Abstract: A method performed by a robotic system, for identifying single objects from a random assortment of objects. The robotic system picks, among a random assortment of objects on a presentation surface, an object from the presentation surface at a determined picking point. The robotic system removes any remaining objects from the presentation surface. The robotic system places the picked object on the presentation surface. The robotic system further analyzes the picked object on the presentation surface, in order to identify a single object.

Abstract: 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.

Abstract: A method for teaching an industrial robot to pick parts includes the steps of: placing a reference part on a picking surface; providing a reference image including information about the reference part; placing a gripping tool of the industrial robot in relation to the reference part so that the gripping tool is in a grasp configuration in relation to the reference part; and storing the grasp configuration. The reference image is a 2D image from below. When the reference part is resting on a known plane a 2D image taken from below is enough for defining the position of the same.

Abstract: An attachment system for an industrial robot, the attachment system including a base member having a base and a locking member movable relative to the base between a locking position and an unlocking position; and an attachment member; wherein the attachment member includes an engageable structure configured to be engaged by the locking member when the locking member adopts the locking position, in order to fix the attachment member to the base member; and wherein the attachment system further includes an engaging biasing member configured to bias the locking member towards the engageable structure, when the locking member engages the engageable structure in the locking position. An industrial robot including an attachment system and a method for handling the industrial robot are also provided.

Abstract: A component feeder including a stationary picking surface for receiving components to be picked, a vision system including an image unit arranged to take images of components distributed on the picking surface and a load device including one or more load sensors adapted to detect the presence of a component on the picking surface and the vision system is configured to automatically trigger the image unit to take an image upon detecting the presence of the component on the picking surface.

Abstract: A method performed by a robotic system, for identifying single objects from a random assortment of objects. The robotic system picks, among a random assortment of objects on a presentation surface, an object from the presentation surface at a determined picking point. The robotic system removes any remaining objects from the presentation surface. The robotic system places the picked object on the presentation surface. The robotic system further analyzes the picked object on the presentation surface, in order to identify a single object.

Abstract: 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.

Abstract: A method for teaching an industrial robot to pick parts includes the steps of: placing a reference part on a picking surface; providing a reference image including information about the reference part; placing a gripping tool of the industrial robot in relation to the reference part so that the gripping tool is in a grasp configuration in relation to the reference part; and storing the grasp configuration. The reference image is a 2D image from below. When the reference part is resting on a known plane a 2D image taken from below is enough for defining the position of the same.

Abstract: A component feeder including a stationary picking surface for receiving components to be picked, a vision system including an image unit arranged to take images of components distributed on the picking surface and a load device including one or more load sensors adapted to detect the presence of a component on the picking surface and the vision system is configured to automatically trigger the image unit to take an image upon detecting the presence of the component on the picking surface.

Abstract: A component feeder includes a distributor for distributing components from a bulk storage on a pick surface, and a retaining wall preventing the components from escaping the pick surface. The retaining wall is flexible such that it deforms when a force is applied on it, and it assumes its original shape when the force is no longer applied. The flexible retaining wall allows a robot gripper to push the retaining wall aside when picking a component close to the retaining wall.

Abstract: A component feeder including a lift for elevating a selection of components from a bulk storage, and a pick surface adjacent to the lift for receiving the selection of components. A spreader gives the selection of components a push for spreading the selection of components from the lift on the pick surface. The combination of a vertical lift and a separate pick surface adjacent to the lift enables the bulk storage being positioned right below the pick surface. The area of the pick surface is large in relation to the total footprint of the component feeder.

Abstract: A component feeder includes a distributer for distributing components from a bulk storage on a pick surface, and a retaining wall preventing the components from escaping the pick surface. The retaining wall is flexible such that it deforms when a force is applied on it, and it assumes its original shape when the force is no longer applied. The flexible retaining wall allows a robot gripper to push the retaining wall aside when picking a component close to the retaining wall.

Abstract: A component feeder including a bulk storage container for storage of components, and a lift for elevating a selection of components from the container, the lift being located inside the container. The feeder further includes a transfer arrangement for transferring elevated components from the lift onto a component pick surface on which the components are distributed in order to be picked by a tool or by a hand, and a plate configured to include the component pick surface. Further described is a component feeder system including at least one component feeder, a camera for monitoring the component pick surface and a processor used to control an industrial robot to pick pickable components lying on the pick surface. A corresponding method is also described.

Abstract: A component feeder including a lift for elevating a selection of components from a bulk storage, and a pick surface adjacent to the lift for receiving the selection of components. A spreader gives the selection of components a push for spreading the selection of components from the lift on the pick surface. The combination of a vertical lift and a separate pick surface adjacent to the lift enables the bulk storage being positioned right below the pick surface. The area of the pick surface is large in relation to the total footprint of the component feeder.

Abstract: A component feeder including a bulk storage container for storage of components, and a lift for elevating a selection of components from the container, the lift being located inside the container. The feeder further includes a transfer arrangement for transferring elevated components from the lift onto a component pick surface on which the components are distributed in order to be picked by a tool or by a hand, and a plate configured to include the component pick surface. Further described is a component feeder system including at least one component feeder, a camera for monitoring the component pick surface and a processor used to control an industrial robot to pick pickable components lying on the pick surface. A corresponding method is also described.

Abstract: A system for electrically connecting a tool to a robot wrist. The system includes a first component being a tool flange arranged for rotation around a robot axis, and a second component, which includes an electric cabling and a connector permanently connected to each other. The connector has a plurality of poles and the electric cabling includes a plurality of conductors. Each conductor is permanently connected to a respective pole. The tool flange and the connector are mutually adapted for attaching the connector to the tool flange. According to the invention the tool flange has eccentric mounting means arranged for eccentric attachment of the connector on the tool flange.

Abstract: A robot part, such as a robot arm or a robot joint, surrounded by an impact absorbing structure is provided. According to the invention, the impact absorbing structure has a shroud surrounding the robot part. The shroud is mounted on two spacing elements such that an interspace is formed between the shroud and the robot part. At least one of the spacing elements mounts the shroud elastically. Also provided is a method of protecting a robot part by providing the robot part with an impact absorbing structure according to the invention.

Abstract: A system for electrically connecting a tool to a robot wrist. The system includes a first component being a tool flange arranged for rotation around a robot axis, and a second component, which includes an electric cabling and a connector permanently connected to each other. The connector has a plurality of poles and the electric cabling includes a plurality of conductors. Each conductor is permanently connected to a respective pole. The tool flange and the connector are mutually adapted for attaching the connector to the tool flange. According to the invention the tool flange has eccentric mounting means arranged for eccentric attachment of the connector on the tool flange.

Abstract: A harmonic motor with a circular and internally geared stator, a flex spline coaxially arranged within the stator which comprises both external and internal gears, and a geared output shaft coaxially arranged within the flex spline. A drive assembly that includes a motor with a motor housing, a rotor, a rotor shaft, and a rear bearing for supporting the rotor shaft in the motor housing at a rear side of the rotor; and a strain wave gearing including a circular spline secured to the motor housing, a flex spline engaging the circular spline, a wave generator engaging the flex spline and secured to a drive end of the rotor shaft, and a wave generator bearing between the circular spline and the wave generator. The wave generator bearing serves as an exclusive drive end bearing for supporting the rotor shaft in the motor housing at a front side of the rotor.

Abstract: A robot part, such as a robot arm or a robot joint, surrounded by an impact absorbing structure is provided. According to the invention, the impact absorbing structure has a shroud surrounding the robot part. The shroud is mounted on two spacing elements such that an interspace is formed between the shroud and the robot part. At least one of the spacing elements mounts the shroud elastically. Also provided is a method of protecting a robot part by providing the robot part with an impact absorbing structure according to the invention.