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1. 发明公开

EP1936458A3 Device, method, program and recording medium for robot offline programming 有权转让
标题翻译：用于机器人的离线编程的装置，方法，程序和记录介质
公开(公告)号：EP1936458A3
公开(公告)日：2009-05-27
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.

2. 发明公开

EP1867444A2 Robot simulation apparatus 审中-公开
标题翻译：机器人模拟装置
公开(公告)号：EP1867444A2
公开(公告)日：2007-12-19
申请号：EP07011384.0
申请日：2007-06-11
申请人： Fanuc Ltd
发明人： Nagatsuka, Yoshiharu , Oyamada, Masahiro
IPC分类号： B25J9/16
CPC分类号： B25J9/1671
摘要： A robot simulation apparatus, which lays out a shape model of a robot equipped with a hand, and shape models of a case and of work pieces contained therein on a display screen in a prescribed positional relationship, and simulates a picking operation of the robot, which picks the work piece with the hand, the apparatus having; a case dimension setting portion for setting the shape model of the case to a prescribed shape and dimensions; an interference checking portion for checking for interference between the hand and the case when the robot is operated to take out a work piece from the side of a inner wall of the case, and if there is interference, identifying the interference; a hand changing portion for changing the shape model of the hand so that there is no longer any interference between the hand and the case when it is determined by the interference checking portion that there is interference between the hand and the case; and a product data acquiring portion for acquiring data on the actual product dimension of the hand from the shape model of the hand changed by the hand changing portion.
摘要翻译：本发明提供一种机器人模拟装置，该机器人模拟装置将具有手的机器人的形状模型进行布局，并以规定的位置关系在显示画面上显示壳体和工件的形状模型，并模拟机器人的拾取动作，用手拿起工件，该设备具有; 壳体尺寸设定部分，用于将壳体的形状模型设定为规定的形状和尺寸; 干涉检查部分，用于当机器人被操作以从壳体的内壁侧取出工件时检查手和壳体之间的干涉，并且如果存在干涉，则识别干涉; 手改变部分，用于改变手的形状模型，使得当由干涉检查部分确定手与壳体之间存在干涉时，手与壳之间不再有任何干涉; 以及产品数据获取部分，用于从手改变部分改变的手的形状模型获取关于手的实际产品尺寸的数据。

3. 发明公开

EP1625918A2 Programming device for returning robot to waiting position 有权转让
标题翻译： Programmiervorrichtung zumZurückfahreneines机器人在seiner Wscapesellung
公开(公告)号：EP1625918A2
公开(公告)日：2006-02-15
申请号：EP05013686.0
申请日：2005-06-24
申请人： FANUC LTD
发明人： Kobayashi, Hirohiko , Nagatsuka, Yoshiharu
IPC分类号： B25J9/16
CPC分类号： B25J9/1674 , B25J9/1671 , G05B19/4067 , G05B2219/40314 , G05B2219/40317 , G05B2219/50118
摘要： A programming device for making a program for returning a robot to its waiting position when the robot is stopped by an error. A robot control device is connected to the programming device via a network line. When the robot during operation is stopped by the error, information including data of a position where the robot is stopped is transferred to the programming device. The programming device makes the returning program, based on layout data, the received information and data including teaching positions and attribute data of the positions, by which the robot may be returned from the stop position to the waiting position without interfering with peripheral devices. The returning program is executed by using an offline simulation function of the programming device. The program is transferred to the robot control device after it is judged that interference will not occur. The robot may be safely returned to the waiting position by executing the returning program.
摘要翻译：一种编程装置，用于当机器人被错误停止时，用于制造用于将机器人返回到其等待位置的程序。机器人控制装置经由网络线连接到编程装置。当操作期间的机器人被错误停止时，包括机器人停止的位置的数据的信息被传送到编程装置。编程装置根据布局数据，使接收到的信息和包括位置的教导位置和属性数据的数据返回程序，通过该程序，机器人可以从停止位置返回到等待位置，而不会干扰外围设备。通过使用编程设备的离线模拟功能来执行返回程序。在判断出不会发生干扰的情况下，程序被传送到机器人控制装置。可以通过执行返回程序将机器人安全地返回到等待位置。

4. 发明授权

EP1092513B1 Graphic display apparatus for robot system 有权
标题翻译：用于机器人系统的图形显示装置
公开(公告)号：EP1092513B1
公开(公告)日：2006-01-25
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

5. 发明公开

EP1462896A2 Robot teaching device 有权
标题翻译： Lehrgerätfüreinen Roboter
公开(公告)号：EP1462896A2
公开(公告)日：2004-09-29
申请号：EP04251125.3
申请日：2004-02-27
申请人： FANUC LTD
发明人： Watanabe, Atsushi , Mizuno, Jun , Nagatsuka, Yoshiharu
IPC分类号： G05B19/425 , B25J9/16
CPC分类号： B25J9/1671 , G05B19/425 , G05B2219/35328 , G05B2219/35506 , G05B2219/36159 , G05B2219/36163 , G05B2219/39444 , G05B2219/39448 , G05B2219/39449 , Y02P90/265
摘要： A teaching device and a teaching modification device capable of easily attaining conformity between an operation program of a robot (4) prepared by off-line programming and an actual operation of the robot (4). A layout of a robot system including three-dimensional models of the robot (4) and peripheral objects thereof (table, a workpiece, etc.) are prepared by an off-line programming system and taught points are defined for the workpiece. The system layout and a model of the workpiece are displayed on a display device (2a) of a teaching pendant (2). An operator specifies a present position of the operator in the system layout and a taught point to be modified referring to the display device (26). A line-of-sight vector is automatically calculated and the model of the workpiece as viewed from a direction of the line-of-sight is displayed on the display device (2a). Thus, the operator can operate the robot (4) for modifying positions of the taught points or orientations at the taught points with ease, referring to the three-dimensional model of the workpiece and the taught points on the display device (2a) as viewed from the present position of the operator.
摘要翻译：一种能够容易地实现由离线编程准备的机器人（4）的操作程序与机器人（4）的实际操作之间的一致性的教学装置和教学修改装置。通过离线编程系统准备包括机器人（4）的三维模型及其周边物体（工作台，工件等）的机器人系统的布局，并为工件定义教导点。系统布局和工件的型号显示在示教器（2）的显示装置（2a）上。操作者根据显示装置（26）指定操作者在系统布局中的当前位置和要修改的教导点。自动计算视线矢量，并且在显示装置（2a）上显示从视线方向观察的工件的型号。因此，参照工件的三维模型和显示装置（2a）上的教导点，操作者可以容易地操作机器人（4），用于简单地修改教导点的教导点或取向的位置从运营商的现在位置。

6. 发明公开

EP1462896A3 Robot teaching device 有权
标题翻译：用于机器人装置的教学装置
公开(公告)号：EP1462896A3
公开(公告)日：2007-11-21
申请号：EP04251125.3
申请日：2004-02-27
申请人： Fanuc Ltd
发明人： Watanabe, Atsushi , Mizuno, Jun , Nagatsuka, Yoshiharu
IPC分类号： G05B19/425 , B25J9/16
CPC分类号： B25J9/1671 , G05B19/425 , G05B2219/35328 , G05B2219/35506 , G05B2219/36159 , G05B2219/36163 , G05B2219/39444 , G05B2219/39448 , G05B2219/39449 , Y02P90/265
摘要： A teaching device and a teaching modification device capable of easily attaining conformity between an operation program of a robot (4) prepared by off-line programming and an actual operation of the robot (4). A layout of a robot system including three-dimensional models of the robot (4) and peripheral objects thereof (table, a workpiece, etc.) are prepared by an off-line programming system and taught points are defined for the workpiece. The system layout and a model of the workpiece are displayed on a display device (2a) of a teaching pendant (2). An operator specifies a present position of the operator in the system layout and a taught point to be modified referring to the display device (26). A line-of-sight vector is automatically calculated and the model of the workpiece as viewed from a direction of the line-of-sight is displayed on the display device (2a). Thus, the operator can operate the robot (4) for modifying positions of the taught points or orientations at the taught points with ease, referring to the three-dimensional model of the workpiece and the taught points on the display device (2a) as viewed from the present position of the operator.

7. 发明公开

EP1847359A2 Robot simulation apparatus 审中-公开
标题翻译： Robotersimulationsvorrichtung
公开(公告)号：EP1847359A2
公开(公告)日：2007-10-24
申请号：EP07007836.5
申请日：2007-04-17
申请人： Fanuc Ltd
发明人： Nagatsuka, Yoshiharu , Oumi, Tatsuya
IPC分类号： B25J9/16
CPC分类号： B25J9/1671
摘要： A robot simulation apparatus which simulates a motion of a robot equipped with an end effector on a display screen, having: a position specifying portion, which, along with a three-dimensional model of the robot and three-dimensional models of a workpiece and a peripheral device displayed in prescribed positions relative to each other on the display screen, specifies a two-dimensional position on the screen to designate a prescribed position at a destination as a target to which the end effector, moving relative to the workpiece and the peripheral device, is to be moved; a position data acquiring portion, which converts data representing the two-dimensional position specified by the position specifying portion into data representing a three-dimensional position and thereby acquires the three-dimensional position of the destination; a shape data acquiring portion, which acquires shape data of the workpiece based on the three-dimensional position acquired by the position data acquiring portion; and a position/orientation computing portion, which based on the three-dimensional position and the shape data, computes the three-dimensional position and three-dimensional orientation of the robot.
摘要翻译：一种机器人模拟装置，其模拟在显示屏幕上配备有末端执行器的机器人的运动，该机器人模拟装置具有：位置指定部分，其与机器人的三维模型和工件的三维模型以及在显示画面上以相对于彼此的规定位置显示的外围设备，指定屏幕上的二维位置，以将目的地的规定位置指定为作为目标的终端执行器，相对于工件和外围设备移动，被移动; 位置数据获取部分，将表示由位置指定部分指定的二维位置的数据转换成表示三维位置的数据，从而获取目的地的三维位置; 形状数据获取部，其基于由位置数据获取部获取的三维位置获取工件的形状数据; 并且基于三维位置和形状数据的位置/取向计算部分计算机器人的三维位置和三维取向。

8. 发明公开

EP1832947A2 Device, program, recording medium and method for robot simulation 审中-公开
标题翻译： Vorrichtung，Programm，Aufzeichnungsgerätund VerfahrenfürRobotersimulationen
公开(公告)号：EP1832947A2
公开(公告)日：2007-09-12
申请号：EP07004786.5
申请日：2007-03-08
申请人： FANUC LTD
发明人： Oumi, Tatsuya , Nagatsuka, Yoshiharu
IPC分类号： G05B19/4061 , B25J9/16
CPC分类号： G05B19/4061 , B25J9/1697 , G05B2219/40053
摘要： A robot simulation device for simulating an operation of a robot having a vision sensor in an off-line mode. The device includes a working-environment model setting section for arranging a sensor model, a robot model and a plurality of irregularly piled workpiece models in a virtual working environment; and an operation simulating section for allowing the sensor model and the robot model to simulate a workpiece detecting operation and a bin picking motion. The operation simulating section includes a workpiece-model image generating section for allowing the sensor model to pick up the workpiece models and generating a virtual image thereof; a workpiece-model position detecting section for identifying an objective workpiece model from the virtual image and detecting a virtual position thereof; and a robot-model operation controlling section for allowing the robot model to pick out the objective workpiece model based on the virtual position.
摘要翻译：一种用于模拟具有离线模式的视觉传感器的机器人的操作的机器人模拟装置。该装置包括在虚拟工作环境中布置传感器模型，机器人模型和多个不规则堆叠的工件模型的工作环境模型设置部分; 以及用于使传感器模型和机器人模型模拟工件检测操作和料仓拾取动作的操作模拟部分。操作模拟部分包括工件模型图像生成部分，用于允许传感器模型拾取工件模型并产生其虚像; 工件模型位置检测部分，用于从虚拟图像中识别目标工件模型并检测其虚拟位置; 以及机器人模型操作控制部分，用于允许机器人模型基于虚拟位置挑出目标工件模型。

9. 发明公开

EP1752847A2 Method of evaluating and correcting robot program and device for evaluating and correcting robot program 审中-公开
标题翻译：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：EP1752847A2
公开(公告)日：2007-02-14
申请号：EP06015387.1
申请日：2006-07-24
申请人： FANUC LTD
发明人： Nagatsuka, Yoshiharu , Takeda, Toshiya
IPC分类号： G05B19/416
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。

10. 发明公开

EP2082850A2 Generating device of processing robot program 有权转让
标题翻译： Erzeugungsvorrichtung eines verarbeitenden Roboter程序
公开(公告)号：EP2082850A2
公开(公告)日：2009-07-29
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
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.
摘要翻译：一种在具有视觉传感器的机器人系统中使用的能够适应工件形状的误差并减少教学操作所需的工时的加工机器人程序生成装置。从虚拟相机观察的工件的图形图像中生成图像检测模型。产生包括用于处理工件的处理线的段的示教点的数据的处理程序。产生用于实际成像工件的检测程序，并且检测对应于所生成的每个检测模型的每个段的位置和取向。用于计算检测模型和工件的实际拍摄图像之间的变化量的命令行被添加到处理程序中。然后，将修正程序插入到处理程序中，校正程序能够校正用于处理每个段的教学点。

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