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    • 4. 发明授权
    • Position teaching method for a robot
    • 机器人的位置教学方法
    • US5479078A
    • 1995-12-26
    • US244862
    • 1994-06-16
    • Tatsuo KarakamaYoshitaka IkedaAtsushi Watanabe
    • Tatsuo KarakamaYoshitaka IkedaAtsushi Watanabe
    • B25J9/22B25J9/18G05B19/42G05B19/425G05B19/18
    • G05B19/425G05B2219/36043
    • A robot teaching position method for easily modifying an original position of one of a plurality of taught points arranged on a straight line to a modified position moved a distance along the straight line from the original position. An operator selects one of the plurality of taught points, inputs a distance of movement along the straight line from the one taught point to the modified point, and selects two arbitrary taught points arranged on the straight line, using a display device attached to a manual data input device attached to a robot controller. The modified position is determined based on the inputted first taught point, the distance, and the second and third taught points. A robot performs an operation based on the modified position.
    • PCT No.PCT / JP93 / 01502 Sec。 371日期:1994年6月16日 102(e)日期1994年6月16日PCT提交1993年10月19日PCT公布。 第WO94 / 09422号公报 日期1994年04月28日。一种用于容易地将布置在直线上的多个教导点中的一个教导点的原始位置修改到修改位置的机器人教学位置方法,其沿着直线从原始位置移动距离。 操作员选择多个教导点中的一个,输入沿着直线从一个教导点到修改点的移动距离,并且使用附接到手册的显示装置选择布置在直线上的两个任意教导点 附加到机器人控制器的数据输入设备。 基于输入的第一教导点,距离以及第二和第三教导点来确定修改位置。 机器人基于修改位置执行操作。
    • 6. 发明申请
    • Controller of work piece-conveying robot
    • 工件输送机器人控制器
    • US20090112362A1
    • 2009-04-30
    • US12230858
    • 2008-09-05
    • Hiroji NishiYoshitaka Ikeda
    • Hiroji NishiYoshitaka Ikeda
    • G05B19/00
    • B25J9/1674G05B19/425G05B2219/39442G05B2219/39445Y02P90/083
    • A controller for work piece-conveying robot having: a coordinate system storage section for storing one or more manual jog feed coordinate systems; a working area setting section for setting to a machine tool a working area to which the manual jog feed coordinate system is assigned; a hand position obtaining section for obtaining a current position of the robot hand at each specified sampling period; a determination section for determining whether or not the current position of the robot hand obtained by the hand position obtaining section is within the working area set by the working area setting section; and a coordinate system switching section for switching a present manual jog feed coordinate system to the manual jog feed coordinate system assigned to the working area if it is determined by the determination section that the current position of the robot hand is within the working area.
    • 一种用于工件输送机器人的控制器,具有:用于存储一个或多个手动点动进给坐标系的坐标系存储部分; 工作区域设定部,其向机床设定分配了手动点动供给坐标系的工作区域; 指针位置获取部分,用于在每个指定的采样周期获得机器人手的当前位置; 确定部,用于确定由所述手位置取得部获得的所述机器人手的当前位置是否在由所述工作区域设定部设定的工作区域内; 以及坐标系切换部分,用于如果由所述确定部分确定所述机器人手的当前位置在所述工作区域内,则将当前手动送进坐标系切换到分配给所述工作区域的手动点动给送坐标系。
    • 8. 发明授权
    • Control method in multi-layer welding
    • 多层焊接控制方法
    • US6023044A
    • 2000-02-08
    • US981818
    • 1997-12-12
    • Tetsuya KosakaYoshitaka Ikeda
    • Tetsuya KosakaYoshitaka Ikeda
    • B25J9/22B23K9/095B23K9/127G05B13/02B23K9/12
    • B23K9/025B23K9/0956B23K9/1274
    • In a multi-layer welding, weld line and a gap width of workpieces (A, B) to be welded are detected by a laser sensor mounted on a robot, during a welding for a first layer, whereby, a welding torch mounted on the robot is made to follow the weld line and welding conditions are adjusted in accordance with the detected gap width. The detected gap width is stored in the storage means together with the weld line data. Then, weldings for a second and subsequent layers are performed by using the stored data in such a manner that the welding torch is made to follow the weld line, and the welding conditions are adjusted in accordance with the gap width.
    • PCT No.PCT / JP97 / 01288 Sec。 371日期1997年12月12日 102(e)日期1997年12月12日PCT提交1997年4月14日PCT公布。 第WO97 / 38819号公报 日期:1997年10月23日在多层焊接中,在第一层的焊接期间,通过安装在机器人上的激光传感器检测待焊接的工件(A,B)的焊接线和间隙宽度, 安装在机器人上的焊炬使焊缝跟随焊接线,并根据检测到的间隙宽度调整焊接条件。 检测到的间隙宽度与焊接线数据一起存储在存储装置中。 然后,通过使用存储的数据,使得焊炬进行跟随焊接线的方式进行第二层和后续层的焊接,并且根据间隙宽度调整焊接条件。
    • 9. 发明授权
    • Method and apparatus for recognizing hand-written characters using a
weighting dictionary
    • 使用加权词典识别手写字符的方法和装置
    • US5812697A
    • 1998-09-22
    • US800374
    • 1997-02-14
    • Yoshifumi SakaiYoshitaka Ikeda
    • Yoshifumi SakaiYoshitaka Ikeda
    • G06K9/22G06K9/62G06K9/18
    • G06K9/6255G06K9/00429
    • A method of recognizing handwritten characters. A recognition dictionary is prepared including a plurality of characters and corresponding character clusters. A weighting dictionary is prepared including weighting clusters and corresponding object characters. All segmentation position candidates are selected by segmenting handwritten character ink data. Each of the position candidates is separated in a direction corresponding to a direction in which the handwritten character ink data is inputted from a leading position of the ink data and satisfying a predetermined condition. A character candidate is selected corresponding to each segment of the ink data segmented at the segmentation position candidates by referring to the recognition dictionary and calculating a distance value between each of the segments of the ink data and a selected one of the character clusters. The weighting dictionary is referred to and the distance value calculated for one of the character candidates is weighted if one of the weighting clusters included in the weighting dictionary is similar to any one of the segments of the ink data segmented at the segmentation position candidates and if the object character of the one weighting cluster coincides with the one of the character candidates. A rank of the character candidates is determined in accordance with the weighted distance values thereof.
    • 识别手写字符的方法。 准备包括多个字符和对应的字符簇的识别字典。 准备加权字典,包括权重集和相应的对象字符。 通过分割手写字符墨水数据来选择所有分割位置候选。 每个位置候选在与从墨水数据的前导位置输入手写字符墨水数据的方向相对应的方向上分离并满足预定条件。 通过参考识别字典并计算墨水数据的每个片段和所选择的一个字符簇之间的距离值,对应于在分割位置候选中分割的墨水数据的每个片段来选择字符候选。 参考加权词典,并且如果包括在加权词典中的加权集群中的一个类似于在分割位置候选分割的墨水数据的片段中的任何一个,则对于一个候选字符计算的距离值被加权,并且如果 一个加权簇的对象字符与字符候选中的一个重合。 根据其加权距离值来确定字符候选者的等级。