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    Robot system for preventing accidental dropping of conveyed objects
    11.
    发明授权
    Robot system for preventing accidental dropping of conveyed objects 有权

    公开(公告)号：US09604360B2

    公开(公告)日：2017-03-28

    申请号：US14623044

    申请日：2015-02-16

    Applicant: FANUC CORPORATION

    Inventor： Keisuke Suga

    IPC: B25J9/16

    CPC classification number: B25J9/163 ,  B25J9/1671 ,  G05B2219/40382 ,  G05B2219/40478 ,  Y10S901/03 ,  Y10S901/30 ,  Y10S901/47

    Abstract: A robot system comprises a robot provided with a robot arm and a robot hand, and a control device for controlling the motion of the robot, wherein a permitted area where a teaching operation for the robot hand should be permitted is preset within a maximum area which the robot hand can reach. The control device is provided with a judging part which judges if the robot hand as a whole is present in the permitted area, based on robot hand position information, and a teaching operation restricting part which permits a teaching operation for the robot hand when it is judged that the robot hand as a whole is present in the permitted area and prohibits a teaching operation for the robot hand when it is judged that the robot hand as a whole is not present in the permitted area.

    Robot control apparatus
    12.
    发明授权
    Robot control apparatus 有权
    机器人控制装置

    公开(公告)号：US09132546B2

    公开(公告)日：2015-09-15

    申请号：US14007594

    申请日：2011-04-14

    Applicant: Norio Matsui

    Inventor： Norio Matsui

    IPC: G05B19/18 ,  B25J9/16

    CPC classification number: B25J9/1612 ,  B25J9/1666 ,  G05B2219/40476 ,  G05B2219/40478 ,  G05B2219/40479 ,  G05B2219/40492 ,  G05B2219/49137

    Abstract: A robot control apparatus, which causes a robot to use its hand to grasp and move a workpiece detected by a workpiece detection unit, has a storage unit and a control unit. A non-interference area in which no interference occurs between the hand and a surrounding environment and a work area through which the hand potentially passes when grasping the workpiece are stored as a parameter in the storage unit. The control unit computes, based on a position and an attitude of the detected workpiece and the parameter regarding the work area, a position and an orientation of the work area with reference to the position of the detected workpiece. Moreover, the control unit computes an overlap between a surrounding environment area excluding the non-interference area and the work area having the computed position and orientation. If there is the overlap, the control unit executes a predetermined operation.

    Abstract translation: 机器人控制装置具有存储单元和控制单元，该机器人控制装置使机器人手抓住并移动由工件检测单元检测到的工件。 在手和周围环境之间不产生干扰的无干扰区域以及当抓住工件时手可能通过的工作区域作为参数存储在存储单元中。 参照所检测的工件的位置，控制单元基于检测到的工件的位置和姿态以及关于工作区域的参数来计算工作区域的位置和取向。 此外，控制单元计算除了非干扰区域之外的周围环境区域和具有计算出的位置和取向的工作区域之间的重叠。 如果存在重叠，则控制单元执行预定的操作。

    ROBOT CONTROL APPARATUS
    14.
    发明申请
    ROBOT CONTROL APPARATUS 有权
    机器人控制装置

    公开(公告)号：US20140018959A1

    公开(公告)日：2014-01-16

    申请号：US14007594

    申请日：2011-04-14

    Applicant: Norio Matsui

    Inventor： Norio Matsui

    IPC: B25J9/16

    CPC classification number: B25J9/1612 ,  B25J9/1666 ,  G05B2219/40476 ,  G05B2219/40478 ,  G05B2219/40479 ,  G05B2219/40492 ,  G05B2219/49137

    Abstract: A robot control apparatus, which causes a robot to use its hand to grasp and move a workpiece detected by a workpiece detection unit, has a storage unit and a control unit. A non-interference area in which no interference occurs between the hand and a surrounding environment and a work area through which the hand potentially passes when grasping the workpiece are stored as a parameter in the storage unit. The control unit computes, based on a position and an attitude of the detected workpiece and the parameter regarding the work area, a position and an orientation of the work area with reference to the position of the detected workpiece. Moreover, the control unit computes an overlap between a surrounding environment area excluding the non-interference area and the work area having the computed position and orientation. If there is the overlap, the control unit executes a predetermined operation.

    Abstract translation: 机器人控制装置具有存储单元和控制单元，该机器人控制装置使机器人手抓住并移动由工件检测单元检测到的工件。 在手和周围环境之间不产生干扰的无干扰区域以及当抓住工件时手可能通过的工作区域作为参数存储在存储单元中。 参照所检测的工件的位置，控制单元基于检测到的工件的位置和姿态以及关于工作区域的参数来计算工作区域的位置和取向。 此外，控制单元计算除了非干扰区域之外的周围环境区域和具有计算出的位置和取向的工作区域之间的重叠。 如果存在重叠，则控制单元执行预定的操作。

    MOVEMENT CONTROL APPARATUS FOR MACHINE TOOL
    15.
    发明申请
    MOVEMENT CONTROL APPARATUS FOR MACHINE TOOL 审中-公开
    机床运动控制装置

    公开(公告)号：US20090036280A1

    公开(公告)日：2009-02-05

    申请号：US12182903

    申请日：2008-07-30

    Applicant: Noriyuki Yazaki

    Inventor： Noriyuki Yazaki

    IPC: B23Q3/157

    CPC classification number: G05B19/182 ,  G05B2219/25121 ,  G05B2219/35313 ,  G05B2219/40478 ,  G05B2219/49137 ,  G05B2219/49157 ,  G05B2219/50246 ,  G05B2219/50262 ,  Y10T483/1733

    Abstract: A movement control apparatus for a machine tool includes a travel boundary arc setting unit and a control unit. The machine tool includes a tool post that supports plurality of tools, and a drive unit adapted to relatively move at least one of the tool post and the workpiece in a direction of a first axis and in a direction of a second axis that intersects the first axis to change a tool. The travel boundary arc setting unit sets an arc so that the arc is inscribed in the first and the second axes and an axial center of the workpiece passes through a position distant from a corner portion of a tool by a radius of the workpiece. The control unit is adapted to control the drive unit so that the workpiece travels along a travel locus outside the arc while changing a tool.

    Abstract translation: 用于机床的移动控制装置包括移动边界弧设置单元和控制单元。 所述机床包括支撑多个工具的工具支柱，以及驱动单元，其适于相对于第一轴线的方向和与第一轴线相交的第二轴线的方向相对移动所述工具支柱和所述工件中的至少一个 轴更改工具。 移动边界弧设定单元设定电弧，使得圆弧内切在第一轴和第二轴线上，并且工件的轴向中心通过远离工具的角部的位置通过工件的半径。 控制单元适于控制驱动单元，使得工件在改变工具的同时沿弧线外的行进轨迹行进。

    Offline teaching apparatus for robot
    16.
    发明申请
    Offline teaching apparatus for robot 审中-公开
    机器人离线教学仪器

    公开(公告)号：US20070073444A1

    公开(公告)日：2007-03-29

    申请号：US11527529

    申请日：2006-09-27

    Applicant: Hirohiko Kobayashi ,  Yoshiharu Nagatsuka

    Inventor： Hirohiko Kobayashi ,  Yoshiharu Nagatsuka

    IPC: G06F19/00

    CPC classification number: B25J9/1684 ,  B25J9/1671 ,  G05B2219/39102 ,  G05B2219/40323 ,  G05B2219/40478

    Abstract: An offline teaching apparatus for generating, in an offline mode, a robot operation relating to tracking and working relative to a workpiece traveling along a carrier route. The apparatus includes a model-image generating section for generating images of a carrier-route model, a workpiece model and a robot model; an indicator generating section for generating a base-point indicator, and upstream-end and downstream-end indicators defining a spatial range for performing the robot operation; a display section for displaying, on a screen, the images of the carrier-route model, the workpiece model and the robot model, together with the base-point indicator, the upstream-end indicator and the downstream-end indicator; a carrying-operation simulating section for causing the workpiece model to simulate a workpiece traveling motion along the carrier-route model; and a robot-operation simulating section for causing the robot model to simulate the robot operation, during a period from an instant the workpiece model passes by the upstream-end indicator until an instant the workpiece model arrives at the downstream-end indicator.

    Abstract translation: 一种离线教学装置，用于在离线模式下生成与沿着载体路线行进的工件相关的跟踪和加工相关的机器人操作。 该装置包括用于生成载体路线模型，工件模型和机器人模型的图像的模型图像生成部分; 用于产生基点指示符的指示符产生部分和限定用于执行机器人操作的空间范围的上游端和下游指示符; 显示部，与基站指示符，上游指示符和下游指示符一起在屏幕上显示载体路线模型，工件模型和机器人模型的图像; 用于使工件模型沿着载体路线模型模拟工件行进运动的运载模拟部分; 以及机器人操作模拟部分，用于在从工件模型经过上游指示器的瞬间到工件模型到达下游指示器的时刻期间，使机器人模型模拟机器人操作。

    Master-slave manipulator system and this operation input devcies
    17.
    发明申请
    Master-slave manipulator system and this operation input devcies 有权
    主从机械手系统和这个操作输入设备

    公开(公告)号：US20060261770A1

    公开(公告)日：2006-11-23

    申请号：US11434900

    申请日：2006-05-17

    Applicant: Kosuke Kishi ,  Kazuhiro Umekita

    Inventor： Kosuke Kishi ,  Kazuhiro Umekita

    IPC: G05B19/19 ,  B25J9/18

    CPC classification number: B25J3/04 ,  A61B34/30 ,  A61B34/37 ,  A61B34/70 ,  A61B90/361 ,  B25J9/1676 ,  B25J9/1689 ,  B25J13/02 ,  B25J19/0004 ,  G05B2219/39088 ,  G05B2219/39114 ,  G05B2219/40161 ,  G05B2219/40181 ,  G05B2219/40212 ,  G05B2219/40478 ,  G05B2219/45118

    Abstract: In a master-slave manipulator system capable of presenting an obstacle and a limit to an operating range as a force feed-back with no use of a motor in an operation input device and having high reliability, a small size and good operability, the system comprises a manipulator having an arm, an operation input device for moving the arm of the manipulator, and a controller for controlling the manipulator and the operation input device, and the operation input device is provided on joints with a mode change-over mechanism having three modes: of which, in a first mode, power is not transmitted; in a second mode, power is transmitted in one direction and is not transmitted in a reverse direction thereof; and in a third mode, power is transmitted in the reverse direction and is not transmitted in the one direction, selecting one of the above modes and changing over from one mode to the selected mode.

    Abstract translation: 在能够在操作输入装置中不使用电动机的情况下作为力反馈呈现障碍物和操作范围的限制的主从操纵器系统，具有高可靠性，小尺寸和良好的可操作性的系统 包括具有臂的操作器，用于移动操纵器的臂的操作输入装置和用于控制操纵器和操作输入装置的控制器，并且操作输入装置设置在具有三个模式转换机构的关节上 模式：其中，在第一模式中，不发送电力; 在第二模式中，功率在一个方向上传输并且不沿其反向传输; 并且在第三模式中，功率在相反方向上发送，并且不沿一个方向发送，选择上述模式之一并且从一种模式切换到所选择的模式。

    System and method for controlling an industrial robot
    19.
    发明授权
    System and method for controlling an industrial robot 失效
    用于控制工业机器人的系统和方法

    公开(公告)号：US4612487A

    公开(公告)日：1986-09-16

    申请号：US636253

    申请日：1984-07-31

    Applicant: Raiji Shimomura

    Inventor： Raiji Shimomura

    IPC: B25J9/22 ,  B25J9/16 ,  B25J9/18 ,  B25J19/06 ,  G05B19/18 ,  G05B19/42

    CPC classification number: B25J9/1676 ,  G05B2219/40478 ,  G05B2219/45083 ,  G05B2219/49137

    Abstract: A system and method for controlling an industrial robot wherein an adjustable optional region of a robot movement which differs from an inherent movable region defining the outer limits of robot movement and which is contained within the inherent movable region, is set by loading numerical data representing the shape of a workpiece to be handled by the robot, into a controller for the robot. During operation, the objective of the robot is controlled by the numerical data and thereby limited in movement to the optional region within said inherent movable region. The operational region is set in a rectangular coordinate system different from the operating coordinate system inherent to the robot, thereby defining a robot movement space which can be visualized and readily discerned by an operator.

    Abstract translation: 一种用于控制工业机器人的系统和方法，其中机器人运动的可调选择区域与限定机器人移动的外部界限的固有可移动区域不同，并且包含在固有可移动区域内，通过加载表示 要由机器人处理的工件的形状转换成机器人的控制器。 在操作期间，机器人的目标由数值数据控制，从而限制在所述固有可移动区域内的可选区域的运动。 操作区域设置在与机器人固有的操作坐标系不同的直角坐标系中，从而定义可以被操作者可视化和容易识别的机器人移动空间。

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