： Kazuo Hariki ,  Masaru Oda ,  Yoshinori Ochiishi ,  Tetsuji Ueda

IPC分类号： B66C23/00

CPC分类号： B25J9/046 ,  B25J17/0283

摘要： A robot handling system using a robot hand to convey a workpiece, provided with a first wrist element at a front end of an arm of the robot, a second wrist element perpendicular to this, a third wrist element perpendicular to this, and a connecting means connecting the third wrist element and a hand body of the robot hand, the hand body being arranged so that an inertia moment of the hand body about a vertical axial line becomes larger than the inertia moments of the hand body about two mutually perpendicular horizontal axial lines, the connecting means connects the third wrist element and hand body so that a third axial line of the third wrist element and the hand body are arranged in a horizontal plane, and a posture of the hand body is changed about the vertical axial line in the state with the third axial line of the third wrist element arranged in a horizontal plane. Due to this, the robot hand can be made to rotate over the limit of the allowable inertia moment.

摘要翻译： 一种使用机器人手来传送工件的机器人处理系统，在机器人的臂的前端设置有第一腕部元件，与其垂直的第二腕部，与其垂直的第三腕部，以及连接装置 连接第三腕部和机器人手的手部，手主体被布置成使得手主体围绕垂直轴线的惯性力矩大于手部围绕两个相互垂直的水平轴线的惯性力矩 所述连接装置将所述第三腕部和所述手柄连接，使得所述第三腕部和所述手部的第三轴线配置在水平面上，并且所述手指的姿势围绕所述手指的垂直轴线变化 状态，其中第三腕部的第三轴线布置在水平面中。 因此，可以使机器人手旋转超过容许惯性力矩的极限。

公开(公告)号：US5133047A

公开(公告)日：1992-07-21

申请号：US473741

申请日：1990-02-02

申请人： Kazuo Hariki ,  Kazuya Ishiguro ,  Tatsuya Koizumi

发明人： Kazuo Hariki ,  Kazuya Ishiguro ,  Tatsuya Koizumi

IPC分类号： B25J9/16 ,  B25J9/18 ,  B25J13/00 ,  G05B19/418 ,  G05B19/42

CPC分类号： G05B19/4182 ,  Y02P90/083

摘要： A robot control method of the playback type and an apparatus for using the method in which position data and data regarding velocity are taught at a sequence of points for a work program, and a servo system is driven by the use of the taught data to playback or repeat the work program. Phase angles which increase as the robot progresses through the sequence of teaching points are taught as the data regarding the velocity of the work program. At playback, a reference phase angle computed on the basis of a previously-set playback cycle time for the work program. The reference phase angle increases at an advance velocity which decreases with an increase in the playback cycle time. During operation, the reference phase angle is compared with one of the taught phase angles, and the corresponding taught position data is outputted to the servo system when the reference phase angle exceeds the taught phase angle.

摘要翻译： 重放类型的机器人控制方法和使用方法的装置，其中在工作程序的一系列点上教导关于速度的位置数据和数据，并且通过使用所教导的数据来播放伺服系统来驱动 或重复工作程序。 作为机器人通过教学点序列而增加的相角被教导为关于工作程序的速度的数据。 在回放时，基于工作程序的预先设定的回放周期时间计算出的基准相位角。 参考相位角以随着再现周期时间的增加而减小的提前速度增加。 在操作期间，将参考相位角与教导的相位角之一进行比较，并且当参考相位角超过教导的相位角时，相应的教导位置数据被输出到伺服系统。

公开(公告)号：US08630736B2

公开(公告)日：2014-01-14

申请号：US13398944

申请日：2012-02-17

申请人： Kazuo Hariki ,  Shigenori Kajio ,  Takaki Aiba

发明人： Kazuo Hariki ,  Shigenori Kajio ,  Takaki Aiba

IPC分类号： G05B19/04 ,  G05B19/18 ,  G06F7/00 ,  G06F19/00

CPC分类号： B25J19/021 ,  B25J9/0051 ,  B25J9/0093 ,  B25J15/0616

摘要： A conveying device capable of sequentially and efficiently picking up a plurality of randomly located rods, and conveying the picked up rod to a predetermined place, without using a complicated mechanism. A sucking unit has a nozzle attached to a robot hand, and is configured to move the nozzle close to an end of a first cylindrical portion of a rod to be picked. The nozzle is configured to hold the rod by being lifted while sucking the first portion within the nozzle.

摘要翻译： 一种输送装置，其能够顺序地且有效地拾取多个随机定位的杆，并且将拾取的杆输送到预定的位置，而不使用复杂的机构。 抽吸单元具有附接到机器人手的喷嘴，并且被配置为使喷嘴移动靠近待拾取的杆的第一圆柱形部分的端部。 所述喷嘴构造成通过在吸入所述喷嘴内的所述第一部分的同时提升而保持所述杆。

公开(公告)号：US5086262A

公开(公告)日：1992-02-04

申请号：US557071

申请日：1990-07-25

申请人： Kazuo Hariki ,  Tatsuya Koizumi ,  Kazuya Ishiguro ,  Kiyoshi Kanitani

发明人： Kazuo Hariki ,  Tatsuya Koizumi ,  Kazuya Ishiguro ,  Kiyoshi Kanitani

IPC分类号： B25J9/16 ,  B25J9/18 ,  G05B19/18 ,  G05B19/4155 ,  G05B19/42

CPC分类号： B25J9/1682 ,  G05B2219/34314

摘要： An industrial robot system comprising a plurality of robots for conducting a work in cooperation with each other. A system clock is provided in the system, and clocks are provided in the respective robots. These clocks are counted up at the same cycle time, and are set for original points of the respective robots, which are the waiting positions thereof, and the clock values of the robots located in the respective positions during the drive operation. During the drive of the system, the system clock is advanced by adding a predetermined increment value thereto, and the respective robots held under the enabling condition, start the operations by advancing the robot clocks by adding the same increment value as that of the system clock.

摘要翻译： 一种工业机器人系统，包括用于彼此协作进行工作的多个机器人。 在系统中提供系统时钟，在相应的机器人中提供时钟。 这些时钟在相同的周期时间被计数，并且被设置为作为其等待位置的各个机器人的原点以及在驱动操作期间位于各个位置的机器人的时钟值。 在系统的驱动期间，通过向其中添加预定的增量值，并且保持在使能条件下的相应机器来启动系统时钟，通过将与机器人时钟相同的增量值与系统时钟相加来启动机器人时钟 。

公开(公告)号：US5084826A

公开(公告)日：1992-01-28

申请号：US557074

申请日：1990-07-25

申请人： Kazuo Hariki ,  Tatsuya Koizumi ,  Kazuya Ishiguro ,  Kiyoshi Kanitani ,  Masaki Togitani ,  Kazuyuki Doi ,  Shin-ichi Izumisawa

发明人： Kazuo Hariki ,  Tatsuya Koizumi ,  Kazuya Ishiguro ,  Kiyoshi Kanitani ,  Masaki Togitani ,  Kazuyuki Doi ,  Shin-ichi Izumisawa

IPC分类号： B25J19/06 ,  B25J9/18 ,  G05B19/18 ,  G05B19/4155 ,  G05B19/418 ,  G05B19/42

CPC分类号： G05B19/41815 ,  Y02P90/08

摘要： An industrial robot system comprising a single working machine, and a plurality of robots arranged so as to transfer a work to and from this working machine. The operation of these robots and the working machine is controlled by a single control unit, and the operation of all the robots is controlled in a realtime manner in synchronism with the operation of the working machine, thereby ensuring the smooth operation of the overall system while obviating waiting time of each robot and the working machine without using a conventional mutual interlock system. The control unit is set so that clocks of the robots and the working machine and the system clock are counted up in the same cycle time, simultaneously therewith the original point clock value of the robot or the working machine located on the most upstream side of the system is set as the original clock value of the system, and each of the robots and the working machine is operated as the count of the system clock reaches the original clock value of the robot on the working machine.

摘要翻译： 一种工业机器人系统，包括单个工作机器和多个机器人，其布置成将工件传送到该工作机器和从该工作机器传送工件。 这些机器人和作业机器的操作由单个控制单元控制，并且与作业机器的操作同步地实时地控制所有机器人的操作，从而确保整个系统的平稳运行，同时 无需使用传统的互锁系统，无需每台机器人和作业机器的等待时间。 控制单元被设置为使得机器人，工作机器和系统时钟的时钟在相同的周期时间内被计数，同时机器人或位于最上游侧的工作机器的原点时钟值 系统设置为系统的原始时钟值，并且每个机器人和工作机器都作为系统时钟的计数达到机器人在工作机器上的原始时钟值。