专利快速检索-快速检索全球专利，免费商用专利数据库-IPRDB

1. 发明申请

US20180354137A1 Robot System Calibration 审中-公开
公开(公告)号：US20180354137A1
公开(公告)日：2018-12-13
申请号：US16061237
申请日：2016-02-02
申请人： ABB Schweiz AG
发明人： Daniel Sirkett , Jeremy Pouech , Peter Fransson
IPC分类号： B25J9/16
CPC分类号： B25J9/1692 , G05B2219/40611
摘要： A method for calibrating a robot system having a planar pick surface includes: bringing a robot gripper to a first location against the pick surface; and generating a first image of the robot gripper from below. When knowing that a certain identifiable part of the robot gripper in images always lies against the planar pick surface, the position and orientation of the pick surface in relation to a manipulator coordinate frame can be fully defined if the robot gripper's orientation in relation to the pick surface is known, or if there are images on identifiable parts of the robot gripper in at least three different positions against the pick surface.

2. 发明申请

US20180297717A1 CAMERA ASSISTED ROBOTIC SYSTEM FOR LOCATING THE END OF A FASTENER EXTENDING THROUGH AN AIRCRAFT PART DURING MANUFACTURE THEREOF 审中-公开
公开(公告)号：US20180297717A1
公开(公告)日：2018-10-18
申请号：US15490772
申请日：2017-04-18
申请人： ELECTROIMPACT, INC.
发明人： Ryan P. Haldimann
IPC分类号： B64F5/10 , B23P19/06 , B23P19/10 , G05B19/402
CPC分类号： B64F5/10 , B21J15/022 , B21J15/142 , B21J15/28 , B21J15/32 , B23P19/06 , B23P19/10 , B25J9/1697 , B64C1/064 , B64C1/12 , G05B19/402 , G05B2219/40611 , G05B2219/45091 , G05B2219/45203 , G06T7/0004 , G06T7/70 , G06T2207/10012 , G06T2207/30164 , G06T2207/30172
摘要： A system for locating the center line of a bolt which extends through an aircraft part, including a robot which carries a nut or collar placement device and a stereo camera. A control system operates the camera to produce two images of the fastener at a specified angle. A processor then transforms the image information to control information for the robot to align the nut or collar placement device with the centerline of the fastener and then to place the nut or collar on the end of the fastener.

3. 发明申请

US20010054637A1 Laser soldering method and apparatus 有权
标题翻译：激光焊接方法及装置
公开(公告)号：US20010054637A1
公开(公告)日：2001-12-27
申请号：US09832894
申请日：2001-04-12
申请人： Fine Device Co., Ltd.
发明人： Jun Hayakawa
IPC分类号： B23K001/00 , B23Q015/00 , B23K026/02
CPC分类号： H01R43/0256 , B23K1/0056 , B23K26/032 , B23K37/0258 , B25J9/1697 , G05B2219/37555 , G05B2219/37563 , G05B2219/37572 , G05B2219/40611 , G05B2219/45165 , H01R43/0263 , H05K3/3447 , H05K3/3494
摘要： An image pickup camera is mounted on a soldering head for projecting a laser beam in such a manner that its optical axis coincides with that of the laser beam. An image of the object to be soldered, which is taken by the camera, is displayed on a monitor screen, and a projection spot, which is positioned on an optical axis of the laser beam, is displayed on the screen. While the positional relationship between the object to be soldered and the projection spot is observed on the monitor screen, the soldering head and the object to be soldered are moved relative to each other and the projection spot is positioned. Subsequently, the laser beam is projected from the soldering head, thus, performing soldering.
摘要翻译：摄像摄像机安装在焊接头上，用于以使其光轴与激光束的光轴重合的方式投射激光束。由摄像机拍摄的被焊接物体的图像被显示在监视器屏幕上，并且位于激光束的光轴上的投影点被显示在屏幕上。虽然在监视器屏幕上观察到要焊接的物体与投影点之间的位置关系，但是焊接头和待焊接的物体相对于彼此移动并且投影点被定位。随后，激光束从焊接头突出，从而进行焊接。

4. 发明申请

US20180178389A1 CONTROL APPARATUS, ROBOT AND ROBOT SYSTEM 审中-公开
公开(公告)号：US20180178389A1
公开(公告)日：2018-06-28
申请号：US15850639
申请日：2017-12-21
申请人： Seiko Epson Corporation
发明人： Seiji AISO , Taro ISHIGE , Nobuyuki SETSUDA , Alan RUPERT
IPC分类号： B25J9/16 , G06T7/80
CPC分类号： B25J9/1692 , B25J9/1671 , B25J9/1697 , G05B2219/39022 , G05B2219/39057 , G05B2219/40611 , G06T7/80
摘要： A control apparatus that is connectable to a memory that stores computer-readable instructions, comprising a processor that is configured to execute the computer-readable instructions so as to control driving of a robot and a camera, create setting details on an image processing sequence containing image processing of a captured image captured by the camera, and setting details on a calibration of correlating a coordinate system of the robot and a coordinate system of the camera, and call up the image processing sequence in creation of the setting details on the calibration.

5. 发明申请

US20160288333A1 ROBOT, ROBOT CONTROL DEVICE, AND ROBOTIC SYSTEM 有权
标题翻译：机器人，机器人控制装置和机器人系统
公开(公告)号：US20160288333A1
公开(公告)日：2016-10-06
申请号：US15072648
申请日：2016-03-17
申请人： Seiko Epson Corporation
发明人： Yukihiro YAMAGUCHI , Koichi YASUDA , Kenji MATSUURA
IPC分类号： B25J9/16
CPC分类号： B25J9/1697 , B25J9/1692 , G05B2219/39022 , G05B2219/40611
摘要： A robot includes an arm, and the arm is controlled using an offset of a reference point of a tool, the tool being attached to the arm, the offset being set based on a first state, in which a first image, in which the reference point is located at a control point of an image, can be taken by a imaging section, and a second state, in which a second image, in which the tool is rotated around a rotational axis passing through a position of the reference point in the state in which the reference point is located at the control point, can be taken by the imaging section, and controlled based on a third image, which is taken by the imaging section, and in which the control point is shifted from the reference point, in a process of a transition from the first state to the second state.
摘要翻译：机器人包括臂，并且使用刀具的参考点的偏移来控制所述臂，所述工具附接到所述臂，所述偏移基于第一状态设置，其中所述第一图像在所述第一状态下被设置，其中所述参考点位于图像的控制点，可以由成像部分拍摄;第二状态，其中第二图像，其中工具围绕通过基准点的位置的旋转轴旋转，参考点位于控制点的状态可以由成像部分拍摄，并且基于由成像部分拍摄的并且其中控制点从参考点偏移的第三图像进行控制，在从第一状态到第二状态的转变的过程中。

6. 发明申请

US20140309762A1 MANUFACTURING METHOD AND MANUFACTURING DEVICE FOR MANUFACTURING A JOINED PIECE 有权
标题翻译：制造加工件的制造方法和制造装置
公开(公告)号：US20140309762A1
公开(公告)日：2014-10-16
申请号：US14357907
申请日：2012-11-16
申请人： Nissan Motor Co., Ltd.
发明人： Junji Hayata , Satoru Takizawa
IPC分类号： G05B19/402
CPC分类号： G05B19/402 , B25J9/1682 , B25J9/1697 , G05B2219/39131 , G05B2219/39132 , G05B2219/39393 , G05B2219/39397 , G05B2219/40611 , Y10S901/42 , Y10S901/47
摘要： A manufacturing method for joining first and second members to create a joined piece using a robot with pre-inputted instruction data. The method includes operating the robot to hold the second member for joining to the first member and photographing the second member to obtain an image of the second member at the holding position; comparing the image to a reference image of a joining position of a reference second member joined to a reference first member; determining a deviation amount by which the holding position of the second member deviates from the joining position in the reference image; determining a correction amount for correcting the holding position of the second member is to be corrected in order to reduce the deviation amount of the holding position of the second member; correcting the holding position of the second member according to the correction amount, and then subsequently joining the first and second members.
摘要翻译：一种用于使用具有预先输入的指令数据的机器人连接第一和第二构件以创建连接件的制造方法。该方法包括操作机器人，以保持第二构件用于接合到第一构件并拍摄第二构件，以在保持位置获得第二构件的图像; 将图像与连接到参考第一构件的参考第二构件的接合位置的参考图像进行比较; 确定第二构件的保持位置偏离参考图像中的接合位置的偏差量; 要校正用于校正第二构件的保持位置的校正量，以便减小第二构件的保持位置的偏离量; 根据校正量校正第二构件的保持位置，然后接合第一构件和第二构件。

7. 发明申请

US20030130763A1 Visual control robot system 审中-公开
标题翻译：视觉控制机器人系统
公开(公告)号：US20030130763A1
公开(公告)日：2003-07-10
申请号：US10375985
申请日：2003-02-28
发明人： Naoyuki Murakami
IPC分类号： G05B015/00 , G05B019/00
CPC分类号： B25J9/1697 , G05B2219/37266 , G05B2219/37572 , G05B2219/40591 , G05B2219/40607 , G05B2219/40611
摘要： The visual sense control robot system has robot 1 driven three-dimensionally by an instruction from controller 11, video cameras 2 for taking images of the all moving area of robot 1 from at least two directions, and control circuit 10 for giving the controller 11 an ordering signal to move robot 1 to the position of the visible target 3 as being taken image thereof by the video cameras 2.
摘要翻译：视觉控制机器人系统具有通过来自控制器11，摄像机2的指令三维驱动的机器人1，用于从至少两个方向拍摄机器人1的全部移动区域的图像，以及控制电路10，用于给予控制器11 订购信号将机器人1移动到可视对象3的位置，作为摄像机2拍摄的图像。

8. 发明授权

US09904271B2 Manufacturing method and manufacturing device for manufacturing a joined piece 有权
公开(公告)号：US09904271B2
公开(公告)日：2018-02-27
申请号：US14357907
申请日：2012-11-16
申请人： Nissan Motor Co., Ltd.
发明人： Junji Hayata , Satoru Takizawa
IPC分类号： G05B19/402 , B25J9/16
CPC分类号： G05B19/402 , B25J9/1682 , B25J9/1697 , G05B2219/39131 , G05B2219/39132 , G05B2219/39393 , G05B2219/39397 , G05B2219/40611 , Y10S901/42 , Y10S901/47
摘要： A manufacturing method for joining first and second members to create a joined piece using a robot with pre-inputted instruction data. The method includes operating the robot to hold the second member for joining to the first member and photographing the second member to obtain an image of the second member at the holding position; comparing the image to a reference image of a joining position of a reference second member joined to a reference first member; determining a deviation amount by which the holding position of the second member deviates from the joining position in the reference image; determining a correction amount for correcting the holding position of the second member is to be corrected in order to reduce the deviation amount of the holding position of the second member; correcting the holding position of the second member according to the correction amount, and then subsequently joining the first and second members.

9. 发明申请

US20110317879A1 Measurement of Positional Information for a Robot Arm 审中-公开
标题翻译：机器人手臂的位置信息测量
公开(公告)号：US20110317879A1
公开(公告)日：2011-12-29
申请号：US13201453
申请日：2010-02-16
申请人： Andreas Haralambos Demopoulos
发明人： Andreas Haralambos Demopoulos
IPC分类号： G06K9/00
CPC分类号： G01S1/70 , B25J9/1692 , G01S5/163 , G05B2219/37571 , G05B2219/40611 , G05B2219/40613 , G05B2219/40623
摘要： Positional measurements for a robot arm are made using a light ray projector (10) mounted on the robot arm and arranged to emit light rays (50) along a multiplicity of distinct paths that are fixed relative to the projector (10), and a removable support frame (20) carrying a multiplicity of image sensors (22) at fixed positions relative to the support frame (20), the support frame surrounding the base of the robot arm. A signal processor (25) connected to the light sensors (22) determines the positions at which light rays (50) are incident on the image sensors (22), and hence determines positional information of a system of axes associated with the projector (10) relative to the frame (20). This enables relative positional measurements to be made substantially in real time, and in an accurate and cost-effective manner.
摘要翻译：机器人手臂的位置测量使用安装在机器人手臂上的光线投影仪（10）进行，并且布置成沿着相对于投影仪（10）固定的多个不同的路径发射光线（50），并且可拆卸支撑框架（20），其在相对于所述支撑框架（20）的固定位置处承载多个图像传感器（22），所述支撑框架围绕所述机器人手臂的基部。连接到光传感器（22）的信号处理器（25）确定光线（50）入射到图像传感器（22）上的位置，因此确定与投影仪（10）相关联的轴系的位置信息）相对于框架（20）。这使得能够基本上实时地以准确和成本有效的方式进行相对位置测量。

10. 发明申请

US20080252248A1 Device and Method for Calibrating the Center Point of a Tool Mounted on a Robot by Means of a Camera 审中-公开
标题翻译：用于通过相机校准安装在机器人上的工具的中心点的装置和方法
公开(公告)号：US20080252248A1
公开(公告)日：2008-10-16
申请号：US11883127
申请日：2006-01-24
申请人： Ivan Lundberg , Niklas Durinder , Torgny Brogardh
发明人： Ivan Lundberg , Niklas Durinder , Torgny Brogardh
IPC分类号： B25J9/16
CPC分类号： B25J9/1692 , B25J9/1697 , G05B2219/39394 , G05B2219/40607 , G05B2219/40611
摘要： A device and a method for tool center point calibration of an industrial robot. The device is intended to calibrate an industrial robot with respect to a tool mounted on the robot. The device includes a camera designed to take a plurality of images of at least part of the robot tool for a plurality of different tool orientations, an image-processing unit designed to determine the positions of the robot tool in the orientations based on the images, a calculation module adapted to calculate the position of the center point of the robot tool, based on the determined positions, and a control module adapted to calculate the corrective movements of the robot.
摘要翻译：一种用于工业机器人的工具中心点校准的装置和方法。该装置旨在相对于安装在机器人上的工具校准工业机器人。所述装置包括被设计成拍摄所述机器人工具的至少一部分的多个图像以用于多个不同的刀具取向的相机，图像处理单元，被设计成基于所述图像确定所述方位上的所述机器人工具的位置，计算模块，其适于基于所确定的位置来计算所述机器人工具的中心点的位置，以及适于计算所述机器人的校正运动的控制模块。

你已经成功收藏专利！

检索式保存成功!

IPRDB

热门服务

关于我们

友情链接

联系方式