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公开(公告)号：US20190160665A1
公开(公告)日：2019-05-30
申请号：US16200850
申请日：2018-11-27
IPC分类号： B25J9/16
摘要： A control system for an actuator includes a non-transitory computer readable medium storing a database in which first information, second information and third information are stored and correlated with each other, and processing circuitry that performs machine learning based on the first information, the second information and the third information stored in the database. The first information is associated with a rotational speed of a reducer in the actuator, the second information is associated with a torque acting on the reducer, the third information indicates a concentration of iron powder in grease in the reducer, and the machine learning builds a concentration estimation model indicating a relationship between the first information, the second information and the third information.
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公开(公告)号：US20160083198A1
公开(公告)日：2016-03-24
申请号：US14857754
申请日：2015-09-17
CPC分类号： B65G47/905 , B25J9/0093 , B25J9/16 , B25J9/1679 , B25J9/1697 , B65G43/08 , B65G47/52 , G05B19/41815 , G05B19/4182 , G05B2219/39102 , Y02P90/083 , Y10S901/02
摘要： A robot system includes a first conveyor, a second conveyor, a robot, and a controller. The first conveyor conveys a plurality of kinds of workpieces. The second conveyor conveys workpiece groups each including a combination of the workpieces. The controller controls the robot, and includes a situation acquirer, a determiner, and an instructor. The situation acquirer acquires a situation in a predetermined monitor area on the first and second conveyors. The monitor area is set based on a movable range of the robot. Based on the situation, the determiner determines whether one of the workpieces on the first conveyor in the monitor area is a missing workpiece of one of the workpiece groups in the monitor area. The instructor instructs the robot to hold the one workpiece and to transfer the one workpiece from the first conveyor to the second conveyor.
摘要翻译： 机器人系统包括第一输送机，第二输送机，机器人和控制器。 第一输送机输送多种工件。 第二输送机传送各自包括工件的组合的工件组。 控制器控制机器人，并且包括情况获取器，确定器和指导者。 情况获取器获取第一和第二输送机上的预定监视区域中的情况。 监视区域是基于机器人的可移动范围来设定的。 基于这种情况，判断器确定监视区域中的第一传送带上的工件之一是监视区域中的一个工件组的缺失工件。 指导员指示机器人握住一个工件并将一个工件从第一传送器传送到第二传送器。
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公开(公告)号：US20180264651A1
公开(公告)日：2018-09-20
申请号：US15921585
申请日：2018-03-14
发明人： Masao OJIMA , Kanji TAKANISHI , Yutaro UCHIDA
CPC分类号： B25J9/1669 , B25J9/046 , B25J9/16 , B25J9/1602 , B25J9/1656 , B25J13/006 , G05B19/408 , G05B19/4086 , G05B19/418 , G05B2219/2214 , G05B2219/33263 , G05B2219/33269 , G05B2219/36231 , G05B2219/36232 , Y02P90/02 , Y10S901/06 , Y10S901/15
摘要： A control system 1 includes a first controller, and a second controller. The second controller includes a program storage module that stores two or more coordinate conversion programs, and a control processing module 240 that acquires program designation information for designating one of two or more coordinate conversion programs from the first controller. Additionally, the control processing module may acquire a first operation command in the coordinate system for the first controller from the first controller, and convert the first operation command to an operation target value of two or more joint axes of a multi-axis robot using the coordinate conversion programs according to the program designation information. Driving power according to the operation target value may be output to the joint axes.
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公开(公告)号：US20160083199A1
公开(公告)日：2016-03-24
申请号：US14857763
申请日：2015-09-17
IPC分类号： B65G47/90
CPC分类号： B65G47/905 , B25J9/0093 , B25J9/1697 , B25J19/021 , B25J19/023 , B65G47/907 , G05B19/4182 , G05B2219/37555 , G05B2219/39102 , G05B2219/40007 , Y02P90/083 , Y10S901/02
摘要： A robot system includes a conveyor, a robot, and a controller. The conveyor is configured to convey a workpiece. The robot includes a plurality of holders configured to hold the workpiece. The controller is configured to control the robot to hold the workpiece conveyed on the conveyor and transfer the workpiece to a predetermined place using at least one holder among the plurality of holders. The controller includes a divided area setter and an allocator. The divided area setter is configured to set a plurality of divided areas on the conveyor in a width direction of the conveyor, and is configured to store the plurality of divided areas in a storage. The allocator is configured to allocate the plurality of holders respectively to the plurality of divided areas so as to hold the workpiece when the workpiece is conveyed in the plurality of divided areas.
摘要翻译： 机器人系统包括输送机，机器人和控制器。 输送机构造成输送工件。 机器人包括构造成保持工件的多个保持器。 所述控制器被配置成控制所述机器人来保持在所述输送机上输送的工件，并且使用所述多个保持器中的至少一个保持器将所述工件传送到预定位置。 控制器包括分区区域设定器和分配器。 分割区域设定器被配置为在输送机的宽度方向上在输送机上设置多个分割区域，并且被配置为将多个分割区域存储在存储器中。 分配器被配置为分配多个保持器到多个分割区域，以便在多个分割区域中传送工件时保持工件。
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公开(公告)号：US20220281111A1
公开(公告)日：2022-09-08
申请号：US17752862
申请日：2022-05-25
发明人： Makoto TAKAHASHI , Wataru WATANABE , Yutaro UCHIDA , Ryo KABUTAN , Keita SATSUMA
IPC分类号： B25J9/16
摘要： A simulation system includes circuitry configured to: determine placement of a robot with respect to another object in a virtual space, based on a placement constraint applied to the robot for executing a plurality of tasks; generate a path representing a trajectory of at least a portion of the robot or a tool operated by the robot during the tasks, based on a spatial relationship between the determined placement of the robot and the other object that satisfies the placement constraint; execute an operation program including the generated path in the virtual space in which the robot and the other object are placed; and check whether the robot interferes with the other object, based on the spatial relationship between the determined placement of the robot and the other object along the generated path in the virtual space, as a result of executing the tasks in the operation program.
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公开(公告)号：US20200306967A1
公开(公告)日：2020-10-01
申请号：US16833679
申请日：2020-03-30
摘要： A programming assistance device includes a program storage unit that stores a first program comprising a first set of time series jobs and stores a second program comprising a second set of time series jobs. Each job of the first program defines at least one operation of a first robot, and the first program is configured to be performed along a shared time line. Additionally, each job of the second program defines at least one operation of a second robot, and the second program is configured to be performed along the shared time line. The programming assistance device further includes circuitry that identifies a verification target time in the shared time line based, at least in part, on a user designation, and generates, based on the first program and the second program, a job image indicating at least one of the first set of time series jobs executed by the first robot and at least one job of the second set of time series jobs executed by the second robot at the verification target time designated in the shared time line.
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7.发明申请公开(公告)号：US20220226997A1
公开(公告)日：2022-07-21
申请号：US17577326
申请日：2022-01-17
发明人： Makoto TAKAHASHI , Wataru WATANABE , Yutaro UCHIDA , Ryo KABUTAN
IPC分类号： B25J9/16
摘要： A planning system includes flow generating circuitry, confirmation circuitry, and update circuitry. The flow generating circuitry is configured to generate a task flow which includes work tasks predetermined based on a concurrent execution constraint with respect to concurrent execution of tasks performed by robots and connection tasks to be connected to the work tasks. The confirmation circuitry is configured to determine whether at least one of the robots interferes with an object in the connection tasks. The update circuitry is configured to update the concurrent execution constraint when the at least one of the robots is determined to interfere with the object.
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公开(公告)号：US20220143829A1
公开(公告)日：2022-05-12
申请号：US17144145
申请日：2021-01-08
发明人： Makoto TAKAHASHI , Wataru WATANABE , Yutaro UCHIDA , Ryo KABUTAN
IPC分类号： B25J9/16
摘要： A program generation system according to an example includes circuitry configured to: set multiple kinds of candidate postures of a robot in a connection area between a work path that is a trajectory of the robot in a task and an air-cut path that is a trajectory of the robot connecting tasks; evaluate an operation program including the work path and the air-cut path while changing a posture of the robot in the connection area among the multiple kinds of candidate postures; determine one of the multiple kinds of candidate postures as the posture of the robot in the connection area based on an evaluation result in the evaluating; and generate the operation program.
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