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91. 发明授权

US09827047B2 Control apparatus and control method of insertion apparatus, insertion apparatus having control apparatus, control program for insertion apparatus, and controlling integrated electronic circuit of insertion apparatus 有权
公开(公告)号：US09827047B2
公开(公告)日：2017-11-28
申请号：US14293236
申请日：2014-06-02
申请人： PANASONIC INTELLECTUAL PROPERTY MANAGEMENT CO., LTD.
发明人： Yudai Fudaba , Yuko Tsusaka , Taichi Sato
IPC分类号： A61B1/00 , A61B1/04 , A61B19/00 , A61B5/06 , G05B19/423 , A61B34/32 , A61M25/01 , A61B17/22 , A61B34/30
CPC分类号： A61B34/30 , A61B1/0016 , A61B5/066 , A61B34/32 , A61B2017/22001 , A61B2017/22014 , A61B2034/301 , A61M25/01 , A61M2025/0166 , G05B19/423 , G05B2219/37569 , G05B2219/39195 , G05B2219/40028 , G05B2219/45118
摘要： A control apparatus of an insertion apparatus in which a state specifying unit specifies a state of an insertion member to carry out vibration control depending on the state, thereby removing getting-stuck of a tip of the insertion member with a vibration having such a proper magnitude as not to cause an overload in a case where the tip of the insertion member is gotten stuck.

92. 发明授权

US09696221B2 Force/torque sensor, apparatus and method for robot teaching and operation 有权
公开(公告)号：US09696221B2
公开(公告)日：2017-07-04
申请号：US14802337
申请日：2015-07-17
申请人： ROBOTIQ INC.
发明人： Nicolas Lauzier , Simon Lefrançois , David Castonguay , Louis-Alexis Allen Demers , Jean-François Duval , Yan Drolet Mihelic , Pierre Olivier Proulx , Rachid Bekhti , Philippe Cardou , Vincent Duchaine , Samuel Bouchard , Jean-Philippe Jobin
IPC分类号： G01L3/00 , G01L1/14 , B25J9/16 , B25J9/00 , B25J13/08 , G01L25/00 , G01L5/16 , G01L5/22 , G05B19/423
CPC分类号： G01L1/14 , B25J9/0081 , B25J9/163 , B25J13/085 , G01L5/16 , G01L5/226 , G01L25/00 , G05B19/423 , G05B2219/39529 , Y10S901/02 , Y10S901/30
摘要： This invention relates to force/torque sensor and more particularly to multi-axis force/torque sensor and the methods of use for directly teaching a task to a mechatronic manipulator. The force/torque sensor has a casing, an outer frame forming part of or connected to the casing, an inner frame forming part of or connected to the casing, a compliant member connecting the outer frame to the inner frame, and one or more measurement elements mounted in the casing for measuring compliance of the compliant member when a force or torque is applied between the outer frame and the inner frame.

93. 发明申请

US20160199975A1 HYBRID TRAINING WITH COLLABORATIVE AND CONVENTIONAL ROBOTS 审中-公开
标题翻译：混合训练与协作和常规机器人
公开(公告)号：US20160199975A1
公开(公告)日：2016-07-14
申请号：US14991288
申请日：2016-01-08
申请人： Rodney Brooks , Michael Caine
发明人： Rodney Brooks , Michael Caine
IPC分类号： B25J3/00 , B25J9/16 , G05B19/423 , B25J9/00
CPC分类号： G05B19/423 , B25J9/0081 , B25J9/163 , G05B19/427 , G05B2219/36454
摘要： Systems and methods for simultaneously and economically providing high speed and precision robotic operations with operational safety include directly performing training movements of a desired task on a collaborative robot, recording data corresponding to the training movements, and transmitting the recorded data to a conventional robot to cause the conventional robot to autonomously execute the training movements in accordance with the received data.
摘要翻译：用于同时和经济地提供具有操作安全性的高速和精确机器人操作的系统和方法包括直接在协作机器人上执行期望任务的训练运动，记录对应于训练运动的数据，以及将记录的数据传送到常规机器人以引起常规机器人根据接收到的数据自主地执行训练动作。

94. 发明授权

US09211646B2 Control apparatus and control method for robot arm, assembly robot, control program for robot arm, and control-purpose integrated electronic circuit for robot arm 有权
标题翻译：机器人手臂，装配机器人，机器人手臂控制程序，机器手臂控制用电子电路控制装置及控制方法
公开(公告)号：US09211646B2
公开(公告)日：2015-12-15
申请号：US13085560
申请日：2011-04-13
申请人： Yuko Tsusaka , Yasunao Okazaki
发明人： Yuko Tsusaka , Yasunao Okazaki
IPC分类号： B25J13/08 , B25J9/16 , G05B19/423
CPC分类号： B25J13/08 , B25J9/1687 , G05B19/423 , G05B2219/36432 , G05B2219/36433 , G05B2219/39319 , G05B2219/39338 , G05B2219/40028 , G05B2219/40033
摘要： Provided is a control apparatus for a robot arm performing assembly. The control apparatus includes an operation database recording information as to an operation of the robot arm, and includes a correction operation type determining unit determining a correction type for the operation. The control apparatus also includes a force detecting unit detecting a force of a person, and an operation correction unit correcting an operation in accordance with the force of the person and the correction type, while the robot arm is performing a task.
摘要翻译：提供了一种用于机器人臂执行组装的控制装置。控制装置包括操作数据库，记录关于机器人手臂的操作的信息，并且包括确定操作的校正类型的校正操作类型确定单元。控制装置还包括在机器人手臂执行任务的同时检测人的力的力检测单元和根据人的力和校正类型校正操作的操作校正单元。

95. 发明授权

US09110466B2 Programming method for a robot, programming apparatus for a robot, and robot control system 有权
标题翻译：机器人编程方法，机器人编程设备，机器人控制系统
公开(公告)号：US09110466B2
公开(公告)日：2015-08-18
申请号：US13072298
申请日：2011-03-25
申请人： Kouzou Yanagawa , Yasuhiro Koujina
发明人： Kouzou Yanagawa , Yasuhiro Koujina
IPC分类号： B25J9/10 , G05B19/42 , G05B19/425 , G05B19/423 , G05B19/401 , G05B19/427 , B23Q17/24
CPC分类号： G05B19/42 , B23Q17/24 , G05B19/401 , G05B19/423 , G05B19/425 , G05B19/427 , G05B2219/36404 , G05B2219/36504 , G05B2219/37555 , G05B2219/39527 , G05B2219/40564 , G05B2219/40622
摘要： An operator inputs a sensing instruction at a sensing point, which is a rough taught point, in a teaching mode (S22). The instruction and sensing point are stored in a second storage region (S23). Further, a target angle and an advance/retraction angle are both input in the second storage region (S24). A CPU moves a robot to the sensing point (S33) in a sensing mode, to perform detection tasks by a laser sensor, thereby acquiring the shape of a workpiece (S33). The CPU calculates a position and a posture of a welding torch to create a task program (S35). In such a manner, it is possible to greatly simplify teaching tasks in an environment free of workpiece displacements.
摘要翻译：在教学模式中，操作者在传感点输入感测指令，这是粗略的教导点（S22）。指令和感测点被存储在第二存储区域（S23）中。此外，在第二存储区域中都输入目标角度和前进/后退角度（S24）。在感测模式中，CPU将机器人移动到感测点（S33），以通过激光传感器执行检测任务，从而获得工件的形状（S33）。 CPU计算焊枪的位置和姿势以创建任务程序（S35）。以这种方式，可以在没有工件位移的环境中大大简化教学任务。

96. 发明授权

US09063539B2 Method and device for command input in a controller of a manipulator 有权
标题翻译：操纵器控制器中命令输入的方法和装置
公开(公告)号：US09063539B2
公开(公告)日：2015-06-23
申请号：US13140708
申请日：2009-11-03
申请人： Günter Schreiber , Uwe Zimmermann
发明人： Günter Schreiber , Uwe Zimmermann
IPC分类号： G01M1/38 , G05B13/00 , G05B15/00 , G06F19/00 , G05B19/04 , G05B19/18 , G05B19/423 , B25J9/16
CPC分类号： G05B19/423 , B25J9/1656 , G05B2219/36433 , G05B2219/39439
摘要： In a method and a device for entering control commands into a controller of a manipulator, such as a robot, a first force or movement or sequence of forces or movements is detected, and the detected force, movement or sequence is electronically compared with stored forces, movements or sequences, respectively. Each of the stored forces or movements or sequences has a control command associated therewith. Upon the comparison indicating a coincidence between the detected force or movement or sequence with one of the stored forces or movements or sequences, the control command associated with that one of the stored forces, stored movements or stored sequences is automatically supplied as an input to the controller for operating the manipulator.
摘要翻译：在用于将控制命令输入到诸如机器人的操纵器的控制器中的方法和装置中，检测到第一力或力或动力或动作序列，并且将检测到的力，运动或顺序与存储的力，运动或序列。存储的力或运动或序列中的每一个具有与其相关联的控制命令。在比较表明所检测到的力或运动或序列与存储的力或运动或序列之一之间的一致时，与所存储的力，存储的运动或存储的序列中的一个相关联的控制命令被自动地作为输入提供给控制器操作机械手。

97. 发明授权

US06124693A Robot controller 有权
标题翻译：机器人控制器
公开(公告)号：US06124693A
公开(公告)日：2000-09-26
申请号：US350276
申请日：1999-07-09
申请人： Koichi Okanda , Takeaki Aramaki
发明人： Koichi Okanda , Takeaki Aramaki
IPC分类号： B25J9/10 , B25J9/22 , G05B19/408 , G05B19/423 , B25J9/18
CPC分类号： G05B19/425 , G05B19/4086 , G05B19/423 , G05B2219/39134 , G05B2219/39137 , G05B2219/45104
摘要： Axes used for posture alignment are selected from the axes of a work coordinate system W and a tool coordinate system T, and an angle of intersection between those selected axes are set. A robot is then driven so that the selected axes intersect with each other by the set angle of intersection in response to a posture alignment instruction, causing the tool to assume a target posture with respect to a workpiece. Further, angles for rotating the work coordinate system about each axis thereof are set, then the robot is automatically moved so that a coordinate system produced by rotating the work coordinate system by the set angle in response to a posture alignment instruction. Further, the tool coordinate system set at a movable part of a tool is automatically reset according to an amount of movement every time the movable part of the tool move, and the robot is manually fed based on the tool coordinate system thus reset.
摘要翻译：从工件坐标系W和工具坐标系T的轴中选择用于姿势对准的轴，并设定这些选定轴之间的交点。然后驱动机器人，使得所选择的轴响应于姿势对准指令而相交于设定的交叉角，使得工具相对于工件呈现目标姿态。此外，设置用于围绕其各轴旋转工件坐标系的角度，然后机器人自动移动，使得通过响应于姿势对准指令使工件坐标系旋转设定角度而产生的坐标系。此外，设置在工具的可动部的工具坐标系，每当刀具的可移动部移动时，根据移动量自动复位，并且基于刀具坐标系手动进给机器人，从而复位。

98. 发明授权

US6022132A Method and apparatus for programming a CNC machine with a probe 失效
标题翻译：用探头对CNC机床进行编程的方法和装置
公开(公告)号：US6022132A
公开(公告)日：2000-02-08
申请号：US749822
申请日：1996-11-15
申请人： Todd W. Schulz
发明人： Todd W. Schulz
IPC分类号： G05B19/418 , G05B19/423 , G06F19/00 , G06G7/64 , G06G7/66
CPC分类号： G05B19/4184 , G05B19/423 , G05B2219/36425 , G05B2219/36492 , Y02P90/04 , Y02P90/14 , Y02P90/265
摘要： A method and apparatus for programming the motion of a machine tool in a three-dimensional machining space defined by an X, Y and Z coordinate system, the machine tool having a spindle linearly displaceable in three orthogonal X, Y and Z axes. A probe, mounted in the spindle and coupled to transducers, is moved by hand through a desired cutting path for an actual part. A computer connected to the transducers moves the machine in the direction that the probe is moved and/or rotates a workpiece mounted in the machining space and selectively records the position of the probe and workpiece to create an NC parts program that replicates the cutting path motions.
摘要翻译：一种用于对由X，Y和Z坐标系定义的三维加工空间中的机床的运动进行编程的方法和装置，该机床具有可在三个正交的X，Y和Z轴线性移位的主轴。安装在主轴中并耦合到换能器的探针通过用于实际部件的所需切割路径用手移动。连接到换能器的计算机沿着探针移动的方向移动机器和/或旋转安装在加工空间中的工件，并选择性地记录探头和工件的位置，以创建复制切割路径运动的NC零件程序。

99. 发明授权

US6013997A Three dimensional tactile seam tracing device 失效
标题翻译：三维触觉跟踪仪
公开(公告)号：US6013997A
公开(公告)日：2000-01-11
申请号：US135321
申请日：1998-08-07
申请人： Robert James Heideman , Elmer Gerald Blachowiak , Christopher Brian Smith , Stephen Lee Carian , Brandon Stuart Tarr , Neil Arthur Duffie , Michael Harry Predith
发明人： Robert James Heideman , Elmer Gerald Blachowiak , Christopher Brian Smith , Stephen Lee Carian , Brandon Stuart Tarr , Neil Arthur Duffie , Michael Harry Predith
IPC分类号： G05B19/423 , B64C17/02
CPC分类号： G05B19/423 , G05B2219/37582 , G05B2219/40523 , G05B2219/40566
摘要： The three dimensional probe device of the present invention is mountable on a working end of a fully automated and articulated robotic arm movable through at least five degrees of axial freedom in a global dimensional reference. The three dimensional probe device comprises a base, a carriage, a probe, a Z axis measuring apparatus and a tilt measuring apparatus. The probe tip contacts the work piece surface to be traced with deflections in the workpiece seam or path resulting in movement of the carriage and probe. The probe includes a plate and a ball which is pivotable in a ball socket portion of the carriage. Movement of the carriage in relation to the base provides measurement data for rotational change in the direction of the workpiece path or seam. Tilting of the probe provides measurement data for translational change in the direction of the workpiece path or seam.
摘要翻译：本发明的三维探针装置可安装在全自动化和关节式机器人手臂的工作端上，该机器手臂可以在全球尺寸参考中通过至少五个轴向自由度移动。三维探针装置包括基座，托架，探针，Z轴测量装置和倾斜测量装置。探针尖端接触工件表面，以跟踪工件接缝或路径中的偏转，导致滑架和探头的移动。探头包括可在托架的球窝部分中枢转的板和球。滑架相对于基座的移动提供了在工件路径或接缝方向上的旋转变化的测量数据。探头的倾斜提供测量数据，用于在工件路径或接缝方向上的平移变化。

100. 发明授权

US5495410A Lead-through robot programming system 失效
标题翻译：直通机器人编程系统
公开(公告)号：US5495410A
公开(公告)日：1996-02-27
申请号：US289898
申请日：1994-08-12
申请人： Timothy L. Graf
发明人： Timothy L. Graf
IPC分类号： B25J9/10 , B25J9/16 , B25J9/18 , B25J9/22 , B25J13/00 , G05B19/4069 , G05B19/42 , G05B19/423 , G05B19/18
CPC分类号： B25J9/1671 , G05B19/423 , G05B2219/39198 , G05B2219/40403 , G05B2219/45058 , G05B2219/45151
摘要： A lead-through robot programming system for programming a robot to drive an end effector through a series of desired path points along a desired path with respect to a workstation. The system includes a six DOF digitizing arm having a working end, an end effector model mounted to the working end, a workstation model, and a programming computer system. A user manipulates the working end to move the end effector model through a model path with respect to the workstation model. At selected model path points, the digitizing arm generates model path point data representing the position and orientation of the end effector model with respect to the workstation model. The programming computer system includes a video monitor, a user interface, and memory for storing data including the model path point data, robot simulation and motion program generation software, and models of the robot, workstation and end effector. The simulation and motion program generation software is run as a function of the model path point data to generate motion-control program segments that direct the robot to drive the end effector through the desired path. The simulation and motion program generation software also generates graphic images of 0the robot driving the end effector through the desired path. Interactively controlling the simulation and motion program generation software through the interface, and using visual feedback provided by the monitor, the user performs collision and out-of-range checking and singularity point identification, and optimizes the motion-control program segments.
摘要翻译：一种直通机器人编程系统，用于对机器人进行编程，以通过沿着相对于工作站的期望路径的一系列期望的路径点来驱动末端执行器。该系统包括具有工作端的六自由度数字化臂，安装到工作端的端部执行器模型，工作站模型和编程计算机系统。用户操纵工作端以通过相对于工作站模型的模型路径移动末端执行器模型。在选定的模型路径点，数字化臂产生代表端部执行器模型相对于工作站模型的位置和方位的模型路径点数据。编程计算机系统包括视频监视器，用户界面和用于存储包括模型路径点数据，机器人仿真和运动程序生成软件以及机器人，工作站和末端执行器的模型的数据的存储器。模拟和运动程序生成软件作为模型路径点数据的函数运行，以生成引导机器人通过所需路径驱动末端执行器的运动控制程序段。仿真和运动程序生成软件还生成图形图像，该机器人通过期望的路径驱动末端执行器。通过界面交互控制仿真和运动程序生成软件，并使用监视器提供的视觉反馈，用户执行碰撞和超出范围检查和奇异点识别，并优化运动控制程序段。

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