公开(公告)号：US5426581A

公开(公告)日：1995-06-20

申请号：US290577

申请日：1994-08-15

申请人： Gregory T. Kishi ,  Salaheddin H. Obeid

发明人： Gregory T. Kishi ,  Salaheddin H. Obeid

IPC分类号： B25J9/16 ,  B25J9/18 ,  G11B15/68 ,  G11B17/22 ,  G05B19/18

CPC分类号： B25J9/1692 ,  G11B15/6835 ,  G11B17/225 ,  G05B2219/36371 ,  G05B2219/39012 ,  G05B2219/45045 ,  G05B2219/49113

摘要： A method and system are provided for teaching a robotic accessor the actual location of the center of targets in an automated storage and retrieval system, the actual locations being different from expected or nominal locations due to tolerances in parts and assembly. A bar code scanner, which can also be used to read the identity of items stored in the system, is used to locate and scan each target and transmit to a controller a message containing the time during each sweep of the scanning beam when one side of the target is first detected and the time during each sweep when a second, opposing side is detected. The processor calculates the physical center of the target based upon the transmitted times from one or more sweeps. The coordinates of the center are then stored and later used to accurately locate and retrieve an item stored in the system. An optional calibration technique compensates for any angular offset in the bar code scanner.

摘要翻译： 提供了一种方法和系统，用于在自动化存储和检索系统中教导机器人存取器中目标中心的实际位置，由于部件和组件的公差，实际位置与预期或标称位置不同。 还可以使用条形码扫描器来读取存储在系统中的物品的身份，以定位和扫描每个目标，并且向控制器发送包含扫描光束每次扫描期间的时间的消息， 当检测到第二相对侧时，首先检测目标和每次扫描期间的时间。 处理器根据从一个或多个扫描的发送时间计算目标的物理中心。 然后存储中心的坐标，并随后用于准确定位和检索存储在系统中的项目。 可选的校准技术补偿条形码扫描器中的任何角度偏移。

公开(公告)号：US09616571B2

公开(公告)日：2017-04-11

申请号：US14532366

申请日：2014-11-04

申请人： Seiko Epson Corporation

发明人： Yukihiro Yamaguchi ,  Taro Ishige

IPC分类号： B25J9/16

CPC分类号： B25J9/1692 ,  B25J9/1697 ,  G05B2219/39012 ,  G05B2219/39343 ,  G05B2219/39391 ,  G05B2219/39394 ,  Y10S901/02 ,  Y10S901/28

摘要： A robot performs, after i-th (i is a natural number) work, i+1-th work different from the i-th work and performs, after j-th (j is a natural number satisfying j≠i) work, j+1-th work different from the j-th work. The robot performs the i+1-th work after the i-th work without changing information concerning correction in a joint of the robot during the i-th work, performs robot calibration after the j-th work, and performs the j+1-th work after performing the robot calibration.

公开(公告)号：US06643565B2

公开(公告)日：2003-11-04

申请号：US09997083

申请日：2001-11-27

申请人： Joseph Paul Manes ,  David Black ,  Dan Plutt ,  Kipley Tad Carpenter

发明人： Joseph Paul Manes ,  David Black ,  Dan Plutt ,  Kipley Tad Carpenter

IPC分类号： G05B1904

CPC分类号： G11B15/682 ,  G05B2219/37572 ,  G05B2219/39012 ,  G05B2219/39024 ,  G05B2219/45057 ,  G11B17/225

摘要： A calibration apparatus for use with a storage system for storing a plurality of objects in an array of object storage locations. In a preferred embodiment, the calibration apparatus includes a target affixed in a predetermined location to the storage system, an object retrieval mechanism, and an imaging system. The object retrieval mechanism is used for retrieving objects from the object storage locations and has a principal direction of movement which is perpendicular to a plane in which an exposed surface of each of the plurality of objects lie. The imaging system is attached to the object retrieval mechanism for imaging the target. The imaging system is positioned such that the direction from the target to the imaging system is parallel to the principal direction.

公开(公告)号：US20020177924A1

公开(公告)日：2002-11-28

申请号：US09997083

申请日：2001-11-27

发明人： Joseph Paul Manes ,  David Black ,  Dan Plutt ,  Kipley Tad Carpenter

IPC分类号： G06F007/00 ,  G05B015/00 ,  G05B019/00

CPC分类号： G11B15/682 ,  G05B2219/37572 ,  G05B2219/39012 ,  G05B2219/39024 ,  G05B2219/45057 ,  G11B17/225

摘要： A calibration apparatus for use with a storage system for storing a plurality of objects in an array of object storage locations. In a preferred embodiment, the calibration apparatus includes a target affixed in a predetermined location to the storage system, an object retrieval mechanism, and an imaging system. The object retrieval mechanism is used for retrieving objects from the object storage locations and has a principal direction of movement which is perpendicular to a plane in which an exposed surface of each of the plurality of objects lie. The imaging system is attached to the object retrieval mechanism for imaging the target. The imaging system is positioned such that the direction from the target to the imaging system is parallel to the principal direction.

公开(公告)号：US5303034A

公开(公告)日：1994-04-12

申请号：US877668

申请日：1992-05-01

申请人： Larry K. Carmichael ,  Frank A. Goodknight ,  Michael E. Moy ,  Robert W. Schmidt

发明人： Larry K. Carmichael ,  Frank A. Goodknight ,  Michael E. Moy ,  Robert W. Schmidt

IPC分类号： B25J9/16 ,  B65G1/04 ,  G01B11/03 ,  G06K17/00 ,  G11B15/68 ,  G01B11/14 ,  B25J19/02 ,  B65G1/06 ,  G06K7/015

CPC分类号： G11B15/68 ,  B25J9/1692 ,  B65G1/0421 ,  G06K17/0012 ,  G05B2219/31305 ,  G05B2219/36371 ,  G05B2219/37572 ,  G05B2219/39012 ,  G05B2219/45045 ,  Y02P90/10

摘要： A robotic arm calibration system is described which comprises a video line scan camera vision system used in conjunction with a plurality of novel "N"-shaped targets in an automated tape storage library. The targeting system of the present invention provides, with a single horizontal video scan of the target, all of the data necessary to enable calculation of a reference point of the robotic arm with respect to each target to thereby obtain precise robotic arm calibration in relationship to the library system workspace. The position of the robotic arm is determined using the vision system in conjunction with calibration targets which are located within the tape cartridge library, in addition to a target located on the robotic arm. The present system functions independently of the spacing between the arm retrieval mechanism and the tape cartridge storage cells.

摘要翻译： 描述了一种机器人手臂校准系统，其包括与自动磁带存储库中的多个新颖的“N”形目标结合使用的视频线扫描摄像机视觉系统。 本发明的瞄准系统在目标的单个水平视频扫描中提供了能够相对于每个目标计算机器人手臂的参考点所必需的所有数据，从而获得与之相关的精确的机器人手臂校准 图书馆系统工作区。 除了位于机器人手臂上的目标之外，使用视觉系统结合位于磁带库内的校准目标来确定机器人手臂的位置。 本系统独立于臂拾取机构和带盒存储单元之间的间隔而起作用。

公开(公告)号：US20190184568A1

公开(公告)日：2019-06-20

申请号：US16328158

申请日：2016-10-26

申请人： SONY MOBILE COMMUNICATIONS INC.

发明人： Peter C. KARLSSON ,  Mattias FALK ,  Hannes BERGKVIST

IPC分类号： B25J9/16 ,  G01S13/10 ,  G05B19/4155

CPC分类号： B25J9/1694 ,  B25J9/06 ,  B25J9/1623 ,  B25J9/1692 ,  G01S13/10 ,  G05B19/4155 ,  G05B2219/37097 ,  G05B2219/37288 ,  G05B2219/39012 ,  G05B2219/39024 ,  G05B2219/40623

摘要： A system includes a moveable element adapted to move relative to a coordinate system defined for a robot, an object detection transceiver unit adapted to be mounted on the moveable element, and a controller. The controller controls the object detection transceiver unit to emit a signal and obtain a return signal for an operational cell of the robot at each of a series of predetermined positions to emulate a transceiver aperture larger than an aperture of the object detection transceiver unit. A location corresponding to a marker present in the operational cell is determined from the return signals. A predetermined operation is carried out where the predetermined operation includes using the determined location to guide movement of the robot.

公开(公告)号：US20150134099A1

公开(公告)日：2015-05-14

申请号：US14305348

申请日：2014-06-16

申请人： STARTECHNO CO., LTD.

发明人： Tatsumi HISHIKAWA ,  Hirofumi SEGAWA

IPC分类号： G05B19/402

CPC分类号： G05B19/402 ,  B25J9/1692 ,  G05B2219/37048 ,  G05B2219/39012 ,  G05B2219/49001

摘要： A workpiece machining device with a calibration function, which is capable of correcting for positioning such that zero points of an industrial robot and a workpiece coincide with each other, is capable of: simplifying a configuration of a workpiece support as compared to when movement of the work support holding the workpiece is controlled for correction to reduce size and cost of the workpiece machining device, and automating positioning work of making the zero points of the workpiece and the industrial robot coincide with each other to achieve labor-saving of work machining work. Three-dimensional machining data is calibrated based on displacement data in X-, Y-, and Z-axis directions computed by a comparison unit to make the zero points of the industrial robot and the workpiece. The industrial robot is then driven and controlled based on the calibrated three-dimensional machining data to perform machining for the workpiece.

摘要翻译： 一种具有校准功能的工件加工装置，其能够校正工位机器人和工件的零点彼此重合的定位，能够简化与工件机器人和工件的移动相关的工件支撑件的构造 控制保持工件的工件支撑被校正以减小工件加工装置的尺寸和成本，并且使得工件的零点和工业机器人的零点的自动化定位工作相互重合以实现加工工作的省力。 基于由比较单元计算的X，Y和Z轴方向的位移数据来校准三维加工数据，以使工业机器人和工件的零点。 然后基于经校准的三维加工数据来驱动和控制工业机器人，以对工件进行加工。

公开(公告)号：US20150127153A1

公开(公告)日：2015-05-07

申请号：US14532366

申请日：2014-11-04

申请人： Seiko Epson Corporation

发明人： Yukihiro YAMAGUCHI ,  Taro ISHIGE

IPC分类号： B25J9/16

CPC分类号： B25J9/1692 ,  B25J9/1697 ,  G05B2219/39012 ,  G05B2219/39343 ,  G05B2219/39391 ,  G05B2219/39394 ,  Y10S901/02 ,  Y10S901/28

摘要： A robot performs, after i-th (i is a natural number) work, i+1-th work different from the i-th work and performs, after j-th (j is a natural number satisfying j≠i) work, j+1-th work different from the j-th work. The robot performs the i+1-th work after the i-th work without changing information concerning correction in a joint of the robot during the i-th work, performs robot calibration after the j-th work, and performs the j+1-th work after performing the robot calibration.

摘要翻译： 机器人在第i（i个自然数）工作之后，i + 1工作不同于第i个工作，并且在第j个（j是满足j≠i的自然数）之后执行， j + 1工作不同于第j个工作。 机器人在第i次工作之后执行第i + 1次工作，而不改变在第i次工作期间机器人的关节中的校正的信息，在第j次工作之后执行机器人校准，并且执行j + 1 执行机器人校准后的工作。

公开(公告)号：US07643905B2

公开(公告)日：2010-01-05

申请号：US11279348

申请日：2006-04-11

申请人： Atsushi Watanabe ,  Yoshiharu Nagatsuka

发明人： Atsushi Watanabe ,  Yoshiharu Nagatsuka

IPC分类号： G05B19/04

CPC分类号： G05B19/4207 ,  B25J9/1656 ,  G05B19/4083 ,  G05B2219/36416 ,  G05B2219/37079 ,  G05B2219/39012 ,  Y02P90/265

摘要： A robot program correcting apparatus, which displays three-dimensional models of a robot and a workpiece simultaneously on the screen of a display apparatus, and corrects an operation program for the robot, includes: a unit retrieving a robot operation program and a working position based on at least either a line or a surface computed from touchup points and on a touchup position or points representing a working position specified on the screen; a difference computing unit computing a difference between at least either the line or surface computed from the touchup points and at least either a line or a surface computed from the plurality of points as position information representing the retrieved working position; and a correcting unit correcting the robot operation program by computing the amount of correction based on the difference, thereby reducing the number of steps required when correcting the robot operation program.

摘要翻译： 一种机器人程序校正装置，其在显示装置的屏幕上同时显示机器人和工件的三维模型，并且修正机器人的操作程序，包括：检索机器人操作程序和基于工作位置的单元 在从触摸点和触摸位置计算的行或表面中的至少一个或表示在屏幕上指定的工作位置的点上; 差分计算单元计算从所述触摸点计算的行或表面中的至少一个和从所述多个点计算的行或表面中的至少一个作为表示检索到的工作位置的位置信息之间的差; 以及校正单元，通过基于差异计算校正量来校正机器人操作程序，由此减少在校正机器人操作程序时所需的步骤数量。

公开(公告)号：US20070299557A1

公开(公告)日：2007-12-27

申请号：US11279348

申请日：2007-04-23

申请人： Atsushi Watanabe ,  Yoshiharu Nagatsuka

发明人： Atsushi Watanabe ,  Yoshiharu Nagatsuka

IPC分类号： G05B19/00

CPC分类号： G05B19/4207 ,  B25J9/1656 ,  G05B19/4083 ,  G05B2219/36416 ,  G05B2219/37079 ,  G05B2219/39012 ,  Y02P90/265

摘要： A robot program correcting apparatus, which displays three-dimensional models of a robot (16) and a workpiece (17) simultaneously on the screen of a display apparatus (12), and corrects an operation program for said robot, comprises: a unit (25, 32) retrieving a robot operation program and a working position based on at least either a line or a surface computed from touchup points and on a touchup position or points representing a working position specified on the screen; a difference computing unit (26, 33) computing a difference between at least either the line or surface computed from the touchup points and at least either a line or a surface computed from the plurality of points as position information representing the retrieved working position; and a correcting unit correcting the robot operation program by computing the amount of correction based on the difference, thereby reducing the number of steps required when correcting the robot operation program.

摘要翻译： 一种机器人程序校正装置，其在显示装置（12）的屏幕上同时显示机器人（16）和工件（17）的三维模型，并且校正所述机器人的操作程序，包括：单元（ 基于从触摸点计算的行或表面，以及表示在屏幕上指定的工作位置的触摸位置或点，至少检索机器人操作程序和工作位置; 计算从所述触摸点计算的行或表面中的至少一个或从所述多个点计算的行或表面中的至少一个作为表示检索到的工作位置的位置信息之间的差异的差分计算单元（26,33） 以及校正单元，通过基于差异计算校正量来校正机器人操作程序，由此减少在校正机器人操作程序时所需的步骤数量。