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1. 发明授权

EP1428634B1 Workpiece taking-out robot with a three-dimensional visual sensor 有权
标题翻译：机器人手工制作机器人
公开(公告)号：EP1428634B1
公开(公告)日：2009-03-04
申请号：EP03257763.7
申请日：2003-12-10
申请人： FANUC LTD
发明人： Ban, Kazunori , Kanno, Ichiro FANUC Manshonharimomi Room 14-307
IPC分类号： B25J9/16 , G06T1/00 , G06T7/00
CPC分类号： B25J9/1697 , G05B2219/40053 , G06T7/70 , G06T2207/30164

2. 发明公开

EP1953496A2 Calibration device and method for robot mechanism 有权转让
标题翻译： Kalibrierungsvorrichtung und -verfahrenfüreinen机器人机制
公开(公告)号：EP1953496A2
公开(公告)日：2008-08-06
申请号：EP08001833.6
申请日：2008-01-31
申请人： FANUC LTD
发明人： Ban, Kazunori , Takizawa, Katsutoshi , Shen, Gang
IPC分类号： G01B11/00 , G01B21/04 , B25J19/02
CPC分类号： B25J9/1692 , G01B11/002 , G01B21/042 , G05B2219/39045 , G05B2219/39393
摘要： A calibration device and method for automatically determining the position and the orientation of a robot used for measurement. First, an initial position of a preliminary position is generated based on a designated basic position, and it is judged whether the initial position is within an operation range of the robot. If the robot cannot reach the initial position, the preliminary position is adjusted close to the basic position. Otherwise, the preliminary position is evaluated by calculating an evaluation index of the preliminary position. When the evaluation index does not satisfy a predetermined condition, an initial value of an posture angle is increased.
摘要翻译：一种用于自动确定用于测量的机器人的位置和方向的校准装置和方法。首先，基于指定的基本位置生成预备位置的初始位置，并且判断初始位置是否在机器人的操作范围内。如果机器人不能达到初始位置，则初步位置被调整为接近基本位置。否则，通过计算初步位置的评价指标来评价初步位置。当评价指标不满足预定条件时，姿势角的初始值增加。

3. 发明公开

EP1905548A2 Workpiece picking apparatus 有权转让
标题翻译：一种用于工件保持器
公开(公告)号：EP1905548A2
公开(公告)日：2008-04-02
申请号：EP07019095.4
申请日：2007-09-27
申请人： FANUC LTD
发明人： Ban, Kazunori , Kanno, Ichiro , Watanabe, Keisuke
IPC分类号： B25J9/16 , G06T1/00 , G06T7/00
CPC分类号： B25J9/1697 , G05B2219/40038 , G06T7/0004 , G06T7/73 , G06T2207/30164
摘要： A workpiece picking apparatus (11) includes a robot (13), a workpiece recognition device (15,19,25) for recognizing the workpieces (W) located in a wide area, an accurate measurement device (17,19,27) for accurately measuring the three-dimensional position of the workpiece (W), a workpiece select device (37) for selecting the workpiece (W) to be picked, and an NG workpiece storage device (35) for storing information on the rough position of a failed NG workpiece (Wf) when the measurement of the three-dimensional position or the picking for the workpiece (W) has failed. The workpiece select device (37) excludes the NG workpiece (Wf) stored in the NG workpiece storage device (35) and selects the next workpiece (W) to be measured. The robot (13) picks the selected workpiece (W) based on the three-dimensional position of the workpiece (W) measured by the accurate measurement device (17,19,27).

4. 发明公开

EP1862270A2 Workpiece picking device and method 有权
标题翻译： Werkstückaufnahmevorrichtungund -verfahren
公开(公告)号：EP1862270A2
公开(公告)日：2007-12-05
申请号：EP07010356.9
申请日：2007-05-24
申请人： Fanuc Ltd
发明人： Ban, Kazunori , Watanabe, Keisuke
IPC分类号： B25J9/16
CPC分类号： B25J9/1697 , G05B2219/37555 , G05B2219/40053
摘要： A workpiece picking device and method for reducing the cycle time of a picking operation of workpieces, by omitting or reducing the movement of a robot manipulator when an image of the workpieces is captured. An image processor of the picking device includes a camera controlling part for reading image data from a camera, a memory for storing the image data, a workpiece detecting part for extracting one or more images from the memory and detecting one or more workpieces in the image, and a workpiece selecting part for selecting a workpiece to be picked among the workpieces detected by the workpiece detecting part. The image processor further includes a stacked condition judging part for determining whether the condition of the stacked workpieces in a container is changed.
摘要翻译：一种用于通过省略或减少当工件的图像被捕获时机器人操纵器的移动来减少工件的拾取操作的循环时间的工件拾取装置和方法。拾取装置的图像处理器包括用于从相机读取图像数据的相机控制部分，用于存储图像数据的存储器，用于从存储器中提取一个或多个图像的工件检测部分，并检测图像中的一个或多个工件以及工件选择部，用于选择由工件检测部检测出的工件中要拾取的工件。图像处理器还包括用于确定容器中堆叠的工件的状态是否改变的层叠条件判断部分。

5. 发明公开

EP1834738A2 Teaching position correcting apparatus and teaching position correction method 有权转让
标题翻译：用于校正教学位置和方法，用于校正一示教位置的装置
公开(公告)号：EP1834738A2
公开(公告)日：2007-09-19
申请号：EP07004540.6
申请日：2007-03-06
申请人： FANUC LTD
发明人： Ban, Kazunori , Kanno, Ichiro , Shen, Gang FANUCmanshonharimomi , Takizawa, Katsutoshi
IPC分类号： B25J9/16 , G05B19/425
摘要： A teaching position correcting apparatus (1) corrects plural teaching point positions of a robot (2) in a robot operation program, by sequentially moving the robot (2) to each of the plural teaching points and by sequentially reading a current position of the robot (2) at each of the plural teaching points. The teaching position correcting apparatus (1) includes: a position correction amount calculating means (11a) that calculates a position correction amount (A), based on corrected teaching point positions and teaching point positions before correction; and a corrected-position calculating means (11b) that calculates corrected positions of teaching point positions before correction out of the plural teaching points, based on the position correction amount (A). At the time of moving the robot to uncorrected teaching points, a moving means (15) moves the robot to corrected positions of the teaching point positions before correction. Based on the above operation, even when a posture change of the robot is large, teaching point positions in the operation program can be corrected accurately in short time.
摘要翻译：甲示教位置修正装置（1）的机器人动作程序来校正机器人（2）的多个示教点位置，通过顺序地使机器人移动（2）到每个所述多个示教点的并通过顺序地读取所述机器人的当前位置（2）在每一个所述多个示教点的。示教位置修正装置（1）包括：位置校正量计算装置（11）那样计算基于校正之前校正示教点的位置和示教点位置的位置修正量（A）; 和校正位置计算手段（11B）并计算修正后的修正前示教点位置的位置从多个示教点的，根据位置校正量（A）。在机器人移动至未修正示教点时，移动装置（15）移动所述机器人修正前的示教点位置的校正后的位置。基于以上操作，即使当机器人的姿势变化是大的，在动作程序示教点的位置可被校正在短时间内准确地设定。

6. 发明公开

EP1607194A3 Robot system comprising a plurality of robots provided with means for calibrating their relative position 有权转让
标题翻译：机器人系统包括多个与装置的机器人的用于校准它们的相对位置
公开(公告)号：EP1607194A3
公开(公告)日：2006-10-04
申请号：EP05011702.7
申请日：2005-05-31
申请人： FANUC LTD
发明人： Ban, Kazunori , Kanno, Ichiro , Yamada, Makoto , Inoue, Toshihiko
IPC分类号： B25J9/16
CPC分类号： B25J9/1692 , B25J9/1682 , G05B2219/39045 , G05B2219/39046 , G05B2219/39114 , G05B2219/39397
摘要： A robot system comprising a first robot (R1) with a camera of a visual sensor mounted thereon and a second robot (R2) having a feature portion, is disclosed. The robots (R1, R2) are set in the first initial states (G1), from which the first robot (R1) or the second robot (R2) is moved so that the image of the feature portion assumes a target position or size (G2), thereby to store the present positions (P1, Q1) (G3). The same process is repeated N times (N ≥ 3) while changing the positions of the initial states of the robots (G4). Based on the positions P1,...., PN and Q1,....., QN obtained by the N repetitive above processes, a matrix T indicating the coordinate conversion from Σb to Σb' is determined. One or two robot control units may be provided. As a result, the calibration to determine relative positions between the robots can be carried out easily and with high accuracy, thereby reducing the jig-related cost.

7. 发明公开

EP1703349A2 Off-line teaching device 审中-公开
标题翻译：离线Lehrvorrichtung
公开(公告)号：EP1703349A2
公开(公告)日：2006-09-20
申请号：EP06005176.0
申请日：2006-03-14
申请人： FANUC LTD
发明人： Ban, Kazunori , Arimatsu, Taro , Jumonji, Takashi
IPC分类号： G05B19/42 , B25J9/16
CPC分类号： G05B19/4207 , B25J9/1697
摘要： An off-line teaching device, for adjusting a vision sensor and carrying out set-up work off-line, which used to be done in the field, so as to reduce the operation time in the field. The off-line teaching device has a storing device for storing data including the shapes and the dimensions of a workpiece, a robot and a vision sensor, and a display for indicating images of the workpiece, the robot and the vision sensor. The teaching device also has a simulation program for generating the images of the workpiece, the robot and the vision sensor on the display and for calculating measurement data of the vision sensor based on the arrangement of the images on the display, and a sensor program for carrying out measurement on the display by the vision sensor based on the measurement data.
摘要翻译：一种离线教学装置，用于调整视觉传感器并进行离线的设置，这在现场已经完成，以减少现场的操作时间。离线示教装置具有用于存储包括工件，机器人和视觉传感器的形状和尺寸的数据的存储装置，以及用于指示工件，机器人和视觉传感器的图像的显示器。教学装置还具有用于在显示器上生成工件，机器人和视觉传感器的图像的模拟程序，并且用于基于显示器上的图像的布置来计算视觉传感器的测量数据，以及传感器程序基于测量数据，通过视觉传感器在显示器上进行测量。

8. 发明公开

EP1628177A2 Finishing machine for removing a burr 审中-公开
标题翻译： Feinbearbeitungsmaschine zum Entgraten
公开(公告)号：EP1628177A2
公开(公告)日：2006-02-22
申请号：EP05017763.3
申请日：2005-08-16
申请人： FANUC LTD
发明人： Ban, Kazunori , Sato, Takashi , Hatanaka, Kokoro
IPC分类号： G05B19/416
CPC分类号： G05B19/4163 , Y02P90/265 , Y10T409/30084 , Y10T409/301792 , Y10T409/303472 , Y10T409/304256
摘要： A surface of a workpiece, from which the burr is removed, is traced when a machining tool is pressed onto the surface of the workpiece under force control so as to find the positional data of the surface shape (S1). This positional data is corrected by an error caused by a bend of a robot (S2). The thus obtained positional data is compared with the target shape of the surface, from which the burr is removed, obtained from CAD data (S6, S10). A shift of the surface shape in the normal line direction is found (S7, S11). The burr generation start position, the burr generation end position and the height of the burr are found by the shift start position (S8), the shift end position and the shift size (S14). A machining program is made which is composed of a pass connecting the burr end position with the burr start position and also composed of a cutting pass for removing the burr, and the thus made machining program is executed (S16, S17). As the burr position is found and the burr is removed when the machining tool is moved to the burr position, the burr can be effectively removed. Due to the foregoing, it is possible to provide a finishing machine characterized in that useless burr removing actions can be reduced and, further, that the overcutting of a workpiece can be prevented.
摘要翻译：当加工工具在力控制下被压在工件表面上时，跟踪去除毛刺的工件的表面，以找到表面形状的位置数据（S1）。该位置数据由机器人的弯曲引起的误差进行校正（S2）。将如此获得的位置数据与从CAD数据获得的从毛数除去的表面的目标形状进行比较（S6，S10）。发现在法线方向上的表面形状的偏移（S7，S11）。通过换档开始位置（S8），换档结束位置和换档尺寸（S14）找到毛刺生成开始位置，毛刺生成结束位置和毛刺高度。进行加工程序，该加工程序由将毛刺末端位置与毛刺开始位置连接的通路构成，并且还包括用于去除毛刺的切割道，并且执行这样的加工程序（S16，S17）。当加工刀具移动到毛刺位置时，当找到毛刺位置并除去毛刺时，可以有效地去除毛刺。由于上述原因，可以提供一种整理机，其特征在于可以减少无用的毛刺去除动作，另外可以防止工件的过度切割。

9. 发明公开

EP1621297A1 Method of and device for re-calibrating three-dimensional visual sensor in robot system 审中-公开
标题翻译： Verfahren zum Rekalibrieren在einem机器人系统中采用3D optischen传感器
公开(公告)号：EP1621297A1
公开(公告)日：2006-02-01
申请号：EP05254725.4
申请日：2005-07-28
申请人： FANUC LTD
发明人： Ban, Kazunori , Kanno, Ichiro
IPC分类号： B25J9/16 , G01B21/04
CPC分类号： B25J9/1692 , G01B21/042
摘要： A re-calibration method and device for a three-dimensional visual sensor of a robot system, whereby the work load required for re-calibration is mitigated. While the visual sensor is normal, the visual sensor and a measurement target are arranged in one or more relative positional relations by a robot, and the target is measured to acquire position/orientation information of a dot pattern etc. by using calibration parameters then held. During re-calibration, each relative positional relation is approximately reproduced, and the target is again measured to acquire feature amount information or position/orientation of the dot pattern etc. on the image. Based on the feature amount data and the position information, the parameters relating to calibration of the visual sensor are updated. At least one of the visual sensor and the target, which are brought into the relative positional relation, is mounted on the robot arm. During the re-calibration, position information may be calculated using the held calibration parameters as well as the feature amount information obtained during normal operation of the visual sensor and that obtained during the re-calibration, and the calibration parameters may be updated based on the calculation results.
摘要翻译：用于机器人系统的三维视觉传感器的重新校准方法和装置，从而减轻了重新校准所需的工作负载。当视觉传感器正常时，视觉传感器和测量对象由机器人以一个或多个相对位置关系布置，并且通过使用校准参数来测量目标来获取点图案等的位置/取向信息。在重新校准期间，大致再现每个相对位置关系，并且再次测量目标以获取图像上的点图案等的特征量信息或位置/取向。基于特征量数据和位置信息，更新与视觉传感器的校准有关的参数。将被置于相对位置关系的视觉传感器和目标物中的至少一个安装在机器人手臂上。在重新校准期间，可以使用保持的校准参数以及在视觉传感器的正常操作期间获得的并且在重新校准期间获得的特征量信息来计算位置信息，并且校准参数可以基于计算结果。

10. 发明公开

EP1555508A1 Measuring system 有权转让
标题翻译：测量系统
公开(公告)号：EP1555508A1
公开(公告)日：2005-07-20
申请号：EP05000739.2
申请日：2005-01-14
申请人： FANUC LTD
发明人： Ban, Kazunori , Yamada, Makoto
IPC分类号： G01B21/04 , B25J13/08
CPC分类号： G01B21/042 , B25J19/023 , G01B11/005 , G05B2219/37555
摘要： A measuring system which can easily measure a three-dimensional position of a target to be measured using a light receiving device mounted to a manipulator of a robot. When the manipulator is positioned at a first position, a moving process for moving an image of the target imaged by the light receiving device or a camera to a center of a light receiving surface of the camera is executed. Next, the manipulator positioned at the first position is moved, without changing the orientation of the camera, to a second position where the distance between the camera and the target is different to that at the first position. After that, the moving process is executed again. Based on the position of the manipulator after the process, the orientation of a coordinate system Σv1 representing the direction of a visual line is calculated. Then, the manipulator is rotated by 180 degree about Z-axis of the coordinate system Σv1 and the moving process is executed again. A middle point of the positions of coordinate system Σv1 before and after movement of the manipulator is determined as an origin of a coordinate system Σv2 representing the orientation and the position of the visual line. The manipulator is inclined relative to Y-axis of the coordinate system Σv2 and the moving process is executed again, so as to calculate the three-dimensional position of the target.
摘要翻译：一种测量系统，其能够使用安装在机器人的机械手上的光接收装置容易地测量待测量目标的三维位置。当机械手位于第一位置时，执行用于将由光接收装置或相机成像的目标的图像移动到相机的光接收表面的中心的移动过程。接下来，位于第一位置的操纵器在不改变照相机的方向的情况下移动到照相机和目标之间的距离不同于第一位置处的第二位置。之后，移动过程再次执行。根据处理后的机械手的位置，计算表示视线方向的坐标系Σv1的方位。然后，机器人围绕坐标系Σv1的Z轴旋转180度，并再次执行移动过程。将机械手移动前后的坐标系Σv1的位置的中点确定为表示视线的朝向和位置的坐标系Σv2的原点。操纵器相对于坐标系Σv2的Y轴倾斜，并再次执行移动过程，以计算目标的三维位置。

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