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1.发明授权公开(公告)号：US11915409B2
公开(公告)日：2024-02-27
申请号：US17177351
申请日：2021-02-17
申请人： NGK INSULATORS, LTD.
CPC分类号： G06T7/0008 , B25J15/0004 , G01B21/02 , G06T7/0004 , G06T7/0006 , G06T7/66 , H04N3/155 , H04N23/72 , G05B2219/39478 , G06T2207/30148 , G06T2207/30164
摘要： An inspection method for determining a presence of a defect on a sides surface of a pillar-shaped honeycomb structure including generating strip-shaped images by repeatedly capturing the side surface part by part with an area camera while relatively moving the area camera with respect to the pillar-shaped honeycomb structure; determining the presence or absence of defects based on the strip-shaped images when a number of the strip-shaped images generated is sufficient to cover the entire side surface; a shutter speed when the area camera captures a part of the side surface for generating a single strip-shaped image is 10 to 1000 μsec; and each of the strip-shaped images has a length covering the entire height of the pillar-shaped honeycomb structure in a longitudinal direction, and a length of 1 to 10 mm in a width direction.
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2.发明申请公开(公告)号：US20140214202A1
公开(公告)日：2014-07-31
申请号：US14161990
申请日：2014-01-23
IPC分类号： B25J9/16
CPC分类号： B25J9/1653 , B25J9/1612 , B25J15/06 , G05B2219/39478 , G05B2219/39505 , G05B2219/39514 , G05B2219/39536 , G05B2219/39542
摘要： A robot control method includes a first step of selecting a holding form in which a robot holds an object and a second step of determining whether the object can continue to be stably held when a predetermined external force is applied to the object in the selected holding form. In the second step, it is determined that the object can continue to be stably held when a force which should be generated by a contact portion to generate resistance to the predetermined external force is included in a friction cone of a force generated by driving the contact portion and enlarged by a suction force from the suction mechanism.
摘要翻译： 机器人控制方法包括：第一步骤，选择机器人保持物体的保持形式;以及第二步骤，当以所选择的保持形式向对象施加预定的外力时，确定对象是否可以继续稳定地保持 。 在第二步骤中，当通过由接触部分产生的产生对预定外力的阻力的力被包括在通过驱动接触产生的力的摩擦锥中时，物体可以继续稳定地保持 并且通过来自抽吸机构的抽吸力而扩大。
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3.发明公开公开(公告)号：US20240020820A1
公开(公告)日：2024-01-18
申请号：US18477793
申请日：2023-09-29
申请人： NGK INSULATORS, LTD.
CPC分类号： G06T7/0008 , G01B21/02 , B25J15/0004 , G06T7/0006 , G06T7/66 , G06T7/0004 , H04N23/72 , G06T2207/30164 , G06T2207/30148 , G05B2219/39478
摘要： An inspection system for carrying out an inspection method for a pillar-shaped honeycomb structure, the inspection system including: a robot arm with a robot hand at a tip of the robot arm, the robot hand comprising a pair of gripping surfaces capable of gripping the pillar-shaped honeycomb structure from the first end surface and the second end surface, the pair of gripping surfaces being configured to be able to rotate the pillar-shaped honeycomb structure at a predetermined rotational speed while gripping the pillar-shaped honeycomb structure from the first end surface and the second end surface; the area camera for the side surface; a screen that can display the strip-shaped images; and a controller that can at least set a rotation speed of the pair of gripping surfaces and the shutter speed of the area camera for the side surface.
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公开(公告)号：US20160375585A1
公开(公告)日：2016-12-29
申请号：US15258436
申请日：2016-09-07
申请人： Sony Corporation
发明人： Satoru SHIMIZU , Kenta KAWAMOTO , Yoshiaki IWAI
IPC分类号： B25J9/16
CPC分类号： B25J9/1697 , B25J9/1679 , G05B2219/37618 , G05B2219/39478 , G05B2219/39517 , Y10S901/01 , Y10S901/47
摘要： Provided is a robot device including an image input unit for inputting an image of surroundings, a target object detection unit for detecting an object from the input image, an object position detection unit for detecting a position of the object, an environment information acquisition unit for acquiring surrounding environment information of the position of the object, an optimum posture acquisition unit for acquiring an optimum posture corresponding to the surrounding environment information for the object, an object posture detection unit for detecting a current posture of the object from the input image, an object posture comparison unit for comparing the current posture of the object to the optimum posture of the object, and an object posture correction unit for correcting the posture of the object when the object posture comparison unit determines that there is a predetermined difference or more between the current posture and the optimum posture.
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5.发明申请公开(公告)号：US20100087955A1
公开(公告)日：2010-04-08
申请号：US12594696
申请日：2008-06-24
申请人： Yuko Tsusaka , Yasunao Okazaki
发明人： Yuko Tsusaka , Yasunao Okazaki
CPC分类号： B25J9/0003 , B25J9/1676 , G05B2219/36429 , G05B2219/39478
摘要： A control device for a robot arm is designed such that, based on information on a transportation state database in which information on a transportation state of a person operating the arm is recorded, an impedance setting unit sets a mechanical impedance set value of the arm, and an impedance control unit controls a mechanical impedance value of the arm to the mechanical impedance set value thus set.
摘要翻译： 设计用于机器人手臂的控制装置，其特征在于，基于记录有操作所述手臂的人的运送状态的信息的运送状态数据库的信息，阻抗设定部设定所述手臂的机械阻抗设定值， 并且阻抗控制单元将臂的机械阻抗值控制为由此设定的机械阻抗设定值。
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公开(公告)号：US20190248017A1
公开(公告)日：2019-08-15
申请号：US16391317
申请日：2019-04-23
申请人： Sony Corporation
发明人： Satoru SHIMIZU , Kenta KAWAMOTO , Yoshiaki IWAI
CPC分类号： B25J9/1697 , B25J9/1679 , G05B2219/37618 , G05B2219/39478 , G05B2219/39517 , G05D1/0246 , G05D1/0274 , Y10S901/01 , Y10S901/47
摘要： Provided is a robot device including an image input unit for inputting an image of surroundings, a target object detection unit for detecting an object from the input image, an object position detection unit for detecting a position of the object, an environment information acquisition unit for acquiring surrounding environment information of the position of the object, an optimum posture acquisition unit for acquiring an optimum posture corresponding to the surrounding environment information for the object, an object posture detection unit for detecting a current posture of the object from the input image, an object posture comparison unit for comparing the current posture of the object to the optimum posture of the object, and an object posture correction unit for correcting the posture of the object when the object posture comparison unit determines that there is a predetermined difference or more between the current posture and the optimum posture.
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公开(公告)号：US20180133899A1
公开(公告)日：2018-05-17
申请号：US15868519
申请日：2018-01-11
申请人： Sony Corporation
发明人： Satoru SHIMIZU , Kenta KAWAMOTO , Yoshiaki IWAI
IPC分类号： B25J9/16
CPC分类号： B25J9/1697 , B25J9/1679 , G05B2219/37618 , G05B2219/39478 , G05B2219/39517 , Y10S901/01 , Y10S901/47
摘要： Provided is a robot device including an image input unit for inputting an image of surroundings, a target object detection unit for detecting an object from the input image, an object position detection unit for detecting a position of the object, an environment information acquisition unit for acquiring surrounding environment information of the position of the object, an optimum posture acquisition unit for acquiring an optimum posture corresponding to the surrounding environment information for the object, an object posture detection unit for detecting a current posture of the object from the input image, an object posture comparison unit for comparing the current posture of the object to the optimum posture of the object, and an object posture correction unit for correcting the posture of the object when the object posture comparison unit determines that there is a predetermined difference or more between the current posture and the optimum posture.
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公开(公告)号：US20160306340A1
公开(公告)日：2016-10-20
申请号：US15099874
申请日：2016-04-15
IPC分类号： G05B19/402 , B25J9/16
CPC分类号： G05B19/402 , B25J9/1612 , G05B2219/39476 , G05B2219/39478 , G05B2219/40599
摘要： A robot includes an arm and a hand. The robot brings a tool gripped by the hand into contact with an object and changes at least one of the position and the posture of the hand gripping the tool.
摘要翻译： 机器人包括一只手臂和一只手。 机器人将手抓住的工具与物体接触并改变握住工具的手的位置和姿势中的至少一个。
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9.发明授权公开(公告)号：US07747351B2
公开(公告)日：2010-06-29
申请号：US12594696
申请日：2008-06-24
申请人： Yuko Tsusaka , Yasunao Okazaki
发明人： Yuko Tsusaka , Yasunao Okazaki
IPC分类号： G06F19/00
CPC分类号： B25J9/0003 , B25J9/1676 , G05B2219/36429 , G05B2219/39478
摘要： A control device for a robot arm is designed such that, based on information on a transportation state database in which information on a transportation state of a person operating the arm is recorded, an impedance setting unit sets a mechanical impedance set value of the arm, and an impedance control unit controls a mechanical impedance value of the arm to the mechanical impedance set value thus set.
摘要翻译： 设计用于机器人手臂的控制装置，其特征在于，基于记录有操作所述手臂的人的运送状态的信息的运送状态数据库的信息，阻抗设定部设定所述手臂的机械阻抗设定值， 并且阻抗控制单元将臂的机械阻抗值控制为由此设定的机械阻抗设定值。
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公开(公告)号：US09908241B2
公开(公告)日：2018-03-06
申请号：US15258436
申请日：2016-09-07
申请人： Sony Corporation
发明人： Satoru Shimizu , Kenta Kawamoto , Yoshiaki Iwai
CPC分类号： B25J9/1697 , B25J9/1679 , G05B2219/37618 , G05B2219/39478 , G05B2219/39517 , Y10S901/01 , Y10S901/47
摘要： Provided is a robot device including an image input unit for inputting an image of surroundings, a target object detection unit for detecting an object from the input image, an object position detection unit for detecting a position of the object, an environment information acquisition unit for acquiring surrounding environment information of the position of the object, an optimum posture acquisition unit for acquiring an optimum posture corresponding to the surrounding environment information for the object, an object posture detection unit for detecting a current posture of the object from the input image, an object posture comparison unit for comparing the current posture of the object to the optimum posture of the object, and an object posture correction unit for correcting the posture of the object when the object posture comparison unit determines that there is a predetermined difference or more between the current posture and the optimum posture.
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