公开(公告)号：US20190101559A1

公开(公告)日：2019-04-04

申请号：US16145201

申请日：2018-09-28

Applicant: KABUSHIKI KAISHA YASKAWA DENKI ,  ROBOTIC BIOLOGY INSTITUTE INC.

Inventor： Hirokazu KARIYAZAKI ,  Takashi NAGASAKI ,  Motohisa KAMEI ,  Noriko ABE ,  Takahiro KIZAKI ,  Kenji INADA ,  Kenji MATSUKUMA

IPC: G01N35/10 ,  G05D7/06 ,  G01N35/00

Abstract: A dispensing system includes an automatic dispensing machine configured to perform a dispensing work related to content of a container, and at least one controller configured to acquire measured data of properties of the content, and control the automatic dispensing machine to perform a dispensing operation based on the measured data.

公开(公告)号：US20160227158A1

公开(公告)日：2016-08-04

申请号：US15012869

申请日：2016-02-02

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Takashi NAGASAKI ,  Takashi SUYAMA ,  Hirokazu KARIYAZAKI

IPC: H04N5/77 ,  H04N21/4335 ,  H04N21/433 ,  H04N5/93

CPC classification number: H04N5/77 ,  G06F19/00 ,  G06Q10/06 ,  G16H10/40 ,  H04N5/93 ,  Y10S901/02

Abstract: A processing system at least including a processing apparatus including a robot configured to perform, in accordance with operation commands, processes on a container that contains an object to be processed in a biochemistry, biotechnology, or life science field includes an image capturing apparatus and a monitoring apparatus. The image capturing apparatus continuously captures a moving image of the processes. The monitoring apparatus includes a storage unit, a list display unit, and a playback unit. The storage unit stores the moving image captured by the image capturing apparatus. The list display unit displays at least one of a list of the processes and a list of operation information items of each indicating an operation the robot. The playback unit plays the moving image from a timing corresponding to a process specified from the list of processes or an operation information item specified from the list of operation information items.

Abstract translation: 一种处理系统，至少包括处理装置，该处理装置包括机器人，该机器人被配置为根据操作命令对在生物化学，生物技术或生命科学领域中包含待处理物体的容器上的处理进行包括图像捕获装置和 监控装置。 图像捕获装置连续捕获处理的运动图像。 监视装置包括存储单元，列表显示单元和重放单元。 存储单元存储由图像捕获装置拍摄的运动图像。 列表显示单元显示处理的列表和每个指示机器人的操作的操作信息项的列表中的至少一个。 播放单元从对应于从处理列表指定的处理的定时或从操作信息项列表指定的操作信息项播放运动图像。

公开(公告)号：US20210347042A1

公开(公告)日：2021-11-11

申请号：US17380007

申请日：2021-07-19

Applicant: Kabushiki Kaisha Yaskawa Denki

Inventor： Takashi NAGASAKI ,  Hirokazu KARIYAZAKI

IPC: B25J9/16 ,  B25J9/00

Abstract: Provided is a robot system including: a robot including a hand; a unit job storage section configured to store a unit job; a linking job generation section configured to generate a linking job being a command to move the hand from an end position at which a first unit job has ended to a start position at which a second unit job to be executed subsequently after the first unit job is started; an action command generation section configured to generate an action command for the robot by connecting the unit jobs and the linking job in series, based on arrangement of a plurality of processing symbols; and a required time calculation section configured to calculate a required time of the action command by adding required times of the unit jobs and a required time of the linking job.

公开(公告)号：US20180117763A1

公开(公告)日：2018-05-03

申请号：US15795266

申请日：2017-10-27

Applicant: Kabushiki Kaisha Yaskawa Denki

Inventor： Takashi NAGASAKI ,  Hirokazu KARIYAZAKI

IPC: B25J9/16 ,  B25J9/00

CPC classification number: B25J9/1612 ,  B25J9/0096 ,  B25J9/1653 ,  B25J9/1661 ,  B25J9/1679 ,  G05B2219/40102 ,  G05B2219/40108

Abstract: Provided is a robot system including: a robot including a hand; a unit job storage section configured to store a unit job; a linking job generation section configured to generate a linking job being a command to move the hand from an end position at which a first unit job has ended to a start position at which a second unit job to be executed subsequently after the first unit job is started; an action command generation section configured to generate an action command for the robot by connecting the unit jobs and the linking job in series, based on arrangement of a plurality of processing symbols; and a required time calculation section configured to calculate a required time of the action command by adding required times of the unit jobs and a required time of the linking job.

公开(公告)号：US20210291368A1

公开(公告)日：2021-09-23

申请号：US17340093

申请日：2021-06-07

Applicant: Kabushiki Kaisha Yaskawa Denki

Inventor： Yoichi KAKISAKA ,  Yukio HASHIGUCHI ,  Hirokazu KARIYAZAKI ,  Takashi NAGASAKI ,  Yukiko SAWADA ,  Keita MORISAKI

IPC: B25J9/16 ,  B25J9/00

Abstract: A method of generating a robot operation command includes extracting a work command from an overall work flow; extracting, from a command definition database, a command definition corresponding to the extracted work command, the work command having been read; generating, by referring to the read work command, a set of unit jobs in which at least one work command is arranged in order, based on the extracted command definition; generating, for a plurality of unit jobs, a connecting job for causing a robot to be moved from an end position of a previous unit job to a start position of a subsequent unit job; and generating a robot operation command in which the unit jobs and the connecting job are continuous.

公开(公告)号：US20180281190A1

公开(公告)日：2018-10-04

申请号：US15936452

申请日：2018-03-27

Applicant: Kabushiki Kaisha Yaskawa Denki

Inventor： Yoichi KAKISAKA ,  Yukio HASHIGUCHI ,  Hirokazu KARIYAZAKI ,  Takashi NAGASAKI ,  Yukiko SAWADA ,  Keita MORISAKI

IPC: B25J9/16 ,  B25J9/00

Abstract: A method of generating a robot operation command includes extracting a work command from an overall work flow; extracting, from a command definition database, a command definition corresponding to the extracted work command, the work command having been read; generating, by referring to the read work command, a set of unit jobs in which at least one work command is arranged in order, based on the extracted command definition; generating, for a plurality of unit jobs, a connecting job for causing a robot to be moved from an end position of a previous unit job to a start position of a subsequent unit job; and generating a robot operation command in which the unit jobs and the connecting job are continuous.

公开(公告)号：US20170329313A1

公开(公告)日：2017-11-16

申请号：US15667689

申请日：2017-08-03

Applicant: Kabushiki Kaisha Yaskawa Denki

Inventor： Tetsuro IZUMI ,  Hirokazu KARIYAZAKI ,  Makoto UMENO ,  Tatsuro IPPOSHI

IPC: G05B19/418 ,  B25J9/16 ,  C12M1/00 ,  B25J9/00

CPC classification number: G05B19/4184 ,  B25J9/009 ,  B25J9/1661 ,  B25J9/1666 ,  B25J9/1682 ,  B25J11/00 ,  C12M1/00 ,  G05B19/418 ,  G05B2219/40113 ,  G05B2219/45092

Abstract: Provided is an operation command generation device, which is configured to generate an operation command, which is a collection of jobs to fee performed by a process system of at least a robot, based on a protocol chart of at least a plurality of process symbols, the operation command generation device circuitry includes: a job generation unit configured to generate, based on the protocol chart, a job; apriority instruction unit configured to instruct a priority condition for determining a job execution order; and an execution order determination unit configured to determine an execution order of the jobs based on the priority instructed by the priority instruction unit by using a first condition about repeatedly execution of the jobs according to the number of the containers and a second condition about execution order of the jobs according to the arrangement of the process symbols in the protocol chart.

公开(公告)号：US20170061078A1

公开(公告)日：2017-03-02

申请号：US15353693

申请日：2016-11-16

Applicant: NATIONAL INSTITUTE OF ADVANCED INDUSTRIAL SCIENCE AND TECHNOLOGY ,  Kabushiki Kaisha Yaskawa Denki

Inventor： Toru NATSUME ,  Kenji MATSUKUMA ,  Takashi NAGASAKI ,  Makoto UMENO ,  Tatsuro IPPOSHI ,  Hirokazu KARIYAZAKI

IPC: G06F19/00 ,  G01N35/00

CPC classification number: G01N35/00722 ,  G01N35/0092 ,  G01N2035/00891 ,  G06Q50/22 ,  G06T11/206 ,  G16H10/60

Abstract: Provided is a protocol chart creation device, including: an initial symbol arrangement unit configured to arrange an initial symbol representing an initial state of a container for containing a specimen; a procedure line arrangement unit configured to arrange a procedure line representing a process order for the container in a direction along a first axis from the initial symbol; a process symbol arrangement unit configured to arrange a process symbol representing a process to be carried out on the container along the procedure line, and to arrange, when there are a plurality of processes to be carried out on one container, the process symbols representing the processes along the procedure line; and a separation unit configured to separate arrangements of the initial symbols, the procedure lines, and the process symbols for different containers in a direction along a second axis intersecting the first axis.

Abstract translation: 提供了一种协议图创建装置，包括：初始符号排列单元，被配置为布置表示用于容纳标本的容器的初始状态的初始符号; 程序行排列单元，被配置为在从初始符号沿着第一轴的方向上布置表示容器的处理顺序的过程线; 处理符号排列单元，被配置为沿着过程行在容器上排列表示要执行的处理的处理符号，并且当在一个容器上执行多个处理时，排列表示 程序行程序; 以及分离单元，被配置为沿着与第一轴相交的第二轴线的方向分离不同容器的初始符号，过程线和处理符号的布置。