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公开(公告)号：US20150112482A1
公开(公告)日：2015-04-23
申请号：US14484270
申请日：2014-09-12
发明人： Koichi KUWAHARA
CPC分类号： G06N99/005 , B25J9/1671 , B25J9/1684 , G05B2219/35115 , G05B2219/36017 , G05B2219/45013 , G05B2219/45065 , Y10S901/28 , Y10S901/43 , Y10S901/47 , Y10S901/50
摘要： A teaching system includes an image generating unit, a projecting unit, a work line generating unit, an arithmetic unit, and a job generating unit. The image generating unit generates a virtual image including a robot and a workpiece having a processed surface to be processed by the robot. The projecting unit generates a projection plane orthogonal to a normal direction of a desired point on the processed surface selected on the virtual image and projects the processed surface onto the projection plane. The work line generating unit generates a work line for the robot based on setting contents received via the projection plane. The arithmetic unit calculates a teaching value including the position and the posture of the robot at each point of the target points. The job generating unit generates a job program for operating the robot in an actual configuration based on the teaching value.
摘要翻译： 教学系统包括图像生成单元，投影单元，作业线生成单元，运算单元和作业生成单元。 图像生成单元生成包括机器人的虚拟图像和具有被机器人处理的被处理面的工件。 投影单元生成与虚拟图像上选择的处理面上的期望点的法线方向正交的投影面，并将处理后的投影面投影到投影面上。 工作线生成单元基于经由投影平面接收的设定内容生成机器人的工作线。 算术单元计算包括目标点的各点处的机器人的位置和姿势的教导值。 作业生成单元基于该教学值，生成实际配置中的机器人的作业程序。
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公开(公告)号：US5790401A
公开(公告)日：1998-08-04
申请号：US576128
申请日：1995-12-21
申请人： Joseph J. Shields
发明人： Joseph J. Shields
IPC分类号： B25J9/18 , G05B19/427 , G05B19/00
CPC分类号： G05B19/427 , G05B2219/35416 , G05B2219/35463 , G05B2219/36017 , G05B2219/36132 , G05B2219/36168 , G05B2219/36401
摘要： An operating unit for a programmable industrial robot. The operating unit includes a body and a display screen mounted on the body. The display screen is operable to present graphical information items, is capable of producing a display screen output, and an operator may make selections of the items presented on the display screen. A joystick ball is mounted on the body for controlling the robot during a programming phase during which the robot is taught to follow an operating path. The joystick ball has a joystick mounting means and is capable of producing a joystick ball output. A pointing device is removably mounted to the joystick mounting means and is capable of being used to make selections on the display screen. The display screen and the joystick ball are both capable of being coupled in data transmission relation to a processing unit wherein the screen output, the joystick ball output, or both the screen output and joystick output may be processed.
摘要翻译： 可编程工业机器人的操作单元。 操作单元包括安装在主体上的主体和显示屏。 显示屏幕可操作以呈现图形信息项目，能够产生显示屏幕输出，并且操作者可以对显示屏幕上呈现的项目进行选择。 在编程阶段期间，将操纵杆球安装在主体上用于控制机器人，在该阶段期间教导机器人遵循操作路径。 操纵杆球具有操纵杆安装装置，并且能够产生操纵杆球输出。 指示装置可移除地安装到操纵杆安装装置，并且能够用于在显示屏上进行选择。 显示屏幕和操纵杆球都能够以数据传输关系耦合到处理单元，其中可以处理屏幕输出，操纵杆球输出或屏幕输出和操纵杆输出两者。
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公开(公告)号：US09311608B2
公开(公告)日：2016-04-12
申请号：US14484270
申请日：2014-09-12
发明人： Koichi Kuwahara
CPC分类号： G06N99/005 , B25J9/1671 , B25J9/1684 , G05B2219/35115 , G05B2219/36017 , G05B2219/45013 , G05B2219/45065 , Y10S901/28 , Y10S901/43 , Y10S901/47 , Y10S901/50
摘要： A teaching system includes an image generating unit, a projecting unit, a work line generating unit, an arithmetic unit, and a job generating unit. The image generating unit generates a virtual image including a robot and a workpiece having a processed surface to be processed by the robot. The projecting unit generates a projection plane orthogonal to a normal direction of a desired point on the processed surface selected on the virtual image and projects the processed surface onto the projection plane. The work line generating unit generates a work line for the robot based on setting contents received via the projection plane. The arithmetic unit calculates a teaching value including the position and the posture of the robot at each point of the target points. The job generating unit generates a job program for operating the robot in an actual configuration based on the teaching value.
摘要翻译： 教学系统包括图像生成单元，投影单元，作业线生成单元，运算单元和作业生成单元。 图像生成单元生成包括机器人的虚拟图像和具有被机器人处理的被处理面的工件。 投影单元生成与虚拟图像上选择的处理面上的期望点的法线方向正交的投影面，并将处理后的投影面投影到投影面上。 工作线生成单元基于经由投影平面接收的设定内容生成机器人的工作线。 算术单元计算包括目标点的各点处的机器人的位置和姿势的教导值。 作业生成单元基于该教学值，生成实际配置中的机器人的作业程序。
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公开(公告)号：US06327518B1
公开(公告)日：2001-12-04
申请号：US09659587
申请日：2000-09-11
申请人： Masakatsu Kaneko , Shinji Aoki
发明人： Masakatsu Kaneko , Shinji Aoki
IPC分类号： G06F1900
CPC分类号： G05B19/425 , G05B2219/35499 , G05B2219/36017 , G05B2219/36183 , G05B2219/39396 , G05B2219/40394
摘要： An off-line teaching apparatus includes an operation command-receiving device for receiving an operation command inputted via an input/output port from a key input device or a coordinate input device and successively storing the operation command in a buffer; an operation command-reading device for successively reading the operation command stored in the buffer; an operation command-counting device for counting a number of operation commands stored in the buffer; and a confirmation sound-generating device for generating confirmation sound upon receipt of the operation command by the operation command-receiving device when a counted value obtained by the operation command-counting device is not less than a predetermined number. Accordingly, the operator is informed, in real time, of the fact that the system responds to the input of the operation command from the operator. Thus, it is possible to improve the operability of the off-line teaching.
摘要翻译： 离线示教装置包括：操作命令接收装置，用于从键输入装置或坐标输入装置接收经由输入/输出端口输入的操作命令，并将操作命令依次存储在缓冲器中; 操作命令读取装置，用于连续读取存储在缓冲器中的操作命令; 操作命令计数装置，用于对存储在缓冲器中的操作命令的数量进行计数; 以及确认声音产生装置，用于当由所述操作命令计数装置获得的计数值不小于预定数量时，在所述操作命令接收装置接收到所述操作命令时产生确认声音。 因此，实时地通知操作者系统响应来自操作者的操作命令的输入。 因此，可以提高离线教学的可操作性。
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公开(公告)号：US4831548A
公开(公告)日：1989-05-16
申请号：US922454
申请日：1986-10-23
申请人： Hideaki Matoba , Shunji Mohri , Masaru Ishikawa
发明人： Hideaki Matoba , Shunji Mohri , Masaru Ishikawa
IPC分类号： G05B19/42 , B25J9/18 , G05B19/4063 , G05B19/4093 , G05B19/425
CPC分类号： G05B19/425 , G05B2219/35461 , G05B2219/36017
摘要： Disclosed is a teaching apparatus for a robot comprising a graphic display capable of displaying characters, symbols, and figures, a pointing device capable of indicating any point on the display screen, a storage for storing character, symbol, and graphic information, and an arithmetic and logic unit for taking in three dimensional data and data of hand coordinates system stored in the storage, calculating a conversion matrix t.sub.v for conversion to data of hand coordinates system and a conversion matrix T.sub.p for projection to the hand coordinates system, converting three dimensional data to two dimensional data according to the thus calculated conversion matrices T.sub.v and T.sub.p, and allowing a display of surroundings viewed from a view point of the robot in motion or at rest to be made on the graphic display.
摘要翻译： 公开了一种用于机器人的教学装置，其包括能够显示字符，符号和图形的图形显示器，能够指示显示屏幕上的任何点的指示设备，用于存储字符，符号和图形信息的存储器，以及算术 以及用于获取存储在存储器中的手坐标系的三维数据和数据的逻辑单元，计算用于转换为手坐标系数据的转换矩阵tv和用于投影到手坐标系的转换矩阵Tp，将三维数据 根据如此计算出的转换矩阵Tv和Tp的二维数据，并且允许从机器人的运动或静止的视点观看的环境的显示在图形显示器上进行。
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公开(公告)号：US07515993B2
公开(公告)日：2009-04-07
申请号：US10502944
申请日：2003-02-10
申请人： Michiharu Tanaka , Ryuichi Morita
发明人： Michiharu Tanaka , Ryuichi Morita
IPC分类号： G06F19/00
CPC分类号： B25J9/1658 , G05B2219/35287 , G05B2219/36017 , Y10S707/99945 , Y10S707/99948
摘要： A robot control apparatus for controlling a robot based upon a work program registered in storage means. A program display means is provided for displaying said work program in a list form. A child program list producing means retrieves another work program which is called by said work program and produces a child program list thereof A mother program list producing means retrieves another work program which calls said work program, and produces a mother program list. A related program storage means stories both said child program list and said mother program list in said storage means. A display selecting means selects a display way when said work program is displayed in the list form.
摘要翻译： 一种用于基于在存储装置中登记的工作程序来控制机器人的机器人控制装置。 提供了用于以列表形式显示所述工作程序的程序显示装置。 子程序列表生成单元检索由所述工作程序调用的其他工作程序，并生成子程序列表。母亲程序列表生成单元检索调用所述工作程序的另一工作程序，并生成母程序列表。 相关的程序存储装置在所述存储装置中叙述所述子程序列表和所述母
程序列表。 当所述工作程序以列表形式显示时，显示选择装置选择显示方式。-
公开(公告)号：US06631308B1
公开(公告)日：2003-10-07
申请号：US09659588
申请日：2000-09-11
申请人： Masakatsu Kaneko , Shinji Aoki
发明人： Masakatsu Kaneko , Shinji Aoki
IPC分类号： G05B1904
CPC分类号： G05B19/425 , G05B2219/35499 , G05B2219/36017 , G05B2219/36183 , G05B2219/39396 , G05B2219/40394
摘要： An off-line teaching apparatus comprises an operation command-receiving means for receiving an operation command inputted via an input/output port from a key input device or a coordinate input device and successively storing the operation command in a buffer; an operation command-reading means for successively reading the operation command stored in the buffer; an operation command-counting means for counting a number of operation commands stored in the buffer; and a confirmation sound-generating means for generating confirmation sound upon receipt of the operation, command by the operation command-receiving means when a counted value obtained by the operation command-counting means is not less than a predetermined number. Accordingly, the operator can be informed, in real time, of the fact that the system responds to the input of the operation command from the operator. Thus, it is possible to improve the operability of the off-line teaching.
摘要翻译： 离线示教装置包括操作命令接收装置，用于从键输入装置或坐标输入装置接收经由输入/输出端口输入的操作命令，并将操作命令连续地存储在缓冲器中; 操作命令读取装置，用于连续读取存储在缓冲器中的操作命令; 操作命令计数装置，用于对存储在缓冲器中的操作命令的数量进行计数; 以及确认声音产生装置，用于当由操作命令计数装置获得的计数值不小于预定数量时，在接收到操作时产生确认声音，并由操作命令接收装置发出命令。 因此，可以实时地通知操作者系统响应于来自操作者的操作命令的输入。 因此，可以提高离线教学的可操作性。
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公开(公告)号：US06226567B1
公开(公告)日：2001-05-01
申请号：US09144472
申请日：1998-08-31
申请人： Masakatsu Kaneko , Shinji Aoki
发明人： Masakatsu Kaneko , Shinji Aoki
IPC分类号： G05B1500
CPC分类号： G05B19/425 , G05B2219/35499 , G05B2219/36017 , G05B2219/36183 , G05B2219/39396 , G05B2219/40394
摘要： An off-line teaching apparatus comprises an operation command-receiving means for receiving an operation command inputted via an input/output port from a key input device or a coordinate input device and successively storing the operation command in a buffer; an operation command-reading means for successively reading the operation command stored in the buffer; an operation command-counting means for counting a number of operation commands stored in the buffer; and a confirmation sound-generating means for generating confirmation sound upon receipt of the operation command by the operation command-receiving means when a counted value obtained by the operation command-counting means is not less than a predetermined number. Accordingly, the operator can be informed, in real time, of the fact that the system responds to the input of the operation command from the operator. Thus, it is possible to improve the operability of the off-line teaching.
摘要翻译： 离线示教装置包括操作命令接收装置，用于从键输入装置或坐标输入装置接收经由输入/输出端口输入的操作命令，并将操作命令连续地存储在缓冲器中; 操作命令读取装置，用于连续读取存储在缓冲器中的操作命令; 操作命令计数装置，用于对存储在缓冲器中的操作命令的数量进行计数; 以及确认声音发生装置，用于当由操作命令计数装置获得的计数值不小于预定数量时，通过操作命令接收装置接收到操作命令时产生确认声音。 因此，可以实时地通知操作者系统响应于来自操作者的操作命令的输入。 因此，可以提高离线教学的可操作性。
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公开(公告)号：US12011835B2
公开(公告)日：2024-06-18
申请号：US16648403
申请日：2017-09-30
IPC分类号： B25J9/16 , G05B19/042
CPC分类号： B25J9/1671 , B25J9/1692 , G05B19/0426 , G05B2219/36017 , G05B2219/40126 , G05B2219/40527
摘要： A computer-implemented method of engineering autonomous system with reusable skills includes displaying a graphical user interface simulating a physical environment. The graphical user interface depicts one or more simulated objects corresponding to one or more physical objects. Graphical markers are created on the simulated objects based on instructions provided by a user via the graphical user interface. The position and orientation of each graphical marker is determined with respect to the simulated objects. A skill function is created which comprises a functional description for using a controllable physical device to interact with the physical objects based on the position and orientation of each graphical marker. Executable code operable to perform the skill function is created and used to actuate the controllable physical device.
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公开(公告)号：US20170252923A1
公开(公告)日：2017-09-07
申请号：US15508515
申请日：2015-08-28
申请人： KEY INFUSER
IPC分类号： B25J9/16 , A47F7/02 , A47F3/00 , G06F3/0484 , G05B19/042
CPC分类号： A47F7/02 , A47F3/005 , A47F7/00 , A47F11/00 , B25J9/1679 , G05B19/409 , G05B2219/36017
摘要： The subject matter of the invention is a zone for the interactive presentation of an object comprising a user interface, a processing unit and a robotic arm. A user chooses a command by means of the user interface. The latter will transmit the chosen command to the processing unit. Said processing unit will make the chosen command correspond to a predetermined sequence stored in its storage memory. The processing unit will next cause a robotic arm to execute said sequence. Said robotic arm will execute said sequence, the consequence of which will be the initiation of a demonstration of the object displayed.
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