公开(公告)号：US09610690B2

公开(公告)日：2017-04-04

申请号：US14848974

申请日：2015-09-09

Applicant: FANUC Corporation

Inventor： Keita Maeda

IPC: B25J9/16 ,  B25J19/06 ,  B25J13/06 ,  G05B19/4061

CPC classification number: B25J9/1671 ,  G05B2219/40479 ,  G05B2219/40492 ,  Y10S901/02 ,  Y10S901/49

Abstract: A robot system includes a display portion which displays a robot model and a peripheral device model, a deployment portion which deploys a motion monitoring range model of the robot on the display portion, a positioning portion which moves and positions the motion monitoring range model, and a setting portion which converts a range surrounded by the positioned motion monitoring range model in the display portion into coordinate values which can be recognized by the robot to set the motion monitoring range.

公开(公告)号：US09592609B2

公开(公告)日：2017-03-14

申请号：US14370372

申请日：2013-01-25

Applicant: Adept Technology, Inc.

Inventor： Matthew LaFary ,  Matthew Vestal ,  George V. Paul

IPC: G05B19/00 ,  B25J9/16 ,  G06N3/00 ,  G05D1/02 ,  G05B19/4061

CPC classification number: B25J9/1676 ,  G05B19/4061 ,  G05B2219/39082 ,  G05B2219/40202 ,  G05D1/024 ,  G05D1/0274 ,  G06N3/008 ,  Y10S901/01 ,  Y10S901/46 ,  Y10S901/50

Abstract: An intelligent mobile robot having a robot base controller and an onboard navigation system that, in response to receiving a job assignment specifying a job location that is associated with one or more job operations, activates the onboard navigation system to automatically determine a path the mobile robot should use to drive to the job location, automatically determines that using an initially-selected path could cause the mobile robot to run into stationary or non-stationary obstacles, such as people or other mobile robots, in the physical environment, automatically determines a new path to avoid the stationary and non-stationary obstacles, and automatically drives the mobile robot to the job location using the new path, thereby avoiding contact or collisions with those obstacles. After the mobile robot arrives at the job location, it automatically performs said one or more job operations associated with that job location.

Abstract translation: 一种具有机器人基本控制器和机载导航系统的智能移动机器人，其响应于接收到指定与一个或多个作业操作相关联的作业位置的作业分配，激活所述车载导航系统以自动确定所述移动机器人 应该用于驾驶到作业位置，自动确定使用初始选择的路径可能导致移动机器人在物理环境中运行到静止或非静止障碍物（例如人或其他移动机器人）中，自动确定新的 避免静止和非固定障碍物的路径，并使用新路径自动将移动机器人驱动到作业位置，从而避免与这些障碍物的接触或碰撞。 在移动机器人到达作业位置之后，其自动执行与该作业位置相关联的所述一个或多个作业操作。

公开(公告)号：US09360860B2

公开(公告)日：2016-06-07

申请号：US14681720

申请日：2015-04-08

Applicant: Seiko Epson Corporation

Inventor： Atsushi Harada

IPC: G05B19/4061 ,  G01J1/02 ,  G05B19/048 ,  G01V8/20

CPC classification number: G05B19/4061 ,  G01J1/02 ,  G01V8/20 ,  G05B19/048 ,  G05B2219/35318 ,  G05B2219/39449 ,  Y02P90/265 ,  Y10S901/09 ,  Y10S901/47

Abstract: An entry detection device includes first light marks and second light marks. A control signal corresponding to a part of the first light marks is an error detection code of the control signal corresponding to the other part of the first light marks. A first inspection value is generated based on a first part of a light receiving signal corresponding to the other part of the first light marks. A second inspection value is generated based on a reverse bit string of a third part of the light receiving signal corresponding to a part of the second light mark paired with the other part of the first light marks. An entry is detected based on the first inspection value and the second inspection value.

公开(公告)号：US09176495B2

公开(公告)日：2015-11-03

申请号：US14351778

申请日：2012-10-11

Applicant: GIMA TT S.R.L.

Inventor： Iuri Monari ,  Fiorenzo Draghetti

IPC: G05B19/18 ,  G05B15/00 ,  G05B19/4061

CPC classification number: G05B19/4061 ,  G05B2219/37622 ,  G05B2219/37632 ,  G05B2219/49157

Abstract: Method to control the interference and/or collision between mechanical members of at least two operating or one operating unit with respect to fixed positions. At least one operating unit is associated with a position detector or with a position simulator, and is equipped with an electric which drives a mechanical member. The method is managed by a management and control unit. The control of the operating units occurs in two phases, verifying point-by-point the position of the mechanical member as a function of the current dynamics and the braking or acceleration times and spaces (first phase), and verifying the intensity of point-by-point current supplied to at least one electric motor (second phase).

Abstract translation: 控制相对于固定位置的至少两个操作单元或一个操作单元的机械构件之间的干扰和/或碰撞的方法。 至少一个操作单元与位置检测器或位置模拟器相关联，并且配备有驱动机械构件的电。 该方法由管理和控制单元管理。 操作单元的控制发生在两个阶段，根据当前动力学和制动或加速时间和空间（第一阶段）逐点验证机械构件的位置，并验证点对点的强度， 提供给至少一个电动机（第二相）的逐点电流。

公开(公告)号：US09089942B2

公开(公告)日：2015-07-28

申请号：US13172422

申请日：2011-06-29

Applicant: Stefan Bonerz ,  Wolfgang Bechteler ,  Josef Greif

Inventor： Stefan Bonerz ,  Wolfgang Bechteler ,  Josef Greif

IPC: B23Q17/22 ,  G05B19/4061

CPC classification number: B23Q17/2208 ,  G05B19/4061 ,  G05B2219/37425 ,  G05B2219/49141 ,  Y10T409/30392 ,  Y10T409/307224 ,  Y10T409/309352 ,  Y10T409/309464

Abstract: In a device for protecting a work spindle (2) that is rotatably supported in a spindle head (4A, 4B) of a processing machine and/or a tool (3) clamped in the work spindle (2) from collisions with obstacles in the processing chamber (1) of the processing machine, a plurality of distance sensor modules (6) are arranged on or in a spindle nose (4B) that forms the termination of the spindle head (4A, 4B) toward the processing chamber (1) such that they point toward the processing chamber (1) and are connected to a common signal processing unit (8). When an obstacle is present in a predetermined area of the processing chamber (1), this signal processing unit generates a warning signal based on the measuring signals delivered by the individual distance sensor modules (6). An output (15) of the signal processing unit, at which the warning signal is generated, is connected to the machine control (16) of the processing machine. The distance sensor modules (6) preferably consist of radar or ultrasonic sensor modules.

Abstract translation: 在用于保护可旋转地支撑在被夹持在工作主轴（2）中的加工机床和/或工具（3）的主轴头（4A，4B）中的工作轴（2）的装置中， 处理室的处理室（1）中，多个距离传感器模块（6）布置在主轴头（4B）上或主轴头（4B）上，主轴头（4B）形成了朝向处理室（1）的主轴头（4A，4B） 使得它们指向处理室（1）并且连接到公共信号处理单元（8）。 当处理室（1）的预定区域中存在障碍物时，该信号处理单元基于由各个距离传感器模块（6）传送的测量信号产生警告信号。 信号处理单元的产生警告信号的输出（15）连接到处理机器的机器控制（16）。 距离传感器模块（6）优选地包括雷达或超声波传感器模块。

公开(公告)号：US20150160646A1

公开(公告)日：2015-06-11

申请号：US14562447

申请日：2014-12-05

Applicant: Ben Ward ,  Andrew C. Rottler

Inventor： Ben Ward ,  Andrew C. Rottler

IPC: G05B19/4061

CPC classification number: G05B19/401 ,  G05B2219/37237 ,  G05B2219/50329

Abstract: A systems and methods for preventing tool damage in a computer controlled machining apparatus is provided. Conventional CNC machining apparatuses do not provide techniques for checking whether tool movement will interfere with one or more surfaces of the workpiece to be machined. The systems and methods carried out by the systems described herein address at least these deficiencies by providing a “crash test” or tool damage prevention routine that tests whether or not damage may occur based on a contact with the workpiece.

Abstract translation: 提供了一种用于在计算机控制的加工装置中防止工具损坏的系统和方法。 常规的CNC加工设备不提供用于检查刀具运动是否会干扰待加工的工件的一个或多个表面的技术。 由本文所述的系统执行的系统和方法至少通过提供“碰撞试验”或工具损伤预防程序来解决至少这些缺陷，该程序根据与工件的接触来测试是否可能发生损坏。

公开(公告)号：US09002500B2

公开(公告)日：2015-04-07

申请号：US13643413

申请日：2010-04-27

Applicant: Kosuke Kubo ,  Masayoshi Sakakibara ,  Masato Tsukamoto ,  Nobuyuki Takahashi

Inventor： Kosuke Kubo ,  Masayoshi Sakakibara ,  Masato Tsukamoto ,  Nobuyuki Takahashi

IPC: G06F19/00 ,  G05B19/4061

CPC classification number: G05B19/4061

Abstract: A numerical control device including a collision determining unit that detects a possibility of collision between a machine and an area set as an entry prohibited area; an operation-continuation instructing unit that instructs whether to continue an operation when the collision determining unit detects the possibility of collision and shaft movement is temporarily stopped; a machining-information storage unit that stores internal operation information of the numerical control device regarding the temporary stop when the operation-continuation instructing unit instructs continuation of the operation; and a collision-determination processing unit that invalidates a collision determination on the basis of the operation information stored in the machining-information storage unit when executing the same machining program the next and subsequent times.

Abstract translation: 一种数字控制装置，包括：碰撞判定单元，其检测机器与被设定为入口禁止区域的区域之间的碰撞的可能性; 当碰撞确定单元检测到碰撞和轴移动的可能性暂时停止时，指示是否继续操作的操作继续指示单元; 加工信息存储单元，当所述操作继续指示单元指示所述操作的继续时，存储关于所述临时停止的所述数字控制装置的内部操作信息; 以及碰撞判定处理单元，其在执行下一个和后续时间的相同加工程序时，基于存储在加工信息存储单元中的操作信息来使碰撞确定无效。

公开(公告)号：US20150045941A1

公开(公告)日：2015-02-12

申请号：US14450768

申请日：2014-08-04

Applicant: DMG MORI SEIKI CO., LTD.

Inventor： Susumu Mitsuhashi ,  Takayuki Nakamura ,  Tetsushi Asada ,  Tetsuo Ogawa ,  Yuzuru Sakuta

IPC: G05B19/4061

CPC classification number: G05B19/4061 ,  G05B2219/35316

Abstract: An interference checking device 1 checks, during machining using an NC machine tool 20, interference between structures of the NC machine tool 20, a tool and a workpiece, and includes an interference check processing unit 2 virtually moving models and checking the occurrence of interference based on a position control signal from a numerical controller 30, and an operation effect degree evaluating unit 6 evaluating the degree of an effect of an operation on a possibility of the occurrence of interference. When a predetermined operation is performed during machining of a workpiece following a first workpiece, the interference check processing unit 2 moves the models at intervals determined based on the degree of the effect evaluated by the operation effect degree evaluating unit 6.

Abstract translation: 干扰检查装置1在使用NC机床20加工的过程中，检查NC机床20的结构，工具和工件之间的干涉，并且包括干涉检查处理单元2，虚拟移动模型并检查基于干扰的发生 来自数值控制器30的位置控制信号和运算效果度评估单元6，评估操作对干扰发生的可能性的影响程度。 当在第一工件之后的工件加工期间执行预定操作时，干涉检查处理单元2基于由操作效果度评估单元6评估的效果的程度确定的间隔移动模型。

公开(公告)号：US20140316569A1

公开(公告)日：2014-10-23

申请号：US14351778

申请日：2012-10-11

Applicant: GIMA TT S.R.L.

Inventor： Iuri Monari ,  Fiorenzo Draghetti

IPC: G05B19/4061

CPC classification number: G05B19/4061 ,  G05B2219/37622 ,  G05B2219/37632 ,  G05B2219/49157

Abstract: Method to control the interference and/or collision between mechanical members of at least two operating or one operating unit with respect to fixed positions. At least one operating unit is associated with a position detector or with a position simulator, and is equipped with an electric which drives a mechanical member. The method is managed by a management and control unit. The control of the operating units occurs in two phases, verifying point-by-point the position of the mechanical member as a function of the current dynamics and the braking or acceleration times and spaces (first phase), and verifying the intensity of point-by-point current supplied to at least one electric motor (second phase).

Abstract translation: 控制相对于固定位置的至少两个操作单元或一个操作单元的机械构件之间的干扰和/或碰撞的方法。 至少一个操作单元与位置检测器或位置模拟器相关联，并且配备有驱动机械构件的电。 该方法由管理和控制单元管理。 操作单元的控制发生在两个阶段，根据当前动力学以及制动或加速时间和空间（第一阶段）逐点验证机械构件的位置，并验证点对点的强度， 提供给至少一个电动机（第二相）的逐点电流。

公开(公告)号：US20100211206A1

公开(公告)日：2010-08-19

申请号：US12707242

申请日：2010-02-17

Applicant: Masayuki Nara

Inventor： Masayuki Nara

IPC: G05B19/4061

CPC classification number: G01B11/002 ,  G01B9/02068 ,  G01S7/497 ,  G01S2013/466

Abstract: A measurement system that includes an industrial machine and an interferometer can detect when abnormality has occurred in measurement targeted at a reflector attached to a movable body, for example, in a case where the movable body has moved too close to the interferometer. A judging section of the interferometer judges that there is abnormality in measurement targeted at the reflector on the basis of a received-light signal. Upon such an abnormality judgment, a stop command outputting section of the interferometer outputs a stop command to the industrial machine. A stopping section of the industrial machine stops the driving operation of a moving mechanism upon receiving an input of the stop command, thereby stopping the movement of the movable body. The measurement system makes it possible to prevent the industrial machine, which includes the movable body and the moving mechanism, from colliding with the interferometer.

Abstract translation: 包括工业机器和干涉仪的测量系统可以在例如在可移动体已经移动得太靠近干涉仪的情况下，检测目标在附接到可移动体的反射器的测量中何时发生异常。 基于接收光信号，干涉仪的判断部判断反射器的测量中存在异常。 在这种异常判断的情况下，干涉仪的停止指令输出部向工业机器输出停止命令。 工业机器的停止部分在接收到停止命令的输入时停止移动机构的驱动操作，从而停止移动体的移动。 测量系统使得可以防止包括可移动体和移动机构的工业机器与干涉仪碰撞。