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61. 发明授权

US08600555B2 Device, program, recording medium and method for correcting taught point 有权
标题翻译：设备，程序，记录介质和校正教学点的方法
公开(公告)号：US08600555B2
公开(公告)日：2013-12-03
申请号：US12984796
申请日：2011-01-05
申请人： Ryo Nihei , Tetsuaki Kato , Hiroji Nishi
发明人： Ryo Nihei , Tetsuaki Kato , Hiroji Nishi
IPC分类号： G06F19/00 , G05B19/19
CPC分类号： G05B19/4083 , B25J9/1664 , G05B2219/36404 , G05B2219/40385 , G05B2219/45104
摘要： A taught point correcting device for correcting a taught point in an operation program of a robot. The device includes a judging section judging whether position data of any of a plurality of different taught points, previously taught and included in an operation program, has been corrected or not; and a data correcting section correcting, when the judging section judges that position data of a first taught point among the different taught points has been corrected, position data of a correlative taught point having a relative positional relationship with the first taught point, in accordance with a taught-point rule previously prescribing the relative positional relationship between the different taught points. The device may also include a storing section storing the taught-point rule. The taught-point rule may include a rule prescribing a distance between any two taught points among the different taught points.
摘要翻译：一种用于校正机器人的操作程序中的教导点的教导点校正装置。该装置包括：判断部，其判断是否已经校正了先前教导并包括在操作程序中的多个不同教导点中的任一个的位置数据; 以及数据校正部，根据所述判断部判断所述不同教导点中的第一教导点的位置数据已被校正，校正与所述第一教导点具有相对位置关系的相关教导点的位置数据以前规定不同教学点之间的相对位置关系的教导点规则。设备还可以包括存储教导点规则的存储部分。教导点规则可以包括规定不同教导点之间的任何两个教导点之间的距离的规则。

62. 发明授权

US08355817B2 Robot system 有权
标题翻译：机器人系统
公开(公告)号：US08355817B2
公开(公告)日：2013-01-15
申请号：US13045763
申请日：2011-03-11
申请人： Ryo Nihei , Tetsuaki Kato , Takeaki Aramaki , Tomoyuki Yamamoto
发明人： Ryo Nihei , Tetsuaki Kato , Takeaki Aramaki , Tomoyuki Yamamoto
IPC分类号： G05B19/04 , G05B19/18 , H02H5/04 , H02H7/08
CPC分类号： B25J9/1674 , G05B2219/37388 , G05B2219/40549 , G05B2219/42329
摘要： A robot system including a robot arm driven by a servo motor; and a robot controller controlling an operation of the robot arm. The robot system further comprises a first detection section detecting a rotation amount of the servo motor; a second detection section attached to a tip portion of the robot arm, and detecting a velocity or acceleration of the tip portion of the robot arm; a computation section computing the velocity or acceleration of the tip portion of the robot arm based on values detected by the first detection section, and computing a deviation between this computed velocity or acceleration and the velocity or acceleration detected by the second detection section; and an emergency stop section for bringing the servo motor to an emergency stop when a magnitude of the deviation computed by the computation section is greater than a reference value.
摘要翻译：一种机器人系统，包括由伺服电动机驱动的机器人臂; 以及控制机器人手臂的操作的机器人控制器。机器人系统还包括检测伺服电动机的旋转量的第一检测部分; 第二检测部，其附接到所述机器人手臂的前端部，并且检测所述机器人手臂的前端部的速度或加速度; 计算部，基于由所述第一检测部检测出的值计算所述机器人手臂的前端部的速度或加速度，并计算所述计算出的速度或加速度与由所述第二检测部检测出的速度或加速度之间的偏差; 以及紧急停止部，用于当由所述计算部计算出的所述偏差的大小大于参考值时使所述伺服电动机进行紧急停止。

63. 发明授权

US08315735B2 Production system having cooperating process area between human and robot 有权
标题翻译：生产系统具有人与机器人之间的协作处理区域
公开(公告)号：US08315735B2
公开(公告)日：2012-11-20
申请号：US12694201
申请日：2010-01-26
申请人： Ryo Nihei , Shinsuke Sakakibara , Kazunori Ban , Masahiro Morioka , Satoshi Adachi , Shouta Takizawa
发明人： Ryo Nihei , Shinsuke Sakakibara , Kazunori Ban , Masahiro Morioka , Satoshi Adachi , Shouta Takizawa
IPC分类号： G06F19/00
CPC分类号： B25J9/1676 , F16P1/00 , G05B2219/40203
摘要： A production system in which a human and a robot may simultaneously perform a cooperative task in the same area while ensuring human's safety. A robot is positioned at one side of a working table, and an operator is positioned at the other side of the working table. The reachable area of the operator is limited by the working table. An area of the working table is divided into an area where only the operator may perform a task, an area where only the robot may perform a task, and an area where both the operator and the robot may enter. In a cooperation mode, the maximum movement speed of a component of the robot is limited lower than when the component of the robot is outside the cooperative task area, and, the motion of the robot is limited so that the robot does not enter a robot entry-prohibited area.
摘要翻译：人和机器人可以同时在同一地区执行合作任务同时确保人的安全的生产系统。机器人位于工作台的一侧，操作者位于工作台的另一侧。操作员的可达区域受工作台的限制。工作台的区域被划分为仅操作者可以执行任务的区域，仅机器人可以执行任务的区域以及操作者和机器人可以进入的区域。在协作模式中，机器人的部件的最大移动速度被限制在比机器人的部件在协作任务区域之外的最小移动速度，并且机器人的运动受到限制，使得机器人不进入机器人入境禁区。

64. 发明授权

US08308419B2 Robot system using robot to load and unload workpiece into and from machine tool 有权
标题翻译：机器人系统使用机器人将工件装载和卸载机床
公开(公告)号：US08308419B2
公开(公告)日：2012-11-13
申请号：US12491700
申请日：2009-06-25
申请人： Ryo Nihei , Satoshi Kinoshita
发明人： Ryo Nihei , Satoshi Kinoshita
IPC分类号： B25J18/00
CPC分类号： B25J9/0009 , B25J9/047
摘要： A robot includes a base member, which is installed at a position offset from the front of a door of a machine tool to the side, as viewed in a direction vertical to the surface where the door is provided and is fixed to a surface of a base slanted so as to face the door side. A rotary member is coupled to the base member so as to be rotatable about a first axis extending vertical to the slanted surface. A first arm member is coupled to the rotary member so as to be able to swivel about a second axis vertical to the first axis, and a second arm member is coupled to the first arm member so as to be able to swivel about a third axis parallel to the second axis.
摘要翻译：机器人包括：基部构件，其安装在从机器门的前部偏离到侧面的位置，从垂直于设置门的表面的方向观察并固定到底座倾斜以面对门侧。旋转构件联接到基部构件，以便能够围绕垂直于倾斜表面延伸的第一轴线旋转。第一臂构件联接到旋转构件，以便能够围绕垂直于第一轴线的第二轴线旋转，并且第二臂构件联接到第一臂构件，以便能够围绕第三轴线平行于第二轴。

65. 发明授权

US07979161B2 Device, program, recording medium and method for correcting taught point 有权
标题翻译：设备，程序，记录介质和校正教学点的方法
公开(公告)号：US07979161B2
公开(公告)日：2011-07-12
申请号：US11441020
申请日：2006-05-26
申请人： Ryo Nihei , Tetsuaki Kato , Hiroji Nishi
发明人： Ryo Nihei , Tetsuaki Kato , Hiroji Nishi
IPC分类号： G05B19/425 , G05B19/408 , G05B15/02 , G06F19/00
CPC分类号： G05B19/4083 , B25J9/1664 , G05B2219/36404 , G05B2219/40385 , G05B2219/45104
摘要： A taught point correcting device for correcting a taught point in an operation program of a robot. The device includes a judging section judging whether position data of any of a plurality of different taught points, previously taught and included in an operation program, has been corrected or not; and a data correcting section correcting, when the judging section judges that position data of a first taught point among the different taught points has been corrected, position data of a correlative taught point having a relative positional relationship with the first taught point, in accordance with a taught-point rule previously prescribing the relative positional relationship between the different taught points. The device may also include a storing section storing the taught-point rule. The taught-point rule may include a rule prescribing a distance between any two taught points among the different taught points.
摘要翻译：一种用于校正机器人的操作程序中的教导点的教导点校正装置。该装置包括：判断部，其判断是否已经校正了先前教导并包括在操作程序中的多个不同教导点中的任一个的位置数据; 以及数据校正部，根据所述判断部判断所述不同教导点中的第一教导点的位置数据已被校正，校正与所述第一教导点具有相对位置关系的相关教导点的位置数据以前规定不同教学点之间的相对位置关系的教导点规则。设备还可以包括存储教导点规则的存储部分。教导点规则可以包括规定不同教导点之间的任何两个教导点之间的距离的规则。

66. 发明授权

US07703349B2 Cable laying structure for robot 有权
标题翻译：机器人电缆敷设结构
公开(公告)号：US07703349B2
公开(公告)日：2010-04-27
申请号：US10653969
申请日：2003-09-04
申请人： Ryo Nihei , Toshihiko Inoue , Jun Ibayashi , Takatoshi Iwayama
发明人： Ryo Nihei , Toshihiko Inoue , Jun Ibayashi , Takatoshi Iwayama
IPC分类号： B25J19/06 , H05K9/00
CPC分类号： H05K9/0098 , B25J13/085 , B25J19/0029 , B25J19/0075 , B25J19/023 , Y10T74/20311
摘要： A cable laying structure for a robot, which does not interfere with external devices in a periphery of a forearm. Camera and hand control cables and motor control cables are drawn into a robot mechanism through a connection panel of a base of a robot main body. While allowing the motor control cables to sequentially diverge, the control cables are arranged in a robot arm along an upper arm portion and guided to the forearm. The control cables are introduced into the forearm with a shield and a sheath removed. After reaching an end effector-mounting face, the control cables are connected to a camera and a hand. The forearm is formed of conductive material and grounded on the base of the robot main body to have the same electric potential as the base by using an earth cable, and therefore the forearm is utilized in replacement of the shield.
摘要翻译：一种用于机器人的电缆敷设结构，其不干扰前臂周围的外部装置。相机和手控电缆和电机控制电缆通过机器人主体的底座的连接面板被拉入机器人机构。在允许电动机控制电缆顺序发散的同时，控制电缆沿着上臂部分布置在机器人臂中并被引导到前臂。控制电缆被引入前臂，其中屏蔽层和护套被移除。到达末端执行器安装面后，控制电缆连接到相机和手上。前臂由导电材料形成，并且在机器人主体的基部上接地，通过使用接地电缆与基座具有相同的电位，因此前臂用于替换屏蔽。

67. 发明申请

US20080009972A1 Device, program, recording medium and method for preparing robot program 审中-公开
标题翻译：设备，程序，记录介质以及机器程序准备方法
公开(公告)号：US20080009972A1
公开(公告)日：2008-01-10
申请号：US11822209
申请日：2007-07-03
申请人： Ryo Nihei , Tetsuaki Kato , Hiroji Nishi
发明人： Ryo Nihei , Tetsuaki Kato , Hiroji Nishi
IPC分类号： B25J9/16 , G05B19/42
CPC分类号： B25J9/1669 , G05B2219/39105 , G05B2219/40014 , G05B2219/40383 , G05B2219/40503 , G05B2219/40543 , G05B2219/50125 , Y02P90/087
摘要： A robot programming device includes a workpiece-feature obtaining section obtaining workpiece feature information from a three-dimensional shape data of a workpiece; a retainer-position obtaining section obtaining relative position information between a workpiece and a workpiece retainer; a hand-position obtaining section obtaining relative position information between a workpiece and a hand; a storing section storing the workpiece feature information, the relative position information for the workpiece retainer and the relative position information for the hand, as a set of obtained data by correlating these information with each other, and also storing a plurality of sets of the obtained data with regard to a plurality of types of workpieces; an obtained-data retrieving section retrieving optimal obtained data including the workpiece feature information coinciding with a new-workpiece feature information, from among the sets of obtained data; and a program generating section generating a carrying operation program for a new workpiece by using the optimal obtained data.
摘要翻译：机器人编程装置包括工件特征获取部，从工件的三维形状数据获取工件特征信息; 保持器位置获取部，其获得工件与工件保持器之间的相对位置信息; 手位置取得部，取得工件与手之间的相对位置信息; 存储部件，通过将这些信息相互关联而将工件特征信息，工件保持器的相对位置信息和手的相对位置信息作为一组获得的数据，并且还存储多个获得的关于多种类型的工件的数据; 从所获得的数据组中获取包括与新工件特征信息重合的工件特征信息的最佳获得数据的获取数据检索部分; 以及程序产生部分，通过使用最佳获得的数据产生用于新工件的承载操作程序。

68. 发明授权

US6059169A Spot welding system 失效
标题翻译：点焊系统
公开(公告)号：US6059169A
公开(公告)日：2000-05-09
申请号：US981453
申请日：1997-12-22
申请人： Ryo Nihei , Takeshi Okada
发明人： Ryo Nihei , Takeshi Okada
IPC分类号： B23K11/11 , B23K11/31 , B23K37/047 , B23K37/02 , B23K37/00 , B25J11/00
CPC分类号： B23K37/047 , B23K11/314
摘要： A spot welding system employing parallel link robots arranged densely with one another. When an arrival of a workpiece W being conveyed is detected by a camera CM, a frame moves along guides to start tracking of the workpiece, and a plurality of robots RB1-RB4, each having a parallel link with a plurality of expandable/retractable arms and a wrist mounted on a distal end of the parallel link, start operation. A plurality of points on the workpiece are welded by spot welding guns G1-G4 attached to the wrists of the respective robots. Proximal end portions of the expandable/retractable arms are swingably supported by an upright wall of the frame, and the respective robots are disposed so as to project from the frame. The parallel link robots may be suspended from the frame to be arranged densely.
摘要翻译： PCT No.PCT / JP97 / 01462 Sec。 371 1997年12月22日第 102（e）日期1997年12月22日PCT 1997年4月25日PCT PCT。 WO97 / 39853 PCT出版物日期1997年10月30日采用平行连杆机器人彼此密集布置的点焊系统。当通过照相机CM检测到被输送的工件W的到达时，框架沿着引导件移动以开始对工件进行跟踪，并且多个机器人RB1-RB4具有与多个可扩张/伸缩臂以及安装在所述平行连杆的前端的手腕，开始动作。工件上的多个点由连接在各机器人的手腕上的点焊枪G1-G4焊接。可伸缩臂的近侧端部由框架的直立壁可摆动地支撑，并且相应的机器人被设置成从框架突出。平行连杆机器人可以从框架悬挂以密集地布置。

69. 发明授权

US5593621A Method of manufacturing plastic optical transmission medium 失效
标题翻译：塑料光传输介质的制造方法
公开(公告)号：US5593621A
公开(公告)日：1997-01-14
申请号：US211666
申请日：1994-04-14
申请人： Yasuhiro Koike , Ryo Nihei
发明人： Yasuhiro Koike , Ryo Nihei
IPC分类号： B29C47/00 , B29D11/00 , G02B1/04 , G02B6/028
CPC分类号： G02B6/02038 , B29D11/00663 , G02B1/046 , B29C47/00 , B29C47/0026
摘要： A polymer is placed and heated within a cylinder 1. Then the polymer is subjected to a pressure and extruded in the form of fibers from a nozzle 3. When a diffusible material is injected from a nozzle 5 through a capillary cylinder 4 into the central portion of the polymer melt, the diffusible material gradually diffuses from the central portion toward the peripheral portion while flowing toward the injection port of the nozzle 3. The material extruded from the nozzle 3 is cooled by air and wound on a drum 7 through a roller 6. Fiber-like molded product has a distribution of refractive index which continuously varies from the central portion toward the periphery portion to result in a light-converging or light-diverging plastic optical transmission medium. Reversely, even though the polymer melt is extruded from the nozzle 5, there can be obtained an optical transmission medium also having a region where the refractive index continuously varies. A variety of selections are possible for the number of cylinders and the material to be supplied into the cylinder.
摘要翻译： PCT No.PCT / JP93 / 01148 Sec。 371日期1994年04月14日 102（e）1994年4月14日PCT 1993年8月16日PCT公布。公开号WO94 / 04949 日期1994年3月3日将聚合物放置并加热到圆柱体1中。然后聚合物经受压力并从喷嘴3以纤维的形式挤出。当可扩散材料从喷嘴5通过毛细管筒 4进入聚合物熔体的中心部分，可扩散材料在朝向喷嘴3的喷射口流动的同时从中心部分逐渐扩散到周边部分。从喷嘴3挤出的材料被空气冷却并卷绕在滚筒纤维状成型体的折射率分布从中心部朝向周边部分连续变化，形成聚光或发光的塑料光传输介质。相反，即使聚合物熔体从喷嘴5挤出，也可以获得也具有折射率连续变化的区域的光传输介质。对于气缸数量和供应到气缸中的材料，可以进行各种选择。

70. 发明授权

US5508686A Overtravel detecting device for an industrial robot 失效
标题翻译：工业机器人超跑检测装置
公开(公告)号：US5508686A
公开(公告)日：1996-04-16
申请号：US351311
申请日：1994-12-14
申请人： Ryo Nihei , Kazuhisa Otsuka , Hideki Sugiyama
发明人： Ryo Nihei , Kazuhisa Otsuka , Hideki Sugiyama
IPC分类号： B25J19/00 , B25J9/10 , B25J19/06 , G08B31/00
CPC分类号： B25J9/101 , B25J19/06
摘要： An overtravel detecting device, mounted on an angularly movable shaft of an industrial robot for mechanically determining and detecting the limits of rotation of the movable shaft, is attached to a rotating shaft (12) of a wrist portion (10) of an industrial robot and is provided with a pattern plate member (22) having two grooved paths (24) for setting the limits of rotation of the rotating shaft at predetermined position with respect to an origin position of the rotation, and a detecting element constituted by a limit switch (32) for transmitting an overtravel signal when the switch comes into contact with stop walls (24a, 24b) formed at ends of the two grooved paths for setting limits of rotation.
摘要翻译： PCT No.PCT / JP94 / 00633 Sec。 371日期1994年12月14日第 102（e）日期1994年12月14日PCT 1994年4月15日PCT PCT。第WO94 / 23910号公报日期：1994年10月27日。安装在用于机械地确定和检测可动轴的旋转极限的工业机器人的角度可动的轴上的超程检测装置被附接到腕部的旋转轴（12） 10），并且设置有具有两个凹槽路径（24）的图案板构件（22），用于将旋转轴的旋转极限相对于旋转的原点位置设定在预定位置，并且检测该元件由限位开关（32）构成，用于当开关与形成在两个沟槽路径端部的止挡壁（24a，24b）接触时传递超行程信号，用于设定旋转极限。

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