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16 条记录 (耗时 0.016 秒)

    Industrial robot
    1.
    发明授权
    Industrial robot 有权
    工业机器人

    公开(公告)号：US06298283B1

    公开(公告)日：2001-10-02

    申请号：US09472046

    申请日：1999-12-27

    申请人： Tetsuaki Kato ,  Yukinobu Tsuchida

    发明人： Tetsuaki Kato ,  Yukinobu Tsuchida

    IPC分类号： G05B1904

    CPC分类号： B25J9/1676 ,  G05B2219/39088 ,  G05B2219/39094 ,  G05B2219/39355 ,  G05B2219/42288

    摘要： An industrial robot capable of preventing re-collision after colliding with an obstacle. Disturbing torque exerted on each servomotor for a robot axis is estimated by its associated disturbance estimating observer. When a hand attached to an end of a robot arm collides with an obstacle, an estimated value of disturbance given by a disturbance estimating observer exceeds a predetermined threshold, and the collision is detected. Then, each motor for driving a robot arm is drivingly controlled with a velocity command turned to “0”. Each motor for driving the robot hand is driven with torque having a predetermined magnitude (maximum magnitude) and the same sign as that of an estimated value of disturbing torque exerted on it, for a predetermined time, and then it is brought to an emergency stop. Thus, after colliding with an obstacle, the robot hand is driven in a direction such that it recedes from the obstacle. Therefore, the robot hand is prevented from colliding with the obstacle again, and parts of the robot, the hand and the obstacle are prevented from being damaged by collision.

    摘要翻译： 能够防止与障碍物碰撞后再次碰撞的工业机器人。 施加在机器人轴的每个伺服电动机上的扰动扭矩由其相关联的扰动估计观测器估计。 当附着在机器人手臂的端部的手与障碍物碰撞时，由扰动估计观察者给出的扰动的估计值超过预定阈值，并且检测到碰撞。 然后，用速度指令变为“0”来驱动用于驱动机器人手臂的每个电动机。 用于驱动机器人手的每个电机以预定时间内具有预定大小（最大幅度）和与施加在其上的干扰扭矩的估计值相同的扭矩驱动，然后被送到紧急停止 。 因此，在与障碍物碰撞之后，机器人手沿着从障碍物后退的方向被驱动。 因此，防止机器人手再次与障碍物碰撞，并且防止机器人，手和障碍物的部分被碰撞而损坏。

    METHOD AND APPARATUS FOR PREDICTING INTERFERENCE BETWEEN TARGET SECTION OF ROBOT AND PERIPHERAL OBJECT
    2.
    发明申请
    METHOD AND APPARATUS FOR PREDICTING INTERFERENCE BETWEEN TARGET SECTION OF ROBOT AND PERIPHERAL OBJECT 有权
    用于预测机器人和外围物体的目标部分之间的干扰的方法和装置

    公开(公告)号：US20120265342A1

    公开(公告)日：2012-10-18

    申请号：US13442983

    申请日：2012-04-10

    申请人： Hidetoshi KUMIYA ,  Kyouhei KOKUBO

    发明人： Hidetoshi KUMIYA ,  Kyouhei KOKUBO

    IPC分类号： G05B19/04

    CPC分类号： B25J9/1676 ,  G05B2219/39094

    摘要： A method and an apparatus for predicting interference, at practical accuracy and calculation time, between a target section of a robot and a peripheral object installed around the robot, when the target section, such as a tool or a sensor attached to a robot hand, is moved along a movement path thereof due to the motion of the robot. A convex hull, defined by areas occupied by the tool at adjacent time points, is calculated. It is judged whether a common area exists between the convex hull and a polyhedron area. When the common area exists, it is judged that the tool interferes with the container box on the movement path, and the procedure is terminated. When the common area does not exist, it is judged whether j

    摘要翻译： 一种用于在实际的精度和计算时间之间预测机器人的目标部分和安装在机器人周围的周边物体之间的干扰的方法和装置，当诸如附接到机器人手的工具或传感器的目标部分， 由于机器人的运动而沿其运动路径移动。 计算由相邻时间点由工具占据的面积定义的凸包。 判断在凸包和多面体区域之间是否存在公共区域。 当公共区域存在时，判断该工具干扰移动路径上的容器箱，并且终止该过程。 当公共区域不存在时，判断j

    Setting method and setting apparatus for operation path for articulated robot
    3.
    发明申请
    Setting method and setting apparatus for operation path for articulated robot 失效
    铰接式机器人操作路径的设置方法和设定装置

    公开(公告)号：US20040138779A1

    公开(公告)日：2004-07-15

    申请号：US10468365

    申请日：2003-08-19

    发明人： Kaoru Shibata ,  Ryo Nakajima ,  Masakatsu Kaneko

    IPC分类号： G06F019/00

    CPC分类号： B25J9/1666 ,  B23K11/11 ,  G05B2219/39094 ,  G05B2219/45104

    摘要： A temporary operation path is set by connecting a plurality of welding points (Tn) in a virtual space generated by a computer to investigate whether an end effector (68) can be operated along the temporary operation path. If the operation cannot be operated, a path to avoid interference with a workpiece (80) is set automatically while extracting a portion in which the workpiece (80) exists in the internal space surrounded by the end effector (68) in order to set a narrow-area operation path for withdrawing the end effector (68) from a welding point (Tn). Next, in order to set a wide-area operation path for making movement between withdrawing points (Ue), a template operation is applied, in which the end effector (68) is moved by a prescribed distance in a prescribed direction.

    摘要翻译： 通过将由计算机生成的虚拟空间中的多个焊接点（Tn）连接起来来调查末端执行器（68）能否沿着临时操作路径操作来设置临时操作路径。 如果操作不能操作，则自动设置避免与工件（80）干涉的路径，同时提取其中工件（80）存在于由末端执行器（68）包围的内部空间中的部分，以便设置 用于从焊接点（Tn）中取出末端执行器（68）的窄区域操作路径。 接下来，为了设定用于在抽出点（Ue）之间移动的广域操作路径，施加模板操作，其中末端执行器（68）沿规定方向移动规定距离。

    Sensor-based safety features for robotic equipment
    4.
    发明授权
    Sensor-based safety features for robotic equipment 有权

    公开(公告)号：US09740193B2

    公开(公告)日：2017-08-22

    申请号：US14432732

    申请日：2014-08-08

    申请人： RoboticVISIONTech, Inc.

    发明人： Shawn Hunt

    IPC分类号： G05B19/18 ,  G05B19/4061 ,  B25J9/16

    CPC分类号： G05B19/4061 ,  B25J9/1676 ,  G05B2219/39001 ,  G05B2219/39082 ,  G05B2219/39094 ,  G05B2219/40339

    摘要： Technologies are generally described for sensor-based safety features for robotic equipment, and the implementation thereof. One or more sensors may be positioned relative to the robotic equipment such that the sensors may capture light from at least a portion of an environment surrounding the robotic equipment. In some examples, the sensors may be integrated with the robotic equipment and/or may be configured to rotate. An analysis module coupled to the sensors may build a model image of the environment based on the light captured by the sensors. The analysis module may detect that an unintended object is approaching the robotic equipment in response to detecting a change in the model image, and based on a proximity and/or a speed of approach of the object to the robotic equipment, the analysis module may instruct the robotic equipment to reduce an operating speed and/or stop motion of the robotic equipment.

    Method and apparatus for predicting interference between target section of robot and peripheral object
    5.
    发明授权
    Method and apparatus for predicting interference between target section of robot and peripheral object 有权
    用于预测机器人目标部分与外围物体之间的干扰的方法和装置

    公开(公告)号：US08483878B2

    公开(公告)日：2013-07-09

    申请号：US13442983

    申请日：2012-04-10

    申请人： Hidetoshi Kumiya ,  Kyouhei Kokubo

    发明人： Hidetoshi Kumiya ,  Kyouhei Kokubo

    IPC分类号： G05B19/04 ,  G06F19/00

    CPC分类号： B25J9/1676 ,  G05B2219/39094

    摘要： A method and an apparatus for predicting interference, at practical accuracy and calculation time, between a target section of a robot and a peripheral object installed around the robot, when the target section, such as a tool or a sensor attached to a robot hand, is moved along a movement path thereof due to the motion of the robot. A convex hull, defined by areas occupied by the tool at adjacent time points, is calculated. It is judged whether a common area exists between the convex hull and a polyhedron area. When the common area exists, it is judged that the tool interferes with the container box on the movement path, and the procedure is terminated. When the common area does not exist, it is judged whether j

    摘要翻译： 一种用于在实际的精度和计算时间之间预测机器人的目标部分和安装在机器人周围的周边物体之间的干扰的方法和装置，当诸如附接到机器人手的工具或传感器的目标部分， 由于机器人的运动而沿其运动路径移动。 计算由相邻时间点由工具占据的面积定义的凸包。 判断在凸包和多面体区域之间是否存在公共区域。 当公共区域存在时，判断该工具干扰移动路径上的容器箱，并且终止该过程。 当公共区域不存在时，判断j = n为真，则判断不发生干扰。

    ROBOT DEVICE AND METHOD FOR MANUFACTURING PROCESSING OBJECT
    9.
    发明申请
    ROBOT DEVICE AND METHOD FOR MANUFACTURING PROCESSING OBJECT 审中-公开
    机器人装置及制造加工对象的方法

    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。

    Interference check device
    10.
    发明授权
    Interference check device 有权
    干扰检查装置

    公开(公告)号：US09550295B2

    公开(公告)日：2017-01-24

    申请号：US14651426

    申请日：2014-01-22

    申请人： Mitsubishi Electric Corporation

    发明人： Koji Shiratsuchi

    IPC分类号： G05B19/04 ,  G05B19/08 ,  B25J9/16 ,  G05B17/02

    CPC分类号： B25J9/1676 ,  B25J9/1666 ,  G05B17/02 ,  G05B2219/39094 ,  Y10S901/02 ,  Y10S901/49

    摘要： An interference check device includes a model-number upper-limit input unit to which a model upper-limit number of geometric models allocated to a modeling target of interference check is input, a modeling unit generating model candidates from the modeling target using geometric models equal to or less than the model upper limit number, a processing-computation-amount upper-limit setting unit setting a computation upper-limit amount of interference check based on a computation processing amount required for each process performed by a controller controlling the modeling target, a minimum-enclosure-volume-model determination unit determining a model candidate having smallest model enclosure volume as a model for the modeling target from the model candidates that can perform calculation processing of interference check with equal to or less than the computation upper-limit amount, and an interference check unit performing interference check between models using determined model.

    摘要翻译： 干扰检查装置包括模型编号上限输入单元，其中输入分配给干扰检查的建模目标的几何模型的模型上限数量;建模单元，使用几何模型等于从建模目标生成模型候选 基于由控制建模对象的控制器执行的每个处理所需的计算处理量，设定计算上限量的干扰检查的处理计算量上限设定部， 最小机箱体积模型确定单元，从具有等于或小于计算上限量的干扰检查的计算处理的模型候选中确定具有最小模型外壳体积的模型候选作为建模目标的模型 以及使用确定的模型对模型之间进行干扰检查的干扰检查单元。