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1. 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。

2. 发明申请

US20110010006A1 ROBOT CONTROL SYSTEM 有权
标题翻译：机器人控制系统
公开(公告)号：US20110010006A1
公开(公告)日：2011-01-13
申请号：US12864838
申请日：2009-03-17
申请人： Nobuhiro Tani , Yasuhiro Koujina , Yuji Nakatsugawa
发明人： Nobuhiro Tani , Yasuhiro Koujina , Yuji Nakatsugawa
IPC分类号： B25J9/00
CPC分类号： B25J19/06 , B25J9/1674 , B25J13/06
摘要： A robot control system has a portable operating device TP and a robot control device RC. The portable operating device TP is actuated by a rechargeable secondary battery and used to operate a robot R. The robot control device RC is capable of wireless communication with the portable operating device TP and performs automatic operation of the robot R based on teaching data provided by the portable operating device TP. The robot control system causes an emergency stop of the robot R when the wireless communication between the portable operating device TP and the robot control device RC is interrupted. The robot control system further includes a charging device CU, a connection monitoring section 12, and an automatic operation continuing section 11. The charging device CU charges the secondary battery by electrically connecting the portable operating device TP to the robot control device RC. The connection monitoring section 12 monitors whether connection between the portable operating device TP and the robot control device RC through the charging means is established. Even if it is detected that the aforementioned connection is not established when the robot R is in automatic operation, the automatic operation continuing section 11 ends wireless communication without causing an emergency stop of the robot R and continues automatic operation of the robot R solely through the robot control system RC.
摘要翻译：机器人控制系统具有便携式操作装置TP和机器人控制装置RC。便携式操作装置TP由可再充电二次电池驱动并用于操作机器人R.机器人控制装置RC能够与便携式操作装置TP进行无线通信，并且基于由机器人R提供的教学数据执行机器人R的自动操作便携式操作装置TP。当便携式操作装置TP和机器人控制装置RC之间的无线通信被中断时，机器人控制系统引起机器人R的紧急停止。机器人控制系统还包括充电装置CU，连接监视部分12和自动运行连续部分11.充电装置CU通过将便携式操作装置TP电连接到机器人控制装置RC来对二次电池充电。连接监视部12监视通过充电装置建立便携式操作装置TP与机器人控制装置RC之间的连接。即使在机器人R处于自动运行状态时检测到上述连接不成立的情况下，自动运转继续部11结束无线通信而不引起机器人R的紧急停止，并且仅通过机器人R的自动运行机器人控制系统RC。

3. 发明授权

US08660690B2 Robot control system 有权
标题翻译：机器人控制系统
公开(公告)号：US08660690B2
公开(公告)日：2014-02-25
申请号：US12864838
申请日：2009-03-17
申请人： Nobuhiro Tani , Yasuhiro Koujina , Yuji Nakatsugawa
发明人： Nobuhiro Tani , Yasuhiro Koujina , Yuji Nakatsugawa
IPC分类号： B25J13/00
CPC分类号： B25J19/06 , B25J9/1674 , B25J13/06
摘要： A robot control system has a portable operating device TP and a robot control device RC. The portable operating device TP is actuated by a rechargeable secondary battery and used to operate a robot R. The robot control device RC is capable of wireless communication with the portable operating device TP and performs automatic operation of the robot R based on teaching data provided by the portable operating device TP. The robot control system causes an emergency stop of the robot R when the wireless communication between the portable operating device TP and the robot control device RC is interrupted. The robot control system further includes a charging device CU, a connection monitoring section 12, and an automatic operation continuing section 11. The charging device CU charges the secondary battery by electrically connecting the portable operating device TP to the robot control device RC. The connection monitoring section 12 monitors whether connection between the portable operating device TP and the robot control device RC through the charging means is established. Even if it is detected that the aforementioned connection is not established when the robot R is in automatic operation, the automatic operation continuing section 11 ends wireless communication without causing an emergency stop of the robot R and continues automatic operation of the robot R solely through the robot control system RC.
摘要翻译：机器人控制系统具有便携式操作装置TP和机器人控制装置RC。便携式操作装置TP由可再充电二次电池驱动并用于操作机器人R.机器人控制装置RC能够与便携式操作装置TP进行无线通信，并且基于由机器人R提供的教学数据执行机器人R的自动操作便携式操作装置TP。当便携式操作装置TP和机器人控制装置RC之间的无线通信被中断时，机器人控制系统引起机器人R的紧急停止。机器人控制系统还包括充电装置CU，连接监视部分12和自动运行连续部分11.充电装置CU通过将便携式操作装置TP电连接到机器人控制装置RC来对二次电池充电。连接监视部12监视通过充电装置建立便携式操作装置TP与机器人控制装置RC之间的连接。即使在机器人R处于自动运行状态时检测到上述连接不成立的情况下，自动运转继续部11结束无线通信而不引起机器人R的紧急停止，并且仅通过机器人R的自动运行机器人控制系统RC。

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