The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Jun. 29, 2021
Filed:
Nov. 29, 2018
Fanuc Corporation, Yamanashi, JP;
Kentaro Koga, Yamanashi, JP;
FANUC CORPORATION, Yamanashi, JP;
Abstract
An article transfer apparatus includes: a conveyor configured to transfer workpieces; a photographing unit that acquires a three-dimensional image by photographing the transferred workpieces; a workpiece distinguishing unit that detects three-dimensional shapes and postures of the workpieces on the basis of the three-dimensional image acquired by the photographing unit; a storage unit that stores therein three-dimensional shapes of reference workpieces and postures of the reference workpieces in a state in which the reference workpieces do not overlap with another workpiece; and an overlap judgement unit that judges whether there is an overlap between the workpieces on the basis of the three-dimensional shapes and the postures of the reference workpieces stored in the storage unit, and the three-dimensional shapes and the postures of the workpieces detected by the workpiece distinguishing unit.