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1. 发明申请

US20180104781A1 WORKPIECE LOADER DEVICE 审中-公开
公开(公告)号：US20180104781A1
公开(公告)日：2018-04-19
申请号：US15562662
申请日：2016-03-07
申请人： DMG MORI CO., LTD.
发明人： Hiroshi YASUDA , Yoshinobu OKUYAMA , Takayuki HIGUCHI
IPC分类号： B23Q7/04 , B25J9/02 , G05B19/423
CPC分类号： B23Q7/045 , B23Q1/626 , B23Q7/04 , B23Q7/046 , B25J9/0081 , B25J9/023 , B25J9/026 , B25J9/1633 , B25J9/1664 , B25J13/02 , B25J13/08 , B25J15/0253 , G05B19/423 , G05B2219/36425 , G05B2219/36492
摘要： In a workpiece loader device, a loader mechanism is configured to move a loader hand directly held by operator's hands to a desired position. A loader mechanism control part stores position coordinates as workpiece receiving position coordinates when the loader hand is moved by operator's hands to the workpiece receiving position and a completion of moving is confirmed.

2. 发明授权

US5808888A Method and apparatus for programming a CNC machine 失效
标题翻译：数控机床编程方法及装置
公开(公告)号：US5808888A
公开(公告)日：1998-09-15
申请号：US586251
申请日：1996-01-11
申请人： Kenneth J. Susnjara , Philip J. Poth
发明人： Kenneth J. Susnjara , Philip J. Poth
IPC分类号： G05B19/423
CPC分类号： G05B19/423 , G05B2219/36425 , G05B2219/36429 , G05B2219/36492 , G05B2219/49344 , G05B2219/50252 , G05B2219/50353
摘要： A method and apparatus for programming the motion of a machine tool in a three-dimensional machining space defined by an X, Y and Z coordinate system, the machine tool having a spindle linearly displaceable in three orthogonal X, Y and Z axes and rotatable about two mutually perpendicular A and C axes within the machining space. A probe, mounted in the spindle and coupled to transducers, is moved by hand through a desired cutting path for an actual part. A computer connected to the transducers moves the machine in the direction that the probe is moved and selectively records the position of the probe to create an NC parts program that replicates the cutting path motions.
摘要翻译：一种用于对由X，Y和Z坐标系定义的三维加工空间中的机床的运动进行编程的方法和装置，该机床具有可在三个正交的X，Y和Z轴线性地位移的主轴，两个相互垂直的A和C轴在加工空间内。安装在主轴中并耦合到换能器的探针通过用于实际部件的所需切割路径用手移动。连接到换能器的计算机沿着探头移动的方向移动机器，并选择性地记录探头的位置，以创建复制切割路径运动的NC零件程序。

3. 发明申请

US20160176046A1 Apparatus and Method for Recording Positions 有权
标题翻译：记录位置的装置和方法
公开(公告)号：US20160176046A1
公开(公告)日：2016-06-23
申请号：US14961054
申请日：2015-12-07
申请人： KUKA Roboter GmbH
发明人： Uwe Zimmermann , Günter Schreiber
IPC分类号： B25J9/16
CPC分类号： B25J9/1633 , B25J9/1674 , B25J9/1694 , G05B19/425 , G05B2219/36425 , G05B2219/39319
摘要： An apparatus for recording positions in a control program of a manipulator, which includes a manipulator, a controller having a control program, and a manual control device, wherein the controller can actuate the manipulator 10 in a compliance control, in which the manipulator is allowed to occupy an actual position different to the nominal position, wherein the controller, when recording the current position of the manipulator in the control program, carries over into the control program in a situation-based manner the nominal position, the actual position or a hybrid position comprising nominal and actual components of the current position. In addition, a corresponding method is also disclosed.
摘要翻译：一种在机械手的控制程序中记录位置的装置，其包括操纵器，具有控制程序的控制器和手动控制装置，其中所述控制器可以在允许所述操纵器的顺从控制中致动所述操纵器10 以占据与标称位置不同的实际位置，其中控制器在将控制程序中的机械手的当前位置记录在控制程序中时，以基于情况的方式将标称位置，实际位置或混合位置包括当前位置的标称和实际分量。此外，还公开了相应的方法。

4. 发明申请

US20120116586A1 TEACHING APPARATUS OF ROBOT AND TEACHING METHOD OF ROBOT 审中-公开
标题翻译：机器人教学设备与机器人教学方法
公开(公告)号：US20120116586A1
公开(公告)日：2012-05-10
申请号：US13380981
申请日：2010-06-30
申请人： Yoshinori Fujii
发明人： Yoshinori Fujii
IPC分类号： B25J9/16
CPC分类号： G05B19/42 , G05B2219/36425 , G05B2219/45031 , H01L21/67742 , H01L21/68 , H01L21/68707
摘要： A teaching method of a robot which supports a transported matter with a hand and transports the transported matter between two or more reception spots, includes: a jig disposing process of disposing a positioning jig at the reception spot so as to have the same center axis as the transported matter when the transported matter is placed at the reception spot; and a teaching process of moving the hand to a position at which an abutting portion of the hand abuts the positioning jig at each of the reception spots and teaching the position of the hand to a controller.
摘要翻译：一种机器人的教学方法，其特征在于，用手将所述运送物质运送到两个以上的接收点之间，其特征在于，具备：在所述接收点配置定位夹具的夹具配置处理，运送物件在运送物品放置在接收处时; 以及将手移动到在每个接收点处与手抵靠定位夹具的位置移动的教导过程，并将手的位置教导到控制器。

5. 发明申请

US20090259412A1 SYSTEM FOR CONTROLLING THE POSITION AND ORIENTATION OF AN OBJECT IN DEPENDENCE ON RECEIVED FORCES AND TORQUES FROM A USER 审中-公开
标题翻译：用于控制来自用户的接收到的强制和转矩的依赖对象的位置和方向的系统
公开(公告)号：US20090259412A1
公开(公告)日：2009-10-15
申请号：US12280678
申请日：2007-02-19
申请人： Torgny Brogardh
发明人： Torgny Brogardh
IPC分类号： G01L5/00 , G06F15/00
CPC分类号： G05B19/423 , B25J9/1633 , B25J13/085 , G01L5/162 , G05B2219/36425 , G05B2219/36433 , G05B2219/39439 , G05B2219/39529 , G05B2219/40599 , G05B2219/41114
摘要： A system for controlling position and orientation of an object. A first part is adapted to receive forces and torques from a user. A sensor is adapted to measure forces and torques caused by changes in position and orientation of the first part relative to a second part. A data processing unit is arranged to receive measured data from the sensor and based thereon to control the position and orientation of the object. The sensor includes a semiconductor chip with integrated sensor elements. The measuring assembly includes a spring arrangement mounted between the first and second parts and mechanically connected to the sensor for converting forces and torques from the user to changes in position and orientation of the first part relative to the second part. The sensor is adapted to measure forces and torques from the spring arrangement caused by the changes in position and orientation of the first part.
摘要翻译：用于控制物体的位置和方向的系统。第一部分适于接收来自用户的力和扭矩。传感器适于测量由第一部分相对于第二部分的位置和取向的变化引起的力和扭矩。数据处理单元被布置成从传感器接收测量数据并基于该数据来控制物体的位置和取向。传感器包括具有集成传感器元件的半导体芯片。测量组件包括安装在第一和第二部分之间的机械连接到传感器的弹簧装置，用于将使用者的力和扭矩转换成第一部分相对于第二部分的位置和取向的变化。传感器适于测量由第一部件的位置和取向的变化引起的弹簧装置的力和扭矩。

6. 发明申请

US20170232613A1 APPARATUS AND METHODS FOR HAPTIC TRAINING OF ROBOTS 审中-公开
公开(公告)号：US20170232613A1
公开(公告)日：2017-08-17
申请号：US15464104
申请日：2017-03-20
申请人： Brain Corporation
发明人： Filip Ponulak , Moslem Kazemi , Patryk Laurent , Oleg Sinyavskiy , Eugene zhikevich
IPC分类号： B25J9/16 , G05D1/02 , G05D1/00
CPC分类号： B25J9/163 , B25J9/161 , G05B2219/36418 , G05B2219/36425 , G05B2219/40499 , G05D1/005 , G05D1/0088 , G05D1/0221 , G05D2201/02 , G06N3/008 , G06N3/049 , G06N99/005
摘要： Robotic devices may be trained by a trainer guiding the robot along a target trajectory using physical contact with the robot. The robot may comprise an adaptive controller configured to generate control commands based on one or more of the trainer input, sensory input, and/or performance measure. The trainer may observe task execution by the robot. Responsive to observing a discrepancy between the target behavior and the actual behavior, the trainer may provide a teaching input via a haptic action. The robot may execute the action based on a combination of the internal control signal produced by a learning process of the robot and the training input. The robot may infer the teaching input based on a comparison of a predicted state and actual state of the robot. The robot's learning process may be adjusted in accordance with the teaching input so as to reduce the discrepancy during a subsequent trial.

7. 发明授权

US08260460B2 Interactive robot control system and method of use 有权
标题翻译：交互式机器人控制系统及其使用方法
公开(公告)号：US08260460B2
公开(公告)日：2012-09-04
申请号：US12564096
申请日：2009-09-22
申请人： Adam M. Sanders , Matthew J. Reiland , Muhammad E. Abdallah , Douglas Martin Linn , Robert Platt
发明人： Adam M. Sanders , Matthew J. Reiland , Muhammad E. Abdallah , Douglas Martin Linn , Robert Platt
IPC分类号： G06F19/00 , G05B19/04
CPC分类号： B25J9/1661 , G05B2219/36056 , G05B2219/36425 , G05B2219/39376 , G05B2219/40099
摘要： A robotic system includes a robot having joints, actuators, and sensors, and a distributed controller. The controller includes command-level controller, embedded joint-level controllers each controlling a respective joint, and a joint coordination-level controller coordinating motion of the joints. A central data library (CDL) centralizes all control and feedback data, and a user interface displays a status of each joint, actuator, and sensor using the CDL. A parameterized action sequence has a hierarchy of linked events, and allows the control data to be modified in real time. A method of controlling the robot includes transmitting control data through the various levels of the controller, routing all control and feedback data to the CDL, and displaying status and operation of the robot using the CDL. The parameterized action sequences are generated for execution by the robot, and a hierarchy of linked events is created within the sequence.
摘要翻译：机器人系统包括具有接头，致动器和传感器的机器人以及分布式控制器。控制器包括命令级控制器，每个控制各自关节的嵌入式联合级控制器，以及联合协调级控制器协调关节的运动。中央数据库（CDL）集中所有控制和反馈数据，用户界面使用CDL显示每个关节，执行器和传感器的状态。参数化动作序列具有链接事件的层次结构，并允许实时修改控制数据。控制机器人的方法包括通过控制器的各个级别发送控制数据，将所有控制和反馈数据路由到CDL，以及使用CDL显示机器人的状态和操作。生成参数化动作序列以供机器人执行，并且在序列内创建链接事件的层次结构。

8. 发明申请

US20110071676A1 INTERACTIVE ROBOT CONTROL SYSTEM AND METHOD OF USE 有权
标题翻译：交互式机器人控制系统及其使用方法
公开(公告)号：US20110071676A1
公开(公告)日：2011-03-24
申请号：US12564096
申请日：2009-09-22
申请人： Adam M. Sanders , Matthew J. Reiland , Muhammad E. Abdallah , Douglas Martin Linn , Robert Platt
发明人： Adam M. Sanders , Matthew J. Reiland , Muhammad E. Abdallah , Douglas Martin Linn , Robert Platt
IPC分类号： G05B19/04
CPC分类号： B25J9/1661 , G05B2219/36056 , G05B2219/36425 , G05B2219/39376 , G05B2219/40099
摘要： A robotic system includes a robot having joints, actuators, and sensors, and a distributed controller. The controller includes command-level controller, embedded joint-level controllers each controlling a respective joint, and a joint coordination-level controller coordinating motion of the joints. A central data library (CDL) centralizes all control and feedback data, and a user interface displays a status of each joint, actuator, and sensor using the CDL. A parameterized action sequence has a hierarchy of linked events, and allows the control data to be modified in real time. A method of controlling the robot includes transmitting control data through the various levels of the controller, routing all control and feedback data to the CDL, and displaying status and operation of the robot using the CDL. The parameterized action sequences are generated for execution by the robot, and a hierarchy of linked events is created within the sequence.
摘要翻译：机器人系统包括具有接头，致动器和传感器的机器人以及分布式控制器。控制器包括命令级控制器，每个控制各自关节的嵌入式联合级控制器，以及联合协调级控制器协调关节的运动。中央数据库（CDL）集中所有控制和反馈数据，用户界面使用CDL显示每个关节，执行器和传感器的状态。参数化动作序列具有链接事件的层次结构，并允许实时修改控制数据。控制机器人的方法包括通过控制器的各个级别发送控制数据，将所有控制和反馈数据路由到CDL，以及使用CDL显示机器人的状态和操作。生成参数化动作序列以供机器人执行，并且在序列内创建链接事件的层次结构。

9. 发明申请

US20040193321A1 Method and a system for programming an industrial robot 有权
标题翻译：用于编程工业机器人的方法和系统
公开(公告)号：US20040193321A1
公开(公告)日：2004-09-30
申请号：US10743316
申请日：2003-12-23
发明人： Ole Arnt Anfindsen , Charlotte Skourup , Thomas Pettersen , John Pretlove
IPC分类号： G06F019/00
CPC分类号： B25J9/1664 , G05B19/425 , G05B2219/36401 , G05B2219/36418 , G05B2219/36425 , G05B2219/36452
摘要： A method for programming an industrial robot having a tool, to perform a process on an object while following a robot path defined by a number of waypoints. The method comprises: obtaining configuration data including configuration data for the tool, configuration data for the robot path and information about the position and orientation of the object in relation to the robot, obtaining a sequence of waypoints, which defines the process in relation to the object, the waypoints comprises information about desired positions of the tool in relation to the object and desired positions of process events in relation to the object, obtaining at least one distance for adjusting the position of a waypoint, deciding whether an obtained waypoint should be modified or not, based on the obtained information about the waypoints, generating a modified sequence of waypoints by modifying the waypoints in the obtained sequence of waypoints, based on said decision, the obtained distance and the obtained information about the waypoints and generating the actual robot path based on the modified sequence of waypoints and the obtained configuration data.
摘要翻译：一种用于编程具有工具的工业机器人的方法，用于在遵循由多个航点定义的机器人路径的同时对对象执行处理。该方法包括：获得包括工具的配置数据，机器人路径的配置数据和关于对象相对于机器人的位置和取向的信息的配置数据，获得一系列路点，其定义与对象，航路点包括关于目标的工具的期望位置和关于物体的过程事件的期望位置的信息，获得用于调整航点的位置的至少一个距离，决定是否应当修改所获得的航路点基于所获得的关于航点的信息，基于所述决定，获得的距离和获得的关于航点的信息并生成实际的机器人路径的信息，通过修改所获得的航路点序列中的航路点来生成修改的航路点序列基于修改的航路点序列和获得的配置数据。

10. 发明授权

US09844873B2 Apparatus and methods for haptic training of robots 有权
公开(公告)号：US09844873B2
公开(公告)日：2017-12-19
申请号：US15464104
申请日：2017-03-20
申请人： Brain Corporation
发明人： Filip Ponulak , Moslem Kazemi , Patryk Laurent , Oleg Sinyavskiy , Eugene Izhikevich
IPC分类号： G05B19/18 , B25J9/16 , G05D1/00 , G05D1/02
CPC分类号： B25J9/163 , B25J9/161 , G05B2219/36418 , G05B2219/36425 , G05B2219/40499 , G05D1/005 , G05D1/0088 , G05D1/0221 , G05D2201/02 , G06N3/008 , G06N3/049 , G06N99/005
摘要： Robotic devices may be trained by a trainer guiding the robot along a target trajectory using physical contact with the robot. The robot may comprise an adaptive controller configured to generate control commands based on one or more of the trainer input, sensory input, and/or performance measure. The trainer may observe task execution by the robot. Responsive to observing a discrepancy between the target behavior and the actual behavior, the trainer may provide a teaching input via a haptic action. The robot may execute the action based on a combination of the internal control signal produced by a learning process of the robot and the training input. The robot may infer the teaching input based on a comparison of a predicted state and actual state of the robot. The robot's learning process may be adjusted in accordance with the teaching input so as to reduce the discrepancy during a subsequent trial.

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