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1. 发明授权

US5170109A Method of controlling robot in event of a power failure 失效
标题翻译：在电力故障事件中控制机器人的方法
公开(公告)号：US5170109A
公开(公告)日：1992-12-08
申请号：US781169
申请日：1991-10-15
申请人： Akihiro Yanagita , Yoshiki Hashimoto , Hiroji Nishi
发明人： Akihiro Yanagita , Yoshiki Hashimoto , Hiroji Nishi
IPC分类号： B25J19/06 , B25J9/18 , G05B19/4067
CPC分类号： G05B19/4067 , G05B2219/34072 , G05B2219/34365 , G05B2219/45083 , Y10T307/615
摘要： Disclosed is a method of controlling a robot, for restarting the robot by resupplying an electric power in the event of a power failure. When a power failure detection circuit detects that a voltage has dropped or has been cut off, the circuit notifies an operating method (OS) of this (S1) and the OS writes a power failure flag to a non-volatile memory and stops a task being performed (S2). The data of the task being performed is saved in the non-volatile memory. After the electric power has been resupplied (S10), the OS executes a power failure processing for itself, with reference to the power failure flag (S11), initializes hardware (S12), executes a power failure processing routine for each task (S13), and restarts the operation of the robot from the position at which the robot was stopped when the power failure occurred (S14).
摘要翻译： PCT No.PCT / JP91 / 00303 Sec。 371日期1991年10月15日 102（e）日期1991年10月15日PCT 1991年3月1日PCT公布。 WO91 / 13732 PCT出版物日期1991年9月19日。公开是一种控制机器人的方法，用于在电源故障的情况下通过再供电来重新启动机器人。当电源故障检测电路检测到电压已经下降或已经被切断时，电路通知该（S1）的操作方法（OS），并且OS向非易失性存储器写入停电标志并停止任务（S2）。正在执行的任务的数据被保存在非易失性存储器中。在电力被重新供电之后（S10），OS参照电源故障标志（S11）自身执行停电处理，初始化硬件（S12），对每个任务执行停电处理程序（S13）并且在发生停电时从机器人停止的位置重新开始机器人的动作（S14）。

2. 发明授权

US08073567B2 Production system provided with a production control apparatus 有权
标题翻译：生产系统配有生产控制装置
公开(公告)号：US08073567B2
公开(公告)日：2011-12-06
申请号：US12340784
申请日：2008-12-22
申请人： Hiroji Nishi , Jun Mizuno
发明人： Hiroji Nishi , Jun Mizuno
IPC分类号： G05B19/04
CPC分类号： G05B19/41815 , G05B2219/31078 , G05B2219/50362 , Y02P90/08 , Y02P90/083 , Y02P90/087
摘要： A production control apparatus of a production system provided with a storing means for storing in advance a production system model comprised of workpiece information regarding workpieces and program information regarding a plurality of work programs of robots and a plurality of machining programs of machine tools, an updating means for updating the production system model based on run status signals showing run statuses of the robots and machines tools and workpiece signals from the detectors, and an instructing means for selecting one work program and one machining program based on the updated production system model and instructing running of the selected work program and work program to the robot and machine tool. Due to this, by calling up a work program of the robot etc. in accordance with the state of the production system, it is possible to change the program and restore the system from error.
摘要翻译：一种生产系统的生产控制装置，具有一个存储装置，用于预先存储包括关于工件的工件信息的生产系统模型和关于机器人的多个工作程序和机床的多个加工程序的程序信息，更新用于基于运行状态信号来更新生产系统模型的装置，所述运行状态信号表示来自所述检测器的所述机器人的运行状态以及机床和工件信号，以及用于基于所述更新的生产系统模型选择一个工作程序和一个加工程序的指示装置，运行所选择的工作程序和工作程序到机器人和机床。由此，通过根据生产系统的状态调用机器人的工作程序等，可以改变程序并将系统从错误中恢复。

3. 发明申请

US20110106304A1 DEVICE, PROGRAM, RECORDING MEDIUM AND METHOD FOR CORRECTING TAUGHT POINT 有权
标题翻译：设备，程序，记录介质以及校正点的方法
公开(公告)号：US20110106304A1
公开(公告)日：2011-05-05
申请号：US12984796
申请日：2011-01-05
申请人： Ryo Nihei , Tetsuaki Kato , Hiroji Nishi
发明人： Ryo Nihei , Tetsuaki Kato , Hiroji Nishi
IPC分类号： G05B19/425
CPC分类号： G05B19/4083 , B25J9/1664 , G05B2219/36404 , G05B2219/40385 , G05B2219/45104
摘要： A taught point correcting device for correcting a taught point in an operation program of a robot. The device includes a judging section judging whether position data of any of a plurality of different taught points, previously taught and included in an operation program, has been corrected or not; and a data correcting section correcting, when the judging section judges that position data of a first taught point among the different taught points has been corrected, position data of a correlative taught point having a relative positional relationship with the first taught point, in accordance with a taught-point rule previously prescribing the relative positional relationship between the different taught points. The device may also include a storing section storing the taught-point rule. The taught-point rule may include a rule prescribing a distance between any two taught points among the different taught points.
摘要翻译：一种用于校正机器人的操作程序中的教导点的教导点校正装置。该装置包括：判断部，其判断是否已经校正了先前教导并包括在操作程序中的多个不同教导点中的任一个的位置数据; 以及数据校正部，根据所述判断部判断所述不同教导点中的第一教导点的位置数据已被校正，校正与所述第一教导点具有相对位置关系的相关教导点的位置数据以前规定不同教学点之间的相对位置关系的教导点规则。设备还可以包括存储教导点规则的存储部分。教导点规则可以包括规定不同教导点之间的任何两个教导点之间的距离的规则。

4. 发明申请

US20090112362A1 Controller of work piece-conveying robot 有权
标题翻译：工件输送机器人控制器
公开(公告)号：US20090112362A1
公开(公告)日：2009-04-30
申请号：US12230858
申请日：2008-09-05
申请人： Hiroji Nishi , Yoshitaka Ikeda
发明人： Hiroji Nishi , Yoshitaka Ikeda
IPC分类号： G05B19/00
CPC分类号： B25J9/1674 , G05B19/425 , G05B2219/39442 , G05B2219/39445 , Y02P90/083
摘要： A controller for work piece-conveying robot having: a coordinate system storage section for storing one or more manual jog feed coordinate systems; a working area setting section for setting to a machine tool a working area to which the manual jog feed coordinate system is assigned; a hand position obtaining section for obtaining a current position of the robot hand at each specified sampling period; a determination section for determining whether or not the current position of the robot hand obtained by the hand position obtaining section is within the working area set by the working area setting section; and a coordinate system switching section for switching a present manual jog feed coordinate system to the manual jog feed coordinate system assigned to the working area if it is determined by the determination section that the current position of the robot hand is within the working area.
摘要翻译：一种用于工件输送机器人的控制器，具有：用于存储一个或多个手动点动进给坐标系的坐标系存储部分; 工作区域设定部，其向机床设定分配了手动点动供给坐标系的工作区域; 指针位置获取部分，用于在每个指定的采样周期获得机器人手的当前位置; 确定部，用于确定由所述手位置取得部获得的所述机器人手的当前位置是否在由所述工作区域设定部设定的工作区域内; 以及坐标系切换部分，用于如果由所述确定部分确定所述机器人手的当前位置在所述工作区域内，则将当前手动送进坐标系切换到分配给所述工作区域的手动点动给送坐标系。

5. 发明授权

US07848851B2 Controller of work piece-conveying robot 有权
标题翻译：工件输送机器人控制器
公开(公告)号：US07848851B2
公开(公告)日：2010-12-07
申请号：US12230858
申请日：2008-09-05
申请人： Hiroji Nishi , Yoshitaka Ikeda
发明人： Hiroji Nishi , Yoshitaka Ikeda
IPC分类号： G05B15/00
CPC分类号： B25J9/1674 , G05B19/425 , G05B2219/39442 , G05B2219/39445 , Y02P90/083
摘要： A controller for work piece-conveying robot having: a coordinate system storage section for storing one or more manual jog feed coordinate systems; a working area setting section for setting to a machine tool a working area to which the manual jog feed coordinate system is assigned; a hand position obtaining section for obtaining a current position of the robot hand at each specified sampling period; a determination section for determining whether or not the current position of the robot hand obtained by the hand position obtaining section is within the working area set by the working area setting section; and a coordinate system switching section for switching a present manual jog feed coordinate system to the manual jog feed coordinate system assigned to the working area if it is determined by the determination section that the current position of the robot hand is within the working area.
摘要翻译：一种用于工件输送机器人的控制器，具有：用于存储一个或多个手动点动进给坐标系的坐标系存储部分; 工作区域设定部，其向机床设定分配了手动点动供给坐标系的工作区域; 指针位置获取部分，用于在每个指定的采样周期获得机器人手的当前位置; 确定部，用于确定由所述手位置取得部获得的所述机器人手的当前位置是否在由所述工作区域设定部设定的工作区域内; 以及坐标系切换部分，用于如果由所述确定部分确定所述机器人手的当前位置在所述工作区域内，则将当前手动点动供给坐标系切换到分配给所述工作区域的手动点动给送坐标系。

6. 发明申请

US20060276934A1 Device and method for controlling robot 有权
标题翻译：用于控制机器人的装置和方法
公开(公告)号：US20060276934A1
公开(公告)日：2006-12-07
申请号：US11447034
申请日：2006-06-06
申请人： Ryo Nihei , Tetsuaki Kato , Hiroji Nishi
发明人： Ryo Nihei , Tetsuaki Kato , Hiroji Nishi
IPC分类号： G06F19/00
CPC分类号： B25J9/1679 , B25J9/1656 , G05B2219/40584
摘要： A robot controller making a robot execute tasks including several work units in a parallel manner for several workpieces, in accordance with several operation programs for individually commanding the work units. The robot controller includes an information collecting section collecting state information showing, in real time, a state of an environment of the robot; a program selecting section selecting a first executable program satisfying a task starting condition, from operation programs ready to be executed for workpieces, based on the state information; a processing section processing, for execution, the first executable program; and a program-completion judging section judging whether the processing section has completed a processing of the first executable program. The program selecting section selects, based on the state information, a second executable program satisfying the task starting condition, from the operation programs ready to be executed, so as to satisfy a judgment of the program-completion judging section.
摘要翻译：根据用于单独命令工作单元的多个操作程序，使机器人使机器人执行包括数个工作单元的并行方式的多个工件的任务。所述机器人控制器包括收集状态信息的信息收集部分，所述状态信息实时地示出所述机器人的环境的状态; 程序选择部，根据状态信息，从准备好对工件执行的操作程序，选择满足任务开始条件的第一可执行程序; 处理部分，用于执行第一可执行程序; 以及程序完成判断部，判断处理部是否已经完成了第一可执行程序的处理。节目选择部根据状态信息，从准备执行的动作程序中选择满足任务开始条件的第二可执行程序，以满足节目完成判断部分的判断。

7. 发明授权

US4979127A Method for automatically setting a tool tip point 失效
标题翻译：自动设置刀尖点的方法
公开(公告)号：US4979127A
公开(公告)日：1990-12-18
申请号：US335539
申请日：1989-03-27
申请人： Toru Mizuno , Ryuichi Hara , Hiroji Nishi
发明人： Toru Mizuno , Ryuichi Hara , Hiroji Nishi
IPC分类号： B25J9/02 , B25J9/16 , B25J9/22 , B25J19/02 , B25J19/04 , G01B21/00 , G05B19/18 , G05B19/42
CPC分类号： B25J9/1692 , G05B2219/39054 , G05B2219/45083
摘要： An automatic setting method is provided, in which the position of a tool tip point in a coordinate system set for a faceplate of a robot, can be set easily and accurately. The robot is caused to assume different postures while maintaining the tool tip point of a tool (2) at one point (4) within a space in which the robot is installed. Four or more coordinate positions of a faceplate center point (3) corresponding to the individual postures of the robot are given for instruction. Subsequently, a spherical surface (5) passing through these instruction positions is determined by the method of least squares, and the position of the tool tip point in the faceplate coordinate system is calculated and set on the basis of a calculated value of the position of the center of curvature of the spherical surface, the individual instruction coordinate positions, and tool posture vectors.
摘要翻译： PCT No.PCT / JP88 / 00885 Sec。 371日期：1988年3月27日 102（e）日期1988年3月27日PCT提交1988年9月2日PCT公布。公开号WO89 / 02349 日期：1989年3月23日。提供了一种自动设定方法，其中可以容易且精确地设置在机器人面板设定的坐标系中的刀尖点的位置。使机器人呈现不同的姿势，同时将工具（2）的工具尖端保持在机器人安装的空间内的一点（4）处。给出了与机器人的各个姿势相对应的面板中心点（3）的四个或更多个坐标位置。随后，通过这些指示位置的球面（5）由最小二乘法确定，并且根据计算的位置值计算和设定工具尖端在面板坐标系中的位置球面的曲率中心，各指示坐标位置和刀具姿态向量。

8. 发明授权

US4965500A Industrial robot control apparatus 失效
标题翻译：工业机器人控制装置
公开(公告)号：US4965500A
公开(公告)日：1990-10-23
申请号：US350471
申请日：1989-02-17
申请人： Toru Mizuno , Ryuichi Hara , Hiroji Nishi
发明人： Toru Mizuno , Ryuichi Hara , Hiroji Nishi
IPC分类号： B25J9/18 , G05B19/414 , G05B19/4155
CPC分类号： G05B19/4141 , G05B2219/33156 , G05B2219/33209 , G05B2219/33334 , G05B2219/36395
摘要： An apparatus for controlling an industrial robot in a shared manner using a plurality of operation controllers so that the robot automatically works under the optimum load condition. When power is turned on, the operation controllers (5) to (7) connected via a common bus (1) operate their own respective initial loaders to read control data (TCB) from an external memory (3) into their own respective memories (RAM) and any one of the operation controllers (5) to (7) loads the control data (TCB) and synchronization control data in a shared memory (4). When synchronized with each other, the operation controllers (5) to (7) load the tasks from the external memory (3) in their own memories (RAM), depending upon their capabilities determined by the control data (TCB) and upon their shares of the task. Therefore, the industrial robot is controlled in a shared manner depending upon the task that is loaded.

9. 发明授权

US09802286B2 Robot control system provided in machining system including robot and machine tool 有权
公开(公告)号：US09802286B2
公开(公告)日：2017-10-31
申请号：US12789530
申请日：2010-05-28
申请人： Hiroji Nishi , Tetsuaki Kato
发明人： Hiroji Nishi , Tetsuaki Kato
IPC分类号： G05B19/409 , B23Q17/00 , G05B19/418
CPC分类号： B23Q17/00 , G05B19/409 , G05B19/41825 , Y02P90/087 , Y02P90/18
摘要： A robot control system provided in a machining system including a robot and a machine tool. The robot control system includes a robot controller controlling the robot, a portable teach pendant connected to the robot controller, and a communication network adapted to connect the robot controller to a machine tool controller controlling the machine tool. The teach pendant includes a display section configured to display information relating to the robot and the machine tool. The robot controller includes a processing section configured to obtain information relating to the machine tool from the machine tool controller through the communication network, make the display section of the teach pendant display a machine tool-related screen in accordance with a given screen program, and make the machine tool-related screen of the display section of the teach pendant display the information, as obtained, relating to the machine tool.

10. 发明授权

US08600555B2 Device, program, recording medium and method for correcting taught point 有权
标题翻译：设备，程序，记录介质和校正教学点的方法
公开(公告)号：US08600555B2
公开(公告)日：2013-12-03
申请号：US12984796
申请日：2011-01-05
申请人： Ryo Nihei , Tetsuaki Kato , Hiroji Nishi
发明人： Ryo Nihei , Tetsuaki Kato , Hiroji Nishi
IPC分类号： G06F19/00 , G05B19/19
CPC分类号： G05B19/4083 , B25J9/1664 , G05B2219/36404 , G05B2219/40385 , G05B2219/45104
摘要： A taught point correcting device for correcting a taught point in an operation program of a robot. The device includes a judging section judging whether position data of any of a plurality of different taught points, previously taught and included in an operation program, has been corrected or not; and a data correcting section correcting, when the judging section judges that position data of a first taught point among the different taught points has been corrected, position data of a correlative taught point having a relative positional relationship with the first taught point, in accordance with a taught-point rule previously prescribing the relative positional relationship between the different taught points. The device may also include a storing section storing the taught-point rule. The taught-point rule may include a rule prescribing a distance between any two taught points among the different taught points.
摘要翻译：一种用于校正机器人的操作程序中的教导点的教导点校正装置。该装置包括：判断部，其判断是否已经校正了先前教导并包括在操作程序中的多个不同教导点中的任一个的位置数据; 以及数据校正部，根据所述判断部判断所述不同教导点中的第一教导点的位置数据已被校正，校正与所述第一教导点具有相对位置关系的相关教导点的位置数据以前规定不同教学点之间的相对位置关系的教导点规则。设备还可以包括存储教导点规则的存储部分。教导点规则可以包括规定不同教导点之间的任何两个教导点之间的距离的规则。

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