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1. 发明专利

JP2012139789A Device for controlling robot that performs roughly copying control 有权
标题翻译：用于控制粗糙复制控制的机器人的装置
公开(公告)号：JP2012139789A
公开(公告)日：2012-07-26
申请号：JP2011000115
申请日：2011-01-04
申请人： Fanuc Ltd , ファナック株式会社
发明人： SATO TAKAYUKI , IWATAKE TAKAHIRO
IPC分类号： B25J13/08
摘要： PROBLEM TO BE SOLVED: To provide a robot control device that enables a rapid copying control that follows a shape of a workpiece as much as possible without posing an excessive load to a robot, operation tools and the workpiece, even when the workpiece has an unknown-shaped part, obstacles or the like.SOLUTION: The robot control device 14 includes: a force detection device 16 for detecting force acting between the tool and the workpiece; a movement switching determination/movement parameter adjustment part 34 for determining the switching of movement of the robot 12 and adjusting parameters of the robot; and a command computing part 36 for computing a command to be transmitted to the robot 12 based on a movement command generated by the movement switching determination/movement parameter adjustment part 34.
摘要翻译：要解决的问题：提供一种机器人控制装置，其能够尽可能地实现跟随工件形状的快速复印控制，而不会对机器人，操作工具和工件造成过大的负荷，即使当工件具有未知形状的部分，障碍物等。解决方案：机器人控制装置14包括：力检测装置16，用于检测作用在工具和工件之间的力; 用于确定机器人12的移动切换和调整机器人的参数的运动切换确定/移动参数调整部34; 以及用于基于由移动切换确定/移动参数调整部分34产生的移动指令来计算要发送到机器人12的命令的命令计算部分36.（C）2012，JPO＆INPIT

2. 发明专利

JP2011104599A Roller hemming device using robot manipulator mounted with force sensor 有权
标题翻译：使用机械手操纵器安装力传感器的滚筒制动装置
公开(公告)号：JP2011104599A
公开(公告)日：2011-06-02
申请号：JP2009259110
申请日：2009-11-12
申请人： Fanuc Ltd , ファナック株式会社
发明人： SATO TAKAYUKI , KO GIKA
IPC分类号： B21D39/02 , B21D19/04
CPC分类号： B25J9/1633 , B21D19/043 , B21D39/023
摘要： PROBLEM TO BE SOLVED: To provide a roller hemming device which corrects a positional error between a robot manipulator and a workpiece and carries out excellent pre-hemming or hemming with appropriate pressing force.
SOLUTION: The roller hemming device includes: a position detecting means for detecting a current position of a roller 12 or 34 attached to a front end of the robot manipulator 10; a force sensor 16 arranged between a wrist section 14 of the robot manipulator and the roller; and a controller 26 which uses the output of the position detecting means and the output of the force sensor to control the position of the roller so that pressing force applied to a mold 18 by the roller is a prescribed value.
COPYRIGHT: (C)2011,JPO&INPIT
摘要翻译：要解决的问题：提供一种校正机器人操纵器和工件之间的位置误差的辊式折边装置，并以适当的压力执行优良的预折边或折边。解决方案：辊式折边装置包括：位置检测装置，用于检测附接到机器人操纵器10的前端的辊12或34的当前位置; 布置在机器人操纵器的手腕部分14和滚子之间的力传感器16; 以及控制器26，其使用位置检测装置的输出和力传感器的输出来控制辊的位置，使得由辊施加到模具18的按压力是规定值。版权所有（C）2011，JPO＆INPIT

3. 发明专利

JP2005028532A Fitting device 有权
标题翻译：装配设备
公开(公告)号：JP2005028532A
公开(公告)日：2005-02-03
申请号：JP2003272046
申请日：2003-07-08
申请人： Fanuc Ltd , ファナック株式会社
发明人： KATO TETSURO , SATO TAKAYUKI
IPC分类号： B25J13/08 , B23P19/02
摘要： PROBLEM TO BE SOLVED: To provide a mating device having a function for solving blocking if blocking occurs during a fitting operation using a robot.
SOLUTION: The robot grasping a fitting part 4 with a hand approaches a fitted part 5 from an approach starting position, and when both parts come into contact with each other, the robot starts the fitting operation. If the blocking is detected by a force sensor or the like during the fitting operation, a blocking removing operation is performed. The force sensor, a torque sensor, and a torque estimation from a current value are used for detection of a required force for the force control. When the blocking is removed, the fitting operation is resumed or the fitting part 4 is drawn out. The blocking removing operation gives hitting powers S1, S2 using the robot, and is capable of applying hitting power along the direction obtained by projecting a line which ties the two contact points of both the parts in the blocking state onto a plane orthogonal to the insertion direction by utilizing the force sensor or the like. The size of the hitting power can be controlled by the force control.
COPYRIGHT: (C)2005,JPO&NCIPI
摘要翻译：要解决的问题：提供一种具有解决阻塞功能的配合装置，如果在使用机器人的装配操作期间发生阻塞发生。
解决方案：用手抓住装配部件4的机器人从接近开始位置接近装配部件5，当两部件彼此接触时，机器人开始装配操作。如果在装配操作期间通过力传感器等检测到阻挡，则执行阻止去除操作。力传感器，转矩传感器以及来自当前值的转矩估计用于检测力控制所需的力。当去除挡块时，恢复装配操作或拉出装配部件4。阻塞去除操作使用机器人给出击打力S1，S2，并且能够沿着将两个部件处于阻挡状态的两个接触点投射在与插入正交的平面上的线所获得的方向施加击击力通过利用力传感器等的方向。击打力的大小可以通过力控制来控制。版权所有（C）2005，JPO＆NCIPI

4. 发明专利

JP2004167651A Assembling method and device 有权
公开(公告)号：JP2004167651A
公开(公告)日：2004-06-17
申请号：JP2002338022
申请日：2002-11-21
申请人： Fanuc Ltd , ファナック株式会社
发明人： KATO TETSURO , SATO TAKAYUKI
IPC分类号： B23P19/00 , B23P19/02 , B23P19/12 , B25J9/16
CPC分类号： B23P19/107 , B23P19/12 , B25J9/1687
摘要： PROBLEM TO BE SOLVED: To provide an assembling method and a device efficiently ensuring insertion, capable of easily detecting inserting and fitting positions and easily performing automatic assembling.
SOLUTION: When a bottle-shaped workpiece is inserted into a hole of an object, an insertable range 10 is determined by a clearance amount of the workpiece and the hole, and a chamfer amount provided in the hole. The insertable range 10 is formed within a radius r from a hole center position 3cp. Where the center position of the workpiece is 1cp, while search regions (XL to XU) in the X-axis direction is moved once, an amount of the insertable range is moved by 2r or less in the Y-axis direction. As shown by a broken line, the search regions (XL to XU, and YL to YU) are moved, the workpiece center 1cp inevitably passes the insertable range 10. When the workpiece center 1cp enters within the insertable range 10, the workpiece is pressed in the direction of the object, and the workpiece is thereby inserted into the hole.
COPYRIGHT: (C)2004,JPO

5. 发明专利

JP2013056402A Robot having workpiece mass measurement function 有权
标题翻译：具有工作质量测量功能的机器人
公开(公告)号：JP2013056402A
公开(公告)日：2013-03-28
申请号：JP2011197072
申请日：2011-09-09
申请人： Fanuc Ltd , ファナック株式会社
发明人： SATO TAKAYUKI
IPC分类号： B25J13/08
CPC分类号： G01G21/00 , B25J9/1633 , B25J13/085 , B25J19/02 , G01G9/00 , G01G19/086 , G01L5/009 , G01L5/16 , G05B2219/37357 , G05B2219/40549 , G05B2219/40606 , Y10S901/46
摘要： PROBLEM TO BE SOLVED: To accurately acquire a workpiece mass even during a handling operation.SOLUTION: A robot (1) having a workpiece mass measurement function for measuring the mass of a workpiece held by the robot (1) includes a force measurement part (5) that measures a force applied to the tip (2) of the mechanism of the robot (1), and a mass estimation part (11) that estimates the mass of the workpiece held by the robot (1) on the basis of information on a force acquired by the force measurement part (5) during the movement of the robot. Preferably, the force measurement part (5) estimates the workpiece mass based on a force measurement value measured when the workpiece is held and a force measurement value measured when the workpiece is not held.
摘要翻译：要解决的问题：即使在处理操作期间也能精确地获取工件质量。解决方案：具有用于测量由机器人（1）保持的工件的质量的工件质量测量功能的机器人（1）包括力测量部分（5），其测量施加到尖端（2）的力机器人（1）的机构，以及质量估计部（11），其基于关于由力测量部（5）获取的力的信息来估计由机器人（1）保持的工件的质量机器人的运动。优选地，力测量部件（5）基于在保持工件时测量的力测量值和在不保持工件时测量的力测量值来估计工件质量。版权所有（C）2013，JPO＆INPIT

6. 发明专利

JP2012137421A Control device of robot performing force control using triaxial sensor 有权
标题翻译：机器人使用三轴传感器进行力控制的控制装置
公开(公告)号：JP2012137421A
公开(公告)日：2012-07-19
申请号：JP2010290897
申请日：2010-12-27
申请人： Fanuc Ltd , ファナック株式会社
发明人： SATO TAKAYUKI , IWATAKE TAKAHIRO
IPC分类号： G01L5/16 , B25J19/02
摘要： PROBLEM TO BE SOLVED: To estimate a force and a moment that cannot be detected by a triaxial sensor.SOLUTION: A robot control device (11) allowing finger tips of a robot (1) to move one of a tool (4) and a work (W) in relative to the other and controlling a force applied to an interval between the tool and the work includes: a force detecting section (3) for detecting a force in a uniaxial direction and an axial moment in biaxial direction that are orthogonal to the one axis and orthogonal to each other; a force estimating point setting section (12) that sets a force estimating point for estimating the force applied to the interval between the tool (4) and the work (W); and a force estimating section (13) for estimating a bidirectional force and a unidirectional moment based on the unidirectional force and the bidirectional axial moment detected by the force detecting section and the position of the force estimating point set by the force estimating point setting section.
摘要翻译：要解决的问题：估计三轴传感器无法检测的力和力矩。解决方案：一种机器人控制装置（11），其允许机器人（1）的指尖相对于另一个移动工具（4）和工件（W）中的一个，并且控制施加到第该工具和工作包括：用于检测与一个轴正交并且彼此正交的沿双轴方向的单轴方向的力和轴向力矩的力检测部分（3）; 力估计点设定部（12），其设定用于估计施加到所述工具（4）与所述工件（W）之间的间隔的力的力估计点; 以及用于基于由力检测部检测到的单向力和双向轴向力矩以及由力估计点设定部设定的力估计点的位置来估计双向力和单向力矩的力估计部（13）。版权所有（C）2012，JPO＆INPIT

7. 发明专利

JP2008307634A Fitting device 有权
标题翻译：装配设备
公开(公告)号：JP2008307634A
公开(公告)日：2008-12-25
申请号：JP2007157333
申请日：2007-06-14
申请人： Fanuc Ltd , ファナック株式会社
发明人： SATO TAKAYUKI , YAMAOKA NOBUAKI
IPC分类号： B25J13/08 , B23P19/02
CPC分类号： B25J9/1633 , B25J9/1687 , G05B2219/39529 , G05B2219/40032
摘要： PROBLEM TO BE SOLVED: To fit more quickly and stably than conventional ones in a fitting device using compliance control.
SOLUTION: The fitting device 10 includes a robot arm 12 having a hand for holding a workpiece at the leading edge, a force detector 14 for detecting force and moment applied to the workpiece carried in the hand and a controller 16 for controlling operations of the robot arm 12. The controller 16 includes a motion command creation part 30 for creating a motion command to fit the workpiece and a motion command correction part 32 for keeping a position of the hand in a vertical direction to the fitting direction and a posture of the hand around an axial line vertical to the fitting direction corrected until the detected force and moment reach at a threshold value or lower based on the maximum value of the force or moment detected by the force detector 14 while the workpiece is in contact or based on one of the force and the moment detected by the detector 14 when the workpiece comes into contact for the first time.
COPYRIGHT: (C)2009,JPO&INPIT
摘要翻译：要解决的问题：使用符合性控制在装配装置中比常规装置更快速和稳定地安装。解决方案：装配装置10包括具有用于在前缘保持工件的手的机械手臂12，用于检测施加到手中携带的工件的力和力矩的力检测器14和用于控制操作的控制器16 控制器16包括用于创建用于配合工件的运动命令的运动命令创建部分30和用于保持手在与装配方向垂直的方向上的位置的运动指令校正部32和姿势围绕垂直于装配方向的轴线被修正，直到检测到的力和力矩基于在力接触或基于力检测器14检测到的力或力矩的最大值达到阈值或更低时当工件首次接触时，由检测器14检测到的力和力矩之一。版权所有（C）2009，JPO＆INPIT

8. 发明专利

JP2011041992A Machining robot system 有权
标题翻译：加工机器人系统
公开(公告)号：JP2011041992A
公开(公告)日：2011-03-03
申请号：JP2009190140
申请日：2009-08-19
申请人： Fanuc Ltd , ファナック株式会社
发明人： SATO TAKAYUKI , IWATAKE TAKAHIRO
IPC分类号： B25J13/08
摘要： PROBLEM TO BE SOLVED: To provide a machining robot system for machining a work while pushing a machining tool against it via a fluid pressure cylinder device, having improved machining quality and reliability preventing an overload.
SOLUTION: The machining robot system 102 includes a force sensor 90 detecting force and moment applied to the machining tool 92 supported by a robot hand 16, and a system control device 100 controlling a robot 14 and the fluid pressure cylinder device 22 in accordance with predetermined control parameters. The system control device calculates acting force acting between the machining tool and the work during copying work in accordance with detection data for the force sensor, and adjusts the target track and the target moving speed of the hand, and the target thrust of the fluid pressure cylinder device depending on the acting force. It also calculates cylinder influences given to the fluid pressure cylinder device by gravitational force and inertial force acting on an object to be displaced by the fluid pressure cylinder device, and adjusts the target thrust to compensate for the cylinder influences.
COPYRIGHT: (C)2011,JPO&INPIT
摘要翻译：要解决的问题：提供一种用于加工工件的加工机器人系统，同时通过流体压力缸装置将加工工具推向其上，具有改进的加工质量和可靠性，防止过载。解决方案：加工机器人系统102包括力传感器90，其检测施加到由机器人手16支撑的加工工具92的力和力矩，以及控制机器人14和流体压力缸装置22的系统控制装置100 根据预定的控制参数。系统控制装置根据力传感器的检测数据计算复印作业期间作用在加工工具与作业之间的作用力，并调整手的目标轨迹和目标移动速度，以及流体压力的目标推力缸体装置取决于作用力。它还通过重力和作用在被液压缸装置移位的物体上的惯性力来计算给予液压缸装置的气缸影响，并且调节目标推力以补偿气缸影响。版权所有（C）2011，JPO＆INPIT

9. 发明专利

JP2010058218A Fitting device for correcting clogging state of fitting 有权
标题翻译：用于校正装配状态的装配装置
公开(公告)号：JP2010058218A
公开(公告)日：2010-03-18
申请号：JP2008225854
申请日：2008-09-03
申请人： Fanuc Ltd , ファナック株式会社
发明人： SATO TAKAYUKI , YAMAOKA NOBUAKI
IPC分类号： B25J13/08 , B23P19/02
CPC分类号： B25J13/085 , B23P19/12 , B25J9/1687 , G05B2219/40032
摘要： PROBLEM TO BE SOLVED: To correct suitably an attitude of a fitting workpiece to be fittable into a workpiece of fitting object in a short time.
SOLUTION: A fitting device (10) makes the fitting workpiece (60) held by a robot fit into the workpiece (50) of fitting object through force control. The fitting device includes: a force detection means (3) for detecting a force and the moment acting on the control point of the fitting workpiece; a determination means (12) for determining whether or not clogging occurs between the fitting workpiece and the workpiece of the fitting object during fitting; and a changing means (13) pressing the fitting workpiece to the workpiece of the fitting object in a direction perpendicular to a fitting direction by changing the position of the control point according to the advanced distance of the fitting workpiece to the workpiece of the fitting object when the determination means determines that the clogging occurs, and accordingly correcting the attitude of the fitting work based on the control point after changing.
COPYRIGHT: (C)2010,JPO&INPIT
摘要翻译：要解决的问题：适当地在短时间内适当地修正装配工件的待装配工件的工件的姿态。解决方案：装配装置（10）通过力控制使由机器人保持的装配工件（60）装配到装配物体的工件（50）中。装配装置包括：力检测装置（3），用于检测作用在装配工件的控制点上的力和力矩; 确定装置（12），用于在装配期间确定装配工件与装配物体的工件之间是否发生堵塞; 以及改变装置（13），通过根据装配工件的前进距离与装配对象的工件改变控制点的位置，将装配工件沿垂直于装配方向的方向按压装配物体的工件当确定装置确定发生堵塞时，并且因此在改变之后基于控制点校正装配工作的姿态。版权所有（C）2010，JPO＆INPIT

10. 发明专利

JP2008290228A Fitting device 审中-公开
标题翻译：装配设备
公开(公告)号：JP2008290228A
公开(公告)日：2008-12-04
申请号：JP2008023034
申请日：2008-02-01
申请人： Fanuc Ltd , ファナック株式会社
发明人： HATANAKA SHIN , SATO TAKAYUKI
IPC分类号： B25J13/08 , B23P19/02 , B23P19/04
CPC分类号： B25J9/1687 , G05B2219/39529 , G05B2219/40032
摘要： PROBLEM TO BE SOLVED: To fit a first fitting member to a second fitting member while keeping a posture in the normal posture. SOLUTION: A fitting device (10) for fitting the first fitting member held by a hand (4) mounted at the tip end of a robot arm (2) to the corresponding second fitting member is equipped with a detection means (3) for detecting the force generated when the first and second fitting members come into contact with each other, and a judging means (12) for judging whether a one-point contact state prevails in which these fitting members are in contact with each other at one point or a two-point contact state prevails in which these fitting members are in contact with each other at least at two points from the force detected by the detection means. In the one-point contact state, the first fitting member held in the hand is pressed on the second fitting member in the fitting direction thereby to promote the fitting operation while maintaining the holding posture of the robot arm. In the two-point contact state, the fitting operation is further promoted in the condition that the holding posture of the robot arm is changeable. COPYRIGHT: (C)2009,JPO&INPIT
摘要翻译：要解决的问题：在将姿势保持在正常姿势的同时，将第一装配构件安装到第二装配构件。解决方案：一种用于将由机器人臂（2）的末端安装的手（4）保持的第一配件构件安装到相应的第二配件上的装配装置（10）装备有检测装置（3）），用于检测当第一和第二装配构件彼此接触时产生的力;以及判断装置（12），用于判断这些装配构件是否一个接触的一点接触状态点或两点接触状态，其中这些装配构件至少在从检测装置检测的力的两个点处彼此接触。在一点接触状态下，保持在手中的第一装配构件在装配方向上被按压在第二装配构件上，从而在保持机器人手臂的保持姿势的同时促进装配操作。在两点接触状态下，在机器人手臂的保持姿势可变的条件下进一步促进装配操作。版权所有（C）2009，JPO＆INPIT

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