公开(公告)号：US20120323358A1

公开(公告)日：2012-12-20

申请号：US13337818

申请日：2011-12-27

申请人： Tetsuro IZUMI ,  Kenichi KOYANAGI ,  Kenji MATSUKUMA ,  Yukio HASHIGUCHI

发明人： Tetsuro IZUMI ,  Kenichi KOYANAGI ,  Kenji MATSUKUMA ,  Yukio HASHIGUCHI

IPC分类号： G06F7/00

CPC分类号： G06K9/34

摘要： A picking system includes a conveyer, a robot, a main camera, and a control device. The conveyer conveys workpieces. The robot performs a holding operation and a moving operation on the workpieces. The main camera captures the transport path of the conveyer. The control device detects the workpiece on the basis of the image captured by the main camera and instructs the robot to perform the holding operation on the detected workpiece. Moreover, the control device instructs the robot to perform the holding operation on the overlapped workpieces when the overlapping of the workpieces is detected.

摘要翻译： 拾取系统包括输送机，机器人，主摄像机和控制装置。 输送机输送工件。 机器人对工件执行保持操作和移动操作。 主相机捕获输送机的输送路径。 控制装置基于由主摄像机拍摄的图像来检测工件，并指示机器人对检测到的工件执行保持操作。 此外，当检测到工件的重叠时，控制装置指示机器人对重叠的工件进行保持操作。

公开(公告)号：US20120323357A1

公开(公告)日：2012-12-20

申请号：US13338169

申请日：2011-12-27

申请人： Tetsuro IZUMI ,  Kenichi KOYANAGI ,  Kenji MATSUKUMA ,  Yukio HASHIGUCHI

发明人： Tetsuro IZUMI ,  Kenichi KOYANAGI ,  Kenji MATSUKUMA ,  Yukio HASHIGUCHI

IPC分类号： G06F7/00

CPC分类号： G05B19/4182 ,  B25J9/1697 ,  Y02P90/083

摘要： A picking system includes a conveyer, a robot, and a control device. The conveyer conveys workpieces. The robot includes a plurality of holding parts and a supporting part. The holding parts hold the workpieces. The supporting part is rotatably provided against an arm to support the plurality of holding parts. Then, the control device instructs the robot to rotate the supporting part by a predetermined amount in such a manner that the direction of the workpiece becomes a predetermined direction for each the workpiece held by the holding parts and then to place the workpiece on a predetermined place.

摘要翻译： 拾取系统包括输送机，机器人和控制装置。 输送机输送工件。 机器人包括多个保持部和支撑部。 夹持件夹持工件。 支撑部分可旋转地设置成抵靠臂以支撑多个保持部。 然后，控制装置指示机器人使支撑部旋转预定量，使得对于由保持部保持的每个工件，工件的方向成为预定方向，然后将工件放置在预定位置 。

公开(公告)号：US20120210816A1

公开(公告)日：2012-08-23

申请号：US13304307

申请日：2011-11-24

申请人： Tetsuro IZUMI

发明人： Tetsuro IZUMI

IPC分类号： B25J18/00 ,  H02K11/00

CPC分类号： B25J9/1005 ,  B25J9/1641 ,  G05B2219/37297 ,  G05B2219/37356 ,  G05B2219/41398 ,  Y10T74/20305 ,  Y10T74/20317

摘要： A robot according to the embodiment includes a motor, a speed reducer that transmits a driving force of the motor to a link, and a detecting unit that detects a rotation angle of an output shaft of the speed reducer, and the detecting unit is connected to the output shaft of the speed reducer via a shaft coupling.

摘要翻译： 根据本实施例的机器人包括电动机，将电动机的驱动力传递到链路的减速器以及检测减速器的输出轴的旋转角度的检测单元，并且检测单元连接到 减速机的输出轴通过联轴器。

公开(公告)号：US20120215353A1

公开(公告)日：2012-08-23

申请号：US13333858

申请日：2011-12-21

申请人： Tetsuro IZUMI ,  Tomohiro Matsuo

发明人： Tetsuro IZUMI ,  Tomohiro Matsuo

IPC分类号： G05B19/04

CPC分类号： B25J9/1641

摘要： A robot system according to embodiments includes a position command generating unit that corrects a position command of a motor based on a rotation angle of the motor, which drives a link of a robot via a speed reducer, and a rotation angle of an output shaft of the speed reducer.

摘要翻译： 根据实施例的机器人系统包括：位置指令生成单元，其基于通过减速器驱动机器人的连杆的马达的旋转角度以及输出轴的旋转角度来校正马达的位置指令 减速机。

公开(公告)号：US20110304858A1

公开(公告)日：2011-12-15

申请号：US13048906

申请日：2011-03-16

申请人： Tetsuro IZUMI ,  Dai Kouno

发明人： Tetsuro IZUMI ,  Dai Kouno

IPC分类号： G01B11/14

CPC分类号： G05D1/024 ,  G05D1/0253 ,  G05D2201/0216

摘要： A movable body system includes a movable body to which an image pickup apparatus is attached; an image analyzer that performs image matching between the image captured by the image pickup apparatus and an image, which is previously captured on the travel path of the movable body; a wall-surface detector that detects directions of the movable body with respect to wall surfaces, which are arranged along the travel path, and distances between the wall surfaces and the movable body; and a traveling-direction calculator that detects a shift of the movable body with respect to the travel path from an output of the image analyzer or the wall-surface detector, and calculates a traveling direction to cause the movable body to travel on the travel path.

摘要翻译： 可移动体系包括附着有摄像装置的移动体; 图像分析器，其执行由图像拾取装置拍摄的图像与先前在可移动体的行进路径上捕获的图像之间的图像匹配; 壁表面检测器，其检测可移动体相对于沿着行进路径布置的壁表面的方向以及壁表面和可移动体之间的距离; 以及行进方向计算器，其从图像分析器或壁面检测器的输出检测可移动体相对于行进路径的偏移，并且计算行进方向以使可移动体在行进路径上行进 。

公开(公告)号：US20090230912A1

公开(公告)日：2009-09-17

申请号：US12472284

申请日：2009-05-26

申请人： Nobuhiro UMEDA ,  Tetsuro IZUMI

发明人： Nobuhiro UMEDA ,  Tetsuro IZUMI

IPC分类号： G05B5/01

CPC分类号： G05B13/042 ,  G05B17/02 ,  H02P23/0004

摘要： A motor controller includes a command part that generates a command signal, a control part that drives a control object through an output filter when the command signal is input, an operating amount detector that detects an operating amount of the control object, a frequency response characteristic measurement part that generates an open loop frequency response characteristic on the basis of the command signal and the operating amount, a model calculation part that simulates a frequency characteristic of the output filter, and a display that displays the add result of an amplitude characteristic of the frequency characteristic of the frequency response characteristic measurement part and an amplitude characteristic of the frequency characteristic of the model calculation part.

摘要翻译： 电动机控制器包括产生命令信号的指令部分，当输入命令信号时通过输出滤波器驱动控制对象的控制部分，检测控制对象的操作量的操作量检测器，频率响应特性 测量部分，其基于命令信号和操作量产生开环频率响应特性，模拟计算部分，其模拟输出滤波器的频率特性;以及显示器，显示所述输出滤波器的振幅特性的相加结果 频率响应特性测量部分的频率特性和模型计算部分的频率特性的振幅特性。