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1. 发明专利

JP2007249524A Robot control system 审中-公开
标题翻译：机器人控制系统
公开(公告)号：JP2007249524A
公开(公告)日：2007-09-27
申请号：JP2006071234
申请日：2006-03-15
申请人： Daihen Corp , Nachi Fujikoshi Corp , 株式会社ダイヘン , 株式会社不二越
发明人： MIZUURA SHIGETO
IPC分类号： G05B19/4061 , B25J9/22 , B25J19/06 , G05B19/42
摘要： PROBLEM TO BE SOLVED: To provide a robot control system, capable of reducing a damage by collision even in case of collision of a robot with a work object in manual operation for correcting the position/attitude of a teaching point.
SOLUTION: The robot control system 3 comprises a proximity distance calculation part 11 for calculating a proximity distance between the robot 4 and the work object based on characteristic points preset on a link of a robot body and on a work tool and a reference point set for expressing the position coordinate of the characteristic point; and a collision detection part 14 for detecting collision of the robot 4 with the work object. The collision detection part 14 determines a threshold for detecting collision based on the proximity distance, and calculates a difference between a torque value to be generated by a servo motor 18 and a torque generated in the servo motor 18. The collision detection part 14 compares the difference in torque value with the threshold, and detects the collision of the robot 4 with the work object according to the comparison result.
COPYRIGHT: (C)2007,JPO&INPIT
摘要翻译：要解决的问题：提供一种机器人控制系统，即使在手动操作中机器人与工作对象碰撞的情况下也能够减少碰撞造成的损坏，从而校正教学点的位置/姿态。机器人控制系统3包括：接近距离计算部分11，用于基于预设在机器人主体的链接上的特征点以及工作工具和参考点来计算机器人4与工作对象之间的距离用于表示特征点的位置坐标的点集; 以及用于检测机器人4与工作对象的碰撞的碰撞检测部14。碰撞检测部14基于邻近距离确定检测碰撞的阈值，并且计算由伺服电动机18产生的转矩值与在伺服电动机18中产生的转矩之间的差异。碰撞检测部14将根据比较结果检测机器人4与作业对象的碰撞。版权所有（C）2007，JPO＆INPIT

2. 发明专利

JP2006272529A Industrial robot controlling device 有权
标题翻译：工业机器人控制装置
公开(公告)号：JP2006272529A
公开(公告)日：2006-10-12
申请号：JP2005098101
申请日：2005-03-30
申请人： Daihen Corp , Nachi Fujikoshi Corp , 株式会社ダイヘン , 株式会社不二越
发明人： KAMISHINA YASUHIRO , MIZUURA SHIGETO
IPC分类号： B25J9/10
摘要： PROBLEM TO BE SOLVED: To provide an industrial robot controlling device capable of curtailing residual vibration of a welding torch during its stoppage as much as possible without being affected by the mass of an arm and/or posture of the welding robot.
SOLUTION: A welding robot controlling device 20 is equipped with a deceleration control means, designed to control the deceleration for individual joints in a way to attain the following formula: Deci≤(Wvamp/Li)×(Ki/Ii). In this formula, [Deci] represents the deceleration [rad/s
2 ]; [Wvamp] indicates the maximum permissible amplitude [mm] of the welding torch; [Li] shows distance from the tip of the welding torch to the rotation axis of each joint; [Ki] represents the spring constant of the reduction gear [N/rad]; and [Ii] indicates inertia moment at each joint [kg m
2 ].
COPYRIGHT: (C)2007,JPO&INPIT
摘要翻译：要解决的问题：提供一种工业机器人控制装置，其能够在其停止期间尽可能地减少焊炬的残余振动，而不受焊接机器人的臂的质量和/或姿势的影响。焊接机器人控制装置20具有减速控制装置，该减速控制装置设计为以下述公式来控制各个接头的减速度：Deci≤（Wvamp / Li）×（Ki / Ii）。在该公式中，[Deci]表示减速度[rad / s 2 ]; [Wvamp]表示焊枪的最大允许振幅[mm] [Li]表示从焊炬的前端到各接头的旋转轴的距离。 [Ki]表示减速齿轮的弹簧常数[N / rad]; 并且[Ii]表示每个接头处的惯性力矩[kg m 2 ]。版权所有（C）2007，JPO＆INPIT

3. 发明专利

JP2013198956A Robot control device 有权
标题翻译：机器人控制装置
公开(公告)号：JP2013198956A
公开(公告)日：2013-10-03
申请号：JP2012068803
申请日：2012-03-26
申请人： Daihen Corp , 株式会社ダイヘン
发明人： MIZUURA SHIGETO , MASUDA HIROSHI
IPC分类号： B25J9/22
摘要： PROBLEM TO BE SOLVED: To solve a problem that an operation of selecting a reference coordinate system optimal for jog feeding is bothersome and it is difficult to understand the optimal reference coordinate system.SOLUTION: A robot control device RC includes a key input monitoring unit 2, a coordinate system selection processing unit 7, an interpretation execution unit 11, and a hard disk 5. When an operation of jog-feeding a work tool attached to the robot R by a teaching pendant TP is performed, the key input monitoring unit 2 and the interpretation execution unit 11 obtain operation identification information for identifying the type of operation and the state of the robot R. The hard disk 5 stores a jog feed condition selection table defining correspondence between the operation identification information and a reference coordinate system during jog feeding. A coordinate system selection processing unit 7 inputs the obtained operation identification information to the jog feeding condition selection table to automatically select the reference coordinate system. The optimal reference coordinate system according to the type of operation or the state is automatically selected, and thus a bothersome operation is reduced.
摘要翻译：要解决的问题：为了解决选择对于微动进给优化的参考坐标系的操作麻烦且难以理解最佳参考坐标系的问题。解决方案：机器人控制装置RC包括键输入监视单元2 ，坐标系选择处理单元7，解释执行单元11和硬盘5.当执行通过示教TP来对附着到机器人R的作业工具进行点动馈送的操作时，键输入监视单元2 并且解释执行单元11获得用于识别操作类型和机器人R的状态的操作识别信息。硬盘5存储在点动馈送期间定义操作识别信息和参考坐标系之间的对应关系的点动供给条件选择表。坐标系选择处理单元7将获得的操作识别信息输入到点动送进条件选择表，以自动选择参考坐标系。自动选择根据操作类型或状态的最佳参考坐标系，从而减少麻烦的操作。

4. 发明专利

JP2012171029A Robot control device, teaching device, and robot system 有权
标题翻译：机器人控制装置，教学装置和机器人系统
公开(公告)号：JP2012171029A
公开(公告)日：2012-09-10
申请号：JP2011033228
申请日：2011-02-18
申请人： Daihen Corp , 株式会社ダイヘン
发明人： MIZUURA SHIGETO
IPC分类号： B25J9/22 , B25J19/00
摘要： PROBLEM TO BE SOLVED: To provide a robot control device allowing a worker to rapidly and correctly establish communication with a robot control device that has failed out of a plurality of robot control devices in order for a request to be made, from the robot control device side that has failed, for communication establishment from a teaching device when communication with the teaching device is not established, and to provide a teaching device, and a robot system.SOLUTION: A communication control part 22 of the robot control device 20 outputs a communication establishment request using connection destination information relating to a specific teach pendant 10 as a destination when radio communication with the specific teach pendant 10 is not established upon occurrence of a fault. A third storage part 24c stores sent-back transmission source information specific to a transmission source relating to the specific teach pendant 10. The communication control part 22 performs communication with the teach pendant 10 having responded by using the transmission source information as a destination after the response to the communication establishment request is received.
摘要翻译：要解决的问题：提供一种机器人控制装置，其允许工人快速且正确地建立与从多个机器人控制装置出故障的机器人控制装置的通信以便进行请求，从机器人控制装置侧，当与教学装置的通信未建立时，用于从教学装置进行通信建立，并且提供教学装置和机器人系统。解决方案：机器人控制装置20的通信控制部分22使用与特定教导吊坠10相关的连接目的地信息作为目的地，当发生与特定教导吊坠10的无线电通信时，输出通信建立请求一个错误第三存储部分24c存储特定于与特定示教装置10相关的传输源的发送回传送源信息。通信控制部分22执行与已经通过使用发送源信息作为目的地的响应的示教器10进行通信接收到对通信建立请求的响应。版权所有（C）2012，JPO＆INPIT

5. 发明专利

JP2012148350A Robot control system 有权
标题翻译：机器人控制系统
公开(公告)号：JP2012148350A
公开(公告)日：2012-08-09
申请号：JP2011006558
申请日：2011-01-17
申请人： Daihen Corp , 株式会社ダイヘン
发明人： MIZUURA SHIGETO , NAKATSUGAWA YUJI
IPC分类号： B25J9/22 , G05B19/414
摘要： PROBLEM TO BE SOLVED: To solve a problem wherein when a plurality of portable operation devices are simultaneously connected to one robot control device, a portable operation device with effective teaching function cannot be identified.SOLUTION: This robot control system 1 includes a robot R, portable operation devices TP for transmitting teaching operation signals, and a control device RC having a teaching function for performing a teaching operation to the robot R by receiving the teaching operation signals. The control device RC includes a communication establishing means for making effective or ineffective the teaching function for each portable operation device TP when the radio communication between the control device RC and the portable operation device TP is established. The portable operation device TP includes a communication state indication lamp 3 for indicating the established state of the radio communication, and an emergency stop switch 4 for indicating the effectiveness/ineffectiveness of the teaching function. When establishing the communication, the teaching function is made effective when the present connection number is zero, and a monitor mode in which the teaching function is made ineffective is selected when the present connection number is one or more. Since the connection pattern of the portable operation device TP is displayed, the device usable for teaching can be easily identified.
摘要翻译：要解决的问题为了解决当多个便携式操作装置同时连接到一个机器人控制装置时，不能识别具有有效教学功能的便携式操作装置的问题。解决方案：该机器人控制系统1包括机器人R，用于传送示教操作信号的便携式操作装置TP和具有用于通过接收示教操作信号向机器人R执行教导操作的示教功能的控制装置RC。控制装置RC包括通信建立装置，用于当建立控制装置RC和便携式操作装置TP之间的无线电通信时，使每个便携式操作装置TP有效或无效的教学功能。便携式操作装置TP包括用于指示无线电通信的建立状态的通信状态指示灯3和用于指示教学功能的有效性/无效性的紧急停止开关4。当建立通信时，当当前连接数为零时，教学功能有效，并且当当前连接数为一个或多个时，选择使教学功能无效的监视模式。由于显示便携式操作装置TP的连接图案，因此可以容易地识别可用于教学的装置。版权所有（C）2012，JPO＆INPIT

6. 发明专利

JP2011197859A Operation device for machine 有权
标题翻译：机器操作装置
公开(公告)号：JP2011197859A
公开(公告)日：2011-10-06
申请号：JP2010062004
申请日：2010-03-18
申请人： Daihen Corp , Nachi Fujikoshi Corp , 株式会社ダイヘン , 株式会社不二越
发明人： MIZUURA SHIGETO , SAWAI AKIO
IPC分类号： G05B9/02 , B25J19/06 , G05B19/18 , G05B19/414
摘要： PROBLEM TO BE SOLVED: To solve the problem that it is reported that the emergency stop switch of a teach pendant effectively functions although the emergency stop switch of a teach pendant does not effectively function.SOLUTION: A TP(Teach Pendant) 100 as the operation device of a machine is provided with: an emergency stop SW 110; a light emitting body L which emits light according to the state of the emergency stop SW 110; and a first CPU 120 and a second CPU 130 for monitoring the contact state of the emergency stop SW 110, and for outputting a light source control signal according to the contact state. A light source control circuit 125 controls the light emitting body L based on a light source control signal. A watch dog circuit 160 monitors the operating states of the first CPU 120 and the second CPU 130, and, when it is abnormal, inhibits the control of the light emitting body L with respect to the light source control circuit 125. Thus, it is possible to avoid any action to perform the emergency stop of a machine although the emergency stop SW 110 does not effectively function.
摘要翻译：要解决的问题：解决教学用吊坠的紧急停止开关有效发挥作用的问题，尽管示教器的紧急停止开关无效。解决方案：作为操作的TP（Teach Pendant）100 设备具有：紧急停止SW110; 根据紧急停止SW110的状态发光的发光体L; 以及用于监视紧急停止SW110的接触状态并根据接触状态输出光源控制信号的第一CPU 120和第二CPU 130。光源控制电路125基于光源控制信号控制发光体L。看门狗电路160监视第一CPU 120和第二CPU 130的运行状态，并且当异常时，禁止相对于光源控制电路125对发光体L的控制。因此，它是尽管紧急停止SW110不能有效地起作用，但是可以避免执行机器的紧急停止的任何动作。

7. 发明专利

JP2006154942A Servo motor controller 审中-公开
标题翻译：伺服电机控制器
公开(公告)号：JP2006154942A
公开(公告)日：2006-06-15
申请号：JP2004340718
申请日：2004-11-25
申请人： Daihen Corp , 株式会社ダイヘン
发明人： MIZUURA SHIGETO , KAMISHINA YASUHIRO
IPC分类号： G05D3/00 , B25J13/08 , H02P5/00
摘要： PROBLEM TO BE SOLVED: To provide a servo motor controller capable of correcting a shift quantity of relative rotation positions at the stopping of both motors.
SOLUTION: This servo motor controller has a means for correcting a shift when two servo motors for operating and controlling a machine object are driven, and power supply to both the motors is abruptly interrupted and when the shift between rotation positions at the stopping of both the motors caused by a brake difference of brake mechanisms of both the motors is generated. The controller comprises a detection means for detecting the rotation positions at the stopping of both the motors when power supply to both the motors is re-started, a shift quantity calculating means for calculating the relative rotation position at stopping as the difference between the rotation positions at the stopping of both the motors based on the detected rotation positions of both the motors and for calculating the shift quantity between the relative rotation position at stopping and a predetermined initial set relative rotation position, and a correction driving means for automatically rotating and driving either of the motors so as to make the shift quantity zero.
COPYRIGHT: (C)2006,JPO&NCIPI
摘要翻译：要解决的问题：提供一种能够校正两个电动机停止时的相对旋转位置的偏移量的伺服电动机控制器。解决方案：该伺服电动机控制器具有用于在驱动用于操作和控制机器对象的两个伺服电动机被驱动时对两个电动机的电源突然中断以及在停止时的旋转位置之间的移动时校正换档的装置产生由两个电动机的制动机构的制动差异引起的两个电动机。控制器包括一个检测装置，用于在再次启动向两个电动机供电时检测两个电动机停止时的转动位置;一个换档量计算装置，用于计算停止时的相对转动位置，作为旋转位置基于两个电动机的检测到的旋转位置停止两个电动机，并计算停止时的相对旋转位置与预定的初始设定的相对旋转位置之间的移动量;以及校正驱动装置，用于自动旋转和驱动以使移位量为零。版权所有（C）2006，JPO＆NCIPI

8. 发明专利

JP2011224777A Robot control system 有权
标题翻译：机器人控制系统
公开(公告)号：JP2011224777A
公开(公告)日：2011-11-10
申请号：JP2011178513
申请日：2011-08-17
申请人： Daihen Corp , Nachi Fujikoshi Corp , 株式会社ダイヘン , 株式会社不二越
发明人： KAMISHINA YASUHIRO , MIZUURA SHIGETO
IPC分类号： B25J19/06 , B25J9/22 , G05B19/42
摘要： PROBLEM TO BE SOLVED: To provide a robot control system in which such an accident is prevented when one portable operation part is connected to a plurality of controllers by turns and the connected controller is used that an operator connects the portable operation part mistakenly to an unintended robot and operates the unintended robot.SOLUTION: The robot control system includes: a plurality of controllers 20A for sending/receiving information to/from a teach pendant 10; in radio communication; and robots each of which is connected to each of the controllers 20A and is controlled by the connected controller 20A. The controller 20A includes a magnet switch control ladder part 60 for giving a command to shut off electric power to a magnet switch MS for shutting off the supply of electric power to a servo driver 27 for controlling a robot motor when a correspondent relationship is established between the controller 20A and the teach pendant 10. The magnet switch MS shuts off the electric power to the servo driver 27 on the basis of the command to shut off the electric power.
摘要翻译：要解决的问题：提供一种当一个便携式操作部件轮流连接到多个控制器时防止这种事故的机器人控制系统，并且使用连接的控制器来操作者将便携式操作部件错误地连接到一个无意的机器人，并操作无意的机器人。解决方案：机器人控制系统包括：多个控制器20A，用于向教学用吊架10发送/接收信息; 在无线电通信以及各自连接到每个控制器20A并由连接的控制器20A控制的机器人。控制器20A包括一个磁铁开关控制梯部分60，用于向磁铁开关MS断电，以便在伺服驱动器27的供电时切断电力，伺服驱动器27用于控制机器人电动机，当建立一个对应关系时控制器20A和示教器10.根据关闭电力的命令，磁体开关MS切断对伺服驱动器27的电力。版权所有（C）2012，JPO＆INPIT

9. 发明专利

JP2009262275A Robot control apparatus 审中-公开
标题翻译：机器人控制装置
公开(公告)号：JP2009262275A
公开(公告)日：2009-11-12
申请号：JP2008114903
申请日：2008-04-25
申请人： Daihen Corp , 株式会社ダイヘン
发明人： MIZUURA SHIGETO
IPC分类号： B25J9/10 , B23K9/12 , B23K9/127 , G05B19/404
摘要： PROBLEM TO BE SOLVED: To smooth a robot stop action after detecting contact in displacement detection action.
SOLUTION: A robot control apparatus includes a command position generation part 2 for calculating a command position for detecting displacement of a workpiece W by a working tool T mounted on a robot R, a drive control part 3 for moving the working tool T based on the command position, a stop processing part 8 for outputting a stop signal Ts by detecting the contact of the working tool T with the workpiece W, a contact position calculation part 7 for storing a contact position Dv when the working tool T comes in contact with the workpiece W, and a position correction part 9 for correcting teaching data Td by calculating a position displacement amount. By the input of the stop signal Ts, the current position of the working tool T which the drive control part 3 recognizes is made to be the contact position Dv, the command position which the command position generation part 2 outputs is made to be an inertia moving position Sv, and an inertia moving distance correction route for allowing the working tool T to run back from the inertia moving position Sv to the contact position Dv is calculated so that the working tool T is made to be stopped at the original contact position Dv.
COPYRIGHT: (C)2010,JPO&INPIT
摘要翻译：要解决的问题：在检测位移检测动作中的接触后，平滑机器人停止动作。解决方案：机器人控制装置包括：命令位置产生部分2，用于通过安装在机器人R上的作业工具T来计算用于检测工件W的位移的指令位置;驱动控制部分3，用于移动作业工具T 基于指令位置的停止处理部8，通过检测加工工具T与工件W的接触来输出停止信号Ts;接触位置计算部7，用于在工作工具T进入时存储接触位置Dv 与工件W接触，以及位置校正部9，用于通过计算位置偏移量来校正教导数据Td。通过输入停止信号Ts，使驱动控制部3识别的作业工具T的当前位置成为接触位置Dv，将命令位置生成部2输出的指令位置设为惯量运动位置Sv以及用于使加工工具T从惯性移动位置Sv返回到接触位置Dv的惯性移动距离校正路径被计算，使得加工工具T停止在原始接触位置Dv 。版权所有（C）2010，JPO＆INPIT

10. 发明专利

JP2009082945A Method for controlling arc welding robot system, and arc welding robot system 审中-公开
标题翻译：用于控制电弧焊机器人系统的方法和电弧焊机器人系统
公开(公告)号：JP2009082945A
公开(公告)日：2009-04-23
申请号：JP2007254292
申请日：2007-09-28
申请人： Daihen Corp , 株式会社ダイヘン
发明人： MIZUURA SHIGETO , KAMISHINA YASUHIRO
IPC分类号： B23K9/12 , B25J9/10 , B25J13/00
摘要： PROBLEM TO BE SOLVED: To provide an arc welding robot system capable of forming a uniform weld bead on a workpiece, even if welding conditions are changed based on the moving speed of the welding torch when the moving speed of a welding torch held by an arc welding robot is nonlinearly changed.
SOLUTION: The welding robot system calculates the operation time that is the longest in the operation time of joints of an arc welding robot when conducting temporary operation of the robots from the start position of each joint of the robots through the target position thereof. Then, the system synchronizes the completion times of the joints so that the operation times of the joints are the same as the longest operation time, and calculates the operation speed and the acceleration or deceleration of each joint as an estimated speed and the like. The system calculates the robot dynamic model of each joint to calculate an optimal acceleration or deceleration. The system conducts a forward transformation based on the optimal acceleration or deceleration to calculate the moving speed of an operation point of the welding torch. The system computes a correction factor of welding conditions based on the moving speed and a target speed of the operation point of the welding torch to change predetermined welding conditions.
COPYRIGHT: (C)2009,JPO&INPIT
摘要翻译：要解决的问题：为了提供一种能够在工件上形成均匀焊道的电弧焊机器人系统，即使在焊炬的移动速度保持时，焊接条件根据焊炬的移动速度而改变通过电弧焊机器人非线性地改变。焊接机器人系统计算当机器人从机器人的每个关节的起始位置到其目标位置进行机器人的临时操作时，电弧焊机器人的接头的操作时间最长的操作时间。然后，系统使接头的完成时间同步，使得接头的操作时间与最长的操作时间相同，并且计算每个接头的操作速度和加速或减速度作为估计速度等。系统计算每个关节的机器人动态模型，以计算最佳加速度或减速度。系统根据最佳加速或减速进行正向变换，计算焊炬操作点的移动速度。该系统基于移动速度和焊炬的操作点的目标速度来计算焊接条件的校正因子，以改变预定的焊接条件。版权所有（C）2009，JPO＆INPIT

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