公开(公告)号：US20060276934A1

公开(公告)日：2006-12-07

申请号：US11447034

申请日：2006-06-06

申请人： Ryo Nihei ,  Tetsuaki Kato ,  Hiroji Nishi

发明人： Ryo Nihei ,  Tetsuaki Kato ,  Hiroji Nishi

IPC分类号： G06F19/00

CPC分类号： B25J9/1679 ,  B25J9/1656 ,  G05B2219/40584

摘要： A robot controller making a robot execute tasks including several work units in a parallel manner for several workpieces, in accordance with several operation programs for individually commanding the work units. The robot controller includes an information collecting section collecting state information showing, in real time, a state of an environment of the robot; a program selecting section selecting a first executable program satisfying a task starting condition, from operation programs ready to be executed for workpieces, based on the state information; a processing section processing, for execution, the first executable program; and a program-completion judging section judging whether the processing section has completed a processing of the first executable program. The program selecting section selects, based on the state information, a second executable program satisfying the task starting condition, from the operation programs ready to be executed, so as to satisfy a judgment of the program-completion judging section.

摘要翻译： 根据用于单独命令工作单元的多个操作程序，使机器人使机器人执行包括数个工作单元的并行方式的多个工件的任务。 所述机器人控制器包括收集状态信息的信息收集部分，所述状态信息实时地示出所述机器人的环境的状态; 程序选择部，根据状态信息，从准备好对工件执行的操作程序，选择满足任务开始条件的第一可执行程序; 处理部分，用于执行第一可执行程序; 以及程序完成判断部，判断处理部是否已经完成了第一可执行程序的处理。 节目选择部根据状态信息，从准备执行的动作程序中选择满足任务开始条件的第二可执行程序，以满足节目完成判断部分的判断。

公开(公告)号：US09616570B2

公开(公告)日：2017-04-11

申请号：US11447034

申请日：2006-06-06

申请人： Ryo Nihei ,  Tetsuaki Kato ,  Hiroji Nishi

发明人： Ryo Nihei ,  Tetsuaki Kato ,  Hiroji Nishi

IPC分类号： G06F19/00 ,  B25J9/16

CPC分类号： B25J9/1679 ,  B25J9/1656 ,  G05B2219/40584

摘要： A robot controller making a robot execute tasks including several work units in a parallel manner for several workpieces, in accordance with several operation programs for individually commanding the work units. The robot controller includes an information collecting section collecting state information showing, in real time, a state of an environment of the robot; a program selecting section selecting a first executable program satisfying a task starting condition, from operation programs ready to be executed for workpieces, based on the state information; a processing section processing, for execution, the first executable program; and a program-completion judging section judging whether the processing section has completed a processing of the first executable program. The program selecting section selects, based on the state information, a second executable program satisfying the task starting condition, from the operation programs ready to be executed, so as to satisfy a judgment of the program-completion judging section.

公开(公告)号：US20060271240A1

公开(公告)日：2006-11-30

申请号：US11441020

申请日：2006-05-26

申请人： Ryo Nihei ,  Tetsuaki Kato ,  Hiroji Nishi

发明人： Ryo Nihei ,  Tetsuaki Kato ,  Hiroji Nishi

IPC分类号： G06F19/00

CPC分类号： G05B19/4083 ,  B25J9/1664 ,  G05B2219/36404 ,  G05B2219/40385 ,  G05B2219/45104

摘要： A taught point correcting device for correcting a taught point in an operation program of a robot. The device includes a judging section judging whether position data of any of a plurality of different taught points, previously taught and included in an operation program, has been corrected or not; and a data correcting section correcting, when the judging section judges that position data of a first taught point among the different taught points has been corrected, position data of a correlative taught point having a relative positional relationship with the first taught point, in accordance with a taught-point rule previously prescribing the relative positional relationship between the different taught points. The device may also include a storing section storing the taught-point rule. The taught-point rule may include a rule prescribing a distance between any two taught points among the different taught points.

公开(公告)号：US20110106304A1

公开(公告)日：2011-05-05

申请号：US12984796

申请日：2011-01-05

申请人： Ryo Nihei ,  Tetsuaki Kato ,  Hiroji Nishi

发明人： Ryo Nihei ,  Tetsuaki Kato ,  Hiroji Nishi

IPC分类号： G05B19/425

CPC分类号： G05B19/4083 ,  B25J9/1664 ,  G05B2219/36404 ,  G05B2219/40385 ,  G05B2219/45104

摘要： A taught point correcting device for correcting a taught point in an operation program of a robot. The device includes a judging section judging whether position data of any of a plurality of different taught points, previously taught and included in an operation program, has been corrected or not; and a data correcting section correcting, when the judging section judges that position data of a first taught point among the different taught points has been corrected, position data of a correlative taught point having a relative positional relationship with the first taught point, in accordance with a taught-point rule previously prescribing the relative positional relationship between the different taught points. The device may also include a storing section storing the taught-point rule. The taught-point rule may include a rule prescribing a distance between any two taught points among the different taught points.

摘要翻译： 一种用于校正机器人的操作程序中的教导点的教导点校正装置。 该装置包括：判断部，其判断是否已经校正了先前教导并包括在操作程序中的多个不同教导点中的任一个的位置数据; 以及数据校正部，根据所述判断部判断所述不同教导点中的第一教导点的位置数据已被校正，校正与所述第一教导点具有相对位置关系的相关教导点的位置数据 以前规定不同教学点之间的相对位置关系的教导点规则。 设备还可以包括存储教导点规则的存储部分。 教导点规则可以包括规定不同教导点之间的任何两个教导点之间的距离的规则。

公开(公告)号：US20100305758A1

公开(公告)日：2010-12-02

申请号：US12789530

申请日：2010-05-28

申请人： Hiroji NISHI ,  Tetsuaki Kato

发明人： Hiroji NISHI ,  Tetsuaki Kato

IPC分类号： G05B15/00 ,  B25J9/22

CPC分类号： B23Q17/00 ,  G05B19/409 ,  G05B19/41825 ,  Y02P90/087 ,  Y02P90/18

摘要： A robot control system provided in a machining system including a robot and a machine tool. The robot control system includes a robot controller controlling the robot, a portable teach pendant connected to the robot controller, and a communication network adapted to connect the robot controller to a machine tool controller controlling the machine tool. The teach pendant includes a display section configured to display information relating to the robot and the machine tool. The robot controller includes a processing section configured to obtain information relating to the machine tool from the machine tool controller through the communication network, make the display section of the teach pendant display a machine tool-related screen in accordance with a given screen program, and make the machine tool-related screen of the display section of the teach pendant display the information, as obtained, relating to the machine tool.

摘要翻译： 一种机器人控制系统，其设置在包括机器人和机床的加工系统中。 机器人控制系统包括控制机器人的机器人控制器，连接到机器人控制器的便携式示教器，以及适于将机器人控制器连接到控制机床的机床控制器的通信网络。 示教器包括配置为显示与机器人和机床有关的信息的显示部分。 机器人控制器包括：处理部，被配置为通过通信网络从机床控制器获取与机床相关的信息，使得示教器的显示部分根据给定的屏幕程序显示机床相关屏幕;以及 使示教器的显示部分的机床相关屏幕显示与机床有关的信息。

公开(公告)号：US09802286B2

公开(公告)日：2017-10-31

申请号：US12789530

申请日：2010-05-28

申请人： Hiroji Nishi ,  Tetsuaki Kato

发明人： Hiroji Nishi ,  Tetsuaki Kato

IPC分类号： G05B19/409 ,  B23Q17/00 ,  G05B19/418

CPC分类号： B23Q17/00 ,  G05B19/409 ,  G05B19/41825 ,  Y02P90/087 ,  Y02P90/18

摘要： A robot control system provided in a machining system including a robot and a machine tool. The robot control system includes a robot controller controlling the robot, a portable teach pendant connected to the robot controller, and a communication network adapted to connect the robot controller to a machine tool controller controlling the machine tool. The teach pendant includes a display section configured to display information relating to the robot and the machine tool. The robot controller includes a processing section configured to obtain information relating to the machine tool from the machine tool controller through the communication network, make the display section of the teach pendant display a machine tool-related screen in accordance with a given screen program, and make the machine tool-related screen of the display section of the teach pendant display the information, as obtained, relating to the machine tool.

公开(公告)号：US08600555B2

公开(公告)日：2013-12-03

申请号：US12984796

申请日：2011-01-05

申请人： Ryo Nihei ,  Tetsuaki Kato ,  Hiroji Nishi

发明人： Ryo Nihei ,  Tetsuaki Kato ,  Hiroji Nishi

IPC分类号： G06F19/00 ,  G05B19/19

CPC分类号： G05B19/4083 ,  B25J9/1664 ,  G05B2219/36404 ,  G05B2219/40385 ,  G05B2219/45104

摘要： A taught point correcting device for correcting a taught point in an operation program of a robot. The device includes a judging section judging whether position data of any of a plurality of different taught points, previously taught and included in an operation program, has been corrected or not; and a data correcting section correcting, when the judging section judges that position data of a first taught point among the different taught points has been corrected, position data of a correlative taught point having a relative positional relationship with the first taught point, in accordance with a taught-point rule previously prescribing the relative positional relationship between the different taught points. The device may also include a storing section storing the taught-point rule. The taught-point rule may include a rule prescribing a distance between any two taught points among the different taught points.

摘要翻译： 一种用于校正机器人的操作程序中的教导点的教导点校正装置。 该装置包括：判断部，其判断是否已经校正了先前教导并包括在操作程序中的多个不同教导点中的任一个的位置数据; 以及数据校正部，根据所述判断部判断所述不同教导点中的第一教导点的位置数据已被校正，校正与所述第一教导点具有相对位置关系的相关教导点的位置数据 以前规定不同教学点之间的相对位置关系的教导点规则。 设备还可以包括存储教导点规则的存储部分。 教导点规则可以包括规定不同教导点之间的任何两个教导点之间的距离的规则。

公开(公告)号：US07979161B2

公开(公告)日：2011-07-12

申请号：US11441020

申请日：2006-05-26

申请人： Ryo Nihei ,  Tetsuaki Kato ,  Hiroji Nishi

发明人： Ryo Nihei ,  Tetsuaki Kato ,  Hiroji Nishi

IPC分类号： G05B19/425 ,  G05B19/408 ,  G05B15/02 ,  G06F19/00

CPC分类号： G05B19/4083 ,  B25J9/1664 ,  G05B2219/36404 ,  G05B2219/40385 ,  G05B2219/45104

摘要： A taught point correcting device for correcting a taught point in an operation program of a robot. The device includes a judging section judging whether position data of any of a plurality of different taught points, previously taught and included in an operation program, has been corrected or not; and a data correcting section correcting, when the judging section judges that position data of a first taught point among the different taught points has been corrected, position data of a correlative taught point having a relative positional relationship with the first taught point, in accordance with a taught-point rule previously prescribing the relative positional relationship between the different taught points. The device may also include a storing section storing the taught-point rule. The taught-point rule may include a rule prescribing a distance between any two taught points among the different taught points.

摘要翻译： 一种用于校正机器人的操作程序中的教导点的教导点校正装置。 该装置包括：判断部，其判断是否已经校正了先前教导并包括在操作程序中的多个不同教导点中的任一个的位置数据; 以及数据校正部，根据所述判断部判断所述不同教导点中的第一教导点的位置数据已被校正，校正与所述第一教导点具有相对位置关系的相关教导点的位置数据 以前规定不同教学点之间的相对位置关系的教导点规则。 设备还可以包括存储教导点规则的存储部分。 教导点规则可以包括规定不同教导点之间的任何两个教导点之间的距离的规则。

公开(公告)号：US20080009972A1

公开(公告)日：2008-01-10

申请号：US11822209

申请日：2007-07-03

申请人： Ryo Nihei ,  Tetsuaki Kato ,  Hiroji Nishi

发明人： Ryo Nihei ,  Tetsuaki Kato ,  Hiroji Nishi

IPC分类号： B25J9/16 ,  G05B19/42

CPC分类号： B25J9/1669 ,  G05B2219/39105 ,  G05B2219/40014 ,  G05B2219/40383 ,  G05B2219/40503 ,  G05B2219/40543 ,  G05B2219/50125 ,  Y02P90/087

摘要： A robot programming device includes a workpiece-feature obtaining section obtaining workpiece feature information from a three-dimensional shape data of a workpiece; a retainer-position obtaining section obtaining relative position information between a workpiece and a workpiece retainer; a hand-position obtaining section obtaining relative position information between a workpiece and a hand; a storing section storing the workpiece feature information, the relative position information for the workpiece retainer and the relative position information for the hand, as a set of obtained data by correlating these information with each other, and also storing a plurality of sets of the obtained data with regard to a plurality of types of workpieces; an obtained-data retrieving section retrieving optimal obtained data including the workpiece feature information coinciding with a new-workpiece feature information, from among the sets of obtained data; and a program generating section generating a carrying operation program for a new workpiece by using the optimal obtained data.

摘要翻译： 机器人编程装置包括工件特征获取部，从工件的三维形状数据获取工件特征信息; 保持器位置获取部，其获得工件与工件保持器之间的相对位置信息; 手位置取得部，取得工件与手之间的相对位置信息; 存储部件，通过将这些信息相互关联而将工件特征信息，工件保持器的相对位置信息和手的相对位置信息作为一组获得的数据，并且还存储多个获得的 关于多种类型的工件的数据; 从所获得的数据组中获取包括与新工件特征信息重合的工件特征信息的最佳获得数据的获取数据检索部分; 以及程序产生部分，通过使用最佳获得的数据产生用于新工件的承载操作程序。

公开(公告)号：US20110257785A1

公开(公告)日：2011-10-20

申请号：US13045763

申请日：2011-03-11

申请人： Ryo NIHEI ,  Tetsuaki Kato ,  Takeaki Aramaki ,  Tomoyuki Yamamoto

发明人： Ryo NIHEI ,  Tetsuaki Kato ,  Takeaki Aramaki ,  Tomoyuki Yamamoto

IPC分类号： B25J13/08

CPC分类号： B25J9/1674 ,  G05B2219/37388 ,  G05B2219/40549 ,  G05B2219/42329

摘要： A robot system including a robot arm driven by a servo motor; and a robot controller controlling an operation of the robot arm. The robot system further comprises a first detection section detecting a rotation amount of the servo motor; a second detection section attached to a tip portion of the robot arm, and detecting a velocity or acceleration of the tip portion of the robot arm; a computation section computing the velocity or acceleration of the tip portion of the robot arm based on values detected by the first detection section, and computing a deviation between this computed velocity or acceleration and the velocity or acceleration detected by the second detection section; and an emergency stop section for bringing the servo motor to an emergency stop when a magnitude of the deviation computed by the computation section is greater than a reference value.

摘要翻译： 一种机器人系统，包括由伺服电动机驱动的机器人臂; 以及控制机器人手臂的操作的机器人控制器。 机器人系统还包括检测伺服电动机的旋转量的第一检测部分; 第二检测部，其附接到所述机器人手臂的前端部，并且检测所述机器人手臂的前端部的速度或加速度; 计算部，基于由所述第一检测部检测出的值计算所述机器人手臂的前端部的速度或加速度，并计算所述计算出的速度或加速度与由所述第二检测部检测出的速度或加速度之间的偏差; 以及紧急停止部，用于当由所述计算部计算出的所述偏差的大小大于参考值时使所述伺服电动机进行紧急停止。