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1. 发明授权

EP1681111B1 Verfahren zum Betrieb einer Fertigungseinrichtung 有权
标题翻译：操作生产设备的方法
公开(公告)号：EP1681111B1
公开(公告)日：2008-07-23
申请号：EP06005046.5
申请日：2003-02-27
申请人： Trumpf Maschinen Austria GmbH & CO. KG.
发明人： Strasser, Hagen , Theis, Helmut , Bongardt, Thomas , Wünsch, Georg
IPC分类号： B21D43/10 , B21D43/26 , B21D5/02 , B21D5/00 , B21D43/00
CPC分类号： G05B19/4015 , B21D5/002 , B21D5/02 , B21D43/003 , B25J9/1692 , G05B2219/37555 , G05B2219/37571 , G05B2219/39045 , G05B2219/40054 , G05B2219/40527 , G05B2219/40584 , G05B2219/40621 , G05B2219/45143 , G05B2219/50275

2. 发明授权

EP0760202B1 Vorrichtung zum Befüllen von Ladebehältern 失效
标题翻译：装置用于灌装容器充电
公开(公告)号：EP0760202B1
公开(公告)日：1999-11-17
申请号：EP96111278.6
申请日：1996-07-12
申请人： CLAAS KGaA
发明人： Pollklas, Manfred
IPC分类号： A01F29/12 , A01D43/06 , B65G67/22
CPC分类号： G05D3/12 , A01D43/073 , A01D43/087 , G05B2219/37425 , G05B2219/40584 , G05B2219/40594 , G05B2219/42249 , G05B2219/45052

3. 发明授权

EP1503874B1 FERTIGUNGSEINRICHTUNG MIT EINER BIEGEPRESSE, UND VERFAHREN ZUM BETRIEB DER FERTIGUNGSEINRICHTUNG 有权
标题翻译：与压弯机的制造工厂，及其操作方法生产设施
公开(公告)号：EP1503874B1
公开(公告)日：2006-04-26
申请号：EP03704095.3
申请日：2003-02-27
申请人： Trumpf Maschinen Austria GmbH & CO. KG.
发明人： STRASSER, Hagen , THEIS, Helmut , BONGARDT, Thomas , WÜNSCH, Georg
IPC分类号： B21D43/10 , B21D43/26 , B21D5/02 , B21D5/00 , B21D43/00
CPC分类号： G05B19/4015 , B21D5/002 , B21D5/02 , B21D43/003 , B25J9/1692 , G05B2219/37555 , G05B2219/37571 , G05B2219/39045 , G05B2219/40054 , G05B2219/40527 , G05B2219/40584 , G05B2219/40621 , G05B2219/45143 , G05B2219/50275
摘要： The invention relates to a production device (1) for workpieces that are formed under bending conditions and consist of billets (3), especially steel sheet billets. Said production device comprises a bending press (2) provided with two pressing crosspieces (15, 16) which have two bending tools (36, 37) and can be adjusted in relation to each other. The bending press (2) is charged using an automated handling device (4). Said handling device (4) comprises three articulated arms (49, 50, 51) which are connected by pivoting devices (46, 47) to form a pivoting arm arrangement (48), and a first articulated arm (49) is mounted in an end region (52) on a linearly displaceable running gear (54) in a pivoting device (55), in such a way that it pivots about a pivoting axis (56) extending parallel to a guideway (53) of the running gear (54). Second and third pivoting axes (57, 58) of the pivoting devices (46, 47) bearing the articulated arms (49, 50, 51) extend parallel to the pivoting axis (56) of the pivoting device (55) on the running gear (54). A gripping device (61) and a detection device (63) for the billets (3) are arranged in another end region (59) of the pivoting arm arrangement (48). A positioning device (66) ensures the positioning of the billets (3) for the bending process.

4. 发明授权

EP1056572B1 A METHOD OF AND APPARATUS FOR REGISTRATION OF A ROBOT 有权
标题翻译：方法和设备机器人取向
公开(公告)号：EP1056572B1
公开(公告)日：2003-11-26
申请号：EP99905021.4
申请日：1999-02-11
申请人： Armstrong Healthcare Limited
发明人： FINLAY, Patrick, Armstrong
IPC分类号： B25J9/16
CPC分类号： B25J9/1697 , G05B2219/37097 , G05B2219/37572 , G05B2219/39393 , G05B2219/40584 , G05B2219/40609 , G06F19/00
摘要： In order to register a robot, the operative parts of the robot are placed in a first condition. An image acquiring arrangement carried by the robot is directed towards an item, and the image of that item is acquired and stored. Subsequently the component parts of the robot are moved so that the image acquiring arrangement can acquire a second different image of the item. The process is repeated to acquire data including a plurality of images and, for each image, data concerning the position of the component parts of the robot when the image was acquired.

5. 发明授权

EP2402124B1 Verfahren und Vorrichtung zur Bestimmung von Strukturparametern eines Roboters 有权
公开(公告)号：EP2402124B1
公开(公告)日：2018-10-24
申请号：EP11170327.8
申请日：2011-06-17
申请人： Deutsches Zentrum für Luft- und Raumfahrt e.V.
发明人： Sepp, Wolfgang
IPC分类号： B25J9/16
CPC分类号： B25J9/1692 , G05B2219/39024 , G05B2219/40527 , G05B2219/40584 , G05B2219/40595

6. 发明授权

EP1731273B1 Device and method for controlling robot 有权转让
标题翻译：装置和方法用于机器人控制
公开(公告)号：EP1731273B1
公开(公告)日：2015-03-04
申请号：EP06011656.3
申请日：2006-06-06
申请人： FANUC CORPORATION
发明人： Nihei, Ryo , Kato, Tetsuaki , Nishi, Hiroji
IPC分类号： B25J9/16
CPC分类号： B25J9/1679 , B25J9/1656 , G05B2219/40584

7. 发明公开

EP1731273A3 Device and method for controlling robot 有权转让
标题翻译：设备和方法，用于机器人控制
公开(公告)号：EP1731273A3
公开(公告)日：2010-01-06
申请号：EP06011656.3
申请日：2006-06-06
申请人： FANUC LTD
发明人： Nihei, Ryo , Kato, Tetsuaki , Nishi, Hiroji
IPC分类号： B25J9/16
CPC分类号： B25J9/1679 , B25J9/1656 , G05B2219/40584
摘要： A robot controller making a robot execute tasks including several work units in a parallel manner for several workpieces, in accordance with several operation programs for individually commanding the work units. The robot controller includes an information collecting section collecting state information showing, in real time, a state of an environment of the robot; a program selecting section selecting a first executable program satisfying a task starting condition, from operation programs ready to be executed for workpieces, based on the state information; a processing section processing, for execution, the first executable program; and a program-completion judging section judging whether the processing section has completed a processing of the first executable program. The program selecting section selects, based on the state information, a second executable program satisfying the task starting condition, from the operation programs ready to be executed, so as to satisfy a judgment of the program-completion judging section.

8. 发明授权

EP1702727B1 Fertigungseinrichtung mit einer Biegepresse, einer Handhabungsvorrichtung und einer Kalibriereinrichtung 有权
标题翻译：生产设施与压弯机，机械手和校准装置
公开(公告)号：EP1702727B1
公开(公告)日：2008-08-20
申请号：EP06005045.7
申请日：2003-02-27
申请人： Trumpf Maschinen Austria GmbH & CO. KG.
发明人： Strasser, Hagen , Theis, Helmut , Bongardt, Thomas , Wünsch, Georg
IPC分类号： B25J9/16
CPC分类号： G05B19/4015 , B21D5/002 , B21D5/02 , B21D43/003 , B25J9/1692 , G05B2219/37555 , G05B2219/37571 , G05B2219/39045 , G05B2219/40054 , G05B2219/40527 , G05B2219/40584 , G05B2219/40621 , G05B2219/45143 , G05B2219/50275

9. 发明公开

EP2402124A3 Verfahren und Vorrichtung zur Bestimmung von Strukturparametern eines Roboters 审中-公开
标题翻译：用于确定机器人的结构参数的方法和装置
公开(公告)号：EP2402124A3
公开(公告)日：2012-12-05
申请号：EP11170327.8
申请日：2011-06-17
申请人： Deutsches Zentrum für Luft- und Raumfahrt e.V.
发明人： Sepp, Wolfgang, Dr.
IPC分类号： B25J9/16
CPC分类号： B25J9/1692 , G05B2219/39024 , G05B2219/40527 , G05B2219/40584 , G05B2219/40595
摘要： Bei einem Verfahren sowie einer Vorrichtung zur Bestimmung von Strukturparametern eines Roboters mit mehreren zueinander lageveränderbaren Roboterelementen (10) ist ein Roboter von Kalibrierelementen (24) umgeben. Die Roboterelemente (10) sind mit Beobachtungseinrichtungen (20) verbunden. Mit Hilfe einer Auswerteeinrichtung wird die relative Position und/oder Orientierung der Roboterelemente (10) bestimmt und sodann die Strukturparameter direkt und/oder indirekt auf Basis der Beobachtungen der Beobachtungseinrichtungen (20) Position und/oder Orientierung ermittelt.

10. 发明公开

EP1731273A2 Device and method for controlling robot 有权转让
标题翻译： Vorrichtung und Verfahren zur Robotersteuerung
公开(公告)号：EP1731273A2
公开(公告)日：2006-12-13
申请号：EP06011656.3
申请日：2006-06-06
申请人： FANUC LTD
发明人： Nihei, Ryo , Kato, Tetsuaki , Nishi, Hiroji
IPC分类号： B25J9/16
CPC分类号： B25J9/1679 , B25J9/1656 , G05B2219/40584
摘要： A robot controller making a robot execute tasks including several work units in a parallel manner for several workpieces, in accordance with several operation programs for individually commanding the work units. The robot controller includes an information collecting section collecting state information showing, in real time, a state of an environment of the robot; a program selecting section selecting a first executable program satisfying a task starting condition, from operation programs ready to be executed for workpieces, based on the state information; a processing section processing, for execution, the first executable program; and a program-completion judging section judging whether the processing section has completed a processing of the first executable program. The program selecting section selects, based on the state information, a second executable program satisfying the task starting condition, from the operation programs ready to be executed, so as to satisfy a judgment of the program-completion judging section.
摘要翻译：根据用于单独命令工作单元的几个操作程序，使机器人使机器人执行包括几个工作单元的并行方式的几个工件的任务。机器人控制器包括：信息收集部，收集实时表示机器人的环境状态的状态信息; 程序选择部，根据状态信息，从准备好对工件执行的操作程序，选择满足任务开始条件的第一可执行程序; 处理部分，用于执行第一可执行程序; 以及程序完成判断部，判断处理部是否已经完成了第一可执行程序的处理。节目选择部根据状态信息，从准备执行的动作程序中选择满足任务开始条件的第二可执行程序，以满足节目完成判断部分的判断。

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