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1. 发明授权

CN104608114B 机器人系统及被加工物的制造方法有权
公开(公告)号：CN104608114B
公开(公告)日：2017-04-12
申请号：CN201410599393.2
申请日：2014-10-30
申请人：株式会社安川电机
发明人：冈久学 , 中仓雅美 , 园田哲平
IPC分类号： B25J9/00 , B21D39/02
CPC分类号： B21B31/16 , B21B37/58 , B21D5/16 , B21D19/043 , B21D39/021 , B21D39/023 , B25J9/1633 , B25J9/1679 , G05B2219/39329 , G05B2219/40052 , Y10S901/02 , Y10S901/15 , Y10S901/41 , Y10T29/49908
摘要：本发明提供一种能高质量且容易地实施加压加工的机器人系统及被加工物的制造方法。本发明的一实施方式的机器人系统具有末端执行器、机器人臂和控制部。上述末端执行器包括加压辊及朝向被加压面收放该加压辊的直动机构。上述机器人臂用于支承上述末端执行器。上述控制部以通过上述加压辊赋予上述被加压面的加压力大致恒定的方式，控制上述直动机构对上述加压辊的收放。

2. 发明公开

CN104608114A 机器人系统及被加工物的制造方法有权
公开(公告)号：CN104608114A
公开(公告)日：2015-05-13
申请号：CN201410599393.2
申请日：2014-10-30
申请人：株式会社安川电机
发明人：冈久学 , 中仓雅美 , 园田哲平
IPC分类号： B25J9/00 , B21D39/02
CPC分类号： B21B31/16 , B21B37/58 , B21D5/16 , B21D19/043 , B21D39/021 , B21D39/023 , B25J9/1633 , B25J9/1679 , G05B2219/39329 , G05B2219/40052 , Y10S901/02 , Y10S901/15 , Y10S901/41 , Y10T29/49908
摘要：本发明提供一种能高质量且容易地实施加压加工的机器人系统及被加工物的制造方法。本发明的一实施方式的机器人系统具有末端执行器、机器人臂和控制部。上述末端执行器包括加压辊及朝向被加压面收放该加压辊的直动机构。上述机器人臂用于支承上述末端执行器。上述控制部以通过上述加压辊赋予上述被加压面的加压力大致恒定的方式，控制上述直动机构对上述加压辊的收放。

3. 发明申请

US20160288327A1 ROBOT CONTROL APPARATUS, ROBOT SYSTEM, AND ROBOT CONTROL METHOD 有权
标题翻译：机器人控制装置，机器人系统和机器人控制方法
公开(公告)号：US20160288327A1
公开(公告)日：2016-10-06
申请号：US15072663
申请日：2016-03-17
申请人： Seiko Epson Corporation
发明人： Masaki MOTOYOSHI
IPC分类号： B25J9/16
CPC分类号： B25J9/1633 , B25J9/1653 , B25J13/085 , G05B19/231 , G05B19/251 , G05B19/291 , G05B19/311 , G05B19/39 , G05B19/40 , G05B2219/39318 , G05B2219/39321 , G05B2219/39322 , G05B2219/39329 , G05B2219/39332 , G05B2219/39343 , G05B2219/41021
摘要： In order to stabilize control of a driving section, a robot control apparatus includes a control section that acquires a driving position of the driving section that drives a robot and an operation force that is a force operating on the robot, and performs first control of the driving section based on the driving position and second control of the driving section based on the operation force; and a changing section that changes a size of servo stiffness of the robot that is realized by the control of the control section.
摘要翻译：为了稳定驱动部的控制，机器人控制装置包括：控制部，其获取驱动机器人的驱动部的驱动位置和作为对机器人进行动作的力的操作力，并进行第基于所述操作力，基于所述驱动部的驱动位置和第二控制来驱动所述驱动部; 以及变更部，其改变通过控制部的控制而实现的机器人的伺服刚度的大小。

4. 发明申请

US20140288703A1 ROBOTICS APPARATUS, ROBOT CONTROL METHOD, PROGRAM, AND RECORDING MEDIUM 有权
标题翻译：机器人装置，机器人控制方法，程序和记录介质
公开(公告)号：US20140288703A1
公开(公告)日：2014-09-25
申请号：US14212842
申请日：2014-03-14
申请人： CANON KABUSHIKI KAISHA
发明人： Kiyoshi Takagi
IPC分类号： B25J9/16
CPC分类号： B25J9/1633 , G05B2219/39201 , G05B2219/39329 , Y10S901/02
摘要： The robotics apparatus includes an f1-actuator for driving a first link, an f2-actuator for driving a second link, an actuator for simultaneously driving both links, and a CPU for controlling those actuators. The CPU sets a driving-force command value to an e3-actuator to a predetermined set value. Moreover, the CPU calculates a driving-force command value to the f1-actuator based on the driving-force command value and a target joint angle for a first joint. The CPU calculates a driving-force command value to the f2-actuator and a target joint angle for a second joint. It achieves a control for allowing a distal end of a second link to track a target trajectory and stiffness control at the distal end of the second link with a smaller number of driving sources than that of a conventional 3-pair 6-muscle manipulator.
摘要翻译：机器人装置包括用于驱动第一连杆的f1致动器，用于驱动第二连杆的f2致动器，用于同时驱动两个连杆的致动器和用于控制这些致动器的CPU。 CPU将e3致动器的驱动力指令值设定为规定的设定值。此外，CPU基于第一关节的驱动力指令值和目标关节角度，计算对f1致动器的驱动力指令值。 CPU计算第二关节的f2致动器的驱动力指令值和目标关节角度。它实现了一种控制，其允许第二连杆的远端以比常规3对6肌肉操纵器的驱动源少的数量的驱动源跟踪第二连杆的远端处的目标轨迹和刚度控制。

5. 发明申请

US20150121983A1 ROBOT SYSTEM AND METHOD FOR PRODUCING TO-BE-PROCESSED MATERIAL 有权
标题翻译：用于生产待加工材料的机器人系统和方法
公开(公告)号：US20150121983A1
公开(公告)日：2015-05-07
申请号：US14529209
申请日：2014-10-31
申请人： KABUSHIKI KAISHA YASKAWA DENKI
发明人： Manabu OKAHISA , Masami NAKAKURA , Teppei SONODA
IPC分类号： B21B31/16
CPC分类号： B21B31/16 , B21B37/58 , B21D5/16 , B21D19/043 , B21D39/021 , B21D39/023 , B25J9/1633 , B25J9/1679 , G05B2219/39329 , G05B2219/40052 , Y10S901/02 , Y10S901/15 , Y10S901/41 , Y10T29/49908
摘要： A robot system includes an end effector, a robot arm, and a controller. The end effector includes a pressure roller and a linear motion mechanism. The linear motion mechanism is configured to move the pressure roller with respect to a pressed surface. The robot arm is configured to support the end effector. The controller is configured to control the linear motion mechanism to move the pressure roller to make a pressing force of the pressure roller against the pressed surface approximately uniform.
摘要翻译：机器人系统包括端部执行器，机器人臂和控制器。末端执行器包括压力辊和直线运动机构。线性运动机构构造成相对于压制表面移动压力辊。机器人臂构造成支撑端部执行器。控制器构造成控制直线运动机构以移动压力辊，使压力辊抵抗压制表面的按压力大致均匀。

6. 发明公开

EP2868403A1 Robot system and method for producing to-be-processed material 审中-公开
标题翻译：机器人系统和生产待处理材料的方法
公开(公告)号：EP2868403A1
公开(公告)日：2015-05-06
申请号：EP14188736.4
申请日：2014-10-14
申请人： Kabushiki Kaisha Yaskawa Denki
发明人： Okahisa, Manabu , Nakakura, Masami , Sonoda, Teppei
IPC分类号： B21D39/02 , B25J9/16
CPC分类号： B21B31/16 , B21B37/58 , B21D5/16 , B21D19/043 , B21D39/021 , B21D39/023 , B25J9/1633 , B25J9/1679 , G05B2219/39329 , G05B2219/40052 , Y10S901/02 , Y10S901/15 , Y10S901/41 , Y10T29/49908
摘要： A robot system includes an end effector, a robot arm, and a controller. The end effector includes a pressure roller and a linear motion mechanism. The linear motion mechanism is configured to move the pressure roller with respect to a pressed surface. The robot arm is configured to support the end effector. The controller is configured to control the linear motion mechanism to move the pressure roller to make a pressing force of the pressure roller against the pressed surface approximately uniform.
摘要翻译：机器人系统包括末端执行器，机器人手臂和控制器。末端执行器包括压力辊和直线运动机构。线性运动机构构造成使压力辊相对于受压表面移动。机器人臂配置为支撑末端执行器。控制器构造成控制线性运动机构以移动压力辊以使压力辊抵靠压制表面的压力大致均匀。

7. 发明授权

US09908160B2 Robot system and method for producing to-be-processed material 有权
公开(公告)号：US09908160B2
公开(公告)日：2018-03-06
申请号：US14529209
申请日：2014-10-31
申请人： KABUSHIKI KAISHA YASKAWA DENKI
发明人： Manabu Okahisa , Masami Nakakura , Teppei Sonoda
IPC分类号： B21B31/16 , B21B37/58 , B21D39/02 , B21D19/04 , B25J9/16 , B21D5/16
CPC分类号： B21B31/16 , B21B37/58 , B21D5/16 , B21D19/043 , B21D39/021 , B21D39/023 , B25J9/1633 , B25J9/1679 , G05B2219/39329 , G05B2219/40052 , Y10S901/02 , Y10S901/15 , Y10S901/41 , Y10T29/49908
摘要： A robot system includes an end effector, a robot arm, and a controller. The end effector includes a pressure roller and a linear motion mechanism. The linear motion mechanism is configured to move the pressure roller with respect to a pressed surface. The robot arm is configured to support the end effector. The controller is configured to control the linear motion mechanism to move the pressure roller to make a pressing force of the pressure roller against the pressed surface approximately uniform.

8. 发明申请

US20170361461A1 SYSTEM AND METHOD FOR CONTROLLING ROBOTIC MACHINE ASSEMBLIES TO PERFORM TASKS ON VEHICLES 审中-公开
公开(公告)号：US20170361461A1
公开(公告)日：2017-12-21
申请号：US15183850
申请日：2016-06-16
申请人： General Electric Company
发明人： Huan Tan
IPC分类号： B25J9/16 , B25J13/08 , B25J5/00 , B25J19/02
CPC分类号： B25J9/1661 , B25J5/00 , B25J5/007 , B25J9/162 , B25J9/1633 , B25J9/1664 , B25J9/1697 , B25J13/006 , B25J13/085 , B25J13/088 , B25J19/021 , B25J19/023 , G05B2219/39329 , Y10S901/01 , Y10S901/09
摘要： A robotic machine assembly includes a movable robotic arm configured to perform an assigned task that involves moving toward, engaging, and manipulating a target object of a vehicle. The assembly also includes a communication circuit configured to receive manipulation parameters for the target object from a remote database. The manipulation parameters are specific to at least one of the vehicle or a vehicle class in which the vehicle belongs. The assembly also includes one or more processors configured to generate a task performance plan for the robotic arm based on the manipulation parameters. The task performance plan includes prescribed forces to be exerted by the robotic arm on the target object to manipulate the target object. The one or more processors also are configured to drive movement of the robotic arm during performance of the assigned task according to the task performance plan.

9. 发明授权

US09427870B2 Robotics apparatus, robot control method, program, and recording medium 有权
标题翻译：机器人装置，机器人控制方法，程序和记录介质
公开(公告)号：US09427870B2
公开(公告)日：2016-08-30
申请号：US14212842
申请日：2014-03-14
申请人： CANON KABUSHIKI KAISHA
发明人： Kiyoshi Takagi
IPC分类号： G06F19/00 , B25J9/16
CPC分类号： B25J9/1633 , G05B2219/39201 , G05B2219/39329 , Y10S901/02
摘要： The robotics apparatus includes an f1-actuator for driving a first link, an f2-actuator for driving a second link, an actuator for simultaneously driving both links, and a CPU for controlling those actuators. The CPU sets a driving-force command value to an e3-actuator to a predetermined set value. Moreover, the CPU calculates a driving-force command value to the f1-actuator based on the driving-force command value and a target joint angle for a first joint. The CPU calculates a driving-force command value to the f2-actuator and a target joint angle for a second joint. It achieves a control for allowing a distal end of a second link to track a target trajectory and stiffness control at the distal end of the second link with a smaller number of driving sources than that of a conventional 3-pair 6-muscle manipulator.
摘要翻译：机器人装置包括用于驱动第一连杆的f1致动器，用于驱动第二连杆的f2致动器，用于同时驱动两个连杆的致动器和用于控制这些致动器的CPU。 CPU将e3致动器的驱动力指令值设定为规定的设定值。此外，CPU基于第一关节的驱动力指令值和目标关节角度，计算对f1致动器的驱动力指令值。 CPU计算第二关节的f2致动器的驱动力指令值和目标关节角度。它实现了一种控制，其允许第二连杆的远端以比常规3对6肌肉操纵器的驱动源少的数量的驱动源跟踪第二连杆的远端处的目标轨迹和刚度控制。

10. 发明专利

JP6080643B2 ロボット装置、ロボット制御方法、プログラム及び記録媒体有权
标题翻译：机器人装置，机器人控制方法，程序和记录介质
公开(公告)号：JP6080643B2
公开(公告)日：2017-02-15
申请号：JP2013061607
申请日：2013-03-25
申请人：キヤノン株式会社
发明人： ▲高▼木清志
IPC分类号： B25J9/10
CPC分类号： B25J9/1633 , G05B2219/39201 , G05B2219/39329 , Y10S901/02

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