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    • 5. 发明授权
    • Articulated arm robot, control method and control program
    • 铰接臂机器人,控制方法和控制程序
    • US08442686B2
    • 2013-05-14
    • US13643278
    • 2011-01-31
    • Fuminori SaitoToru Isobe
    • Fuminori SaitoToru Isobe
    • G05B15/00G05B19/00G05B19/18
    • B25J9/06B25J3/00B25J9/042B25J9/047
    • An articulated arm robot includes a support part capable of extending and contracting upward and downward, a first arm part with one end joined to the support part through a first joint to be rotatable about a yaw axis and having a second joint rotatable about a roll axis between both ends, a second arm part with one end joined to the other end of the first arm part through a third joint to be rotatable about the yaw axis or a pitch axis, an end effector part joined to the other end of the second arm part through a fourth joint to be rotatable about the yaw axis or the pitch axis, and drivers that respectively cause the first to fourth joints to rotate and the support part to extend and contract, and a controller that performs drive control of the drivers of the first to fourth joints by switching the arm between a SCARA mode where the first, second and third arm parts rotate only in a horizontal plane and a perpendicular mode where the second and third arm parts rotate only in a vertical plane.
    • 铰接臂机器人包括能够向上和向下延伸和收缩的支撑部分,第一臂部分,其一端通过第一关节连接到支撑部分,以可绕偏转轴线旋转,并且具有可围绕辊轴线旋转的第二关节 在两端之间,第二臂部分,其一端通过第三关节连接到第一臂部分的另一端,以便围绕偏转轴线或俯仰轴线旋转;端部执行器部分,其连接到第二臂的另一端 部分通过第四关节可围绕偏转轴或俯仰轴线旋转,以及分别使第一至第四关节旋转并且支撑部分延伸和收缩的驱动器,以及控制器,其执行驱动器的驱动控制 第一至第四关节通过在第一,第二和第三臂部分仅在水平面旋转的SCARA模式和第二和第三臂部分仅在垂直方向旋转的垂直模式之间切换臂 校平面。
    • 6. 发明授权
    • Robot operation teaching method and apparatus
    • 机器人操作教学方法与装置
    • US06587752B1
    • 2003-07-01
    • US10154961
    • 2002-05-28
    • Fuminori Saito
    • Fuminori Saito
    • G05B1500
    • B25J9/1671G05B19/425G05B2219/39449G05B2219/40097G05B2219/40125G05B2219/40323G05B2219/40503
    • A robot operation teaching method and apparatus includes a three-dimensional measuring system that can measure spatial coordinates corresponding to points designated on camera images, a display able to show a space image from a camera or cameras overlaid by an image of a geometric model corresponding to the space image. A pointing device having at least two degrees of freedom is used to define work trajectories by preparing, in a model space, simple geometric elements corresponding to the actual space image. By using parametric modelling to supply definitions of geometric elements in advance, the geometric elements can be adapted for other tasks by modifying some of the geometric element assignments and parameters associated with the definitions.
    • 机器人操作教学方法和装置包括:三维测量系统,其可以测量对应于在相机图像上指定的点的空间坐标,能够显示来自相机的空间图像的显示器或由相应于 空间图像。 具有至少两个自由度的指示装置用于通过在模型空间中准备对应于实际空间图像的简单几何元素来定义工作轨迹。 通过使用参数建模提前提供几何元素的定义,可以通过修改与定义相关联的几个元素分配和参数中的某些几何元素来适应其他任务。
    • 7. 发明申请
    • TASK CHANGING APPARATUS, TASK CHANGING METHOD, AND TASK CHANGING PROGRAM
    • 任务更改设备,任务更改方法和任务更改程序
    • US20140298231A1
    • 2014-10-02
    • US14185483
    • 2014-02-20
    • Fuminori SaitoKunimatsu Hashimoto
    • Fuminori SaitoKunimatsu Hashimoto
    • G06F3/0484
    • G06F3/0484B25J9/1661G05B2219/40095G05B2219/40099
    • A task changing apparatus changes a task program executed by a robot. The task changing apparatus includes: a storage unit that stores a task program including a plurality of hierarchical levels arranged in a tree-like structure representing a plurality of pieces of task information executed by the robot and lower-order task information associated with the task information; a display control unit that causes the task information to be displayed on a display screen of a display unit so as to allow setting of the task information, the task information being associated with each other for each hierarchical level of the task program stored in the storage unit; and a change unit that changes the task program for the robot based on a series of pieces of task information set on the display screen of the display unit.
    • 任务改变装置改变由机器人执行的任务程序。 任务改变装置包括:存储单元,其存储包括以表示由所述机器人执行的多个任务信息的树状结构而布置的多个分级的任务程序,以及与所述任务信息相关联的下位任务信息 ; 显示控制单元,其使任务信息显示在显示单元的显示屏幕上,以便允许设置任务信息,对于存储在存储器中的任务程序的每个分层级,任务信息彼此相关联 单元; 以及改变单元,其基于在所述显示单元的显示屏幕上设置的一系列任务信息来改变所述机器人的任务程序。
    • 8. 发明授权
    • Holding device
    • 保持装置
    • US06612589B2
    • 2003-09-02
    • US10099979
    • 2002-03-19
    • Fuminori Saito
    • Fuminori Saito
    • B23B3116
    • B25J9/104B23B31/16275B25J15/10Y10S294/902Y10T279/19Y10T279/1986
    • A holding device includes a support frame; multiple pairs of holding fixtures mounted on the support frame; a holding fixture pulley attached to one holding fixture of each one pair of holding fixtures; at least one frame pulley attached to the support frame; a drive rope bridging between the holding fixture pulley and the frame pulley and having one end pulled in one direction and the other end fixed to the support frame; and a drive source that pulls the drive rope. With this configuration, when the drive rope is pulled by the drive source, holding fixtures constituting each one pair of holding fixtures are linked to move symmetrically to each other in a direction that holds an object to be held, each one pair of holding fixtures move independently of other pairs of holding fixtures, and the holding fixtures of each one pair of holding fixtures are movable toward and away from each other on a straight line or on two parallel straight lines on a plane of the support frame. The multiple pairs of holding fixtures have contact parts that contact the object when the object is being held, and at least one of the contact parts is disposed so that it is rotatable about an axis parallel to a line normal to the plane of the support frame to maintain a rolling contact with the object when holding the object.
    • 保持装置包括支撑框架; 多对固定装置安装在支撑架上; 固定固定滑轮,其安装在每对保持夹具的一个固定夹具上; 至少一个框架滑轮,附接到所述支撑框架; 桥接在保持夹具滑轮和框架滑轮之间并具有沿一个方向拉动的一端并且另一端固定到支撑框架的驱动绳索; 以及拉动驱动绳的驱动源。 利用这种构造,当驱动绳被驱动源拉动时,构成每对保持固定装置的保持固定件被连接成在保持被保持物体的方向上彼此对称地移动,每对保持夹具移动 独立于其他成对的固定装置,并且每对保持固定装置的保持固定装置能够在支撑框架的平面上的直线上或两条平行的直线上彼此相移或相互移动。 多对保持夹具具有接触部件,当物体被保持时接触物体,并且接触部件中的至少一个被设置成使得其能够绕平行于垂直于支撑框架的平面的线旋转 在保持物体时保持与物体的滚动接触。
    • 10. 发明申请
    • ARTICULATED ARM ROBOT, CONTROL METHOD AND CONTROL PROGRAM
    • ARTICULATED ARM ROBOT,CONTROL METHOD AND CONTROL PROGRAM
    • US20130041509A1
    • 2013-02-14
    • US13643278
    • 2011-01-31
    • Fuminori SaitoToru Isobe
    • Fuminori SaitoToru Isobe
    • G06F19/00
    • B25J9/06B25J3/00B25J9/042B25J9/047
    • An articulated arm robot includes a support part capable of extending and contracting upward and downward, a first arm part with one end joined to the support part through a first joint to be rotatable about a yaw axis and having a second joint rotatable about a roll axis between both ends, a second arm part with one end joined to the other end of the first arm part through a third joint to be rotatable about the yaw axis or a pitch axis, an end effector part joined to the other end of the second arm part through a fourth joint to be rotatable about the yaw axis or the pitch axis, and drivers that respectively cause the first to fourth joints to rotate and the support part to extend and contract, and a controller that performs drive control of the drivers of the first to fourth joints by switching the arm between a SCARA mode where the first, second and third arm parts rotate only in a horizontal plane and a perpendicular mode where the second and third arm parts rotate only in a vertical plane.
    • 铰接臂机器人包括能够向上和向下延伸和收缩的支撑部分,第一臂部分,其一端通过第一关节连接到支撑部分,以可绕偏转轴线旋转,并且具有可围绕辊轴线旋转的第二关节 在两端之间,第二臂部分,其一端通过第三关节连接到第一臂部分的另一端,以便围绕偏转轴线或俯仰轴线旋转;端部执行器部分,其连接到第二臂的另一端 部分通过第四关节可围绕偏转轴或俯仰轴线旋转,以及分别使第一至第四关节旋转并且支撑部分延伸和收缩的驱动器,以及控制器,其执行驱动器的驱动控制 第一至第四关节通过在第一,第二和第三臂部分仅在水平面旋转的SCARA模式和第二和第三臂部分仅在垂直方向旋转的垂直模式之间切换臂 校平面。