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    ROBOT CONTROL SYSTEM
    1.
    发明公开
    ROBOT CONTROL SYSTEM 审中-实审

    公开(公告)号：EP4400278A1

    公开(公告)日：2024-07-17

    申请号：EP22867441.2

    申请日：2022-09-09

    申请人： DENSO WAVE INCORPORATED

    发明人： YAMAMOTO, Tomoya

    IPC分类号： B25J19/06

    CPC分类号： B25J19/06

    摘要： There is provided a robot control system capable of suitably improving robot safety and work efficiency. The robot control system includes a safety-related unit, a situation identifying unit, and a determination criterion switching unit. The safety-related unit includes a motion judgment unit that judges a motion of a robot based on a safety-related input signal that includes parameters correlated with at least one of a force, a speed, and a position of the robot and determination criterion for the parameters stored in advance. The safety-related unit realizes a safety function of the robot by generating a safety-related output signal depending on a judged result of the motion judgment unit, thereby realizing the safety function. The situation identifying unit identifies a work condition of the robot which is in operation currently, from a plurality of work conditions which are set previously for work to be performed by the robot. The determination criterion switching unit switches the determination criterion for the parameters, which are referred by the motion judgment unit, to a determination criterion corresponding to the work condition identified by the situation identifying unit.

    OPTICAL INFORMATION READING DEVICE
    9.
    发明公开
    OPTICAL INFORMATION READING DEVICE 审中-公开

    公开(公告)号：EP3651443A1

    公开(公告)日：2020-05-13

    申请号：EP18827425.2

    申请日：2018-07-02

    申请人： Denso Wave Incorporated

    发明人： ARAKI, Ryosuke ,  IKEDA, Kyosuke

    IPC分类号： H04N1/10 ,  F21S2/00 ,  G06K7/10 ,  G06T1/00 ,  H03K17/96 ,  H04N1/00 ,  H04N5/222

    摘要： There is provided an optical information reader (10). The reader includes a reflective member (50) that reflects illumination light (Lf) emitted from an illuminant (21) toward a reading surface (14), and an image former (27) that is ensured to present an imaging target held over the reading surface within an imaging region of an imager (23). The imaging region includes a first imaging region (AR1) defined between the image former and the reading surface, and a second imaging region (AR2) defined between the reading surface and the reflective member so as to be continuous to the first imaging region (AR1) when light is internally reflected on the reading surface inside the housing. The reflective member is arranged outside the first imaging region, while the illuminant, the imager and the image former are arranged outside the second imaging region. The illuminant emits illumination light toward a reflecting surface (55) of the reflective member in the second imaging region. Preferably, an operation part and a display may be arranged on the top surface of the housing of the reader (10) so as to be located at a surface portion at an end continuous to one side of the reading surface.

    CONTROLLER FOR ROBOT AND INVERSE TRANSFORM METHOD FOR ROBOT
    10.
    发明公开
    CONTROLLER FOR ROBOT AND INVERSE TRANSFORM METHOD FOR ROBOT 审中-公开

    公开(公告)号：EP3511127A3

    公开(公告)日：2020-01-01

    申请号：EP18207587.9

    申请日：2018-11-21

    申请人： DENSO WAVE INCORPORATED

    发明人： KAWASE, Daisuke ,  KAWACHI, Yuto ,  SATO, Masanori

    IPC分类号： B25J9/16

    摘要： In an industrial robot provided with an offset arm, an inverse transform process can be used. One example is targeted to a robot (2) with a vertical 6-axis articulated arm having an offset arm (8), the offset am being provided with a fifth axis, mutually liking a fourth axis and a sixth axis, and having a link length (d5), shaft centers of the fourth and sixth axes being parallel with each other, the arm having a head portion designated as a control point, a position and an orientation targeted to the control point being processed by an inverse transform in order to calculate angles of the axes. The angle (θ 6A ) of the sixth axis provisionally decided, and from it angle, a direction of the offset arm (8) is obtained. A provisional target position (P 6A ) of the sixth axis is obtained by subtracting the link length d5 from a target position P 6 of the sixth axis. The link length (d5) to the provisional target position (P A ) is given zero in order to perform the inverse transform process. Processed results are then evaluated by an evaluation function. Until a difference between a calculated sixth-axis angles (θ 6 ) and the provisionally decided sixth-axis angles (θ 6A ) becomes equal to or less than a predetermined value, processes started from the angel provisional decision of the sixth axis are repeatedly performed.