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1. 发明申请

US20060082340A1 Robot with learning control function and method for controlling the robot 审中-公开
标题翻译：具有学习控制功能的机器人和控制机器人的方法
公开(公告)号：US20060082340A1
公开(公告)日：2006-04-20
申请号：US11249524
申请日：2005-10-14
申请人： Atsushi Watanabe , Ryo Nihei , Tetsuaki Kato , Teruki Kuroshita , Kota Mogami
发明人： Atsushi Watanabe , Ryo Nihei , Tetsuaki Kato , Teruki Kuroshita , Kota Mogami
IPC分类号： B25J15/02 , G05B19/04
CPC分类号： B25J9/163
摘要： A robot with a learning control function for improving the accuracy of the trajectory of an end effector and a method for controlling the robot. An acceleration sensor and a vision sensor are attached to the end effector of the robot. In this state, the motion of the end effector is measured and a test operation of a motion program is repeatedly executed, whereby a robot control device learns an optimized motion of the robot. In a subsequent actual operation, the acceleration sensor and the vision sensor are not used and the motion of the robot is executed based on the learned optimized motion. The sensors may be removed during the actual operation.
摘要翻译：具有用于提高末端执行器的轨迹的精度的学习控制功能的机器人以及用于控制机器人的方法。加速度传感器和视觉传感器连接到机器人的末端执行器。在这种状态下，测量末端执行器的运动并重复执行运动程序的测试操作，由此机器人控制装置学习机器人的优化运动。在随后的实际操作中，不使用加速度传感器和视觉传感器，并且基于所学习的优化运动来执行机器人的运动。传感器可能在实际操作过程中被去除。

2. 发明申请

US20050096792A1 Industrial robot 有权
标题翻译：工业机器人
公开(公告)号：US20050096792A1
公开(公告)日：2005-05-05
申请号：US10976049
申请日：2004-10-29
申请人： Atsushi Watanabe , Ryo Nihei , Toshihiko Inoue
发明人： Atsushi Watanabe , Ryo Nihei , Toshihiko Inoue
IPC分类号： B25J19/04 , B23K31/00 , B25J19/00 , B25J19/02 , G06F19/00
CPC分类号： B25J19/023
摘要： An industrial robot, having an end-effector supporting mechanism for holding an end-effector such as a working tool and accommodating an imaging device of a visual sensor, which is free from the interference with the periphery and capable of taking an image of the working position without any trouble. A container-shaped adaptor of the end-effector supporting mechanism is attached to a distal end of a wrist flange provided in a robot wrist supported by a robot arm. The adaptor has a first attachment section provided with a first attachment surface to be attached to the wrist flange, and a second attachment section provided with a second attachment surface disposed generally parallel to a wrist flange surface at a position apart from the first attachment section by a predetermined distance along a rotary center axis of the wrist flange. On the second attachment surface, a tool holding member of the end-effector supporting mechanism for holding the working tool is attached. The adaptor and the tool holding member may be integral with each other. The imaging device is held by a holding means such as a screw or a magnetic mechanism so that the rotary center axis of the wrist flange generally coincides with a center line of the visual field and a center of gravity is positioned within the adaptor. The wrist flange may be provided with a through-hole for the connector-coupling, and the imaging device may be provided with radio-communication means.
摘要翻译：一种工业机器人，其具有用于保持端部执行器（例如加工工具）并且容纳视觉传感器的成像装置的末端执行器支撑机构，其不受与周边的干涉并能够拍摄工作的图像位置没有任何麻烦。末端执行器支撑机构的容器形适配器安装在由机器人手臂支撑的机器手腕中设置的腕部凸缘的远端。适配器具有第一附接部分，该第一附接部分设置有附接到腕部凸缘的第一附接表面，以及第二附接部分，其设置有第二附接表面，该第二附接表面设置成大致平行于手腕凸缘表面设置在与第一附接部分分开的位置处沿着腕部凸缘的旋转中心轴线的预定距离。在第二安装面上安装有用于保持加工工具的端部执行器支撑机构的工具保持部件。适配器和工具保持构件可以彼此成一体。成像装置由诸如螺钉或磁性机构的保持装置保持，使得腕部凸缘的旋转中心轴线大致与视野的中心线重合，并且重心位于适配器内。手腕凸缘可以设置有用于连接器耦合的通孔，并且成像装置可以设置有无线电通信装置。

3. 发明授权

US5983744A Robot apparatus for installing both a robot movable section and a robot controller 失效
标题翻译：用于安装机器人可移动部分和机器人控制器的机器人装置
公开(公告)号：US5983744A
公开(公告)日：1999-11-16
申请号：US855574
申请日：1997-05-13
申请人： Atsushi Watanabe , Ryo Nihei , Akihiro Terada , Masatoshi Ito
发明人： Atsushi Watanabe , Ryo Nihei , Akihiro Terada , Masatoshi Ito
IPC分类号： B25J19/00 , B25J9/00 , B25J13/06
CPC分类号： B25J9/00 , B25J13/06 , B25J19/00 , Y10T74/20305 , Y10T74/20311
摘要： A robot apparatus having no need for securing a space for installing both a robot movable section and a robot controller. The robot apparatus includes a frame having strength enough to support the robot movable section, and containing the robot controller therein. The robot movable section is installed on the frame. The robot controller and the robot movable section are electrically connected to each other via a coupling cable passing through a hole formed inside. Over the base of the robot movable section, first, second and another arms are provided via rotating mechanism portions. The distal end of the third arm constitutes a wrist portion of a robot. Various types of hands are attached to this wrist portion. Thus, the robot movable section can be installed on the frame containing the robot controller.
摘要翻译：一种机器人装置，不需要固定用于安装机器人可移动部分和机器人控制器的空间。机器人装置包括具有足以支撑机器人可移动部分的强度的框架，并且在其中容纳机器人控制器。机器人可移动部分安装在框架上。机器人控制器和机器人可移动部分通过穿过内部形成的孔的耦合电缆彼此电连接。在机器人可移动部分的基部上，通过旋转机构部分设置第一和第二臂。第三臂的远端构成机器人的腕部。各种手指附着在该腕部上。因此，机器人可移动部分可以安装在包含机器人控制器的框架上。

4. 发明授权

US5520062A Window mechanism for sensor in industrial robot 失效
标题翻译：工业机器人传感器的窗口机构
公开(公告)号：US5520062A
公开(公告)日：1996-05-28
申请号：US412123
申请日：1995-03-28
申请人： Atsushi Watanabe , Ryo Nihei , Akihiro Terada , Takahiro Hase
发明人： Atsushi Watanabe , Ryo Nihei , Akihiro Terada , Takahiro Hase
IPC分类号： B25J9/16 , B23K9/127 , B25J19/00 , B25J19/02 , G01M19/00
CPC分类号： B23K9/1274 , B25J19/0058 , B25J19/02
摘要： A window mechanism for a sensor provided at the distal end of a robot arm of an industrial robot comprises a housing for enclosing the sensor which housing includes an opening, a glass plate for closing the opening, wiper for wiping the outer surface of the glass plate, a holder plate for slidably holding the glass plate member on the housing, and an exchanger for exchanging the plate member held by the holder with a new glass plate.
摘要翻译：设置在工业机器人的机器人臂的远端处的传感器的窗口机构包括用于封闭传感器的壳体，该壳体包括开口，用于封闭开口的玻璃板，用于擦拭玻璃板的外表面的擦拭器，用于将玻璃板构件可滑动地保持在壳体上的保持板，以及用于将由保持器保持的板构件与新玻璃板更换的换热器。

5. 发明授权

US07715946B2 Industrial robot 有权
标题翻译：工业机器人
公开(公告)号：US07715946B2
公开(公告)日：2010-05-11
申请号：US10976049
申请日：2004-10-29
申请人： Atsushi Watanabe , Ryo Nihei , Toshihiko Inoue
发明人： Atsushi Watanabe , Ryo Nihei , Toshihiko Inoue
IPC分类号： G06F19/00
CPC分类号： B25J19/023
摘要： An industrial robot, having an end-effector supporting mechanism for holding an end-effector and accommodating an imaging device of a visual sensor, which is free from the interference with the periphery and capable of taking an image of the working position. A container-shaped adaptor of the end-effector supporting mechanism is attached to a distal end of a wrist flange provided in a robot wrist supported by a robot arm. The adaptor has a first attachment section provided with a first attachment surface to be attached to the wrist flange, and a second attachment section provided with a second attachment surface disposed generally parallel to a wrist flange surface at a position apart from the first attachment section by a predetermined distance along a rotary center axis of the wrist flange. On the second attachment surface, a tool holding member of the end-effector supporting mechanism for holding the working tool is attached.
摘要翻译：一种工业机器人，其具有用于保持末端执行器并且容纳视觉传感器的成像装置的末端执行器支撑机构，其不受与周边的干涉并能够拍摄工作位置的图像。末端执行器支撑机构的容器形适配器安装在由机器人手臂支撑的机器手腕中设置的腕部凸缘的远端。适配器具有第一附接部分，该第一附接部分设置有附接到腕部凸缘的第一附接表面，以及第二附接部分，其设置有第二附接表面，该第二附接表面设置成大致平行于手腕凸缘表面设置在与第一附接部分分开的位置处沿着腕部凸缘的旋转中心轴线的预定距离。在第二安装面上安装有用于保持加工工具的端部执行器支撑机构的工具保持部件。

6. 发明授权

US5587635A Robot control apparatus for monitoring load on robot 失效
标题翻译：用于监控机器人负载的机器人控制装置
公开(公告)号：US5587635A
公开(公告)日：1996-12-24
申请号：US446713
申请日：1995-05-30
申请人： Atsushi Watanabe , Ryo Nihei , Akihiro Terada
发明人： Atsushi Watanabe , Ryo Nihei , Akihiro Terada
IPC分类号： B25J19/06 , G05B19/4065 , H02P29/00 , H02K17/32
CPC分类号： G05B19/4065 , G05B2219/37209 , G05B2219/37344 , G05B2219/45083 , Y02P90/265
摘要： A robot control apparatus in which a load exerted on a driving system of a robot is detected to make it easy to judge a time for preventive maintenance or overhaul, and life of the robot driving system. A driving torque Ta outputted to the driving system is found by subtracting a torque which is spent in a motor itself for accelerating or decelerating a rotor from an output torque T of a motor M for driving each axis of the robot. Further, an average torque of the driving torque Ta and an average speed of an output shaft of the motor M are found and displayed. An average torque of an output torque of a speed reducer and an average speed of an output shaft of the speed reducer are obtained, and, based on these values, the life of the speed reducer is determined. Then a ratio of the determined life to a rated life is obtained and displayed. An actual load exerted on the driving system is monitored, so that the time for the preventive maintenance or overhaul, and life of the driving system is easily judged. Also, the life of the speed reducer is easily predicted.
摘要翻译： PCT No.PCT / JP94 / 01582 Sec。 371日期：1995年5月30日 102（e）日期1995年5月30日PCT 1994年9月27日PCT公布。公开号WO95 / 09479 日期1995年4月6日一种机器人控制装置，其中检测到施加在机器人的驱动系统上的负载，以便容易地判断用于预防性维护或大修的时间以及机器人驱动系统的寿命。通过从用于驱动机器人的每个轴的电动机M的输出转矩T减去用于电动机本身用于加速或减速转子的转矩，找到驱动系统输出的驱动转矩Ta。此外，找到并显示驱动转矩Ta的平均转矩和电动机M的输出轴的平均速度。获得减速器的输出转矩的平均转矩和减速器的输出轴的平均转速，并根据这些值确定减速机的寿命。然后获得并显示确定的寿命与额定寿命的比率。对驱动系统施加的实际负载进行监控，以便容易地判断驾驶系统的预防性维护或大修时间和使用寿命。此外，减速器的寿命也容易预测。

7. 发明授权

US06340875B1 Robot controller 有权
标题翻译：机器人控制器
公开(公告)号：US06340875B1
公开(公告)日：2002-01-22
申请号：US09468641
申请日：1999-12-22
申请人： Atsushi Watanabe , Tetsuaki Kato
发明人： Atsushi Watanabe , Tetsuaki Kato
IPC分类号： G05B1942
CPC分类号： B25J9/163 , G05B19/19
摘要： A robot controller which controls a process controlled variable of an operational tool mounted on a robot in synchronism with the robot motion. The position of each axis of the robot is detected by a sensor such as a position detector. In a calculating section, motion variables such as position Pn, velocity vn and acceleration &agr;n of a tool center point (TCP) are detected from the respective positions of the robot axes. An ideal output (target value) of a sensor for detecting a controlled variable to be controlled in accordance with the motion state is determined in a calculating section. A sensor output is subtracted from the target value to determine a deviation. The deviation is multiplied by a proportional gain K to determine a manipulated variable. By using this manipulated variable, the process of an arc welding machine, sealing machine, or laser beam machine in which a tool is mounted on a distal end of a robot wrist is controlled. The target value is determined in accordance with the change of motion state of the robot, and feedback control is carried out so as to follow the target value so that uniform operation is achieved.
摘要翻译：机器人控制器，其与机器人运动同步地控制安装在机器人上的操作工具的过程控制变量。机器人的各轴的位置由诸如位置检测器的传感器检测。在计算部分中，从机器人轴的相应位置检测诸如位置Pn，速度vn和工具中心点（TCP）的加速度相关的运动变量。在计算部中确定用于检测根据运动状态来控制的受控变量的传感器的理想输出（目标值）。从目标值中减去传感器输出以确定偏差。该偏差乘以比例增益K以确定操纵变量。通过使用该操作变量，控制将机器人手腕的远端安装有工具的电弧焊机，封口机或激光束机的工序。目标值根据机器人的运动状态的变化来确定，并且进行反馈控制以便跟随目标值，从而实现均匀的操作。

8. 发明授权

US06826450B2 Robot controller 有权
标题翻译：机器人控制器
公开(公告)号：US06826450B2
公开(公告)日：2004-11-30
申请号：US10122218
申请日：2002-04-16
申请人： Atsushi Watanabe , Tetsuaki Kato , Yukinobu Tsuchida
发明人： Atsushi Watanabe , Tetsuaki Kato , Yukinobu Tsuchida
IPC分类号： G06F1900
CPC分类号： B25J9/1638 , G05B2219/39176 , G05B2219/39186 , G05B2219/39529
摘要： Bendings &Dgr;&agr;, &Dgr;&bgr;, and &Dgr;&thgr; are determined by the torques about the axes of coordinate systems disposed to respective joints and by spring constants. Parameters &agr;, &bgr;, and &thgr;0 are determined by adding an amount of twist to corrected D-H parameters &agr;s, &bgr;s, and &thgr;0s when twist is “0”. A rotational angle &thgr;′ (&thgr;st) is determined from a target position x by executing inverse kinematics using the parameters &agr;s, &bgr;s, and &thgr;0s (step S6). Further, a position x′ is determined from the rotational angle &thgr;′ by executing forward kinematics using the parameters &agr;, &bgr;, and &thgr;0, and the difference &Dgr;x between the target position x and the position x′ is determined. The difference is corrected, and a new target position x is set. Thereafter, the inverse kinematics and the forward kinematics are alternately repeated, and a rotational angle &thgr; when the difference &Dgr;x is equal to or less than a predetermined value is set as a rotational angle &thgr; after correction has been executed, thereby a commanded rotational angle j in which bending has been corrected is determined.
摘要翻译：弯曲Deltaalpha，Deltabeta和Deltatheta由关于设置在各个接头处的坐标系的轴的扭矩和弹簧常数决定。参数α，β和θ0通过在扭曲为“0”时将校正的D-H参数α，β和θ0s的加捻量相加来确定。通过使用参数alphas，betas和theta0s执行逆运动学，从目标位置x确定旋转角θ'（最大值）（步骤S6）。此外，通过使用参数α，β和θ0执行正向运动，从旋转角θ'确定位置x'，并且确定目标位置x和位置x'之间的差值Deltax。差异被校正，并且设置新的目标位置x。此后，反向运动学和正向运动学被交替地重复，并且当差值Deltax等于或小于预定值时的旋转角度θ被设置为在执行校正之后的旋转角度θ，从而命令旋转角度j 其中确定了弯曲已被校正。

9. 发明授权

US06097169A Stitch machining method by industrial robot 失效
标题翻译：工业机器人针迹加工方法
公开(公告)号：US06097169A
公开(公告)日：2000-08-01
申请号：US51534
申请日：1998-04-13
申请人： Atsushi Watanabe , Tetsuaki Kato , Toru Shirahata , Atsuo Nagayama
发明人： Atsushi Watanabe , Tetsuaki Kato , Toru Shirahata , Atsuo Nagayama
IPC分类号： B25J9/16 , B25J9/18 , G05B19/18 , B25J15/02
CPC分类号： B25J9/1656 , G05B2219/35263 , G05B2219/40127 , G05B2219/45238 , G05B2219/50104
摘要： A stitch machining method by an industrial robot capable of performing a teaching operation easily and the stitch machining accurately. Instead of teaching switchover points p1, P2, . . . for application and non-application of sealant in sealing as shown in FIG. 5a, a distance n1 of a machining section (where sealant is applied) and a distance n2 of a non-machining section are set to a robot controller as shown in FIG. 5b. The robot controller monitors a travel distance and switches from machining to non-machining and vice versa each time the robot travels the distance n1 and the distance n2, respectively, to thereby effect the stitch machining. As shown in FIGS. 5c and 5g, it is possible to ensure that a start and an end points of each block are positioned in the machining sections n1. Further, as shown in FIG. 5d, the stitch machining can be performed continuously for a plurality of blocks. As shown in FIG. 5f, the stitch machining can be performed in each block with a set number of cycles of machining and non-machining.
摘要翻译： PCT No.PCT / JP97 / 02827 Sec。 371日期：1998年4月13日 102（e）日期1998年4月13日PCT 1997年8月13日PCT公布。公开号WO98 / 06545 日期1998年2月19日能够容易地进行教导操作的工业机器人的线圈加工方法和精确的线圈加工。而不是教导切换点p1，P2，。。。用于在密封中施加和不使用密封剂，如图1所示。如图5a所示，将加工部（施加密封剂）的距离n1和非加工部的距离n2设定为机器人控制器。 5b。机器人控制器每次机器人分别行进距离n1和距离n2时，监视行驶距离并从加工切换到非加工，反之亦然，从而进行线圈加工。如图如图5c和5g所示，可以确保每个块的开始点和终点位于加工部分n1中。此外，如图1所示。如图5d所示，针对多个块可以连续进行线圈加工。如图所示。如图5f所示，可以在每个程序段中进行加工和非加工循环的设定次数的线圈加工。

10. 发明授权

US06188194B1 Controller for automatic machine 失效
标题翻译：自动机控制器
公开(公告)号：US06188194B1
公开(公告)日：2001-02-13
申请号：US09412506
申请日：1999-10-05
申请人： Atsushi Watanabe , Tetsuaki Kato
发明人： Atsushi Watanabe , Tetsuaki Kato
IPC分类号： G05B1132
CPC分类号： G05B9/02 , G05B19/406 , G05B2219/34306 , G05B2219/42277 , G05B2219/50181 , Y02P70/163
摘要： An automatic machine has a plurality of axes driven by servo motors. The controller for controlling this automatic machine confirms that a compulsory power disconnection mode is engaged, releases the brakes and starts power supply to servo amplifiers. At a prescribed time after power supply to said servo amplifiers has started, the power supply to the servo amplifiers is halted compulsorily. Alternatively, the power supply to the servo amplifiers is halted compulsorily at a prescribed time after power supply to the servo amplifiers has started and after initial movement commands have been input to the servo controllers.
摘要翻译：自动机具有由伺服马达驱动的多个轴。用于控制该自动机的控制器确认强制断电模式被接合，释放制动并开始向伺服放大器供电。在开始向所述伺服放大器供电之后的规定时间内，强制停止向伺服放大器供电。或者，在向伺服放大器供电已经开始并且在初始移动命令已被输入到伺服控制器之后，在规定的时间强制停止对伺服放大器的电源。

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