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1. 发明授权

US10252870B2 Stacking-pattern calculating device and stacking system 有权
公开(公告)号：US10252870B2
公开(公告)日：2019-04-09
申请号：US15689010
申请日：2017-08-29
申请人： FANUC CORPORATION
发明人： Yuuki Kimoto , Yoshiharu Nagatsuka
IPC分类号： B65G57/22 , B65G57/03 , G05B19/418 , G06Q10/08 , B65G57/00 , B65G61/00
摘要： A stacking-pattern calculating device including a storage portion that stores dimensions, weights, load limits, and numbers of the respective types of boxes and dimensions of the accommodating region; a smallest-combination calculating portion that calculates a combination of the boxes that forms a smallest unit, that have a constant height, and in which a bottom area becomes the smallest; a layer-combination calculating portion that calculates a combination that forms a layer in which the smallest units having the same height among the combinations of the smallest units are placed next to each other in a horizontal direction so as to have a rectangular shape in a plan view.

2. 发明授权

US10239209B2 Robot simulation device for human intervention-type robot system 有权
公开(公告)号：US10239209B2
公开(公告)日：2019-03-26
申请号：US15214464
申请日：2016-07-20
申请人： FANUC CORPORATION
发明人： Yuuki Kimoto , Yoshiharu Nagatsuka
IPC分类号： B25J9/16
摘要： A robot simulation device, by which a calculation of a cycle time and a simulation of a human intervention-type robot system can be easily carried out with less effort by an operator. The simulation device has: an operation distributing part which distributes a plurality of operations to the robot and the human, based on a weight of an article to be worked in each operation, a conveying distance of the article, and a required time in each operation; a program generating part which generates a motion program for the robot and the human based on a result of distribution of operations obtained by the operation distributing part; and a cycle time calculating part which executes a simulation of the motion program and calculates a cycle time of the motion program.

3. 发明授权

US09610688B2 Robot program generation apparatus generating robot program for reducing jerks of joints of robot 有权
公开(公告)号：US09610688B2
公开(公告)日：2017-04-04
申请号：US14822293
申请日：2015-08-10
申请人： FANUC Corporation
发明人： Masahiro Oyamada , Yoshiharu Nagatsuka , Yanxue Liang , Toshiya Takeda
IPC分类号： B25J9/16 , B25J9/22 , G05B19/416 , G05B19/42
CPC分类号： B25J9/163 , B25J9/1633 , G05B2219/40053 , G05B2219/40454 , G05B2219/40517 , Y10S901/03 , Y10S901/28
摘要： A robot program generation apparatus includes an allowable jerk value setting unit for setting allowable jerk values to joints of a robot, a joint information calculation unit for simulating execution of a robot program in a virtual space and calculating positions and jerks of the joints in association with time, a jerks determination unit for determining whether or not the calculated jerk is an excess jerk exceeding the allowable jerk values, a joint information identification unit for identifying the joints and positions of the joints in which the excess jerks are generated, and a robot program adjustment unit for adjusting the robot program by modifying a teaching position within the neighborhood of the positions of the joints in which the excess jerks are generated so that the jerks of the identified joints become equal to or smaller than the allowable jerk values.

4. 发明授权

US09519736B2 Data generation device for vision sensor and detection simulation system 有权
标题翻译：视觉传感器和检测仿真系统的数据生成装置
公开(公告)号：US09519736B2
公开(公告)日：2016-12-13
申请号：US14602816
申请日：2015-01-22
申请人： FANUC Corporation
发明人： Hiroyuki Atohira , Yoshiharu Nagatsuka
IPC分类号： G06F17/50 , B25J9/16 , G06F19/00 , G05B19/401
CPC分类号： G06F17/5009 , B25J9/1671 , G05B2219/39031 , Y02P90/265 , Y10S901/47
摘要： A data generation device and a detection simulation system, capable of executing offline simulation using a vision sensor, without calibration for associating the vision sensor with the robot. The device has: a placing part which places three-dimensional models of a robot, a vision sensor and an object in a virtual space; a robot placement position designating part and a vision sensor placement position designating part which designate placement positions of the robot and the vision sensor in the virtual space, respectively, based on a reference coordinate system defined in the virtual space; a placement position storing part which stores the placement positions; a positional relationship calculating part which calculates a positional relationship between a robot coordinate system and a sensor coordinate system; and a positional relationship storing part which stores the positional relationship as data used in a detection process of the vision sensor.
摘要翻译：一种数据生成装置和检测模拟系统，其能够使用视觉传感器执行离线模拟，而不进行用于将视觉传感器与机器人相关联的校准。该设备具有：将虚拟空间中的机器人，视觉传感器和对象的三维模型放置的放置部分; 基于在所述虚拟空间中定义的参考坐标系，分别指定所述机器人和所述视觉传感器在所述虚拟空间中的放置位置的机器人放置位置指定部和视觉传感器放置位置指定部; 存放所述放置位置的放置位置存储部; 位置关系计算部，其计算机器人坐标系和传感器坐标系之间的位置关系; 以及位置关系存储部，其存储位置关系作为在视觉传感器的检测处理中使用的数据。

5. 发明授权

US09475192B2 Simulation device for plural robots 有权
标题翻译：多机器人仿真装置
公开(公告)号：US09475192B2
公开(公告)日：2016-10-25
申请号：US14686925
申请日：2015-04-15
申请人： FANUC CORPORATION
发明人： Yanxue Liang , Yoshiharu Nagatsuka
IPC分类号： G06G7/48 , B25J9/16 , G06F17/50 , G05B19/406
CPC分类号： B25J9/1671 , G05B19/406 , G05B2219/37209 , G06F17/5009 , Y10S901/02
摘要： A simulation device includes a simulation unit which executes, by simulation, a motion program containing a command velocity and a command acceleration of the drive shaft, and a motion waiting instruction, a storage unit which stores in time series a line number of the motion program and the command velocity and the command acceleration at the line number associated with one another; an execution time calculation unit which calculates the execution time of the motion program for each of the line numbers stored in the storage unit based on a simulation result; and a waiting time calculation unit which calculates the motion waiting time in accordance with the motion waiting instruction based on the execution time calculated by the execution time calculation unit.
摘要翻译：模拟装置包括模拟单元，其通过模拟执行包含驱动轴的命令速度和命令加速度的运动程序和运动等待指令，存储单元，其以时间序列存储运动程序的行号指令速度和指令加速度在线号相关联; 执行时间计算单元，其基于模拟结果来计算存储在存储单元中的每个行号的运动程序的执行时间; 以及等待时间计算单元，其基于由执行时间计算单元计算的执行时间，根据运动等待指令来计算运动等待时间。

6. 发明授权

US10222206B2 Stowage pattern calculation device which sets positions at which articles are stacked 有权
公开(公告)号：US10222206B2
公开(公告)日：2019-03-05
申请号：US15296142
申请日：2016-10-18
申请人： FANUC CORPORATION
发明人： Yuuki Kimoto , Yoshiharu Nagatsuka
IPC分类号： G06F11/30 , G01B21/00 , B65G57/03 , B65G61/00
摘要： A stowage pattern calculation device calculates positions of articles irregularly conveyed. The plurality of articles have a box shape and include articles having dimensions different from each other. The stowage pattern calculation device includes a combination calculation part which calculates a combination of the articles constituting a layer formed in a storage area and selects a layer of the articles based on types of the articles, a height of the layer, and an area of the layer. The stowage pattern calculation device includes a position determination part which calculates a first probability of completion of the layer and determines positions at which the articles are stacked based on a positional relationship between a robot and the storage area and the first probability.

7. 发明授权

US09895801B2 Offline teaching device using simulation 有权
公开(公告)号：US09895801B2
公开(公告)日：2018-02-20
申请号：US14734297
申请日：2015-06-09
申请人： FANUC Corporation
发明人： Masaru Oda , Yoshiharu Nagatsuka , Kozo Inoue
IPC分类号： B25J9/16
CPC分类号： B25J9/1664 , G05B2219/39132 , G05B2219/40042 , G05B2219/40417 , G05B2219/40519 , Y02P90/265
摘要： An offline teaching device has a calculation unit which calculates a second position of a second tool on a work line which is separated by a predetermined distance from a first position of a first tool on the work line, calculates a workpiece position where the first tool in the first position contacts or adjoins the workpiece, and calculates a workpiece position and posture such that the second tool in the second position contacts or adjoins the workpiece by changing the posture of the workpiece from the workpiece position with respect to the first tool, while maintaining the work posture of the first tool, and has a generation unit which generates a robot teaching position based on the position and posture of the workpiece and the holding position of the workpiece, and generates a program such that the first tool and the second tool pass along the work line.

8. 发明申请

US20150306768A1 SIMULATION DEVICE FOR PLURAL ROBOTS 有权
标题翻译：模拟机器人的机器人
公开(公告)号：US20150306768A1
公开(公告)日：2015-10-29
申请号：US14686925
申请日：2015-04-15
申请人： FANUC CORPORATION
发明人： Yanxue Liang , Yoshiharu Nagatsuka
IPC分类号： B25J9/16 , G06F17/50
CPC分类号： B25J9/1671 , G05B19/406 , G05B2219/37209 , G06F17/5009 , Y10S901/02
摘要： A simulation device includes a simulation unit which executes, by simulation, a motion program containing a command velocity and a command acceleration of the drive shaft, and a motion waiting instruction, a storage unit which stores in time series a line number of the motion program and the command velocity and the command acceleration at the line number associated with one another; an execution time calculation unit which calculates the execution time of the motion program for each of the line numbers stored in the storage unit based on a simulation result; and a waiting time calculation unit which calculates the motion waiting time in accordance with the motion waiting instruction based on the execution time calculated by the execution time calculation unit.
摘要翻译：模拟装置包括模拟单元，其通过模拟执行包含驱动轴的命令速度和命令加速度的运动程序和运动等待指令，存储单元，其以时间序列存储运动程序的行号指令速度和指令加速度在线号相关联; 执行时间计算单元，其基于模拟结果来计算存储在存储单元中的每个行号的运动程序的执行时间; 以及等待时间计算单元，其基于由执行时间计算单元计算的执行时间，根据运动等待指令来计算运动等待时间。

9. 发明授权

US10857673B2 Device, method, program and recording medium, for simulation of article arraying operation performed by robot 有权
公开(公告)号：US10857673B2
公开(公告)日：2020-12-08
申请号：US15795671
申请日：2017-10-27
申请人： FANUC CORPORATION
发明人： Hiroyuki Atohira , Yoshiharu Nagatsuka
IPC分类号： B25J9/16 , B65G47/90 , G05B19/418
摘要： A simulation device for a robot rearranging articles in a random arrangement on a conveyor to a regular arrangement while tracking the conveyor. The simulation device includes a model locating section for locating a conveyor model, a plurality of article models, a sensor model and an arraying robot model in a virtual space; a conveying motion simulating section for making the conveyor model convey the article models in the random arrangement; a detecting motion simulating section for making the sensor model obtain position information of the article models; an arrangement pattern generating section for generating an arrangement pattern on the conveyor model; and an arraying motion simulating section for making the arraying robot model pick up the article models in the random arrangement and place the picked-up article models in accordance with the arrangement pattern, while tracking an article conveying motion.

10. 发明授权

US10534876B2 Simulation device and simulation method that carry out simulation of operation of robot system, and recording medium that records computer program 有权
公开(公告)号：US10534876B2
公开(公告)日：2020-01-14
申请号：US15788987
申请日：2017-10-20
申请人： FANUC CORPORATION
发明人： Hiroyuki Atohira , Yoshiharu Nagatsuka
IPC分类号： G06G7/48 , G06F17/50 , G06T19/20
摘要： A simulation device capable of easily constructing the layout of a three-dimensional model of a robot system in a virtual space. The simulation device includes a model arranging section that arranges a component model in a virtual space, the component model being a three-dimensional model of a component of the robot system; a reference setting section that sets a reference point, a reference axis, or a reference plane in the virtual space; a symmetric model generation section that generates a symmetric component model of the component model arranged in the virtual space, the symmetric component model being a three-dimensional model symmetric with respect to the reference point, the reference axis, or the reference plane; and a simulation section that executes a simulation to simulatively operate the component model and the symmetric component model in the virtual space.

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