公开(公告)号：US20240134336A1

公开(公告)日：2024-04-25

申请号：US18403118

申请日：2024-01-03

申请人： Kabushiki Kaisha Yaskawa Denki

发明人： Takahiko SUZUKI ,  Hiromasa SHIMIZU ,  Yu KATONO ,  Yosuke KAMIYA

IPC分类号： G05B19/05

CPC分类号： G05B19/05 ,  G05B2219/13049

摘要： Provided is a production system, comprising circuitry configured to: associate a plurality of rungs included in a ladder program with one of a plurality of scan groups each having an execution cycle that is specifiable; allocate each of the plurality of scan groups to one of a plurality of processor cores of a controller so that each of the plurality of scan groups is distributed; and execute one or more rungs associated with one or more scan groups allocated to each of the plurality of processor cores in parallel in each of the execution cycles.

公开(公告)号：US20140277731A1

公开(公告)日：2014-09-18

申请号：US14181725

申请日：2014-02-17

申请人： KABUSHIKI KAISHA YASKAWA DENKI

发明人： Yosuke KAMIYA ,  Shingo ANDO

IPC分类号： B25J9/16

CPC分类号： B25J9/1697 ,  B25J9/1676 ,  G05B2219/40053

摘要： A robot picking system includes a robot that picks up a work in a first stocker accommodating a plurality of works, a control device that controls an operation of the robot, and an image acquiring device that acquires image data including information related to the plurality of works. The control device includes a candidate data generating unit that generates candidate data including information of candidate works that are candidates of a picking-up target using the image data, and a target work selecting unit that selects a target work that is a picking-up target from the candidate works using the candidate data.

摘要翻译： 机器人拾取系统包括拾取容纳多个作品的第一储存器中的作业的机器人，控制机器人的操作的控制装置和获取包括与多个作品相关的信息的图像数据的图像获取装置 。 所述控制装置包括：候选数据生成部，生成包含作为所述图像数据的拍摄对象的候选的候选作品的信息的候选数据;以及目标作业选择部，其选择作为拍摄对象的目标作品 从候选人使用候选人的作品数据。

公开(公告)号：US20240231302A9

公开(公告)日：2024-07-11

申请号：US18403118

申请日：2024-01-03

申请人： Kabushiki Kaisha Yaskawa Denki

发明人： Takahiko SUZUKI ,  Hiromasa SHIMIZU ,  Yu KATONO ,  Yosuke KAMIYA

IPC分类号： G05B19/05

CPC分类号： G05B19/05 ,  G05B2219/13049

摘要： Provided is a production system, comprising circuitry configured to: associate a plurality of rungs included in a ladder program with one of a plurality of scan groups each having an execution cycle that is specifiable; allocate each of the plurality of scan groups to one of a plurality of processor cores of a controller so that each of the plurality of scan groups is distributed; and execute one or more rungs associated with one or more scan groups allocated to each of the plurality of processor cores in parallel in each of the execution cycles.

公开(公告)号：US20140277737A1

公开(公告)日：2014-09-18

申请号：US14217479

申请日：2014-03-18

申请人： KABUSHIKI KAISHA YASKAWA DENKI

发明人： Tomoyuki SEKIYAMA ,  Yosuke KAMIYA

IPC分类号： B25J9/16

CPC分类号： B25J9/1697 ,  B25J9/1666 ,  B25J9/1671 ,  G05B19/425 ,  G05B2219/36433 ,  G05B2219/39094 ,  G05B2219/39449 ,  G05B2219/40479 ,  Y02P90/86

摘要： A robot device includes according to one embodiment of the present disclosure: a robot controller configured to operate a robot based on a motion program specifying a motion of the robot; a robot imaging unit configured to acquire image data of an image including the robot; and a data processor. The data processor includes: a virtual-space-data holder configured to hold virtual space data including information on a virtual object in a virtual space, the virtual space simulating a real working space of the robot, the virtual object simulating an object present in the real working space; and an augmented-reality-space-data generator configured to generate augmented-reality-space data by use of the image data and the virtual space data.

摘要翻译： 根据本公开的一个实施例的机器人装置包括：机器人控制器，被配置为基于指定机器人的运动的运动程序来操作机器人; 机器人成像单元，被配置为获取包括所述机器人的图像的图像数据; 和数据处理器。 数据处理器包括：虚拟空间数据保持器，被配置为保存虚拟空间数据，虚拟空间数据包括虚拟空间中的虚拟对象的信息，模拟机器人的实际工作空间的虚拟空间，模拟存在于 真正的工作空间; 以及被配置为通过使用所述图像数据和所述虚拟空间数据来生成增强现实空间数据的增强现实空间数据生成器。

公开(公告)号：US20220206466A1

公开(公告)日：2022-06-30

申请号：US17557293

申请日：2021-12-21

申请人： KABUSHIKI KAISHA YASKAWA DENKI

发明人： Yosuke KAMIYA ,  Megumi YASUDA

IPC分类号： G05B19/4155

摘要： A creation device for creating an instruction for controlling a second industrial machine with a first industrial machine to execute a predetermined operation includes processing circuitry that obtains templates corresponding to operations respectively, control display of a template corresponding to an operation selected from the operations in a creation screen, and create an instruction for the operation selected from the operations based on the operation with respect to the template displayed in the creation screen.

公开(公告)号：US20210157301A1

公开(公告)日：2021-05-27

申请号：US17097163

申请日：2020-11-13

申请人： Kabushiki Kaisha Yaskawa Denki

发明人： Takeshi NAGATA ,  Takahiko SUZUKI ,  Kengo GOTO ,  Yosuke KAMIYA ,  Shinichiro OBATA

IPC分类号： G05B19/418

摘要： An information system for industrial equipment includes processing circuitry that controls processing apparatuses that each execute a predetermined process with respect to at least one workpiece, respectively collects, from the processing apparatuses, processing information sets that are respectively related to processing steps executed by the processing apparatuses until one corresponding product is manufactured from the at least one workpiece, and associates the processing information sets by assigning to the processing information sets a link identifier that permits a linkage between respective steps of the processing steps related to the one corresponding product.

公开(公告)号：US20210182101A1

公开(公告)日：2021-06-17

申请号：US17118501

申请日：2020-12-10

申请人： Kabushiki Kaisha Yaskawa Denki

发明人： Naoki MIZUNO ,  Yosuke KAMIYA ,  Shinichiro OBATA ,  Aya MATSUNAGA

IPC分类号： G06F9/48 ,  G06F9/451 ,  G06F9/38 ,  G06F9/30 ,  G06F11/32

摘要： A program generating device comprising circuitry configured to: display a schedule screen, in which, for each of a plurality of processes executed in a system including a plurality of industrial devices, at least a name of a process is associated with a variable that is at least either referenced or changed in a process program representing an operation of one or more of the plurality of industrial devices and executed in the process, a plurality of names of the plurality of processes obtained from a process database that is stored as process information are included, and an execution order of the plurality of processes can be specified; receive a specification of the execution order on the schedule screen; and generate a system program based on the execution order and the variable of each process included in the execution order.

公开(公告)号：US20140277719A1

公开(公告)日：2014-09-18

申请号：US14181727

申请日：2014-02-17

申请人： KABUSHIKI KAISHA YASKAWA DENKI

发明人： Yosuke KAMIYA ,  Shingo ANDO

IPC分类号： B25J9/16

CPC分类号： B25J9/1669 ,  G05B2219/40053

摘要： A robot picking system includes a robot including a gripper that picks up a target work in a first stocker accommodating a plurality of works, a control device that controls an operation of the robot, and an image acquiring device that acquires image data including information related to the target work. The control device includes a trajectory calculating unit that sets a first trajectory including a first zone in which a posture of the gripper is changed and a second zone in which the gripper having the changed posture approaches the target work that is a picking-up target.

摘要翻译： 机器人拾取系统包括：机器人，其包括：拾取目标作业的夹持器，所述夹持器容纳多个工件的第一储料器;控制装置，其控制所述机器人的操作;以及图像获取装置，其获取包括与 目标工作。 控制装置包括：轨迹计算单元，其设定包括夹持器的姿势的第一区域和具有变化的姿势的夹持器的第二区域接近作为拾取对象的目标作业的第一轨迹。

公开(公告)号：US20140195054A1

公开(公告)日：2014-07-10

申请号：US14203570

申请日：2014-03-11

申请人： KABUSHIKI KAISHA YASKAWA DENKI

发明人： Yosuke KAMIYA

IPC分类号： B25J9/16

CPC分类号： B25J9/1643 ,  B25J13/06 ,  G05B2219/39435 ,  G05B2219/40336 ,  G05B2219/40349 ,  G05B2219/40367 ,  G05B2219/40371 ,  G05B2219/40381

摘要： A robot system includes a robot and a robot control device. The robot has a plurality of joint axes including a redundant axis. The robot control device includes a first command generator, a limit avoidance command generator, a posture optimization command generator, a null space matrix calculator, a second command generator and a controller. The first command generator generates a first joint angular speed command for the robot. The limit avoidance command generator generates a joint angular speed command A for the robot for avoiding a state in which the robot reaches an operating limit. The posture optimization command generator generates a joint angular speed command B for the robot for optimizing a posture of the robot. The null space matrix calculator calculates a null space matrix of a Jacobian matrix related to a control point. The second command generator generates a second joint angular speed command for the robot.

摘要翻译： 机器人系统包括机器人和机器人控制装置。 机器人具有包括冗余轴的多个关节轴。 机器人控制装置包括第一命令发生器，限制回避命令生成器，姿势优化命令生成器，零空间矩阵计算器，第二命令生成器和控制器。 第一命令发生器为机器人生成第一关节角速度命令。 限制回避指令发生器为机器人生成关节角速度指令A，以避免机器人达到操作极限的状态。 姿势优化指令生成器为机器人生成用于优化机器人的姿势的关节角速度指令B。 零空间矩阵计算器计算与控制点相关的雅可比矩阵的零空间矩阵。 第二命令发生器产生用于机器人的第二关节角速度命令。

公开(公告)号：US20230256603A1

公开(公告)日：2023-08-17

申请号：US18168051

申请日：2023-02-13

申请人： KABUSHIKI KAISHA YASKAWA DENKI

发明人： Yosuke KAMIYA ,  Shinichiro OBATA ,  Aya MATSUNAGA ,  Megumi YASUDA

IPC分类号： B25J9/16 ,  G05B19/4069

CPC分类号： B25J9/1671 ,  G05B19/4069 ,  B25J9/1679

摘要： A control system includes multiple devices each of which independently executes one or more of multiple processes with respect to multiple objects, a memory that stores a setting specified by a user about an execution condition of one or more of the multiple processes, and processing that acquires a current status of the control system, dynamically determines a process to be executed next among the multiple processes based on the setting and the status, and controls the devices.