公开(公告)号：US20210154849A1

公开(公告)日：2021-05-27

申请号：US17099779

申请日：2020-11-17

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Yuji ICHIMARU ,  Yukio HASHIGUCHI ,  Koichi KUWAHARA

IPC: B25J9/16 ,  G05B19/4155 ,  B25J9/00

Abstract: The control system includes: a plurality of controllers that respectively control a plurality of devices including at least robots; and an environment manager that is communicable with the plurality of controllers. The environment manager includes an environment information storage that stores environment information, and an information update unit that updates environment information according to an operation of the plurality of devices. Each of the plurality of controllers includes a condition monitor that monitors whether environment information stored in the environment device storage satisfies a predetermined condition and an operation execution unit that controls a corresponding device of the plurality of devices to execute a predetermined operation in a case where the environment information satisfies a predetermined condition.

公开(公告)号：US20180231965A1

公开(公告)日：2018-08-16

申请号：US15953510

申请日：2018-04-16

Applicant: Kabushiki Kaisha Yaskawa Denki

Inventor： Yoshifumi ONOYAMA ,  Koichi KUWAHARA

IPC: G05B19/423

CPC classification number: G05B19/423 ,  G05B19/42 ,  G05B2219/39384 ,  G05B2219/40099

Abstract: To enhance the productivity of an offline teaching work by visualizing the working position, path, and the like of an end effector in offline teaching. A robot teaching device, includes: a teaching point marker display unit configured to display, on a GUI, teaching point markers for marking teaching points in a three-dimensional modeling space in which at least a three-dimensional model of a robot including an end effector and a three-dimensional model of a work piece are arranged, the teaching points serving as target passing points of the end effector; a joined path display unit configured to display, on the GUI, a joined path, which is a path connecting successive points among the teaching points to each other; and a changing point marker display unit configured to display, on the GUI, a changing point marker marking a point at which a working state of the end effector changes.

公开(公告)号：US20150379171A1

公开(公告)日：2015-12-31

申请号：US14591000

申请日：2015-01-07

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Koichi KUWAHARA

IPC: G06F17/50

CPC classification number: G06F17/5009 ,  B25J9/1605 ,  B25J9/1671

Abstract: A robot simulator according to one aspect of the embodiment includes a job information acquiring unit, an image generating unit, a playback information generating unit, and an output unit. The job information acquiring unit acquires job information that includes a group of operation commands for a robot and information for a plurality of target points through which the robot passes. The image generating unit generates virtual three-dimensional images of a robot system including the robot in a three-dimensional space for each of the operation commands. The playback information generating unit generates playback information for continuously replaying the three-dimensional images by animation in association with the job information. The output unit generates and outputs an output file in which the job information, the three-dimensional images, and the playback information are embedded in an electronic document format that can be browsed in a general-purpose manner.

Abstract translation: 根据实施例的一个方面的机器人模拟器包括作业信息获取单元，图像生成单元，重放信息生成单元和输出单元。 作业信息获取单元获取包括机器人的一组操作命令的作业信息和机器人通过的多个目标点的信息。 图像生成单元针对每个操作命令，在三维空间中生成包括机器人的机器人系统的虚拟三维图像。 播放信息生成单元生成与作业信息相关联地通过动画连续重放三维图像的再现信息。 输出单元生成并输出可以以通用方式浏览的电子文档格式嵌入作业信息，三维图像和回放信息的输出文件。

公开(公告)号：US20180236657A1

公开(公告)日：2018-08-23

申请号：US15898663

申请日：2018-02-19

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Koichi KUWAHARA ,  Yoshifumi ONOYAMA ,  Kenichi YASUDA ,  Wataru WATANABE

IPC: B25J9/16 ,  B25J13/08 ,  G05B19/425 ,  G06T1/00 ,  G06F17/50

CPC classification number: B25J9/1605 ,  B25J9/1666 ,  B25J9/1671 ,  B25J9/1676 ,  B25J9/1697 ,  B25J13/089 ,  G05B19/4061 ,  G05B19/425 ,  G05B2219/35012 ,  G05B2219/40121 ,  G05B2219/40371 ,  G05B2219/40466 ,  G05B2219/40519 ,  G05B2219/49143 ,  G06F17/5009 ,  G06T1/0014 ,  Y02P90/265

Abstract: A robot simulator includes a storage device that stores model information related to the robot and an obstacle in the vicinity of the robot, and an acquisition device that obtains first input information defining a start position and an end position of operation of the robot. A processing device generates a path for moving the distal end portion of the robot from the start position to the end position while avoiding collisions between the robot and the obstacle based on the first input information and the model information. The processing device also generates image data including an illustration of the obstacle and an index indicating a via-point of the path.

公开(公告)号：US20150290801A1

公开(公告)日：2015-10-15

申请号：US14541142

申请日：2014-11-14

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Koichi KUWAHARA

IPC: B25J9/16 ,  G06N99/00

CPC classification number: G05B19/425 ,  B25J9/1671 ,  G05B2219/35012 ,  G05B2219/35216 ,  G05B2219/40121 ,  Y02P90/265

Abstract: A teaching system according to an embodiment includes an image generating unit, a start point specifying unit, a via point specifying unit, and a teaching data generating unit. The image generating unit generates a virtual image including a closed processing line set on a workpiece to be processed by a robot. The start point specifying unit specifies a start point at a position outside the processing line on the virtual image. The via point specifying unit specifies a via point on the processing line. The teaching data generating unit generates teaching data relative to the robot for a path that leaves the start point to follow the processing line by way of the via point and returns to the via point.

Abstract translation: 根据实施例的教学系统包括图像生成单元，起点指定单元，通路点指定单元和教学数据生成单元。 图像生成单元生成包括在由机器人处理的工件上设置的封闭处理线的虚拟图像。 起点指定单元指定虚拟图像上的处理线外的位置处的开始点。 通孔点指定单元指定处理线上的通孔。 教学数据生成单元生成相对于机器人的教学数据，用于通过经过点离开起点跟随处理线的路径并返回到通路点。

公开(公告)号：US20150112482A1

公开(公告)日：2015-04-23

申请号：US14484270

申请日：2014-09-12

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Koichi KUWAHARA

IPC: G06N99/00 ,  B25J9/16

CPC classification number: G06N99/005 ,  B25J9/1671 ,  B25J9/1684 ,  G05B2219/35115 ,  G05B2219/36017 ,  G05B2219/45013 ,  G05B2219/45065 ,  Y10S901/28 ,  Y10S901/43 ,  Y10S901/47 ,  Y10S901/50

Abstract: A teaching system includes an image generating unit, a projecting unit, a work line generating unit, an arithmetic unit, and a job generating unit. The image generating unit generates a virtual image including a robot and a workpiece having a processed surface to be processed by the robot. The projecting unit generates a projection plane orthogonal to a normal direction of a desired point on the processed surface selected on the virtual image and projects the processed surface onto the projection plane. The work line generating unit generates a work line for the robot based on setting contents received via the projection plane. The arithmetic unit calculates a teaching value including the position and the posture of the robot at each point of the target points. The job generating unit generates a job program for operating the robot in an actual configuration based on the teaching value.

Abstract translation: 教学系统包括图像生成单元，投影单元，作业线生成单元，运算单元和作业生成单元。 图像生成单元生成包括机器人的虚拟图像和具有被机器人处理的被处理面的工件。 投影单元生成与虚拟图像上选择的处理面上的期望点的法线方向正交的投影面，并将处理后的投影面投影到投影面上。 工作线生成单元基于经由投影平面接收的设定内容生成机器人的工作线。 算术单元计算包括目标点的各点处的机器人的位置和姿势的教导值。 作业生成单元基于该教学值，生成实际配置中的机器人的作业程序。

公开(公告)号：US20140236565A1

公开(公告)日：2014-08-21

申请号：US14183404

申请日：2014-02-18

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Koichi KUWAHARA

IPC: G06F17/50

CPC classification number: G06F17/5009 ,  B25J9/1671 ,  G05B2219/40091 ,  G05B2219/40311 ,  G05B2219/40324

Abstract: A robot simulator includes a generating unit, a display unit, a display control unit, and a simulation instructing unit. The generating unit generates a virtual image that includes a virtual robot obtained by imaging an actual robot having at least one axis and an operation handle capable of operating three-dimensional coordinate axes having a predetermined control point of the virtual robot as the origin. The display control unit displays on the display unit the generated virtual image. The simulation instructing unit, when an operator's operation for the operation handle is received, acquires at least one of a displacement amount of the control point and a rotation amount of the three-dimensional coordinate axes attributable to the operator's operation, and instructs the generating unit to regenerate the virtual image in which a posture of the virtual robot is changed in accordance with the displacement amount or the rotation amount thus acquired.

Abstract translation: 机器人模拟器包括生成单元，显示单元，显示控制单元和模拟指示单元。 生成单元生成包括通过对具有至少一个轴的实际机器人进行成像而获得的虚拟机器人的虚拟图像和能够使具有虚拟机器人的预定控制点的三维坐标轴的操作手柄作为原点的虚拟图像。 显示控制单元在显示单元上显示生成的虚像。 模拟指示单元接收到操作者的操作手柄的操作时，获取控制点的位移量和归因于操作者的操作的三维坐标轴的旋转量中的至少一个，并指示生成单元 根据所获取的位移量或旋转量来重新生成虚拟机器人的姿势变化的虚拟图像。

公开(公告)号：US20230121498A1

公开(公告)日：2023-04-20

申请号：US18068534

申请日：2022-12-20

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Yukio HASHIGUCHI ,  Yoshifumi ONOYAMA ,  Koichi KUWAHARA ,  Naoki UTSUMI

IPC: B25J9/16 ,  G05B19/4069

Abstract: A simulation device includes circuitry configured to: execute a first simulation of a first control of a first machine, wherein the first control is executed by a first controller; execute a second simulation of a second control of a second machine, wherein the second control is executed by a second controller so that the second machine operates in collaboration with the first machine; and control progress of the first simulation and progress of the second simulation to maintain a simulated ratio of a progress speed of the first simulation and a progress speed of the second simulation to be equal to a ratio of a progress speed of the first control and a progress speed of the second control.

公开(公告)号：US20220072703A1

公开(公告)日：2022-03-10

申请号：US17525959

申请日：2021-11-15

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Yukio HASHIGUCHI ,  Koichi KUWAHARA

IPC: B25J9/16

Abstract: A robot system includes a robot; a peripheral device disposed around the robot; a control unit configured to operate at least the robot based on a program; a suspension unit configured to suspend a plurality of sequential operations performed by the robot in conjunction with the peripheral device based on an operation program if an irregular state occurs in the peripheral device; and a simulator. The simulator is configured to generate a recovery program based at least on a robot state information of the robot at the time of suspending the operation due to an occurrence of the irregular state, in which the control unit is further configured to cause the robot to operate with respect to the peripheral device based on the recovery program so that an operation by the suspended operation program becomes resumable.

公开(公告)号：US20190143514A1

公开(公告)日：2019-05-16

申请号：US16183749

申请日：2018-11-08

Applicant: Kabushiki Kaisha Yaskawa Denki

Inventor： Koichi KUWAHARA ,  Yoshifumi ONOYAMA ,  Kazuma TABUCHI ,  Masaru ADACHI ,  Wataru WATANABE

IPC: B25J9/16 ,  B25J15/00

Abstract: A teaching apparatus includes circuitry. The circuitry is configured to obtain result information corresponding to a position of a worked region on a workpiece. The circuitry is configured to generate first teaching information based on the result information. The first teaching information specifies a motion of an examination robot configured to examine the workpiece that has undergone work.