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1. 发明授权

US07558646B2 Cooperative control system of robots 有权
标题翻译：机器人协同控制系统
公开(公告)号：US07558646B2
公开(公告)日：2009-07-07
申请号：US10494583
申请日：2002-11-07
申请人： Naoyuki Matsumoto , Masatoshi Sano , Tsuyoshi Maehara , Nobuyasu Shimomura , Takahiro Ueno
发明人： Naoyuki Matsumoto , Masatoshi Sano , Tsuyoshi Maehara , Nobuyasu Shimomura , Takahiro Ueno
IPC分类号： G05B19/042
CPC分类号： B25J9/1682 , G05B2219/33097 , G05B2219/39051 , G05B2219/39124 , G05B2219/39141
摘要： The present invention has a communication connection means (21) which mutually connects communicatably control units (Ca, Cb) for individually controlling operations of robots (Ra, Rb) to constitute a network, input means (37a, 37b) which are respectively installed in the control units and input operation instructions of the robots, and timing signal generation means (69a, 69b). The control units are selectively set to any one of an independent function execution mode, a master function execution mode, and a slave function execution mode, and among the control units, the control unit (Ca) to perform a master operation is set to the master function execution mode, and the residual control unit (Cb) is set to the slave function execution mode, and by correcting a minimum interruption period (Ts(b)) of the slave side control unit (Cb), a control time (ta11, ta12, ta13) to the master robot (Ra) of the master side control unit (Ca) is delayed by a predetermined time (T) to perform the cooperative operation. By doing this, the control units are always kept in the synchronized state, thus the operations of the robots can be prevented from variations.
摘要翻译：本发明具有通信连接装置（21），其连接用于单独控制机器人（Ra，Rb）的操作的可通信控制单元（Ca，Cb）以构成网络，输入装置（37a，37b）分别安装在机器人的控制单元和输入操作指令，以及定时信号生成装置（69a，69b）。控制单元被选择性地设置为独立功能执行模式，主功能执行模式和从功能执行模式中的任何一个，并且在控制单元中，执行主操作的控制单元（Ca）被设置为主功能执行模式，剩余控制单元（Cb）被设定为从功能执行模式，并且通过校正从侧控制单元（Cb）的最小中断周期（Ts（b）），控制时间（ta11 ，ta12，ta13）到主控制单元（Ca）的主机器人（Ra）延迟预定时间（T）以执行协作操作。通过这样做，控制单元总是保持在同步状态，从而可以防止机器人的操作变化。

2. 发明申请

US20050055132A1 Robot collaboration control system 有权
标题翻译：机器人协调控制系统
公开(公告)号：US20050055132A1
公开(公告)日：2005-03-10
申请号：US10494583
申请日：2002-11-07
申请人： Naoyuki Matsumoto , Masatoshi Sano , Tsuyoshi Maehara , Nobuyasu Shimomura , Takahiro Ueno
发明人： Naoyuki Matsumoto , Masatoshi Sano , Tsuyoshi Maehara , Nobuyasu Shimomura , Takahiro Ueno
IPC分类号： B25J9/16 , B25J9/18 , B25J9/22 , B25J13/00 , G06F19/00
CPC分类号： B25J9/1682 , G05B2219/33097 , G05B2219/39051 , G05B2219/39124 , G05B2219/39141
摘要： The present invention has a communication connection means (21) which mutually connects communicatably control units (Ca, Cb) for individually controlling operations of robots (Ra, Rb) to constitute a network, input means (37a, 37b) which are respectively installed in the control units and input operation instructions of the robots, and timing signal generation means (69a, 69b). The control units are selectively set to any one of an independent function execution mode, a master function execution mode, and a slave function execution mode, and among the control units, the control unit (Ca) to perform a master operation is set to the master function execution mode, and the residual control unit (Cb) is set to the slave function execution mode, and by correcting a minimum interruption period (Ts(b)) of the slave side control unit (Cb), a control time (ta11, ta12, ta13) to the master robot (Ra) of the master side control unit (Ca) is delayed by a predetermined time (T) to perform the cooperative operation. By doing this, the control units are always kept in the synchronized state, thus the operations of the robots can be prevented from variations.
摘要翻译：本发明具有通信连接装置（21），其连接用于单独控制机器人（Ra，Rb）的操作的可通信控制单元（Ca，Cb）以构成网络，输入装置（37a，37b）分别安装在机器人的控制单元和输入操作指令，以及定时信号生成装置（69a，69b）。控制单元被选择性地设置为独立功能执行模式，主功能执行模式和从功能执行模式中的任何一个，并且在控制单元中，执行主操作的控制单元（Ca）被设置为主功能执行模式，剩余控制单元（Cb）被设定为从功能执行模式，并且通过校正从侧控制单元（Cb）的最小中断周期（Ts（b）），控制时间（ta11 ，ta12，ta13）到主控制单元（Ca）的主机器人（Ra）延迟预定时间（T）以执行协作操作。通过这样做，控制单元总是保持在同步状态，从而可以防止机器人的操作变化。

3. 发明授权

US06208104B1 Robot control unit 有权
标题翻译：机器人控制单元
公开(公告)号：US06208104B1
公开(公告)日：2001-03-27
申请号：US09423556
申请日：1999-11-10
申请人： Kazuhiko Onoue , Takahiro Ueno , Masataka Koyama , Nobuyasu Shimomura
发明人： Kazuhiko Onoue , Takahiro Ueno , Masataka Koyama , Nobuyasu Shimomura
IPC分类号： B25J918
CPC分类号： B25J9/161 , G05B19/414 , G05B2219/34038 , G05B2219/34069 , G05B2219/40174
摘要： An element including a first processing circuit conducting a real time processes for controlling a robot body and a man-machine interface element including a second processing circuit for operating the robot body are connected through the common storage device. It enables for application programs that can run with a general OS to easily refer to data relating to the robot. It also enables to easily construct necessary software.
摘要翻译：包括执行用于控制机器人主体的实时处理的第一处理电路和包括用于操作机器人主体的第二处理电路的人机界面元件的元件通过公共存储装置连接。它能够使用可与一般操作系统一起运行的应用程序轻松引用与机器人有关的数据。它还可以轻松构建必要的软件。

4. 发明申请

US20110160897A1 ROBOT AND INSTRUCTION METHOD THEREOF 有权
标题翻译：机器人及其指导方法
公开(公告)号：US20110160897A1
公开(公告)日：2011-06-30
申请号：US13002998
申请日：2008-07-10
申请人： Nobuyasu Shimomura
发明人： Nobuyasu Shimomura
IPC分类号： B25J9/10 , B25J19/02 , B25J15/06
CPC分类号： H01L21/68707 , B25J9/1692 , G05B2219/40006 , G05B2219/45063 , H01L21/67265
摘要： A robot control unit that turns off a holding unit for a plate member, while the plate member is placed on an end effector, and lower the end effector, by a predetermined distance, from an initial position higher than a preset temporary placing position toward the temporary placing position. Then the robot control unit switches the holding member, from an OFF state to an ON state, while the end effector is stopped, and determines whether the plate member is held by the holding unit, with a holding-state detection unit. When the plate member is held by the holding unit, the robot control unit will turn turns off the holding unit while further lowering the end effector by the predetermined distance. When the plate member is not held by the holding unit, the robot control unit detects a position of the end effector at this point of time, as a normal placing position.
摘要翻译：一种机器人控制单元，其将板构件放置在端部执行器上，并将端部执行器从预设的临时放置位置的初始位置向预定的距离向下延伸预定距离，从而关闭用于板构件的保持单元临时放置位置。然后，机器人控制单元在末端执行器停止时将保持构件从OFF状态切换到ON状态，并且通过保持状态检测单元来确定板构件是否被保持单元保持。当板构件被保持单元保持时，机器人控制单元将使保持单元转动，同时使末端执行器进一步降低预定距离。当板构件没有被保持单元保持时，机器人控制单元在该时间点检测末端执行器的位置作为正常放置位置。

5. 发明授权

US08788087B2 Robot and instruction method thereof 有权
标题翻译：机器人及其指导方法
公开(公告)号：US08788087B2
公开(公告)日：2014-07-22
申请号：US13003081
申请日：2008-07-10
申请人： Yasuhiko Hashimoto , Nobuyasu Shimomura
发明人： Yasuhiko Hashimoto , Nobuyasu Shimomura
IPC分类号： G06F7/00
CPC分类号： H01L21/68707 , B25J9/1692 , G05B19/401 , G05B2219/39516 , G05B2219/40562 , G05B2219/45032 , G05B2219/45057 , H01L21/67265
摘要： A robot arm having a distal end to which a wrist axis is rotatably provided; arm drive unit, each configured to move the robot arm; a wrist axis drive unit configured to rotate the wrist axis; and a robot control unit configured to control the arm drive unit and wrist axis drive unit. The robot control unit is configured to control the arm drive unit to move the distal end of the robot arm to bring a contact member attached to the wrist axis into contact with an instruction target, thereby detecting a posture of the robot arm and an angular position of the wrist axis when the wrist axis begins to be angularly displaced due to the contact between the contact member and the instruction target, thus determining a position of an instruction point.
摘要翻译：一种机器人臂，具有可旋转地设置有腕轴的远端; 手臂驱动单元，每个配置为移动机器人手臂; 构造成旋转腕轴的腕轴驱动单元; 以及机器人控制单元，被配置为控制所述臂驱动单元和所述腕轴驱动单元。机器人控制单元被配置为控制臂驱动单元移动机器人臂的远端以使附接到腕轴的接触构件与指示目标接触，从而检测机器人手臂的姿势和角位置当腕轴由于接触构件和指示目标之间的接触而开始成角度位移时，从而确定指示点的位置。

6. 发明申请

US20110118873A1 ROBOT AND INSTRUCTION METHOD THEREOF 有权
标题翻译：机器人及其指导方法
公开(公告)号：US20110118873A1
公开(公告)日：2011-05-19
申请号：US13003081
申请日：2008-07-10
申请人： Yasuhiko Hashimoto , Nobuyasu Shimomura
发明人： Yasuhiko Hashimoto , Nobuyasu Shimomura
IPC分类号： B25J9/02
CPC分类号： H01L21/68707 , B25J9/1692 , G05B19/401 , G05B2219/39516 , G05B2219/40562 , G05B2219/45032 , G05B2219/45057 , H01L21/67265
摘要： A robot arm having a distal end to which a wrist axis is rotatably provided; arm drive unit, each configured to move the robot arm; a wrist axis drive unit configured to rotate the wrist axis; and a robot control unit configured to control the arm drive unit and wrist axis drive unit. The robot control unit is configured to control the arm drive unit to move the distal end of the robot arm to bring a contact member attached to the wrist axis into contact with an instruction target, thereby detecting a posture of the robot arm and an angular position of the wrist axis when the wrist axis begins to be angularly displaced due to the contact between the contact member and the instruction target, thus determining a position of an instruction point.
摘要翻译：一种机器人臂，具有可旋转地设置有腕轴的远端; 手臂驱动单元，每个配置为移动机器人手臂; 构造成旋转腕轴的腕轴驱动单元; 以及机器人控制单元，被配置为控制所述臂驱动单元和所述腕轴驱动单元。机器人控制单元被配置为控制臂驱动单元移动机器人臂的远端以使附接到腕轴的接触构件与指示目标接触，从而检测机器人手臂的姿势和角位置当腕轴由于接触构件和指示目标之间的接触而开始成角度位移时，从而确定指示点的位置。

7. 发明授权

US08641351B2 Robot and instruction method thereof 有权
标题翻译：机器人及其指导方法
公开(公告)号：US08641351B2
公开(公告)日：2014-02-04
申请号：US13002998
申请日：2008-07-10
申请人： Nobuyasu Shimomura
发明人： Nobuyasu Shimomura
IPC分类号： B65G65/00
CPC分类号： H01L21/68707 , B25J9/1692 , G05B2219/40006 , G05B2219/45063 , H01L21/67265
摘要： A robot control unit that turns off a holding unit for a plate member, while the plate member is placed on an end effector, and lower the end effector, by a predetermined distance, from an initial position higher than a preset temporary placing position toward the temporary placing position. Then the robot control unit switches the holding member, from an OFF state to an ON state, while the end effector is stopped, and determines whether the plate member is held by the holding unit, with a holding-state detection unit. When the plate member is held by the holding unit, the robot control unit turns off the holding unit while further lowering the end effector by the predetermined distance. When the plate member is not held by the holding unit, the robot control unit detects a position of the end effector at this point of time, as a normal placing position.
摘要翻译：一种机器人控制单元，其将板构件放置在端部执行器上，并将端部执行器从预设的临时放置位置的初始位置向预定的距离向下延伸预定距离，从而关闭用于板构件的保持单元临时放置位置。然后，机器人控制单元在末端执行器停止时将保持构件从OFF状态切换到ON状态，并且通过保持状态检测单元来确定板构件是否被保持单元保持。当板构件被保持单元保持时，机器人控制单元在使末端执行器进一步降低预定距离的同时关闭保持单元。当板构件没有被保持单元保持时，机器人控制单元在该时间点检测末端执行器的位置作为正常放置位置。

8. 发明授权

US08121732B2 Target position detection apparatus for robot 有权
标题翻译：机器人目标位置检测装置
公开(公告)号：US08121732B2
公开(公告)日：2012-02-21
申请号：US12232441
申请日：2008-09-17
申请人： Yasuhiko Hashimoto , Nobuyasu Shimomura , Takao Yamaguchi , Tetsuya Yoshida
发明人： Yasuhiko Hashimoto , Nobuyasu Shimomura , Takao Yamaguchi , Tetsuya Yoshida
IPC分类号： G05B19/00
CPC分类号： H01L21/67778 , B25J9/1692 , G05B2219/37411 , G05B2219/39013 , G05B2219/39041 , G05B2219/39413 , H01L21/67259 , H01L21/67766 , H01L21/68
摘要： A target position detection apparatus for a robot includes: a robot including an arm configured to be freely moved in at least two directions of X and Y axes, the arm having a wrist axis provided at a distal end of the arm and configured to be freely moved in a horizontal direction, and the wrist axis being provided with an end effector; and a control unit adapted for driving a memory to store a teaching point therein and controlling an operation of the robot such that the end effector will be moved toward the teaching point stored in the memory. The control unit is further adapted for changing a pressing force of the end effector against a target by changing a control loop gain, and bringing the end effector into contact with the target, while setting the control loop gain of the wrist axis lower than a predetermined value at least from a position adjacent to the teaching point at which the target is located, so as to capture a position in a state in which the end effector is in contact with the target, thereby detecting the position of the target.
摘要翻译：一种用于机器人的目标位置检测装置，包括：机器人，其包括构造成能够在X轴和Y轴的至少两个方向上自由移动的臂，所述臂具有设置在所述臂的前端的手腕轴，沿水平方向移动，腕轴设置有端部执行器; 以及控制单元，适于驱动存储器以存储其中的教导点，并且控制机器人的操作，使得末端执行器将朝向存储在存储器中的教学点移动。控制单元还适于通过改变控制环增益来改变端部执行器对目标的按压力，并且使端部执行器与目标接触，同时将手腕轴的控制环增益设置为低于预定值至少从与目标所在的教导点相邻的位置获得值，以便捕获末端执行器与目标物接触的状态下的位置，从而检测目标的位置。

9. 发明申请

US20090093908A1 Target Position detection apparatus for robot 有权
标题翻译：目标机器人位置检测装置
公开(公告)号：US20090093908A1
公开(公告)日：2009-04-09
申请号：US12232441
申请日：2008-09-17
申请人： Yasuhiko Hashimoto , Nobuyasu Shimomura , Takao Yamaguchi , Tetsuya Yoshida
发明人： Yasuhiko Hashimoto , Nobuyasu Shimomura , Takao Yamaguchi , Tetsuya Yoshida
IPC分类号： G05B19/408 , G06F19/00
CPC分类号： H01L21/67778 , B25J9/1692 , G05B2219/37411 , G05B2219/39013 , G05B2219/39041 , G05B2219/39413 , H01L21/67259 , H01L21/67766 , H01L21/68
摘要： A target position detection apparatus for a robot includes: a robot including an arm configured to be freely moved in at least two directions of X and Y axes, the arm having a wrist axis provided at a distal end of the arm and configured to be freely moved in a horizontal direction, and the wrist axis being provided with an end effector; and a control unit adapted for driving a memory to store a teaching point therein and controlling an operation of the robot such that the end effector will be moved toward the teaching point stored in the memory. The control unit is further adapted for changing a pressing force of the end effector against a target by changing a control loop gain, and bringing the end effector into contact with the target, while setting the control loop gain of the wrist axis lower than a predetermined value at least from a position adjacent to the teaching point at which the target is located, so as to capture a position in a state in which the end effector is in contact with the target, thereby detecting the position of the target.
摘要翻译：一种用于机器人的目标位置检测装置，包括：机器人，其包括构造成能够在X轴和Y轴的至少两个方向上自由移动的臂，所述臂具有设置在所述臂的前端的手腕轴，沿水平方向移动，腕轴设置有端部执行器; 以及控制单元，适于驱动存储器以存储其中的教导点，并且控制机器人的操作，使得末端执行器将朝向存储在存储器中的教学点移动。控制单元还适于通过改变控制环增益来改变端部执行器对目标的按压力，并且使端部执行器与目标接触，同时将手腕轴的控制环增益设置为低于预定值至少从与目标所在的教导点相邻的位置获得值，以便捕获末端执行器与目标物接触的状态下的位置，从而检测目标的位置。

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