Workpiece transfer system
US-12122616-B2 · Oct 22, 2024 · US
Robot
US9527209B2 · US · B2
| Field | Value |
|---|---|
| Publication number | US-9527209-B2 |
| Application number | US-201514663897-A |
| Country | US |
| Kind code | B2 |
| Filing date | Mar 20, 2015 |
| Priority date | Mar 25, 2014 |
| Publication date | Dec 27, 2016 |
| Grant date | Dec 27, 2016 |
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- Title
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- Abstract
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- Assignees and inventors
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- First independent claim
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- CPC / IPC classifications
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Abstract
Official abstract text for this publication.
A robot includes a hand that grips an object and a control unit that operates the hand, the hand includes fingers that are able to grip the object at four or more contact points, and an object of which a metallic tone index is equal to or higher than 5 is gripped with the hand.
First claim
Opening claim text (preview).
What is claimed is: 1. A robot comprising: a hand that grips an object; and a control unit that operates the hand, wherein the hand includes fingers that are able to grip the object at four or more contact points, wherein the object of which a metallic tone index is equal to or higher than 5 is gripped with the hand, and wherein the control unit includes: a position and attitude calculating unit that calculates position and attitude of the object on the basis of a three-dimensional point group obtained by imaging the object; and a grip planning unit that determines an opening and closing direction of the fingers in a direction perpendicular to a length direction of the object and an imaging direction of the object, wherein the grip planning unit causes the hand to approach the object from a point spaced apart by a predetermined distance from the position of the object in a direction perpendicular to the length direction of the object and not having a component parallel to a plane on which the object is placed, and wherein the grip planning unit inclines the fingers in the same direction as the inclination of the length direction of the object about the plane from the direction perpendicular to the plane when an angle between the plane and the length direction of the object is equal to or greater than a predetermined angle threshold. 2. The robot according to claim 1 , wherein the control unit includes an attitude control unit that adjusts an attitude of the object by changing a force for gripping the object with the hand. 3. The robot according to claim 2 , wherein the fingers have a shape and a size enabling caging and self alignment on the object.
Assignees
Inventors
Classifications
Vision controlled systems · CPC title
V-shaped gripping surfaces · CPC title
Orient hand relative to object · CPC title
Fixed camera to observe workspace, object, workpiece, global · CPC title
- B25J9/1612Primary
characterised by the hand, wrist, grip control · CPC title
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Frequently asked questions
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- What does patent US9527209B2 cover?
- A robot includes a hand that grips an object and a control unit that operates the hand, the hand includes fingers that are able to grip the object at four or more contact points, and an object of which a metallic tone index is equal to or higher than 5 is gripped with the hand.
- Who is the assignee on this patent?
- Seiko Epson Corp
- What technology area does this patent fall under?
- Primary CPC classification B25J9/1612. Mapped technology areas include Operations & Transport.
- When was this patent published?
- Publication date Tue Dec 27 2016 00:00:00 GMT+0000 (Coordinated Universal Time) (B2). Legal status and post-grant events are not shown on this page.
- What related patents are in patentsdb?
- We list 8 related publications on this page (citations in our corpus or others sharing the same primary CPC).