Abstract: Provided is a training image generating method that facilitates preparation of training images for constructing an image recognition model and reduces a period of time required for collecting data on images of defective products to be used as the training images. The training image generating method includes creating a SinGAN model including a generator and a discriminator in each of a plurality of layers based on a first image having a portion of interest shown partially on a target object, generating an input image by compositing a target object image and a portion-of-interest image, and generating, based on the SinGAN model and the input image, a second image exhibiting a portion of interest different in mode from that of the first image.
Abstract: A multi-axis control adjustment apparatus includes adjustment axis selection circuitry configured to select a plurality of target axes among a plurality of axes each of which represents a combination of a motor and a motor control device configured to control the motor according to a control parameter of the motor control device, adjustment operation execution circuitry configured to perform adjustment operations in each of which the control parameter is adjusted with respect to each of the plurality of target axes, and first control parameter setting circuitry configured to change, according to the adjustment operations, timing at which the control parameter is set with respect to each of the plurality of target axes.
Abstract: An event estimation system includes an upper device, and a lower controller device including first circuitry that acquires operation information of a control target device connected to the lower controller device, estimates a presence or absence of an abnormality based on the operation information, holds the operation information for a certain time period, and transmits, based on the presence or absence of an abnormality and to the upper device, the operation information related to the estimation of the presence or absence of the abnormality. The upper device has second circuitry that receives the operation information from the lower controller device, and operates according to the presence or absence of the abnormality, inputs, using an upper neural network model, the operation information, output event information, and estimates an event.
Abstract: A transfer system includes: a transfer chamber having a side wall provided thereon with a plurality of processing chambers in which a processing is performed on a substrate under a decompressed atmosphere, and configured such that the substrate is transferred in the decompressed atmosphere; a plurality of robots fixed in the transfer chamber and configured to transfer the substrate; and a movable buffer configured to hold the substrate and move in a horizontal direction along the side wall between the side wall and the robots in the transfer chamber. The robots exchange the substrate between the movable buffer and the processing chambers in cooperation with a movement of the movable buffer.
June 15, 2022
Date of Patent:
October 31, 2023
KABUSHIKI KAISHA YASKAWA DENKI
Osamu Komiyaji, Hiromitsu Akae, Go Yamaguchi, Tadataka Noguchi
Abstract: A robot system includes a first conveyor conveying a workpiece to a first position in a conveying direction along a transport line, a second conveyor conveying the workpiece from a second position along a first line perpendicular to the transport line, and a robot conveying the workpiece from the first to second positions. The robot includes a base fixed to a fixed position apart from the first line in the conveying direction, and an arm base movably connected to the base. A first arm is connected to the arm base rotatably about a first axis perpendicular to the transport and first lines. A second arm is connected to the first arm rotatably about a second axis parallel to the first axis. An arm tip is connected to the second arm rotatably about a third axis parallel to the first axis. A workpiece holder is provided below the arm tip.
Abstract: A controller includes a port via which a control command is output to an industrial equipment at every control cycle, a clock configured to generate a control clock based on which the control cycle is generated, and a time counter configured to count a time counter value at every cycle that is equal to the control cycle.
Abstract: A coating system including a coating robot and a movable opener robot. The coating robot has a fixed base fixedly mounted to a coating booth, and a first arm rotatably coupled to the fixed base about a first axis substantially parallel to a conveyance direction of a workpiece that includes a body and a first movable member. The body has a body inner surface and the first movable member has a first movable member inner surface. The movable opener robot has a movable base mounted such that the movable opener robot is movable in the coating booth in the conveyance direction. The movable base is mounted below the fixed base. The movable opener robot can open the first movable member of the workpiece. The coating robot can coat the body inner surface and the first movable member inner surface when the first movable member has been opened.
Abstract: A robot controller includes a Web API (Application Programming Interface) configured to receive a request from a Web client which is configured to execute a Single Page Application, response generation circuitry configured to generate a response to the request as updated data for the Single Page Application, and processing circuitry configured to execute a process with respect to a robot. The process corresponds to the request received by the Web API.
Abstract: A motor control system includes a motor, an encoder, and a controller including a controller transmitter configured to transmit a torque command to control the motor. The encoder includes a position detector configured to detect a rotational position of the motor, an encoder receiver configured to receive the torque command from the controller transmitter, first disturbance estimating circuitry configured to estimate a first disturbance torque based on the rotational position and the torque command, and an encoder transmitter configured to transmit the rotational position and the first disturbance torque to the controller.
Abstract: A first vacuum motor includes a first pivoting shaft member, a bearing that rotatably supports the first pivoting shaft member, a disk disposed to be rotatable together with the first pivoting shaft member and having slits, a first bracket that is made of a non-magnetic material and supports the bearing, a recess formed in the first bracket to be dented in the axial direction, and a sensor unit disposed to face the disk in the axial direction via a thin wall formed by the recess. By the thin wall, the space where the sensor unit is disposed under the atmospheric pressure is isolated from the space where the disk is disposed under a reduced pressure lower than the atmospheric pressure.
Abstract: A robot system includes a robot configured to perform work on a workpiece positioned in a working region and a conveying device configured to convey the workpiece to the working region. The conveying device includes a turning part configured to rotate about a center axis, a guide supporting the turning part rotatably about the center axis and having a hollow in the guide extending along the center axis, a workpiece holder configured to hold the workpiece and provided at the turning part to move together with the turning part along a circular orbit around the center axis passing the working region, a first device provided at the turning part, and a linear object passing through the hollow in the guide and connecting the first device and a second device provided around the guide.
Abstract: 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.
February 13, 2023
August 17, 2023
KABUSHIKI KAISHA YASKAWA DENKI
Yosuke KAMIYA, Shinichiro OBATA, Aya MATSUNAGA, Megumi YASUDA
Abstract: An information collection system for industrial machines includes processing circuitry that communicates with one or more industrial machines that execute one or more predetermined processes with respect to an object, identify, based on predetermined information received from the one or more industrial machines, the one or more predetermined processes executed with respect to the object, and assigns process identification information related to the one or more predetermined processes to collected information related to the object collected from the one or more industrial machines.
Abstract: A coating system includes a coating robot and an operation robot. The coating robot has a height and is mounted in a coating booth to coat a workpiece while the workpiece is conveyed in the coating booth in a conveyance direction substantially perpendicular to a height direction. The workpiece including a body and a movable part movable with respect to the body. The operation robot is disposed in the coating booth below the coating robot in the height direction. The operation robot is movable in the coating booth in the conveyance direction and is configured to move the movable part of the workpiece.
Abstract: 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.
Abstract: A bag supply system supplies a packaging bag to a storing position where a sandwich is stored, the bag supply system which includes an opening forming device configured to form an opening at a bag opening of the packaging bag, and a bag opening device configured to grip each of a first side edge portion and a second side edge portion of the opening in an opening direction, the opening direction being a direction in which the opening is opened, and open the bag opening by widening the opening in the opening direction.
Abstract: A production system, including an engineering device configured to set a higher-level control device capable of controlling a control device configured to control one or more industrial machines, wherein the engineering device is configured to: display a name of each of a plurality of variables stored in the higher-level control device; receive specification of a variable to be subjected to at least one of collection or rewriting from among the plurality of variables; and perform setting of the at least one of the collection or rewriting of the specified variable.
Abstract: A coating system includes coating robots configured to coat a vehicle, and an operation robot. The operation robot includes a first arm configured to turn around a first axis; a second arm configured to turn around a second axis parallel to the first axis; a third arm configured to turn around a third axis parallel to the first axis; a fourth arm configured to turn around a fourth axis perpendicular to the first axis; a fifth arm configured to turn around a fifth axis parallel to the fourth axis; and a tip jig is supported at the fifth arm and is configured to turn around a sixth axis. The sixth axis is selectively parallel to the fifth axis or perpendicular to a plane which includes the fourth axis and the fifth axis.
January 7, 2021
Date of Patent:
July 25, 2023
KABUSHIKI KAISHA YASKAWA DENKI
Katsuhiko Yoshino, Satoshi Sueyoshi, Takahiro Umezaki, Tsuyoshi Ito
Abstract: Provided is a production system including: an industrial machine configured to execute each of a plurality of processes; and a circuitry, the circuitry being configured to: detect an abnormality that has occurred in the industrial machine; receive, when the abnormality is detected, a specification of one or more processes to be executed in order to perform recovery, based on process information associating, for each of the plurality of processes, at least a name of the each of the plurality of processes with a variable representing an operation of the industrial machine and indicating that at least one of refer or change is to be performed by a process program to be executed in the each of the plurality of processes; and record recovery process information indicating the received one or more processes.
Abstract: Provided is a production system including: a first industrial machine; and a second industrial machine configured to periodically communicate to and from the first industrial machine. The second industrial machine is configured to transmit its data to the first industrial machine through use of each of a plurality of periodic regions included in one period.