CN117203026A - 拾取系统 - Google Patents

拾取系统 Download PDF

Info

Publication number
CN117203026A
CN117203026A CN202280031079.7A CN202280031079A CN117203026A CN 117203026 A CN117203026 A CN 117203026A CN 202280031079 A CN202280031079 A CN 202280031079A CN 117203026 A CN117203026 A CN 117203026A
Authority
CN
China
Prior art keywords
workpiece
posture
robot
pickup system
angle
Prior art date
Legal status (The legal status 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 status listed.)
Pending
Application number
CN202280031079.7A
Other languages
English (en)
Chinese (zh)
Inventor
河合雅也
前田健浩
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.)
Mitsubishi Electric Corp
Original Assignee
Mitsubishi Electric 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 Mitsubishi Electric Corp filed Critical Mitsubishi Electric Corp
Publication of CN117203026A publication Critical patent/CN117203026A/zh
Pending legal-status Critical Current

Links

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
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • 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
    • B25J9/1612—Program controls characterised by the hand, wrist, grip control
    • 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
    • B25J9/1628—Program controls characterised by the control loop
    • B25J9/163—Program controls characterised by the control loop learning, adaptive, model based, rule based expert control
    • 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
    • B25J9/1628—Program controls characterised by the control loop
    • B25J9/1653—Program controls characterised by the control loop parameters identification, estimation, stiffness, accuracy, error analysis
    • 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
    • G05B2219/37555—Camera detects orientation, position workpiece, points 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
    • G05B2219/40053—Pick 3-D object from pile of objects
    • 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
    • G05B2219/45063—Pick and place manipulator

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Human Computer Interaction (AREA)
  • Manipulator (AREA)
CN202280031079.7A 2021-05-06 2022-03-31 拾取系统 Pending CN117203026A (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2021-078318 2021-05-06
JP2021078318 2021-05-06
PCT/JP2022/016572 WO2022234752A1 (ja) 2021-05-06 2022-03-31 ピッキングシステム

Publications (1)

Publication Number Publication Date
CN117203026A true CN117203026A (zh) 2023-12-08

Family

ID=83932164

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202280031079.7A Pending CN117203026A (zh) 2021-05-06 2022-03-31 拾取系统

Country Status (4)

Country Link
US (1) US12459131B2 (https=)
JP (1) JP7592158B2 (https=)
CN (1) CN117203026A (https=)
WO (1) WO2022234752A1 (https=)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117836099A (zh) * 2021-08-20 2024-04-05 发那科株式会社 对机器人把持工件的位置以及姿势进行示教的装置、机器人系统以及方法
CN117325077A (zh) * 2023-11-08 2024-01-02 伯朗特机器人股份有限公司 一种机器人打磨件变换姿态治具及打磨方法
WO2026004129A1 (ja) * 2024-06-28 2026-01-02 株式会社ニコン 制御装置、制御システム、ロボットシステム、制御方法及びコンピュータプログラム

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2002066970A (ja) * 2000-08-28 2002-03-05 Matsushita Electric Works Ltd 姿勢変換装置及びビンピッキング装置
CN103687702A (zh) * 2011-06-29 2014-03-26 三菱电机株式会社 部件供给装置
JP2015150673A (ja) * 2014-02-19 2015-08-24 セイコーエプソン株式会社 制御装置、ロボット、ロボットシステムおよび制御方法
JP6644846B1 (ja) * 2018-08-31 2020-02-12 株式会社トキワシステムテクノロジーズ ワークの位置姿勢認識装置およびピッキングシステム
CN111163907A (zh) * 2017-10-03 2020-05-15 三菱电机株式会社 抓持位置姿态示教装置、抓持位置姿态示教方法及机器人系统

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2677356B1 (fr) 1991-06-05 1995-03-17 Sanofi Sa Derives heterocycliques d'acylamino-2 thiazoles-5 substitues, leur preparation et compositions pharmaceutiques en contenant.
JP5618908B2 (ja) 2011-05-31 2014-11-05 三菱電機株式会社 部品供給装置
JP6057862B2 (ja) * 2013-08-29 2017-01-11 三菱電機株式会社 部品供給装置および部品供給装置のプログラム生成方法
JP6219901B2 (ja) 2015-10-28 2017-10-25 ファナック株式会社 ワークの向きを調整可能な仮置き装置
JP2017124450A (ja) 2016-01-12 2017-07-20 株式会社ソフトサービス ピックアップ装置
WO2018173318A1 (ja) 2017-03-24 2018-09-27 三菱電機株式会社 ロボットプログラムの生成装置及び生成方法
WO2021053750A1 (ja) * 2019-09-18 2021-03-25 株式会社Ｆｕｊｉ 作業ロボットおよび作業システム
WO2022086157A1 (ko) * 2020-10-20 2022-04-28 삼성전자주식회사 전자 장치 및 그 제어 방법
JP7133604B2 (ja) * 2020-11-05 2022-09-08 Dmg森精機株式会社 ロボット搭載移動装置及びシステムの位置決め制御方法
TW202231424A (zh) * 2021-02-12 2022-08-16 日商發那科股份有限公司 機器人系統及工件供給方法

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2002066970A (ja) * 2000-08-28 2002-03-05 Matsushita Electric Works Ltd 姿勢変換装置及びビンピッキング装置
CN103687702A (zh) * 2011-06-29 2014-03-26 三菱电机株式会社 部件供给装置
JP2015150673A (ja) * 2014-02-19 2015-08-24 セイコーエプソン株式会社 制御装置、ロボット、ロボットシステムおよび制御方法
CN111163907A (zh) * 2017-10-03 2020-05-15 三菱电机株式会社 抓持位置姿态示教装置、抓持位置姿态示教方法及机器人系统
JP6644846B1 (ja) * 2018-08-31 2020-02-12 株式会社トキワシステムテクノロジーズ ワークの位置姿勢認識装置およびピッキングシステム

Also Published As

Publication number Publication date
JPWO2022234752A1 (https=) 2022-11-10
US20240157567A1 (en) 2024-05-16
JP7592158B2 (ja) 2024-11-29
US12459131B2 (en) 2025-11-04
WO2022234752A1 (ja) 2022-11-10

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