公开(公告)号：US20080297092A1

公开(公告)日：2008-12-04

申请号：US12127347

申请日：2008-05-27

申请人： Ryo NIHEI ,  Tetsuaki Kato ,  Teruki Kuroshita

发明人： Ryo NIHEI ,  Tetsuaki Kato ,  Teruki Kuroshita

IPC分类号： G05B19/404

CPC分类号： B25J9/1633 ,  B25J9/1638

摘要： A control apparatus (10) for a machining robot (1) adapted to machine a workpiece (20) by coming into contact with an effector (19) of a tool (18) attached to the machining robot with the workpiece comprises: detecting means (15) for detecting a force or moment acting between the effector of the tool and the workpiece; converting means (22) for converting the force or moment detected by the detecting means into a force or moment acting on the joint axis of the machining robot; deflection calculating means (25) for calculating a deflection occurring at the joint axis of the machining robot on the basis of the force or moment acting on the joint axis of the machining robot and obtained from the converting means; and correcting means (28) for correcting at least one of a position command or a speed command for the joint axis of the machining robot in such a manner as to compensate for the deflection calculated by the deflection calculating means. Accordingly, the position of the robot is accurately corrected without being affected by the deflection of the joint axis.

摘要翻译： 一种用于加工机器人（1）的控制装置（10），其适于通过与所述工件附接到所述加工机器人的工具（18）的执行器（19）接触来加工工件（20），所述控制装置（10）包括：检测装置 15），用于检测在所述工具的所述效应器和所述工件之间作用的力或力矩; 转换装置（22），用于将由检测装置检测到的力或力矩转换成作用在加工机器人的关节轴线上的力或力矩; 用于根据作用在加工机器人的关节轴线上并从转换装置得到的力或力矩来计算在加工机器人的接合轴线处发生的偏转的偏转计算装置; 以及校正装置，用于校正加工机器人的关节轴的位置命令或速度指令中的至少一个，以补偿由偏转计算装置计算出的偏差。 因此，机器人的位置被精确地校正，而不受接合轴的偏转的影响。

公开(公告)号：US20090088898A1

公开(公告)日：2009-04-02

申请号：US12191486

申请日：2008-08-14

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： G06F19/00

CPC分类号： B25J9/1674 ,  B25J5/02 ,  G05B2219/40248 ,  G05B2219/40252 ,  G05B2219/40272 ,  G05B2219/43201 ,  G05B2219/43203

摘要： A robot includes a traveling rail supported by struts, and a robot body attached to a slider that slides on the traveling rail. A robot controller comprises speed calculation means for calculating moving speeds of the robot hand portion on the coordinate axes of a rectangular coordinate system set for the robot controller; comparator means for comparing the moving speeds on the coordinate axes calculated by the speed calculation means with threshold values on the coordinate axes of the rectangular coordinate system, respectively; and halting means for halting the robot in case at least any one of the moving speeds is higher than the corresponding threshold value. The strength required for the struts can be lowered without limiting the dynamic capability of the robot.

摘要翻译： 机器人包括由支柱支撑的行进轨道，以及附接到在行进轨道上滑动的滑块的机器人主体。 机器人控制器包括速度计算装置，用于计算机器人手部在为机器人控制器设置的直角坐标系的坐标轴上的移动速度; 比较装置，用于将由速度计算装置计算的坐标轴上的移动速度与直角坐标系的坐标轴上的阈值进行比较; 以及用于在移动速度中的至少任一个高于相应的阈值的情况下停止机器人的停止装置。 可以降低支柱所需的强度，而不会限制机器人的动态能力。

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。

公开(公告)号：US20090025199A1

公开(公告)日：2009-01-29

申请号：US12128877

申请日：2008-05-29

申请人： Kazuo HARIKI ,  Masaru ODA ,  Shigenori KAJIO ,  Ryo NIHEI

发明人： Kazuo HARIKI ,  Masaru ODA ,  Shigenori KAJIO ,  Ryo NIHEI

IPC分类号： B23P11/00

CPC分类号： B25J9/1682 ,  B25J9/1687 ,  G05B2219/39109 ,  G05B2219/39123 ,  G05B2219/39469 ,  G05B2219/40052 ,  G05B2219/40307 ,  G05B2219/45064 ,  Y10T29/49829

摘要： A flexible workpiece assembling method for assembling a flexible workpiece (W) with an object by using a first robot comprising a first hand and a second robot comprising a second hand includes the steps of: gripping a first portion of the flexible workpiece by the first hand and gripping a second portion of the flexible workpiece different from the first portion by the second hand; moving the flexible workpiece to the object through a cooperating operation of the first and second robots; deforming the flexible workpiece into a shape corresponding to the nonflexible object by the first and second robots; and assembling the flexible workpiece onto the nonflexible object by the first and second robots. As a result, the flexible workpiece can be accurately assembled onto the nonflexible object without breaking or tearing. The first and second robots may comprise a pushing means for pushing the flexible workpiece into the object.

摘要翻译： 通过使用包括第一只手的第一机器人和包括第二只手的第二机器人来组装柔性工件（W）与物体的柔性工件组装方法包括以下步骤：通过第一只手抓住柔性工件的第一部分 以及用所述秒针夹住与所述第一部分不同的所述柔性工件的第二部分; 通过第一和第二机器人的协作操作将柔性工件移动到物体; 通过第一和第二机器人将柔性工件变形成对应于非柔性物体的形状; 以及通过第一和第二机器人将柔性工件组装到非柔性物体上。 结果，柔性工件可以精确地组装到非挠性物体上而不破裂或撕裂。 第一和第二机器人可以包括用于将柔性工件推入物体的推动装置。

公开(公告)号：US20100191372A1

公开(公告)日：2010-07-29

申请号：US12694201

申请日：2010-01-26

申请人： Ryo NIHEI ,  Shinsuke SAKAKIBARA ,  Kazunori BAN ,  Masahiro MORIOKA ,  Satoshi ADACHI ,  Shouta TAKIZAWA

发明人： Ryo NIHEI ,  Shinsuke SAKAKIBARA ,  Kazunori BAN ,  Masahiro MORIOKA ,  Satoshi ADACHI ,  Shouta TAKIZAWA

IPC分类号： G06F19/00

CPC分类号： B25J9/1676 ,  F16P1/00 ,  G05B2219/40203

摘要： A production system in which a human and a robot may simultaneously perform a cooperative task in the same area while ensuring human's safety. A robot is positioned at one side of a working table, and an operator is positioned at the other side of the working table. The reachable area of the operator is limited by the working table. An area of the working table is divided into an area where only the operator may perform a task, an area where only the robot may perform a task, and an area where both the operator and the robot may enter. In a cooperation mode, the maximum movement speed of a component of the robot is limited lower than when the component of the robot is outside the cooperative task area, and, the motion of the robot is limited so that the robot does not enter a robot entry-prohibited area.

摘要翻译： 人和机器人可以同时在同一地区执行合作任务同时确保人的安全的生产系统。 机器人位于工作台的一侧，操作者位于工作台的另一侧。 操作员的可达区域受工作台的限制。 工作台的区域被划分为仅操作者可以执行任务的区域，仅机器人可以执行任务的区域以及操作者和机器人可以进入的区域。 在协作模式中，机器人的部件的最大移动速度被限制在比机器人的部件在协作任务区域之外的最小移动速度，并且机器人的运动受到限制，使得机器人不进入机器人 入境禁区。

公开(公告)号：US20090084927A1

公开(公告)日：2009-04-02

申请号：US12194822

申请日：2008-08-20

申请人： Ryo NIHEI ,  Satoshi KINOSHITA ,  Ryuji TAKIKAWA

发明人： Ryo NIHEI ,  Satoshi KINOSHITA ,  Ryuji TAKIKAWA

IPC分类号： F16M7/00

CPC分类号： B25J9/08 ,  B25J19/005

摘要： An industrial robot capable of being decomposed into multiple units at the time of conveyance of the robot and being conveyed individually in units: wherein each of the units has a holding bracket for conveyance means to hold the unit in order to convey the unit.

摘要翻译： 一种工业机器人，其能够在机器人输送时被分解成多个单元并以单元方式单独输送：其中每个单元具有用于保持单元以便传送单元的输送装置的保持支架。

公开(公告)号：US20080257092A1

公开(公告)日：2008-10-23

申请号：US12062747

申请日：2008-04-04

申请人： Ryo NIHEI ,  Shunichi ODAKA ,  Isao KARIYA

发明人： Ryo NIHEI ,  Shunichi ODAKA ,  Isao KARIYA

IPC分类号： G05G11/00

CPC分类号： B25J17/0266 ,  Y10T74/20207

摘要： A parallel-link operational device in which links of a link mechanism connecting rotary actuators and a movable member do not protrude outside an area of a base. Six flat rotary actuators driven to control position and posture of the movable member are provided on the base, rotary output shafts of which are disposed radially pointing toward the center of the base. The links fixedly mounted on the rotary output shafts of the actuators are connected by joints to one end of rods, and the other end of the rods are connected to the movable member by joints. An end effector mounted on the movable member is rotated by an actuator for posture control mounted on the base via a rotational-force transmission mechanism composed of joints, spline couplings, etc. The links rotate in planes parallel to the sides of the base without protruding beyond the area covered by the base.

摘要翻译： 一种并联连接操作装置，其中连接旋转致动器和可移动构件的连杆机构的连杆不会突出到基座的区域之外。 被驱动以控制可动构件的位置和姿势的六个平面旋转致动器设置在基座上，其旋转输出轴径向指向基座的中心。 固定地安装在致动器的旋转输出轴上的连杆通过接头连接到杆的一端，杆的另一端通过接头连接到可动构件。 安装在可移动部件上的端部执行器通过用于通过由接头，花键联轴器等构成的旋转力传递机构安装在基座上的用于姿势控制的致动器旋转。连杆在平行于基部侧面的平面中旋转而不突出 超出基地所覆盖的地区。