公开(公告)号：US07512459B2

公开(公告)日：2009-03-31

申请号：US10882240

申请日：2004-07-02

Applicant: Atsushi Watanabe ,  Yoshiharu Nagatsuka ,  Tetsuya Kosaka

Inventor： Atsushi Watanabe ,  Yoshiharu Nagatsuka ,  Tetsuya Kosaka

IPC: G06F19/00

CPC classification number: B25J9/1671 ,  B25J9/1664 ,  G05B2219/40317 ,  G05B2219/40465 ,  G05B2219/40515 ,  G05B2219/40629

Abstract: 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.

Abstract translation: 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：US07002585B1

公开(公告)日：2006-02-21

申请号：US09688042

申请日：2000-10-12

Applicant: Atsushi Watanabe ,  Tetsuya Kosaka ,  Yoshiharu Nagatsuka

Inventor： Atsushi Watanabe ,  Tetsuya Kosaka ,  Yoshiharu Nagatsuka

IPC: G06T13/00 ,  G06T15/70

CPC classification number: B25J9/1671 ,  G05B2219/35314 ,  G05B2219/36071 ,  G05B2219/36315

Abstract: 3-D models of various types of objects such as a robot body, and a peripheral equipment, a machine, a part (workpiece), of the robot, are stored in an object library in advance. Dimension line data of an edge line of which dimension can be changed, and constraint condition for constraining coordinate positions of apexes which can be changed are also stored in the object library. A model having the shape corresponding to the shape of the object to be used is selected from the object library, and the dimension of the shape is set. The dimension of the selected model is modified so that the shape of the model corresponds to the shape of the actual object. Using the model of which dimension was adjusted, animation motion of the robot is formed on a display screen. With the above arrangement, it is possible to easily set and change object 3-D models relating to a robot motion.

Abstract translation: 机器人的各种物体（例如机器人主体，周边设备，机器，部件（工件））的3-D型号预先存储在对象库中。 尺寸可以改变的边线的尺寸线数据，以及用于约束可以改变的顶点的坐标位置的约束条件也存储在对象库中。 从对象库中选择具有与要使用的对象的形状对应的形状的模型，并且设置形状的尺寸。 所选模型的尺寸被修改，使得模型的形状对应于实际对象的形状。 使用调整尺寸的模型，在显示屏上形成机器人的动画运动。 利用上述结构，可以容易地设置和改变与机器人运动相关的对象3-D模型。

公开(公告)号：US06928337B2

公开(公告)日：2005-08-09

申请号：US10269992

申请日：2002-10-15

Applicant: Atsushi Watanabe ,  Tetsuya Kosaka ,  Yoshiharu Nagatsuka

Inventor： Atsushi Watanabe ,  Tetsuya Kosaka ,  Yoshiharu Nagatsuka

IPC: B25J9/16 ,  B25J9/22 ,  G05B19/4068 ,  G06F19/00

CPC classification number: B25J9/1671 ,  G05B2219/32351 ,  G05B2219/40314 ,  Y02P90/26

Abstract: A computer is connected to a system formed by combining a robot with a peripheral device (such as a welder). The computer receives robot mechanical unit motion position information supplied from a robot controller and command information to be outputted to the peripheral device, and displays motions of the robot mechanical unit and the peripheral device on its display screen in an animation form.

Abstract translation: 计算机连接到通过将机器人与外围设备（例如焊工）组合而形成的系统。 计算机接收从机器人控制器提供的机器人机械单元运动位置信息和要输出到外围设备的命令信息，并以动画形式在其显示屏上显示机器人机械单元和外围设备的运动。

公开(公告)号：US06853881B2

公开(公告)日：2005-02-08

申请号：US10112866

申请日：2002-04-02

Applicant: Atsushi Watanabe ,  Tetsuya Kosaka ,  Yoshiharu Nagatsuka

Inventor： Atsushi Watanabe ,  Tetsuya Kosaka ,  Yoshiharu Nagatsuka

IPC: B25J9/16 ,  B25J9/18 ,  B25J9/22 ,  G05B19/4069 ,  G05B19/414 ,  G05B19/425 ,  G05B15/00 ,  G05B19/00

CPC classification number: G05B19/425 ,  B25J9/1671 ,  G05B2219/32126 ,  G05B2219/36163 ,  G05B2219/36169 ,  G05B2219/39448

Abstract: A robot controller executes an operating program, calculates a position and posture of a robot, and sends the position and posture information to a personal computer (PC). At the PC side, on the basis of this position and posture information, animation display information of a work cell including the position and posture of the robot is created and then sent to a teaching pendant. In the teaching pendant, the animation display information is received, and an animation image is displayed on a display section. Until the operating program is terminated, this operation is performed so that an operating animation of the robot is displayed on the display section of the teaching pendant.

Abstract translation: 机器人控制器执行操作程序，计算机器人的位置和姿势，并将位置和姿势信息发送到个人计算机（PC）。 在PC侧，基于该位置和姿势信息，创建包括机器人的位置和姿势的工作单元的动画显示信息，然后发送到教学用吊坠。 在教学用吊坠中，接收动画显示信息，在显示部显示动画图像。 在操作程序终止之前，执行该操作，使得机器人的操作动画显示在示教器的显示部分上。

公开(公告)号：US20050004709A1

公开(公告)日：2005-01-06

申请号：US10882240

申请日：2004-07-02

Applicant: Atsushi Watanabe ,  Yoshiharu Nagatsuka ,  Tetsuya Kosaka

Inventor： Atsushi Watanabe ,  Yoshiharu Nagatsuka ,  Tetsuya Kosaka

IPC: B25J9/22 ,  B25J9/16 ,  G05B19/4069 ,  G06F19/00

CPC classification number: B25J9/1671 ,  B25J9/1664 ,  G05B2219/40317 ,  G05B2219/40465 ,  G05B2219/40515 ,  G05B2219/40629

Abstract: 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.

Abstract translation: 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逆运动学的解决方案，（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：US06459958B1

公开(公告)日：2002-10-01

申请号：US10001990

申请日：2001-12-05

Applicant: Atsushi Watanabe ,  Tetsuya Kosaka

Inventor： Atsushi Watanabe ,  Tetsuya Kosaka

IPC: G05B1500

CPC classification number: G05B19/409

Abstract: An operation data display device for a robot allowing an operator to recognize operation data on a plurality of operations performed by the robot at a time. When an arc start command is read out from a taught operation program by the robot controller, a welding start command is issued to an arc welding power supply. The arc welding power supply starts supply of a welding current to a welding torch mounted on a robot. Values of the welding current in a welding operation is outputted to a robot controller and sampled at every predetermined period and recorded. When an arc end command is read out from the operation program, the arc welding power supply terminates the welding operation and output of the values of the welding current. The robot controller transfers a file containing the data of the actual welding current to a personal computer. The personal computer displays representations of the received operation data in the form of line graphs of reduced size for the plurality of welding operations: in one frame on a display screen.

Abstract translation: 一种用于机器人的操作数据显示装置，允许操作者一次识别由机器人执行的多个操作的操作数据。 当通过机器人控制器从教导操作程序读出电弧起动命令时，向电弧焊接电源发出焊接开始命令。 电弧焊电源开始向安装在机器人上的焊枪提供焊接电流。 将焊接操作中的焊接电流的值输出到机器人控制器，并以每个预定周期进行采样并记录。 当从操作程序读出电弧结束命令时，电弧焊接电源终止焊接操作并输出焊接电流的值。 机器人控制器将包含实际焊接电流的数据的文件传送到个人计算机。 个人计算机以多个焊接操作的缩小尺寸的线图的形式显示接收到的操作数据的表示：在显示屏幕上的一帧中。

公开(公告)号：US06763284B2

公开(公告)日：2004-07-13

申请号：US10001991

申请日：2001-12-05

Applicant: Atsushi Watanabe ,  Tetsuya Kosaka ,  Katsutoshi Takizawa ,  Fumikazu Warashina ,  Kazunori Ban ,  Makoto Yamada ,  Akihiro Terada ,  Mitsuhiro Okuda

Inventor： Atsushi Watanabe ,  Tetsuya Kosaka ,  Katsutoshi Takizawa ,  Fumikazu Warashina ,  Kazunori Ban ,  Makoto Yamada ,  Akihiro Terada ,  Mitsuhiro Okuda

IPC: G05B1900

CPC classification number: B25J9/1697 ,  G05B19/4202 ,  G05B2219/35506 ,  G05B2219/36415 ,  G05B2219/37288 ,  G05B2219/37571 ,  G05B2219/37572 ,  G05B2219/40005

Abstract: An image of a reference object is captured using a camera and displayed. A measurement starting point is pointed by an image position pointing device. A corresponding view line is obtained using a position on the image and a position and a direction of the camera, a robot approaches to the reference object such that it does not deviate from a projecting direction to move to a position suitable for measurement. A light is projected on the reference object and measurement of an inclination of a face of the object in the vicinity of a measuring point is started. An image including a bright line image on the reference object is photographed and 3-dimensional positions of points sequentially measured along a working line. A movement path of a robot is created using these positions as teaching points for a working robot.

Abstract translation: 使用相机拍摄参考对象的图像并进行显示。 测量起点由图像位置指示装置指向。 使用图像上的位置和相机的位置和方向获得对应的视线，机器人接近参考对象，使得其不偏离投影方向移动到适合于测量的位置。 光照射在基准对象上，开始测量对象附近的测量点的面的倾斜度。 拍摄包括参考物体上的亮线图像的图像，并沿着工作线顺序地测量点的3维位置。 使用这些位置创建机器人的移动路径作为工作机器人的教导点。

公开(公告)号：US06177650B1

公开(公告)日：2001-01-23

申请号：US09029731

申请日：1998-02-24

Applicant: Atsushi Watanabe ,  Takayuki Ito ,  Tetsuya Kosaka ,  Hiroji Nishi ,  Hiromitsu Takahashi

Inventor： Atsushi Watanabe ,  Takayuki Ito ,  Tetsuya Kosaka ,  Hiroji Nishi ,  Hiromitsu Takahashi

IPC: B23K910

CPC classification number: G05B19/40937 ,  B23K9/0953 ,  B23K9/1062 ,  B23K9/127 ,  G05B2219/35569 ,  G05B2219/45135 ,  Y02P90/265

Abstract: An arc welding method capable of easily varying welding conditions such as welding speed, voltage and electric current. The method comprises the steps of teaching a start point to start varying welding conditions such as welding speed, voltage and electric current and an end point to terminate the variations of welding conditions such as the welding speed, the voltage and the electric current, as well as setting the welding conditions at the start point and the end point for gradually varying the welding conditions such as welding speed, voltage and electric current towards end point. By simply setting positions of the start point and the end point and the welding conditions at these positions, it is possible to gradually vary the welding conditions from the conditions at the start point to the conditions at the end point while a welding torch is moved from start point to the end point, thereby contributing to the simplification of the welding condition varying procedure.

Abstract translation: 一种能够容易地改变焊接速度，电压和电流等焊接条件的电弧焊接方法。 该方法包括以下步骤：教导开始改变焊接条件如焊接速度，电压和电流以及终点的起始点，以终止诸如焊接速度，电压和电流的焊接条件的变化，以及 设定起始点和终点处的焊接条件，以逐渐改变焊接条件，如焊接速度，电压和电流。 通过简单地设定起点和终点的位置以及这些位置处的焊接条件，焊接条件从起点到终点的状态可以逐渐变化，同时焊炬从 起点到终点，从而有助于简化焊接条件变化过程。

公开(公告)号：US06377869B1

公开(公告)日：2002-04-23

申请号：US09605844

申请日：2000-06-29

Applicant: Atsushi Watanabe ,  Tetsuya Kosaka ,  Hiromitsu Takahashi

Inventor： Atsushi Watanabe ,  Tetsuya Kosaka ,  Hiromitsu Takahashi

IPC: G06F1900

CPC classification number: B25J9/1674 ,  G05B19/4062

Abstract: A robot controller having a function of monitoring abnormality of a robot operation to prevent an accident by stopping supply of energy or operational substance to an operational tool when the operational tool is abnormally stopped. Motion command pulses for a robot motion are obtained by computing operations when a motion statement of the operation program is read out and stored in a shared memory. Motors for driving respective robot axes are driven based on the motion command pulses. When an I/O output command is issued on a signal line to actuate an arc welder, the operation control software demands to set a predetermined waiting time period to a timer. The managing software demands to start a countdown of the timer and informs the operation control software of an elapse of the set waiting time period. The operation control software determines that an abnormality has occurred if all of the present motion command pulses stored in the shared memory are zero, and turns off the signal line to forcedly terminates the actuation of the operational tool. In the midst of the operation, if the operational tool remains unmoved over a predetermined time period, it is also determined that an abnormality has occurred and the operation is forcedly terminated.

Abstract translation: 具有监视机器人操作的异常的功能的机器人控制器，以在操作工具异常停止时通过停止向操作工具供应能量或操作物质来防止事故。 当操作程序的运动语句被读出并存储在共享存储器中时，通过计算操作来获得用于机器人运动的运动命令脉冲。 基于运动指令脉冲来驱动用于驱动各个机器人轴的马达。 当在信号线上发出I / O输出指令以启动电弧焊机时，操作控制软件要求将定时的等待时间设定为定时器。 管理软件需要开始定时器的倒计时，并通知操作控制软件设置等待时间段。 如果存储在共享存储器中的所有当前运动指令脉冲都为零，则操作控制软件确定已经发生异常，并且关闭信号线以强制终止操作工具的致动。 在操作中，如果操作工具在预定时间段内保持不动，则还确定发生异常并且强制终止操作。

公开(公告)号：US5980082A

公开(公告)日：1999-11-09

申请号：US793758

申请日：1997-03-03

Applicant: Atsushi Watanabe ,  Tetsuya Kosaka ,  Tomoyuki Yamamoto

Inventor： Atsushi Watanabe ,  Tetsuya Kosaka ,  Tomoyuki Yamamoto

IPC: B25J9/16 ,  B25J9/22 ,  G05B19/425 ,  G05B19/42

CPC classification number: B25J9/1658 ,  G05B19/425 ,  G05B2219/36048 ,  G05B2219/36427 ,  G05B2219/40385

Abstract: The present invention corrects a teaching point set in a robot movement control program to another position using jog-feed buttons. A robot tool is moved by jog-feed buttons using a jog-feed command unit toward a position to which a teaching point is to be corrected. When the position of the tool approaches any teaching point contained in a movement command program, the robot is automatically shifted to the teaching point to be corrected in the movement command program. When the teaching point to be corrected is found, correction of a teaching point from the closest teaching point to the position to be corrected is then performed.

Abstract translation: PCT No.PCT / JP96 / 01878第 371日期1997年3月3日 102（e）1997年3月3日PCT PCT 1996年7月5日PCT公布。 出版物WO97 / 02114 日期1997年1月23日本发明使用点动馈送按钮将机器人运动控制程序中的教导点校正到另一位置。 使用点动给送指令单元通过点动给送按钮移动机器人工具朝向要校正教学点的位置。 当工具的位置接近包含在移动指令程序中的任何教导点时，机器人自动地移动到教导点以在移动命令程序中被校正。 当发现要校正的教导点时，然后执行从最接近的教导点到要校正的位置的教学点的校正。