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1. 发明授权

US09616570B2 Device and method for controlling robot 有权
公开(公告)号：US09616570B2
公开(公告)日：2017-04-11
申请号：US11447034
申请日：2006-06-06
申请人： Ryo Nihei , Tetsuaki Kato , Hiroji Nishi
发明人： Ryo Nihei , Tetsuaki Kato , Hiroji Nishi
IPC分类号： G06F19/00 , B25J9/16
CPC分类号： B25J9/1679 , B25J9/1656 , G05B2219/40584
摘要： A robot controller making a robot execute tasks including several work units in a parallel manner for several workpieces, in accordance with several operation programs for individually commanding the work units. The robot controller includes an information collecting section collecting state information showing, in real time, a state of an environment of the robot; a program selecting section selecting a first executable program satisfying a task starting condition, from operation programs ready to be executed for workpieces, based on the state information; a processing section processing, for execution, the first executable program; and a program-completion judging section judging whether the processing section has completed a processing of the first executable program. The program selecting section selects, based on the state information, a second executable program satisfying the task starting condition, from the operation programs ready to be executed, so as to satisfy a judgment of the program-completion judging section.

2. 发明授权

US07181294B2 Vibration control device 失效
标题翻译：振动控制装置
公开(公告)号：US07181294B2
公开(公告)日：2007-02-20
申请号：US11101497
申请日：2005-04-08
申请人： Ryo Nihei , Tetsuaki Kato , Soichi Arita
发明人： Ryo Nihei , Tetsuaki Kato , Soichi Arita
IPC分类号： G05B13/02
CPC分类号： G05D19/02 , B60G2202/25 , B60G2400/206 , B60G2600/09 , B60G2600/124 , B60G2600/1872 , B60G2600/1873 , B60G2800/162 , F16F7/1005 , F16F15/02
摘要： A control device for controlling the motion of a movable part in a machine while suppressing vibration generated in the movable part. The control device includes a state-variable estimating section for estimating a state variable of a controlled system in the machine and outputting an estimated state variable; a reference model for outputting an ideal controlled variable for the controlled system; a compensator for calculating a compensation value for correcting a control input for the controlled system, based on a difference between the estimated state variable and the ideal controlled variable; and a feedback control section for determining the control input, based on a deviation between a desired command value and one of the estimated state variable and the ideal controlled variable. A corrected control input obtained by correcting the control input determined through the feedback control section by using the compensation value calculated through the compensator is input to the controlled system as well as to the state-variable estimating section and the reference model.
摘要翻译：一种用于在抑制可动部产生的振动的同时控制机器中的可动部的动作的控制装置。控制装置包括：状态变量估计部，用于估计机器中受控系统的状态变量并输出估计状态变量; 用于输出受控系统的理想控制变量的参考模型; 基于所述估计状态变量与所述理想受控变量之间的差来计算用于校正所述受控系统的控制输入的补偿值的补偿器; 以及反馈控制部分，用于基于期望指令值与估计状态变量和理想受控变量之一之间的偏差来确定控制输入。通过使用通过补偿器计算的补偿值来校正通过反馈控制部分确定的控制输入而获得的校正控制输入被输入到受控系统以及状态变量估计部分和参考模型。

3. 发明授权

US07145100B2 Laser processing robot system 失效
标题翻译：激光加工机器人系统
公开(公告)号：US07145100B2
公开(公告)日：2006-12-05
申请号：US11203289
申请日：2005-08-15
申请人： Ryo Nihei , Toshihiko Inoue , Takatoshi Iwayama
发明人： Ryo Nihei , Toshihiko Inoue , Takatoshi Iwayama
IPC分类号： B23K26/08
CPC分类号： B23K26/0884 , B23K26/042 , B25J19/0037
摘要： A laser processing robot including a manipulator; a laser processing tool attached to the manipulator; an optical fiber for transmitting a laser beam to the laser processing tool; and a line passage formed inside the arm section to accommodate the optical fiber. The arm section includes a first member disposed fixedly about a first control axis and a second member supported on the first member rotatably about the first control axis. The line passage is formed continuously within the first and second members, an optical fiber inlet port thereof being provided in the first member and an optical fiber outlet port thereof being provided in the wrist portion. The laser processing tool includes an attachment section attached to the wrist portion rotatably about a second control axis perpendicular to the first control axis; a nozzle section extending from the attachment section and provided with a laser beam passage.
摘要翻译：一种激光加工机器人，包括机械手; 连接到操纵器的激光加工工具; 用于将激光束传送到激光加工工具的光纤; 以及在臂部中形成以容纳光纤的线通道。臂部分包括围绕第一控制轴线固定设置的第一构件和围绕第一控制轴线可旋转地支撑在第一构件上的第二构件。线路通道在第一和第二构件内连续地形成，其光纤入口设置在第一构件中，并且光纤出口设置在腕部。激光加工工具包括附接部分，该连接部分围绕垂直于第一控制轴线的第二控制轴线可旋转地附接到腕部; 喷嘴部分，其从所述附接部分延伸并设置有激光束通道。

4. 发明申请

US20060271240A1 Device, program, recording medium and method for correcting taught point 有权
公开(公告)号：US20060271240A1
公开(公告)日：2006-11-30
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： 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.

5. 发明申请

US20050281660A1 Managing structure for umbilical member of industrial robot 失效
标题翻译：工业机器人脐带构件的管理结构
公开(公告)号：US20050281660A1
公开(公告)日：2005-12-22
申请号：US11131202
申请日：2005-05-18
申请人： Ryo Nihei , Toshihiko Inoue , Kazutaka Nakayama
发明人： Ryo Nihei , Toshihiko Inoue , Kazutaka Nakayama
IPC分类号： B25J19/00 , B66C1/00
CPC分类号： B25J19/0025
摘要： A managing structure for an umbilical member of an industrial robot, the umbilical member being for supplying air and electric energy to a work tool attached to an end of a wrist of the robot, in which the umbilical member is properly moved and interference between the umbilical member and a peripheral object or a forearm of the robot is prevented. The umbilical member elastically contacts a guide surface of a guide plate attached to a second wrist element of the robot without widely projecting from the robot. The umbilical member is guided such that the extending direction of the umbilical member generally coincides with the longitudinal direction of the guide plate before the umbilical member is connected to the work tool. The thickness of the guide plate may be gradually reduced or constant toward a free end of the guide plate. The rotational motion about a third axis of the work tool by a final axis of the robot is converted to the rotational motion about a fourth axis via a transmission, so as to rotate the work tool. Even when the work tool is rotated, the umbilical member is properly moved. The work tool may also be rotated about the third axis.
摘要翻译：一种用于工业机器人的脐带构件的管理结构，所述脐构件用于将空气和电能供应到附接到机器人手腕的端部的工作工具，其中脐带构件被适当地移动，并且脐带防止机器人的构件和周边物体或前臂。脐部件弹性地接触安装在机器人的第二腕部件上的引导板的引导表面，而不会从机器人突出。引导脐部件，使得脐带部件的延伸方向在脐带部件连接到工作工具之前通常与导向板的纵向方向重合。引导板的厚度可以朝着引导板的自由端逐渐减小或恒定。通过机器人的最终轴围绕作业工具的第三轴线的旋转运动经由变速器被转换为围绕第四轴线的旋转运动，以便旋转工作工具。即使当工作工具旋转时，脐带构件被适当地移动。工作工具也可绕第三轴旋转。

6. 发明申请

US20050184130A1 Isolator system 审中-公开
标题翻译：隔离系统
公开(公告)号：US20050184130A1
公开(公告)日：2005-08-25
申请号：US11000309
申请日：2004-11-30
申请人： Kenji Yoneda , Yasusuke Oshima , Ryo Nihei
发明人： Kenji Yoneda , Yasusuke Oshima , Ryo Nihei
IPC分类号： B25J19/00 , B25J21/00 , B23K1/00
CPC分类号： B25J21/005 , B25J19/0075
摘要： The interiors of casings 13, 14a, 14b and 14c of a base portion 11 and an operating arm 12 of a robot 3 placed in an isolator 1 communicate with each other for passage of a gas. A top end opening 25a of a vent tube 25 connected to a gas feed device 21 in a gas supply unit 4 provided outside the isolator extends through the casings and opens inside end casing 14a. A drawing device 23 in the air supply unit communicates with a base portion opening 13a formed in the base portion. At the time of sterilization of the isolator, the pressure inside the isolator is increased relative to the pressure inside the robot, and the gas supply unit is operated to cause a flow of a gas inside the robot from the casing 14a to the casing 13, thereby preventing any internal portion of the robot from being corroded by the sterilizing gas.
摘要翻译：底座部分11的壳体13,14a，14b和14c以及放置在隔离器1中的机器人3的操作臂12的内部彼此连通以通过气体。连接到设置在隔离器外部的气体供应单元4中的气体供给装置21的通气管25的顶端开口25a延伸穿过壳体并在内侧端壳体14a内打开。空气供给单元中的拉伸装置23与形成在基部的基部开口13a连通。在隔离器灭菌时，隔离器内的压力相对于机器人内部的压力增加，并且气体供给单元被操作以使机器人内的气体从壳体14a流到壳体13 从而防止机器人的任何内部部分被灭菌气体腐蚀。

7. 发明申请

US20050096792A1 Industrial robot 有权
标题翻译：工业机器人
公开(公告)号：US20050096792A1
公开(公告)日：2005-05-05
申请号：US10976049
申请日：2004-10-29
申请人： Atsushi Watanabe , Ryo Nihei , Toshihiko Inoue
发明人： Atsushi Watanabe , Ryo Nihei , Toshihiko Inoue
IPC分类号： B25J19/04 , B23K31/00 , B25J19/00 , B25J19/02 , G06F19/00
CPC分类号： B25J19/023
摘要： An industrial robot, having an end-effector supporting mechanism for holding an end-effector such as a working tool and accommodating an imaging device of a visual sensor, which is free from the interference with the periphery and capable of taking an image of the working position without any trouble. A container-shaped adaptor of the end-effector supporting mechanism is attached to a distal end of a wrist flange provided in a robot wrist supported by a robot arm. The adaptor has a first attachment section provided with a first attachment surface to be attached to the wrist flange, and a second attachment section provided with a second attachment surface disposed generally parallel to a wrist flange surface at a position apart from the first attachment section by a predetermined distance along a rotary center axis of the wrist flange. On the second attachment surface, a tool holding member of the end-effector supporting mechanism for holding the working tool is attached. The adaptor and the tool holding member may be integral with each other. The imaging device is held by a holding means such as a screw or a magnetic mechanism so that the rotary center axis of the wrist flange generally coincides with a center line of the visual field and a center of gravity is positioned within the adaptor. The wrist flange may be provided with a through-hole for the connector-coupling, and the imaging device may be provided with radio-communication means.
摘要翻译：一种工业机器人，其具有用于保持端部执行器（例如加工工具）并且容纳视觉传感器的成像装置的末端执行器支撑机构，其不受与周边的干涉并能够拍摄工作的图像位置没有任何麻烦。末端执行器支撑机构的容器形适配器安装在由机器人手臂支撑的机器手腕中设置的腕部凸缘的远端。适配器具有第一附接部分，该第一附接部分设置有附接到腕部凸缘的第一附接表面，以及第二附接部分，其设置有第二附接表面，该第二附接表面设置成大致平行于手腕凸缘表面设置在与第一附接部分分开的位置处沿着腕部凸缘的旋转中心轴线的预定距离。在第二安装面上安装有用于保持加工工具的端部执行器支撑机构的工具保持部件。适配器和工具保持构件可以彼此成一体。成像装置由诸如螺钉或磁性机构的保持装置保持，使得腕部凸缘的旋转中心轴线大致与视野的中心线重合，并且重心位于适配器内。手腕凸缘可以设置有用于连接器耦合的通孔，并且成像装置可以设置有无线电通信装置。

8. 发明授权

US5983744A Robot apparatus for installing both a robot movable section and a robot controller 失效
标题翻译：用于安装机器人可移动部分和机器人控制器的机器人装置
公开(公告)号：US5983744A
公开(公告)日：1999-11-16
申请号：US855574
申请日：1997-05-13
申请人： Atsushi Watanabe , Ryo Nihei , Akihiro Terada , Masatoshi Ito
发明人： Atsushi Watanabe , Ryo Nihei , Akihiro Terada , Masatoshi Ito
IPC分类号： B25J19/00 , B25J9/00 , B25J13/06
CPC分类号： B25J9/00 , B25J13/06 , B25J19/00 , Y10T74/20305 , Y10T74/20311
摘要： A robot apparatus having no need for securing a space for installing both a robot movable section and a robot controller. The robot apparatus includes a frame having strength enough to support the robot movable section, and containing the robot controller therein. The robot movable section is installed on the frame. The robot controller and the robot movable section are electrically connected to each other via a coupling cable passing through a hole formed inside. Over the base of the robot movable section, first, second and another arms are provided via rotating mechanism portions. The distal end of the third arm constitutes a wrist portion of a robot. Various types of hands are attached to this wrist portion. Thus, the robot movable section can be installed on the frame containing the robot controller.
摘要翻译：一种机器人装置，不需要固定用于安装机器人可移动部分和机器人控制器的空间。机器人装置包括具有足以支撑机器人可移动部分的强度的框架，并且在其中容纳机器人控制器。机器人可移动部分安装在框架上。机器人控制器和机器人可移动部分通过穿过内部形成的孔的耦合电缆彼此电连接。在机器人可移动部分的基部上，通过旋转机构部分设置第一和第二臂。第三臂的远端构成机器人的腕部。各种手指附着在该腕部上。因此，机器人可移动部分可以安装在包含机器人控制器的框架上。

9. 发明授权

US5558196A Device for detecting limits of rotational motion in a robot 失效
标题翻译：用于检测机器人中的旋转运动极限的装置
公开(公告)号：US5558196A
公开(公告)日：1996-09-24
申请号：US319103
申请日：1994-10-06
申请人： Ryo Nihei , Akihiro Terada , Kyozi Iwasaki , Masatoshi Ito
发明人： Ryo Nihei , Akihiro Terada , Kyozi Iwasaki , Masatoshi Ito
IPC分类号： B25J13/08 , B25J9/10 , B25J19/00 , B25J13/00
CPC分类号： B25J9/101
摘要： A device for detecting the limits of the rotational motion of a rotating member in an industrial robot is provided. The rotating member rotates in a first and a second rotational direction about an axis relative to a fixed member. The device comprises a limit switch provided on one of the members and a contact piece, provided on the fixed member, for activating the limit switch. The contact piece is rotatable between first and second angular position about an axis parallel to the axis of rotating member.
摘要翻译：提供一种用于检测工业机器人中的旋转构件的旋转运动的限制的装置。旋转构件围绕相对于固定构件的轴线在第一和第二旋转方向上旋转。该装置包括设置在其中一个构件上的限位开关和设置在固定构件上用于启动限位开关的接触片。接触件可以围绕平行于旋转构件的轴线的轴线在第一和第二角位置之间旋转。

10. 发明授权

US5520062A Window mechanism for sensor in industrial robot 失效
标题翻译：工业机器人传感器的窗口机构
公开(公告)号：US5520062A
公开(公告)日：1996-05-28
申请号：US412123
申请日：1995-03-28
申请人： Atsushi Watanabe , Ryo Nihei , Akihiro Terada , Takahiro Hase
发明人： Atsushi Watanabe , Ryo Nihei , Akihiro Terada , Takahiro Hase
IPC分类号： B25J9/16 , B23K9/127 , B25J19/00 , B25J19/02 , G01M19/00
CPC分类号： B23K9/1274 , B25J19/0058 , B25J19/02
摘要： A window mechanism for a sensor provided at the distal end of a robot arm of an industrial robot comprises a housing for enclosing the sensor which housing includes an opening, a glass plate for closing the opening, wiper for wiping the outer surface of the glass plate, a holder plate for slidably holding the glass plate member on the housing, and an exchanger for exchanging the plate member held by the holder with a new glass plate.
摘要翻译：设置在工业机器人的机器人臂的远端处的传感器的窗口机构包括用于封闭传感器的壳体，该壳体包括开口，用于封闭开口的玻璃板，用于擦拭玻璃板的外表面的擦拭器，用于将玻璃板构件可滑动地保持在壳体上的保持板，以及用于将由保持器保持的板构件与新玻璃板更换的换热器。

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