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    • 1. 发明申请
    • ROBOT SYSTEM
    • 机器人系统
    • US20100292843A1
    • 2010-11-18
    • US12793646
    • 2010-06-03
    • Hirokazu KariyazakiShinichi MaeharaMinoru YamamotoMichiharu Tanaka
    • Hirokazu KariyazakiShinichi MaeharaMinoru YamamotoMichiharu Tanaka
    • B25J9/00G06F19/00G05B19/04G05B15/02
    • B25J9/1676A61B34/30G05B2219/39098G05B2219/40203
    • A robot system includes a robot and a robot controller including a drive unit, a memory that stores an arm-occupied region and a movement-forbidden region, a target position calculation unit that outputs a target position of a tool or a workpiece, a movement-forbidden region entry monitoring unit that checks whether the arm-occupied region based on the target position enters the movement-forbidden region and outputs a stop request if it is checked that the arm-occupied region enters the movement-forbidden region, and a predicted-coasting-position calculating unit that calculates a predicted coasting position of each axis and a coasting position of the tool or the workpiece in the case that the robot is urgently stopped. The movement-forbidden region entry monitoring unit checks whether the arm-occupied region at the coasting position enters the movement-forbidden region and outputs another stop request if it is checked that the arm-occupied region enters the movement-forbidden region.
    • 机器人系统包括机器人和机器人控制器,其包括驱动单元,存储臂占用区域和禁止移动区域的存储器,输出工具或工件的目标位置的目标位置计算单元,移动 - 禁止区域进入监视单元,其检查基于目标位置的手臂占用区域是否进入禁止移动区域,并且如果检查到所述臂占用区域进入禁止运动区域则输出停止请求,并且预测 - 加工位置计算单元,其在机器人紧急停止的情况下,计算各轴的预测的滑行位置和工具或工件的滑行位置。 移动禁止区域进入监视单元检查在滑行位置的手臂占用区域是否进入禁止运动区域,如果检查到手臂占用区域进入禁止移动区域,则输出另一个停止请求。
    • 2. 发明授权
    • Robot system
    • 机器人系统
    • US08180488B2
    • 2012-05-15
    • US12793646
    • 2010-06-03
    • Hirokazu KariyazakiShinichi MaeharaMinoru YamamotoMichiharu Tanaka
    • Hirokazu KariyazakiShinichi MaeharaMinoru YamamotoMichiharu Tanaka
    • G06F19/00
    • B25J9/1676A61B34/30G05B2219/39098G05B2219/40203
    • A robot system includes a robot and a robot controller including a drive unit, a memory that stores an arm-occupied region and a movement-forbidden region, a target position calculation unit that outputs a target position of a tool or a workpiece, a movement-forbidden region entry monitoring unit that checks whether the arm-occupied region based on the target position enters the movement-forbidden region and outputs a stop request if it is checked that the arm-occupied region enters the movement-forbidden region, and a predicted-coasting-position calculating unit that calculates a predicted coasting position of each axis and a coasting position of the tool or the workpiece in the case that the robot is urgently stopped. The movement-forbidden region entry monitoring unit checks whether the arm-occupied region at the coasting position enters the movement-forbidden region and outputs another stop request if it is checked that the arm-occupied region enters the movement-forbidden region.
    • 机器人系统包括机器人和机器人控制器,其包括驱动单元,存储臂占用区域和禁止移动区域的存储器,输出工具或工件的目标位置的目标位置计算单元,移动 - 禁止区域进入监视单元,其检查基于目标位置的手臂占用区域是否进入禁止移动区域,并且如果检查到所述臂占用区域进入禁止运动区域则输出停止请求,并且预测 - 加工位置计算单元,其在机器人紧急停止的情况下,计算各轴的预测的滑行位置和工具或工件的滑行位置。 移动禁止区域进入监视单元检查在滑行位置的手臂占用区域是否进入禁止运动区域,如果检查到手臂占用区域进入禁止移动区域,则输出另一个停止请求。
    • 3. 发明申请
    • Robot controller and robot system
    • 机器人控制器和机器人系统
    • US20060108960A1
    • 2006-05-25
    • US10521549
    • 2003-04-21
    • Michiharu TanakaHirokazu KariyazakiMinoru Yamamoto
    • Michiharu TanakaHirokazu KariyazakiMinoru Yamamoto
    • B25J15/02
    • B25J9/1676B25J9/1674B25J19/06B25J21/00G05B19/4061G05B19/416G05B2219/49138G05B2219/49152G05B2219/49158
    • A robot control apparatus with great safety is provided by detecting access of a teacher to a robot and automatically reducing the operating speed of the robot when the teacher accesses the robot. The robot control device equipped with a pendant (10) to be manipulated by a teacher, for controlling the operation of a robot on the basis of an operation command from the pendant (10), includes a detecting device (8) for detecting the position of the teacher; a signal processing unit (11) for receiving a signal from the detecting device to produce the position information of the teacher; and a limited speed selecting unit (12) for selecting the operating speed of the robot on the basis of the position information. The robot is controlled at the maximum speed set at the operating speed selected by the limited speed selecting unit (12) on the basis of the operation command from the pendant (10).
    • 通过检测教师对机器人的访问并且当教师访问机器人时自动降低机器人的操作速度来提供具有极大安全性的机器人控制装置。 根据来自吊坠(10)的操作命令,配备有由教师操纵的用于控制机器人的操作的吊坠(10)的机器人控制装置包括:检测装置(8),用于检测位置 的老师 信号处理单元(11),用于从所述检测装置接收信号以产生所述教师的位置信息; 以及用于基于位置信息来选择机器人的操作速度的限速选择单元(12)。 基于来自吊坠(10)的操作命令,以由受限速度选择单元(12)选择的操作速度设定的最大速度控制机器人。
    • 4. 发明授权
    • Robot controller and robot system
    • 机器人控制器和机器人系统
    • US07391178B2
    • 2008-06-24
    • US10521549
    • 2003-04-21
    • Michiharu TanakaHirokazu KariyazakiMinoru Yamamoto
    • Michiharu TanakaHirokazu KariyazakiMinoru Yamamoto
    • G05B19/04
    • B25J9/1676B25J9/1674B25J19/06B25J21/00G05B19/4061G05B19/416G05B2219/49138G05B2219/49152G05B2219/49158
    • A robot control apparatus with great safety is provided by detecting access of a teacher to a robot and automatically reducing the operating speed of the robot when the teacher accesses the robot. The robot control device equipped with a pendant (10) to be manipulated by a teacher, for controlling the operation of a robot on the basis of an operation command from the pendant (10), includes a detecting device (8) for detecting the position of the teacher; a signal processing unit (11) for receiving a signal from the detecting device to produce the position information of the teacher; and a limited speed selecting unit (12) for selecting the operating speed of the robot on the basis of the position information. The robot is controlled at the maximum speed set at the operating speed selected by the limited speed selecting unit (12) on the basis of the operation command from the pendant (10).
    • 通过检测教师对机器人的访问并且当教师访问机器人时自动降低机器人的操作速度来提供具有极大安全性的机器人控制装置。 根据来自吊坠(10)的操作命令,配备有由教师操纵的用于控制机器人的操作的吊坠(10)的机器人控制装置包括:检测装置(8),用于检测位置 的老师 信号处理单元(11),用于从所述检测装置接收信号以产生所述教师的位置信息; 以及用于基于位置信息来选择机器人的操作速度的限速选择单元(12)。 基于来自吊坠(10)的操作命令,以由受限速度选择单元(12)选择的操作速度设定的最大速度控制机器人。
    • 6. 发明申请
    • SUPPORT SYSTEM FOR SETTING EQUIPMENT PARAMETERS
    • 用于设置设备参数的支持系统
    • US20120323350A1
    • 2012-12-20
    • US13055334
    • 2010-06-16
    • Minoru YamamotoTatsushi ImoriShinobu Hirano
    • Minoru YamamotoTatsushi ImoriShinobu Hirano
    • G05B19/18
    • G05B11/42G05B13/042G05B17/02
    • An object is to provide an equipment parameter setting support system for supporting the setting of parameters in various processing equipment. The equipment parameter setting support system has an execution results acquisition unit for acquiring, from an equipment controller or EES of the equipment design and manufacturing support system, execution results of a real equipment at any two points in time; a parameter calculation unit for calculating PID parameters at each time point on the basis of the acquired execution results; a difference calculation unit for calculating the difference between the calculated PID parameters; and a variation value calculation unit for calculating a variation value for a unit interval in relation to the calculated difference, wherein, in the equipment design and manufacturing support system, the calculated variation value and a PID parameters stored in the equipment simulator are computed to calculate a new PID parameter, and PID control is executed in the equipment simulator using the new PID parameter.
    • 目的是提供一种用于支持各种处理设备中参数设置的设备参数设置支持系统。 设备参数设置支持系统具有执行结果获取单元,用于从设备控制器或设备设计制造支持系统的EES获取任意两点的实际设备的执行结果; 参数计算单元,用于基于所获取的执行结果来计算每个时间点的PID参数; 差分计算单元,用于计算所计算的PID参数之间的差; 以及变化值计算单元,用于计算与计算出的差异相关的单位间隔的变化值,其中,在设备设计和制造支持系统中,计算计算的变化值和存储在设备模拟器中的PID参数,以计算 使用新的PID参数在设备模拟器中执行新的PID参数和PID控制。