公开(公告)号：US08315735B2

公开(公告)日：2012-11-20

申请号：US12694201

申请日：2010-01-26

申请人： Ryo Nihei ,  Shinsuke Sakakibara ,  Kazunori Ban ,  Masahiro Morioka ,  Satoshi Adachi ,  Shouta Takizawa

发明人： Ryo Nihei ,  Shinsuke Sakakibara ,  Kazunori Ban ,  Masahiro Morioka ,  Satoshi Adachi ,  Shouta Takizawa

IPC分类号： G06F19/00

CPC分类号： B25J9/1676 ,  F16P1/00 ,  G05B2219/40203

摘要： A production system in which a human and a robot may simultaneously perform a cooperative task in the same area while ensuring human's safety. A robot is positioned at one side of a working table, and an operator is positioned at the other side of the working table. The reachable area of the operator is limited by the working table. An area of the working table is divided into an area where only the operator may perform a task, an area where only the robot may perform a task, and an area where both the operator and the robot may enter. In a cooperation mode, the maximum movement speed of a component of the robot is limited lower than when the component of the robot is outside the cooperative task area, and, the motion of the robot is limited so that the robot does not enter a robot entry-prohibited area.

摘要翻译： 人和机器人可以同时在同一地区执行合作任务同时确保人的安全的生产系统。 机器人位于工作台的一侧，操作者位于工作台的另一侧。 操作员的可达区域受工作台的限制。 工作台的区域被划分为仅操作者可以执行任务的区域，仅机器人可以执行任务的区域以及操作者和机器人可以进入的区域。 在协作模式中，机器人的部件的最大移动速度被限制在比机器人的部件在协作任务区域之外的最小移动速度，并且机器人的运动受到限制，使得机器人不进入机器人 入境禁区。

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。

公开(公告)号：US08098928B2

公开(公告)日：2012-01-17

申请号：US12057423

申请日：2008-03-28

申请人： Kazunori Ban ,  Ichiro Kanno ,  Hidetoshi Kumiya ,  Shouta Takizawa

发明人： Kazunori Ban ,  Ichiro Kanno ,  Hidetoshi Kumiya ,  Shouta Takizawa

IPC分类号： G06K9/00

CPC分类号： B25J9/1697 ,  G06T1/0007 ,  G06T7/13 ,  G06T7/75 ,  G06T7/77 ,  G06T2207/30164 ,  G06T2207/30248

摘要： An apparatus for picking up objects including a robot for picking up an object, at least one part of the object having a curved shape, having a storing means for storing a gray gradient distribution model of the object, a recognizing means for recognizing a gray image of the object, a gradient extracting means for extracting a gray gradient distribution from the gray image recognized by the recognizing means, an object detecting means for detecting a position or position posture of the object in the gray image in accordance with the gray gradient distribution extracted by the gradient extracting means and the gray gradient distribution model stored by the storing means, a detection information converting means for converting information of the position or position posture detected by the object detecting means into information of position or position posture in a coordinate system regarding the robot; and a robot moving means for moving the robot to the position or position posture converted by the detection information converting means to pick up the object. Thus, the object having a curved shape can be detected and picked up in a reasonably short period of time.

摘要翻译： 一种用于拾取物体的装置，包括用于拾取物体的机器人，具有弯曲形状的物体的至少一部分具有用于存储物体的灰度梯度分布模型的存储装置，用于识别灰色图像的识别装置 的梯度提取装置，用于从由识别装置识别的灰度图像中提取灰度梯度分布;对象检测装置，用于根据提取的灰度梯度分布来检测灰色图像中的对象的位置或位置姿势; 通过由存储装置存储的梯度提取装置和灰度梯度分布模型，检测信息转换装置，用于将由对象检测装置检测到的位置或位置姿势的信息转换成关于坐标系的位置或位置姿势的信息 机器人; 以及机器人移动装置，用于将机器人移动到由检测信息转换装置转换的位置或位置姿势以拾取对象。 因此，可以在相当短的时间段内检测和拾取具有弯曲形状的物体。

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：US07445260B2

公开(公告)日：2008-11-04

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： B25J13/08 ,  B25J15/08

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：US07996114B2

公开(公告)日：2011-08-09

申请号：US11802823

申请日：2007-05-25

申请人： Kazunori Ban ,  Keisuke Watanabe

发明人： Kazunori Ban ,  Keisuke Watanabe

IPC分类号： G06K9/00 ,  G05B15/00 ,  B66C1/42

CPC分类号： B25J9/1697 ,  G05B2219/37555 ,  G05B2219/40053

摘要： A workpiece picking device and method for reducing the cycle time of a picking operation of workpieces, by omitting or reducing the movement of a robot manipulator when an image of the workpieces is captured. An image processor of the picking device includes a camera controlling part for reading image data from a camera, a memory for storing the image data, a workpiece detecting part for extracting one or more images from the memory and detecting one or more workpieces in the image, and a workpiece selecting part for selecting a workpiece to be picked among the workpieces detected by the workpiece detecting part. The image processor further includes a stacked condition judging part for determining whether the condition of the stacked workpieces in a container is changed.

摘要翻译： 一种用于通过省略或减少当工件的图像被捕获时机器人操纵器的移动来减少工件的拾取操作的循环时间的工件拾取装置和方法。 拾取装置的图像处理器包括用于从相机读取图像数据的相机控制部分，用于存储图像数据的存储器，用于从存储器中提取一个或多个图像的工件检测部分，以及检测图像中的一个或多个工件 以及工件选择部，用于选择由工件检测部检测出的工件之间要被拾取的工件。 图像处理器还包括堆叠状态判断部，用于确定容器中堆叠的工件的状态是否改变。

公开(公告)号：US07957580B2

公开(公告)日：2011-06-07

申请号：US11669477

申请日：2007-01-31

申请人： Kazunori Ban ,  Fumikazu Warashina ,  Keisuke Watanabe

发明人： Kazunori Ban ,  Fumikazu Warashina ,  Keisuke Watanabe

IPC分类号： G06K9/00

CPC分类号： B25J9/1697 ,  G05B2219/37555 ,  G05B2219/40053

摘要： A workpiece picking device capable of correctly detecting the size of a workpiece. The picking device has a robot capable of picking the same kind of workpieces contained in a work container, a robot controller for controlling the robot, a video camera positioned above the work container so as to widely image the workpieces and an image processor for processing an image obtained by the video camera. The three-dimensional position and posture of each workpiece is measured by a three-dimensional vision sensor arranged on a wrist element of the robot.

摘要翻译： 能够正确地检测工件的尺寸的工件拾取装置。 拾取装置具有能够拾取包含在工作容器中的相同种类的工件的机器人，用于控制机器人的机器人控制器，位于工作容器上方的摄像机，以便广泛地对工件进行成像以及用于处理工件的图像处理器 由摄像机获得的图像。 每个工件的立体位置和姿势通过布置在机器人腕部上的三维视觉传感器来测量。

公开(公告)号：US07590468B2

公开(公告)日：2009-09-15

申请号：US10952101

申请日：2004-09-29

申请人： Atsushi Watanabe ,  Kazunori Ban ,  Ichiro Kanno

发明人： Atsushi Watanabe ,  Kazunori Ban ,  Ichiro Kanno

IPC分类号： G05B19/00

CPC分类号： G05B19/4069 ,  B25J9/1664 ,  B25J9/1674 ,  G05B2219/37555 ,  G05B2219/40053 ,  G05B2219/40125 ,  G05B2219/40213

摘要： A robot system can grasp and take out one of a plurality of workpieces placed in a basket-like container by a hand mounted at the forward end of a robot arm. The workpiece is detected by a visual sensor, and the robot is controlled depending on a position and an orientation of the workpiece. When a problem such as interference or the like occurs, information relating to the problem is stored in a robot control unit or a visual sensor control unit. Information relating to the problem includes a predetermined amount of the latest data retrospectively traced from the time point of problem occurrence, a position which the robot has reached, the target position data, the content of the process executed by the visual sensor, and the detection result. When the problem is reproduced, these data are used to simulate the situation at the time of problem occurrence by using simulation unit. The situation at the time of problem occurrence can also be reproduced by using the actual robot without using the simulation unit.

摘要翻译： 机器人系统可以通过安装在机器人臂的前端的手抓住并取出放置在篮状容器中的多个工件中的一个。 通过视觉传感器检测工件，根据工件的位置和方向来控制机器人。 当发生诸如干扰等的问题时，与问题有关的信息存储在机器人控制单元或视觉传感器控制单元中。 与问题有关的信息包括从问题发生的时间点，机器人到达的位置，目标位置数据，由视觉传感器执行的处理的内容以及检测的追溯地追溯的预定量的最新数据 结果。 当问题复制时，这些数据用于通过使用模拟单元来模拟出现问题时的情况。 发生问题时的情况也可以通过使用实际的机器人而不使用模拟单元来再现。

公开(公告)号：US07534077B2

公开(公告)日：2009-05-19

申请号：US11204225

申请日：2005-08-16

申请人： Kazunori Ban ,  Takashi Sato ,  Kokoro Hatanaka

发明人： Kazunori Ban ,  Takashi Sato ,  Kokoro Hatanaka

IPC分类号： B23C1/00

CPC分类号： G05B19/4163 ,  Y02P90/265 ,  Y10T409/30084 ,  Y10T409/301792 ,  Y10T409/303472 ,  Y10T409/304256

摘要： A surface of a workpiece is traced when a machining tool is pressed onto the surface of the workpiece under force control so as to find the positional data of the surface shape. This positional data is corrected by an error caused by a bend of a robot. The positional data is compared with the target shape of the surface, from which the burr is removed. A shift of the surface shape in the normal line direction is found. The burr generation start position, the burr generation end position and the height of the burr are found by the shift start position, the shift end position and the shift size. A machining program is made which is composed of a pass connecting the burr end position with the burr start position and also composed of a cutting pass for removing the burr, and the thus made machining program is executed. As the burr position is found and the burr is removed when the machining tool is moved to the burr position, the burr can be effectively removed.

摘要翻译： 当在力控制下将加工工具按压到工件的表面上时，跟踪工件的表面，以找到表面形状的位置数据。 该位置数据由机器人的弯曲引起的误差进行校正。 将位置数据与表面的目标形状进行比较，从中去除毛刺。 发现表面形状在法线方向的移动。 毛刺生成开始位置，毛刺生成结束位置和毛刺的高度由换档开始位置，换档结束位置和换档尺寸确定。 进行加工程序，该加工程序由将毛刺末端位置与毛刺起始位置连接起来的通路构成，并且还包括用于去除毛刺的切割道，并且由此制造的加工程序被执行。 当加工刀具移动到毛刺位置时，当发现毛刺位置并除去毛刺时，可以有效地去除毛刺。

公开(公告)号：US07532949B2

公开(公告)日：2009-05-12

申请号：US11034724

申请日：2005-01-14

申请人： Kazunori Ban ,  Makoto Yamada

发明人： Kazunori Ban ,  Makoto Yamada

IPC分类号： G06F15/16

CPC分类号： G01B21/042 ,  B25J19/023 ,  G01B11/005 ,  G05B2219/37555

摘要： A measuring system which can easily measure a three-dimensional position of a target to be measured using a light receiving device mounted to a manipulator of a robot. When the manipulator is positioned at a first position, a moving process for moving an image of the target imaged by the light receiving device or a camera to a center of a light receiving surface of the camera is executed. Next, the manipulator positioned at the first position is moved, without changing the orientation of the camera, to a second position where the distance between the camera and the target is different to that at the first position. After that, the moving process is executed again. Based on the position of the manipulator after the process, the orientation of a coordinate system Σv1 representing the direction of a visual line is calculated. Then, the manipulator is rotated by 180 degree about Z-axis of the coordinate system Σv1 and the moving process is executed again. A middle point of the positions of coordinate system Σv1 before and after movement of the manipulator is determined as an origin of a coordinate system Σv2 representing the orientation and the position of the visual line. The manipulator is inclined relative to Y-axis of the coordinate system Σv2 and the moving process is executed again, so as to calculate the three-dimensional position of the target.

摘要翻译： 一种测量系统，其可以使用安装到机器人的操纵器的光接收装置容易地测量要测量的目标的三维位置。 当操纵器位于第一位置时，执行用于将由光接收装置或照相机成像的目标的图像移动到相机的光接收表面的中心的移动处理。 接下来，将位于第一位置的操纵器移动到相机与目标之间的距离与第一位置不同的第二位置，而不改变相机的方位。 之后，再次执行移动处理。 基于处理之后的操纵器的位置，计算表示视线方向的坐标系Sigmav1的取向。 然后，将机械手绕坐标系Sigmav1的Z轴旋转180度，再次执行移动处理。 将坐标系Sigmav1在操纵器移动前后的位置的中点确定为表示视线的取向和位置的坐标系Sigmav2的原点。 操纵器相对于坐标系Sigmav2的Y轴倾斜，再次执行移动处理，以计算目标的三维位置。