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    Method and system for establishing no-entry zone for robot
    2.
    发明授权
    Method and system for establishing no-entry zone for robot 有权
    用于建立机器人无进入区的方法和系统

    公开(公告)号：US08306661B2

    公开(公告)日：2012-11-06

    申请号：US12078930

    申请日：2008-04-08

    Applicant: Tsuyoshi Ueyama

    Inventor： Tsuyoshi Ueyama

    IPC: G05B19/18 ,  G06F17/00

    CPC classification number: B25J9/1697 ,  B25J9/0018 ,  B25J9/1676 ,  B25J18/005 ,  G05B2219/40478 ,  G05B2219/40563

    Abstract: In a system, a first closed region specifying unit specifies a first closed region on a screen for enclosing an imaged obstacle in a first image, and a first projection area determining unit determines a first virtual projection area by extending a first closed region in a first orientation. A second closed region specifying unit specifies a second closed region on the screen. The second closed region encloses the imaged obstacle in the second image. A second projection area determining unit determines a second virtual projection area by extending the second closed region in a second orientation. An establishing unit establishes an overlap region between the first and second projection areas as the no-entry zone for the robot.

    Abstract translation: 在系统中，第一关闭区域指定单元指定屏幕上的第一封闭区域，以封闭第一图像中的成像障碍物，并且第一投影区域确定单元通过在第一封闭区域的第一封闭区域中扩展第一封闭区域来确定第一虚拟投影区域 方向。 第二闭合区域指定单元指定屏幕上的第二闭合区域。 第二闭合区域将成像的障碍物包围在第二图像中。 第二投影区域确定单元通过在第二方向上延伸第二封闭区域来确定第二虚拟投影区域。 建立单元在第一和第二投影区域之间建立重叠区域作为机器人的无进入区域。

    Robot operating range setting device
    3.
    发明授权
    Robot operating range setting device 有权
    机器人操作范围设定装置

    公开(公告)号：US08054027B2

    公开(公告)日：2011-11-08

    申请号：US12230853

    申请日：2008-09-05

    Applicant: Ryo Nihei ,  Tetsuaki Kato ,  Takeaki Aramaki ,  Tomoyuki Yamamoto

    Inventor： Ryo Nihei ,  Tetsuaki Kato ,  Takeaki Aramaki ,  Tomoyuki Yamamoto

    IPC: B25J9/18

    CPC classification number: B25J9/1666 ,  B25J9/1676 ,  G05B2219/39098 ,  G05B2219/40478

    Abstract: A robot control unit (30) comprises: a setting means (40) for setting operating ranges of each shaft and a working tool of the robot (20); a storage means (33) for storing an inertial running distance of the robot decided by at least one of the operating speed of the robot and the weight of the working tool; and an arriving range calculation means (36) for calculating an arriving range to which the robot arrives according to the operating range, which has been set by the setting means, and the inertial running distance stored by the storage means. Due to the foregoing, while consideration is being given to the inertial running distance of a robot, the arriving range of the robot is made. Further, a display means (41) for displaying the arriving range may be provided. In the case where each shaft of the robot and the working tool deviate from the operating range, a stopping means (34) for stopping the robot may be provided.

    Abstract translation: 机器人控制单元（30）包括：设置机构（20）的各轴的工作范围和工作工具的设定装置（40）。 存储装置，用于存储由所述机器人的操作速度和所述作业工具的重量中的至少一个所决定的所述机器人的惯性行驶距离; 以及到达范围计算装置（36），用于根据由设置装置设置的操作范围和存储装置存储的惯性行驶距离来计算机器人到达的到达范围。 由于上述原因，在考虑机器人的惯性行驶距离的情况下，进行机器人的到达范围。 此外，可以提供用于显示到达范围的显示装置（41）。 在机器人和工作工具的各轴偏离工作范围的情况下，可以设置用于停止机器人的停止装置（34）。

    ROBOT SYSTEM FOR PREVENTING ACCIDENTAL DROPPING OF CONVEYED OBJECTS
    6.
    发明申请
    ROBOT SYSTEM FOR PREVENTING ACCIDENTAL DROPPING OF CONVEYED OBJECTS 有权
    用于防止意外丢弃输送物体的机器人系统

    公开(公告)号：US20150231785A1

    公开(公告)日：2015-08-20

    申请号：US14623044

    申请日：2015-02-16

    Applicant: FANUC CORPORATION

    Inventor： Keisuke Suga

    IPC: B25J9/16

    CPC classification number: B25J9/163 ,  B25J9/1671 ,  G05B2219/40382 ,  G05B2219/40478 ,  Y10S901/03 ,  Y10S901/30 ,  Y10S901/47

    Abstract: A robot system comprises a robot provided with a robot arm and a robot hand, and a control device for controlling the motion of the robot, wherein a permitted area where a teaching operation for the robot hand should be permitted is preset within a maximum area which the robot hand can reach. The control device is provided with a judging part which judges if the robot hand as a whole is present in the permitted area, based on robot hand position information, and a teaching operation restricting part which permits a teaching operation for the robot hand when it is judged that the robot hand as a whole is present in the permitted area and prohibits a teaching operation for the robot hand when it is judged that the robot hand as a whole is not present in the permitted area.

    Abstract translation: 机器人系统包括具有机器人手臂和机器人手的机器人，以及用于控制机器人运动的控制装置，其中，应允许用于机器人手的教导操作的允许区域被设定在最大区域内 机器人手可以到达。 控制装置设置有判断部，其基于机器人手位置信息，判断机器人手整体是否存在于允许区域中，以及教导操作限制部，其允许机器人手的教学操作，当它是 判断为机器人手作为整体存在于允许区域中，并且当判断为机器人手整体上不存在于允许区域中时，禁止机器人手的教学操作。

    Master-slave manipulator system and this operation input devices
    9.
    发明授权
    Master-slave manipulator system and this operation input devices 有权
    主从机械手系统和此操作输入装置

    公开(公告)号：US07391177B2

    公开(公告)日：2008-06-24

    申请号：US11434900

    申请日：2006-05-17

    Applicant: Kosuke Kishi ,  Kazuhiro Umekita

    Inventor： Kosuke Kishi ,  Kazuhiro Umekita

    IPC: G05B19/10

    CPC classification number: B25J3/04 ,  A61B34/30 ,  A61B34/37 ,  A61B34/70 ,  A61B90/361 ,  B25J9/1676 ,  B25J9/1689 ,  B25J13/02 ,  B25J19/0004 ,  G05B2219/39088 ,  G05B2219/39114 ,  G05B2219/40161 ,  G05B2219/40181 ,  G05B2219/40212 ,  G05B2219/40478 ,  G05B2219/45118

    Abstract: In a master-slave manipulator system capable of presenting an obstacle and a limit to an operating range as a force feed-back with no use of a motor in an operation input device and having high reliability, a small size and good operability, the system comprises a manipulator having an arm, an operation input device for moving the arm of the manipulator, and a controller for controlling the manipulator and the operation input device, and the operation input device is provided on joints with a mode change-over mechanism having three modes: of which, in a first mode, power is not transmitted; in a second mode, power is transmitted in one direction and is not transmitted in a reverse direction thereof; and in a third mode, power is transmitted in the reverse direction and is not transmitted in the one direction, selecting one of the above modes and changing over from one mode to the selected mode.

    Abstract translation: 在能够在操作输入装置中不使用电动机的情况下作为力反馈呈现障碍物和操作范围的限制的主从操纵器系统，具有高可靠性，小尺寸和良好的可操作性的系统 包括具有臂的操纵器，用于移动操纵器的臂的操作输入装置和用于控制操纵器和操作输入装置的控制器，并且操作输入装置设置在具有三个模式转换机构的关节上 模式：其中，在第一模式中，不发送电力; 在第二模式中，功率在一个方向上传输并且不沿其反向传输; 并且在第三模式中，功率在相反方向上发送，并且不沿一个方向发送，选择上述模式之一并且从一种模式切换到所选择的模式。

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