公开(公告)号：US11607803B2

公开(公告)日：2023-03-21

申请号：US17295681

申请日：2019-10-04

申请人： THK CO., LTD.

发明人： Toshiya Watanabe ,  Yoshikazu Matsuo ,  Shinji Kawabata ,  Yoshimasa Endo ,  Kenji Hidaka ,  Daisuke Kawabata

IPC分类号： B25J9/16 ,  B25J13/08 ,  B25J15/08 ,  G06V20/10

摘要： An object of the present invention is to ascertain parts of an object that are approachable by finger portions of a hand mechanism. In an image information processing device, a housing container is retrieved from an image by using a first retrieval frame, and an object is retrieved from the image by using a second retrieval frame. A plurality of determination points are set in advance on the second retrieval frame, and a predetermined approach direction is set for each determination point. A determination is then made as to whether or not the finger portions of the hand mechanism can be caused to approach parts of one object, existing within the second retrieval frame, that correspond respectively to the determination points set on the second retrieval frame from the predetermined approach directions set in relation to the determination points.

公开(公告)号：US11298818B2

公开(公告)日：2022-04-12

申请号：US16612514

申请日：2018-05-15

申请人： THK CO., LTD.

发明人： Shinji Kawabata ,  Yoshikazu Matsuo ,  Yuki Nomura ,  Toshiya Watanabe

IPC分类号： B25J9/16 ,  B25J15/00

摘要： A gripping system for gripping an object using a hand mechanism having at least two finger portions includes a specification unit that specifies a contactable portion and an unexposed portion, the contactable portion being a portion of the object that can be contacted by at least a first finger portion constituting one of the finger portions and the unexposed portion being a portion that is not exposed at the time of the determination, a first operation control unit that exposes the unexposed portion of the object, and a second operation control unit that grips the object in a state where the unexposed portion is exposed by bringing the first finger portion or the second finger portion into contact with the unexposed portion and bringing a finger portion other than the finger portion contacting the unexposed portion into contact with a predetermined surface of the object other than the unexposed portion.

公开(公告)号：US20220009092A1

公开(公告)日：2022-01-13

申请号：US17295681

申请日：2019-10-04

申请人： THK CO., LTD.

发明人： Toshiya Watanabe ,  Yoshikazu Matsuo ,  Shinji Kawabata ,  Yoshimasa Endo ,  Kenji Hidaka ,  Daisuke Kawabata

IPC分类号： B25J9/16 ,  B25J13/08 ,  G06K9/00

摘要： An object of the present invention is to ascertain parts of an object that are approachable by finger portions of a hand mechanism. In an image information processing device, a housing container is retrieved from an image by using a first retrieval frame, and an object is retrieved from the image by using a second retrieval frame. A plurality of determination points are set in advance on the second retrieval frame, and a predetermined approach direction is set for each determination point. A determination is then made as to whether or not the finger portions of the hand mechanism can be caused to approach parts of one object, existing within the second retrieval frame, that correspond respectively to the determination points set on the second retrieval frame from the predetermined approach directions set in relation to the determination points.

公开(公告)号：US20200171652A1

公开(公告)日：2020-06-04

申请号：US16613235

申请日：2018-05-15

申请人： THK CO., LTD.

发明人： Shinji Kawabata ,  Yoshimasa Endo ,  Fumiya Koizumi ,  Yoshikazu Matsuo ,  Yuki Nomura ,  Toshiya Watanabe ,  Kenji Hidaka

IPC分类号： B25J9/10 ,  B25J15/00 ,  B25J19/02 ,  B25J15/10 ,  B25J15/12 ,  B25J15/08

摘要： A hand mechanism grips an object more favorably, regardless of the attitude and surrounding conditions of the object. When an object is to be gripped by a hand mechanism having three or more finger portions, at least one finger portion among the three or more finger portions functions as a state-altering finger portion for altering the attitude or the position of the object while contacting the object, and at least two finger portions among the finger portions other than the finger portion functioning as the state-altering finger portion function as gripping finger portions for gripping the object in a state where the attitude or the position has been altered by the state-altering finger portion.