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61. 发明申请

WO1996028985A1 METHOD FOR AUTOMATICALLY CUTTING PORTIONS OF A PATTERNED FABRIC 审中-公开
标题翻译：用于自动切割图案的方法
公开(公告)号：WO1996028985A1
公开(公告)日：1996-09-26
申请号：PCT/FR1996000406
申请日：1996-03-18
申请人： LECTRA SYSTEMES , BERCAITS, Jean-Louis
发明人： LECTRA SYSTEMES
IPC分类号： A41H03/00
CPC分类号： B26D5/007 , B26D5/00 , B26D5/005 , B26D7/018 , B26D2005/002 , B26F1/38 , G05B19/4083 , G05B2219/35162 , G05B2219/36404 , G05B2219/36503 , G05B2219/37555 , G05B2219/45044 , G05B2219/45196
摘要： A theoretical arrangement of portions on a patterned fabric is determined and stored. The actual fabric (20) is checked by detecting any deviation between the actual pitch of the pattern (M) on the spread fabric and the theoretical pitch used to determine the arrangement. The arrangement is changed depending on the detected deviation so that it matches the actual pitch of the spread fabric prior to the fabric cutting step. The fabric is checked by imaging parts of the spread fabric using an imaging sensor (60), and ensuring that locations corresponding to stored data are in the proper positions on the resulting images relative to the actual pattern of the spread fabric.
摘要翻译：确定并存储图案织物上的部分的理论布置。通过检测展布上的图案（M）的实际间距与用于确定布置的理论间距之间的任何偏差来检查实际织物（20）。该布置根据检测到的偏差而改变，使得其在织物切割步骤之前与展开织物的实际间距相匹配。通过使用成像传感器（60）对展开织物的成像部分进行成像来检查织物，并且确保与存储的数据相对应的位置相对于展开织物的实际图案位于所得图像上的适当位置。

62. 发明公开

KR1020110114749A 반송 로봇의 교시방법 有权
标题翻译：传递机器人教学方法
公开(公告)号：KR1020110114749A
公开(公告)日：2011-10-20
申请号：KR1020100034060
申请日：2010-04-14
申请人： 주식회사 로보스타 , 다카오 나카모리 , 김정호 , 주현석
发明人： 다카오나카모리 , 김정호 , 주현석
IPC分类号： B25J9/16 , B25J11/00 , H01L21/67
CPC分类号： B25J9/1633 , B25J9/1664 , B25J11/0095 , G05B2219/36404 , G05B2219/36484 , G05B2219/39219 , H01L21/67184
摘要： 본 발명은 적어도 2개 이상의 구동암(10)(20)이 각각 관절 운동을 하도록 상호 회전 가능하게 연결되고, 다수의 구동암중 말단부 구동암(20)에 장착되어 상기 기판(W)을 지지하는 엔드 이펙터(30)로 이루어진 반송 로봇(40)이 내부에 설치된 공통 반송실(TR)로부터 상기 기판(W)을 반송하여, 상기 공통 반송실(TR)의 측변에 마련된 다수의 챔버(PR)내에 각각 설치된 스테이지에 로딩하도록 하기 위해 소정의 교시 정보를 입력한 후, 상기 반송 로봇(40)이 반송 동작을 수행하도록 하는 반송 로봇의 교시방법에 있어서, 상기 교시 정보는 상기 스테이지의 중심 좌표점(O)과 상기 공통 반송실(TR)의 내부 사이즈인 것을 특징으로 하며,
이와 같은 본 발명은 반송 로봇의 구동암과 엔드 이펙터 및 기판이 공통 반송실의 내벽면과의 간섭, 즉 충돌이 방지되도록 교시할 수 있게 된다.

63. 发明公开

KR1020110114651A 산업용 로봇 시스템 有权
标题翻译：工业机器人系统
公开(公告)号：KR1020110114651A
公开(公告)日：2011-10-19
申请号：KR1020117018727
申请日：2010-02-10
申请人： 미쓰비시덴키 가부시키가이샤 , 고쿠리츠 다이가쿠 호진 교토 다이가쿠
发明人： 노다아키오 , 오쿠다하루히사 , 다나카겐이치 , 사와라기데츠오 , 마츠히사히로시 , 요코코우지야스요시 , 우츠노히데오 , 고모리마사하루 , 미즈야마하지메 , 나카니시히로아키 , 호리구치유키오 , 고우다다케히사 , 이즈이가즈히로
IPC分类号： B25J9/22 , B23P19/04 , B25J19/06 , G05B19/4093
CPC分类号： B25J9/1661 , G05B19/42 , G05B2219/36404 , G05B2219/39527 , G05B2219/40111 , G05B2219/40613
摘要： 과제 : 설치 조정 시간의 단축, 운용 개시 후의 에러가 없는 연속 조업 시간의 확대가 가능한 산업용 로봇 시스템을 얻는다. 해결 수단 : 일시 중지 대응 행동 계획부(4)와, 에러 유발 작업 억제부(5)와, 교시 작업부(6)와, 동작 숙련부(7)와, 핸드 라이브러리(8)와, 최적 작업 동작 생성부(11)와, 특정 작업 라이브러리(9)와, 에러 리커버리 작업 교시부(12)와, 에러 리커버리 라이브러리(10)와, 핑거 아이 카메라 계측부(32)와, 3차원 인식부(33)와, 컨트롤러(30)와, 매니퓰레이터(31)와, 매니퓰레이션 디바이스군(34)에 포함되는 유니버설 핸드를 구비하고 있고, 일시 중지 대응 행동 계획부(4)는, 생산 시스템 및 제조 대상물의 구성 정보와, 에러 유발 작업 억제부(5)로부터의 에러 정보에 근거하여, 일시 중지에 대응하기 위한 에러 복귀 시퀀스 포함 작업 시퀀스 차트와 개략 좌표 포함 작업 패스를 생성한다.

64. 发明授权

US09110466B2 Programming method for a robot, programming apparatus for a robot, and robot control system 有权
标题翻译：机器人编程方法，机器人编程设备，机器人控制系统
公开(公告)号：US09110466B2
公开(公告)日：2015-08-18
申请号：US13072298
申请日：2011-03-25
申请人： Kouzou Yanagawa , Yasuhiro Koujina
发明人： Kouzou Yanagawa , Yasuhiro Koujina
IPC分类号： B25J9/10 , G05B19/42 , G05B19/425 , G05B19/423 , G05B19/401 , G05B19/427 , B23Q17/24
CPC分类号： G05B19/42 , B23Q17/24 , G05B19/401 , G05B19/423 , G05B19/425 , G05B19/427 , G05B2219/36404 , G05B2219/36504 , G05B2219/37555 , G05B2219/39527 , G05B2219/40564 , G05B2219/40622
摘要： An operator inputs a sensing instruction at a sensing point, which is a rough taught point, in a teaching mode (S22). The instruction and sensing point are stored in a second storage region (S23). Further, a target angle and an advance/retraction angle are both input in the second storage region (S24). A CPU moves a robot to the sensing point (S33) in a sensing mode, to perform detection tasks by a laser sensor, thereby acquiring the shape of a workpiece (S33). The CPU calculates a position and a posture of a welding torch to create a task program (S35). In such a manner, it is possible to greatly simplify teaching tasks in an environment free of workpiece displacements.
摘要翻译：在教学模式中，操作者在传感点输入感测指令，这是粗略的教导点（S22）。指令和感测点被存储在第二存储区域（S23）中。此外，在第二存储区域中都输入目标角度和前进/后退角度（S24）。在感测模式中，CPU将机器人移动到感测点（S33），以通过激光传感器执行检测任务，从而获得工件的形状（S33）。 CPU计算焊枪的位置和姿势以创建任务程序（S35）。以这种方式，可以在没有工件位移的环境中大大简化教学任务。

65. 发明授权

US08600555B2 Device, program, recording medium and method for correcting taught point 有权
标题翻译：设备，程序，记录介质和校正教学点的方法
公开(公告)号：US08600555B2
公开(公告)日：2013-12-03
申请号：US12984796
申请日：2011-01-05
申请人： Ryo Nihei , Tetsuaki Kato , Hiroji Nishi
发明人： Ryo Nihei , Tetsuaki Kato , Hiroji Nishi
IPC分类号： G06F19/00 , G05B19/19
CPC分类号： G05B19/4083 , B25J9/1664 , G05B2219/36404 , G05B2219/40385 , G05B2219/45104
摘要： A taught point correcting device for correcting a taught point in an operation program of a robot. The device includes a judging section judging whether position data of any of a plurality of different taught points, previously taught and included in an operation program, has been corrected or not; and a data correcting section correcting, when the judging section judges that position data of a first taught point among the different taught points has been corrected, position data of a correlative taught point having a relative positional relationship with the first taught point, in accordance with a taught-point rule previously prescribing the relative positional relationship between the different taught points. The device may also include a storing section storing the taught-point rule. The taught-point rule may include a rule prescribing a distance between any two taught points among the different taught points.
摘要翻译：一种用于校正机器人的操作程序中的教导点的教导点校正装置。该装置包括：判断部，其判断是否已经校正了先前教导并包括在操作程序中的多个不同教导点中的任一个的位置数据; 以及数据校正部，根据所述判断部判断所述不同教导点中的第一教导点的位置数据已被校正，校正与所述第一教导点具有相对位置关系的相关教导点的位置数据以前规定不同教学点之间的相对位置关系的教导点规则。设备还可以包括存储教导点规则的存储部分。教导点规则可以包括规定不同教导点之间的任何两个教导点之间的距离的规则。

66. 发明授权

US07979161B2 Device, program, recording medium and method for correcting taught point 有权
标题翻译：设备，程序，记录介质和校正教学点的方法
公开(公告)号：US07979161B2
公开(公告)日：2011-07-12
申请号：US11441020
申请日：2006-05-26
申请人： Ryo Nihei , Tetsuaki Kato , Hiroji Nishi
发明人： Ryo Nihei , Tetsuaki Kato , Hiroji Nishi
IPC分类号： G05B19/425 , G05B19/408 , G05B15/02 , G06F19/00
CPC分类号： G05B19/4083 , B25J9/1664 , G05B2219/36404 , G05B2219/40385 , G05B2219/45104
摘要： A taught point correcting device for correcting a taught point in an operation program of a robot. The device includes a judging section judging whether position data of any of a plurality of different taught points, previously taught and included in an operation program, has been corrected or not; and a data correcting section correcting, when the judging section judges that position data of a first taught point among the different taught points has been corrected, position data of a correlative taught point having a relative positional relationship with the first taught point, in accordance with a taught-point rule previously prescribing the relative positional relationship between the different taught points. The device may also include a storing section storing the taught-point rule. The taught-point rule may include a rule prescribing a distance between any two taught points among the different taught points.
摘要翻译：一种用于校正机器人的操作程序中的教导点的教导点校正装置。该装置包括：判断部，其判断是否已经校正了先前教导并包括在操作程序中的多个不同教导点中的任一个的位置数据; 以及数据校正部，根据所述判断部判断所述不同教导点中的第一教导点的位置数据已被校正，校正与所述第一教导点具有相对位置关系的相关教导点的位置数据以前规定不同教学点之间的相对位置关系的教导点规则。设备还可以包括存储教导点规则的存储部分。教导点规则可以包括规定不同教导点之间的任何两个教导点之间的距离的规则。

67. 发明授权

US07945349B2 Method and a system for facilitating calibration of an off-line programmed robot cell 有权
标题翻译：用于促进离线编程的机器人单元的校准的方法和系统
公开(公告)号：US07945349B2
公开(公告)日：2011-05-17
申请号：US12311039
申请日：2008-06-09
申请人： Tommy Y. Svensson , Magnus K. Gustafsson , Mathias Haage
发明人： Tommy Y. Svensson , Magnus K. Gustafsson , Mathias Haage
IPC分类号： G05B19/04
CPC分类号： B25J9/1692 , B25J9/1671 , G05B2219/36404 , G05B2219/39021 , G05B2219/40099
摘要： The present invention relates to a method and a system for facilitating calibration of a robot cell including one or more objects (8) and an industrial robot (1,2,3) performing work in connection to the objects, wherein the robot cell is programmed by means of an off-line programming tool including a graphical component for generating 2D or 3D graphics based on graphical models of the objects. The system comprises a computer unit (10) located at the off-line programming site and configured to store a sequence of calibration points for each of the objects, and to generate a sequence of images (4) including graphical representations of the objects to be calibrated and the calibration points in relation to the objects, and to transfer the images to the robot, and that the robot is configured to display said sequence of images to a robot operator during calibration of the robot cell so that for each calibration point a view including the present calibration point and the object to be calibrated is displayed to the robot operator.
摘要翻译：本发明涉及一种便于校准包括一个或多个物体（8）和工业机器人（1,2,3）的机器人单元的方法和系统，该机器人单元执行连接于该物体的工作，其中机器人单元被编程通过离线编程工具，其包括用于基于对象的图形模型生成2D或3D图形的图形组件。该系统包括位于离线编程站点处的计算机单元（10），并且被配置为存储用于每个对象的一系列校准点，并且生成包括所述对象的图形表示的图像序列（4）校准和相对于物体的校准点，并且将图像传送到机器人，并且机器人被配置为在机器人单元的校准期间向机器人操作者显示所述图像序列，使得对于每个校准点，视图包括目前的校准点和要校准的对象被显示给机器人操作者。

68. 发明申请

US20110022217A1 WORK MOUNTING SYSTEM AND METHOD OF MOUNTING 失效
标题翻译：工作安装系统和安装方法
公开(公告)号：US20110022217A1
公开(公告)日：2011-01-27
申请号：US12933795
申请日：2009-02-25
申请人： Kenichi Asamizu
发明人： Kenichi Asamizu
IPC分类号： B25J9/18 , B25J13/08
CPC分类号： B62D65/06 , B23P19/105 , B25J9/0084 , B25J9/1697 , G05B19/41805 , G05B2219/36404 , G05B2219/39114 , G05B2219/39393 , G05B2219/39559 , G05B2219/45025 , Y02P90/04 , Y02P90/083
摘要： This object aims to provide a work mounting system which has an improved usability and can be miniaturized. A work mounting system (1) is used to mount a sunroof member (3) on the inner panel (2A) of a body (2). The work mounting system (1) comprises a conveying robot (4) for holding and conveying the sunroof member (3), a mounting robot (5) with a nut runner for tightening bolts and a CCD camera, and a controller (6) for controlling the conveying robot (4) and the mounting robot (5). The controller (6) controls the conveying robot (4) so as to hold the sunroof member (3) and convey the member to the inner panel (2A) of the body (2), and controls the mounting robot (5) so as to photograph the bolt holes of the sunroof member (3) and the inner panel (2A) by the CCD camera, calculates the positions of the bolt holes and the inner panel (2A), corrects operation of the mounting robot (5) according to the calculated positions, and secures the sunroof member (3) to the inner panel (2A) at two positions by nut runners.
摘要翻译：本发明的目的是提供一种具有改进的可用性并可以小型化的工件安装系统。工件安装系统（1）用于将天窗构件（3）安装在主体（2）的内板（2A）上。工件安装系统（1）包括用于保持和输送天窗构件（3）的输送机器人（4），具有用于紧固螺栓的螺母扳手和CCD照相机的安装机器人（5），以及用于控制输送机器人（4）和安装机器人（5）。控制器（6）控制输送机器人（4）以保持天窗构件（3）并将构件传送到主体（2）的内板（2A），并且将安装机器人（5）控制为通过CCD照相机拍摄天窗部件（3）和内板（2A）的螺栓孔，计算螺栓孔和内板（2A）的位置，根据安装机器人（5）的操作来修正计算的位置，并且通过螺母扳手在两个位置将天窗构件（3）固定到内板（2A）。

69. 发明授权

US07376488B2 Taught position modification device 失效
标题翻译：授课位置修改装置
公开(公告)号：US07376488B2
公开(公告)日：2008-05-20
申请号：US10786055
申请日：2004-02-26
申请人： Atsushi Watanabe , Jun Mizuno
发明人： Atsushi Watanabe , Jun Mizuno
IPC分类号： G05B19/00
CPC分类号： G05B19/425 , B25J9/1664 , G05B2219/35472 , G05B2219/36404 , G05B2219/37056 , G05B2219/39446 , G05B2219/39449 , G05B2219/40385 , G05B2219/45104
摘要： A taught position modification device easily correcting, in a short time, positions of taught points in a program prepared by an offline programming system. A workpiece image captured by a visual sensor and an image of a three-dimensional workpiece model having three characteristic points are displayed on a screen. Based on coordinate values of workpiece portions corresponding to the characteristic points which are specified in the workpiece image, the position and orientation of the model in a robot operating space are corrected, and also positions of taught points are corrected. When a tool end of a robot is positioned by jog feed to the operation position on a workpiece after being automatically moved to one of the corrected taught points, the taught point is modified based on the robot operating position detected at that time.
摘要翻译：教导的位置修改装置在短时间内容易地校正由离线编程系统准备的程序中的教导点的位置。由视觉传感器拍摄的工件图像和具有三个特征点的三维工件模型的图像被显示在屏幕上。基于与工件图像中指定的特征点相对应的工件部分的坐标值，校正机器人操作空间中的模型的位置和取向，并且校正教导点的位置。当机器人的工具端通过在被自动移动到一个校正教导点之后通过点动送入工件上的操作位置来定位时，教导点基于当时检测到的机器人操作位置被修改。

70. 发明申请

US20070075048A1 Welding teaching point correction system and calibration method 审中-公开
标题翻译：焊接教学点校正系统和校准方法
公开(公告)号：US20070075048A1
公开(公告)日：2007-04-05
申请号：US11529491
申请日：2006-09-29
申请人： Akira Kunisaki , Hisanori Takata
发明人： Akira Kunisaki , Hisanori Takata
IPC分类号： B23K11/10
CPC分类号： B23K11/253 , B25J9/1692 , B25J9/1697 , G05B19/4083 , G05B2219/36048 , G05B2219/36404 , G05B2219/39056 , G05B2219/39057 , G05B2219/40003 , G05B2219/45104
摘要： Disclosed is a welding teaching point correction system, including: a robot; a spot welding gun comprising two welding tips provided to be opposed to each other; an imaging apparatus to image a welding point of a workpiece, the imaging apparatus being provided detachably to or exchangeably with at least one of the two welding tips; an operation control unit to control the robot and the spot welding gun in accordance with an teaching program to teach welding operation to the robot and the spot welding gun; an image processing unit to acquire positional information of the welding point of the workpiece in the image; and a program correction unit to correct an teaching point for the robot in the teaching program in a plurality of directions based on the positional information of the welding point of the workpiece in the image acquired by the image processing unit.
摘要翻译：公开了一种焊接教学点校正系统，包括：机器人; 一种点焊枪，包括彼此相对设置的两个焊接尖端; 成像设备，用于对工件的焊接点进行成像，所述成像设备可拆卸地设置或与所述两个焊接尖端中的至少一个可交换地提供; 操作控制单元，用于根据教导程序控制机器人和点焊枪，以教导对机器人和点焊枪的焊接操作; 图像处理单元，用于获取图像中的工件的焊接点的位置信息; 以及程序校正单元，其基于由图像处理单元获取的图像中的工件的焊接点的位置信息，在多个方向上校正示教程序中的机器人的教导点。

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