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    Robot controller
    1.
    发明授权
    Robot controller 有权
    机器人控制器

    公开(公告)号：US6163124A

    公开(公告)日：2000-12-19

    申请号：US210627

    申请日：1998-12-14

    申请人： Takayuki Ito ,  Toru Shirahata ,  Atsuo Nagayama ,  Kazuto Hirose

    发明人： Takayuki Ito ,  Toru Shirahata ,  Atsuo Nagayama ,  Kazuto Hirose

    IPC分类号： B25J9/10 ,  B25J9/16 ,  B25J9/18 ,  G05B15/02 ,  G05B19/4067 ,  G05B19/416 ,  G05B19/10

    CPC分类号： B25J9/16 ,  G05B19/4067

    摘要： A robot controller resolving a path deviation caused in relation to override processing or temporary stop. A motion planning section constituting software of the robot controller forms a motion plan of a robot with no consideration of overriding and outputs it to an interpolation processing section. The interpolation processing section carries out interpolation processing at each period of calculation processing, calculates a motion amount at each ITP and outputs it to a filtering section. An output filtered for acceleration or deceleration control at the filtering section is processed by an overriding processing section having an operational shutter. An output after the processing to which an override value .beta. (0.ltoreq..beta..ltoreq.1) common to respective axes has been applied is constituted by velocity and acceleration respectively multiplied by .beta. and .beta..sup.2. Acceleration or deceleration of two operation is uniformly exhausted at a corner portion where two operation overlap and, therefore, path error is not caused. Even when overriding is changed in passing through the corner portion, operation is similarly carried out. By gradually changing overriding in deceleration and acceleration before and after a temporary stop, path deviation accompanied by a temporary stop can also be resolved.

    摘要翻译： 机器人控制器解决与超驰处理或临时停止有关的路径偏差。 构成机器人控制器的软件的运动规划部形成机器人的运动方案，不考虑覆盖，并将其输出到插值处理部。 内插处理部在计算处理的每个周期进行插值处理，计算各ITP的运动量，并将其输出到滤波部。 用于在滤波部分进行加速或减速控制滤波的输出由具有操作快门的覆盖处理部分处理。 分别乘以β和β2的速度和加速度构成了各个轴所共有的超越值β（0 <= =

    Stitch machining method by industrial robot
    2.
    发明授权
    Stitch machining method by industrial robot 失效
    工业机器人针迹加工方法

    公开(公告)号：US06097169A

    公开(公告)日：2000-08-01

    申请号：US51534

    申请日：1998-04-13

    申请人： Atsushi Watanabe ,  Tetsuaki Kato ,  Toru Shirahata ,  Atsuo Nagayama

    发明人： Atsushi Watanabe ,  Tetsuaki Kato ,  Toru Shirahata ,  Atsuo Nagayama

    IPC分类号： B25J9/16 ,  B25J9/18 ,  G05B19/18 ,  B25J15/02

    CPC分类号： B25J9/1656 ,  G05B2219/35263 ,  G05B2219/40127 ,  G05B2219/45238 ,  G05B2219/50104

    摘要： A stitch machining method by an industrial robot capable of performing a teaching operation easily and the stitch machining accurately. Instead of teaching switchover points p1, P2, . . . for application and non-application of sealant in sealing as shown in FIG. 5a, a distance n1 of a machining section (where sealant is applied) and a distance n2 of a non-machining section are set to a robot controller as shown in FIG. 5b. The robot controller monitors a travel distance and switches from machining to non-machining and vice versa each time the robot travels the distance n1 and the distance n2, respectively, to thereby effect the stitch machining. As shown in FIGS. 5c and 5g, it is possible to ensure that a start and an end points of each block are positioned in the machining sections n1. Further, as shown in FIG. 5d, the stitch machining can be performed continuously for a plurality of blocks. As shown in FIG. 5f, the stitch machining can be performed in each block with a set number of cycles of machining and non-machining.

    摘要翻译： PCT No.PCT / JP97 / 02827 Sec。 371日期：1998年4月13日 102（e）日期1998年4月13日PCT 1997年8月13日PCT公布。 公开号WO98 / 06545 日期1998年2月19日能够容易地进行教导操作的工业机器人的线圈加工方法和精确的线圈加工。 而不是教导切换点p1，P2，。 。 。 用于在密封中施加和不使用密封剂，如图1所示。 如图5a所示，将加工部（施加密封剂）的距离n1和非加工部的距离n2设定为机器人控制器。 5b。 机器人控制器每次机器人分别行进距离n1和距离n2时，监视行驶距离并从加工切换到非加工，反之亦然，从而进行线圈加工。 如图 如图5c和5g所示，可以确保每个块的开始点和终点位于加工部分n1中。 此外，如图1所示。 如图5d所示，针对多个块可以连续进行线圈加工。 如图所示。 如图5f所示，可以在每个程序段中进行加工和非加工循环的设定次数的线圈加工。

    Workpiece transfer robot system
    4.
    发明授权
    Workpiece transfer robot system 有权
    工件传送机器人系统

    公开(公告)号：US08282333B2

    公开(公告)日：2012-10-09

    申请号：US12571567

    申请日：2009-10-01

    申请人： Masaru Oda ,  Toru Shirahata ,  Toshihiko Inoue ,  Takatoshi Iwayama ,  Masaaki Uematsu ,  Kentarou Ootani

    发明人： Masaru Oda ,  Toru Shirahata ,  Toshihiko Inoue ,  Takatoshi Iwayama ,  Masaaki Uematsu ,  Kentarou Ootani

    IPC分类号： B25J5/00

    CPC分类号： B23Q7/005 ,  B23Q7/04 ,  B23Q11/08 ,  B25J5/02 ,  B25J9/046

    摘要： A workpiece transfer robot system including a machine tool provided with a workpiece support section and a robot capable of transferring a workpiece relative to the workpiece support section of the machine tool. The machine tool includes a cover surrounding at least the workpiece support section. The cover includes a first side wall provided with a first opening usable for a workpiece transferring task of the robot. The robot includes a track member defining a traveling axis extending in a direction perpendicular to the first side wall of the cover of the machine tool; a slider attached to the track member and capable of traveling along the traveling axis; a first arm attached to the slider and capable of swinging about a first swing axis; a second arm attached to the first arm and capable of swinging about a second swing axis parallel to the first swing axis; and a workpiece hold section provided on the second arm and capable of accessing the workpiece support section through the first opening of the cover of the machine tool.

    摘要翻译： 一种工件传送机器人系统，包括具有工件支撑部的机床和能够相对于机床的工件支撑部传送工件的机器人。 机床包括至少围绕工件支撑部分的盖。 盖包括设置有可用于机器人的工件传送任务的第一开口的第一侧壁。 机器人包括：轨道构件，其限定沿与机床的盖的第一侧壁垂直的方向延伸的行进轴; 滑块，其附接到所述轨道构件并且能够沿着所述行进轴线行进; 第一臂附接到滑块并且能够围绕第一摆动轴线摆动; 附接到所述第一臂并能够围绕平行于所述第一摆动轴线的第二摆动轴线摆动的第二臂; 以及工件保持部，其设置在所述第二臂上并且能够通过所述机床的所述盖的所述第一开口进入所述工件支撑部。

    Controller for machine
    5.
    发明授权
    Controller for machine 失效
    机器控制器

    公开(公告)号：US06507165B2

    公开(公告)日：2003-01-14

    申请号：US09779496

    申请日：2001-02-09

    申请人： Tetsuaki Kato ,  Toru Shirahata ,  Kaname Matsumoto ,  Hiroyuki Kawamura

    发明人： Tetsuaki Kato ,  Toru Shirahata ,  Kaname Matsumoto ,  Hiroyuki Kawamura

    IPC分类号： G05B602

    CPC分类号： B25J9/1641 ,  G05B5/01 ,  G05B19/416 ,  G05B2219/41238 ,  G05B2219/42062

    摘要： A controller for a machine such as a robot and a machine tool having an electric motor as a driving source of the machine, capable of suppressing a natural vibration of the machine and/or an attachment attached to the machine. A frequency or a cycle of the natural vibration of an end effector of the robot as the attachment or the machine itself is determined and a coefficient of a filter for suppressing an amplitude of the natural vibration is altered in accordance with the measured frequency or cycle of the natural vibration. In the case of suppressing a natural vibration of the end effector attached to the robot, frequencies or cycles of natural vibrations of various end effectors in accordance with an operation status of the end effector are determined and stored, and the coefficient of the filter is set in accordance with the stored frequency or cycle of the natural vibration in accordance with the end effector attached to the robot and the operation status. In the case of suppressing a natural vibration of the machine, the natural frequency of the machine is always detected and the coefficient of the filter is automatically altered in accordance with the detected natural frequency, to thereby suppressing an amplitude of the natural vibration of the machine having the natural frequency varying due to variation of load and aging of the machine.

    摘要翻译： 用于诸如机器人和机器的机器的控制器，其具有电动机作为机器的驱动源，能够抑制机器的固有振动和/或附着到机器上的附件。 确定作为附件或机器本身的机器人的末端执行器的自然振动的频率或周期，并且根据测量的频率或周期来改变用于抑制自然振动幅度的滤波器的系数 自然振动。 在抑制机器人附近的末端执行器的固有振动的情况下，确定并存储根据末端执行器的运行状态的各种末端执行器的自然振动的频率或周期，并设定滤波器的系数 按照存储的频率或周期的自然振动，根据附加到机器人的末端执行器和操作状态。 在抑制机器的固有振动的情况下，始终检测机器的固有频率，并且根据检测到的固有频率自动改变滤波器的系数，从而抑制机器的自然振动的振幅 具有由于机器的负载和老化的变化引起的固有频率变化。

    WORKPIECE TRANSFER ROBOT SYSTEM
    6.
    发明申请
    WORKPIECE TRANSFER ROBOT SYSTEM 有权
    工作转移机器人系统

    公开(公告)号：US20100092273A1

    公开(公告)日：2010-04-15

    申请号：US12571567

    申请日：2009-10-01

    申请人： Masaru ODA ,  Toru Shirahata ,  Toshihiko Inoue ,  Takatoshi Iwayama ,  Masaaki Uematsu ,  Kentarou Ootani

    发明人： Masaru ODA ,  Toru Shirahata ,  Toshihiko Inoue ,  Takatoshi Iwayama ,  Masaaki Uematsu ,  Kentarou Ootani

    IPC分类号： B66C23/00

    CPC分类号： B23Q7/005 ,  B23Q7/04 ,  B23Q11/08 ,  B25J5/02 ,  B25J9/046

    摘要： A workpiece transfer robot system including a machine tool provided with a workpiece support section and a robot capable of transferring a workpiece relative to the workpiece support section of the machine tool. The machine tool includes a cover surrounding at least the workpiece support section. The cover includes a first side wall provided with a first opening usable for a workpiece transferring task of the robot. The robot includes a track member defining a traveling axis extending in a direction perpendicular to the first side wall of the cover of the machine tool; a slider attached to the track member and capable of traveling along the traveling axis; a first arm attached to the slider and capable of swinging about a first swing axis; a second arm attached to the first arm and capable of swinging about a second swing axis parallel to the first swing axis; and a workpiece hold section provided on the second arm and capable of accessing the workpiece support section through the first opening of the cover of the machine tool.

    摘要翻译： 一种工件传送机器人系统，包括具有工件支撑部的机床和能够相对于机床的工件支撑部传送工件的机器人。 机床包括至少围绕工件支撑部分的盖。 盖包括设置有可用于机器人的工件传送任务的第一开口的第一侧壁。 机器人包括：轨道构件，其限定沿与机床的盖的第一侧壁垂直的方向延伸的行进轴; 滑块，其附接到所述轨道构件并且能够沿着所述行进轴线行进; 第一臂附接到滑块并且能够围绕第一摆动轴线摆动; 附接到所述第一臂并能够围绕平行于所述第一摆动轴线的第二摆动轴线摆动的第二臂; 以及工件保持部，其设置在所述第二臂上并且能够通过所述机床的所述盖的所述第一开口进入所述工件支撑部。

    Robot controller
    7.
    发明授权
    Robot controller 失效
    机器人控制器

    公开(公告)号：US06208105B1

    公开(公告)日：2001-03-27

    申请号：US09194440

    申请日：1998-11-25

    申请人： Tetsuaki Kato ,  Toru Shirahata

    发明人： Tetsuaki Kato ,  Toru Shirahata

    IPC分类号： B25J1900

    CPC分类号： B25J9/1674 ,  G05B19/4061 ,  G05B2219/49139 ,  G05B2219/49142

    摘要： A robot controller determines an abnormality in position, velocity or acceleration of an end effector or a rotational axis of a robot. The robot controller includes a servo CPU that periodically writes current position data in a shared RAM with a host CPU. The current position data is obtained from robot position sensors. Using the written position data, the host CPU periodically compares stored data corresponding to position, velocity or acceleration with the newly written data. When an abnormal motion is detected, the robot is immediately stopped.

    摘要翻译： 机器人控制器确定机器人的末端执行器或旋转轴的位置，速度或加速度的异常。 机器人控制器包括伺服CPU，其将当前位置数据周期性地写入与主机CPU的共享RAM中。 当前位置数据是从机器人位置传感器获得的。 使用写入的位置数据，主机CPU将对应于位置，速度或加速度的存储数据与新写入的数据进行周期性比较。 当检测到异常运动时，机器人立即停止。