公开(公告)号：WO2017133756A1

公开(公告)日：2017-08-10

申请号：PCT/EP2016/052130

申请日：2016-02-02

Applicant: ABB SCHWEIZ AG

Inventor： SIRKETT, Daniel ,  POUECH, Jeremy ,  FRANSSON, Peter

IPC: B25J9/16

CPC classification number: B25J9/1692 ,  G05B2219/40611

Abstract: A method for calibrating a robot system (10) comprising a planar pick surface (90) comprises: bringing a robot gripper (30) to a first location against the pick surface (90); and generating a first image of the robot gripper (30) from below. When knowing that a certain identifiable part of the robot gripper (30) in images always lies against the planar pick surface (90), the position and orientation of the pick surface (90) in relation to a manipulator coordinate frame (70) can be fully defined if the robot gripper's (30) orientation in relation to the pick surface (90) is known, or if there are images on identifiable parts of the robot gripper (30) in at least three different positions against the pick surface (90).

Abstract translation: 一种用于校准包括平面拾取表面（90）的机器人系统（10）的方法，包括：使机器人抓爪（30）抵靠所述拾取表面（90）到达第一位置; 并从下方产生机器人手爪（30）的第一图像。 当知道图像中的机器人手爪30的某个可识别部分总是抵靠平面拾取表面90时，拾取表面90相对于操纵器坐标框架70的位置和方向可以是 如果机器人手爪（30）相对于拾取表面（90）的取向是已知的，或者如果机器人手爪（30）的可识别部分在至少三个不同位置上具有抵靠拾取表面（90）的图像，

公开(公告)号：WO2017092809A1

公开(公告)日：2017-06-08

申请号：PCT/EP2015/078490

申请日：2015-12-03

Applicant: ABB SCHWEIZ AG

Inventor： SIRKETT, Daniel ,  POUECH, Jeremy ,  FRANSSON, Peter

IPC: B25J9/16

CPC classification number: B25J9/1697

Abstract: A method for teaching an industrial robot (3) to pick parts (120, 122) comprises the steps of: placing a reference part (7) on a picking surface (2); providing a reference image comprising information about the reference part (7); placing a gripping tool (5) of the industrial robot (3) in relation to the reference part (7) so that the gripping tool (5) is in a grasp configuration in relation to the reference part (7); and storing the grasp configuration. The reference image is a 2D image from below. When the reference part (7) is resting on a known plane a 2D image taken from below is enough for defining the position of the same.

Abstract translation: 一种用于示教工业机器人（3）拾取部件（120,122）的方法，包括以下步骤：将参考部件（7）放置在拾取表面（2）上; 提供包括关于参考部分（7）的信息的参考图像; 将工业机器人（3）的夹持工具（5）相对于参考部件（7）放置，使得夹持工具（5）相对于参考部件（7）处于抓握构型; 并存储该抓握配置。 参考图像是来自下方的2D图像。 当参考部分（7）停留在已知平面上时，从下面拍摄的2D图像足以用于定义其位置。

公开(公告)号：WO2017045716A1

公开(公告)日：2017-03-23

申请号：PCT/EP2015/071289

申请日：2015-09-17

Applicant: ABB SCHWEIZ AG

Inventor： SIRKETT, Daniel ,  FRANSSON, Peter

IPC: B25J9/16

CPC classification number: B25J9/0093 ,  G01B11/002 ,  G01B11/26 ,  G01G19/414 ,  G01G19/52 ,  H04N1/1008

Abstract: The present invention relates to a component feeder (1) comprising a stationary picking surface (2) for receiving components (14) to be picked, a vision system including an image unit arranged to take images of components distributed on the picking surface and a load device (5) including one or more load sensors adapted to detect the presence of a component on the picking surface and the vision system is configured to automatically trigger the image unit to take an image upon detecting the presence of the component on the picking surface.

Abstract translation: 本发明涉及一种包括用于接纳被拾取的部件（14）的固定拾取表面（2）的组件进给器（1），包括图像单元的视觉系统，所述图像单元被布置成拍摄分布在拾取表面上的部件的图像， 包括适于检测拾取表面上的部件的存在和视觉系统的一个或多个负载传感器的装置（5）被配置为在检测到拾取表面上的部件的存在时自动触发图像单元拍摄图像。