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公开(公告)号：US20240123537A1
公开(公告)日：2024-04-18
申请号：US18394299
申请日：2023-12-22
Inventor： Katsuaki OKUMA , Masaya HIRAYAMA , Yoshiyuki OKAZKI
CPC classification number: B23K9/1274 , B25J9/1664 , B25J11/005 , B25J19/022
Abstract: An offline teaching device provided with an acquisition unit for acquiring first production data about a workpiece to be produced, and a teaching program creation unit for acquiring a first weld line of the workpiece from the first production data, and creating and outputting a first welding teaching program for executing welding by means of a welding robot, and a first inspection teaching program for executing an inspection of a weld bead, wherein, on the basis of a second weld line, a second welding teaching program for a workpiece to be produced using second production data and a second inspection teaching program are created and output.
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公开(公告)号：US20240424591A1
公开(公告)日：2024-12-26
申请号：US18824110
申请日：2024-09-04
Inventor： Masaya HIRAYAMA , Katsuaki OKUMA , Yoshiyuki OKAZAKI
Abstract: An offline teaching device includes a memory storing a program, and a processor configured to execute the program stored in the memory. The processor is configured to acquire, from an inspection robot that inspects a workpiece to be produced by welding, information on positions of the workpiece and a welding robot that executes the welding, calculate a position of the workpiece and a position of the welding robot, convert a position of the workpiece with respect to the inspection robot into a position of the workpiece with respect to the welding robot, correct a position of a teaching point included in a welding teaching program used for the welding and correct a position of a teaching point included in an inspection teaching program used for the inspection of the produced workpiece, and output the corrected welding teaching program.
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公开(公告)号：US20240331575A1
公开(公告)日：2024-10-03
申请号：US18737293
申请日：2024-06-07
Inventor： Masaya HIRAYAMA , Yoshiyuki OKAZAKI , Katsuaki OKUMA
Abstract: An offline teaching device includes an acquisition unit that acquires position information of a plurality of welding lines of a workpiece and a scanning range of a sensor, a generation unit that generates a plurality of three-dimensional regions to be scanned, and a control unit that disposes the plurality of welding lines and the plurality of three-dimensional regions in a virtual space and highlights an overlapping region of each of the plurality of three-dimensional regions. The overlapping region is deleted, a new auxiliary screen in which the plurality of welding lines and at least one three-dimensional region after the deletion of the overlapping region are disposed in a virtual space is generated, and a teaching program for scanning the at least one three-dimensional region is created and output.
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公开(公告)号：US20250033204A1
公开(公告)日：2025-01-30
申请号：US18913157
申请日：2024-10-11
Inventor： Masaya HIRAYAMA , Yoshiyuki OKAZAKI , Katsuaki OKUMA
Abstract: A robot control device includes an acquisition unit configured to acquire information related to a position of a workpiece produced by welding, a storage unit configured to store a set position of the workpiece with a robot configured to perform the production as a reference, a calculation unit configured to calculate a position displacement amount of the workpiece based on the set position of the workpiece and an actual measured position of the workpiece based on the information related to the position of the workpiece, a modification unit configured to modify positions of teaching points of a plurality of teaching programs used by the robot in the production based on the position displacement amount of the workpiece, and a control unit configured to control the robot by using the plurality of modified teaching programs.
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Patent Agency Ranking
公开(公告)号：US20240176314A1
公开(公告)日：2024-05-30
申请号：US18394382
申请日：2023-12-22
Inventor： Masaya HIRAYAMA , Yoshiyuki OKAZAKI , Katsuaki OKUMA
IPC: G05B13/04
CPC classification number: G05B13/042
Abstract: An offline teaching device includes an input unit receiving an operator operation; an acquisition unit acquiring three-dimensional shape data of a workpiece produced by welding, an operation trajectory of the welding, and a scanning range of a sensor; a generation unit generating three-dimensional regions to be scanned by the sensor based on the acquired scanning range and a scanning section designated by the operator operation; and a control unit disposing at least one of the three-dimensional regions on the three-dimensional shape data of the workpiece based on the operator operation input to the input unit, and creating and outputting, to a welding robot that performs the welding, a teaching program for scanning the three-dimensional region based on the disposed three-dimensional region and the operation trajectory of the welding.
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公开(公告)号：US20250018563A1
公开(公告)日：2025-01-16
申请号：US18901795
申请日：2024-09-30
Inventor： Katsuaki OKUMA , Yoshiyuki OKAZAKI , Masaya HIRAYAMA
Abstract: An offline teaching device includes a first determination unit configured to determine whether data related to production of a workpiece to be produced by welding is changed, a second determination unit configured to determine, in a case where the first determination unit determines that the data is changed, a target whose relative position between the workpiece and a welding robot that executes the welding is changed based on the changed data, and a teaching program creation unit configured to create and output a second teaching program obtained by correcting a first teaching program for executing the welding, based on a displacement amount between a position of the target after the change of the relative position and a position of the target before the change of the relative position.
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公开(公告)号：US20240321142A1
公开(公告)日：2024-09-26
申请号：US18737086
申请日：2024-06-07
Inventor： Katsuaki OKUMA , Masaya HIRAYAMA , Yoshiyuki OKAZAKI
Abstract: This offline teaching device includes an input unit capable of receiving an operator operation; an acquisition unit that acquires position information pertaining to a weld line of a workpiece and the scan range of a sensor for scanning the external shape of the workpiece; a generation unit that generates a three-dimensional region to be scanned by the sensor on the basis of the position information pertaining to the weld line and the scan range; and a control unit that generates and outputs an assistance screen image in which the weld line and the three-dimensional region are disposed in a virtual space, and that creates and outputs, on the basis of the operator operation, a teaching program for causing a robot that drives the sensor to scan the three-dimensional region shown in the assistance screen image.
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公开(公告)号：US20240316776A1
公开(公告)日：2024-09-26
申请号：US18736045
申请日：2024-06-06
Inventor： Masaya HIRAYAMA , Yoshiyuki Okazaki , Katsuaki Okuma
CPC classification number: B25J9/1671 , B23K31/125 , B25J9/1661 , G01N21/88
Abstract: An offline teaching device includes a generation unit that generates a three-dimensional region scanned by a sensor based on position information of a welding line and a scanning range, and a control unit that outputs an auxiliary screen in which the welding line and the three-dimensional region are disposed in a virtual space. A three-dimensional region is moved or rotated, a new auxiliary screen in which the welding line and at least one three-dimensional region including the moved or rotated three-dimensional region are disposed in a virtual space is generated and output, and a teaching program for causing a robot that drives a sensor to scan the at least one three-dimensional region is created and output.
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公开(公告)号：US20240123625A1
公开(公告)日：2024-04-18
申请号：US18394121
申请日：2023-12-22
Inventor： Masaya HIRAYAMA , Yoshiyuki OKAZAKI , Katsuaki OKUMA
CPC classification number: B25J9/1697 , B25J9/1664 , B25J11/005 , B25J19/022
Abstract: An offline teaching device include an input unit that receives an operator operation, an acquisition unit that acquires three-dimensional shape data of a workpiece, an operation trajectory of the welding, and a scanning range of a sensor; a generation unit that generates three-dimensional regions to be scanned by the sensor based on the acquired scanning range and a scanning section; and a control unit that disposes at least one of the three-dimensional regions on the three-dimensional shape data of the workpiece based on the operator operation input to the input unit, and that creates and outputs, to a welding robot that performs the welding, a teaching program for scanning the three-dimensional region based on the disposed three-dimensional region and the operation trajectory of the welding.
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