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    Object handling apparatus
    3.
    发明申请
    Object handling apparatus 有权
    物品处理装置

    公开(公告)号：US20040037689A1

    公开(公告)日：2004-02-26

    申请号：US10627722

    申请日：2003-07-28

    申请人： Fanuc Ltd

    发明人： Atsushi Watanabe ,  Kazuhisa Otsuka ,  Masaru Oda ,  Tadanori Suzuki

    IPC分类号： B66C001/00

    CPC分类号： B25J9/1697 ,  G05B2219/39533 ,  G05B2219/40583

    摘要： An object handling apparatus capable of securely holding an object and precisely transferring the held object from a first place to a second place without need of a specific jig for positioning the object on a pallet. A position of an object supplied to the first place is detected by a first visual sensor to obtain a compensation amount for compensating a position displacement of the supplied object. The object is held by a robot hand having position/orientation compensated using the compensation amount and position/orientation of the object held by the robot hand relative to the robot hand is detected by a second visual sensor. A displacement of the position/orientation of the object held by the robot hand from a reference position/orientation is compensated based on the detected position/orientation of the object on the robot hand, so that the object held by the robot hand is precisely moved to have a predetermined position/orientation to be transferred to the second place. The robot hand may be a servo hand having fingers driven by one or more servomotors so that position and force of the fingers in holding the object is controlled.

    摘要翻译： 一种能够可靠地保持物体并将被保持物体从第一位置精确地传送到第二位置的物体处理装置，而不需要用于将物体定位在托盘上的特定夹具。 通过第一视觉传感器检测提供给第一位置的物体的位置，以获得用于补偿所提供物体的位置偏移的补偿量。 该物体由具有位置/方位补偿的机器人手保持，使用补偿量，并且通过第二视觉传感器检测由机器人手相对于机器人手保持的对象的位置/方位。 基于检测到的机器人手上的物体的位置/方向，补偿由机器人手保持的物体的位置/姿势与基准位置/姿态的位移，使得由机器人手保持的物体被精确移动 以具有预定的位置/方向被转移到第二位置。 机器人手可以是具有由一个或多个伺服电机驱动的手指的伺服手，从而控制手指在保持物体时的位置和力。

    Fully automated assembly and contacting of electrical components
    4.
    发明授权
    Fully automated assembly and contacting of electrical components 有权

    公开(公告)号：US12032361B2

    公开(公告)日：2024-07-09

    申请号：US17289564

    申请日：2019-09-18

    申请人： SIEMENS AKTIENGESELLSCHAFT

    发明人： Richard Georgi ,  Hans-Peter Kasparick ,  Nils Kroemer ,  Mirko Löffler ,  Martin Thiele

    IPC分类号： G05B19/418 ,  B25J9/16

    CPC分类号： G05B19/41805 ,  B25J9/1687 ,  G05B2219/40583

    摘要： An automated assembly and contacting of electrical components are disclosed. Before a fed component is gripped, a control device of a mounting device for mounting and contacting electrical components is provided with information associated with the component comprising, in relation to a component coordinate system of the component, the position, orientation and a relevant length of electrical connections of the component, and the position and type of handling of the handling locations of the component. A position and an orientation of the component in relation to a machine coordinate system are known to the control device. Using the position and the orientation of the component in the machine coordinate system, the control device converts the positions and orientations defined by the information associated with the component into the machine coordinate system and takes the positions and orientations into account when gripping and assembling the component.

    Parameter adjustment device, parameter adjustment method, and program
    5.
    发明授权
    Parameter adjustment device, parameter adjustment method, and program 有权

    公开(公告)号：US11945113B2

    公开(公告)日：2024-04-02

    申请号：US17272974

    申请日：2019-03-15

    申请人： OMRON Corporation

    发明人： Yuki Nishina

    IPC分类号： B25J9/16 ,  G05B19/18 ,  G05B19/401

    CPC分类号： B25J9/1612 ,  G05B19/182 ,  G05B19/401 ,  G05B2219/40053 ,  G05B2219/40583 ,  G05B2219/45063

    摘要： Three-dimensional measurement data is obtained (step S1). The poses of bulk parts are calculated (step S2). The gripping poses of a hand relative to the bulk parts are calculated (step S3). Individual evaluation indices are calculated (step S4). Overall evaluation indices are calculated (step S5). The gripping poses are sorted using the overall evaluation indices (step S6). The calculated gripping poses appear on a screen (step S7). The gripping poses are sorted by a user in an intended order (step S8). Determination is performed as to whether the difference between the results of the sorting in step S6 and in step S8 is small (step S9). In response to the difference being sufficiently small, parameters used in the calculation of the overall evaluation indices are stored (step S11). In response to the difference not being sufficiently small, the parameters are updated (step S10) and the processing returns to step S5.

    ROBOT SYSTEM AND PROCESSED OBJECT MANUFACTURING METHOD
    7.
    发明申请
    ROBOT SYSTEM AND PROCESSED OBJECT MANUFACTURING METHOD 有权
    机器人系统和加工对象制造方法

    公开(公告)号：US20120265345A1

    公开(公告)日：2012-10-18

    申请号：US13397682

    申请日：2012-02-16

    申请人： Yoshimitsu NAKAHARA

    发明人： Yoshimitsu NAKAHARA

    IPC分类号： B25J13/08 ,  B25J18/04 ,  B25J19/04

    CPC分类号： B25J9/1697 ,  G05B2219/40583 ,  G05B2219/40607

    摘要： In this robot system, a control portion is configured to control a robot to grasp an object to be grasped by a grasping portion, and control a first imaging portion to examine the object to be grasped while driving a robot arm to change a posture of the object to be grasped multiple times.

    摘要翻译： 在该机器人系统中，控制部被配置为控制机器人抓握被抓握部所抓握的物体，并且控制第一成像部以在驱动机器人手臂的同时检查被抓握物体以改变姿势 对象被多次抓住。

    CONTROL DEVICE FOR ROBOT FOR CONVEYING WORKPIECE
    9.
    发明申请
    CONTROL DEVICE FOR ROBOT FOR CONVEYING WORKPIECE 有权
    用于输送工件的机器人的控制装置

    公开(公告)号：US20140316572A1

    公开(公告)日：2014-10-23

    申请号：US14255065

    申请日：2014-04-17

    申请人： FANUC CORPORATION

    发明人： Takahiro IWATAKE

    IPC分类号： B25J9/16

    CPC分类号： B25J9/1633 ,  B25J9/1612 ,  G05B2219/39508 ,  G05B2219/40053 ,  G05B2219/40583 ,  G05B2219/45063

    摘要： A control device for controlling a robot which has a tool for holding a workpiece and a force measuring part for measuring a force acting on the tool. The control device includes a calculating part for calculating a center-of-gravity position of the workpiece, based on force data measured by the force measuring part with a plurality of postures of the robot holding the workpiece, a processing part for performing at least one of a process for estimating a holding state of the workpiece, a process for determining a type of the workpiece, and a process for testing a quality of the workpiece, based on the position of the tool and the center-of-gravity position of the workpiece, and an operating command modifying part for modifying an operating command to the robot, based on a result of the process performed by the processing part.

    摘要翻译： 一种用于控制具有用于保持工件的工具的机器人的控制装置和用于测量作用在所述工具上的力的力测量部。 所述控制装置包括：计算部，其基于由所述力测量部测定的由所述机器人保持所述工件的多个姿势所测量的力数据，计算所述工件的重心位置;处理部， 用于估计工件的保持状态的过程，用于确定工件类型的处理以及用于测试工件的质量的过程，基于工具的位置和重心位置 工件，以及用于修改对机器人的操作命令的操作命令修改部件，基于由处理部执行的处理的结果。

    COLLAR INSTALLATION END EFFECTOR
    10.
    发明申请
    COLLAR INSTALLATION END EFFECTOR 有权
    COLLAR安装终止效应

    公开(公告)号：US20130255053A1

    公开(公告)日：2013-10-03

    申请号：US13437532

    申请日：2012-04-02

    申请人： Chris J. Erickson

    发明人： Chris J. Erickson

    IPC分类号： B23Q17/00 ,  B23P21/00

    CPC分类号： B21J15/022 ,  B21J15/28 ,  B21J15/32 ,  B25J9/1697 ,  G05B2219/37555 ,  G05B2219/40583 ,  G05B2219/40607 ,  Y10T29/4978 ,  Y10T29/53022

    摘要： An assembly tool includes a head and an actuator system. The head includes a collar swaging tool that is moveable along a first axis substantially perpendicular to a longitudinal axis of the assembly tool. A sensor system detects a first position of the head within the confined space, and a second position of the collar swaging tool relative to the target object. The actuator system positions the head within the confined space, and the collar swaging tool relative to the target object.

    摘要翻译： 组装工具包括头部和致动器系统。 头部包括可沿基本上垂直于组装工具的纵向轴线的第一轴线移动的套环型锻工具。 传感器系统检测头部在受限空间内的第一位置，以及颈圈型锻工具相对于目标物体的第二位置。 致动器系统将头部定位在限制空间内，并且颈圈模锻工具相对于目标物体。