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1. 发明申请

US20100010674A1 METHOD FOR THE DETECTION OF A CASTING CURVE FOR A ROBOT CONTROLLER, AND DETECTION SYSTEM THEREFOR 审中-公开
标题翻译：检测机器人控制器的投掷曲线的方法及其检测系统
公开(公告)号：US20100010674A1
公开(公告)日：2010-01-14
申请号：US12374982
申请日：2007-07-07
申请人： Dirk Hablick
发明人： Dirk Hablick
IPC分类号： B25J9/22
CPC分类号： G05B19/427 , B22D39/026 , B22D39/04 , G05B2219/36401 , G05B2219/39439
摘要： A method for detecting a casting curve for a controller of a robot guiding a pouring spoon includes the steps of manually pouring a smelt from the pouring spoon using a remote control apparatus, detecting and storing at least one time characteristic, and making available the at least one stored time characteristic for use in the robot controller. The at least one time characteristic includes at least of a first time characteristic of a movement of the robot and a second time characteristic of weights of the poured smelt during the pouring. In addition, a method for casting cast parts using a robot having a pouring spoon and a robot controller is disclosed as is a robot system.
摘要翻译：一种用于检测引导倾倒式勺子的机器人的控制器的铸造曲线的方法包括以下步骤：使用遥控装置从倾倒勺手动地浇注熔融物，检测和存储至少一个时间特性，并至少提供至少一个一个用于机器人控制器的存储时间特性。至少一个时间特征至少包括机器人的运动的第一时间特性和在倾倒期间倾倒的熔融物的重量的第二时间特性。此外，公开了一种使用具有倾倒勺机器人和机器人控制器的铸造件的铸造方法，机器人系统也是如此。

2. 发明授权

US07605558B2 Robot system 有权
标题翻译：机器人系统
公开(公告)号：US07605558B2
公开(公告)日：2009-10-20
申请号：US11814839
申请日：2006-01-05
申请人： Kenji Matsukuma , Michiharu Tanaka , Yasuyuki Inoue
发明人： Kenji Matsukuma , Michiharu Tanaka , Yasuyuki Inoue
IPC分类号： B25J9/22 , G05B19/42
CPC分类号： G05B19/409 , B25J9/1674 , B25J13/06 , B25J19/06 , G05B2219/23172 , G05B2219/33192 , G05B2219/33228 , G05B2219/36162 , G05B2219/36535 , G05B2219/45104 , G05B2219/50198
摘要： The present invention provides a safe robot system adapted to always and clearly indicate a worker whether an emergency stop operation can be performed by an emergency stop operation section in an unwired portable teaching operation section, thereby to prevent occurrence of a misconception.A portable teaching operation portion 3 includes a display section (13) configured to indicate whether an emergency stop operation to be conducted by an emergency stop operation section (9) can be performed.
摘要翻译：本发明提供了一种安全的机器人系统，其适于始终且清楚地指示工作人员是否可以通过无绳便携式教学操作部分中的紧急停止操作部分进行紧急停止操作，从而防止误解。便携式教学操作部3包括：显示部（13），其被配置为指示是否能够执行由紧急停止操作部（9）进行的紧急停止操作。

3. 发明申请

US20050255609A1 Delivery position aligning method for use in a transfer system and a processing system employing the method 有权
标题翻译：用于传送系统的传送位置对准方法和采用该方法的处理系统
公开(公告)号：US20050255609A1
公开(公告)日：2005-11-17
申请号：US11138421
申请日：2005-05-27
申请人： Motohiro Kumagai , Keisuke Kondoh
发明人： Motohiro Kumagai , Keisuke Kondoh
IPC分类号： B25J9/22 , H01L21/00 , H01L21/677 , H01L21/68
CPC分类号： H01L21/67167 , H01L21/67184 , H01L21/67259 , H01L21/68
摘要： A transfer system has a position aligning device, a mounting device, and a transfer mechanism having two pick. In a delivery position aligning method for use in a transfer system, a set of delivery position coordinates that defines an access point of each pick of the transfer mechanism is temporarily determined. Then, a set of delivery position coordinates of each pick of the transfer mechanism to the position aligning device is fixed, and parts of sets of delivery position coordinates of each pick of the transfer mechanism to devices other than the position aligning device are fixed. A position alignment object is transferred to the position aligning device via a transfer route passing an unfixed set of delivery position coordinates, and an amount of positional displacement thereof is calculated. The unfixed set of delivery position coordinates is corrected based on the amount of positional displacement, and fixed.
摘要翻译：传送系统具有位置对准装置，安装装置和具有两个拾取器的传送机构。在用于传送系统的传送位置对准方法中，暂时确定定义传送机构的每个拾取的接入点的一组传送位置坐标。然后，将传送机构的每个拾取的一组传送位置坐标固定到位置对准装置，并且将传送机构的每个拾取的传送位置坐标的一组传送位置坐标的一部分固定到位置对准装置以外的装置。位置对准对象经由传递路线传递到位置对齐装置，该传送路线通过不固定的传送位置坐标组，并且计算其位置偏移量。基于位置位移量校正不固定的传送位置坐标组，并且固定。

4. 发明申请

US20050231332A1 Manual operating unit for robot 审中-公开
标题翻译：机器人手动操作单元
公开(公告)号：US20050231332A1
公开(公告)日：2005-10-20
申请号：US11090235
申请日：2005-03-28
申请人： Ryo Nihei , Satoshi Kinoshita , Mitsuhiro Yasumura , Hikaru Yamashiro
发明人： Ryo Nihei , Satoshi Kinoshita , Mitsuhiro Yasumura , Hikaru Yamashiro
IPC分类号： B25J9/22 , B25J9/16 , B25J13/02 , B25J13/06 , G05B19/409 , G05B19/425 , G08B1/00
CPC分类号： G05B19/409 , B25J13/06 , G05B2219/36162 , G05B2219/39443 , G05B2219/39446
摘要： A manual operating unit for operating a robot in a manual mode, for the purpose of a teaching operation, a start/stop operation, or the like. The manual operating unit includes a housing; a robot diagram provided on the housing for schematically showing an external appearance of a robot mechanical section; an index provided on the housing in association with the robot diagram for representing a plurality of directions of motions to be performed by the robot mechanical section under control; and a motion command section provided on the housing in association with the index for causing the robot mechanical section to perform the motions in the directions represented by the index. For example, the index includes a drawing illustrating three coordinate axes of a three-axis rectangular coordinate system provided for the robot mechanical section. In this arrangement, the motion command section includes a plurality of motion command keys for causing the robot mechanical section to perform the motions along the three coordinate axes illustrated by the drawing.
摘要翻译：用于以手动模式操作机器人的手动操作单元，用于教学操作，起动/停止操作等。手动操作单元包括壳体; 设置在壳体上用于示意性地示出机器人机械部分的外观的机器人图; 与机器人图相关联地设置在壳体上的索引，用于表示由被控制的机器人机械部分执行的多个运动方向; 以及运动指令部，其与用于使所述机器人机械部在由所述指标表示的方向上执行运动的所述指标相关联地设置在所述壳体上。例如，该索引包括示出为机器人机械部设置的三轴直角坐标系的三个坐标轴的图。在这种布置中，运动指令部分包括用于使机器人机械部分沿着图示的三个坐标轴执行运动的多个运动指令键。

5. 发明申请

US20050224479A1 Offline programming device 有权
标题翻译：离线编程设备
公开(公告)号：US20050224479A1
公开(公告)日：2005-10-13
申请号：US11099504
申请日：2005-04-06
申请人： Atsushi Watanabe , Hirohiko Kobayashi , Yoshiharu Nagatsuka
发明人： Atsushi Watanabe , Hirohiko Kobayashi , Yoshiharu Nagatsuka
IPC分类号： B25J9/22 , B25J9/16 , G05B19/4061 , G05B19/4069 , G05B19/4093 , G05B19/42 , B23K9/12
CPC分类号： G05B19/4061 , B25J9/1666 , G05B2219/40317 , G05B2219/40515 , Y02P90/265
摘要： An offline programming device in which a path for preventing interference may be automatically inserted such that a welding robot does not interfere with a jig clamping a workpiece to be welded. The models of the robot, the workpiece and the clamp jig are indicated on a display for determining the path for preventing interference. A simulation is carried out to judge that interference with the jig may occur. When it is judged that interference will occur, data of the preventing path suitable for a straight path passing through the jig are read out from a library including registered preventing paths corresponding to shapes of various jigs. The data of the preventing path includes the three-dimensional data of each point of the path as the incremental value in relation to a reference point of the path. Also, the orientation of a welding torch is registered. The corrected welding program may be downloaded to the actual robot so as to correct the uploaded offline program by using a test result in the actual robot.
摘要翻译：可以自动插入用于防止干扰的路径的离线编程装置，使得焊接机器人不干涉夹具待焊接的工件的夹具。在显示器上指示机器人，工件和夹具的型号，以确定用于防止干扰的路径。进行模拟以判断可能发生对夹具的干扰。当判断出会发生干扰时，从包括对应于各种夹具的形状的登记防止路径的库中读出适合于穿过夹具的直线路径的防止路径的数据。防止路径的数据包括路径的每个点的三维数据作为与路径的参考点相关的增量值。另外，记录了焊炬的取向。校正焊接程序可以下载到实际的机器人中，以便通过在实际机器人中使用测试结果来校正上传的脱机程序。

6. 发明申请

US20050080515A1 Manual-mode operating system for robot 失效
标题翻译：机器人手动操作系统
公开(公告)号：US20050080515A1
公开(公告)日：2005-04-14
申请号：US10959434
申请日：2004-10-07
申请人： Atsushi Watanabe , Tatsuya Oumi
发明人： Atsushi Watanabe , Tatsuya Oumi
IPC分类号： B25J9/22 , B25J1/00 , B25J9/16 , B25J13/06 , G05B19/18 , G05B19/409 , G05B19/42 , G05B19/425 , G05D3/00 , G06F19/00
CPC分类号： B25J9/1671 , B25J13/06 , G05B2219/40311 , G05B2219/40562 , G05D3/00
摘要： A manual-mode operating system for a robot provided with an end-effector. The manual-mode operating system includes a display section including a screen for displaying an image of an end-effector; a first input section for an input of coordinate system data on the screen of the display section, displaying the image of the end-effector, the coordinate system data designating a manual-mode coordinate system used for describing an orientation of the end-effector; a coordinate system setting section for setting the manual-mode coordinate system at a spatial position corresponding to an input position on the screen of the display section, based on the coordinate system data input through the first input section; a second input section for an input of orientation data using the manual-mode coordinate system set through the coordinate system setting section, the orientation data instructing the orientation of the end-effector; and an orientation adjusting section for adjusting the orientation of the end-effector, based on the orientation data input through the second input section.
摘要翻译：用于机器人的手动模式操作系统，其具有末端执行器。手动模式操作系统包括显示部分，其包括用于显示末端执行器的图像的屏幕; 第一输入部分，用于在显示部分的屏幕上输入坐标系统数据，显示末端执行器的图像，指定用于描述末端执行器的取向的手动模式坐标系的坐标系统数据; 坐标系设定部，基于通过第一输入部输入的坐标系数据，将手动模式坐标系设定在与显示部的画面上的输入位置对应的空间位置上; 第二输入部分，用于使用通过坐标系设置部分设置的手动模式坐标系输入定向数据，所述定向数据指示末端执行器的方向; 以及基于通过第二输入部输入的取向数据来调整末端执行器的取向的取向调整部。

7. 发明申请

US20050053909A1 Learn-and-play programming method for motorized toys and domestic appliances 审中-公开
标题翻译：电动玩具和家用电器的学习和编程方法
公开(公告)号：US20050053909A1
公开(公告)日：2005-03-10
申请号：US10657032
申请日：2003-09-08
申请人： Kwok Chan
发明人： Kwok Chan
IPC分类号： A63H11/00 , A63H17/395 , A63H30/00 , A63H33/00 , B25J9/22 , G05B19/42 , G05B19/425 , G05D1/02 , G09B25/00
CPC分类号： A63H30/00 , A63H11/00 , A63H33/00 , G05B19/425 , G05B2219/36401 , G05B2219/45007
摘要： A learn-and-play programming method, for controlling a mechanical movement of an output shaft of a motorized toy and a domestic appliance, includes the steps of: learning the mechanical movement of the output shaft by inputting a movement data into the operation system corresponding to the mechanical movement of the output shaft and storing the movement data of the output shaft in a memorizing means; and reproducing the mechanical movement of the output shaft corresponding to the movement data in the memorizing means. Therefore, the operation system is executed through the learning program to repeatedly control the mechanical movement of the output shaft.
摘要翻译：一种用于控制电动玩具和家用电器的输出轴的机械运动的学习和播放编程方法，包括以下步骤：通过将运动数据输入到对应的操作系统中来学习输出轴的机械运动输出轴的机械运动并将输出轴的运动数据存储在记忆装置中; 以及再现与存储装置中的运动数据对应的输出轴的机械运动。因此，通过学习程序来执行操作系统，以重复地控制输出轴的机械运动。

8. 发明申请

US20050021184A1 Motion-control apparatus and motion-control method for legged mobile robot, and method for generating motion unit for legged mobile robot 有权
标题翻译：用于腿式移动机器人的运动控制装置和运动控制方法，以及用于产生腿式移动机器人运动单元的方法
公开(公告)号：US20050021184A1
公开(公告)日：2005-01-27
申请号：US10919172
申请日：2004-08-16
申请人： Yoshihiro Kuroki , Tatsuzo Ishida , Jinichi Yamaguchi
发明人： Yoshihiro Kuroki , Tatsuzo Ishida , Jinichi Yamaguchi
IPC分类号： B25J9/22 , B62D57/02 , B62D57/032 , G06F19/00
CPC分类号： B62D57/02 , B62D57/032
摘要： A predetermined action sequence is generated by using basic motion units which include time-sequential motion of each joint and compound motion units in which basic motion units are combined. Motion patterns of a robot including walking are classified into motion units, each motion unit serving as a unit of motion, and one or more motion units are combined to generate various complex motions. Dynamic motion units are defined on the basis of basic dynamic attitudes, and a desired action sequence can be generated by using the dynamic motion units. This is a basic control method necessary for a robot to autonomously perform a continuous motion, a series of continuous motions, or motions which are changed in real-time by commands.
摘要翻译：通过使用包括每个关节的时间顺序运动和组合基本运动单元的复合运动单元的基本运动单元来产生预定动作序列。包括步行的机器人的运动图案被分为运动单元，每个运动单元用作运动单元，并且组合一个或多个运动单元以产生各种复杂运动。动态运动单元是基于基本动态态度来定义的，并且可以通过使用动态运动单元来产生期望的动作序列。这是机器人自主执行通过命令实时改变的连续运动，一系列连续运动或运动所必需的基本控制方法。

9. 发明授权

US6160324A Deadman switch mechanism for emergency stop of robot and teaching operation 失效
标题翻译：机器人紧急停机死机开关机构及教学操作
公开(公告)号：US6160324A
公开(公告)日：2000-12-12
申请号：US297148
申请日：1999-04-26
申请人： Akihiro Terada , Mitsuhiro Yasumura , Shinsuke Nakao
发明人： Akihiro Terada , Mitsuhiro Yasumura , Shinsuke Nakao
IPC分类号： B25J19/06 , B25J9/22 , B25J13/02 , H01H3/02 , H01H9/02 , H01H71/52 , H01H3/16
CPC分类号： B25J13/02 , H01H3/022 , H01H9/0235 , H01H2225/008 , H01H2300/026 , Y10T307/766 , Y10T307/786 , Y10T307/826
摘要： A deadman switch mechanism and a teaching operation panel equipped with the deadman switch mechanism, in which possibility of losing a safety function is low even if failure happens in a contact or other elements of a circuit. When an operator grips at least one of grip levers (GL1; GL2) with normal force, the grip levers turn around axes (AX4; AX5), shoulder portions (SD1; SD2) abut on slave levers (SL1; SL2) and turns the slave levers connected by a link (LK) around an axis (AX3) in the direction denoted by an arrow B, simultaneously, so that switches (SW1; SW2) are turned into an ON-state, simultaneously. Then, two circuits including those switches, respectively, output ON-signals independently and these signals are subjected to AND process, to allow the robot to operate. In an emergency, when an operator releases gripping of the grip levers (GL1; GL2), the slave levers (SL1; SL2) turn in the direction denoted by an arrow A, simultaneously, so that the switches (SW1; SW2) are brought into an OFF-state, simultaneously, and the robot stops immediately.
摘要翻译： PCT No.PCT / JP98 / 03772 Sec。 371日期1999年4月26日 102（e）1999年4月26日PCT PCT 1998年8月25日PCT公布。公开号WO99 / 10138 日期1999年3月4日，即使在触点或电路的其他元件中发生故障，死机开关机构和配备有死机开关机构的教学操作面板也可能失去安全功能。当操作者以正常的力握住至少一个握柄（GL1，GL2）时，把手杠杆绕轴（AX4; AX5）转动，肩部（SD1; SD2）靠在从动杆（SL1; SL2）上，并转动同时由箭头B所示的方向通过连杆（LK）围绕轴线（AX3）连接的从动杆，使得开关（SW1; SW2）同时变为接通状态。然后，分别包括那些开关的两个电路分别输出ON信号，这些信号经过AND处理，以允许机器人操作。在紧急情况下，当操作者释放把手（GL1，GL2）的夹持时，从动杆（SL1; SL2）同时向箭头A方向转动，从而使开关（SW1; SW2）同时进入OFF状态，机器人立即停止。

10. 发明授权

US6023044A Control method in multi-layer welding 失效
标题翻译：多层焊接控制方法
公开(公告)号：US6023044A
公开(公告)日：2000-02-08
申请号：US981818
申请日：1997-12-12
申请人： Tetsuya Kosaka , Yoshitaka Ikeda
发明人： Tetsuya Kosaka , Yoshitaka Ikeda
IPC分类号： B25J9/22 , B23K9/095 , B23K9/127 , G05B13/02 , B23K9/12
CPC分类号： B23K9/025 , B23K9/0956 , B23K9/1274
摘要： In a multi-layer welding, weld line and a gap width of workpieces (A, B) to be welded are detected by a laser sensor mounted on a robot, during a welding for a first layer, whereby, a welding torch mounted on the robot is made to follow the weld line and welding conditions are adjusted in accordance with the detected gap width. The detected gap width is stored in the storage means together with the weld line data. Then, weldings for a second and subsequent layers are performed by using the stored data in such a manner that the welding torch is made to follow the weld line, and the welding conditions are adjusted in accordance with the gap width.
摘要翻译： PCT No.PCT / JP97 / 01288 Sec。 371日期1997年12月12日 102（e）日期1997年12月12日PCT提交1997年4月14日PCT公布。第WO97 / 38819号公报日期：1997年10月23日在多层焊接中，在第一层的焊接期间，通过安装在机器人上的激光传感器检测待焊接的工件（A，B）的焊接线和间隙宽度，安装在机器人上的焊炬使焊缝跟随焊接线，并根据检测到的间隙宽度调整焊接条件。检测到的间隙宽度与焊接线数据一起存储在存储装置中。然后，通过使用存储的数据，使得焊炬进行跟随焊接线的方式进行第二层和后续层的焊接，并且根据间隙宽度调整焊接条件。

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