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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

US07391178B2 Robot controller and robot system 有权
标题翻译：机器人控制器和机器人系统
公开(公告)号：US07391178B2
公开(公告)日：2008-06-24
申请号：US10521549
申请日：2003-04-21
申请人： Michiharu Tanaka , Hirokazu Kariyazaki , Minoru Yamamoto
发明人： Michiharu Tanaka , Hirokazu Kariyazaki , Minoru Yamamoto
IPC分类号： G05B19/04
CPC分类号： B25J9/1676 , B25J9/1674 , B25J19/06 , B25J21/00 , G05B19/4061 , G05B19/416 , G05B2219/49138 , G05B2219/49152 , G05B2219/49158
摘要： A robot control apparatus with great safety is provided by detecting access of a teacher to a robot and automatically reducing the operating speed of the robot when the teacher accesses the robot. The robot control device equipped with a pendant (10) to be manipulated by a teacher, for controlling the operation of a robot on the basis of an operation command from the pendant (10), includes a detecting device (8) for detecting the position of the teacher; a signal processing unit (11) for receiving a signal from the detecting device to produce the position information of the teacher; and a limited speed selecting unit (12) for selecting the operating speed of the robot on the basis of the position information. The robot is controlled at the maximum speed set at the operating speed selected by the limited speed selecting unit (12) on the basis of the operation command from the pendant (10).
摘要翻译：通过检测教师对机器人的访问并且当教师访问机器人时自动降低机器人的操作速度来提供具有极大安全性的机器人控制装置。根据来自吊坠（10）的操作命令，配备有由教师操纵的用于控制机器人的操作的吊坠（10）的机器人控制装置包括：检测装置（8），用于检测位置的老师信号处理单元（11），用于从所述检测装置接收信号以产生所述教师的位置信息; 以及用于基于位置信息来选择机器人的操作速度的限速选择单元（12）。基于来自吊坠（10）的操作命令，以由受限速度选择单元（12）选择的操作速度设定的最大速度控制机器人。

5. 发明申请

US20060192515A1 Indurstrial robot controlling device 有权
标题翻译：工业机器人控制装置
公开(公告)号：US20060192515A1
公开(公告)日：2006-08-31
申请号：US10551458
申请日：2004-03-18
申请人： Shigenori Takayama , Michiharu Tanaka
发明人： Shigenori Takayama , Michiharu Tanaka
IPC分类号： B25J15/02 , G05B19/04
CPC分类号： B25J19/0004 , B25J19/06 , H01H47/002
摘要： Since a release voltage to a brake is applied by a plurality of series-connected contacts and at least one contact is a normally open contact of a relay for controlling a driving power supply of a motor, a control apparatus having a high safety characteristic for an industrial-purpose robot is provided, while even when fusion of a contact happens to occur, the control apparatus can firmly interrupt the application of the release voltage to the brake. Also, the control apparatus for the industrial-purpose robot is provided which need not be equipped with a power supply for releasing the brake by an operator in a manual manner. To this end, in a control apparatus of an industrial-purpose robot (11) equipped with an electromagnetic type brake (23) which locks a shaft of a motor, the control apparatus is provided with a first relay contact (24) which is closed when the electromagnetic type brake (23) is released, and a second relay contact (22) which is closed when driving electric power is supplied to the motor; and the first relay contact (24), the second relay contact (22), and the electromagnetic type brake (23) are series-connected to a drive-purpose power supply (27) of the electromagnetic type brake (23).
摘要翻译：由于通过多个串联连接的触点施加对制动器的释放电压，并且至少一个触点是用于控制电动机的驱动电源的继电器的常开触点，具有高安全性的控制装置提供了工业用机器人，即使发生接触融合，控制装置也可以牢固地中断对制动器的释放电压的施加。此外，提供了用于工业用机器人的控制装置，其不需要配备用于以手动方式由操作者释放制动的电源。为此，在具有锁定电机的轴的电磁式制动器（23）的工业用机器人（11）的控制装置中，控制装置设置有闭合的第一继电器触点（24）当电磁式制动器（23）被释放时，并且在驱动电力时关闭的第二继电器触点（22）被提供给电动机; 并且第一继电器触点（24），第二继电器触点（22）和电磁式制动器（23）串联连接到电磁式制动器（23）的驱动用电源（27）。

6. 发明授权

US5783921A Welding robot with base stand having self contained welding power source 失效
标题翻译：带底座的焊接机器人具有自备焊接电源
公开(公告)号：US5783921A
公开(公告)日：1998-07-21
申请号：US722042
申请日：1996-10-09
申请人： Hiroyuki Handa , Yukio Misumi , Shinji Okumura , Michiharu Tanaka
发明人： Hiroyuki Handa , Yukio Misumi , Shinji Okumura , Michiharu Tanaka
IPC分类号： B23K9/10 , B23K9/12 , B23K9/28 , B25J9/00 , B25J9/18 , B25J13/00 , B25J19/00
CPC分类号： B23K9/12 , B23K9/10 , B23K9/287 , B25J13/00 , B25J19/00 , B25J19/0054 , B25J19/0075 , B25J9/0009
摘要： A robot body has an articulated manipulator arm having a welding tool. The robot body is installed on a base stand housing electric circuits including a welding power source. The electric circuits provide for driving and controlling the welding tool. The robot thus provided minimizes the space needed for installation thereof and requires less time for installation and fewer parts, whereby it becomes possible to reduce the manufacturing cost, simplify the robot installation operation and obtain a stable welding performance.
摘要翻译： PCT No.PCT / JP96 / 00321 Sec。 371日期1996年10月9日第 102（e）日期1996年10月9日PCT提交1996年2月13日PCT公布。公开号WO96 / 25275 日期1996年8月22日机器人体具有具有焊接工具的铰接式操纵臂。机器人体安装在容纳包括焊接电源的电路的基座上。电路用于驱动和控制焊接工具。这样提供的机器人使得安装所需的空间最小化，并且需要更少的安装时间和更少的部件，从而可以降低制造成本，简化机器人安装操作并获得稳定的焊接性能。

7. 发明授权

US08155788B2 Automatic machine system 有权
标题翻译：自动机系统
公开(公告)号：US08155788B2
公开(公告)日：2012-04-10
申请号：US12295947
申请日：2007-03-13
申请人： Shingo Ando , Michiharu Tanaka
发明人： Shingo Ando , Michiharu Tanaka
IPC分类号： G05B19/418
CPC分类号： B25J9/1682 , B25J9/1656 , G05B2219/33192 , G05B2219/39448
摘要： To provide an automatic machine system for readily and reliably selecting a desired mechanism part from among the automatic machine systems composed of a plurality of mechanism parts and teaching the mechanism part.Each of a plurality of mechanism parts such as robots includes a first communication part. A teaching operation part includes a second communication part with directivity. When the second communication part of the teaching operation part is oriented to the first communication part included in a target mechanism part to select the same, the second communication part transmits selection request information to the first communication part. A controller for controlling the mechanism parts places the target mechanism part in an operable state based on the selection request information thereby operating the target mechanism part with the operation of the worker on the teaching operation part.
摘要翻译：提供一种自动机器系统，用于从由多个机构部件组成的自动机器系统中容易且可靠地选择期望的机构部件并且教导机构部件。诸如机器人的多个机构部件中的每一个包括第一通信部件。教学操作部分包括具有方向性的第二通信部分。当教导操作部分的第二通信部分朝向包括在目标机构部分中的第一通信部分进行选择时，第二通信部分向第一通信部分发送选择请求信息。用于控制机构部件的控制器基于选择请求信息使目标机构部件处于可操作状态，从而通过在教学操作部分上的工人的操作来操作目标机构部件。

8. 发明授权

US07515993B2 Robot control apparatus 失效
标题翻译：机器人控制装置
公开(公告)号：US07515993B2
公开(公告)日：2009-04-07
申请号：US10502944
申请日：2003-02-10
申请人： Michiharu Tanaka , Ryuichi Morita
发明人： Michiharu Tanaka , Ryuichi Morita
IPC分类号： G06F19/00
CPC分类号： B25J9/1658 , G05B2219/35287 , G05B2219/36017 , Y10S707/99945 , Y10S707/99948
摘要： A robot control apparatus for controlling a robot based upon a work program registered in storage means. A program display means is provided for displaying said work program in a list form. A child program list producing means retrieves another work program which is called by said work program and produces a child program list thereof A mother program list producing means retrieves another work program which calls said work program, and produces a mother program list. A related program storage means stories both said child program list and said mother program list in said storage means. A display selecting means selects a display way when said work program is displayed in the list form.
摘要翻译：一种用于基于在存储装置中登记的工作程序来控制机器人的机器人控制装置。提供了用于以列表形式显示所述工作程序的程序显示装置。子程序列表生成单元检索由所述工作程序调用的其他工作程序，并生成子程序列表。母亲程序列表生成单元检索调用所述工作程序的另一工作程序，并生成母程序列表。相关的程序存储装置在所述存储装置中叙述所述子程序列表和所述母
程序列表。当所述工作程序以列表形式显示时，显示选择装置选择显示方式。

9. 发明申请

US20070163322A1 Automatic machine control device 审中-公开
标题翻译：自动机控制装置
公开(公告)号：US20070163322A1
公开(公告)日：2007-07-19
申请号：US10587185
申请日：2005-01-05
申请人： Kiyoshi Hirakawa , Michiharu Tanaka
发明人： Kiyoshi Hirakawa , Michiharu Tanaka
IPC分类号： B21B1/00
CPC分类号： B25J19/0004 , B25J9/1674 , G05B2219/40218 , G05B2219/42284
摘要： When a brake is released by worker's operation, a subject automatic machine is specified so as to prevent an accident due to an error, such as misconception. An automatic machine control device includes a brake releasing unit that releases a brake when a motor is not driven, and a brake release indication unit that is provided on the automatic machines or in the vicinities of the automatic machines. When brake releasing is made by worker's operation, the fact is indicated on the brake release indication unit of a subject automatic machine.
摘要翻译：当工作人员的操作释放制动器时，指定主体自动机器，以防止由误差引起的误解等误操作。自动机械控制装置包括：制动器释放单元，其在电动机未被驱动时释放制动;以及制动器释放指示单元，其设置在自动机器上或在自动机附近。当通过人员的操作进行制动释放时，在被动自动机械的制动器释放指示单元上指示。

10. 发明申请

US20060108960A1 Robot controller and robot system 有权
标题翻译：机器人控制器和机器人系统
公开(公告)号：US20060108960A1
公开(公告)日：2006-05-25
申请号：US10521549
申请日：2003-04-21
申请人： Michiharu Tanaka , Hirokazu Kariyazaki , Minoru Yamamoto
发明人： Michiharu Tanaka , Hirokazu Kariyazaki , Minoru Yamamoto
IPC分类号： B25J15/02
CPC分类号： B25J9/1676 , B25J9/1674 , B25J19/06 , B25J21/00 , G05B19/4061 , G05B19/416 , G05B2219/49138 , G05B2219/49152 , G05B2219/49158
摘要： A robot control apparatus with great safety is provided by detecting access of a teacher to a robot and automatically reducing the operating speed of the robot when the teacher accesses the robot. The robot control device equipped with a pendant (10) to be manipulated by a teacher, for controlling the operation of a robot on the basis of an operation command from the pendant (10), includes a detecting device (8) for detecting the position of the teacher; a signal processing unit (11) for receiving a signal from the detecting device to produce the position information of the teacher; and a limited speed selecting unit (12) for selecting the operating speed of the robot on the basis of the position information. The robot is controlled at the maximum speed set at the operating speed selected by the limited speed selecting unit (12) on the basis of the operation command from the pendant (10).
摘要翻译：通过检测教师对机器人的访问并且当教师访问机器人时自动降低机器人的操作速度来提供具有极大安全性的机器人控制装置。根据来自吊坠（10）的操作命令，配备有由教师操纵的用于控制机器人的操作的吊坠（10）的机器人控制装置包括：检测装置（8），用于检测位置的老师信号处理单元（11），用于从所述检测装置接收信号以产生所述教师的位置信息; 以及用于基于位置信息来选择机器人的操作速度的限速选择单元（12）。基于来自吊坠（10）的操作命令，以由受限速度选择单元（12）选择的操作速度设定的最大速度控制机器人。

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