CN115397632B - 机器人系统 - Google Patents

机器人系统 Download PDF

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Publication number
CN115397632B
CN115397632B CN202180028255.7A CN202180028255A CN115397632B CN 115397632 B CN115397632 B CN 115397632B CN 202180028255 A CN202180028255 A CN 202180028255A CN 115397632 B CN115397632 B CN 115397632B
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CN
China
Prior art keywords
line image
workpiece
image
base material
robot
Prior art date
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Active
Application number
CN202180028255.7A
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English (en)
Chinese (zh)
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CN115397632A (zh
Inventor
並木勇太
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Fanuc Corp
Original Assignee
Fanuc Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Fanuc Corp filed Critical Fanuc Corp
Publication of CN115397632A publication Critical patent/CN115397632A/zh
Application granted granted Critical
Publication of CN115397632B publication Critical patent/CN115397632B/zh
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1694—Program controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697—Vision controlled systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1656—Program controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Program controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/37—Measurements
    • G05B2219/37208—Vision, visual inspection of workpiece
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40607—Fixed camera to observe workspace, object, workpiece, global
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G05B2219/45104—Lasrobot, welding robot

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
CN202180028255.7A 2020-04-28 2021-04-23 机器人系统 Active CN115397632B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2020079172A JP2022028096A (ja) 2020-04-28 2020-04-28 ロボットシステム
JP2020-079172 2020-04-28
PCT/JP2021/016401 WO2021220949A1 (ja) 2020-04-28 2021-04-23 ロボットシステム

Publications (2)

Publication Number Publication Date
CN115397632A CN115397632A (zh) 2022-11-25
CN115397632B true CN115397632B (zh) 2025-05-02

Family

ID=78373555

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202180028255.7A Active CN115397632B (zh) 2020-04-28 2021-04-23 机器人系统

Country Status (5)

Country Link
US (1) US12208529B2 (https=)
JP (2) JP2022028096A (https=)
CN (1) CN115397632B (https=)
DE (1) DE112021001050B4 (https=)
WO (1) WO2021220949A1 (https=)

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH06265314A (ja) * 1993-03-16 1994-09-20 Kawasaki Steel Corp ２次元距離計を用いた板幅・蛇行測定装置
CN203712189U (zh) * 2014-02-17 2014-07-16 华南理工大学 基于机器视觉的焊接轨迹校正专用测试装置

Family Cites Families (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS61132274A (ja) 1984-12-03 1986-06-19 Ishikawajima Harima Heavy Ind Co Ltd 多層盛自動溶接装置
JPH07117372B2 (ja) 1988-01-14 1995-12-18 松下電器産業株式会社 溶接線検出装置
JPH0630814B2 (ja) 1989-10-23 1994-04-27 松下電工株式会社 溶接位置の決定方法および溶接方法
JP4813505B2 (ja) 1997-02-25 2011-11-09 三洋機工株式会社 溶接状態の検査方法
JP2004087785A (ja) * 2002-08-27 2004-03-18 Dt Circuit Technology Co Ltd プリント配線板の製造方法、プリント配線板の製造装置
JP4403881B2 (ja) 2004-05-28 2010-01-27 株式会社Ｉｈｉ 溶接部可視化装置
DE102010041720A1 (de) 2010-09-30 2012-04-05 Robert Bosch Gmbh Schweißverfahren, Schweißvorrichtung und Verbundteil
KR101400609B1 (ko) * 2012-07-30 2014-05-27 현대제철 주식회사 라인 스캔 카메라 보정 장치 및 방법
CN109694946B (zh) 2017-10-24 2020-06-23 宝山钢铁股份有限公司 快速加热冷轧带钢的装置与方法
US20230146947A1 (en) * 2017-10-30 2023-05-11 Cilag Gmbh International Method of hub communication with surgical instrument systems
CN109945839B (zh) * 2017-12-21 2021-04-13 沈阳新松机器人自动化股份有限公司 一种对接工件的姿态测量方法
US11424027B2 (en) * 2017-12-28 2022-08-23 Cilag Gmbh International Method for operating surgical instrument systems
US11998193B2 (en) * 2017-12-28 2024-06-04 Cilag Gmbh International Method for usage of the shroud as an aspect of sensing or controlling a powered surgical device, and a control algorithm to adjust its default operation

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH06265314A (ja) * 1993-03-16 1994-09-20 Kawasaki Steel Corp ２次元距離計を用いた板幅・蛇行測定装置
CN203712189U (zh) * 2014-02-17 2014-07-16 华南理工大学 基于机器视觉的焊接轨迹校正专用测试装置

Also Published As

Publication number Publication date
JPWO2021220949A1 (https=) 2021-11-04
JP7464799B2 (ja) 2024-04-09
US20230129918A1 (en) 2023-04-27
DE112021001050T5 (de) 2023-02-02
DE112021001050B4 (de) 2026-04-16
CN115397632A (zh) 2022-11-25
JP2022028096A (ja) 2022-02-15
US12208529B2 (en) 2025-01-28
WO2021220949A1 (ja) 2021-11-04

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