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1. 发明授权

US07605558B2 Robot system 有权
标题翻译：机器人系统
公开(公告)号：US07605558B2
公开(公告)日：2009-10-20
申请号：US11814839
申请日：2006-01-05
申请人： Kenji Matsukuma , Michiharu Tanaka , Yasuyuki Inoue
发明人： Kenji Matsukuma , Michiharu Tanaka , Yasuyuki Inoue
IPC分类号： B25J9/22 , G05B19/42
CPC分类号： G05B19/409 , B25J9/1674 , B25J13/06 , B25J19/06 , G05B2219/23172 , G05B2219/33192 , G05B2219/33228 , G05B2219/36162 , G05B2219/36535 , G05B2219/45104 , G05B2219/50198
摘要： The present invention provides a safe robot system adapted to always and clearly indicate a worker whether an emergency stop operation can be performed by an emergency stop operation section in an unwired portable teaching operation section, thereby to prevent occurrence of a misconception.A portable teaching operation portion 3 includes a display section (13) configured to indicate whether an emergency stop operation to be conducted by an emergency stop operation section (9) can be performed.
摘要翻译：本发明提供了一种安全的机器人系统，其适于始终且清楚地指示工作人员是否可以通过无绳便携式教学操作部分中的紧急停止操作部分进行紧急停止操作，从而防止误解。便携式教学操作部3包括：显示部（13），其被配置为指示是否能够执行由紧急停止操作部（9）进行的紧急停止操作。

2. 发明申请

US20090009125A1 ROBOT SYSTEM 有权
标题翻译：机器人系统
公开(公告)号：US20090009125A1
公开(公告)日：2009-01-08
申请号：US11814839
申请日：2006-01-05
申请人： Kenji Matsukuma , Michiharu Tanaka , Yasuyuki Inoue
发明人： Kenji Matsukuma , Michiharu Tanaka , Yasuyuki Inoue
IPC分类号： G05B19/42
CPC分类号： G05B19/409 , B25J9/1674 , B25J13/06 , B25J19/06 , G05B2219/23172 , G05B2219/33192 , G05B2219/33228 , G05B2219/36162 , G05B2219/36535 , G05B2219/45104 , G05B2219/50198
摘要： The present invention provides a safe robot system adapted to always and clearly indicate a worker whether an emergency stop operation can be performed by an emergency stop operation section in an unwired portable teaching operation section, thereby to prevent occurrence of a misconception.A portable teaching operation portion 3 includes a display section (13) configured to indicate whether an emergency stop operation to be conducted by an emergency stop operation section (9) can be performed.
摘要翻译：本发明提供了一种安全的机器人系统，其适于始终且清楚地指示工作人员是否可以通过无绳便携式教学操作部分中的紧急停止操作部分进行紧急停止操作，从而防止误解。便携式教学操作部3包括：显示部（13），其被配置为指示是否能够执行由紧急停止操作部（9）进行的紧急停止操作。

3. 发明申请

US20080057968A1 Wireless Communication Apparatus and Communication Control Method Thereof 审中-公开
标题翻译：无线通信装置及其通信控制方法
公开(公告)号：US20080057968A1
公开(公告)日：2008-03-06
申请号：US10581662
申请日：2004-10-26
申请人： Kenji Matsukuma , Michiharu Tanaka , Ryuichi Morita , Naoyuki Motomura , Hiroyuki Handa , Seiichiro Okada
发明人： Kenji Matsukuma , Michiharu Tanaka , Ryuichi Morita , Naoyuki Motomura , Hiroyuki Handa , Seiichiro Okada
IPC分类号： H04Q7/20
CPC分类号： H04W74/08 , H04W74/002
摘要： A wireless operating system is provided which can be applied even to such an environment that a plurality of controllers and a plurality of operating terminals are mixed with each other, and also, can readily establish communications within a short time.A first wireless station transmits a calling instruction to a second wireless station via a connection-purpose channel which has been set, and when the first wireless station receives a response, the first wireless station switches the connection-purpose channel to a communication-purpose channel contained in the response data. Further, the second wireless station waits the calling instruction from the first wireless station via the preset connection-purpose channel, and when the second wireless station receives the calling instruction, the second wireless station seeks a channel which is not used so as to determine a communication channel, and transmits response data containing a communication-purpose channel number thereof to the first wireless station, and thereafter, switches the connection-purpose channel into the determined communication-purpose channel.
摘要翻译：提供了一种无线操作系统，其可以甚至应用于使多个控制器和多个操作终端彼此混合的环境，并且还可以在短时间内容易地建立通信。第一无线站经由已经设置的连接用途信道向第二无线站发送呼叫指示，当第一无线站接收到响应时，第一无线站将连接目的信道切换到通信用信道包含在响应数据中。此外，第二无线站经由预设的连接用途信道等待来自第一无线站的呼叫指示，当第二无线站接收到呼叫指示时，第二无线站寻求未被使用的信道，以便确定通信信道，并将包含其通信目的信道号的响应数据发送到第一无线站，然后将连接目的信道切换到确定的通信目的信道。

4. 发明授权

US07861810B2 Mobile body 有权
标题翻译：移动体
公开(公告)号：US07861810B2
公开(公告)日：2011-01-04
申请号：US12718995
申请日：2010-03-07
申请人： Kenji Matsukuma
发明人： Kenji Matsukuma
IPC分类号： B62B3/00
CPC分类号： B62B5/0026 , B60K26/02 , B62B5/0069 , B62B5/0073 , B62B5/0076 , B62D1/02 , B62D51/001 , B62D51/04
摘要： A mobile body includes a string body that can be pulled out from and retracted into a main body, a length measurement device configured to measure a pull-out length by which the string body is pulled out, and an angle measurement device configured to measure an angle of the string body with respect to the main body. A drive unit is controlled on the basis of the results of the measurements performed by the length measurement device and the angle measurement device.
摘要翻译：移动体包括能够从主体拉出并缩回到主体的绳体;长度测量装置，其被配置为测量拉出绳体的拉出长度;以及角度测量装置，被配置为测量弦体相对于主体的角度。基于由长度测量装置和角度测量装置执行的测量结果来控制驱动单元。

5. 发明申请

US20120323363A1 ROBOT SYSTEM 有权
标题翻译：机器人系统
公开(公告)号：US20120323363A1
公开(公告)日：2012-12-20
申请号：US13354723
申请日：2012-01-20
申请人： Tetsuro Izumi , Kenichi Koyanagi , Kenji Matsukuma , Yukio Hashiguchi
发明人： Tetsuro Izumi , Kenichi Koyanagi , Kenji Matsukuma , Yukio Hashiguchi
IPC分类号： G05B19/418
CPC分类号： G05B19/4182 , B25J9/1697 , G05B2219/37555 , G05B2219/39102 , G05B2219/40007 , Y02P90/083
摘要： A robot system according to embodiments includes a conveying device, a plurality of robots, an image capturing device, a workpiece detecting device, and a control device. The control device includes an operation instruction unit and an allocating unit. The operation instruction unit generates an operation instruction for performing a holding operation on workpieces on the basis of the detection result of the workpiece detecting device and transmits the operation instruction to the robots. The allocating unit determines which of the plurality of robots to which the operation instruction unit transmits the operation instruction on the basis of conveying situations of the workpieces obtained from the detection result of the workpiece detecting device.
摘要翻译：根据实施例的机器人系统包括输送装置，多个机器人，图像捕获装置，工件检测装置和控制装置。控制装置包括操作指令单元和分配单元。操作指示单元基于工件检测装置的检测结果生成用于对工件执行保持操作的操作指令，并将操作指令发送给机器人。分配单元基于从工件检测装置的检测结果获得的工件的传送情况，确定操作指令单元发送操作指令的多个机器人中的哪一个。

6. 发明授权

US08880217B2 Picking system 有权
标题翻译：采摘系统
公开(公告)号：US08880217B2
公开(公告)日：2014-11-04
申请号：US13337818
申请日：2011-12-27
申请人： Tetsuro Izumi , Kenichi Koyanagi , Kenji Matsukuma , Yukio Hashiguchi
发明人： Tetsuro Izumi , Kenichi Koyanagi , Kenji Matsukuma , Yukio Hashiguchi
IPC分类号： G06F7/00 , G06K9/34
CPC分类号： G06K9/34
摘要： A picking system includes a conveyer, a robot, a main camera, and a control device. The conveyer conveys workpieces. The robot performs a holding operation and a moving operation on the workpieces. The main camera captures the transport path of the conveyer. The control device detects the workpiece on the basis of the image captured by the main camera and instructs the robot to perform the holding operation on the detected workpiece. Moreover, the control device instructs the robot to perform the holding operation on the overlapped workpieces when the overlapping of the workpieces is detected.
摘要翻译：拾取系统包括输送机，机器人，主摄像机和控制装置。输送机输送工件。机器人对工件执行保持操作和移动操作。主相机捕获输送机的输送路径。控制装置基于由主摄像机拍摄的图像来检测工件，并指示机器人对检测到的工件执行保持操作。此外，当检测到工件的重叠时，控制装置指示机器人对重叠的工件执行保持操作。

7. 发明授权

US07950710B2 Robot 有权
标题翻译：机器人
公开(公告)号：US07950710B2
公开(公告)日：2011-05-31
申请号：US12562081
申请日：2009-09-17
申请人： Kenji Matsukuma , Takayuki Nakamura , Kazuhiko Yokoyama , Kazuhiro Fukudome
发明人： Kenji Matsukuma , Takayuki Nakamura , Kazuhiko Yokoyama , Kazuhiro Fukudome
IPC分类号： B25J15/10
CPC分类号： B25J15/0009 , B25J9/104 , B25J9/1612 , Y10T29/49826 , Y10T74/20305 , Y10T74/20317 , Y10T74/20329
摘要： A robot includes a base unit, at least two link mechanisms arranged on the base unit, drive units capable of bending and expanding the link mechanisms, and a control unit controlling the drive units. At least one drive unit has a drive force larger than those of the other drive units, and the other drive units are passively displaced by external forces larger than their own drive forces.
摘要翻译：机器人包括基座单元，布置在基座单元上的至少两个连杆机构，能够弯曲和扩展连杆机构的驱动单元，以及控制驱动单元的控制单元。至少一个驱动单元具有大于其它驱动单元的驱动力的驱动力，并且其它驱动单元被大于其自身驱动力的外力被动地移位。

8. 发明授权

US08606400B2 Robot system 有权
标题翻译：机器人系统
公开(公告)号：US08606400B2
公开(公告)日：2013-12-10
申请号：US13354723
申请日：2012-01-20
申请人： Tetsuro Izumi , Kenichi Koyanagi , Kenji Matsukuma , Yukio Hashiguchi
发明人： Tetsuro Izumi , Kenichi Koyanagi , Kenji Matsukuma , Yukio Hashiguchi
IPC分类号： G05B19/418
CPC分类号： G05B19/4182 , B25J9/1697 , G05B2219/37555 , G05B2219/39102 , G05B2219/40007 , Y02P90/083
摘要： A robot system according to embodiments includes a conveying device, a plurality of robots, an image capturing device, a workpiece detecting device, and a control device. The control device includes an operation instruction unit and an allocating unit. The operation instruction unit generates an operation instruction for performing a holding operation on workpieces on the basis of the detection result of the workpiece detecting device and transmits the operation instruction to the robots. The allocating unit determines which of the plurality of robots to which the operation instruction unit transmits the operation instruction on the basis of conveying situations of the workpieces obtained from the detection result of the workpiece detecting device.
摘要翻译：根据实施例的机器人系统包括输送装置，多个机器人，图像捕获装置，工件检测装置和控制装置。控制装置包括操作指令单元和分配单元。操作指示单元基于工件检测装置的检测结果生成用于对工件执行保持操作的操作指令，并将操作指令发送给机器人。分配单元基于从工件检测装置的检测结果获得的工件的传送情况，确定操作指令单元发送操作指令的多个机器人中的哪一个。

9. 发明授权

US08260463B2 Robot system 失效
标题翻译：机器人系统
公开(公告)号：US08260463B2
公开(公告)日：2012-09-04
申请号：US12278047
申请日：2007-01-19
申请人： Zenta Nakamoto , Kenji Matsukuma , Hiroyuki Handa
发明人： Zenta Nakamoto , Kenji Matsukuma , Hiroyuki Handa
IPC分类号： G05B15/00 , G05B19/00
CPC分类号： B25J9/1612 , B25J5/00 , B25J13/084 , B25J13/085 , B25J15/0009 , G05B2219/39523 , G05B2219/40564 , G05B2219/40607
摘要： A robot control section (7) has an object information calculation section (21) for calculating, based on image information from an image processing section (8), the size and shape of an object to he held; a holding method determination section (22) for determining, based on the object information calculated, a method for holding the object; a holding execution section (23) for executing lifting of the object by the holding method determined; a sensor information processing section (24) for processing pieces of sensor information and controlling holding force, the pieces of sensor information being those obtained at the time of the execution, the processing of the pieces of sensor information being made for each combination of one or more of the pieces of information; and a holding method correction section (25) for correcting, based on the result of the processing, the pieces of sensor information, the method of holding the object.
摘要翻译：机器人控制部（7）具有：物体信息计算部（21），根据来自图像处理部（8）的图像信息，计算被保持物体的大小和形状; 保持方法确定部分，用于基于所计算的对象信息确定用于保持对象的方法; 保持执行部（23），用于通过确定的保持方法来执行对象的提升; 用于处理传感器信息和控制保持力的传感器信息处理部分（24），所述传感器信息是在执行时获得的传感器信息，对每个组合的传感器信息进行处理，更多的信息; 以及保持方法校正部（25），用于基于处理结果来校正传感器信息，保持对象的方法。

10. 发明申请

US20090173560A1 ROBOT SYSTEM 失效
标题翻译：机器人系统
公开(公告)号：US20090173560A1
公开(公告)日：2009-07-09
申请号：US12278047
申请日：2007-01-19
申请人： Zenta Nakamoto , Kenji Matsukuma , Hiroyuki Handa
发明人： Zenta Nakamoto , Kenji Matsukuma , Hiroyuki Handa
IPC分类号： B25J5/00 , G05B15/00 , G06F19/00 , B25J15/10 , B25J9/00
CPC分类号： B25J9/1612 , B25J5/00 , B25J13/084 , B25J13/085 , B25J15/0009 , G05B2219/39523 , G05B2219/40564 , G05B2219/40607
摘要： A robot system capable of safely and stably holding an object with an optimum holding method and holding force. A robot control section (7) has an object information calculation section (21) for calculating, based on image information from an image processing section (8), the size and shape of an object to be held; a holding method determination section (22) for determining, based on the object information calculated, a method for holding the object; a holding execution section (23) for executing lifting of the object by the holding method determined; a sensor information processing section (24) for processing pieces of sensor information and controlling holding force, the pieces of sensor information being those obtained at the time of the execution, the processing of the pieces of sensor information being made for each combination of one or more of the pieces of information; and a holding method correction section (25) for correcting, based on the result of the processing, the pieces of sensor information, the method of holding the object.
摘要翻译：一种能够以最佳的保持方法和保持力安全且稳定地保持物体的机器人系统。机器人控制部（7）具有：物体信息计算部（21），根据来自图像处理部（8）的图像信息，计算待保持物体的大小和形状; 保持方法确定部分，用于基于所计算的对象信息确定用于保持对象的方法; 保持执行部（23），用于通过确定的保持方法来执行对象的提升; 用于处理传感器信息和控制保持力的传感器信息处理部分（24），所述传感器信息是在执行时获得的传感器信息，对每个组合的传感器信息进行处理，更多的信息; 以及保持方法校正部（25），用于基于处理结果来校正传感器信息，保持对象的方法。

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