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1. 发明专利

JP2009090403A Robot action range-setting device 审中-公开
标题翻译：机器人动作范围设定装置
公开(公告)号：JP2009090403A
公开(公告)日：2009-04-30
申请号：JP2007262436
申请日：2007-10-05
申请人： Fanuc Ltd , ファナック株式会社
发明人： NIHEI AKIRA , KATO TETSURO , ARAMAKI TAKEAKI , YAMAMOTO TOMOYUKI
IPC分类号： B25J19/06 , B25J13/00
CPC分类号： B25J9/1666 , B25J9/1676 , G05B2219/39098 , G05B2219/40478
摘要： PROBLEM TO BE SOLVED: To create a robot reachable range while taking into consideration a robot coasting distance.
SOLUTION: A robot control device (30) is formed of: a setting means (40) for setting an acting range of shafts and a work tool of a robot (20); a memory means (33) for storing therein the robot coasting distance set according to at least one of a robot action speed and a work tool weight; and a reachable range calculating means (36) for calculating a reachable range where the robot can reach, based on the acting range set by the setting means, and the coasting distance stored in the memory means. The robot control device may be formed of a display means (41) for displaying the reachable range. Further, if the shafts and the work tool deviate from the acting range, the robot control device may be formed of a stopping means (34) for stopping the robot.
COPYRIGHT: (C)2009,JPO&INPIT
摘要翻译：要解决的问题：在考虑到机器人惯性距离的同时创建机器人可达到的范围。机器人控制装置（30）由以下部件形成：用于设定机器人（20）的轴的作用范围和作业工具的设定装置（40）。用于存储根据机器人动作速度和作业工具重量中的至少一个设定的机器人惯性距离的存储装置（33）以及可达范围计算装置（36），用于基于由设定装置设定的动作范围和存储在存储装置中的惯性距离来计算机器人可到达的可达范围。机器人控制装置可以由用于显示可达范围的显示装置（41）形成。此外，如果轴和作业工具偏离作用范围，则机器人控制装置可以由用于停止机器人的停止装置（34）形成。版权所有（C）2009，JPO＆INPIT

2. 发明专利

JP2011224727A Robot system 有权
标题翻译：机器人系统
公开(公告)号：JP2011224727A
公开(公告)日：2011-11-10
申请号：JP2010097030
申请日：2010-04-20
申请人： Fanuc Ltd , ファナック株式会社
发明人： NIHEI AKIRA , KATO TETSURO , ARAMAKI TAKEAKI , YAMAMOTO TOMOYUKI
IPC分类号： B25J19/06
CPC分类号： B25J9/1674 , G05B2219/37388 , G05B2219/40549 , G05B2219/42329
摘要： PROBLEM TO BE SOLVED: To control a failure motion of a robot at a failure of a sensor.SOLUTION: A robot system includes: a first detection device 16 for detecting a rotation amount of a servo motor 15; a second detection device 17 attached to a tip of a robot arm, and detecting the acceleration (a) of the tip of the robot arm; a computation device 21 for computing the acceleration a1 of the tip of the robot arm based on values detected by the first detection device 16, and computing deviation between the computed acceleration a1 and the detected acceleration (a); and emergency stop devices 21-23 for bringing the servo motor 15 to an emergency stop when a magnitude of the deviation computed by the computation device 21 is larger than a reference value α.
摘要翻译：要解决的问题：为了控制机器人在传感器故障时的故障运动。解决方案：机器人系统包括：用于检测伺服电动机15的旋转量的第一检测装置16; 安装在机器人手臂的前端的第二检测装置17，检测机器人手臂的前端的加速度（a）计算装置21，用于基于由第一检测装置16检测的值计算机器人手臂的尖端的加速度a1，计算加速度a1和检测到的加速度（a）之间的偏差; 以及当由计算装置21计算的偏差的大小大于参考值α时使紧急停止的紧急停止装置21-23。版权所有（C）2012，JPO＆INPIT

3. 发明专利

JP2009082997A Robot control device for stopping robot based on speed of robot hand tip part 有权
标题翻译：机器人控制装置，用于根据机器人手柄部分的速度停止机器人
公开(公告)号：JP2009082997A
公开(公告)日：2009-04-23
申请号：JP2007251957
申请日：2007-09-27
申请人： Fanuc Ltd , ファナック株式会社
发明人： NIHEI AKIRA , KATO TETSURO , ARAMAKI TAKEAKI , YAMAMOTO TOMOYUKI
IPC分类号： B25J19/06 , G05B19/18
CPC分类号： B25J9/1674 , B25J5/02 , G05B2219/40248 , G05B2219/40252 , G05B2219/40272 , G05B2219/43201 , G05B2219/43203
摘要： PROBLEM TO BE SOLVED: To reduce required strength of a support without limiting action ability of a robot.
SOLUTION: The robot includes a travel rail supported by the support, and a robot main body installed on a slider that slides on the travel rail. The robot control device 30 includes: a speed calculation means 36 to calculate moving speed of the robot hand tip part at each of coordinate axes of a rectangular coordinate system set in the robot control device; a comparison means 38 to compare the moving speed at each of the coordinate axes calculated by the speed calculation means with respective threshold values specified for the respective coordinate axes of the rectangular coordinate system; and a stopping means 34 to stop the robot in the case where at least either of the moving speed is larger than the corresponding threshold value.
COPYRIGHT: (C)2009,JPO&INPIT
摘要翻译：要解决的问题：在不限制机器人的动作能力的情况下，减小支撑所需的强度。
解决方案：机器人包括由支撑件支撑的行进轨道，以及安装在滑动件上的机器人主体，其在行驶轨道上滑动。机器人控制装置30包括：速度计算装置36，用于计算机器人手尖部在机器人控制装置中设置的直角坐标系的坐标轴的移动速度; 比较装置38，用于将由速度计算装置计算出的每个坐标轴处的移动速度与对于矩形坐标系的各个坐标轴指定的各个阈值进行比较; 以及在移动速度中的至少一个大于相应的阈值的情况下停止机器人的停止装置34。版权所有（C）2009，JPO＆INPIT

4. 发明专利

JP2009050958A Apparatus for controlling robot having stop monitoring function 审中-公开
标题翻译：用于控制具有停止监测功能的机器人的装置
公开(公告)号：JP2009050958A
公开(公告)日：2009-03-12
申请号：JP2007220111
申请日：2007-08-27
申请人： Fanuc Ltd , ファナック株式会社
发明人： NIHEI AKIRA , KATO TETSURO , ARAMAKI TAKEAKI , YAMAMOTO TOMOYUKI
IPC分类号： B25J19/06
CPC分类号： B25J9/1674 , G05B2219/40231
摘要： PROBLEM TO BE SOLVED: To provide an apparatus for controlling a robot having a stop monitoring function, which secures safety of an operator without using hard ware, etc. for connecting or disconnecting power supply for every robot or apparatus.
SOLUTION: In the apparatus for controlling the robot, a CPU 38 periodically monitors the positions of the robot or a cooperative working apparatus, the positions based on the positional information from respective servomotors and the state of the information of invasion. When the state of the information of the invasion has been inputted first, the position of the robot or the cooperative working apparatus, to which the information of the invasion has been allotted, is stored in an RAM 40. After that, while the information of the invasion is inputted, the distance between the position stored in the RAM 40 and the present position of the servomotor is calculated. When the distance is larger than an allowable movement distance, the power of all servomotors 18, 20 of the robot 14 and the cooperative working apparatus 16, is shut off by sending a command to an emergency stop means 28.
COPYRIGHT: (C)2009,JPO&INPIT
摘要翻译：要解决的问题：提供一种用于控制具有停止监视功能的机器人的装置，其确保操作者的安全性而不使用硬件等来连接或断开每个机器人或装置的电源。解决方案：在用于控制机器人的装置中，CPU 38周期性地监视机器人或协作工作装置的位置，基于来自各个伺服电动机的位置信息的位置和入侵信息的状态。当首先输入入侵信息的状态时，将已经分配入侵信息的机器人或协作工作装置的位置存储在RAM40中。此后，当信息输入入侵，计算存储在RAM40中的位置与伺服电动机的当前位置之间的距离。当距离大于允许移动距离时，通过向紧急停止装置28发送命令来切断机器人14和协作工作装置16的所有伺服电动机18,20的动力。COPYRIGHT :(（ C）2009年，JPO＆INPIT

5. 发明专利

JP2009279608A System including robot and press, system including a plurality of robots, and controller for robot used in the same system 有权
标题翻译：包括机器人和系统的系统，包括机器人的多样性，以及在同一系统中使用的机器人的控制器
公开(公告)号：JP2009279608A
公开(公告)日：2009-12-03
申请号：JP2008133192
申请日：2008-05-21
申请人： Fanuc Ltd , ファナック株式会社
发明人： NIHEI AKIRA , KATO TETSURO , ARAMAKI TAKEAKI , YAMAMOTO TOMOYUKI , ICHINOSE MASAKAZU , TSUCHIDA YUKINOBU , SUZUKI HAJIME
IPC分类号： B30B13/00 , B25J13/00 , B30B15/26 , G05B19/18 , G05B19/418
CPC分类号： Y02P90/087
摘要： PROBLEM TO BE SOLVED: To avoid lowering of working efficiency of a system by continuously performing a synchronizing operation. SOLUTION: A system (1) including a robot and a press (hereinafter "robot etc.") which cooperate with each other is provided with a reference clock (6) to periodically renew time. The robot etc. is provided with: an internal clock (19); a teaching program (25), which stores, corresponding to the time of the internal clock, each position of the robot etc. in operation; an internal clock correcting means (21), which corrects the time of the internal clock so that the time of the internal clock coincides with the time of the reference clock; a reference clock correcting means (23), which, when the internal clock correcting means is unable to make the time of the internal clock coincide with the time of the reference clock, corrects the time of the reference clock so that the time of the internal clock coincides with the time of the reference clock; and an operation means, which operates the robot etc. in synchronization with the reference clock by calculating an operation command for each interpolation time of the robot etc. based on the time of the teaching program and the internal clock. COPYRIGHT: (C)2010,JPO&INPIT
摘要翻译：要解决的问题：为了避免通过连续执行同步操作来降低系统的工作效率。解决方案：包括彼此协作的机器人和按压机（以下称为“机器人等”）的系统（1）设置有周期性更新时间的参考时钟（6）。机器人等设置有：内部时钟（19）; 教学程序（25），其存储对应于内部时钟的时间的机器人等的各个位置的操作; 内部时钟校正装置（21），其校正内部时钟的时间，使得内部时钟的时间与参考时钟的时间一致; 参考时钟校正装置（23），当内部时钟校正装置不能使内部时钟的时间与参考时钟的时间一致时，校正参考时钟的时间，使得内部时钟的时间时钟与参考时钟的时间一致; 以及操作装置，其通过基于教学程序和内部时钟的时间计算机器人等的每个插值时间的操作命令，与参考时钟同步地操作机器人等。版权所有（C）2010，JPO＆INPIT

6. 发明专利

JP2009233852A Apparatus for controlling robot having stop monitoring function 审中-公开
标题翻译：用于控制具有停止监测功能的机器人的装置
公开(公告)号：JP2009233852A
公开(公告)日：2009-10-15
申请号：JP2009171822
申请日：2009-07-23
申请人： Fanuc Ltd , ファナック株式会社
发明人： NIHEI AKIRA , KATO TETSURO , ARAMAKI TAKEAKI , YAMAMOTO TOMOYUKI
IPC分类号： B25J19/06
摘要： PROBLEM TO BE SOLVED: To provide an apparatus for controlling a robot having a stop monitoring function which secures the safety of an operator without using hardware etc. for connecting or disconnecting power supply at each robot or apparatus.
SOLUTION: A CPU 38 periodically monitors positions of the robot or a cooperative working apparatus based on positional information from respective servomotors and the state of the information of invasion. When the state of the information of the invasion has been input first, the position of the robot or the cooperative working apparatus to which the information of the invasion has been allocated is stored in a RAM 40. After that, while the information of the invasion is input, the distance between the position stored in the RAM 40 and the present position of the servomotor is calculated. When the distance is longer than an allowable movement distance, the power of all servomotors 18, 20 of the robot 14 and the cooperative working apparatus 16 is shut off by sending a command to an emergency stop means 28.
COPYRIGHT: (C)2010,JPO&INPIT
摘要翻译：要解决的问题：提供一种用于控制具有停止监视功能的机器人的装置，其确保操作者的安全性，而不使用硬件等来连接或断开每个机器人或设备处的电源。解决方案：CPU38基于来自各个伺服电动机的位置信息和入侵信息的状态周期性地监视机器人或协作工作装置的位置。当首先输入入侵信息的状态时，将已经分配入侵信息的机器人或协作工作装置的位置存储在RAM40中。之后，当入侵的信息输入存储在RAM40中的位置与伺服电动机的当前位置之间的距离。当距离长于允许的移动距离时，通过向紧急停止装置28发送命令来关闭机器人14的所有伺服电动机18,20和协同作业装置16的动力。COPYRIGHT：（C ）2010，JPO＆INPIT

7. 发明专利

JP2009178842A Robot action range setting device 有权
标题翻译：机器人动作范围设定装置
公开(公告)号：JP2009178842A
公开(公告)日：2009-08-13
申请号：JP2009123395
申请日：2009-05-21
申请人： Fanuc Ltd , ファナック株式会社
发明人： NIHEI AKIRA , KATO TETSURO , ARAMAKI TAKEAKI , YAMAMOTO TOMOYUKI
IPC分类号： B25J19/06 , B25J13/00
摘要： PROBLEM TO BE SOLVED: To prepare a reachable range of a robot while taking a coasting distance of the robot into consideration.
SOLUTION: A robot control device (30) is provided with a setting means (40) for setting action ranges of respective shafts of the robot (20) and a work tool; a memory means (33) for memorizing the coasting distance of the robot determined according to at least one of action speed of the robot and weight of the work tool; and a reachable range calculation means (36) for calculating the reachable range that the robot arrives based on the action range set by the setting means and the coasting distance memorized in the memory means. Further, the device (30) may be provided with a display means (41) for displaying the reachable range. Further, when the respective shafts of the robot and the work tool are deviated from the action range, the device may be provided with a stopping means (34) for stopping the robot.
COPYRIGHT: (C)2009,JPO&INPIT
摘要翻译：要解决的问题：考虑到机器人的惯性距离，准备机器人的可达范围。解决方案：机器人控制装置（30）设置有用于设定机器人（20）和工作工具的各个轴的动作范围的设定装置（40）存储装置，用于存储根据机器人的动作速度和作业工具的重量中的至少一个所确定的机器人的惯性距离; 以及可到达范围计算装置（36），用于基于由设定装置设定的动作范围和存储在存储装置中的滑行距离来计算机器人到达的可达范围。此外，装置（30）可以设置有用于显示可达范围的显示装置（41）。此外，当机器人和作业工具的各轴偏离动作范围时，该装置可以设置有用于停止机器人的停止装置（34）。版权所有（C）2009，JPO＆INPIT

8. 发明专利

DE69736733D1 未知
公开(公告)号：DE69736733D1
公开(公告)日：2006-11-09
申请号：DE69736733
申请日：1997-06-20
申请人： FANUC LTD
发明人： ITO TAKAYUKI , KOSAKA TETSUYA , ARAMAKI TAKEAKI
IPC分类号： G05B19/4155 , B25J9/18 , G05B19/4067 , G05B19/408 , G05B19/425
摘要： A robot control apparatus having an expanded and improved backward operation function. During forward operation according to an operation program, command types, line numbers, robot positions, I/O signal states before execution of related commands, and values before execution of computation commands are stored in a history table. In the backward operation, the data written in the history table is read backward, command type discrimination is made, and backward operation processing is executed in accordance with the result of discrimination. For backward operation dedicated commands, a separately taught backward operation dedicated command is read and executed. If, however, the read command is a command to output a signal to a cooperative device, the signal output command is executed after completion of the robot motion to the stored position. For I/O commands, I/O signals are automatically inverted or are individually set after the motion to the stored position is completed.

9. 发明专利

DE69925204T2 未知
公开(公告)号：DE69925204T2
公开(公告)日：2006-03-09
申请号：DE69925204
申请日：1999-07-09
申请人： FANUC LTD
发明人： OKANDA KOICHI , ARAMAKI TAKEAKI
IPC分类号： B25J9/10 , B25J9/16 , B25J9/22 , G05B19/408 , G05B19/423 , G05B19/425

10. 发明专利

DE69736733T2 未知
公开(公告)号：DE69736733T2
公开(公告)日：2007-02-15
申请号：DE69736733
申请日：1997-06-20
申请人： FANUC LTD
发明人： ITO TAKAYUKI , KOSAKA TETSUYA , ARAMAKI TAKEAKI
IPC分类号： G05B19/4155 , B25J9/18 , G05B19/4067 , G05B19/408 , G05B19/425
摘要： A robot control apparatus having an expanded and improved backward operation function. During forward operation according to an operation program, command types, line numbers, robot positions, I/O signal states before execution of related commands, and values before execution of computation commands are stored in a history table. In the backward operation, the data written in the history table is read backward, command type discrimination is made, and backward operation processing is executed in accordance with the result of discrimination. For backward operation dedicated commands, a separately taught backward operation dedicated command is read and executed. If, however, the read command is a command to output a signal to a cooperative device, the signal output command is executed after completion of the robot motion to the stored position. For I/O commands, I/O signals are automatically inverted or are individually set after the motion to the stored position is completed.

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