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1. 发明申请

US20110098859A1 ROBOT SYSTEM AND WORKPIECE PICKING METHOD 失效
标题翻译：机器人系统与工作取样方法
公开(公告)号：US20110098859A1
公开(公告)日：2011-04-28
申请号：US12911667
申请日：2010-10-25
申请人： Toshimitsu IRIE , Yukio Hashiguchi , Shinji Murai
发明人： Toshimitsu IRIE , Yukio Hashiguchi , Shinji Murai
IPC分类号： G05B15/00
CPC分类号： B25J9/1697 , B25J9/1687 , G05B2219/37555 , G05B2219/40053 , G05B2219/40564
摘要： A robot system includes a robot. A robot control device is configured to control an operation of the robot, and includes a workpiece shape memory configure to store a shape of workpieces. A shape sensor is configured to detect shape information about the workpieces. A target workpiece detector is configured to detect a graspable workpiece based on the shape information detected by the shape sensor. A grasping information memory is configured to store a grasping position indicating which portion of the graspable workpiece is to be grasped by the robot. A grasping operation controller is configured to control the robot to grasp the graspable workpiece detected by the target workpiece detector and to pick the grasped workpiece. A disturbing operation controller is configured to control, if no graspable workpiece is detected by the target workpiece detector, the robot to perform a workpiece disturbing operation.
摘要翻译：机器人系统包括机器人。机器人控制装置被配置为控制机器人的操作，并且包括被配置为存储工件的形状的工件形状存储器。形状传感器被配置为检测关于工件的形状信息。目标工件检测器被配置为基于由形状传感器检测到的形状信息来检测可抓握的工件。握持信息存储器被配置为存储指示可抓握工件的哪个部分被机器人抓握的把持位置。抓握操作控制器被配置为控制机器人抓住由目标工件检测器检测到的可抓握工件并拾取被抓取的工件。如果没有被目标工件检测器检测到可抓握的工件，则机器人进行工件干扰操作。

2. 发明申请

US20110222995A1 ROBOT SYSTEM AND TRANSFER METHOD 失效
标题翻译：机器人系统和传送方法
公开(公告)号：US20110222995A1
公开(公告)日：2011-09-15
申请号：US12985350
申请日：2011-01-06
申请人： Toshimitsu Irie , Shinji Murai
发明人： Toshimitsu Irie , Shinji Murai
IPC分类号： B25J9/00 , G06F19/00 , G05B15/00
CPC分类号： B25J9/1687 , B25J9/1697 , G05B2219/37555 , G05B2219/39508 , G05B2219/40053 , G05B2219/40613 , G05B2219/45063
摘要： A workpiece in a container is held by a robot based on a result of detection of shape information in the container by a shape sensor, a holding condition of the workpiece held by the robot is inspected by an inspection device, and the workpiece is transferred to a subsequent step by the robot when the inspection device has determined that the holding condition of the workpiece is acceptable. When the inspection device has determined that the holding condition of the workpiece is unacceptable, the held workpiece is placed on a temporary placement table, the shape of the workpiece is again detected by detecting the workpiece using the shape sensor, and the workpiece is held and transferred to the subsequent step by the robot based on a result of the detection.
摘要翻译：容器中的工件由机器人基于由形状传感器检测容器中的形状信息的结果来保持，由机器人保持的工件的保持状态由检查装置检查，并将工件转移到当检查装置已经确定工件的保持状态是可接受的时，机器人的后续步骤。当检查装置确定工件的保持状态不可接受时，将保持的工件放置在临时放置台上，通过使用形状传感器检测工件再次检测工件的形状，并且保持工件根据检测结果将机器人转移到后续步骤。

3. 发明授权

US08825212B2 Robot system 有权
标题翻译：机器人系统
公开(公告)号：US08825212B2
公开(公告)日：2014-09-02
申请号：US13410249
申请日：2012-03-01
申请人： Toshimitsu Irie , Tetsuya Yoshida , Shinji Murai
发明人： Toshimitsu Irie , Tetsuya Yoshida , Shinji Murai
IPC分类号： G06F7/00 , G05B19/418 , G05B15/00 , B25J9/16
CPC分类号： B25J9/1687 , G05B2219/39102 , G05B2219/40053
摘要： A robot system according to an embodiment includes a robot a switching determination unit and a rearrangement instruction unit The switching determination unit performs determination of switching between the operation of transferring the workpiece and the operation of rearranging the workpiece based on the state of transferring the workpiece by the robot The rearrangement instruction unit instructs the robot to rearrange the workpiece.
摘要翻译：根据实施例的机器人系统包括机器人切换确定单元和重新排列指令单元切换确定单元基于通过传送工件的状态来执行传送工件的操作和重新排列工件的操作之间的切换的确定机器人重排指令单元指示机器人重新排列工件。

4. 发明申请

US20120296474A1 ROBOT SYSTEM 有权
标题翻译：机器人系统
公开(公告)号：US20120296474A1
公开(公告)日：2012-11-22
申请号：US13410249
申请日：2012-03-01
申请人： Toshimitsu IRIE , Tetsuya Yoshida , Shinji Murai
发明人： Toshimitsu IRIE , Tetsuya Yoshida , Shinji Murai
IPC分类号： G06F19/00
CPC分类号： B25J9/1687 , G05B2219/39102 , G05B2219/40053
摘要： A robot system according to an embodiment includes a robot a switching determination unit and a rearrangement instruction unit The switching determination unit performs determination of switching between the operation of transferring the workpiece and the operation of rearranging the workpiece based on the state of transferring the workpiece by the robot The rearrangement instruction unit instructs the robot to rearrange the workpiece.
摘要翻译：根据实施例的机器人系统包括机器人切换确定单元和重新排列指令单元切换确定单元基于通过传送工件的状态来执行传送工件的操作和重新排列工件的操作之间的切换的确定机器人重排指令单元指示机器人重新排列工件。

5. 发明授权

US07974735B2 Laser tool robot system with coordinated drive shaft control 有权
标题翻译：具有协调驱动轴控制的激光工具机器人系统
公开(公告)号：US07974735B2
公开(公告)日：2011-07-05
申请号：US11721408
申请日：2005-12-08
申请人： Toshimitsu Irie , Ryuichi Morita , Seigo Nishikawa , Akio Sato , Takeshi Ikeda
发明人： Toshimitsu Irie , Ryuichi Morita , Seigo Nishikawa , Akio Sato , Takeshi Ikeda
IPC分类号： G06F19/00
CPC分类号： B25J9/1664 , B23K26/0884 , G05B2219/39177 , G05B2219/39401 , G05B2219/39572 , G05B2219/40416 , G05B2219/45138 , G05B2219/45165
摘要： A robot system includes s a robot (1) which moves a tool (3) attached to an end of the robot (1) by driving a robot drive shaft. The tool (3) applies a laser beam inputted from a laser oscillator (5) by drive of the tool drive shaft to an object. A robot control device (2) controls the robot drive shaft and the tool drive shaft in synchronization.
摘要翻译：机器人系统包括通过驱动机器人驱动轴来移动附接到机器人（1）的端部的工具（3）的机器人（1）。工具（3）通过工具驱动轴的驱动将激光振荡器（5）输入的激光束施加到物体上。机器人控制装置（2）同步地控制机器人驱动轴和工具驱动轴。

6. 发明授权

US08725285B2 Robot system and transfer method 失效
标题翻译：机器人系统和传送方法
公开(公告)号：US08725285B2
公开(公告)日：2014-05-13
申请号：US12985350
申请日：2011-01-06
申请人： Toshimitsu Irie , Shinji Murai
发明人： Toshimitsu Irie , Shinji Murai
IPC分类号： G06F19/00
CPC分类号： B25J9/1687 , B25J9/1697 , G05B2219/37555 , G05B2219/39508 , G05B2219/40053 , G05B2219/40613 , G05B2219/45063
摘要： A workpiece in a container is held by a robot based on a result of detection of shape information in the container by a shape sensor, a holding condition of the workpiece held by the robot is inspected by an inspection device, and the workpiece is transferred to a subsequent step by the robot when the inspection device has determined that the holding condition of the workpiece is acceptable. When the inspection device has determined that the holding condition of the workpiece is unacceptable, the held workpiece is placed on a temporary placement table, the shape of the workpiece is again detected by detecting the workpiece using the shape sensor, and the workpiece is held and transferred to the subsequent step by the robot based on a result of the detection.
摘要翻译：容器中的工件由机器人基于由形状传感器检测容器中的形状信息的结果来保持，由机器人保持的工件的保持状态由检查装置检查，并且将工件转移到当检查装置已经确定工件的保持状态是可接受的时，机器人的后续步骤。当检查装置确定工件的保持状态不可接受时，将保持的工件放置在临时放置台上，通过使用形状传感器检测工件再次检测工件的形状，并且保持工件根据检测结果将机器人转移到后续步骤。

7. 发明授权

US08660685B2 Robot system and workpiece picking method 失效
标题翻译：机器人系统和工件采摘方法
公开(公告)号：US08660685B2
公开(公告)日：2014-02-25
申请号：US12911667
申请日：2010-10-25
申请人： Toshimitsu Irie , Yukio Hashiguchi , Shinji Murai
发明人： Toshimitsu Irie , Yukio Hashiguchi , Shinji Murai
IPC分类号： G05B15/00
CPC分类号： B25J9/1697 , B25J9/1687 , G05B2219/37555 , G05B2219/40053 , G05B2219/40564
摘要： A robot system includes a robot. A robot control device is configured to control an operation of the robot, and includes a workpiece shape memory configure to store a shape of workpieces. A shape sensor is configured to detect shape information about the workpieces. A target workpiece detector is configured to detect a graspable workpiece based on the shape information detected by the shape sensor. A grasping information memory is configured to store a grasping position indicating which portion of the graspable workpiece is to be grasped by the robot. A grasping operation controller is configured to control the robot to grasp the graspable workpiece detected by the target workpiece detector and to pick the grasped workpiece. A disturbing operation controller is configured to control, if no graspable workpiece is detected by the target workpiece detector, the robot to perform a workpiece disturbing operation.
摘要翻译：机器人系统包括机器人。机器人控制装置被配置为控制机器人的操作，并且包括被配置为存储工件的形状的工件形状存储器。形状传感器被配置为检测关于工件的形状信息。目标工件检测器被配置为基于由形状传感器检测到的形状信息来检测可抓握的工件。握持信息存储器被配置为存储指示可抓握工件的哪个部分被机器人抓握的把持位置。抓握操作控制器被配置为控制机器人抓住由目标工件检测器检测到的可抓握工件并拾取被抓取的工件。如果没有被目标工件检测器检测到可抓握的工件，则机器人执行工件干扰操作。

8. 发明申请

US20080161964A1 Robot System 有权
标题翻译：机器人系统
公开(公告)号：US20080161964A1
公开(公告)日：2008-07-03
申请号：US11721408
申请日：2005-12-08
申请人： Toshimitsu Irie , Ryuichi Morita , Seigo Nishikawa , Akio Sato , Takeshi Ikeda
发明人： Toshimitsu Irie , Ryuichi Morita , Seigo Nishikawa , Akio Sato , Takeshi Ikeda
IPC分类号： G05B19/4093 , B23K26/08 , B23K26/02
CPC分类号： B25J9/1664 , B23K26/0884 , G05B2219/39177 , G05B2219/39401 , G05B2219/39572 , G05B2219/40416 , G05B2219/45138 , G05B2219/45165
摘要： There is provided a robot system which moves a laser beam in a processing path desired by a manipulator by moving a robot in an instructed path and controlling a driving shaft of a tool. In the robot system which includes a robot 1 having a plurality of driving shafts, a tool 3 having a plurality of driving shafts and fitted on an end portion of the robot 1, a robot control device controlling the driving shafts of the robot 1 and the tool 3, and a laser oscillator 5 connected to the tool 3, the robot 1 moves the tool 3 by means of the drive of the driving shafts of the robot, the tool 3 radiates a laser beam which is incident from the laser oscillator 5 to an object by means of the drive of the driving shafts of the tool, and a robot control device 2 controls the driving shafts of the robot 1 and the driving shafts of the tool 3 in synchronization with each other.
摘要翻译：提供了一种机器人系统，其通过在指示的路径中移动机器人并且控制工具的驱动轴来在操纵器期望的处理路径中移动激光束。在包括具有多个驱动轴的机器人1的机器人系统中，具有多个驱动轴并安装在机器人1的端部的工具3，控制机器人1的驱动轴的机器人控制装置和工具3和连接到工具3的激光振荡器5，机器人1通过机器人的驱动轴的驱动来移动工具3，工具3将从激光振荡器5入射的激光束照射到通过工具的驱动轴的驱动，物体，机器人控制装置2相互同步地控制机器人1的驱动轴和工具3的驱动轴。

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