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    Programming device for returning robot to waiting position
    3.
    发明授权
    Programming device for returning robot to waiting position 有权
    将机器人返回到等待位置的编程装置

    公开(公告)号：US07774099B2

    公开(公告)日：2010-08-10

    申请号：US11165349

    申请日：2005-06-24

    申请人： Hirohiko Kobayashi ,  Yoshiharu Nagatsuka

    发明人： Hirohiko Kobayashi ,  Yoshiharu Nagatsuka

    IPC分类号： G06F19/001 ,  B25J9/16 ,  G05B19/39

    CPC分类号： B25J9/1674 ,  B25J9/1671 ,  G05B19/4067 ,  G05B2219/40314 ,  G05B2219/40317 ,  G05B2219/50118

    摘要： A programming device for making a program for returning a robot to its waiting position when the robot is stopped by an error. A robot control device is connected to the programming device via a network line. When the robot during operation is stopped by the error, information including data of a position where the robot is stopped is transferred to the programming device. The programming device makes the returning program, based on layout data, the received information and data including teaching positions and attribute data of the positions, by which the robot may be returned from the stop position to the waiting position without interfering with peripheral devices. The returning program is executed by using an offline simulation function of the programming device. The program is transferred to the robot control device after it is judged that interference will not occur. The robot may be safely returned to the waiting position by executing the returning program.

    摘要翻译： 一种编程装置，用于当机器人被错误停止时，使用于使机器人返回到其等待位置的程序。 机器人控制装置经由网络线连接到编程装置。 当操作期间的机器人被错误停止时，包括机器人停止的位置的数据的信息被传送到编程装置。 编程装置基于布局数据，使接收的信息和包括位置的教导位置和属性数据的数据返回程序，通过该位置，机器人可以从停止位置返回到等待位置而不干扰外围设备。 通过使用编程设备的离线模拟功能来执行返回程序。 在判断出不会发生干扰的情况下，程序被传送到机器人控制装置。 可以通过执行返回程序将机器人安全地返回到等待位置。

    Robot simulation device
    4.
    发明申请
    Robot simulation device 审中-公开
    机器人模拟装置

    公开(公告)号：US20070071310A1

    公开(公告)日：2007-03-29

    申请号：US11526699

    申请日：2006-09-26

    申请人： Hirohiko Kobayashi ,  Yoshiharu Nagatsuka

    发明人： Hirohiko Kobayashi ,  Yoshiharu Nagatsuka

    IPC分类号： G06K9/00

    CPC分类号： B25J9/1666

    摘要： A simulation device, for a robot, capable of judging off-line whether an article around an object to be detected interferes with the scope of a vision sensor during a measurement operation using the vision sensor, whereby the workload on an operator in the field may be reduced. Models of the scope of the vision sensor and the article, which may interfere with the scope of the vision sensor, are indicated on a display so as to indicate the occurrence of interference. This indication is based on whether at least a part of the article exists within the space defined by the scope of the vision sensor.

    摘要翻译： 一种用于机器人的模拟装置，其能够在使用视觉传感器的测量操作期间离线判断被检测物体周围的物品是否干扰视觉传感器的范围，由此现场操作者的工作量可以 减少 在显示器上指示可能干扰视觉传感器的范围的视觉传感器和物品的范围的模型，以指示干扰的发生。 该指示基于文件的至少一部分是否存在于由视觉传感器的范围限定的空间内。

    Network opening method in manufacturing
    5.
    发明申请
    Network opening method in manufacturing 有权
    网络开放方法制造

    公开(公告)号：US20060217842A1

    公开(公告)日：2006-09-28

    申请号：US11385824

    申请日：2006-03-22

    申请人： Hirohiko Kobayashi ,  Yoshiharu Nagatsuka

    发明人： Hirohiko Kobayashi ,  Yoshiharu Nagatsuka

    IPC分类号： G06F19/00

    CPC分类号： G05B19/4186 ,  G05B19/4182 ,  G05B2219/31225 ,  G05B2219/31236 ,  H04L29/12216 ,  H04L61/2007 ,  Y02P90/083 ,  Y02P90/14 ,  Y02P90/18 ,  Y02P90/185

    摘要： A method of opening a network in a manufacturing system, the system including a plurality of robots, a plurality of robot controllers individually controlling the robots and a plurality of networks connecting the robot controllers with each other. The method includes the steps of opening a first network to the plurality of robot controllers, by setting, in each of the plurality of robot controllers, conditions, including addresses, required for opening the first network; designating an address range prepared in the first network for robot controllers to which a second network is opened and which is selected from among the plurality of robot controllers; and opening the second network to the robot controllers addressed within the address range designated in the first network, by setting, through the first network, conditions required for opening the second network.

    摘要翻译： 一种在制造系统中打开网络的方法，所述系统包括多个机器人，分别控制机器人的多个机器人控制器和将机器人控制器彼此连接的多个网络。 该方法包括以下步骤：通过在多个机器人控制器的每一个中设置包括打开第一网络所需的地址的条件，将多个机器人控制器的第一网络打开; 指定在第一网络中准备的用于机器人控制器的地址范围，第二网络被打开并且从多个机器人控制器中选择; 并且通过设置通过第一网络设置打开第二网络所需的条件，将第二网络打开到在第一网络中指定的地址范围内寻址的机器人控制器。

    Robot controller
    6.
    发明申请
    Robot controller 审中-公开
    机器人控制器

    公开(公告)号：US20060149421A1

    公开(公告)日：2006-07-06

    申请号：US11311351

    申请日：2005-12-20

    申请人： Kazuhiko Akiyama ,  Hirohiko Kobayashi

    发明人： Kazuhiko Akiyama ,  Hirohiko Kobayashi

    IPC分类号： G06F19/00

    CPC分类号： B25J9/1664 ,  G05B2219/40431 ,  G05B2219/40564 ,  G05B2219/45063

    摘要： A robot controller is disclosed in which a specific target position is predetermined in order to define approaching and leaving paths for a robot hand, and a plurality of different path patterns are stored in a path pattern storage means as the approaching and leaving paths along which the robot hand approaches and leaves the predetermined specific target position. Next, based on a workpiece position detected by a visual sensor, one of the path patterns stored in the path pattern storage means is selected, and the selected path pattern is modified so that the target position of the robot hand is coincident with the actual workpiece position. The modified path pattern is defined as revised approaching and leaving paths and the robot hand is moved along the revised approaching and leaving paths.

    摘要翻译： 公开了一种机器人控制器，其中预定了特定目标位置以便定义机器人手的接近和离开路径，并且多个不同的路径图案被存储在路径图案存储装置中，作为接近和离开路径， 机器人手接近并离开预定的特定目标位置。 接下来，基于由视觉传感器检测到的工件位置，选择存储在路径图案存储单元中的路径图案之一，并且修改所选择的路径图案，使得机器人手的目标位置与实际工件重合 位置。 修改的路径模式被定义为修改的接近和离开路径，并且机器人手沿着修改的接近和离开路径移动。

    Robot system provided with robot controller
    7.
    发明申请
    Robot system provided with robot controller 有权
    机器人系统配有机器人控制器

    公开(公告)号：US20060015218A1

    公开(公告)日：2006-01-19

    申请号：US11180670

    申请日：2005-07-14

    申请人： Yoshiharu Nagatsuka ,  Hirohiko Kobayashi

    发明人： Yoshiharu Nagatsuka ,  Hirohiko Kobayashi

    IPC分类号： G06F19/00

    CPC分类号： B25J9/1661 ,  G05B2219/36522 ,  G05B2219/36523 ,  G05B2219/40383 ,  G05B2219/40395 ,  G05B2219/49302

    摘要： A robot controller capable of automatically preparing a job program for a workpiece configured of a plurality of job elements is disclosed. A plurality of teaching programs for teaching the job for each job element making up the workpiece are stored in advance. Each teaching program has registered therein attribute information including the item number (identification information) and the sequence of application of the teaching program to each workpiece. The robot controller retrieves teaching programs having registered therein, as attribute information, the same item number as the input item number of the workpiece and prepares a main program such that the retrieved teaching programs are called sequentially as subprograms in accordance with the application sequence specified by the attribute information. Further, commands for moving to the job starting position and the job end position are added before and after the main program thereby to complete the main program. Based on the main program thus prepared, the robot controller controls the robot operation.

    摘要翻译： 公开了能够自动准备由多个作业元件构成的工件的作业程序的机器人控制器。 预先存储用于对构成工件的每个作业元素进行作业的多个教导程序。 每个教学程序已经向每个工件注册了包括项目编号（识别信息）和教学程序的应用顺序的属性信息。 机器人控制器检索其中登记的教学程序作为属性信息，与工件的输入项目编号相同的项目编号，并准备主程序，使得所检索的教学程序按照按照由 属性信息。 此外，在主程序之前和之后添加用于移动到作业开始位置和作业结束位置的命令，从而完成主程序。 基于如此准备的主程序，机器人控制器控制机器人操作。

    Offline programming device
    8.
    发明申请
    Offline programming device 有权
    离线编程设备

    公开(公告)号：US20050224479A1

    公开(公告)日：2005-10-13

    申请号：US11099504

    申请日：2005-04-06

    申请人： Atsushi Watanabe ,  Hirohiko Kobayashi ,  Yoshiharu Nagatsuka

    发明人： Atsushi Watanabe ,  Hirohiko Kobayashi ,  Yoshiharu Nagatsuka

    IPC分类号： B25J9/22 ,  B25J9/16 ,  G05B19/4061 ,  G05B19/4069 ,  G05B19/4093 ,  G05B19/42 ,  B23K9/12

    CPC分类号： G05B19/4061 ,  B25J9/1666 ,  G05B2219/40317 ,  G05B2219/40515 ,  Y02P90/265

    摘要： An offline programming device in which a path for preventing interference may be automatically inserted such that a welding robot does not interfere with a jig clamping a workpiece to be welded. The models of the robot, the workpiece and the clamp jig are indicated on a display for determining the path for preventing interference. A simulation is carried out to judge that interference with the jig may occur. When it is judged that interference will occur, data of the preventing path suitable for a straight path passing through the jig are read out from a library including registered preventing paths corresponding to shapes of various jigs. The data of the preventing path includes the three-dimensional data of each point of the path as the incremental value in relation to a reference point of the path. Also, the orientation of a welding torch is registered. The corrected welding program may be downloaded to the actual robot so as to correct the uploaded offline program by using a test result in the actual robot.

    摘要翻译： 可以自动插入用于防止干扰的路径的离线编程装置，使得焊接机器人不干涉夹具待焊接的工件的夹具。 在显示器上指示机器人，工件和夹具的型号，以确定用于防止干扰的路径。 进行模拟以判断可能发生对夹具的干扰。 当判断出会发生干扰时，从包括对应于各种夹具的形状的登记防止路径的库中读出适合于穿过夹具的直线路径的防止路径的数据。 防止路径的数据包括路径的每个点的三维数据作为与路径的参考点相关的增量值。 另外，记录了焊炬的取向。 校正焊接程序可以下载到实际的机器人中，以便通过在实际机器人中使用测试结果来校正上传的脱机程序。

    Semiconductor optical integrated device
    10.
    发明授权
    Semiconductor optical integrated device 有权
    半导体光学集成器件

    公开(公告)号：US08964809B2

    公开(公告)日：2015-02-24

    申请号：US13597375

    申请日：2012-08-29

    申请人： Yoshihiro Yoneda ,  Masaki Yanagisawa ,  Kenji Koyama ,  Hirohiko Kobayashi ,  Kenji Hiratsuka

    发明人： Yoshihiro Yoneda ,  Masaki Yanagisawa ,  Kenji Koyama ,  Hirohiko Kobayashi ,  Kenji Hiratsuka

    IPC分类号： H01S5/00 ,  H01S5/024 ,  H01S5/026 ,  H01S5/06 ,  H01S5/227 ,  H01S5/042 ,  H01S5/0625 ,  H01S5/343 ,  H01S5/20

    CPC分类号： H01S5/02461 ,  B82Y20/00 ,  H01S5/0261 ,  H01S5/0425 ,  H01S5/0612 ,  H01S5/06256 ,  H01S5/209 ,  H01S5/2275 ,  H01S5/3434

    摘要： A semiconductor optical integrated device includes a substrate having a main surface with a first and second regions arranged along a waveguiding direction; a gain region including a first cladding layer, an active layer, and a second cladding layer arranged on the first region of the main surface; and a wavelength control region including a third cladding layer, an optical waveguide layer, and a fourth cladding layer arranged on the second region of the main surface and including a heater arranged along the optical waveguide layer. The substrate includes a through hole extending from a back surface of the substrate in the thickness direction and reaching the first region. A metal member is arranged in the through hole. The metal member extends from the back surface of the substrate in the thickness direction and is in contact with the first cladding layer.

    摘要翻译： 半导体光学集成器件包括具有沿着波导方向布置的具有第一和第二区域的主表面的衬底; 包括布置在所述主表面的第一区域上的第一包层，有源层和第二包层的增益区域; 以及包括布置在主表面的第二区域上的第三包层，光波导层和第四包层的波长控制区域，并且包括沿着光波导层布置的加热器。 基板包括从基板的厚度方向的背面延伸并到达第一区域的通孔。 金属构件布置在通孔中。 金属部件在厚度方向上从基板的背面延伸并与第一包覆层接触。