公开(公告)号：US20130086801A1

公开(公告)日：2013-04-11

申请号：US13702119

申请日：2011-06-22

Applicant: Toshihiko Mimura ,  Yuichi Someya ,  Yuji Matsuo ,  Mikio Nakasugi ,  Ken Meisho ,  Masaichi Sato ,  Mahito Negishi

Inventor： Toshihiko Mimura ,  Yuichi Someya ,  Yuji Matsuo ,  Mikio Nakasugi ,  Ken Meisho ,  Masaichi Sato ,  Mahito Negishi

IPC: B23P21/00

CPC classification number: B23P21/00 ,  B25J9/0084 ,  B25J21/00 ,  Y10T29/53087 ,  Y10T29/53091

Abstract: To enable positioning a robot arm and a workpiece with high accuracy while reducing vibrations of a camera. According to the claimed invention for this purpose, a robot station 100 includes a pedestal 103 to which robot arms 101 and 102 are fixed, a camera 106 which images an area including a working area 209 of the pedestal 103, and a booth 104 to which the camera 106 is fixed. The pedestal 103 is fixed to a floor surface, and the booth 104 is fixed to the floor surface without contacting the pedestal 103. The booth 104 is formed in the shape of a rectangular parallelepiped having a short side parallel to a workpiece conveying direction T and a long side perpendicular to the workpiece conveying direction T in a plan view. In the booth 104, the length of the long side y of the booth 104 is set to not less than the sum of a maximum length by which the robot arms 101 and 102 protrude from the pedestal 103 in a direction perpendicular to the workpiece conveying direction T and the length in the direction perpendicular to the workpiece conveying direction T of the pedestal 103 in a plan view.

Abstract translation: 实现机器人手臂和工件的高精度定位，同时减少相机振动。 根据本发明，为此目的，机器人站100包括固定有机器人手臂101和102的基座103，对包括基座103的工作区域209的区域进行成像的照相机106和与其相对 照相机106是固定的。 基座103被固定在地板表面上，并且将展位104固定在地板表面上而不与基座103接触。展台104形成为具有平行于工件传送方向T的短边的长方体形状， 在平面图中垂直于工件传送方向T的长边。 在展台104中，展厅104的长边y的长度被设定为不小于机器人臂101和102在垂直于工件传送方向的方向上从基座103突出的最大长度之和 T和在平面图中与基座103的工件输送方向T垂直的方向的长度。

公开(公告)号：US08352076B2

公开(公告)日：2013-01-08

申请号：US12786554

申请日：2010-05-25

Applicant: Yuichi Someya

Inventor： Yuichi Someya

IPC: G05B15/00

CPC classification number: B25J9/1697 ,  G05B2219/37302 ,  G05B2219/40033 ,  G05B2219/40598 ,  G05B2219/40609 ,  G05B2219/40613

Abstract: A robot with a camera includes a hand with a finger, a camera disposed on the hand, a robot arm including the hand, and a control portion which searches for a work based on an image obtained by the camera and controls the robot arm. In addition, a unit detects a velocity of the camera, and a unit detects a position of the camera relative to a predicted stopping position of the camera. The control portion permits the camera to take the image used for searching for the work, when the velocity of the camera takes a preset velocity threshold value or lower and the position of the camera relative to the predicted stopping position takes a preset position threshold value or lower.

Abstract translation: 具有照相机的机器人包括手指，手中放置的照相机，包括手的机器人手臂，以及基于由照相机获得的图像来搜索作品并控制机器人手臂的控制部。 此外，单元检测相机的速度，并且单元相对于相机的预测停止位置检测相机的位置。 控制部分允许相机拍摄用于搜索作品的图像，当相机的速度达到预设速度阈值或更低时，相机相对于预测的停止位置的位置取预设的位置阈值或 降低。

公开(公告)号：US20100312393A1

公开(公告)日：2010-12-09

申请号：US12786554

申请日：2010-05-25

Applicant: Yuichi Someya

Inventor： Yuichi Someya

IPC: G05B15/00

CPC classification number: B25J9/1697 ,  G05B2219/37302 ,  G05B2219/40033 ,  G05B2219/40598 ,  G05B2219/40609 ,  G05B2219/40613

Abstract: A shutter chance of a camera mounted on a robot arm is optimized for improving assembling efficiency. An image of a point on a finger and a position of an alignment mark is taken, and a position of the camera is measured by image processing. When the position of the camera is a preset position threshold value or lower, and when a velocity of the camera measured by a velocity sensor is a preset velocity threshold value or lower, a shutter is released. Furthermore, logical AND with another condition that a acceleration of the camera measured as a differential value of the velocity sensor is a preset acceleration threshold value or lower is taken for releasing the shutter. Thus, blur of an image for searching for a work is prevented, a position error is reduced, and working efficiency is improved by releasing the shutter earlier.

Abstract translation: 安装在机器人手臂上的相机的快门机会被优化以提高组装效率。 拍摄手指上的点的图像和对准标记的位置，并且通过图像处理来测量照相机的位置。 当相机的位置为预设位置阈值或更低时，并且当由速度传感器测量的照相机的速度是预设速度阈值或更低时，释放快门。 此外，逻辑“与”，其另一个条件是，作为速度传感器的微分值而测量的照相机的加速度是预设的加速度阈值或更低，用于释放快门。 因此，防止了用于搜索工件的图像的模糊，降低了位置误差，并且通过更早地释放快门来提高工作效率。

公开(公告)号：US20110113898A1

公开(公告)日：2011-05-19

申请号：US12743076

申请日：2009-01-20

Applicant: Shuuichi Sato ,  Yuichi Someya ,  Hideyuki Nishida ,  Takao Yokomatsu ,  Kentaro Nakamura

Inventor： Shuuichi Sato ,  Yuichi Someya ,  Hideyuki Nishida ,  Takao Yokomatsu ,  Kentaro Nakamura

IPC: G01L1/10 ,  G01L1/16

CPC classification number: G01L1/162 ,  H01L41/1132

Abstract: In a piezoelectric vibration type force sensor according to the present invention, vibration is restricted by a friction force between a piezoelectric body and a restricting member, and hence a range of sensing forces can be expanded compared with a case in which the vibration is restricted directly from a direction that is the same as an vibration direction. A conventional structure, in which a lead wire is soldered directly for electrically connecting the piezoelectric body to an external control circuit, causes a restriction of the vibration due to a solder attached to the piezoelectric body, resulting in narrowing the sensing range. Using the piezoelectric vibration type force sensor, the range of sensing forces can be expanded by making a state in which conducting portions of the piezoelectric body and the restricting member are not fixed but contact with each other for keeping electric conductivity.

Abstract translation: 在根据本发明的压电振动型力传感器中，通过压电体和限制构件之间的摩擦力限制振动，因此与直接限制振动的情况相比，能够扩大感测力范围 从与振动方向相同的方向。 其中引线被直接焊接以将压电体电连接到外部控制电路的常规结构导致由于附着到压电体的焊料引起的振动的限制，导致感测范围变窄。 使用压电振动型力传感器，可以通过使压电体和限制构件的导电部分不固定但彼此接触以保持导电性的状态来扩大感测力的范围。

公开(公告)号：US09027231B2

公开(公告)日：2015-05-12

申请号：US13702119

申请日：2011-06-22

Applicant: Toshihiko Mimura ,  Yuichi Someya ,  Yuji Matsuo ,  Mikio Nakasugi ,  Ken Meisho ,  Masaichi Sato ,  Mahito Negishi

Inventor： Toshihiko Mimura ,  Yuichi Someya ,  Yuji Matsuo ,  Mikio Nakasugi ,  Ken Meisho ,  Masaichi Sato ,  Mahito Negishi

IPC: B23P21/00 ,  B25J19/02 ,  B25J9/00 ,  B25J21/00

CPC classification number: B23P21/00 ,  B25J9/0084 ,  B25J21/00 ,  Y10T29/53087 ,  Y10T29/53091

Abstract: To enable positioning a robot arm and a workpiece with high accuracy while reducing vibrations of a camera. According to the claimed invention for this purpose, a robot station 100 includes a pedestal 103 to which robot arms 101 and 102 are fixed, a camera 106 which images an area including a working area 209 of the pedestal 103, and a booth 104 to which the camera 106 is fixed. The pedestal 103 is fixed to a floor surface, and the booth 104 is fixed to the floor surface without contacting the pedestal 103. The booth 104 is formed in the shape of a rectangular parallelepiped having a short side parallel to a workpiece conveying direction T and a long side perpendicular to the workpiece conveying direction T in a plan view. In the booth 104, the length of the long side y of the booth 104 is set to not less than the sum of a maximum length by which the robot arms 101 and 102 protrude from the pedestal 103 in a direction perpendicular to the workpiece conveying direction T and the length in the direction perpendicular to the workpiece conveying direction T of the pedestal 103 in a plan view.

Abstract translation: 实现机器人手臂和工件的高精度定位，同时减少相机振动。 根据本发明，为此目的，机器人站100包括固定有机器人手臂101和102的基座103，对包括基座103的工作区域209的区域进行成像的照相机106和与其相对 照相机106是固定的。 基座103被固定在地板表面上，并且将展位104固定在地板表面上而不与基座103接触。展台104形成为具有平行于工件传送方向T的短边的长方体形状， 在平面图中垂直于工件传送方向T的长边。 在展台104中，展厅104的长边y的长度被设定为不小于机器人臂101和102在垂直于工件传送方向的方向上从基座103突出的最大长度之和 T和在平面图中与基座103的工件输送方向T垂直的方向的长度。

公开(公告)号：US08365615B2

公开(公告)日：2013-02-05

申请号：US12743076

申请日：2009-01-20

Applicant: Shuuichi Sato ,  Yuichi Someya ,  Hideyuki Nishida ,  Takao Yokomatsu ,  Kentaro Nakamura

Inventor： Shuuichi Sato ,  Yuichi Someya ,  Hideyuki Nishida ,  Takao Yokomatsu ,  Kentaro Nakamura

IPC: G01L1/10

CPC classification number: G01L1/162 ,  H01L41/1132

Abstract: In a piezoelectric vibration type force sensor according to the present invention, vibration is restricted by a friction force between a piezoelectric body and a restricting member, and hence a range of sensing forces can be expanded compared with a case in which the vibration is restricted directly from a direction that is the same as an vibration direction. A conventional structure, in which a lead wire is soldered directly for electrically connecting the piezoelectric body to an external control circuit, causes a restriction of the vibration due to a solder attached to the piezoelectric body, resulting in narrowing the sensing range. Using the piezoelectric vibration type force sensor, the range of sensing forces can be expanded by making a state in which conducting portions of the piezoelectric body and the restricting member are not fixed but contact with each other for keeping electric conductivity.

Abstract translation: 在根据本发明的压电振动型力传感器中，通过压电体和限制构件之间的摩擦力限制振动，因此与直接限制振动的情况相比，能够扩大感测力范围 从与振动方向相同的方向。 其中引线被直接焊接以将压电体电连接到外部控制电路的常规结构导致由于附着到压电体的焊料引起的振动的限制，导致感测范围变窄。 使用压电振动型力传感器，可以通过使压电体和限制构件的导电部分不固定但彼此接触以保持导电性的状态来扩大感测力的范围。