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1. 发明专利

JP2007265103A Robot controller 审中-公开
标题翻译：机器人控制器
公开(公告)号：JP2007265103A
公开(公告)日：2007-10-11
申请号：JP2006090216
申请日：2006-03-29
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： HAMAHATA MITSUHARU , OKABE SHINJI
IPC分类号： G05B19/19 , B25J19/06 , G05B9/02
摘要： PROBLEM TO BE SOLVED: To detect an abnormality of a servo control section quickly and exactly.
SOLUTION: A monitoring section 7 has two arithmetic processing sections 10 and 11. Each arithmetic processing section comprises position estimating means 10 and 11 for estimating a position of a robot based on control information, estimation position acquiring means 10 and 11 for acquiring the estimation position of the robot estimated in the other arithmetic processing section, estimation position match determining means 10 and 11 for determining whether the estimated estimation position of the robot matches with the acquired estimation position of the robot, a position difference calculating means 10 and 11 for calculating the difference between the estimation position and a detected current position of the robot when the estimation positions of the robot match with each other, and a power blocking means 10 and 11 for blocking power supply to a servo motor with switching sections 5 and 6 when the difference of the calculated position is a predetermined value or more or the estimation positions of the robot do not match with each other.
COPYRIGHT: (C)2008,JPO&INPIT
摘要翻译：要解决的问题：快速准确地检测伺服控制部分的异常。检测部分7具有两个运算处理部分10和11.每个运算处理部分包括用于基于控制信息估计机器人的位置的位置估计装置10和11，用于获取的估计位置获取装置10和11 在其他算术处理部中估计出的机器人估计位置，估计位置匹配确定装置10和11，用于确定机器人的估计估计位置是否与所获取的机器人估计位置相匹配，位置差计算装置10和11 用于当机器人的估计位置彼此匹配时计算估计位置与机器人的检测到的当前位置之间的差;以及用于阻断对具有切换部分5和6的伺服电动机的电力供应的电力阻挡装置10和11 当计算出的位置的差是预定值或更大时，或者估计机器人的离子位置不一致。版权所有（C）2008，JPO＆INPIT

2. 发明专利

JP2008080475A Robot control system 有权
标题翻译：机器人控制系统
公开(公告)号：JP2008080475A
公开(公告)日：2008-04-10
申请号：JP2007091251
申请日：2007-03-30
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： SAWAI AKIO , KAMISHINA YASUHIRO , OKABE SHINJI
IPC分类号： B25J9/22
摘要： PROBLEM TO BE SOLVED: To provide a robot control system requiring only to communicate between a control device and a teach pendant when it is required to update a screen, capable of reducing a resource of the teach pendant, reducing cost and reducing electric power consumption of the teach pendant by carrying out main processing of a GUI on the side of the control device. SOLUTION: A CPU 21 of a controller 20A forms a GUI screen data in accordance with a teaching data and outputs a differential screen data to the teach pendant 10 through a cable LAN by forming an updated part as the differential screen data when there is the updated part in the GUI screen data. A CPU 11 of the teach pendant 10 updates the GUI screen data in accordance with the differential screen data and displays a GUI screen on a display screen of a liquid crystal display 17 in accordance with the updated GUI screen data. COPYRIGHT: (C)2008,JPO&INPIT
摘要翻译：要解决的问题：为了提供一种机器人控制系统，当需要更新屏幕时，仅需要控制装置和示教器之间的通信，能够减少示教器的资源，降低成本并减少电力通过执行控制装置侧的GUI的主处理，示教器的功耗。解决方案：控制器20A的CPU 21根据教学数据形成GUI屏幕数据，并通过形成更新部分作为差分画面数据，通过电缆LAN将差分画面数据输出到示教器10 是GUI屏幕数据中更新的部分。示教器10的CPU 11根据差分画面数据更新GUI画面数据，并根据更新的GUI画面数据在液晶显示器17的显示画面上显示GUI画面。版权所有（C）2008，JPO＆INPIT

3. 发明专利

JP2008059017A Robot control system 有权
标题翻译：机器人控制系统
公开(公告)号：JP2008059017A
公开(公告)日：2008-03-13
申请号：JP2006231637
申请日：2006-08-29
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： SAWAI AKIO , KAMISHINA YASUHIRO , OKABE SHINJI
IPC分类号： G05B19/414 , B25J9/22 , B25J19/00 , H04L12/46
摘要： PROBLEM TO BE SOLVED: To provide a robot control system for simplifying the connection procedure among nodes for a controller and a teach pendant in the case of connecting the controller and the teach pendant over a network, and for reducing a risk where they are connected between wrong nodes or that a plurality of teach pendants are connected redundantly.
SOLUTION: This robot control system is provided with the IP address of a safety node 14 based on a controller number. The safety node 14 generates the IP addresses of safety nodes 24 and 14 and non-safety node 15 based on the input controller number. The safety node 14 establishes its connection relation to a controller whose connection is requested, by using the IP addresses of the safety node and non-safety node of the controller whose connection is requested, that is, the IP addresses which are generated by the safety node 14 and the IP addresses of the safety node 14 and the non-safety node.
COPYRIGHT: (C)2008,JPO&INPIT
摘要翻译：要解决的问题：提供一种机器人控制系统，用于在通过网络连接控制器和示教器的情况下简化用于控制器和示教器的节点之间的连接过程，并且为了降低其中的风险连接在错误的节点之间或者冗余地连接多个示教吊坠。
解决方案：该机器人控制系统基于控制器号码提供安全节点14的IP地址。安全节点14基于输入的控制器号码生成安全节点24和14以及非安全节点15的IP地址。安全节点14通过使用请求连接的控制器的安全节点和非安全节点的IP地址，即安全生成的IP地址，建立与请求连接的控制器的连接关系节点14和安全节点14和非安全节点的IP地址。版权所有（C）2008，JPO＆INPIT

4. 发明专利

JP2007295751A Emergency stop device 有权
标题翻译：紧急停止装置
公开(公告)号：JP2007295751A
公开(公告)日：2007-11-08
申请号：JP2006122249
申请日：2006-04-26
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： OKABE SHINJI , HAMAHATA MITSUHARU
IPC分类号： H02P3/18 , H02H7/08
摘要： PROBLEM TO BE SOLVED: To provide a high-reliability and high-safety emergency stop device for a drive source that achieves constant monitoring of an emergency stop circuit including an emergency stop switch. SOLUTION: The emergency stop device is provided with a coil conduction circuit 18, which includes a series circuit composed by connecting a coil 2a of an electromagnetic contactor MC1 and a light-receiving element of a photocoupler 26 in series, and the emergency stop circuit 20 in which a contact 6a of the emergency stop switch 6, a resistor 25, a fuse 24, and a light-emitting element of the photocoupler 26 are connected in series. When the fuse 24 is melted down due to a short circuit or a ground fault in the emergency stop circuit 20, the coil 2a of the electromagnetic contactor MC1 is not excited due to the non-conductive coil conduction circuit 18 since the light-receiving element of the photocoupler 26 does not receive light due to the non-conductive light-emitting element of the photocoupler 26. As a result, contacts 2 of the electromagnetic contactor MC1 are changed to an open state from a closed state so as to stop an operation of a motor 4. COPYRIGHT: (C)2008,JPO&INPIT
摘要翻译：要解决的问题：提供一种用于实现对包括紧急停止开关的紧急停止电路的持续监控的驱动源的高可靠性和高安全性的紧急停止装置。解决方案：紧急停止装置设置有线圈传导电路18，该线圈导通电路18包括串联电路，其串联连接电磁接触器MC1的线圈2a和光电耦合器26的光接收元件，并且紧急其中紧急停止开关6的触点6a，电阻器25，保险丝24和光电耦合器26的发光元件串联连接的停止电路20。当保险丝24由于紧急停止电路20中的短路或接地故障而熔化时，电磁接触器MC1的线圈2a由于不导电线圈导通电路18而不被激励，因为光接收元件由于光电耦合器26的非导电性发光元件，光电耦合器26不会接收光。结果，电磁接触器MC1的触点2从闭合状态变为打开状态，以停止操作的电机4.版权所有（C）2008，JPO＆INPIT

5. 发明专利

JP2010026947A Mobile machine control system and mobile machine control device 审中-公开
标题翻译：移动机器控制系统和移动机器控制装置
公开(公告)号：JP2010026947A
公开(公告)日：2010-02-04
申请号：JP2008190246
申请日：2008-07-23
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： TANI NOBUHIRO , KAMISHINA YASUHIRO , OKABE SHINJI
IPC分类号： G05B19/414 , B25J9/22 , B25J19/00
摘要： PROBLEM TO BE SOLVED: To provide a mobile machine control system which can easily and optimally adjust a transmission output level of a control device communication part side, and thereby can prevent communication between respective communication parts from receiving radio interference due to an unnecessary large radio output and to provide a mobile machine control device, in the mobile machine control system in which the number of channels is limited.
SOLUTION: In a teaching operation device 10 of a robot control system, a radio LAN I/F 15 part is provided with an RSSI (Received Signal Strength Indicator) circuit 15b for detecting a reception level of a radio signal from a radio LAN I/F 42, and a transmitting and receiving part 15a for transmitting the reception level. A radio LAN I/F 42 of a transmitter-receiver 40 is provided with a CPU 43 for comparing a received reception level with a preset proper reception level range to adjust a transmission output level in accordance with a comparison result, and a transmitting and receiving part 42a for performing radio communication at an adjusted transmission output level.
COPYRIGHT: (C)2010,JPO&INPIT
摘要翻译：要解决的问题：提供一种移动机器控制系统，其可以容易且最佳地调整控制设备通信部分侧的传输输出电平，从而可以防止各个通信部件之间的通信由于不必要的而受到无线电干扰大型无线电输出，并提供移动机器控制装置，在移动机器控制系统中通道数量有限。解决方案：在机器人控制系统的教学操作装置10中，无线LAN I / F 15部分设置有RSSI（接收信号强度指示符）电路15b，用于检测来自无线电的无线电信号的接收电平 LAN I / F42，以及发送接收部15a，用于发送接收电平。发射机 - 接收机40的无线电LAN I / F42设置有用于将接收的接收电平与预设的适当接收电平范围进行比较的CPU 43，以根据比较结果来调整发送输出电平，以及发送和接收部分42a，用于以调整的传输输出电平执行无线电通信。版权所有（C）2010，JPO＆INPIT

6. 发明专利

JP2010287253A Machine controller 有权
标题翻译：机器控制器
公开(公告)号：JP2010287253A
公开(公告)日：2010-12-24
申请号：JP2010185869
申请日：2010-08-23
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： OKABE SHINJI , HAMAHATA MITSUHARU
IPC分类号： G05B19/18 , B25J9/22 , B25J19/06 , G05B19/414
CPC分类号： Y02P70/163
摘要： PROBLEM TO BE SOLVED: To provide a machine controller which has a hardware circuit and a minimal communication circuit, achieves highly reliable emergency stop communication using a communication protocol with reliability, the hardware circuit being multiplexed so as not to impair a safety function for an emergency stop action of a machine due to a single failure. SOLUTION: One of a pair of CPUs 12, 13 generates a communication packet including all results of monitoring a plurality of contacts of an emergency stop switch 11, and a single transmission circuit transmits the packet. The pair of CPUs 22, 23 of a robot controller analyzes communication error detection data in the transmitted communication packet, and outputs OFF control signals to a first and a second electromagnetic contact control circuit according to the monitoring results and the result of analyzing the communication error detection data, to shut off power to a motor M41. COPYRIGHT: (C)2011,JPO&INPIT
摘要翻译：要解决的问题：为了提供具有硬件电路和最小通信电路的机器控制器，可靠地使用通信协议实现高度可靠的紧急停止通信，硬件电路被多路复用以便不损害安全功能由于单次故障而导致机器的紧急停止动作。解决方案：一对CPU12,13中的一个产生包括监视紧急停止开关11的多个触点的所有结果的通信分组，并且单个发送电路发送分组。机器人控制器的一对CPU22,23分析所发送的通信分组中的通信错误检测数据，并根据监视结果向第一和第二电磁接触控制电路输出OFF控制信号，以及分析通信错误的结果检测数据，切断电机M41的电源。版权所有（C）2011，JPO＆INPIT

7. 发明专利

JP2008009872A Machine controller 有权
标题翻译：机器控制器
公开(公告)号：JP2008009872A
公开(公告)日：2008-01-17
申请号：JP2006181722
申请日：2006-06-30
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： OKABE SHINJI , HAMAHATA MITSUHARU
IPC分类号： G05B19/414 , B25J19/00 , B25J19/06 , G05B19/18 , H02P29/02
摘要： PROBLEM TO BE SOLVED: To provide a machine controller performing highly reliable emergency stop communication by a communication protocol with ensured reliability while providing a hardware circuit multiplexed so as to prevent a safety function of an emergency stop operation of a machine from being damaged due to a single failure and the minimum communication circuits when performing communication between a portable operating part and a control part for controlling the machine without cables. SOLUTION: In a robot controller 30, a third CPU 22 and a fourth CPU 23 in the control part 20 respectively analyze a monitored result and communication error detection data prepared according to predetermined communication protocol, included in communication data. The third CPU 22 and the fourth CPU 23 output an OFF control signal to a first electromagnetic contactor control circuit 26 and a second electromagnetic contactor control circuit 27 in accordance with the monitored result and analytical data of the communication error detection data to thereby interrupt the power to a motor M 41 of the robot in accordance with contents of the monitored result and the communication error. COPYRIGHT: (C)2008,JPO&INPIT
摘要翻译：要解决的问题：提供一种通过通信协议执行高度可靠的紧急停止通信的机器控制器，其具有确保的可靠性，同时提供多路复用的硬件电路，以便防止机器的紧急停止操作的安全功能被损坏由于单个故障和在便携式操作部件与控制部件之间进行通信以控制机器而无需电缆时的最小通信电路。解决方案：在机器人控制器30中，控制部分20中的第三CPU 22和第四CPU 23分别分析包含在通信数据中的根据预定通信协议准备的监视结果和通信错误检测数据。第三CPU 22和第四CPU 23根据监视结果和通信错误检测数据的分析数据向第一电磁接触器控制电路26和第二电磁接触器控制电路27输出OFF控制信号，从而中断电源根据监视结果的内容和通信错误向机器人的电动机M 41发送。版权所有（C）2008，JPO＆INPIT

8. 发明专利

JP2007136617A Robot control device 有权
标题翻译：机器人控制装置
公开(公告)号：JP2007136617A
公开(公告)日：2007-06-07
申请号：JP2005334152
申请日：2005-11-18
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： HAMAHATA MITSUHARU , OKABE SHINJI
IPC分类号： B25J19/06 , G05B19/18 , H02P29/00
摘要： PROBLEM TO BE SOLVED: To prevent abnormal operation and malfunctions of a robot by always precisely monitoring the position, speed and torque of a robot. SOLUTION: This robot control device includes servo control parts 10, 20 for controlling a servo motor 116 for driving the robot 110, according to detection output from a position detecting means 117; switching parts 31, 32 for switching between excitation and shut-off with respect to the servo motor; and a monitoring part 50 for monitoring the servo motor. The monitoring part has two processing operation parts 51, 52, and the processing operation parts individually determine whether the operation position indicated by the position detecting means goes over an allowable operation position, and conducts the processing for intercepting excitation of the servo motor by the switching part, when it goes over the allowable operation position. COPYRIGHT: (C)2007,JPO&INPIT
摘要翻译：要解决的问题：通过始终精确监测机器人的位置，速度和扭矩来防止机器人的异常操作和故障。解决方案：该机器人控制装置包括用于根据来自位置检测装置117的检测输出控制用于驱动机器人110的伺服电机116的伺服控制部分10,20; 切换部件31,32，用于相对于伺服马达切换激励和切断; 以及用于监视伺服电动机的监视部50。监视部分具有两个处理操作部分51,52，并且处理操作部分单独地确定由位置检测装置指示的操作位置是否超过允许的操作位置，并通过切换进行拦截伺服电动机的激励的处理当它超过允许的操作位置时。版权所有（C）2007，JPO＆INPIT

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