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1. 发明授权

US07734358B2 Data processing apparatus for arc welding 有权
标题翻译：电弧焊接用数据处理装置
公开(公告)号：US07734358B2
公开(公告)日：2010-06-08
申请号：US11185730
申请日：2005-07-21
申请人： Atsushi Watanabe , Yoshiharu Nagatsuka , Toshiya Takeda
发明人： Atsushi Watanabe , Yoshiharu Nagatsuka , Toshiya Takeda
IPC分类号： G06F19/00 , G06F15/18
CPC分类号： G05B19/425 , G05B2219/39029 , G05B2219/40387 , G05B2219/40394
摘要： A data processing apparatus for processing data described in a welding operation program of an arc welding robot system. The data processing apparatus includes a data obtaining section for obtaining a plurality of position and orientation data at a plurality of different teaching points previously taught and included in the welding operation program; a reference plane setting section for setting a virtual reference plane as a reference defining a geometric placement of an arc welding torch relative to a workpiece during a welding operation, based on the position and orientation data obtained in the data obtaining section; an angle calculating section for calculating a plurality of angle data representing the geometric placement of the arc welding torch at every teaching points, by using the position and orientation data obtained in the data obtaining section and the virtual reference plane set in the reference plane setting section; and an angle processing section for performing at least one of a displaying process and a correcting process of the angle data calculated in the angle calculating section.
摘要翻译：一种用于处理电弧焊机器人系统的焊接操作程序中描述的数据的数据处理装置。数据处理装置包括数据获取部分，用于在先前教导并包括在焊接操作程序中的多个不同教学点处获得多个位置和方向数据; 参考平面设定部，其基于在所述数据取得部中获取的位置和取向数据，将虚拟参考平面作为基准来定义焊接操作期间相对于工件的几何位置的参考; 角度计算部分，用于通过使用在数据获取部分中获得的位置和取向数据以及在参考平面设置部分中设置的虚拟参考平面来计算表示每个教导点处的电弧焊炬的几何位置的多个角度数据 ; 以及角度处理部，用于执行角度计算部中计算出的角度数据的显示处理和校正处理中的至少一个。

2. 发明申请

US20060030970A1 Data processing apparatus for arc welding 有权
标题翻译：电弧焊接用数据处理装置
公开(公告)号：US20060030970A1
公开(公告)日：2006-02-09
申请号：US11185730
申请日：2005-07-21
申请人： Atsushi Watanabe , Yoshiharu Nagatsuka , Toshiya Takeda
发明人： Atsushi Watanabe , Yoshiharu Nagatsuka , Toshiya Takeda
IPC分类号： G06F19/00
CPC分类号： G05B19/425 , G05B2219/39029 , G05B2219/40387 , G05B2219/40394
摘要： A data processing apparatus for processing data described in a welding operation program of an arc welding robot system. The data processing apparatus includes a data obtaining section for obtaining a plurality of position and orientation data at a plurality of different teaching points previously taught and included in the welding operation program; a reference plane setting section for setting a virtual reference plane as a reference defining a geometric placement of an arc welding torch relative to a workpiece during a welding operation, based on the position and orientation data obtained in the data obtaining section; an angle calculating section for calculating a plurality of angle data representing the geometric placement of the arc welding torch at every teaching points, by using the position and orientation data obtained in the data obtaining section and the virtual reference plane set in the reference plane setting section; and an angle processing section for performing at least one of a displaying process and a correcting process of the angle data calculated in the angle calculating section.
摘要翻译：一种用于处理电弧焊机器人系统的焊接操作程序中描述的数据的数据处理装置。数据处理装置包括数据获取部分，用于在先前教导并包括在焊接操作程序中的多个不同教学点处获得多个位置和方向数据; 参考平面设定部，其基于在所述数据取得部中获取的位置和取向数据，将虚拟参考平面作为基准来定义焊接操作期间相对于工件的几何位置的参考; 角度计算部分，用于通过使用在数据获取部分中获得的位置和方向数据以及在参考平面设置部分中设置的虚拟参考平面来计算表示每个教导点处的电弧焊炬的几何位置的多个角度数据 ; 以及角度处理部，用于执行角度计算部中计算出的角度数据的显示处理和校正处理中的至少一个。

3. 发明申请

US20120004751A1 APPLICATION OPERATION SIMULATION DEVICE 有权
标题翻译：应用操作仿真器件
公开(公告)号：US20120004751A1
公开(公告)日：2012-01-05
申请号：US13097717
申请日：2011-04-29
申请人： Yoshiharu Nagatsuka , Toshiya Takeda
发明人： Yoshiharu Nagatsuka , Toshiya Takeda
IPC分类号： B29C47/00 , G06F17/50
CPC分类号： G06F17/5009 , B05B13/0431
摘要： An application operation simulation device includes: a specification section that specifies positions of nozzles with respect to a spray device and injection shapes of injected materials; an interference point calculation section that performs a working program of a robot including instructions for outputting the injected materials and the like to operate a three-dimensional model of the robot by simulation and calculate interference points between three-dimensional models of the injection shapes and a three-dimensional model of an applied member every predetermined time period; an interference number calculation section that calculates the number of interference every predetermined time period at each interference point on a surface of the three-dimensional model of the applied member; an application time calculation section that calculates application time from the number of interference every predetermined time period; and a display section that displays the color-coded surface of the three-dimensional model of the applied member according to the application time. As a result, it is possible to accommodate the spray device provided with a plurality of nozzles and the application time of the injected material can be shortened.
摘要翻译：应用操作模拟装置包括：指定喷嘴相对于喷射装置的位置和喷射材料的喷射形状的指定部分; 干涉点计算部，其执行机器人的工作程序，其包括用于输出注入材料等的指令，以通过模拟操作机器人的三维模型，并计算注射形状的三维模型与每个预定时间段的应用成员的三维模型; 干扰量计算部，其计算在施加部件的三维模型的表面上的每个干涉点的每个预定时间段的干扰次数; 应用时间计算部，根据每个预定时间段的干扰次数来计算应用时间; 以及显示部，其根据应用时间显示所施加部件的三维模型的颜色编码表面。结果，可以容纳设置有多个喷嘴的喷雾装置，并且可以缩短喷射材料的施加时间。

4. 发明申请

US20070150093A1 Device and method for automatically setting interlock between robots 有权
标题翻译：自动设置机器人联锁的装置和方法
公开(公告)号：US20070150093A1
公开(公告)日：2007-06-28
申请号：US11635028
申请日：2006-12-07
申请人： Yoshiharu Nagatsuka , Toshiya Takeda
发明人： Yoshiharu Nagatsuka , Toshiya Takeda
IPC分类号： G06F17/00 , G06F19/00
CPC分类号： B25J9/1682 , G05B19/41815 , G05B2219/39135 , G05B2219/40317 , Y02P90/08 , Y02P90/087 , Y02P90/26
摘要： A device and a method for automatically setting an interlock based on a suitable interference area obtained by executing an offline simulation in relation to a system including a plurality of robots. The device executes the simulation on the offline programming system based on a motion program so as to determine a moving path of the robots and a two-dimensional interference area between the robots. Next, the device calculates a first three-dimensional interference area by moving the two-dimensional area in the vertical direction and calculates an accurate second three-dimensional interference area within the first interference area, using three-dimensional models of the robots.
摘要翻译：一种用于基于通过对包括多个机器人的系统执行离线模拟而获得的合适的干扰区域来自动设定互锁的装置和方法。该设备基于运动程序在离线编程系统上执行模拟，以便确定机器人的移动路径和机器人之间的二维干扰区域。接下来，设备通过在垂直方向上移动二维区域来计算第一三维干扰区域，并使用机器人的三维模型来计算第一干涉区域内的精确的第二三维干扰区域。

5. 发明授权

US08788081B2 Application operation simulation device 有权
标题翻译：应用操作仿真装置
公开(公告)号：US08788081B2
公开(公告)日：2014-07-22
申请号：US13097717
申请日：2011-04-29
申请人： Yoshiharu Nagatsuka , Toshiya Takeda
发明人： Yoshiharu Nagatsuka , Toshiya Takeda
IPC分类号： G06F19/00 , B29C45/00 , G06F17/50 , G06F7/60 , G06F17/10 , G06G7/48
CPC分类号： G06F17/5009 , B05B13/0431
摘要： An application operation simulation device including a specification section that specifies positions of nozzles with respect to a spray device and injection shapes of injected materials; an interference point calculation section that performs a working program of a robot including instructions for outputting the injected materials to operate a three-dimensional model of the robot by simulation and calculate interference points between three-dimensional models of the injection shapes and a three-dimensional model of an applied member; an interference number calculation section that calculates the number of interference at each interference point on a surface of the three-dimensional model of the applied member; an application time calculation section that calculates application time from the number of interference; and a display section that displays the color-coded surface of the three-dimensional model.
摘要翻译：一种应用操作模拟装置，包括指定喷嘴相对于喷射装置的位置和喷射材料的喷射形状的指定部分; 干涉点计算部，其执行机器人的工作程序，其包括用于输出注射材料的指令，以通过模拟操作机器人的三维模型，并计算注射形状的三维模型之间的干涉点和三维应用成员模型; 干涉数计算部，其计算所施加部件的三维模型的表面上的各干涉点处的干涉次数; 应用时间计算部，根据干扰次数计算应用时间; 以及显示部，其显示三维模型的颜色编码表面。

6. 发明授权

US07937186B2 Device and method for automatically setting interlock between robots 有权
标题翻译：自动设置机器人联锁的装置和方法
公开(公告)号：US07937186B2
公开(公告)日：2011-05-03
申请号：US11635028
申请日：2006-12-07
申请人： Yoshiharu Nagatsuka , Toshiya Takeda
发明人： Yoshiharu Nagatsuka , Toshiya Takeda
IPC分类号： B25J19/00 , G05B19/04 , G05B19/19
CPC分类号： B25J9/1682 , G05B19/41815 , G05B2219/39135 , G05B2219/40317 , Y02P90/08 , Y02P90/087 , Y02P90/26
摘要： A device and a method for automatically setting an interlock based on a suitable interference area obtained by executing an offline simulation in relation to a system including a plurality of robots. The device executes the simulation on the offline programming system based on a motion program so as to determine a moving path of the robots and a two-dimensional interference area between the robots. Next, the device calculates a first three-dimensional interference area by moving the two-dimensional area in the vertical direction and calculates an accurate second three-dimensional interference area within the first interference area, using three-dimensional models of the robots.
摘要翻译：一种用于基于通过对包括多个机器人的系统执行离线模拟而获得的合适的干扰区域来自动设定互锁的装置和方法。该设备基于运动程序在离线编程系统上执行模拟，以便确定机器人的移动路径和机器人之间的二维干扰区域。接下来，设备通过在垂直方向上移动二维区域来计算第一三维干扰区域，并使用机器人的三维模型来计算第一干涉区域内的精确的第二三维干扰区域。

7. 发明授权

US07904207B2 Method of evaluating and correcting robot program and device for evaluating and correcting robot program 有权
标题翻译：机器人程序评估与校正方法及机器人程序评估与校正装置
公开(公告)号：US07904207B2
公开(公告)日：2011-03-08
申请号：US11459628
申请日：2006-07-24
申请人： Yoshiharu Nagatsuka , Toshiya Takeda
发明人： Yoshiharu Nagatsuka , Toshiya Takeda
IPC分类号： G05B19/18
CPC分类号： B25J9/1674 , G05B19/416 , G05B2219/40387 , G05B2219/43057 , Y10S706/92 , Y10S706/922
摘要： There is provided a device for evaluating and correcting a robot operation program for evaluating an appropriateness for the robot operation program and correcting the robot operation program, comprising a computer including a simulation function for confirming a robot operation. The computer includes a load calculation section for calculating a load given to a motor for driving an operating portion of the robot by a simulation conducted by a computer; and an evaluation section for evaluating, by an evaluation function, whether or not the load exceeds a predetermined allowed value.
摘要翻译：提供了一种用于评估和校正机器人操作程序的装置，用于评估机器人操作程序的适当性并修正机器人操作程序，包括具有用于确认机器人操作的模拟功能的计算机。计算机包括：负载计算部分，用于通过计算机进行的模拟来计算给予用于驱动机器人的操作部分的电动机的负载; 以及评价部，其通过评价功能来评价所述负荷是否超过预定的允许值。

8. 发明申请

US20080013825A1 Simulation device of robot system 审中-公开
标题翻译：机器人系统仿真装置
公开(公告)号：US20080013825A1
公开(公告)日：2008-01-17
申请号：US11819860
申请日：2007-06-29
申请人： Yoshiharu Nagatsuka , Toshiya Takeda
发明人： Yoshiharu Nagatsuka , Toshiya Takeda
IPC分类号： G06K9/00
CPC分类号： G05B19/4069 , B25J9/1671 , G05B2219/32351 , G05B2219/39031 , G05B2219/40314 , Y02P90/26
摘要： A simulation device displays a three-dimensional model of a robot system on a display device and simulates a robot system including a robot and an image pickup camera. The simulation device includes a display device for displaying a three-dimensional virtual space on a screen, a camera position determination unit for determining an installation position of the image pickup camera based on an image pickup range designated by the operator, optical characteristic information of the used image pickup camera, and required measurement precision, and a virtual image generator unit for generating a virtual image to be obtained by the image pickup camera based on the position of the image pickup camera in the three-dimensional virtual space and the optical characteristic information, thereby facilitating the determination of the suitable position of the image pickup camera and adjustment of the detection parameters.
摘要翻译：模拟装置在显示装置上显示机器人系统的三维模型，并且模拟包括机器人和图像拾取相机的机器人系统。模拟装置包括用于在屏幕上显示三维虚拟空间的显示装置，用于基于由操作者指定的图像拾取范围来确定图像拾取相机的安装位置的照相机位置确定单元，以及所需的测量精度，以及虚拟图像生成单元，用于根据摄像机在三维虚拟空间中的位置和光学特征信息生成由摄像摄像机获得的虚拟图像从而便于确定摄像摄像机的适当位置和检测参数的调整。

9. 发明授权

US08224486B2 Method of evaluating and correcting robot program and device for evaluating and correcting robot program 有权
标题翻译：机器人程序评估与校正方法及机器人程序评估与校正装置
公开(公告)号：US08224486B2
公开(公告)日：2012-07-17
申请号：US12970014
申请日：2010-12-16
申请人： Yoshiharu Nagatsuka , Toshiya Takeda
发明人： Yoshiharu Nagatsuka , Toshiya Takeda
IPC分类号： G05B19/416
CPC分类号： B25J9/1674 , G05B19/416 , G05B2219/40387 , G05B2219/43057 , Y10S706/92 , Y10S706/922
摘要： There is provided a device for evaluating and correcting a robot operation program for evaluating an appropriateness for the robot operation program and correcting the robot operation program, comprising a computer including a simulation function for confirming a robot operation. The computer includes a load calculation section for calculating a load given to a motor for driving an operating portion of the robot by a simulation conducted by a computer; and an evaluation section for evaluating, by an evaluation function, whether or not the load exceeds a predetermined allowed value.
摘要翻译：提供了一种用于评估和校正机器人操作程序的装置，用于评估机器人操作程序的适当性并修正机器人操作程序，包括具有用于确认机器人操作的模拟功能的计算机。计算机包括：负载计算部分，用于通过计算机进行的模拟来计算给予用于驱动机器人的操作部分的电动机的负载; 以及评价部，其通过评价功能来评价所述负荷是否超过预定的允许值。

10. 发明授权

US08594843B2 Robot simulation device for simulating behavior of umbilical member 有权
标题翻译：用于模拟脐带构件行为的机器人模拟装置
公开(公告)号：US08594843B2
公开(公告)日：2013-11-26
申请号：US13537598
申请日：2012-06-29
申请人： Toshiya Takeda
发明人： Toshiya Takeda
IPC分类号： B25J19/00 , B25J9/22
CPC分类号： B25J9/1674 , G05B17/02 , G05B19/4069 , G05B2219/39096
摘要： An umbilical member arrangement unit for an umbilical member, having a function for automatically adjusting each coefficient used in the physical simulation model, corresponding to the actual behavior of the umbilical member. A simulation device has a three-dimensional model generating part configured to generate a three-dimensional model of a umbilical member as a stereo structure constituted by a plurality of mass points and a spring connecting the mass points to each other; a simulating part configured to carry out a physical simulation; a storing part configured to previously store an actual static behavior, an actual dynamic behavior, and an actual dynamic behavior of the umbilical member when colliding with a rigid body; and an automatically adjusting part configured to carry out automatic adjustment so that a result of the physical simulation coincides with the actual behaviors stored in the storing part.
摘要翻译：一种用于脐带构件的脐带构件排列单元，其具有与脐带构件的实际行为相对应的用于自动调整物理模拟模型中使用的各个系数的功能。模拟装置具有三维模型生成部，其被配置为生成作为由多个质点构成的立体结构的脐部构件的三维模型和将质点彼此连接的弹簧; 被配置为执行物理模拟的模拟部分; 存储部件，被配置为预先存储当与刚体碰撞时脐带构件的实际静态行为，实际动态行为和实际动态行为; 以及自动调整部，被配置为进行自动调整，使得物理模拟的结果与存储在存储部中的实际行为一致。

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