公开(公告)号：US08456123B2

公开(公告)日：2013-06-04

申请号：US12604218

申请日：2009-10-22

申请人： Shigeto Nishiuchi ,  Masashi Tsuyama ,  Takahiro Nakagawa ,  Youichi Nonaka

发明人： Shigeto Nishiuchi ,  Masashi Tsuyama ,  Takahiro Nakagawa ,  Youichi Nonaka

IPC分类号： B25J9/18 ,  B25J5/00 ,  B25J15/02 ,  G06F19/00 ,  G06F7/00 ,  B25J9/00 ,  B25J11/00 ,  B25J15/00

CPC分类号： B25J9/026 ,  B25J9/047 ,  B25J9/1615 ,  G05B2219/40292 ,  G05B2219/40293 ,  G05B2219/45045 ,  H01L21/67766

摘要： A conveyance system. The conveyance system includes a movable device for conveying an article, and a robot selected from the group consisting of an articulated robot and an orthogonal robot. The movable device is configured to be both vertically and horizontally movable; and, the robot is mounted on the movable device. The robot includes a hand and a gripper disposed on the hand. The gripper is configured to hold the article. The movable device and the robot are configured to convey the article in conveyance operations that include an extraction, a conveyance, and an installation, of the article; the range of the conveyance operations lies within a working range of the robot from a present position that is selected with priority. The movable device is configured to remain in a stationary state when the article is conveyed by the robot using the conveyance operations within the working range.

摘要翻译： 运输系统 输送系统包括用于输送物品的可移动装置和从关节式机器人和正交机器人组成的组中选择的机器人。 可移动装置被构造成垂直和水平移动; 并且机器人安装在可移动装置上。 机器人包括设置在手上的手和夹具。 夹持器构造成夹持物品。 可移动装置和机器人构造成在包括物品的抽取，输送和安装的输送操作中传送物品; 传送操作的范围位于从优先选择的当前位置的机器人的工作范围内。 可移动装置构造成当物品由机器人使用在工作范围内的输送操作传送时保持在静止状态。

公开(公告)号：US20090018687A1

公开(公告)日：2009-01-15

申请号：US12166650

申请日：2008-07-02

申请人： Hisaya Ishibashi ,  Youichi Nonaka

发明人： Hisaya Ishibashi ,  Youichi Nonaka

IPC分类号： G06F19/00 ,  G06F17/10

CPC分类号： G06Q10/06

摘要： To create production instructions in a short period of time, in the presence of a divergence between a planned production number and the number of performance generated by variations of production volume due to variations of yield with respect to production lines of electronic device products such as a hard disk and a liquid crystal display, a product ratio of input volume to a production line (product mix) is changed by calculating the average number of performance and a standard deviation in an arbitrary period from the divergence between the planned number of production and the number of performance at the present and the production performance in the past; calculating a target achievement probability to a final target from the average number of performance, the standard deviation and the production performance at present; and comparing the target achievement probability to the final target with a threshold.

摘要翻译： 为了在短时间内创建生产指令，在计划生产数量与由于电子设备产品的生产线的收益率变化所产生的生产量变化产生的性能数量之间存在分歧，例如 硬盘和液晶显示器，输入量与生产线（产品组合）的产品比例通过计算任意时期的平均性能和标准偏差与计划生产数量和 目前的业绩表现和过去的生产绩效; 从目前的平均执行数，标准差和生产绩效来计算最终目标的目标成就概率; 并将目标成就概率与最终目标进行比较。

公开(公告)号：US20100268370A1

公开(公告)日：2010-10-21

申请号：US12604218

申请日：2009-10-22

申请人： Shigeto Nishiuchi ,  Masashi Tsuyama ,  Takahiro Nakagawa ,  Youichi Nonaka

发明人： Shigeto Nishiuchi ,  Masashi Tsuyama ,  Takahiro Nakagawa ,  Youichi Nonaka

IPC分类号： B65G49/00 ,  G06F7/00 ,  B25J9/02 ,  B25J9/18 ,  G06F17/00

CPC分类号： B25J9/026 ,  B25J9/047 ,  B25J9/1615 ,  G05B2219/40292 ,  G05B2219/40293 ,  G05B2219/45045 ,  H01L21/67766

摘要： A conveyance system. The conveyance system includes a movable device for conveying an article, and a robot selected from the group consisting of an articulated robot and an orthogonal robot. The movable device is configured to be both vertically and horizontally movable; and, the robot is mounted on the movable device. The robot includes a hand and a gripper disposed on the hand. The gripper is configured to hold the article. The movable device and the robot are configured to convey the article in conveyance operations that include an extraction, a conveyance, and an installation, of the article; the range of the conveyance operations lies within a working range of the robot from a present position that is selected with priority. The movable device is configured to remain in a stationary state when the article is conveyed by the robot using the conveyance operations within the working range.

摘要翻译： 运输系统 输送系统包括用于输送物品的可移动装置和从关节式机器人和正交机器人组成的组中选择的机器人。 可移动装置被构造成垂直和水平移动; 并且机器人安装在可移动装置上。 机器人包括设置在手上的手和夹具。 夹持器构造成夹持物品。 可移动装置和机器人构造成在包括物品的抽取，输送和安装的输送操作中传送物品; 传送操作的范围位于从优先选择的当前位置的机器人的工作范围内。 可移动装置构造成当物品由机器人使用在工作范围内的输送操作传送时保持在静止状态。

公开(公告)号：US07209846B2

公开(公告)日：2007-04-24

申请号：US11171394

申请日：2005-07-01

申请人： Kenji Tamaki ,  Youichi Nonaka

发明人： Kenji Tamaki ,  Youichi Nonaka

IPC分类号： G06F19/00

CPC分类号： G06Q10/06

摘要： In a quality control system for manufacturing industrial products, the product quality history and the manufacturing process history are collected and collated to calculate the correlation magnitude between the two histories. The candidates for the cause of quality variation hidden in the manufacturing processes are listed, and the correlation magnitude between all combinations of the variates of the manufacturing process history are calculated. Further, by utilizing the manufacturing sequence history used for an input plan, a causation connecting structure model between the manufacturing processes of the manufacturing line is automatically generated and automatically analyzed thereby to automatically extract the fundamental cause of quality variation from the candidates for the cause of quality variation. By doing so, the cause of quality variation of industrial products manufactured through a complicated process can be traced in a complicated connecting structure in the manufacturing history data.

摘要翻译： 在制造工业产品的质量控制体系中，收集和整理产品质量历史和制造过程历史，以计算两个历史之间的相关幅度。 列出制造过程中隐藏的质量变化原因的候选者，并且计算制造过程历史的变化的所有组合之间的相关大小。 此外，通过利用用于输入计划的制造顺序历史，生产线的制造过程之间的因果连接结构模型被自动生成并被自动分析，从而自动地从考生的原因中提取质量变化的根本原因 质量变化。 通过这样做，通过复杂工艺制造的工业产品的质量变化的原因可以在制造历史数据中以复杂的连接结构来描绘。

公开(公告)号：US20060047454A1

公开(公告)日：2006-03-02

申请号：US11171394

申请日：2005-07-01

申请人： Kenji Tamaki ,  Youichi Nonaka

发明人： Kenji Tamaki ,  Youichi Nonaka

IPC分类号： G06F19/00

CPC分类号： G06Q10/06

摘要： In a quality control system for manufacturing industrial products, the product quality history and the manufacturing process history are collected and collated to calculate the correlation magnitude between the two histories. The candidates for the cause of quality variation hidden in the manufacturing processes are listed, and the correlation magnitude between all combinations of the variates of the manufacturing process history are calculated. Further, by utilizing the manufacturing sequence history used for an input plan, a causation connecting structure model between the manufacturing processes of the manufacturing line is automatically generated and automatically analyzed thereby to automatically extract the fundamental cause of quality variation from the candidates for the cause of quality variation. By doing so, the cause of quality variation of industrial products manufactured through a complicated process can be traced in a complicated connecting structure in the manufacturing history data.

摘要翻译： 在制造工业产品的质量控制体系中，收集和整理产品质量历史和制造过程历史，以计算两个历史之间的相关幅度。 列出制造过程中隐藏的质量变化原因的候选者，并且计算制造过程历史的变化的所有组合之间的相关大小。 此外，通过利用用于输入计划的制造顺序历史，生产线的制造过程之间的因果连接结构模型被自动生成并被自动分析，从而自动地从考生的原因中提取质量变化的根本原因 质量变化。 通过这样做，通过复杂工艺制造的工业产品的质量变化的原因可以在制造历史数据中以复杂的连接结构来描绘。

公开(公告)号：US5497061A

公开(公告)日：1996-03-05

申请号：US216975

申请日：1994-03-24

申请人： Youichi Nonaka ,  Shiyuki Sakaue

发明人： Youichi Nonaka ,  Shiyuki Sakaue

IPC分类号： B25J9/16 ,  B25J9/18 ,  G05B19/42 ,  G06F15/46

CPC分类号： B25J9/1633

摘要： A control system in which an end effector of a robot is mechanically compliant for a particular object. The robot has multiple degrees of freedom and movement and includes a sensor which senses a velocity nd a sensor which senses an external force. A virtual compliance control method is applied to the robot. Influence of the weight and gyro moment of the end effector is subtracted from a value obtained from a mechanism which senses the external force to set a term of the external force in a mathematic model of the control system constructed during control. By such arrangement, when a rotational body having a mechanically large rotational momentum is set as the end effector of the robot, the control system is mechanically compliant with the object.

摘要翻译： 一种控制系统，其中机器人的末端执行器机械地符合特定物体。 机器人具有多个自由度和运动，并且包括感测速度的传感器和感测外力的传感器。 虚拟合规控制方法应用于机器人。 从从感应外力的机构获得的值中减去末端执行器的重量和陀螺力矩的影响，以在控制期间构造的控制系统的数学模型中设定外力的项。 通过这样的配置，当具有机械大的旋转动量的旋转体被设置为机器人的末端执行器时，控制系统与机体机械地相符。

公开(公告)号：US5814959A

公开(公告)日：1998-09-29

申请号：US586318

申请日：1996-01-17

申请人： Youichi Nonaka ,  Shiyuki Sakaue

发明人： Youichi Nonaka ,  Shiyuki Sakaue

IPC分类号： B25J9/16 ,  B25J9/18 ,  G05B19/42 ,  G06F15/46

CPC分类号： B25J9/1633

摘要： A method and apparatus for controlling a robot which performs an operation on an object while applying any desired force to the object, and a method of controlling automobile suspensions so as to maintain the contact between the automobile and a road surface appropriately. A robot controller which controls the motion of an end effector includes a rotating body, using an external force applied to the effector. The controller beforehand measures the tensor of inertia of the rotating body, calculates the angular momentum of the rotating body on the basis of a sensed value output from a unit for sensing the rotational speed of the rotating body and the tensor of inertia of the rotating body, calculates a gyro-moment occurring in the rotating body on the basis of a sensed value output from a sensor for sensing the motion of the robot and the angular momentum of the rotating body, and uses as a control input value the external force from a sensor for sensing value minus the value of the gyro-moment. An automobile suspension is controlled by an external force applied to a wheel of the automobile, using as a control input value a sensed value output from a sensor for sensing the external force minus the value of a gyro-moment occurring in the wheel.

摘要翻译： 一种用于控制在对物体施加任何所需力的同时对物体进行操作的机器人的方法和装置，以及控制汽车悬架的方法和装置，以适当地保持汽车与路面之间的接触。 控制端部执行器的运动的机器人控制器包括使用施加到效应器的外力的旋转体。 控制器预先测量旋转体的惯性张量，基于从用于感测旋转体的旋转速度的单元输出的感测值和旋转体的惯性张量来计算旋转体的角动量 基于从用于感测机器人的运动的传感器和旋转体的角动量输出的感测值计算旋转体中产生的陀螺力矩，并且使用来自旋转体的外力作为控制输入值 传感器用于感测值减去陀螺仪的值。 汽车悬架通过施加到汽车的车轮的外力来控制，使用作为控制输入值的传感器输出的用于感测外力的感测值减去在车轮中出现的陀螺力矩的值。

公开(公告)号：US08600535B2

公开(公告)日：2013-12-03

申请号：US13131141

申请日：2009-11-04

申请人： Youichi Nonaka ,  Makoto Ono ,  Hisaya Ishibashi ,  Attila Lengyel ,  Yuuichi Suginishi ,  Tomotoshi Ishida

发明人： Youichi Nonaka ,  Makoto Ono ,  Hisaya Ishibashi ,  Attila Lengyel ,  Yuuichi Suginishi ,  Tomotoshi Ishida

IPC分类号： G06F19/00

CPC分类号： G06Q10/109

摘要： Disclosed are a device, a system, and a method for setting standard work times that take real-world manufacturing capabilities into account. Provided is a standard work time calculation device (10), which analyzes fluctuations in production line assessment indices on a per time period basis, and computes standard work times for each region, as classified according to the degree of fluctuation. The standard work time calculation device (10) comprises a fluctuation coefficient computation unit (111), which computes coefficients of fluctuation for the assessment indices, a fluctuation region identification unit (112), which identifies regions of fluctuation with coefficients of fluctuation that are greater than or equal to predetermined thresholds, and a standard work time computation unit (113), which computes standard work times for regions of fluctuation.

摘要翻译： 公开了一种设备，系统和方法，用于设定将实际制造能力纳入考量的标准工作时间。 提供了一种标准工​​作时间计算装置（10），其根据每个时间段分析生产线评估指标的波动，并且根据波动程度分类计算每个区域的标准工作时间。 标准工作时间计算装置（10）包括：计算评价指标的波动系数的变动系数计算部（111）;波动区域识别部（112），其识别出波动范围大的变动范围大于 大于或等于预定阈值的标准工作时间计算单元（113），其计算波动区域的标准工作时间。

公开(公告)号：US20110295647A1

公开(公告)日：2011-12-01

申请号：US13132620

申请日：2008-12-05

申请人： Hisaya Ishibashi ,  Youichi Nonaka ,  Satoshi Nagahara ,  Takahiro Nakano

发明人： Hisaya Ishibashi ,  Youichi Nonaka ,  Satoshi Nagahara ,  Takahiro Nakano

IPC分类号： G06Q10/00

CPC分类号： G06Q50/04 ,  G05B19/41865 ,  G06Q10/06 ,  G06Q10/0633 ,  Y02P90/20 ,  Y02P90/30

摘要： Planning items necessary for the evaluation of a manufacturing capability in a production line are categorized from process routes of operation achievement information for every ordered product, so that operation time per process unit is calculated. Thereupon the similarity of the process routes of the categorized planning items to those of an ordered product is evaluated, the planning items are allocated to the ordered product, and different product operation time is set up for every specification, so that a manufacturing capability of a production line is precisely evaluated to make a production plan.

摘要翻译： 对生产线上的制造能力进行评估所需的规划项目，按照每个订购产品的运行成果信息进行分类，从而计算每个处理单元的运行时间。 因此，对分类规划项目与有序产品的处理路线的相似性进行评估，将规划项目分配给有序产品，并为每个规格设置不同的产品操作时间，从而制造能力 生产线精确评估制定生产计划。

公开(公告)号：US20110276162A1

公开(公告)日：2011-11-10

申请号：US13131141

申请日：2009-11-04

申请人： Youichi Nonaka ,  Makoto Ono ,  Hisaya Ishibashi ,  Attila Lengyel ,  Yuuichi Suginishi ,  Tomotoshi Ishida

发明人： Youichi Nonaka ,  Makoto Ono ,  Hisaya Ishibashi ,  Attila Lengyel ,  Yuuichi Suginishi ,  Tomotoshi Ishida

IPC分类号： G06F19/00

CPC分类号： G06Q10/109

摘要： Disclosed are a device, a system, and a method for setting standard work times that take real-world manufacturing capabilities into account. Provided is a standard work time calculation device (10), which analyzes fluctuations in production line assessment indices on a per time period basis, and computes standard work times for each region, as classified according to the degree of fluctuation. The standard work time calculation device (10) comprises a fluctuation coefficient computation unit (111), which computes coefficients of fluctuation for the assessment indices, a fluctuation region identification unit (112), which identifies regions of fluctuation with coefficients of fluctuation that are greater than or equal to predetermined thresholds, and a standard work time computation unit (113), which computes standard work times for regions of fluctuation.

摘要翻译： 公开了一种设备，系统和方法，用于设定将实际制造能力纳入考量的标准工作时间。 提供了一种标准工​​作时间计算装置（10），其根据每个时间段分析生产线评估指标的波动，并且根据波动程度分类计算每个区域的标准工作时间。 标准工作时间计算装置（10）包括：计算评价指标的波动系数的变动系数计算部（111）;波动区域识别部（112），其识别出波动范围大的变动范围大于 大于或等于预定阈值的标准工作时间计算单元（113），其计算波动区域的标准工作时间。