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1. 发明授权

US08644984B2 Robot programming device for palletizing operation by robot 有权
标题翻译：机器人码垛机器人编程装置
公开(公告)号：US08644984B2
公开(公告)日：2014-02-04
申请号：US12191764
申请日：2008-08-14
申请人： Yoshiharu Nagatsuka , Masahiro Oyamada
发明人： Yoshiharu Nagatsuka , Masahiro Oyamada
IPC分类号： B65G65/00 , G06F19/00 , B25J9/16
CPC分类号： B25J9/1671 , G05B17/02 , G05B19/4069 , G05B2219/32085 , G05B2219/35203 , Y02P90/083 , Y02P90/24
摘要： A robot programming device capable of reducing the operation of a robot in the field required for generating a program for palletizing operation, and shortening a time to generate the palletizing program. The robot programming device includes a storing part for storing three-dimensional models of the plurality kinds of units, a conveyor, a recognition device, a robot and a plurality of pallets; a layout making part for making a layout, in a virtual space, of the three-dimensional models stored in the storing part; a displaying part for displaying the layout made by the layout making part; an information setting part for setting information regarding each component displayed on the displaying part; and a program generating part for generating a palletizing program for the robot based on the layout of the three-dimensional models and the information set by the information setting part.
摘要翻译：一种机器人编程装置，其能够减少生成用于码垛操作的程序所需的领域中的机器人的操作，并且缩短生成码垛程序的时间。机器人编程装置包括用于存储多种单元的三维模型的存储部，输送机，识别装置，机器人和多个托盘; 用于在虚拟空间中布置存储在存储部分中的三维模型的布局制作部分; 用于显示由布局制作部制作的布局的显示部; 信息设置部分，用于设置关于在显示部分上显示的每个组件的信息; 以及用于基于三维模型的布局和由信息设置部分设置的信息来生成用于机器人的码垛程序的程序生成部分。

2. 发明授权

US08369983B2 Fitting apparatus 有权
标题翻译：配件设备
公开(公告)号：US08369983B2
公开(公告)日：2013-02-05
申请号：US12138995
申请日：2008-06-13
申请人： Takashi Sato , Nobuaki Yamaoka
发明人： Takashi Sato , Nobuaki Yamaoka
IPC分类号： G06F7/00
CPC分类号： B25J9/1633 , B25J9/1687 , G05B2219/39529 , G05B2219/40032
摘要： A fitting apparatus includes a robot arm having, at the forward end thereof, a gripper for holding a workpiece, a force detector for detecting a force and moment received by the workpiece held by the gripper, and a controller for controlling an operation of the robot arm. The controller includes a motion command generating unit for generating an operation command to fit two workpieces to each other, and an operation command correcting unit for correcting the operation command so as to correct the position of the gripper in a direction perpendicular to the fitting direction and the orientation of the gripper around an axis perpendicular to the fitting direction until the detected force and moment become less than or equal to a threshold value, based on either maximum values of the force and moment detected by the force detector while the two workpieces are in contact with each other or the force and moment detected by the force detector when the two workpieces first come into contact with each other.
摘要翻译：一种装配装置，包括：机器人臂，其前端具有用于保持工件的夹持器，用于检测由夹持器保持的工件所接收的力和力矩的力检测器，以及用于控制机器人的操作的控制器臂。控制器包括：运动指令生成单元，用于产生用于彼此配合两个工件的操作命令;以及操作指令校正单元，用于校正操作命令，以便在与安装方向垂直的方向上校正夹持器的位置，以及基于在两个工件处于该位置时由力检测器检测到的力和力矩的最大值，所述夹具围绕垂直于装配方向的轴线的取向直到检测到的力和力矩变得小于或等于阈值当两个工件首先接触时，彼此接触或由力检测器检测到的力和力矩。

3. 发明授权

US08350913B2 Calibrating device for calibration and image measurement system comprising calibrating device 有权
标题翻译：用于校准和图像测量系统的校准装置，包括校准装置
公开(公告)号：US08350913B2
公开(公告)日：2013-01-08
申请号：US12631094
申请日：2009-12-04
申请人： Kazunori Ban , Katsutoshi Takizawa , Gang Shen , Keisuke Watanabe
发明人： Kazunori Ban , Katsutoshi Takizawa , Gang Shen , Keisuke Watanabe
IPC分类号： H04N17/00
CPC分类号： B25J9/1692 , G05B2219/37563 , G05B2219/39045 , G06T7/80
摘要： A calibrating device for calibration of an image measurement system. The calibrating device includes a main body having an upper surface, and a characteristic portion, which serves as a benchmark for calibration and is in the form of a recess formed in the upper surface of the main body, wherein the characteristic portion includes a side surface extending in a direction crossing the upper surface, and a bottom surface extending in a direction crossing the side surface, the bottom surface has an optical reflectance lower than an optical reflectance of the upper surface in relation to light identical to each other. This can provide a calibrating device for calibration of an image measurement system, which can detect the characteristic portion on the calibrating device stably, precisely and independent of the illumination conditions, which is less costly and can be easily handled.
摘要翻译：用于校准图像测量系统的校准装置。校准装置包括具有上表面的主体和作为校准的基准的特征部分，并且形成在主体的上表面中的凹部的形式，其中特征部分包括侧表面在与上表面交叉的方向上延伸的底面和与该侧面相交的方向延伸的底面，底面的光反射率低于相对于彼此相同的光的上表面的光反射率。这可以提供用于校准图像测量系统的校准装置，其可以稳定，精确地且独立于照明条件来检测校准装置上的特征部分，其成本较低并且可以容易地处理。

4. 发明授权

US08307732B2 Parallel link robot 有权
标题翻译：平行连杆机器人
公开(公告)号：US08307732B2
公开(公告)日：2012-11-13
申请号：US12837532
申请日：2010-07-16
申请人： Satoshi Kinoshita , Tomoaki Nagayama , Masahiro Yamamoto , Hidenori Kurebayashi , Katsumi Fujimoto , Tokitaka Uemura
发明人： Satoshi Kinoshita , Tomoaki Nagayama , Masahiro Yamamoto , Hidenori Kurebayashi , Katsumi Fujimoto , Tokitaka Uemura
IPC分类号： B25J9/00
CPC分类号： B25J17/0266 , B25J9/0051 , Y10T74/20207 , Y10T74/20305 , Y10T74/20329
摘要： A parallel link robot (10) provided with a base (11), a moving part (12), three links (20a to 20c) coupling the base and the moving part and having respectively single degrees of freedom with respect to the base, and three actuators (13a to 13c) respectively driving the links, each of the links comprised of a drive link (21a to 21c) coupled with the base and two driven links (22a to 22c, 23a to 23c) coupling the drive link and the moving part and parallel to each other, and further provided with a posture changing mechanism (15) which changes a posture of an element (19) attached to the moving part, an additional actuator (13d to 13f) arranged between the two driven links of at least one link in parallel to these driven links, and a power transmission shaft (39) which extends coaxially from the additional actuator and transmits rotational drive force to the posture changing mechanism. Due to this, it is possible to increase the degrees of freedom without reducing the possible region of operation and the acceleration/deceleration performance.
摘要翻译：一种平行连杆机器人（10），其具有底座（11），移动部件（12），将基座与移动部件相连并且相对于基座分别具有单独自由度的三个连杆（20a至20c），以及分别驱动连杆的三个致动器（13a至13c），每个链节包括与基座联接的驱动连杆（21a至21c）和联接驱动连杆的两个从动连杆（22a至22c，23a至23c）和移动并且还设置有改变附接到移动部件的元件（19）的姿势的姿势改变机构（15），设置在两个从动连杆之间的附加致动器（13d至13f）与这些从动链路平行的至少一个连杆，以及与附加致动器同轴地延伸的传动轴（39），并将旋转驱动力传递到姿势改变机构。由此，可以在不减少可能的操作区域和加速/减速性能的情况下增加自由度。

5. 发明授权

US08305016B2 Control device with learning function for electric motors 有权
标题翻译：具有电机学习功能的控制装置
公开(公告)号：US08305016B2
公开(公告)日：2012-11-06
申请号：US12212058
申请日：2008-09-17
申请人： Tadashi Okita , Yukio Toyozawa , Naoto Sonoda
发明人： Tadashi Okita , Yukio Toyozawa , Naoto Sonoda
IPC分类号： H02P1/54
CPC分类号： G05B19/404 , G05B2219/42152 , G05B2219/50227
摘要： A control device for electric motors, capable of precisely moving one object by using two electric motors based on periodically repeated commands. The control device includes a first learning controller for calculating an amount of correction so that a positional deviation of a first electric motor is minimized, and a second learning controller for calculating an amount of correction so that a positional deviation of a second electric motor is minimized. The first and second learning controllers are independent from each other, and configured to minimize the positional deviation of the corresponding electric motor. The parameters set in the learning controllers, each defining the response of learning control of each electric motor, are equal to each other.
摘要翻译：一种用于电动机的控制装置，能够基于周期性重复的命令，通过使用两个电动机来精确地移动一个物体。控制装置包括第一学习控制器，用于计算第一电动机的位置偏差最小化的校正量;以及第二学习控制器，用于计算校正量，使得第二电动机的位置偏差最小化。第一和第二学习控制器彼此独立，并且被配置为使相应的电动机的位置偏差最小化。在学习控制器中设置的每个电动机的学习控制响应的参数彼此相等。

6. 发明授权

US08295975B2 Object picking device 有权
标题翻译：物体拾取装置
公开(公告)号：US08295975B2
公开(公告)日：2012-10-23
申请号：US12475622
申请日：2009-06-01
申请人： Taro Arimatsu , Kazunori Ban , Ichiro Kanno , Keisuke Watanabe
发明人： Taro Arimatsu , Kazunori Ban , Ichiro Kanno , Keisuke Watanabe
IPC分类号： G06F7/00
CPC分类号： B25J9/1697 , G05B2219/40053 , G06T1/0014
摘要： An object picking device, which is inexpensive and capable of speedily and accurately picking one object at a time from a random pile state. A target detecting part of an image processing part processes an image captured by a camera and detects objects. A target selecting part selects an object among the detected objects based on a certain rule. A view line direction calculating part calculates the direction of a view line extending to the selected object. A target position estimating part estimates the position including the height of the selected object based on size information of the object in the image. Then, a grip correction calculating part calculates an amount of correction of the movement of a robot so as to grip the object by using the robot.
摘要翻译：一种物品拾取装置，其价格便宜并且能够一次从随机堆积状态快速且精确地拾取一个物体。图像处理部分的目标检测部分处理由相机拍摄的图像并检测对象。目标选择部分基于某一规则来选择检测对象中的对象。视线方向计算部分计算延伸到所选对象的视线的方向。目标位置估计部基于图像中的对象的大小信息，来估计包含所选对象的高度的位置。然后，把手校正计算部分计算机器人的运动的校正量，以便通过使用机器人来夹持物体。

7. 发明授权

US08259595B2 Method and system for diagnosing external signal input/output units 有权
标题翻译：用于诊断外部信号输入/输出单元的方法和系统
公开(公告)号：US08259595B2
公开(公告)日：2012-09-04
申请号：US12000424
申请日：2007-12-12
申请人： Kouji Hada , Hiroshige Ando , Hiroshi Noda
发明人： Kouji Hada , Hiroshige Ando , Hiroshi Noda
IPC分类号： G01R31/08
CPC分类号： G05B19/0425 , G05B19/406 , G05B2219/21163 , G05B2219/21168 , G05B2219/24036
摘要： Each of the host transmitting/receiving blocks of a plurality of I/O units connected to a CNC reads the destination specification data and a diagnostic result bit each time the host transmitting/receiving block receives a signal packet from the CNC. When the diagnostic result bit indicates the execution of a diagnosis, the signal packet contains diagnostic DO data, and the relevant DO signal output terminal is short-circuited to the relevant DI signal input terminal to form a diagnostic loop. The diagnostic packet signal passes through the diagnostic loop, the external signal transmitting/receiving block, and the host transmitting/receiving block and returns to the CNC through the host transmitting/receiving block of an adjacent I/O unit closer to the CNC. The CNC analyzes the packet signal to determine whether each of the I/O units is operating normally or not.
摘要翻译：连接到CNC的多个I / O单元的主机发送/接收块中的每一个在每次主机发送/接收块从CNC接收到信号包时都会读取目的地指定数据和诊断结果位。当诊断结果位指示执行诊断时，信号包包含诊断DO数据，相关的DO信号输出端子与相关的DI信号输入端短路，形成诊断回路。诊断分组信号通过诊断回路，外部信号发送/接收块和主机发送/接收块，并通过靠近CNC的相邻I / O单元的主机发送/接收块返回到CNC。 CNC分析分组信号以确定每个I / O单元是否正常运行。

8. 发明授权

US08232758B2 Controller of electric motor having function of estimating inertia and friction simultaneously 有权
标题翻译：具有同时估计惯性和摩擦功能的电动机控制器
公开(公告)号：US08232758B2
公开(公告)日：2012-07-31
申请号：US12822269
申请日：2010-06-24
申请人： Tadashi Okita , Yukio Toyozawa , Naoto Sonoda
发明人： Tadashi Okita , Yukio Toyozawa , Naoto Sonoda
IPC分类号： G05B1/06
CPC分类号： H02P23/14 , G05B19/404 , G05B2219/41163
摘要： A controller estimates Coulomb friction itself together with inertia and viscous friction, and reduces the influence of the Coulomb friction on the accuracy of the estimated inertia. In addition, the controller estimates inertia, viscous friction and Coulomb friction simultaneously with sequential adaptation in which a Fourier transformer is not used but an inverse transfer function model is used in order to minimize the estimated error. Data sampled for a predetermined time need not be accumulated, as a result, a large amount of data memory is unnecessary.
摘要翻译：控制器估计库仑摩擦本身以及惯性和粘性摩擦，并减少库仑摩擦对估计惯性精度的影响。另外，控制器在不使用傅立叶变换器的情况下估计惯性，粘性摩擦和库仑摩擦，其中使用傅里叶变换器，但是使用逆传递函数模型以便最小化估计的误差。在预定时间内采样的数据不需要累积，结果是不需要大量的数据存储器。

9. 发明授权

US08224478B2 Numerical controller 有权
标题翻译：数控机
公开(公告)号：US08224478B2
公开(公告)日：2012-07-17
申请号：US11585282
申请日：2006-10-24
申请人： Kentaro Fujibayashi , Masahiko Hosokawa , Shuji Ogawa , Masahiko Miyake
发明人： Kentaro Fujibayashi , Masahiko Hosokawa , Shuji Ogawa , Masahiko Miyake
IPC分类号： G06F19/00
CPC分类号： G05B19/4148 , G05B2219/42124 , G05B2219/42126
摘要： A numerical controller that shortens time required for transferring control of a spindle between control systems. When the spindle control command is included, the command is carried out and information on designation of the spindle, commanded rotational velocity and direction is stored in a case of a velocity control mode, and information on designation of the spindle, commanded rotational position and velocity is stored in a case of a position control mode. When a command to cancel the control of spindle is read, the control of the designated spindle and also the stored information on the control status of the spindle are transferred to the other control system. A command to acquire the control of the spindle is read in a machining program for the other control system, the control of the designated spindle is started by the other control system according to the transferred control status of the spindle.
摘要翻译：一种数字控制器，缩短了在控制系统之间转移主轴控制所需的时间。当包括主轴控制命令时，执行命令，并且在速度控制模式的情况下存储关于主轴指定旋转速度和方向的信息，以及关于主轴指定的旋转位置和速度的信息存储在位置控制模式的情况下。读取取消主轴控制的命令时，指定主轴的控制以及主轴控制状态的存储信息被传送到其他控制系统。在另一个控制系统的加工程序中读取获取主轴控制的命令，根据主轴的传送控制状态，由另一个控制系统启动指定主轴的控制。

10. 发明授权

US08160737B2 Machine tool with numerical controller and on-machine measuring device 有权
标题翻译：带数字控制器和机上测量装置的机床
公开(公告)号：US08160737B2
公开(公告)日：2012-04-17
申请号：US12411437
申请日：2009-03-26
申请人： Yonpyo Hon , Kenzo Ebihara , Akira Yamamoto , Masayuki Hamura
发明人： Yonpyo Hon , Kenzo Ebihara , Akira Yamamoto , Masayuki Hamura
IPC分类号： G05B19/18
CPC分类号： B23Q17/22 , G01B5/008 , Y02P90/265
摘要： A machine tool is fitted with a position detector for detecting a position of a moving axis of the machine tool and an on-machine measuring device for measurement on the machine tool. An axial position detection signal output from the position detector and a measurement signal output from the on-machine measuring device are received through interfaces by a numerical controller that controls the machine tool. These interfaces are designed so that the numerical controller receives the axial position detection signal and the measurement signal with the same timing.
摘要翻译：机床上装有用于检测机床的移动轴的位置的位置检测器和用于在机床上进行测量的机上测量装置。从位置检测器输出的轴向位置检测信号和从机上测量装置输出的测量信号通过控制机床的数值控制器的接口接收。这些接口被设计成使得数字控制器以相同的定时接收轴向位置检测信号和测量信号。

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