公开(公告)号：US11054814B2

公开(公告)日：2021-07-06

申请号：US15953510

申请日：2018-04-16

Applicant: Kabushiki Kaisha Yaskawa Denki

Inventor： Yoshifumi Onoyama ,  Koichi Kuwahara

IPC: G05B19/423 ,  G05B19/42

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：US11213945B2

公开(公告)日：2022-01-04

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 ,  G05B19/4061 ,  G06F30/20 ,  B25J13/08 ,  G05B19/425 ,  G06T1/00

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：US11826913B2

公开(公告)日：2023-11-28

申请号：US17361323

申请日：2021-06-29

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Yukio Hashiguchi ,  Yoshifumi Onoyama

IPC: B25J9/16 ,  B25J13/00

CPC classification number: B25J9/1671 ,  B25J9/1676 ,  B25J9/1682

Abstract: A control system includes: a controller configured to operate one or more robots in a real space based on an operation program; and circuitry configured to: operate one or more virtual robots based on the operation program in a virtual space, the one or more virtual robots corresponding to the one or more robots respectively; cause the controller to suspend an operation based on the operation program by the one or more robots; simulate a suspended state of the real space after suspension of the operation by the one or more robots, in the virtual space; and resume at least a part of the operation by the one or more virtual robots based on the operation program, in the virtual space in which the suspended state of the real space has been simulated.

公开(公告)号：US11092950B2

公开(公告)日：2021-08-17

申请号：US15953510

申请日：2018-04-16

Applicant: Kabushiki Kaisha Yaskawa Denki

Inventor： Yoshifumi Onoyama ,  Koichi Kuwahara

IPC: G05B19/423 ,  G05B19/42

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.