公开(公告)号：US20060200274A1

公开(公告)日：2006-09-07

申请号：US11365601

申请日：2006-03-02

申请人： Atsushi Watanabe ,  Kazunori Ban ,  Taro Arimatsu ,  Masaru Oda ,  Yoshinori Ochiishi ,  Hiroaki Kubota

发明人： Atsushi Watanabe ,  Kazunori Ban ,  Taro Arimatsu ,  Masaru Oda ,  Yoshinori Ochiishi ,  Hiroaki Kubota

IPC分类号： G06F19/00

CPC分类号： B25J15/00

摘要： A hand as an end effector. The hand includes a base, a hook element associated with the base and capable of hooking and lifting an object, a holding element associated with the base and cooperating with the hook element to hold the object therebetween, and a drive section causing a relative movement between the hook element and the holding element. For example, the hook element is arranged movably in a direction toward and away from the holding element on the base, and the drive section drives the hook element. Alternatively, the holding element is arranged movably in a direction toward and away from the hook element on the base, and the drive section drives the holding element. A handling robot includes an arm and the above-described hand attached to the arm.

摘要翻译： 一只手作为末端执行器。 手包括基部，与基部相关联并能够钩住和提起物体的钩元件，与基部相关联并与钩元件配合以保持物体的保持元件，以及驱动部分，其引起相对运动 钩元件和保持元件。 例如，钩元件能够在朝向和远离基座上的保持元件的方向上移动地布置，并且驱动部分驱动钩元件。 或者，保持元件沿着朝向和远离基座上的钩元件的方向可移动地布置，并且驱动部分驱动保持元件。 处理机器人包括臂和附接到臂的上述手。

公开(公告)号：US20050107918A1

公开(公告)日：2005-05-19

申请号：US10954606

申请日：2004-10-01

申请人： Atsushi Watanabe ,  Mitsuhiro Okuda

发明人： Atsushi Watanabe ,  Mitsuhiro Okuda

IPC分类号： G05B19/4063 ,  B25J9/16 ,  G05B19/404 ,  G05B19/00 ,  G05B15/00 ,  G06F19/00

CPC分类号： B25J9/1684 ,  G05B2219/4705

摘要： Provided is a correction data checking system, for robots, which makes it easy to reveal the cause of a machining defect. A laser machining head and a distance sensor or a sensor for detecting a work line are attached to the distal end of a robot arm. A robot is driven based on a teaching program, and a copying control technique is implemented based on information sent from the sensor so that the distance between the laser machining head and a workpiece will be equal to a set value. A path of taught positions of the laser machining head and a path of actual positions thereof are displayed in comparison with each other on a display of a teaching console or the like. Moreover, the difference between the taught position and actual position is calculated and displayed. As both the position commanded by the teaching program and the actual position derived from the copying control technique are displayed, if a machining defect occurs, the machining defect is checked to see if it is a problem attributable to the sensor or a problem attributable to the workpiece or a jig. The cause of the machining defect is then revealed. Consequently, the cause of a machining defect can be quickly revealed and dealt with at a working site.

摘要翻译： 提供了一种用于机器人的校正数据检查系统，其易于揭示加工缺陷的原因。 激光加工头和距离传感器或用于检测工作线的传感器安装在机器人手臂的远端。 基于教学程序驱动机器人，并且基于从传感器发送的信息实现复印控制技术，使得激光加工头与工件之间的距离将等于设定值。 激光加工头的教导位置的路径和实际位置的路径在教学控制台等的显示器上相互比较地显示。 此外，计算并显示教导位置和实际位置之间的差异。 由于显示了由教学程序命令的位置和从复制控制技术导出的实际位置，如果发生加工缺陷，则检查加工缺陷，看是否是由传感器引起的问题或归因于 工件或夹具。 然后揭示加工缺陷的原因。 因此，加工缺陷的原因可以在工作现场快速揭示和处理。

公开(公告)号：US07512459B2

公开(公告)日：2009-03-31

申请号：US10882240

申请日：2004-07-02

申请人： Atsushi Watanabe ,  Yoshiharu Nagatsuka ,  Tetsuya Kosaka

发明人： Atsushi Watanabe ,  Yoshiharu Nagatsuka ,  Tetsuya Kosaka

IPC分类号： G06F19/00

CPC分类号： B25J9/1671 ,  B25J9/1664 ,  G05B2219/40317 ,  G05B2219/40465 ,  G05B2219/40515 ,  G05B2219/40629

摘要： A robot off-line simulation apparatus that allows a person to know an optimum placement for a robot, an operation margin index, etc. before going to an actual working site. Provisional robot placing positions are selected using data about a given sequence of task points (operation path), etc. The conditions for selection are (i) that solution to the inverse kinematics should be found regarding the entire sequence of task points, (ii) that the robot should not interfere with a peripheral device, and (iii) that regarding all the axes of the robot, the operation margin index should satisfy a criterion value. Simulation is performed according to operation programs under the condition that the robot is placed at each of the provisional placing positions, where data about cycle time, duty, energy value, change in acceleration/speed, etc. is collected. Using the collected data, evaluation of operation is performed regarding each of the provisional placing positions, and those provisional placing positions which allow good operation are identified as placing positions ensuring the robot operation. Further, using an evaluation function in which each aspect is given a weighting, the placing positions ensuring the robot operation are reduced to optimum placing positions ensuring the robot operation.

摘要翻译： 一种机器人离线模拟装置，其允许人在进入实际工作现场之前知道机器人的最佳布置，操作余量指数等。 使用关于给定的任务点（操作路径）等的数据来选择临时机器人放置位置。选择的条件是（i）应该找到关于任务点的整个序列的反向运动学的解，（ii） 机器人不应该干扰外围设备，并且（iii）对于机器人的所有轴，操作余量指数应满足标准值。 在机器人放置在每个临时放置位置的条件下，根据操作程序进行仿真，其中收集关于循环时间，占空比，能量值，加速度/速度变化等的数据。 使用收集的数据，对每个临时放置位置执行操作评估，并且将允许良好操作的那些临时放置位置识别为确保机器人操作的放置位置。 此外，使用其中每个方面被赋予加权的评估功能，将确保机器人操作的放置位置减少到确保机器人操作的最佳放置位置。

公开(公告)号：US07149602B2

公开(公告)日：2006-12-12

申请号：US10954606

申请日：2004-10-01

申请人： Atsushi Watanabe ,  Mitsuhiro Okuda

发明人： Atsushi Watanabe ,  Mitsuhiro Okuda

IPC分类号： G06F19/00

CPC分类号： B25J9/1684 ,  G05B2219/4705

摘要： Provided is a correction data checking system, for robots, which makes it easy to reveal the cause of a machining defect. A laser machining head and a distance sensor or a sensor for detecting a work line are attached to the distal end of a robot arm. A robot is driven based on a teaching program, and a copying control technique is implemented based on information sent from the sensor so that the distance between the laser machining head and a workpiece will be equal to a set value. A path of taught positions of the laser machining head and a path of actual positions thereof are displayed in comparison with each other on a display of a teaching console or the like. Moreover, the difference between the taught position and actual position is calculated and displayed. As both the position commanded by the teaching program and the actual position derived from the copying control technique are displayed, if a machining defect occurs, the machining defect is checked to see if it is a problem attributable to the sensor or a problem attributable to the workpiece or a jig. The cause of the machining defect is then revealed. Consequently, the cause of a machining defect can be quickly revealed and dealt with at a working site.

摘要翻译： 提供了一种用于机器人的校正数据检查系统，其易于揭示加工缺陷的原因。 激光加工头和距离传感器或用于检测工作线的传感器安装在机器人手臂的远端。 基于教学程序驱动机器人，并且基于从传感器发送的信息实现复印控制技术，使得激光加工头与工件之间的距离将等于设定值。 激光加工头的教导位置的路径和实际位置的路径在教学控制台等的显示器上相互比较地显示。 此外，计算并显示教导位置和实际位置之间的差异。 由于显示了由教学程序命令的位置和从复制控制技术导出的实际位置，如果发生加工缺陷，则检查加工缺陷，看是否是由传感器引起的问题或归因于 工件或夹具。 然后揭示加工缺陷的原因。 因此，加工缺陷的原因可以在工作现场快速揭示和处理。

公开(公告)号：US20050143861A1

公开(公告)日：2005-06-30

申请号：US11019466

申请日：2004-12-23

申请人： Atsushi Watanabe ,  Mitsuhiro Okuda ,  Yoshitake Furuya

发明人： Atsushi Watanabe ,  Mitsuhiro Okuda ,  Yoshitake Furuya

IPC分类号： B25J13/08 ,  B25J9/16 ,  G05B19/42 ,  G06F19/00

CPC分类号： B25J9/1684 ,  G05B2219/45057

摘要： A processing system for stably processing a workpiece even if the shape of the workpiece changes every production lot of the workpiece, or by a change of the workpiece. The distance between the workpiece and an end of a nozzle of a laser machining head is measured by a distance sensor. A data correcting value ΔZ′mn is calculated using a measured distance ΔZrn at each teaching point and a set gap value ΔZs (step S6-S15). By using ΔZ′mn, the data of the teaching points are corrected to new data of the teaching points of the program (step S16-S19). The distance between the workpiece and the end of the nozzle of the laser machining head does not become larger because the teaching points of the processing program are corrected every time when the workpiece is processed. The interference between the workpiece and the head may be prevented and the processing may be stably implemented because the amount of correction becomes smaller when the position of the head is corrected during the processing.

摘要翻译： 即使工件的形状改变工件的每个生产批次，也可以通过工件的变化来稳定地处理工件的处理系统。 通过距离传感器测量工件与激光加工头的喷嘴端部之间的距离。 使用每个教导点处的测量距离DeltaZrn和设定的间隙值DeltaZs来计算数据校正值DeltaZ'mn（步骤S6〜15）。 通过使用DeltaZ'mn，将教学点的数据校正为程序的教学点的新数据（步骤S 16 -S 19）。 激光加工头部的工件与喷嘴的端部之间的距离不会变大，这是因为每当加工工件被处理时校正处理程序的教导点。 可以防止工件和头部之间的干涉，并且可以稳定地执行处理，因为在处理期间校正头部的位置时校正量变小。

公开(公告)号：US06680461B2

公开(公告)日：2004-01-20

申请号：US10118978

申请日：2002-04-10

申请人： Atsushi Watanabe ,  Mitsuhiro Okuda ,  Yoshitake Furuya

发明人： Atsushi Watanabe ,  Mitsuhiro Okuda ,  Yoshitake Furuya

IPC分类号： B23K2602

CPC分类号： B23K26/04

摘要： A nozzle system for laser machining capable of maintaining an interference region of a robot in a teaching operation to be substantially the same as that in a laser machining operation. An optical fiber supporting unit is attached to a nozzle body unit having laser beam converging lens for performing a laser machining operation. An optical fiber for supplying a laser beam is connected to an optical fiber connector on the optical fiber supporting unit. A laser machining is performed by combination of the nozzle body unit and the optical fiber supporting member attached to a distal end of a robot arm. In a teaching operation, a camera supporting unit (dummy nozzle) having substantially the same dimension as the nozzle body unit and supporting a camera at a predetermined position is used in place of the optical fiber supporting unit and the nozzle body unit. Alternatively, the nozzle body unit may be used commonly in combination with the optical fiber supporting unit in the machining operation and with the camera supporting unit in the teaching operation. A visual sensor using projection of a spot beam or slit beams may be adopted.

摘要翻译： 一种用于激光加工的喷嘴系统，其能够将教导操作中的机器人的干涉区域保持为与激光加工操作基本相同的激光加工。 光纤支撑单元附接到具有用于进行激光加工操作的激光束会聚透镜的喷嘴主体单元。 用于提供激光束的光纤连接到光纤支撑单元上的光纤连接器。 激光加工通过喷嘴体单元和附接到机器人臂的远端的光纤支撑构件的组合来执行。 在教学操作中，代替光纤支撑单元和喷嘴体单元，使用具有与喷嘴主体单元基本相同的尺寸并且将相机支撑在预定位置的相机支撑单元（虚拟喷嘴）。 或者，喷嘴主体单元可以在加工操作中与光纤支撑单元共同使用，并且在教学操作中可与照相机支撑单元一起使用。 可以采用使用点光束或狭缝光束的投影的视觉传感器。

公开(公告)号：US07734376B2

公开(公告)日：2010-06-08

申请号：US11365601

申请日：2006-03-02

申请人： Atsushi Watanabe ,  Kazunori Ban ,  Taro Arimatsu ,  Masaru Oda ,  Yoshinori Ochiishi ,  Hiroaki Kubota

发明人： Atsushi Watanabe ,  Kazunori Ban ,  Taro Arimatsu ,  Masaru Oda ,  Yoshinori Ochiishi ,  Hiroaki Kubota

IPC分类号： G06F19/00

CPC分类号： B25J15/00

摘要： A hand as an end effector. The hand includes a base, a hook element associated with the base and capable of hooking and lifting an object, a holding element associated with the base and cooperating with the hook element to hold the object therebetween, and a drive section causing a relative movement between the hook element and the holding element. For example, the hook element is arranged movably in a direction toward and away from the holding element on the base, and the drive section drives the hook element. Alternatively, the holding element is arranged movably in a direction toward and away from the hook element on the base, and the drive section drives the holding element. A handling robot includes an arm and the above-described hand attached to the arm.

摘要翻译： 一只手作为末端执行器。 手包括基部，与基部相关联并能够钩住和提起物体的钩元件，与基部相关联并与钩元件配合以保持物体的保持元件，以及驱动部分，其引起相对运动 钩元件和保持元件。 例如，钩元件能够在朝向和远离基座上的保持元件的方向上移动地布置，并且驱动部分驱动钩元件。 或者，保持元件沿着朝向和远离基座上的钩元件的方向可移动地布置，并且驱动部分驱动保持元件。 处理机器人包括臂和附接到臂的上述手。

公开(公告)号：US07355725B2

公开(公告)日：2008-04-08

申请号：US11073681

申请日：2005-03-08

申请人： Atsushi Watanabe ,  Kazunori Ban ,  Ichiro Kanno

发明人： Atsushi Watanabe ,  Kazunori Ban ,  Ichiro Kanno

IPC分类号： G01B11/14

CPC分类号： B25J9/1697 ,  G05B19/401 ,  G05B2219/37555 ,  G05B2219/40564

摘要： A measuring system for easily detecting Misjudged Detection (M/D). A camera for measurement attached to a robot is used to obtain an image for measurement of a workpiece so as to measure and detect a set point. Next, a camera for validation is used to obtain an image for validation of the workpiece so as to measure and detect the set point. One camera may capture both of the images for measurement and validation, by utilizing movement of the robot. It is judged whether the measured results obtained from the images represent the same point on the workpiece or not. If yes, the measured results are judged to be valid, otherwise, the measured results are judged to be invalid and an exception process, such as a retrial, is executed. The images by the camera may also be used for judging a moving path of the robot during measurement of a large object.

摘要翻译： 一种易于检测误判测（M / D）的测量系统。 使用附属于机器人的测量用照相机来获得用于测量工件的图像，以便测量和检测设定点。 接下来，使用用于验证的相机来获得用于确认工件的图像，以便测量和检测设定点。 一个相机可以通过利用机器人的移动来捕获两个图像以进行测量和验证。 判断从图像获得的测量结果是否表示工件上的相同点。 如果是，则将测量结果判定为有效，否则判断为无效，并执行例如重试等异常处理。 照相机的图像也可以用于在大物体的测量期间判断机器人的移动路径。

公开(公告)号：US20060074526A1

公开(公告)日：2006-04-06

申请号：US11239672

申请日：2005-09-30

申请人： Atsushi Watanabe ,  Kazunori Ban ,  Ichiro Kanno

发明人： Atsushi Watanabe ,  Kazunori Ban ,  Ichiro Kanno

IPC分类号： G06F19/00

CPC分类号： B25J9/1697 ,  B25J9/1671 ,  G05B2219/35346 ,  G05B2219/37205 ,  G05B2219/37208

摘要： A work model (or an image) is displayed on an image plane of a robot simulator (201), and a measuring portion and a measuring method are designated (202, 203) and a work shape and a work loading state are designated (204), and then it is judged whether or not the measuring portion and the measuring method are good (205). When the measuring portion and the measuring method are good, a program is generated and the processing is completed (207, 208). When the measuring portion and the measuring method are not good, an alarm is given (206), and the continuation (207) or the repetition (201) of the processing is directed. At the time of analyzing the program, the loading (101), the analysis and display of the measuring portion and the measuring method (102, 103) and the work information (104) are designated, and then it is judged whether or not the measuring portion and the measuring method, which have been analyzed, are good (105). When the measuring portion and the measuring method are good, the processing is finished (107). When the measuring portion and the measuring method are not good, an alarm is given (106), and either the completion of the processing (107) or the correction of the program (201) is selected. Due to the foregoing, a burden imposed for raising and maintaining the visual sensor robot system can be reduced.

摘要翻译： 工件模型（或图像）显示在机器人模拟器（201）的图像平面上，并且指定测量部分和测量方法（202,203），并且指定工件形状和加载状态（204 ），然后判断测量部分和测量方法是否良好（205）。 当测量部分和测量方法良好时，产生程序并完成处理（207,208）。 当测量部分和测量方法不好时，给出警报（206），并且指示处理的继续（207）或重复（201）。 在分析程序时，指定负载（101），测量部分的分析和显示以及测量方法（102,103）和工作信息（104），然后判断是否 测量部分和测量方法都很好（105）。 当测量部分和测量方法良好时，处理结束（107）。 当测量部分和测量方法不好时，给出警报（106），并且选择处理（107）的完成或程序（201）的校正。 由于上述原因，可以降低用于升高和维持视觉传感器机器人系统的负担。

公开(公告)号：US06463358B1

公开(公告)日：2002-10-08

申请号：US09117140

申请日：1999-01-07

申请人： Atsushi Watanabe ,  Ryuichi Hara ,  Kazunori Ban

发明人： Atsushi Watanabe ,  Ryuichi Hara ,  Kazunori Ban

IPC分类号： G06F1900

CPC分类号： B25J9/1674 ,  G05B19/427 ,  G05B2219/36419 ,  G05B2219/40311 ,  G05B2219/40523

摘要： A robot controller capable of finding a mistaught path and avoiding dangers involved in a real motion of a robot without using an off-line simulation system. An operation program for confirming safety is played back with the robot control system arranged such that a simulation function is on, a real motion is off, and comparison processing is on. When a played-back path designated by each block is compared with a reference path using data on interpolation points, an interpolation point ordinal index i is incremented by “1” (K1), an interpolation point on a reference path Tref(i) is read (K2) and compared with a corresponding interpolation point on the played-back path T(i). An index of distance d(i) and a distance evaluation index &Dgr;d(i) are calculated (K3, K4), and tool-tip orientation difference indices f(i) to h(i) and orientation-evaluation indices &Dgr;f(i) to &Dgr;h(i) are calculated (K5, K6). Based thereon, it is determined whether or not there is a path difference exceeding a reference value. The processing may be started with a real motion in an on-state, and the real motion of the robot may be nullified when a large path difference is found.

摘要翻译： 一种机器人控制器，能够找到一个偏心的路径，避免在不使用离线仿真系统的情况下参与机器人的实际运动的危险。 通过布置使得模拟功能打开，实际运动关闭，比较处理打开的机器人控制系统来回放用于确认安全性的操作程序。 当使用每个块指定的回放路径与使用内插点的数据与参考路径进行比较时，内插点序数索引i增加“1”（K1），参考路径Tref（i）上的内插点为 读取（K2）并与回放路径T（i）上的相应内插点进行比较。 计算距离d（i）和距离评价指数DELTAd（i）的指标（K3，K4），并且工具尖端取向差分指数f（i）〜h（i）和取向评价指标DELTAf（i） 到DELTAh（i）被计算（K5，K6）。 基于此，确定是否存在超过参考值的路径差异。 该处理可以在接通状态下以实际运动开始，并且当找到大的路径差时，机器人的实际运动可能被无效。