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公开(公告)号：US10857673B2
公开(公告)日：2020-12-08
申请号：US15795671
申请日：2017-10-27
Applicant: FANUC CORPORATION
Inventor： Hiroyuki Atohira , Yoshiharu Nagatsuka
IPC: B25J9/16 , B65G47/90 , G05B19/418
Abstract: A simulation device for a robot rearranging articles in a random arrangement on a conveyor to a regular arrangement while tracking the conveyor. The simulation device includes a model locating section for locating a conveyor model, a plurality of article models, a sensor model and an arraying robot model in a virtual space; a conveying motion simulating section for making the conveyor model convey the article models in the random arrangement; a detecting motion simulating section for making the sensor model obtain position information of the article models; an arrangement pattern generating section for generating an arrangement pattern on the conveyor model; and an arraying motion simulating section for making the arraying robot model pick up the article models in the random arrangement and place the picked-up article models in accordance with the arrangement pattern, while tracking an article conveying motion.
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公开(公告)号：US10534876B2
公开(公告)日：2020-01-14
申请号：US15788987
申请日：2017-10-20
Applicant: FANUC CORPORATION
Inventor： Hiroyuki Atohira , Yoshiharu Nagatsuka
Abstract: A simulation device capable of easily constructing the layout of a three-dimensional model of a robot system in a virtual space. The simulation device includes a model arranging section that arranges a component model in a virtual space, the component model being a three-dimensional model of a component of the robot system; a reference setting section that sets a reference point, a reference axis, or a reference plane in the virtual space; a symmetric model generation section that generates a symmetric component model of the component model arranged in the virtual space, the symmetric component model being a three-dimensional model symmetric with respect to the reference point, the reference axis, or the reference plane; and a simulation section that executes a simulation to simulatively operate the component model and the symmetric component model in the virtual space.
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公开(公告)号：US10434650B2
公开(公告)日：2019-10-08
申请号：US16026618
申请日：2018-07-03
Applicant: FANUC CORPORATION
Inventor： Hiroyuki Atohira
Abstract: A programming device capable of reducing the operator's work involved in generating an operation program for a robot. The programming device includes a model arrangement section which places a workpiece model, a robot model, and an imaging section model in a virtual space, a target-portion extracting section which extracts a target portion of the workpiece model in accordance with a certain extraction condition, a simulating section which. moves the imaging section model or the workpiece model to an imaging position, and a program generating section which generates an operation program for causing the imaging section to capture the portion to be captured, based on positional data of the robot model when the robot model positions the imaging section model or the workpiece model at the imaging position.
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公开(公告)号：US20190255706A1
公开(公告)日：2019-08-22
申请号：US16266747
申请日：2019-02-04
Applicant: Fanuc Corporation
Inventor： Hiroyuki Atohira
Abstract: A simulation device simulates a robot device including two two-dimensional cameras. The simulation device includes a setting point arrangement unit which arranges a plurality of setting points on a surface of a workpiece model, and a distance calculation unit which calculates distances from a three-dimensional sensor model to each of the setting points. The simulation device includes a three-dimensional information generating unit which generates three-dimensional information including positions of the setting points and distances from the three-dimensional sensor model to the setting points. The simulation device includes an exclusion unit which excludes the setting point that is not visible from the camera models. The simulation device changes a position and orientation of a robot model on the basis of the three-dimensional information.
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5.发明授权公开(公告)号：US09519736B2
公开(公告)日：2016-12-13
申请号：US14602816
申请日：2015-01-22
Applicant: FANUC Corporation
Inventor： Hiroyuki Atohira , Yoshiharu Nagatsuka
IPC: G06F17/50 , B25J9/16 , G06F19/00 , G05B19/401
CPC classification number: G06F17/5009 , B25J9/1671 , G05B2219/39031 , Y02P90/265 , Y10S901/47
Abstract: A data generation device and a detection simulation system, capable of executing offline simulation using a vision sensor, without calibration for associating the vision sensor with the robot. The device has: a placing part which places three-dimensional models of a robot, a vision sensor and an object in a virtual space; a robot placement position designating part and a vision sensor placement position designating part which designate placement positions of the robot and the vision sensor in the virtual space, respectively, based on a reference coordinate system defined in the virtual space; a placement position storing part which stores the placement positions; a positional relationship calculating part which calculates a positional relationship between a robot coordinate system and a sensor coordinate system; and a positional relationship storing part which stores the positional relationship as data used in a detection process of the vision sensor.
Abstract translation: 一种数据生成装置和检测模拟系统，其能够使用视觉传感器执行离线模拟，而不进行用于将视觉传感器与机器人相关联的校准。 该设备具有：将虚拟空间中的机器人，视觉传感器和对象的三维模型放置的放置部分; 基于在所述虚拟空间中定义的参考坐标系，分别指定所述机器人和所述视觉传感器在所述虚拟空间中的放置位置的机器人放置位置指定部和视觉传感器放置位置指定部; 存放所述放置位置的放置位置存储部; 位置关系计算部，其计算机器人坐标系和传感器坐标系之间的位置关系; 以及位置关系存储部，其存储位置关系作为在视觉传感器的检测处理中使用的数据。
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Patent Agency Ranking
公开(公告)号：US11192249B2
公开(公告)日：2021-12-07
申请号：US16377250
申请日：2019-04-08
Applicant: FANUC CORPORATION
Inventor： Hiroyuki Atohira
Abstract: Provided is a simulation device for a simulation of a cooperative task carried out cooperatively by a cooperative robot and a person, and the simulation device includes a head mounting-type display device to be mounted on an operator to simulatively carry out the cooperative task, a detecting section configured to detect a position of the operator in a real space, a three-dimensional model display section configured to cause an image in which a robot system model including a cooperative robot model is arranged in a three-dimensional virtual space to be displayed on the head mounting-type display device, and a simulation execution section configured to simulatively operate the cooperative robot model in the three-dimensional virtual space based on an operation program of the cooperative robot to carry out the cooperative task and the detected position of the operator.
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公开(公告)号：US10710240B2
公开(公告)日：2020-07-14
申请号：US16105237
申请日：2018-08-20
Applicant: FANUC CORPORATION
Inventor： Hiroyuki Atohira
IPC: B25J9/16 , G05B19/4093 , G05B19/4097 , G05B19/18
Abstract: A programming device for a welding robot includes a model obtaining unit that obtains three-dimensional models; a welding-line specifying unit that specifies a welding line; a target-angle setting unit that sets a target angle; an advance-angle setting unit that sets an advance angle; a coordinate-system setting unit that sets a tentative coordinate system having a first axis set on the basis of the welding line, a second axis perpendicular to the first axis and parallel to a face of one of workpieces to be welded together, and a tool coordinate system by rotating the tentative coordinate system about the first axis in accordance with the target angle and about the third axis in accordance with the advance angle; a position setting unit that sets a welding position of the tool on the basis of the newly set tool coordinate system; and a program creating unit.
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公开(公告)号：US10228686B2
公开(公告)日：2019-03-12
申请号：US15425560
申请日：2017-02-06
Applicant: FANUC CORPORATION
Inventor： Hiroyuki Atohira , Yoshiharu Nagatsuka
Abstract: A robot programming device capable of significantly reducing operation time by an operator required for designating processed portions, and generating a robot program for moving a robot between each processed portion in an appropriate order, without depending on skill or experience of the operator. The programming device is configured to: locate three-dimensional models of a robot and a workpiece in a virtual space; extract shape features from the three-dimensional model of the workpiece; set reference positions of the shape features and the robot; determine a movement order for moving the robot between the shape features based on the reference positions, based on the reference positions of the shape features and the robot; and generate a motion program so that the robot moves the tool along the shape feature and the robot is moved between the shape features according to the determined movement order.
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公开(公告)号：US09718189B2
公开(公告)日：2017-08-01
申请号：US14874575
申请日：2015-10-05
Applicant: FANUC Corporation
Inventor： Hiroyuki Atohira , Yoshiharu Nagatsuka , Kozo Inoue
IPC: B25J9/16 , G05B19/423
CPC classification number: B25J9/1687 , Y10S901/05
Abstract: A robot teaching device for teaching a robot offline, capable of setting target, advance and rotation angles of a tool, so that a flat and stable posture of the tool can be obtained. The teaching device has: a storing part which stores a combination of a plurality of processing portion shapes and the target and advance angles associated with each processing portion; a first setting part which sets the target and advance angles associated with the selected processing portion shape, as target and advance angles with respect to the designated processing portion shape; and a second setting part which rotates the tool about a longitudinal axis thereof while maintaining the target and advance angles, so as to calculate the rotation angle of the tool, wherein a height of a face plate of the robot from a horizon plane in the virtual space is maximum at the rotation angle.
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公开(公告)号：US11446822B2
公开(公告)日：2022-09-20
申请号：US16266747
申请日：2019-02-04
Applicant: Fanuc Corporation
Inventor： Hiroyuki Atohira
Abstract: A simulation device simulates a robot device including two two-dimensional cameras. The simulation device includes a setting point arrangement unit which arranges a plurality of setting points on a surface of a workpiece model, and a distance calculation unit which calculates distances from a three-dimensional sensor model to each of the setting points. The simulation device includes a three-dimensional information generating unit which generates three-dimensional information including positions of the setting points and distances from the three-dimensional sensor model to the setting points. The simulation device includes an exclusion unit which excludes the setting point that is not visible from the camera models. The simulation device changes a position and orientation of a robot model on the basis of the three-dimensional information.
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