公开(公告)号：US20070168077A1

公开(公告)日：2007-07-19

申请号：US11239948

申请日：2005-09-30

申请人： George Schuster

发明人： George Schuster

IPC分类号： G06F19/00

CPC分类号： G05B19/4061 ,  G05B2219/36473 ,  G05B2219/49152

摘要： An industrial control system includes a machine, a machine controller, and a safety controller. The machine controller is operable to identify a need for a human interaction, place the machine into a ready state for the human interaction, and generate a ready message responsive to placing the machine into the ready state. The safety controller is operable to receive the ready message, place the machine into a safe state responsive to receiving the ready message, and provide a human interaction indication responsive to placing the machine into the safe state.

摘要翻译： 工业控制系统包括机器，机器控制器和安全控制器。 机器控制器可操作以识别人类交互的需要，将机器置于人类交互的就绪状态，并且响应于将机器置于就绪状态而产生就绪消息。 安全控制器可操作以接收就绪消息，响应于接收就绪消息将机器置于安全状态，并响应于将机器置于安全状态而提供人机交互指示。

公开(公告)号：US20180348744A1

公开(公告)日：2018-12-06

申请号：US15778561

申请日：2016-11-23

申请人： Science Ventures Denmark A/S

发明人： Jens Cortsen

IPC分类号： G05B19/421 ,  G05B19/423 ,  G05B19/427 ,  G05B19/414

CPC分类号： G05B19/421 ,  G05B19/423 ,  G05B19/427 ,  G05B2219/36312 ,  G05B2219/36457 ,  G05B2219/36473

摘要： A robot learning system for trajectory learning of a robot (RB) having a robot arm between a base and a tool center point (TCP). A user interface allows the user to control the robot arm in order to follow a desired trajectory during a real-time. A probe sensor (PS) is mounted on the TCP during the learning session. The probe sensor (PS) measures a distance parameter (Z) indicative of distance from the TCP and a surface forming the trajectory to be followed, and an orientation parameter (X, Y) indicative of orientation of the TCP and the surface forming the trajectory to be followed. These distance and orientation data are provided as a feedback to the controller of the robot (CTL) during the real-time learning session, thereby allowing the robot controller software to assist the user in following a desired trajectory in a continuous manner. Especially, the probe sensor (PS) may have a displaceable tip (TP) to follow a surface and having a neutral or center position, and where the robot controller software controls the robot movements to seek the neutral or center position irrespective of the user's control inputs. Data (DT) is logged during the learning session, so as to allow later control of the robot (RB) in response to the data (DT) logged during the learning session.

公开(公告)号：US07933676B2

公开(公告)日：2011-04-26

申请号：US11239948

申请日：2005-09-30

申请人： George K. Schuster

发明人： George K. Schuster

IPC分类号： G06F19/00 ,  G05B11/01 ,  G08B1/00 ,  G08B13/00

CPC分类号： G05B19/4061 ,  G05B2219/36473 ,  G05B2219/49152

摘要： An industrial control system includes a machine, a machine controller, and a safety controller. The machine controller is operable to identify a need for a human interaction, place the machine into a ready state for the human interaction, and generate a ready message responsive to placing the machine into the ready state. The safety controller is operable to receive the ready message, place the machine into a safe state responsive to receiving the ready message, and provide a human interaction indication responsive to placing the machine into the safe state.

摘要翻译： 工业控制系统包括机器，机器控制器和安全控制器。 机器控制器可操作以识别人类交互的需要，将机器置于人类交互的就绪状态，并且响应于将机器置于就绪状态而产生就绪消息。 安全控制器可操作以接收就绪消息，响应于接收就绪消息将机器置于安全状态，并响应于将机器置于安全状态而提供人机交互指示。

公开(公告)号：US20060178775A1

公开(公告)日：2006-08-10

申请号：US11051383

申请日：2005-02-04

申请人： George Zhang ,  YunQuan Sun ,  Jianjun Wang ,  Zhongxue Gan ,  Hui Zhang ,  Gregory Rossano

发明人： George Zhang ,  YunQuan Sun ,  Jianjun Wang ,  Zhongxue Gan ,  Hui Zhang ,  Gregory Rossano

IPC分类号： G06F19/00

CPC分类号： B25J9/1674 ,  B25J9/0081 ,  B25J13/02 ,  G05B2219/36473 ,  G05B2219/40547 ,  G05B2219/40549

摘要： An accelerometer is mounted on a robot to monitor movement of a tool assembly attached to the robot end effector for safety monitoring purposes. The accelerometer provides an output signal to the robot controller which the controller uses to monitor the robot movement and stop that movement when a predetermined values of acceleration, speed and distance are detected during lead-through teaching of the robot. A handle can be attached to the robot end effector and the accelerometer can be mounted on the handle.

摘要翻译： 加速度计安装在机器人上以监测附接到机器人端部执行器的工具组件的运动，以用于安全监控目的。 加速度计向机器人控制器提供输出信号，该控制器用于监视机器人运动，并且在机器人的导通教导期间检测到加速度，速度和距离的预定值时停止该运动。 手柄可以连接到机器人端部执行器，并且加速度计可以安装在手柄上。

公开(公告)号：US06212443B1

公开(公告)日：2001-04-03

申请号：US09029856

申请日：1998-03-16

申请人： Hideo Nagata ,  Youichi Tanaka ,  Yasuyuki Inoue ,  Hirotaka Morita

发明人： Hideo Nagata ,  Youichi Tanaka ,  Yasuyuki Inoue ,  Hirotaka Morita

IPC分类号： G06F1900

CPC分类号： G05B19/423 ,  G05B2219/36457 ,  G05B2219/36473

摘要： A direct teaching apparatus which allows an operator to perform the direct teaching of a robot in safety. The apparatus includes a force detector and a teaching tool. The tool includes a working tool or handle fixed to the first detector and held by the operator to lead the robot. It also includes a device for computing the position or speed directive based on the force detector data and a motion model. It further includes a device for computing the generation torque of a motor for driving a robot depending on the position or speed directive and a controller to control the generated torque.

摘要翻译： 一种直接教学装置，其允许操作者安全地执行机器人的直接教导。 该装置包括力检测器和教学工具。 该工具包括固定在第一检测器上并由操作员保持以引导机器人的加工工具或手柄。 它还包括用于基于力检测器数据和运动模型计算位置或速度指令的装置。 它还包括一种用于根据位置或速度指令计算用于驱动机器人的电动机的发电转矩的装置和用于控制所产生的转矩的控制器。

公开(公告)号：US5363474A

公开(公告)日：1994-11-08

申请号：US30291

申请日：1993-03-18

申请人： Shinichi Sarugaku ,  Toru Kurenuma ,  Takeshi Andoh ,  Masami Otomo ,  Kyoichi Kawasaki

发明人： Shinichi Sarugaku ,  Toru Kurenuma ,  Takeshi Andoh ,  Masami Otomo ,  Kyoichi Kawasaki

IPC分类号： B25J9/22 ,  B25J9/16 ,  B25J9/18 ,  B25J13/08 ,  B25J19/06 ,  G05B19/42 ,  G05B19/425 ,  G06F15/00

CPC分类号： G05B19/425 ,  B25J9/1674 ,  G05B2219/36399 ,  G05B2219/36473 ,  G05B2219/42123

摘要： A system for controlling an industrial robot, which is simplified in operation and capable of direct-teaching safely all the time. The system is provided with means (131 and 132) for monitoring a magnitude of an external force applied to the forward end of a hand during direct teaching, so that the motion of the robot can be forcibly restricted when the external force reaches a predetermined value of thereabove. Furthermore, when the system is operated to be set in a direct teach mode, a process (136) of correcting the offset of a force sensor is performed automatically. By monitoring a force detected by the force sensor, the discrimination is made as to whether an external force to operate the robot at an abnormal speed is applied to the robot or not, and when the external force becomes higher than a reference value, a mode of prohibiting the operation of the robot by the external force (position control mode) is set, or current supplied to a servo motor is cut off to prevent the robot from going into the erroneous operation due to an erroneous control.

摘要翻译： PCT No.PCT / JP92 / 00616 Sec。 371日期1993年3月18日 102（e）1993年3月18日PCT提交1992年5月14日PCT公布。 出版物WO92 / 21076 日期：1992年11月26日。一种控制工业机器人的系统，操作简单，能够安全地直接教学。 该系统设置有用于在直接教导期间监测施加到手的前端的外力的大小的装置（131和132），使得当外力达到预定值时可以强制地限制机器人的运动 在上面。 此外，当系统被操作以被设置在直接示教模式时，自动执行校正力传感器的偏移的处理（136）。 通过监视由力传感器检测到的力，判断是否将机器人以异常速度操作的外力施加到机器人，并且当外力变得高于基准值时，模式 设定通过外力（位置控制模式）禁止机器人的操作，或者切断供给伺服电动机的电流，以防止机器人由于错误的控制而进入错误操作。