公开(公告)号：US20130211593A1

公开(公告)日：2013-08-15

申请号：US13878321

申请日：2011-07-13

申请人： Yukiyasu Domae ,  Yasuo Kitaaki ,  Haruhisa Okuda ,  Kazuhiko Sumi

发明人： Yukiyasu Domae ,  Yasuo Kitaaki ,  Haruhisa Okuda ,  Kazuhiko Sumi

IPC分类号： B25J9/16

CPC分类号： B25J9/1612 ,  G05B2219/39543 ,  G05B2219/40053

摘要： A workpiece pick-up apparatus including: a hand for gripping a workpiece; a robot for bringing the hand into a desired gripping position or posture; a sensor for performing three-dimensional measurement of the workpiece to obtain workpiece measurement data; a storage medium for accumulating at least hand profile data; an information processing unit for calculating the gripping position or posture based on data from the sensor and data from the storage medium; and a control unit for controlling the robot based on the gripping position or posture calculated by the information processing unit. The information processing unit includes an optimum gripping candidate creating section for directly deriving the gripping position or posture based on the workpiece measurement data and the hand profile data.

摘要翻译： 一种工件拾取装置，包括：用于夹持工件的手; 用于使手进入期望的夹持位置或姿势的机器人; 用于对工件进行三维测量以获得工件测量数据的传感器; 用于累积至少手轮廓数据的存储介质; 信息处理单元，用于基于来自传感器的数据和来自存储介质的数据计算抓取位置或姿势; 以及控制单元，用于基于由信息处理单元计算出的夹持位置或姿势来控制机器人。 所述信息处理单元包括：最佳夹持候选生成部，其基于所述工件测定数据和所述手轮廓数据直接导出所述夹持位置或姿势。

公开(公告)号：US09089966B2

公开(公告)日：2015-07-28

申请号：US13878321

申请日：2011-07-13

申请人： Yukiyasu Domae ,  Yasuo Kitaaki ,  Haruhisa Okuda ,  Kazuhiko Sumi

发明人： Yukiyasu Domae ,  Yasuo Kitaaki ,  Haruhisa Okuda ,  Kazuhiko Sumi

IPC分类号： G05B15/00 ,  G05B19/00 ,  B25J9/16

CPC分类号： B25J9/1612 ,  G05B2219/39543 ,  G05B2219/40053

摘要： A workpiece pick-up apparatus including: a hand for gripping a workpiece; a robot for bringing the hand into a desired gripping position or posture; a sensor for performing three-dimensional measurement of the workpiece to obtain workpiece measurement data; a storage medium for accumulating at least hand profile data; an information processing unit for calculating the gripping position or posture based on data from the sensor and data from the storage medium; and a control unit for controlling the robot based on the gripping position or posture calculated by the information processing unit. The information processing unit includes an optimum gripping candidate creating section for directly deriving the gripping position or posture based on the workpiece measurement data and the hand profile data.

摘要翻译： 一种工件拾取装置，包括：用于夹持工件的手; 用于使手进入期望的夹持位置或姿势的机器人; 用于对工件进行三维测量以获得工件测量数据的传感器; 用于累积至少手轮廓数据的存储介质; 信息处理单元，用于基于来自传感器的数据和来自存储介质的数据计算抓取位置或姿势; 以及控制单元，用于基于由信息处理单元计算出的夹持位置或姿势来控制机器人。 所述信息处理单元包括：最佳夹持候选生成部，其基于所述工件测定数据和所述手轮廓数据直接导出所述夹持位置或姿势。

公开(公告)号：US09469035B2

公开(公告)日：2016-10-18

申请号：US14125712

申请日：2012-06-20

申请人： Akio Noda ,  Tatsuya Nagatani ,  Yukiyasu Domae

发明人： Akio Noda ,  Tatsuya Nagatani ,  Yukiyasu Domae

IPC分类号： B25J13/00 ,  B25J13/08 ,  B25J9/00 ,  B25J9/16 ,  B25J19/02

CPC分类号： B25J13/08 ,  B25J9/0018 ,  B25J9/0084 ,  B25J9/1697 ,  B25J19/021 ,  G05B2219/40012

摘要： A component supply apparatus capable of aligning components of various shapes, which are supplied in bulk, within a short period of time with general means. The apparatus includes a three-dimensional vision sensor measuring a depth map, a bulk component box, a robot picking up a component from the bulk component box, a temporary placing table onto which components are rolled, a two-dimensional vision sensor measuring a profile of the components, a robot group picking up the component rolled on the temporary placing table, and changing a position and orientation of the component into a position and orientation that involve an error of a certain level or less with respect to a position and orientation that are specified in advance, while changing the position and orientation of the component, and a control device controlling those portions.

摘要翻译： 一种部件供给装置，其能够在短时间内以一般的方式对大量供应的各种形状的部件进行对准。 该装置包括测量深度图的三维视觉传感器，批量部件盒，从批量部件盒拾取部件的机器人，组件滚动到其上的临时放置台，测量轮廓的二维视觉传感器 的组件，拾取在临时放置台上滚动的部件的机器人组件，以及将部件的位置和方位改变成涉及相对于位置和方位的一定程度或更小的误差的位置和方向， 在改变部件的位置和方位的同时，以及控制这些部分的控制装置。

公开(公告)号：US20140147240A1

公开(公告)日：2014-05-29

申请号：US14125712

申请日：2012-06-20

申请人： Akio Noda ,  Tatsuya Nagatani ,  Yukiyasu Domae

发明人： Akio Noda ,  Tatsuya Nagatani ,  Yukiyasu Domae

IPC分类号： B25J13/08

CPC分类号： B25J13/08 ,  B25J9/0018 ,  B25J9/0084 ,  B25J9/1697 ,  B25J19/021 ,  G05B2219/40012

摘要： A component supply apparatus capable of aligning components of various shapes, which are supplied in bulk, within a short period of time with general means. The apparatus includes a three-dimensional vision sensor measuring a depth map, a bulk component box, a robot picking up a component from the bulk component box, a temporary placing table onto which components are rolled, a two-dimensional vision sensor measuring a profile of the components, a robot group picking up the component rolled on the temporary placing table, and changing a position and orientation of the component into a position and orientation that involve an error of a certain level or less with respect to a position and orientation that are specified in advance, while changing the position and orientation of the component, and a control device controlling those portions.

摘要翻译： 一种部件供给装置，其能够在短时间内以一般的方式对大量供应的各种形状的部件进行对准。 该装置包括测量深度图的三维视觉传感器，批量部件盒，从批量部件盒拾取部件的机器人，组件滚动到其上的临时放置台，测量轮廓的二维视觉传感器 的组件，拾取在临时放置台上滚动的部件的机器人组件，以及将部件的位置和方位改变成涉及相对于位置和方位的一定程度或更小的误差的位置和方向， 在改变部件的位置和方位的同时，以及控制这些部分的控制装置。