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公开(公告)号：US09008841B2
公开(公告)日：2015-04-14
申请号：US13392299
申请日：2010-08-26
CPC分类号： B25J9/1697 , B25J9/1687 , G05B2219/40035 , G05B2219/40053 , G05B2219/40537 , G05B2219/40583
摘要： A robot system (10) for picking parts (41) from a bin (40) uses the image from one or more cameras (38) to determine if the robot gripper (24) has picked one part or more than one part and uses one or more images from one or more cameras (38) to determine the position/orientation of a picked part. If the robot (12) has picked more than one part from the bin (40) then attempt is made to return the excess picked parts to the bin (40). The position/orientation of a picked part that does not meet a predetermined criteria is changed.
摘要翻译： 用于从垃圾箱（40）拾取部件（41）的机器人系统（10）使用来自一个或多个照相机（38）的图像来确定机器人夹持器（24）是否拾取了一部分或多于一个部分，并且使用一个 或更多的图像从一个或多个照相机（38）确定所拾取的部分的位置/取向。 如果机器人（12）已经从容器（40）拾取多于一个部件，则尝试将多余的拾取部件返回到料仓（40）。 改变不符合预定标准的拾取部件的位置/方位。
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公开(公告)号：US20140052295A1
公开(公告)日：2014-02-20
申请号：US14067549
申请日：2013-10-30
IPC分类号： B25J9/16
CPC分类号： B25J9/1694 , B25J9/1687 , B25J13/085 , B25J15/0019 , B25J15/0052 , B25J15/04 , B25J17/0208 , G05B2219/39574 , G05B2219/40035 , G05B2219/40053 , G05B2219/40537 , Y10T74/20329
摘要： A robot is used to pick parts from a bin. The robot has a compliant apparatus and one or more tools are connected to the apparatus to perform the picking. The compliant apparatus has mechanisms for monitoring and/or controlling its compliance. The compliant apparatus can have various embodiments. Force sensing can be used during removal of grasped parts from the bin to determine the force exerted on the picking tool(s). The signal indicative of the exerted force can be used by the robot controller to determine the weight of the parts that may be held by the picking tool(s). The robot has one or more devices which can be the picking tool to stir the parts in the bin.
摘要翻译： 机器人用于从垃圾桶中取出零件。 机器人具有柔性装置，并且一个或多个工具连接到该装置以执行拾取。 合规装置具有用于监视和/或控制其顺从性的机构。 兼容装置可以具有各种实施例。 在从仓中取出抓取的零件时可以使用力传感来确定施加在拾取工具上的力。 指示施加的力的信号可以由机器人控制器用于确定可由拾取工具保持的部件的重量。 机器人具有一个或多个装置，其可以是拾取工具来搅动箱中的部件。
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公开(公告)号：US20110223000A1
公开(公告)日：2011-09-15
申请号：US13061342
申请日：2008-08-29
申请人： Carlos Martinez , Thomas A. Fuhlbrigge , William Eakins , Heping Chen , Gregory Rossano , Steven West
发明人： Carlos Martinez , Thomas A. Fuhlbrigge , William Eakins , Heping Chen , Gregory Rossano , Steven West
CPC分类号： B25J9/1687 , B23P19/007 , B25J13/085 , G05B2219/40035 , G05B2219/40053 , G05B2219/40537
摘要： A robot is used to pick parts from a bin. The robot has a compliant apparatus and one or more tools are connected to the apparatus to perform the picking. The compliant apparatus has mechanisms for monitoring and/or controlling its compliance. The compliant apparatus can have various embodiments. Force sensing can be used during removal of grasped parts from the bin to determine the force exerted on the picking tool(s). The signal indicative of the exerted force can be used by the robot controller to determine the weight of the parts that may be held by the picking tool(s). The robot has one or more devices which can be the picking tool to stir the parts in the bin.
摘要翻译： 机器人用于从垃圾桶中取出零件。 机器人具有柔性装置，并且一个或多个工具连接到该装置以执行拾取。 合规装置具有用于监视和/或控制其顺从性的机构。 兼容装置可以具有各种实施例。 在从仓中取出抓取的零件时可以使用力传感来确定施加在拾取工具上的力。 指示施加的力的信号可以由机器人控制器用于确定可由拾取工具保持的部件的重量。 机器人具有一个或多个装置，其可以是拾取工具来搅动箱中的部件。
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公开(公告)号：US09079308B2
公开(公告)日：2015-07-14
申请号：US13061342
申请日：2008-08-29
申请人： Carlos Martinez , Thomas A. Fuhlbrigge , William Eakins , Heping Chen , Gregory Rossano , Steven West
发明人： Carlos Martinez , Thomas A. Fuhlbrigge , William Eakins , Heping Chen , Gregory Rossano , Steven West
CPC分类号： B25J9/1687 , B23P19/007 , B25J13/085 , G05B2219/40035 , G05B2219/40053 , G05B2219/40537
摘要： A robot is used to pick parts from a bin. The robot has a compliant apparatus and one or more tools are connected to the apparatus to perform the picking. The compliant apparatus has mechanisms for monitoring and/or controlling its compliance. The compliant apparatus can have various embodiments. Force sensing can be used during removal of grasped parts from the bin to determine the force exerted on the picking tool(s). The signal indicative of the exerted force can be used by the robot controller to determine the weight of the parts that may be held by the picking tool(s). The robot has one or more devices which can be the picking tool to stir the parts in the bin.
摘要翻译： 机器人用于从垃圾桶中取出零件。 机器人具有柔性装置，并且一个或多个工具连接到该装置以执行拾取。 合规装置具有用于监视和/或控制其顺从性的机构。 兼容装置可以具有各种实施例。 在从仓中取出抓取的零件时可以使用力传感来确定施加在拾取工具上的力。 指示施加的力的信号可以由机器人控制器用于确定可由拾取工具保持的部件的重量。 机器人具有一个或多个装置，其可以是拾取工具来搅动箱中的部件。
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公开(公告)号：US08606398B2
公开(公告)日：2013-12-10
申请号：US13061245
申请日：2008-08-29
IPC分类号： G06F19/00
CPC分类号： B25J9/1694 , B25J9/1687 , B25J13/085 , B25J15/0019 , B25J15/0052 , B25J15/04 , B25J17/0208 , G05B2219/39574 , G05B2219/40035 , G05B2219/40053 , G05B2219/40537 , Y10T74/20329
摘要： A robot (12) is used to pick parts from a bin (40 in FIG. 1). The robot has a compliant apparatus (42) and one or more tools are connected to the apparatus to perform the picking. The compliant apparatus has mechanisms for monitoring and/or controlling its compliance. The compliant apparatus can have various embodiments. Force sensing can be used during removal of grasped parts from the bin to determine the force exerted on the picking tool (s). The signal indicative of the exerted force can be used by the robot controller to determine the weight of the parts that may be held by the picking tool(s). The robot has one or more devices (FIG. 16, 17) which can be the picking tool to stir the parts in the bin.
摘要翻译： 机器人（12）用于从箱（图1中的40）拾取零件。 机器人具有柔性装置（42），并且一个或多个工具连接到装置以执行拾取。 合规装置具有用于监视和/或控制其顺从性的机构。 兼容装置可以具有各种实施例。 在从仓中取出抓取的零件时可以使用力传感来确定施加在拾取工具上的力。 指示施加的力的信号可以由机器人控制器用于确定可由拾取工具保持的部件的重量。 机器人具有一个或多个装置（图16,17），其可以是拾取工具以搅拌箱中的部件。
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公开(公告)号：US20110211938A1
公开(公告)日：2011-09-01
申请号：US13061245
申请日：2008-08-29
CPC分类号： B25J9/1694 , B25J9/1687 , B25J13/085 , B25J15/0019 , B25J15/0052 , B25J15/04 , B25J17/0208 , G05B2219/39574 , G05B2219/40035 , G05B2219/40053 , G05B2219/40537 , Y10T74/20329
摘要： A robot (12) is used to pick parts from a bin (40 in FIG. 1). The robot has a compliant apparatus (42) and one or more tools are connected to the apparatus to perform the picking. The compliant apparatus has mechanisms for monitoring and/or controlling its compliance. The compliant apparatus can have various embodiments. Force sensing can be used during removal of grasped parts from the bin to determine the force exerted on the picking tool (s). The signal indicative of the exerted force can be used by the robot controller to determine the weight of the parts that may be held by the picking tool(s). The robot has one or more devices (FIG. 16, 17) which can be the picking tool to stir the parts in the bin.
摘要翻译： 机器人（12）用于从箱（图1中的40）拾取零件。 机器人具有柔性装置（42），并且一个或多个工具连接到装置以执行拾取。 合规装置具有用于监视和/或控制其顺从性的机构。 兼容装置可以具有各种实施例。 在从仓中取出抓取的零件时可以使用力传感来确定施加在拾取工具上的力。 指示施加的力的信号可以由机器人控制器用于确定可由拾取工具保持的部件的重量。 机器人具有一个或多个装置（图16,17），其可以是拾取工具以搅拌箱中的部件。
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公开(公告)号：US09126336B2
公开(公告)日：2015-09-08
申请号：US14067549
申请日：2013-10-30
CPC分类号： B25J9/1694 , B25J9/1687 , B25J13/085 , B25J15/0019 , B25J15/0052 , B25J15/04 , B25J17/0208 , G05B2219/39574 , G05B2219/40035 , G05B2219/40053 , G05B2219/40537 , Y10T74/20329
摘要： A robot is used to pick parts from a bin. The robot has a compliant apparatus and one or more tools are connected to the apparatus to perform the picking. The compliant apparatus has mechanisms for monitoring and/or controlling its compliance. The compliant apparatus can have various embodiments. Force sensing can be used during removal of grasped parts from the bin to determine the force exerted on the picking tool(s). The signal indicative of the exerted force can be used by the robot controller to determine the weight of the parts that may be held by the picking tool(s). The robot has one or more devices which can be the picking tool to stir the parts in the bin.
摘要翻译： 机器人用于从垃圾桶中取出零件。 机器人具有柔性装置，并且一个或多个工具连接到该装置以执行拾取。 合规装置具有用于监视和/或控制其顺从性的机构。 兼容装置可以具有各种实施例。 在从仓中取出抓取的零件时可以使用力传感来确定施加在拾取工具上的力。 指示施加的力的信号可以由机器人控制器用于确定可由拾取工具保持的部件的重量。 机器人具有一个或多个装置，其可以是拾取工具来搅动箱中的部件。
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公开(公告)号：US08862269B2
公开(公告)日：2014-10-14
申请号：US13061437
申请日：2008-08-29
申请人： Carlos Martinez , Thomas A. Fuhlbrigge , William Eakins , Heping Chen , Gregory Rossano , Steven West
发明人： Carlos Martinez , Thomas A. Fuhlbrigge , William Eakins , Heping Chen , Gregory Rossano , Steven West
CPC分类号： B25J9/1687 , B25J9/1697 , B25J13/08 , G05B2219/40035 , G05B2219/40053 , G05B2219/40537
摘要： A robot for picking one or more parts (41) randomly distributed in a bin (40), this robot comprising a moveable arm (16a, 16b), a computing device (14) connected to said robot for controlling motion of said moveable arm and a tool (24) connected to said moveable arm for picking one or more of said parts from said bin,—said robot using said picking tool by itself or another tool (96, 98) mounted on the robot or grasped by the picking tool to stir one or more of said one or more randomly distributed parts in said bin when said computing device determines that a predetermined event requiring stirring of said parts has occurred.
摘要翻译： 一种用于拾取随机分布在箱体（40）中的一个或多个部件（41）的机器人，该机器人包括可动臂（16a，16b），连接到所述机器人的计算装置（14），用于控制所述可动臂的运动， 连接到所述可移动臂的工具（24），用于从所述仓拾取一个或多个所述部件， - 使用所述拾取工具自身或由安装在所述机器人上或由所述拾取工具抓握的另一工具（96,98）来使用所述拾取工具 当所述计算装置确定发生需要搅拌所述部件的预定事件时，将所述一个或多个随机分布的部件中的一个或多个随机分布的部分搅拌。
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公开(公告)号：US20110223001A1
公开(公告)日：2011-09-15
申请号：US13061437
申请日：2008-08-29
申请人： Carlos Martinez , Thomas A. Fuhlbrigge , William Eakins , Heping Chen , Gregory Rossano , Steven West
发明人： Carlos Martinez , Thomas A. Fuhlbrigge , William Eakins , Heping Chen , Gregory Rossano , Steven West
CPC分类号： B25J9/1687 , B25J9/1697 , B25J13/08 , G05B2219/40035 , G05B2219/40053 , G05B2219/40537
摘要： A robot for picking one or more parts (41) randomly distributed in a bin (40), this robot comprising a moveable arm (16a, 16b), a computing device (14) connected to said robot for controlling motion of said moveable arm and a tool (24) connected to said moveable arm for picking one or more of said parts from said bin,—said robot using said picking tool by itself or another tool (96, 98) mounted on the robot or grasped by the picking tool to stir one or more of said one or more randomly distributed parts in said bin when said computing device determines that a predetermined event requiring stirring of said parts has occurred.
摘要翻译： 一种用于拾取随机分布在箱体（40）中的一个或多个部件（41）的机器人，该机器人包括可动臂（16a，16b），连接到所述机器人的计算装置（14），用于控制所述可动臂的运动， 连接到所述可移动臂的工具（24），用于从所述仓拾取一个或多个所述部件， - 使用所述拾取工具自身或由安装在所述机器人上或由所述拾取工具抓握的另一工具（96,98）来使用所述拾取工具 当所述计算装置确定发生需要搅拌所述部件的预定事件时，将所述一个或多个随机分布的部件中的一个或多个随机分布的部分搅拌。
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10.发明授权System and method for detection of open connections between an integrated circuit and a multi-cell battery pack 有权用于检测集成电路和多单元电池组之间的开路连接的系统和方法公开(公告)号：US08797043B2
公开(公告)日：2014-08-05
申请号：US13174040
申请日：2011-06-30
申请人： Edgardo Laber , Anthony Allen , Carlos Martinez
发明人： Edgardo Laber , Anthony Allen , Carlos Martinez
CPC分类号： G01R31/026 , G01R31/043 , G01R31/3658
摘要： An apparatus comprises an integrated circuit and an open connection detection circuit within the integrated circuit. The integrated circuit includes a plurality of inputs for connecting with a plurality of outputs of a multi-cell battery pack. The open connection detection circuit within the integrated circuit detects an open connection on at least one of the plurality of inputs from the multi-cell battery and generates a fault condition responsive thereto.
摘要翻译： 一种装置包括集成电路内的集成电路和开路连接检测电路。 集成电路包括用于与多单元电池组的多个输出连接的多个输入。 集成电路内的开路连接检测电路检测来自多单元电池的多个输入中的至少一个上的开路连接，并响应于此产生故障状态。
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