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1. 发明授权

US10081109B2 Haptic teach pendant 有权
公开(公告)号：US10081109B2
公开(公告)日：2018-09-25
申请号：US14018914
申请日：2013-09-05
申请人： Fanuc America Corporation
发明人： Gary Kowalski , Matthew F. Denio , H. Dean McGee
IPC分类号： B25J13/06 , B25J9/16 , G05B19/409
CPC分类号： B25J13/06 , B25J9/161 , G05B19/409 , G05B2219/36162 , G05B2219/40132
摘要： An apparatus for providing haptic feedback to a teach pendant including a teach pendant having a housing and a processor disposed therein. The processor is in signal communication with a robot controller and is configured to monitor and control a robot. At least one haptic device is disposed on the teach pendant. The haptic device is in signal communication with the processor and configured for providing haptic feedback through the teach pendant to a user upon the occurrence of a haptic event.

2. 发明授权

US09535416B2 Robot teach pendant unit 有权
标题翻译：机器人教导吊坠单元
公开(公告)号：US09535416B2
公开(公告)日：2017-01-03
申请号：US13119435
申请日：2009-10-21
申请人： Anders O. Ekelund , Steve Murphy
发明人： Anders O. Ekelund , Steve Murphy
IPC分类号： G05B19/409
CPC分类号： G05B19/409 , G05B2219/36162 , G05B2219/39443 , G05B2219/40099
摘要： The present invention relates to a robot teach pendant unit (2) coupled to a programmable robot controller (1), the teach pendant comprising a graphical screen (6), and a native user interface program (9) which creates a graphical user interface and displays the user interface on the graphical screen. The robot teach pendant further comprises a processing component (10) capable of receiving an application including one or more animated graphical objects, instructions for displaying the animated objects on the graphical screen, information on the behavior of the animated graphical objects, and instructions on how the user can interact with the animated graphical objects, and the processing component is configured to display the animated graphical objects on the screen and to set up a sandbox providing an isolation mechanism for safely running the application without disturbing the execution of normal teach pendant operations, and said user interface program is programmed to host directly the processing component and instructing it to load and display the application containing the animated graphical objects.
摘要翻译：本发明涉及一种耦合到可编程机器人控制器（1）的机器人示教装置（2），所述示教装置包括图形屏幕（6）和原始用户界面程序（9），其创建图形用户界面和在图形屏幕上显示用户界面。机器人教导装置还包括能够接收包括一个或多个动画图形对象的应用的处理组件（10），用于在图形屏幕上显示动画对象的指令，关于动画图形对象的行为的信息以及关于如何用户可以与动画图形对象交互，并且处理组件被配置为在屏幕上显示动画图形对象，并且设置沙盒，提供用于安全地运行应用程序的隔离机制，而不会干扰正常教学吊坠操作的执行，并且所述用户界面程序被编程为直接托管处理组件并指示其加载和显示包含动画图形对象的应用。

3. 发明授权

US08412379B2 Robot system 有权
标题翻译：机器人系统
公开(公告)号：US08412379B2
公开(公告)日：2013-04-02
申请号：US12616328
申请日：2009-11-11
申请人： Gian Paolo Gerio , Luca Lachello , Fabrizio Romanelli , Bruno Cicciarello , Michele Fraccaroli , Lorenzo Molinari Tosatti , Diego Parazzoli , Ettore Scari , Matteo Danesi
发明人： Gian Paolo Gerio , Luca Lachello , Fabrizio Romanelli , Bruno Cicciarello , Michele Fraccaroli , Lorenzo Molinari Tosatti , Diego Parazzoli , Ettore Scari , Matteo Danesi
IPC分类号： G06F19/00
CPC分类号： G05B19/425 , B25J13/06 , G05B2219/33192 , G05B2219/36162
摘要： A robot system having a manual guide device connected to the robot in wireless data communication with a portable terminal for use in programming the robot.
摘要翻译：一种机器人系统，其具有连接到机器人的手动引导装置，与便携式终端进行无线数据通信，用于对机器人进行编程。

4. 发明申请

US20120130539A1 ROBOT CONTROL SYSTEM AND CONTROL METHOD USING THE SAME 审中-公开
标题翻译：机器人控制系统及其控制方法
公开(公告)号：US20120130539A1
公开(公告)日：2012-05-24
申请号：US13084383
申请日：2011-04-11
申请人： Do Ik KIM , Young Su CHA , Eun Ho SEO , Bum Jae YOU
发明人： Do Ik KIM , Young Su CHA , Eun Ho SEO , Bum Jae YOU
IPC分类号： G05B19/418 , G06F19/00
CPC分类号： B25J9/1689 , G05B19/409 , G05B2219/36159 , G05B2219/36162 , G05B2219/40195
摘要： Provided is a robot control system including a robot which receives a final operation signal computed by a mobile terminal and includes one or more driving machines operated according to the received final operation signal, and the mobile terminal which receives a status signal of the robot and controls the robot by generating the final operation signal for directly driving the one or more driving machines included in the robot.
摘要翻译：提供了一种机器人控制系统，其包括：机器人，其接收由移动终端计算的最终操作信号，并且包括根据接收到的最终操作信号操作的一个或多个驱动机器;以及接收机器人的状态信号并控制的移动终端通过产生用于直接驱动机器人中包括的一个或多个驱动机器的最终操作信号来实现机器人。

5. 发明授权

US08046104B2 Industrial robot system 有权
标题翻译：工业机器人系统
公开(公告)号：US08046104B2
公开(公告)日：2011-10-25
申请号：US11667067
申请日：2005-10-21
申请人： Ralph Sjöberg
发明人： Ralph Sjöberg
IPC分类号： G06F21/00
CPC分类号： B25J9/1674 , B25J13/06 , B25J19/06 , G01S5/14 , G01S13/878 , G05B2219/33008 , G05B2219/36162 , G05B2219/39447 , G05B2219/40202
摘要： An industrial robot system including at least one industrial robot including a manipulator and a control unit for controlling the manipulator, a portable operator control device for teaching and manually operating a robot. The portable operator control device includes safety equipment including an enabling device, which upon activation enables manual operation of the robot by the portable operator control device. The portable operator control device is adapted for wireless communication with the control unit, and a detecting unit that detects when the portable operator control device enters an area defined in the vicinity of the manipulator. The robot includes an enabling function which upon activation enables the enabling device of the portable operator control device, and upon deactivation disables the enabling device. The robot system is adapted to automatically activate the enabling function of the robot upon detecting that the portable operator control device enters the defined area.
摘要翻译：一种工业机器人系统，包括至少一个工业机器人，其包括操纵器和用于控制操纵器的控制单元，用于教导和手动操作机器人的便携式操作员控制装置。便携式操作员控制装置包括安全设备，其包括使能装置，其在启动时能够由便携式操作员控制装置手动操作机器人。便携式操作员控制装置适于与控制单元的无线通信，以及检测单元，其检测便携式操作员控制装置何时进入在机械手附近定义的区域。机器人包括使能功能，其在启动时使得便携式操作员控制装置的使能装置能够在停用时禁用启动装置。机器人系统适于在检测到便携式操作员控制装置进入限定区域时自动启动机器人的使能功能。

6. 发明授权

US4148203A Computer-controlled press brake 失效
标题翻译：计算机控制的压力制动器
公开(公告)号：US4148203A
公开(公告)日：1979-04-10
申请号：US840315
申请日：1977-10-07
申请人： Assadollah Farazandeh , Buford R. Everett
发明人： Assadollah Farazandeh , Buford R. Everett
IPC分类号： B21D5/02 , B30B15/24 , G05B19/23 , G05B19/4093 , G05B19/414
CPC分类号： G05B19/232 , B21D5/004 , B21D5/02 , B30B15/24 , G05B19/4093 , G05B19/4142 , G05B2219/34215 , G05B2219/35556 , G05B2219/36162 , G05B2219/41092 , G05B2219/41309 , G05B2219/42318 , Y02P90/265
摘要： A computer-controlled hydraulic press brake includes an actuator and control system which automatically provides variable pre-programmable ram opening and closing strokes. A microprocessor within the control system responds to stroke parameters entered by the operator and an encoder-generated signal indicative of ram position to generate a velocity command signal defining a velocity profile for positioning the ram to the stroke limits. Closed-loop servo systems associated with each ram cylinder respond to the velocity command signal to cause movement of the ram in accordance with the velocity profile. A ram leveling circuit responsive to individual position sensors associated with respective sides of the ram compensates for ram tilt by simultaneously applying complimentary correction signals to the respective servo systems. A second velocity profile may be generated in response to stored parameters to position a back gauge concurrently with ram movement by means of a second motor drive servo system.
摘要翻译：计算机控制的液压式制动器包括致动器和控制系统，其自动地提供可变的可预先编程的开启和关闭冲程。控制系统内的微处理器响应由操作员输入的冲程参数和指示压头位置的编码器产生的信号，以产生速度指令信号，该速度指令信号限定将冲头定位到行程极限的速度分布。与每个压头气缸相关联的闭环伺服系统响应于速度指令信号，以根据速度曲线引起压头的移动。响应于与冲头的相应侧面相关联的各个位置传感器的冲击平衡电路通过同时向相应的伺服系统施加补偿校正信号来补偿冲头倾斜。可以响应于存储的参数产生第二速度分布，以通过第二电动机驱动伺服系统与压头运动同时定位后测量器。

7. 发明申请

US20180197112A1 MACHINE LEARNING DEVICE THAT LEARNS SHOCKS TO TEACHING DEVICE, SHOCK PREVENTION SYSTEM OF TEACHING DEVICE, AND MACHINE LEARNING METHOD 审中-公开
公开(公告)号：US20180197112A1
公开(公告)日：2018-07-12
申请号：US15865920
申请日：2018-01-09
申请人： FANUC CORPORATION
发明人： Yuusuke SUGIYAMA
IPC分类号： G06N99/00 , B25J9/16
CPC分类号： G06N20/00 , B25J9/163 , G05B19/406 , G05B19/409 , G05B2219/33098 , G05B2219/33321 , G05B2219/36162 , G05B2219/39443
摘要： A machine learning device, which learns shocks to a teaching device, includes a state observation unit which observes data based on an inclination of the teaching device or a present position of the teaching device; a label obtaining unit which obtains a label based on a shock received by the teaching device; and a learning unit which generates a learning model based on an output of the state observation unit and an output of the label obtaining unit.

8. 发明申请

US20160271792A1 ROBOT OPERATION APPARATUS AND ROBOT OPERATION PROGRAM PRODUCT 有权
标题翻译：机器人操作装置和机器人操作程序产品
公开(公告)号：US20160271792A1
公开(公告)日：2016-09-22
申请号：US15075699
申请日：2016-03-21
申请人： DENSO WAVE INCORPORATED
发明人： Daisuke YUI , Motoki KANADA , Atsuko SUGANO , Hirota TOUMA
IPC分类号： B25J9/16 , B25J13/00 , G06F3/041 , G06F3/0484 , G06F3/0488 , G06F3/0486
CPC分类号： G06F3/04847 , B25J9/1656 , B25J13/06 , G05B19/409 , G05B2219/36159 , G05B2219/36162 , G05B2219/36168 , G06F3/0416 , G06F3/0486 , G06F3/0488
摘要： A robot operation apparatus comprising: a touch panel that receives input of a touch operation and a movement operation from a user; an operation detector that detects the touch operation and the movement operation to the touch panel; and a behavior command generator that generates a behavior command operating a robot based on a detection result of the operation detector. The behavior command generator performs a behavior speed determination process that determines a behavior speed of the robot based on an operation speed of the movement operation, when the operation detector detects the movement operation to an operation graphic provided on the touch panel.
摘要翻译：一种机器人操作装置，包括：触摸面板，其接收来自用户的触摸操作和移动操作的输入; 操作检测器，其检测对触摸面板的触摸操作和移动操作; 以及基于操作检测器的检测结果生成操作机器人的行为命令的行为命令生成器。当操作检测器检测到对设置在触摸面板上的操作图形的移动操作时，行为指令发生器执行行为速度确定处理，其基于移动操作的操作速度来确定机器人的行为速度。

9. 发明申请

US20160031077A1 ROBOT CONTROLLER HAVING DETACHABLE TEACHING PENDANT 有权
标题翻译：具有可拆卸教学吊坠的机器人控制器
公开(公告)号：US20160031077A1
公开(公告)日：2016-02-04
申请号：US14810964
申请日：2015-07-28
申请人： FANUC CORPORATION
发明人： Gou Inaba , Tomoyuki Yamamoto
IPC分类号： B25J9/00 , B25J9/16
CPC分类号： B25J9/0081 , B25J9/1674 , B25J13/06 , G05B19/409 , G05B2219/36162 , G05B2219/50198 , Y10S901/03
摘要： A robot controller for ensuring safety of an operator, which is capable of reducing operational cost by avoiding unnecessary emergency stop of a robot. A teaching pendant has an emergency stop button for interrupting drive power for the robot, and a main body of the controller has a signal part which receives an emergency stop signal from the teaching pendant when the emergency stop button is pushed, and a power interrupting part which interrupts the drive power for the robot when the signal part receives the emergency stop signal under a predetermined condition. Until a first predetermined period of time has passed after a connection/disconnection switch is operated, the power interrupting part does not interrupt the drive power when a connection-recognition signal representing that the teaching pendant is connected to the main body is not generated, even when the emergency stop signal is input from the teaching pendant.
摘要翻译：一种用于确保操作者的安全性的机器人控制器，其能够通过避免机器人的不必要的紧急停止而降低操作成本。示教器具有用于中断机器人的驱动力的紧急停止按钮，并且控制器的主体具有信号部分，当按下紧急停止按钮时，该信号部分接收来自示教器的紧急停止信号，以及电源中断部分当信号部分在预定条件下接收到紧急停止信号时，其中断机器人的驱动力。直到在连接/断开开关被操作之后第一个预定时间段已经过去，当表示示教器连接到主体的连接识别信号没有产生时，电力中断部分不会中断驱动电力，甚至当从示教器输入紧急停止信号时。

10. 发明申请

US20110190938A1 Robot teach pendant unit 有权
标题翻译：机器人教导吊坠单元
公开(公告)号：US20110190938A1
公开(公告)日：2011-08-04
申请号：US13119435
申请日：2009-10-21
申请人： Anders O. Ekelund , Steve Murphy
发明人： Anders O. Ekelund , Steve Murphy
IPC分类号： G05B19/409
CPC分类号： G05B19/409 , G05B2219/36162 , G05B2219/39443 , G05B2219/40099
摘要： The present invention relates to a robot teach pendant unit (2) coupled to a programmable robot controller (1), the teach pendant comprising a graphical screen (6), and a native user interface program (9) which creates a graphical user interface and displays the user interface on the graphical screen. The robot teach pendant further comprises a processing component (10) capable of receiving an application including one or more animated graphical objects, instructions for displaying the animated objects on the graphical screen, information on the behavior of the animated graphical objects, and instructions on how the user can interact with the animated graphical objects, and the processing component is configured to display the animated graphical objects on the screen and to set up a sandbox providing an isolation mechanism for safely running the application without disturbing the execution of normal teach pendant operations, and said user interface program is programmed to host directly the processing component and instructing it to load and display the application containing the animated graphical objects.
摘要翻译：本发明涉及一种耦合到可编程机器人控制器（1）的机器人示教装置（2），所述示教装置包括图形屏幕（6）和原始用户界面程序（9），其创建图形用户界面和在图形屏幕上显示用户界面。机器人教导装置还包括能够接收包括一个或多个动画图形对象的应用的处理组件（10），用于在图形屏幕上显示动画对象的指令，关于动画图形对象的行为的信息以及关于如何用户可以与动画图形对象交互，并且处理组件被配置为在屏幕上显示动画图形对象，并且设置沙盒，提供用于安全地运行应用程序的隔离机制，而不会干扰正常教学吊坠操作的执行，并且所述用户界面程序被编程为直接托管处理组件并指示其加载和显示包含动画图形对象的应用。

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