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21. 发明公开

EP1864764A2 Robot simulation apparatus 有权转让
标题翻译：机器人模拟装置
公开(公告)号：EP1864764A2
公开(公告)日：2007-12-12
申请号：EP07010714.9
申请日：2007-05-30
申请人： Fanuc Ltd
发明人： Nagatsuka, Yoshiharu , Inoue, Kozo
IPC分类号： B25J9/16 , G05B19/4068
CPC分类号： B25J9/1671 , G05B19/4069 , G05B2219/32351 , G05B2219/39031 , G05B2219/40003 , G05B2219/40121 , G05B2219/40122 , G05B2219/40127 , G05B2219/40131 , G05B2219/40314 , Y02P90/26 , Y02P90/265
摘要： A robot simulation apparatus (10) capable of creating and executing a robot program includes a virtual space creating unit (31) for creating a virtual space (60), a workpiece model layout unit (32) for automatically arranging at least one workpiece model (40) in an appropriate posture at an appropriate position in a workpiece accommodation unit model (24) defined in the virtual space, a virtual camera unit (33) for acquiring a virtual image (52) of workpiece models existing in the range of a designated visual field as viewed from a designated place in the virtual space, a correcting unit (34) for correcting the teaching points in the robot program based on the virtual image, and a simulation unit (35) for simulating the operation of the robot handling the workpieces, and as a result, interference between the robot and the workpieces can be predicted while at the same time accurately determining the required workpiece handling time.
摘要翻译：一种能够创建和执行机器人程序的机器人模拟装置（10），包括用于创建虚拟空间（60）的虚拟空间创建单元（31），用于自动布置至少一个工件模型（30）的工件模型布局单元（32）虚拟照相机单元（33），用于获取存在于被指定的范围内的工件模型的虚拟图像（52），该虚拟照相机单元（33）以适当的姿势在适当的姿势下在虚拟空间中定义的工件收纳单元模型（24）从虚拟空间中的指定位置观看的视野;校正单元（34），用于基于虚拟图像校正机器人程序中的示教点;以及模拟单元（35），用于模拟处理工件，因此可以预测机器人与工件之间的干涉，同时准确地确定所需的工件处理时间。

22. 发明公开

EP1712969A2 Robot program correcting apparatus 有权
标题翻译： Vorrichtung zur Korrektur eines Roboter程序
公开(公告)号：EP1712969A2
公开(公告)日：2006-10-18
申请号：EP06006837.6
申请日：2006-03-31
申请人： FANUC LTD
发明人： Watanabe, Atsushi , Nagatsuka, Yoshiharu
IPC分类号： G05B19/42
CPC分类号： G05B19/4207 , B25J9/1656 , G05B19/4083 , G05B2219/36416 , G05B2219/37079 , G05B2219/39012 , Y02P90/265
摘要： A robot program correcting apparatus, which displays three-dimensional models of a robot (16) and a workpiece (17) simultaneously on the screen of a display apparatus (12), and corrects an operation program for said robot, comprises: a unit (25, 32) retrieving a robot operation program and a working position based on at least either a line or a surface computed from touchup points and on a touchup position or points representing a working position specified on the screen; a difference computing unit (26, 33) computing a difference between at least either the line or surface computed from the touchup points and at least either a line or a surface computed from the plurality of points as position information representing the retrieved working position; and a correcting unit correcting the robot operation program by computing the amount of correction based on the difference, thereby reducing the number of steps required when correcting the robot operation program.
摘要翻译：一种机器人程序校正装置，其在显示装置（12）的屏幕上同时显示机器人（16）和工件（17）的三维模型，并且校正所述机器人的操作程序，包括：单元（基于从触摸点计算的行或表面，以及表示在屏幕上指定的工作位置的触摸位置或点，至少检索机器人操作程序和工作位置; 差分计算单元（26,33）计算从所述触摸点计算的行或表面中的至少一个与从所述多个点计算的行或表面中的至少一个作为表示检索到的工作位置的位置信息之间的差; 以及校正单元，通过基于差异计算校正量来校正机器人操作程序，从而减少了在校正机器人操作程序时所需的步骤数量。

23. 发明公开

EP1092513A2 Graphic display apparatus for robot system 有权
标题翻译： Graphische Anzeigevorrichtungfürein Robotersystem
公开(公告)号：EP1092513A2
公开(公告)日：2001-04-18
申请号：EP00308932.3
申请日：2000-10-11
申请人： Fanuc Ltd
发明人： Watanabe, Atsushi , Kosaka, Tetsuya , Nagatsuka, Yoshiharu
IPC分类号： B25J9/16
CPC分类号： B25J9/1671 , G05B2219/35314 , G05B2219/36071 , G05B2219/36315
摘要： 3-D models of various types of objects such as a robot body, and a peripheral equipment, a machine, a part (workpiece), of the robot, are stored in an object library in advance. Dimension line data of an edge line of which dimension can be changed, and constraint condition for constraining coordinate positions of apexes which can be changed are also stored in the object library. A model having the shape corresponding to the shape of the object to be used is selected from the object library, and the dimension of the shape is set. The dimension of the selected model is modified so that the shape of the model corresponds to the shape of the actual object. Using the model of which dimension was adjusted, animation motion of the robot is formed on a display screen. With the above arrangement, it is possible to easily set and change object 3-D models relating to a robot motion.
摘要翻译：机器人的各种物体（例如机器人主体，周边设备，机器，零件（工件））的3-D模型被预先存储在对象库中。可以改变尺寸的边线的尺寸线数据，以及用于限制可以改变的顶点的坐标位置的约束条件也存储在对象库中。从对象库中选择具有与要使用的对象的形状对应的形状的模型，并且设置形状的尺寸。修改所选模型的尺寸，使模型的形状对应于实际物体的形状。使用调整尺寸的模型，在显示屏上形成机器人的动画运动。通过上述结构，可以容易地设定和改变与机器人运动相关的对象3-D模型。

24. 发明公开

EP2082850A3 Generating device of processing robot program 有权转让
标题翻译：处理机器人程序的生成装置
公开(公告)号：EP2082850A3
公开(公告)日：2010-01-20
申请号：EP08020097.5
申请日：2008-11-18
申请人： Fanuc Ltd
发明人： Nagatsuka, Yoshiharu , Inoue, Kozo , Atohira, Hiroyuki
IPC分类号： B25J9/16 , G05B19/408
CPC分类号： B25J9/1697 , G05B19/4083 , G05B2219/35012 , G05B2219/36504 , G05B2219/37555 , G05B2219/45058 , Y02P90/265
摘要： A processing robot program generating device used in a robot system having a vision sensor, capable of accommodating an error in the shape of a workpiece and reducing man-hours required for a teaching operation. Image detection models are generated in a graphic image of a workpiece viewed from a virtual camera. A processing program including data of teaching points for processing segments of a processing line of the workpiece is generated. A detection program for actually imaging the workpiece is generated, and the position and orientation of each segment corresponding to each detection model generated are detected. A command line, for calculating an amount of change between the detection model and the actually captured image of the workpiece, is added to the processing program. Then, a correction program is inserted into the processing program, the correction program being capable of correcting the teaching point for processing each segment.

25. 发明公开

EP1864764A3 Robot simulation apparatus 有权转让
公开(公告)号：EP1864764A3
公开(公告)日：2009-12-30
申请号：EP07010714.9
申请日：2007-05-30
申请人： FANUC LTD
发明人： Nagatsuka, Yoshiharu , Inoue, Kozo
IPC分类号： B25J9/16 , G05B19/4068 , G05B19/4069
CPC分类号： B25J9/1671 , G05B19/4069 , G05B2219/32351 , G05B2219/39031 , G05B2219/40003 , G05B2219/40121 , G05B2219/40122 , G05B2219/40127 , G05B2219/40131 , G05B2219/40314 , Y02P90/26 , Y02P90/265
摘要： A robot simulation apparatus (10) capable of creating and executing a robot program includes a virtual space creating unit (31) for creating a virtual space (60), a workpiece model layout unit (32) for automatically arranging at least one workpiece model (40) in an appropriate posture at an appropriate position in a workpiece accommodation unit model (24) defined in the virtual space, a virtual camera unit (33) for acquiring a virtual image (52) of workpiece models existing in the range of a designated visual field as viewed from a designated place in the virtual space, a correcting unit (34) for correcting the teaching points in the robot program based on the virtual image, and a simulation unit (35) for simulating the operation of the robot handling the workpieces, and as a result, interference between the robot and the workpieces can be predicted while at the same time accurately determining the required workpiece handling time.

26. 发明公开

EP1798618A3 Device and method for automatically setting interlock between robots 有权转让
标题翻译：装置和方法用于机器人之间Intelocks的自动设置
公开(公告)号：EP1798618A3
公开(公告)日：2009-08-05
申请号：EP06024620.4
申请日：2006-11-28
申请人： FANUC LTD
发明人： Nagatsuka, Yoshiharu , Takeda, Toshiya
IPC分类号： G05B19/418
CPC分类号： B25J9/1682 , G05B19/41815 , G05B2219/39135 , G05B2219/40317 , Y02P90/08 , Y02P90/087 , Y02P90/26
摘要： A device and a method for automatically setting an interlock based on a suitable interference area obtained by executing an offline simulation in relation to a system including a plurality of robots. The device executes the simulation on the offline programming system based on a motion program so as to determine a moving path of the robots and a two-dimensional interference area between the robots. Next, the device calculates a first three-dimensional interference area by moving the two-dimensional area in the vertical direction and calculates an accurate second three-dimensional interference area within the first interference area, using three-dimensional models of the robots.

27. 发明公开

EP2033747A2 Robot simulation apparatus 审中-公开
标题翻译： Robotersimulationsvorrichtung
公开(公告)号：EP2033747A2
公开(公告)日：2009-03-11
申请号：EP08009654.8
申请日：2008-05-27
申请人： Fanuc Ltd
发明人： Nagatsuka, Yoshiharu , Oumi, Tatsuya
IPC分类号： B25J9/16
CPC分类号： B25J9/1669 , B25J9/1671 , G05B2219/39484 , G05B2219/39543 , G05B2219/40308 , Y02P90/083
摘要： A robot simulation apparatus (1) including: a display section (3) which displays models of at least a conveyance apparatus (11), an object (13), and a robot (10) respectively laid out at predetermined positions; a movement condition designating section (5) which designates a direction and a speed of movement of the object (13); an imaging condition designating section (6) which designates a relative position of the camera (12) with respect to the object (13) and imaging condition in order to obtain a still image of the object (13) located within an imaging area; a teaching model storage section (7) which stores a teaching model of the object (13) to be compared with the still image obtained with the camera; a grasping position calculating section (8) which calculates a grasping position of the object (13) to be grasped by the robot (10) based on a position and an attitude of the object (13) obtained by comparing the still image with the teaching model, and on the direction and the speed of movement of the object (13); and a teaching position setting section (9) which sets a teaching position for said robot (10) based on the grasping position.
摘要翻译：一种机器人模拟装置（1），包括：显示部（3），显示分别布置在预定位置的至少输送装置（11），物体（13）和机器人（10）的模型; 指定物体（13）的移动方向和速度的移动条件指定部（5）; 成像条件指定部分（6），其指定相机（12）相对于对象（13）的相对位置和成像条件，以便获得位于成像区域内的对象（13）的静止图像; 教学模型存储部（7），其存储要与与照相机获得的静止图像进行比较的对象（13）的教学模型; 基于通过将静止图像与教学进行比较而获得的对象（13）的位置和姿态来计算由机器人（10）掌握的被摄体（13）的把持位置的把持位置计算部（8）模型，以及对象（13）的移动方向和速度; 以及基于所述把持位置设定所述机器人（10）的教导位置的教学位置设定部（9）。

28. 发明公开

EP2025477A2 Robot program adjusting system 有权转让
标题翻译： Roboterprogrammeinstellungssystem
公开(公告)号：EP2025477A2
公开(公告)日：2009-02-18
申请号：EP08012236.9
申请日：2008-07-07
申请人： Fanuc Ltd
发明人： Ito, Takayuki , Nagatsuka, Yoshiharu
IPC分类号： B25J9/16
CPC分类号： B25J9/1671 , G05B2219/37342 , G05B2219/40387 , G05B2219/40461
摘要： A robot program adjusting system (11) adjusting an operating program of a robot arm having a plurality of axes including an overload identifying means (12) for successively reading operational instructions from said operating program of said robot arm to run simulations and thereby identify an axis where overload is acting from said plurality of axes, an additional operation generating means (13) for generating an additional operation for an axis other than the axis identified by said overload identifying means (12) to lighten the load of said identified axis, and a program adjusting means (15) for adjusting the operating program of said robot arm based on the additional operation generated by said additional operation generating means (13), whereby the load acting on an axis with a large load can be lightened without trial and error.
摘要翻译：一种机器人程序调整系统（11），其调节具有多个轴的机器人手臂的操作程序，所述多个轴包括过载识别装置（12），用于从所述机器人手臂的所述操作程序连续读取操作指令以运行模拟，从而识别轴其中过载来自所述多个轴，附加操作产生装置（13），用于产生用于由所述过载识别装置（12）识别的轴以外的轴的附加操作，以减轻所述所识别的轴的负载，以及程序调整装置（15），用于基于由所述附加操作发生装置（13）产生的附加操作来调节所述机器人手臂的操作程序，从而能够轻而易举地减轻作用在负载大的轴上的负载。

29. 发明公开

EP1936458A2 Device, method, program and recording medium for robot offline programming 有权转让
标题翻译： Vorrichtung，Verfahren，Programm und Aufzeichnungsmedium zur Offlineprogrammierung von Robotern
公开(公告)号：EP1936458A2
公开(公告)日：2008-06-25
申请号：EP07024622.8
申请日：2007-12-19
申请人： FANUC LTD
发明人： Nagatsuka, Yoshiharu , Inoue, Kozo
IPC分类号： G05B19/418 , B25J9/16
CPC分类号： B25J9/1656 , G05B2219/40387 , G05B2219/40394 , Y02P90/087 , Y02P90/14 , Y02P90/265
摘要： An offline programming device for preparing an operation program for making a robot with a hand perform a handling operation for an object with respect to a machine tool. The device includes a hand-position designating section designating a relative positional relationship between the object and the hand when the hand holds the object; a first calculating section determining a position and orientation of the object mounted on the machine tool when the robot performs the handling operation, based on a command specifying a position of the object and included in a workpiece processing program given to the machine tool; a second calculating section determining a position and orientation of the robot acting to hold the object by the hand when the robot performs the handling operation, based on the relative positional relationship between the object and the hand and the position and orientation of the object; and an operation-program generating section generating the operation program by using the position and orientation of the robot.
摘要翻译：用于制备用于制造具有手的机器人的操作程序的离线编程装置执行相对于机床的对象的处理操作。该装置包括指针位置指定部，指定手握持物体时物体与手之间的相对位置关系; 第一计算部，其基于指定对象的位置并包含在给予所述机床的工件处理程序中的指令，来确定安装在所述机床上的所述物体的位置和姿势; 第二计算部，基于所述物体与所述手的相对位置关系以及所述物体的位置和姿态，确定所述机器人在所述机器人执行所述操作操作时用手保持所述物体的姿势和姿势; 以及通过使用所述机器人的位置和姿势来生成所述操作程序的操作程序生成部。

30. 发明公开

EP1921526A1 Method of evaluating and correcting robot program and device for evaluating and correcting robot program 有权转让
标题翻译：一种用于评估和校正用于评估机器人程序和装置以及校正机器人程序方法
公开(公告)号：EP1921526A1
公开(公告)日：2008-05-14
申请号：EP08001660.3
申请日：2006-07-24
申请人： FANUC LTD
发明人： Nagatsuka, Yoshiharu , Takeda, Toshiya
IPC分类号： G05B19/416 , B25J9/16
CPC分类号： B25J9/1674 , G05B19/416 , G05B2219/40387 , G05B2219/43057 , Y10S706/92 , Y10S706/922
摘要： There is provided a device for evaluating and correcting a robot operation program for evaluating an appropriateness for the robot operation program and correcting the robot operation program, comprising a computer including a simulation function for confirming a robot operation. The computer includes a load calculation section for calculating a load given to a motor for driving an operating portion of the robot by a simulation conducted by a computer; and an evaluation section for evaluating, by an evaluation function, whether or not the load exceeds a predetermined allowed value.
摘要翻译：提供了一种用于评估和修正的机器人操作方案适当性的机器人动作程序的评估和修正的机器人动作程序，其包括计算机包括用于确认机器人动作的模拟函数提供的装置。该计算机包括用于计算给定的马达，用于驱动所述机器人通过计算机传导的模拟操作部的负荷的负荷计算部; 和关于在评价函数评价，通过，负载是否超过规定的允许值评价部。

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