专利快速检索-快速检索全球专利，免费商用专利数据库-IPRDB

1. 发明授权

US07774099B2 Programming device for returning robot to waiting position 有权
标题翻译：将机器人返回到等待位置的编程装置
公开(公告)号：US07774099B2
公开(公告)日：2010-08-10
申请号：US11165349
申请日：2005-06-24
申请人： Hirohiko Kobayashi , Yoshiharu Nagatsuka
发明人： Hirohiko Kobayashi , Yoshiharu Nagatsuka
IPC分类号： G06F19/001 , B25J9/16 , G05B19/39
CPC分类号： B25J9/1674 , B25J9/1671 , G05B19/4067 , G05B2219/40314 , G05B2219/40317 , G05B2219/50118
摘要： A programming device for making a program for returning a robot to its waiting position when the robot is stopped by an error. A robot control device is connected to the programming device via a network line. When the robot during operation is stopped by the error, information including data of a position where the robot is stopped is transferred to the programming device. The programming device makes the returning program, based on layout data, the received information and data including teaching positions and attribute data of the positions, by which the robot may be returned from the stop position to the waiting position without interfering with peripheral devices. The returning program is executed by using an offline simulation function of the programming device. The program is transferred to the robot control device after it is judged that interference will not occur. The robot may be safely returned to the waiting position by executing the returning program.
摘要翻译：一种编程装置，用于当机器人被错误停止时，使用于使机器人返回到其等待位置的程序。机器人控制装置经由网络线连接到编程装置。当操作期间的机器人被错误停止时，包括机器人停止的位置的数据的信息被传送到编程装置。编程装置基于布局数据，使接收的信息和包括位置的教导位置和属性数据的数据返回程序，通过该位置，机器人可以从停止位置返回到等待位置而不干扰外围设备。通过使用编程设备的离线模拟功能来执行返回程序。在判断出不会发生干扰的情况下，程序被传送到机器人控制装置。可以通过执行返回程序将机器人安全地返回到等待位置。

2. 发明申请

US20070071310A1 Robot simulation device 审中-公开
标题翻译：机器人模拟装置
公开(公告)号：US20070071310A1
公开(公告)日：2007-03-29
申请号：US11526699
申请日：2006-09-26
申请人： Hirohiko Kobayashi , Yoshiharu Nagatsuka
发明人： Hirohiko Kobayashi , Yoshiharu Nagatsuka
IPC分类号： G06K9/00
CPC分类号： B25J9/1666
摘要： A simulation device, for a robot, capable of judging off-line whether an article around an object to be detected interferes with the scope of a vision sensor during a measurement operation using the vision sensor, whereby the workload on an operator in the field may be reduced. Models of the scope of the vision sensor and the article, which may interfere with the scope of the vision sensor, are indicated on a display so as to indicate the occurrence of interference. This indication is based on whether at least a part of the article exists within the space defined by the scope of the vision sensor.
摘要翻译：一种用于机器人的模拟装置，其能够在使用视觉传感器的测量操作期间离线判断被检测物体周围的物品是否干扰视觉传感器的范围，由此现场操作者的工作量可以减少在显示器上指示可能干扰视觉传感器的范围的视觉传感器和物品的范围的模型，以指示干扰的发生。该指示基于文件的至少一部分是否存在于由视觉传感器的范围限定的空间内。

3. 发明申请

US20060217842A1 Network opening method in manufacturing 有权
标题翻译：网络开放方法制造
公开(公告)号：US20060217842A1
公开(公告)日：2006-09-28
申请号：US11385824
申请日：2006-03-22
申请人： Hirohiko Kobayashi , Yoshiharu Nagatsuka
发明人： Hirohiko Kobayashi , Yoshiharu Nagatsuka
IPC分类号： G06F19/00
CPC分类号： G05B19/4186 , G05B19/4182 , G05B2219/31225 , G05B2219/31236 , H04L29/12216 , H04L61/2007 , Y02P90/083 , Y02P90/14 , Y02P90/18 , Y02P90/185
摘要： A method of opening a network in a manufacturing system, the system including a plurality of robots, a plurality of robot controllers individually controlling the robots and a plurality of networks connecting the robot controllers with each other. The method includes the steps of opening a first network to the plurality of robot controllers, by setting, in each of the plurality of robot controllers, conditions, including addresses, required for opening the first network; designating an address range prepared in the first network for robot controllers to which a second network is opened and which is selected from among the plurality of robot controllers; and opening the second network to the robot controllers addressed within the address range designated in the first network, by setting, through the first network, conditions required for opening the second network.
摘要翻译：一种在制造系统中打开网络的方法，所述系统包括多个机器人，分别控制机器人的多个机器人控制器和将机器人控制器彼此连接的多个网络。该方法包括以下步骤：通过在多个机器人控制器的每一个中设置包括打开第一网络所需的地址的条件，将多个机器人控制器的第一网络打开; 指定在第一网络中准备的用于机器人控制器的地址范围，第二网络被打开并且从多个机器人控制器中选择; 并且通过设置通过第一网络设置打开第二网络所需的条件，将第二网络打开到在第一网络中指定的地址范围内寻址的机器人控制器。

4. 发明申请

US20060015218A1 Robot system provided with robot controller 有权
标题翻译：机器人系统配有机器人控制器
公开(公告)号：US20060015218A1
公开(公告)日：2006-01-19
申请号：US11180670
申请日：2005-07-14
申请人： Yoshiharu Nagatsuka , Hirohiko Kobayashi
发明人： Yoshiharu Nagatsuka , Hirohiko Kobayashi
IPC分类号： G06F19/00
CPC分类号： B25J9/1661 , G05B2219/36522 , G05B2219/36523 , G05B2219/40383 , G05B2219/40395 , G05B2219/49302
摘要： A robot controller capable of automatically preparing a job program for a workpiece configured of a plurality of job elements is disclosed. A plurality of teaching programs for teaching the job for each job element making up the workpiece are stored in advance. Each teaching program has registered therein attribute information including the item number (identification information) and the sequence of application of the teaching program to each workpiece. The robot controller retrieves teaching programs having registered therein, as attribute information, the same item number as the input item number of the workpiece and prepares a main program such that the retrieved teaching programs are called sequentially as subprograms in accordance with the application sequence specified by the attribute information. Further, commands for moving to the job starting position and the job end position are added before and after the main program thereby to complete the main program. Based on the main program thus prepared, the robot controller controls the robot operation.
摘要翻译：公开了能够自动准备由多个作业元件构成的工件的作业程序的机器人控制器。预先存储用于对构成工件的每个作业元素进行作业的多个教导程序。每个教学程序已经向每个工件注册了包括项目编号（识别信息）和教学程序的应用顺序的属性信息。机器人控制器检索其中登记的教学程序作为属性信息，与工件的输入项目编号相同的项目编号，并准备主程序，使得所检索的教学程序按照按照由属性信息。此外，在主程序之前和之后添加用于移动到作业开始位置和作业结束位置的命令，从而完成主程序。基于如此准备的主程序，机器人控制器控制机器人操作。

5. 发明申请

US20050224479A1 Offline programming device 有权
标题翻译：离线编程设备
公开(公告)号：US20050224479A1
公开(公告)日：2005-10-13
申请号：US11099504
申请日：2005-04-06
申请人： Atsushi Watanabe , Hirohiko Kobayashi , Yoshiharu Nagatsuka
发明人： Atsushi Watanabe , Hirohiko Kobayashi , Yoshiharu Nagatsuka
IPC分类号： B25J9/22 , B25J9/16 , G05B19/4061 , G05B19/4069 , G05B19/4093 , G05B19/42 , B23K9/12
CPC分类号： G05B19/4061 , B25J9/1666 , G05B2219/40317 , G05B2219/40515 , Y02P90/265
摘要： An offline programming device in which a path for preventing interference may be automatically inserted such that a welding robot does not interfere with a jig clamping a workpiece to be welded. The models of the robot, the workpiece and the clamp jig are indicated on a display for determining the path for preventing interference. A simulation is carried out to judge that interference with the jig may occur. When it is judged that interference will occur, data of the preventing path suitable for a straight path passing through the jig are read out from a library including registered preventing paths corresponding to shapes of various jigs. The data of the preventing path includes the three-dimensional data of each point of the path as the incremental value in relation to a reference point of the path. Also, the orientation of a welding torch is registered. The corrected welding program may be downloaded to the actual robot so as to correct the uploaded offline program by using a test result in the actual robot.
摘要翻译：可以自动插入用于防止干扰的路径的离线编程装置，使得焊接机器人不干涉夹具待焊接的工件的夹具。在显示器上指示机器人，工件和夹具的型号，以确定用于防止干扰的路径。进行模拟以判断可能发生对夹具的干扰。当判断出会发生干扰时，从包括对应于各种夹具的形状的登记防止路径的库中读出适合于穿过夹具的直线路径的防止路径的数据。防止路径的数据包括路径的每个点的三维数据作为与路径的参考点相关的增量值。另外，记录了焊炬的取向。校正焊接程序可以下载到实际的机器人中，以便通过在实际机器人中使用测试结果来校正上传的脱机程序。

6. 发明授权

US07778729B2 Robot system and robot controller 有权
标题翻译：机器人系统和机器人控制器
公开(公告)号：US07778729B2
公开(公告)日：2010-08-17
申请号：US11458618
申请日：2006-07-19
申请人： Hirohiko Kobayashi , Yoshiharu Nagatsuka
发明人： Hirohiko Kobayashi , Yoshiharu Nagatsuka
IPC分类号： G06F19/00
CPC分类号： G05B19/4185 , B25J9/16 , Y02P90/18
摘要： A robot system capable of checking the status of all robot controllers connected to the same network by using at least one robot controller, among the robot controllers, having a function for checking the status. The robot system includes a plurality of robots and a plurality of robot controllers for controlling the robots. The robot controllers are connected to each other via a control network and also connected to an information network. The at least one robot controller, having the function of checking the status, transmits and receives data to and from the other robot controllers and, further, indicates information, concerning the statuses of the networks and the robots, on a display of a teaching operation panel of the at least one robot controller.
摘要翻译：一种机器人系统，其能够通过使用机器人控制器中的至少一个机器人控制器来检查连接到同一网络的所有机器人控制器的状态，具有检查状态的功能。机器人系统包括多个机器人和用于控制机器人的多个机器人控制器。机器人控制器经由控制网络彼此连接，并且还连接到信息网络。具有检查状态的功能的至少一个机器人控制器向其他机器人控制器发送数据和从其他机器人控制器接收数据，并且还在教学操作的显示器上指示关于网络和机器人的状态的信息所述至少一个机器人控制器的面板。

7. 发明申请

US20070073444A1 Offline teaching apparatus for robot 审中-公开
标题翻译：机器人离线教学仪器
公开(公告)号：US20070073444A1
公开(公告)日：2007-03-29
申请号：US11527529
申请日：2006-09-27
申请人： Hirohiko Kobayashi , Yoshiharu Nagatsuka
发明人： Hirohiko Kobayashi , Yoshiharu Nagatsuka
IPC分类号： G06F19/00
CPC分类号： B25J9/1684 , B25J9/1671 , G05B2219/39102 , G05B2219/40323 , G05B2219/40478
摘要： An offline teaching apparatus for generating, in an offline mode, a robot operation relating to tracking and working relative to a workpiece traveling along a carrier route. The apparatus includes a model-image generating section for generating images of a carrier-route model, a workpiece model and a robot model; an indicator generating section for generating a base-point indicator, and upstream-end and downstream-end indicators defining a spatial range for performing the robot operation; a display section for displaying, on a screen, the images of the carrier-route model, the workpiece model and the robot model, together with the base-point indicator, the upstream-end indicator and the downstream-end indicator; a carrying-operation simulating section for causing the workpiece model to simulate a workpiece traveling motion along the carrier-route model; and a robot-operation simulating section for causing the robot model to simulate the robot operation, during a period from an instant the workpiece model passes by the upstream-end indicator until an instant the workpiece model arrives at the downstream-end indicator.
摘要翻译：一种离线教学装置，用于在离线模式下生成与沿着载体路线行进的工件相关的跟踪和加工相关的机器人操作。该装置包括用于生成载体路线模型，工件模型和机器人模型的图像的模型图像生成部分; 用于产生基点指示符的指示符产生部分和限定用于执行机器人操作的空间范围的上游端和下游指示符; 显示部，与基站指示符，上游指示符和下游指示符一起在屏幕上显示载体路线模型，工件模型和机器人模型的图像; 用于使工件模型沿着载体路线模型模拟工件行进运动的运载模拟部分; 以及机器人操作模拟部分，用于在从工件模型经过上游指示器的瞬间到工件模型到达下游指示器的时刻期间，使机器人模型模拟机器人操作。

8. 发明申请

US20070050091A1 Robot monitoring system 审中-公开
标题翻译：机器人监控系统
公开(公告)号：US20070050091A1
公开(公告)日：2007-03-01
申请号：US11513187
申请日：2006-08-31
申请人： Yoshiharu Nagatsuka , Hirohiko Kobayashi
发明人： Yoshiharu Nagatsuka , Hirohiko Kobayashi
IPC分类号： G05B15/00
CPC分类号： B25J9/1674 , B25J9/1671
摘要： A robot monitoring system including a robot controller for controlling a robot; and an image generating apparatus for generating, based on robot-control related information obtained from the robot controller, a three-dimensional model image showing the robot and a working environment thereof as a dynamic image corresponding to an actual motion of the robot. The image generating apparatus includes a display-condition setting section for setting a display condition to be changeable corresponding to the actual motion of the robot, the display condition including at least one of a line of sight and a drawing type; and a dynamic-image generating section for generating the dynamic image to be replaceable according to a change, occurring corresponding to the actual motion of the robot, in the display condition. The robot-control related information, obtained from the robot controller, includes an operation program for commanding a certain operation to the robot. A command relating to a change in the display condition is described in the operation program.
摘要翻译：一种机器人监视系统，包括用于控制机器人的机器人控制器; 以及图像生成装置，其基于从所述机器人控制器获得的机器人控制相关信息，生成表示所述机器人的三维模型图像及其作业环境，作为与所述机器人的实际运动对应的动态图像。图像生成装置包括：显示条件设定部，用于根据机器人的实际运动来设定可变化的显示条件，所述显示条件包括视线和绘图类型中的至少一个; 以及动态图像生成部，用于根据在所述显示状态下对应于所述机器人的实际运动而发生的变化来生成可更换的动态图像。从机器人控制器获得的机器人控制相关信息包括用于向机器人指令某一操作的操作程序。在操作程序中描述与显示条件的变化有关的命令。

9. 发明申请

US20060069464A1 Robot program production system 审中-公开
标题翻译：机器人程序生产系统
公开(公告)号：US20060069464A1
公开(公告)日：2006-03-30
申请号：US11236489
申请日：2005-09-28
申请人： Yoshiharu Nagatsuka , Hirohiko Kobayashi
发明人： Yoshiharu Nagatsuka , Hirohiko Kobayashi
IPC分类号： G06F19/00
CPC分类号： G05B19/425
摘要： A robot program production system includes: a storage block that saves pieces of information on teaching points to be taught to a robot and information on an ambient environment model representing the robot and others; a programming unit that produces off-line a robot program; and a robot control unit that controls the action of the robot so as to move the robot to a teaching point. The programming unit includes a means for determining a path, along which the robot is moved from the current position to a teaching point, which should be corrected, without interference with a work and obstacles, on the basis of the pieces of information on teaching points and the information on the ambient environment model. The robot control unit includes a means for moving the robot to the teaching point, which should be corrected, along the determined path. Information on the teaching point that should be corrected is replaced with information on an actual teaching point acquired after completion of the movement, whereby the information on the teaching point described in the robot program is corrected quickly. This results in a program capable of protecting the robot and ambient facilities from being damaged.
摘要翻译：机器人程序生产系统包括：存储块，其将关于待教导的教学点的信息保存到机器人;以及关于表示机器人的周围环境模型的信息; 一个生产离线机器人程序的编程单元; 以及机器人控制单元，其控制机器人的动作，以将机器人移动到教学点。编程单元包括用于确定机器人从当前位置移动到教导点的路径的装置，该路径应该被校正，而不会干扰工作和障碍物，基于关于教学点的信息以及关于环境环境模型的信息。机器人控制单元包括用于沿所确定的路径将机器人移动到教导点的装置，该装置应当被校正。关于要修正的教学点的信息将被替换为运动完成后获得的实际教学点的信息，从而快速校正机器人程序中描述的教学点的信息。这导致能够保护机器人和环境设施免受损坏的程序。

10. 发明授权

US07904205B2 Network opening method in manufacturing robots to a second network from a first network 有权
标题翻译：从第一网络将机器人制造到第二网络的网络打开方法
公开(公告)号：US07904205B2
公开(公告)日：2011-03-08
申请号：US11385824
申请日：2006-03-22
申请人： Hirohiko Kobayashi , Yoshiharu Nagatsuka
发明人： Hirohiko Kobayashi , Yoshiharu Nagatsuka
IPC分类号： G05B19/418
CPC分类号： G05B19/4186 , G05B19/4182 , G05B2219/31225 , G05B2219/31236 , H04L29/12216 , H04L61/2007 , Y02P90/083 , Y02P90/14 , Y02P90/18 , Y02P90/185
摘要： A method of opening a network in a manufacturing system, the system including a plurality of robots, a plurality of robot controllers individually controlling the robots and a plurality of networks connecting the robot controllers with each other. The method includes the steps of opening a first network to the plurality of robot controllers, by setting, in each of the plurality of robot controllers, conditions, including addresses, required for opening the first network; designating an address range prepared in the first network for robot controllers to which a second network is opened and which is selected from among the plurality of robot controllers; and opening the second network to the robot controllers addressed within the address range designated in the first network, by setting, through the first network, conditions required for opening the second network.
摘要翻译：一种在制造系统中打开网络的方法，所述系统包括多个机器人，分别控制机器人的多个机器人控制器和将机器人控制器彼此连接的多个网络。该方法包括以下步骤：通过在多个机器人控制器的每一个中设置包括打开第一网络所需的地址的条件，将多个机器人控制器的第一网络打开; 指定在第一网络中准备的用于机器人控制器的地址范围，第二网络被打开并且从多个机器人控制器中选择; 并且通过设置通过第一网络设置打开第二网络所需的条件，将第二网络打开到在第一网络中指定的地址范围内寻址的机器人控制器。

你已经成功收藏专利！

检索式保存成功!

IPRDB

热门服务

关于我们

友情链接

联系方式