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    • 1. 发明授权
    • Teaching position correcting apparatus and teaching position correction method
    • 教学位置校正装置及教学位置校正方法
    • US08121731B2
    • 2012-02-21
    • US11684503
    • 2007-03-09
    • Kazunori BanIchiro KannoGang ShenKatsutoshi Takizawa
    • Kazunori BanIchiro KannoGang ShenKatsutoshi Takizawa
    • B25J9/22
    • B25J9/1656G05B19/425G05B2219/40385G05B2219/45104
    • A teaching position correcting apparatus corrects plural teaching point positions of a robot in a robot operation program, by sequentially moving the robot to each of the plural teaching points and by sequentially reading a current position of the robot at each of the plural teaching points. The apparatus includes: a position correction amount calculating unit that calculates a position correction amount, based on corrected teaching point positions and teaching point positions before correction; and a corrected-position calculating unit that calculates corrected positions of teaching point positions before correction out of the plural teaching points, based on the position correction amount. At the time of moving the robot to uncorrected teaching points, a moving unit moves the robot to corrected positions of the teaching point positions before correction.
    • 教学位置校正装置通过将机器人顺序地移动到多个教学点中的每一个,并且通过在多个教学点中的每一个依次读取机器人的当前位置,来校正机器人操作程序中的机器人的多个教学点位置。 该装置包括:位置校正量计算单元,其基于校正前的校正教学点位置和教学点位置来计算位置校正量; 以及校正位置计算单元,基于位置校正量计算多个教学点之前的校正前的教学点位置的校正位置。 在将机器人移动到未校正的教学点时,移动单元将机器人移动到校正前的教学点位置的校正位置。
    • 8. 发明授权
    • Calibrating device for calibration and image measurement system comprising calibrating device
    • 用于校准和图像测量系统的校准装置,包括校准装置
    • US08350913B2
    • 2013-01-08
    • US12631094
    • 2009-12-04
    • Kazunori BanKatsutoshi TakizawaGang ShenKeisuke Watanabe
    • Kazunori BanKatsutoshi TakizawaGang ShenKeisuke Watanabe
    • H04N17/00
    • B25J9/1692G05B2219/37563G05B2219/39045G06T7/80
    • A calibrating device for calibration of an image measurement system. The calibrating device includes a main body having an upper surface, and a characteristic portion, which serves as a benchmark for calibration and is in the form of a recess formed in the upper surface of the main body, wherein the characteristic portion includes a side surface extending in a direction crossing the upper surface, and a bottom surface extending in a direction crossing the side surface, the bottom surface has an optical reflectance lower than an optical reflectance of the upper surface in relation to light identical to each other. This can provide a calibrating device for calibration of an image measurement system, which can detect the characteristic portion on the calibrating device stably, precisely and independent of the illumination conditions, which is less costly and can be easily handled.
    • 用于校准图像测量系统的校准装置。 校准装置包括具有上表面的主体和作为校准的基准的特征部分,并且形成在主体的上表面中的凹部的形式,其中特征部分包括侧表面 在与上表面交叉的方向上延伸的底面和与该侧面相交的方向延伸的底面,底面的光反射率低于相对于彼此相同的光的上表面的光反射率。 这可以提供用于校准图像测量系统的校准装置,其可以稳定,精确地且独立于照明条件来检测校准装置上的特征部分,其成本较低并且可以容易地处理。
    • 9. 发明申请
    • APPARATUS AND METHOD FOR MEASURING TOOL CENTER POINT POSITION OF ROBOT
    • 测量机器人工具中心点位置的装置和方法
    • US20110029131A1
    • 2011-02-03
    • US12838046
    • 2010-07-16
    • Kazunori BANKatsutoshi TakizawaGang Shen
    • Kazunori BANKatsutoshi TakizawaGang Shen
    • G05B19/04
    • B25J9/1692B25J9/1697Y10S901/47
    • A measurement apparatus for determining a position of a tool center point (31) of a tool (30), which is attached to a tool attachment surface (32) of a robot (1), with respect to the tool attachment surface (32) includes: a camera (4) attached to the arm tip portion of the robot (1); a touch-up point (an origin of Σm) disposed in a working space of the robot; a measurement section (11a) for measuring the position of the touch-up point by using the robot and the camera; a first storage section (12a) for storing the measured position of the touch-up point; a second storage section (12b) for storing a position of the robot (1) when the tool center point is aligned with the touch-up point by moving the robot; and a calculation section (11b) for calculating the position of the tool center point with respect to the tool attachment surface of the robot by using the stored positions of the touch-up point and the robot. Therefore, the position of the tool center point with respect to the tool attachment surface is measured with high accuracy in a short period of time without using a substitution jig.
    • 一种用于确定相对于工具附接表面(32)附接到机器人(1)的工具附接表面(32)的工具(30)的工具中心点(31)的位置的测量装置, 包括:附接到机器人(1)的臂尖部的相机(4); 设置在机器人的工作空间中的接触点(Sgr的原点); 用于使用所述机器人和所述照相机测量所述接触点的位置的测量部分(11a); 第一存储部分(12a),用于存储所述接触点的测量位置; 第二存储部(12b),用于通过移动所述机器人来存储所述机器人(1)在所述工具中心点与所述接触点对准时的位置; 以及计算部,其通过使用所述接触点和所述机器人的存储位置来计算所述工具中心点相对于所述机器人的所述工具安装面的位置。 因此,在不使用取代夹具的情况下,在短时间内高精度地测量刀具中心点相对于刀具附接面的位置。