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21. 发明授权

EP1854037B1 METHOD OF AND APPARATUS FOR AUTOMATED PATH LEARNING 有权
标题翻译：方法和装置用于自动学习走路
公开(公告)号：EP1854037B1
公开(公告)日：2014-12-31
申请号：EP06734706.2
申请日：2006-02-10
申请人： ABB RESEARCH LTD.
发明人： ZHANG, Hui , BROGARDH, Torgny , WANG, Jianjun , ZHANG, George , GAN, Zhongxue
IPC分类号： G05B19/423
CPC分类号： G05B19/423 , B25J9/1664 , G05B2219/36404 , G05B2219/36409 , G05B2219/40385

22. 发明公开

EP2258513A4 WORK MOUNTING SYSTEM AND METHOD OF MOUNTING WORK 审中-公开
标题翻译：部件安装系统和方法用于安装工件
公开(公告)号：EP2258513A4
公开(公告)日：2011-11-23
申请号：EP09726833
申请日：2009-02-25
申请人： HONDA MOTOR CO LTD
发明人： ASAMIZU KENICHI
IPC分类号： B25J9/16 , B23P19/00 , B23P19/06 , B23P21/00 , B25J9/00 , B25J13/08 , B62D65/06 , G05B19/418
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

23. 发明授权

EP1345099B1 Verfahren zur Bestimmung der Lage eines Objektes und eines Werkstücks im Raum zur automatischen Montage des Werkstücks am Objekt 有权
标题翻译：一种用于确定在所述对象工件的自动安装的对象的该区域的位置和工件的方法
公开(公告)号：EP1345099B1
公开(公告)日：2011-11-02
申请号：EP02017503.0
申请日：2002-08-06
申请人： VMT Vision Machine Technic Bildverarbeitungssysteme GmbH
发明人： Schnell, Michael, Prof. , Neddermeyer, Werner, Prof. Dr. , Mikeska, Harald Manfred Günter , Grünewald, Frank, Dr.-Ing.
IPC分类号： B25J9/16 , G05B19/401
CPC分类号： B25J9/1692 , G05B19/4015 , G05B2219/36404 , G05B2219/39393 , G05B2219/40609 , G05B2219/45025 , G05B2219/45064

24. 发明公开

EP2258513A1 WORK MOUNTING SYSTEM AND METHOD OF MOUNTING WORK 审中-公开
标题翻译： WERKSTÜCKMONTAGES系统VERFAHREN ZUR MONTAGE EINESWERKSTÜCKS
公开(公告)号：EP2258513A1
公开(公告)日：2010-12-08
申请号：EP09726833.8
申请日：2009-02-25
申请人： Honda Motor Co., Ltd.
发明人： ASAMIZU, Kenichi
IPC分类号： B23P19/06 , B25J13/08 , B62D65/06 , B23P21/00
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：本发明的目的在于提供一种工作安装系统，其具有改进的可用性并且可以小型化。工件安装系统（1）用于将天窗部件（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）的操作来修正计算出的位置，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）。

25. 发明授权

EP2122422B1 A METHOD AND AN APPARATUS FOR COMPENSATING FOR GEOMETRICAL ERRORS BETWEEN WORK OBJECTS AND A HOLDING DEVICE 有权
标题翻译：方法和设备之间正常运行和保持装置对象补偿几何误差
公开(公告)号：EP2122422B1
公开(公告)日：2010-09-29
申请号：EP08735426.2
申请日：2008-03-17
申请人： ABB Technology AB
发明人： BROGÅRDH, Torgny
IPC分类号： G05B19/401 , B25J9/16
CPC分类号： B25J9/1692 , B25J9/1697 , G05B19/401 , G05B19/4083 , G05B2219/36404 , G05B2219/39008 , G05B2219/40387
摘要： The present invention relates to a method and an apparatus for compensating for errors in a certain number of degrees of freedoms in the geometric relation between a work object (1) and a device (2) holding the object. A measurement system including at least one sensor (3) is providing surface measurements on the object. The method comprises measuring a first reference surface (10) of a reference object, calculating the position and orientation of the first reference surface based on the measurements, moving the reference object in a first degree of freedom, measuring on the first reference surface, calculating the position and orientation of the first reference surface after the moving based on the measurements, repeating those steps for at least the same number of degrees of freedom as the number of degrees of freedom in which the object may have errors in relation to the device, performing the same procedure for at least two more reference surfaces (11, 12, 13), calculating the position and orientation changes of all the reference surfaces, and calculating a relationship between the calculated position and orientation changes and corresponding changes of the position and orientation of the object. Using the relationship for compensating for the errors in object position and orientation.

26. 发明公开

EP1727008A3 Device and method for correcting taught points in a robot program 有权
标题翻译：装置和方法，用于校正机器人路径的编程点
公开(公告)号：EP1727008A3
公开(公告)日：2009-04-29
申请号：EP06010775.2
申请日：2006-05-24
申请人： FANUC LTD
发明人： Nihei, Ryo , Kato, Tetsuaki , Nishi, Hiroji
IPC分类号： G05B19/42 , B25J9/16 , G05B19/408
CPC分类号： G05B19/4083 , B25J9/1664 , G05B2219/36404 , G05B2219/40385 , G05B2219/45104
摘要： A taught point correcting device (10) for correcting a taught point in an operation program of a robot. The device includes a judging section (12) judging whether position data of any of a plurality of different taught points, previously taught and included in an operation program (80,82), has been corrected or not; and a data correcting section correcting (14), when the judging section (12) 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 (102) previously prescribing the relative positional relationship between the different taught points. The device may also include a storing section (16) storing the taught-point rule (102). The taught-point rule (102) may include a rule prescribing a distance between any two taught points among the different taught points.

27. 发明授权

EP1510894B1 Robot program position correcting apparatus 有权
标题翻译：装置，用于校正在机器人程序中的位置
公开(公告)号：EP1510894B1
公开(公告)日：2008-06-04
申请号：EP04254842.0
申请日：2004-08-12
申请人： FANUC LTD
发明人： Watanabe, Atsushi , Nagatsuka, Yoshiharu c/o Fanuc
IPC分类号： G05B19/427 , B25J9/16
CPC分类号： B25J9/1671 , G05B19/4083 , G05B2219/36404 , G05B2219/40317 , G05B2219/40385 , G05B2219/40479 , G05B2219/45104

28. 发明授权

EP1777600B1 Offline teaching apparatus for robot 有权
标题翻译：用于机器人脱机教学装置
公开(公告)号：EP1777600B1
公开(公告)日：2008-03-05
申请号：EP06021131.5
申请日：2006-10-09
申请人： Fanuc Ltd
发明人： Nagatsuka, Yoshiharu, c/o FANUC , Inoue, Kozo
IPC分类号： G05B19/42
CPC分类号： B23K26/04 , B23K26/0884 , G05B19/42 , G05B2219/36404 , G05B2219/36414

29. 发明公开

EP1462224A3 Taught position modification device 有权
标题翻译：用于改变教学岗位
公开(公告)号：EP1462224A3
公开(公告)日：2007-11-21
申请号：EP04251075.0
申请日：2004-02-26
申请人： Fanuc Ltd
发明人： Watanabe, Atsushi , Mizuno, Jun
IPC分类号： B25J9/16 , G05B19/425
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 (6). A workpiece image captured by a visual sensor (4) 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 ( 2 ) 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.

30. 发明公开

EP1777600A1 Offline teaching apparatus for robot 有权
标题翻译：用于机器人脱机教学装置
公开(公告)号：EP1777600A1
公开(公告)日：2007-04-25
申请号：EP06021131.5
申请日：2006-10-09
申请人： FANUC LTD
发明人： Nagatsuka, Yoshiharu, c/o FANUC , Inoue, Kozo
IPC分类号： G05B19/42
CPC分类号： B23K26/04 , B23K26/0884 , G05B19/42 , G05B2219/36404 , G05B2219/36414
摘要： An offline teaching apparatus including a data acquiring section (12) for acquiring position and orientation data (PD,OD) and processing-condition data (CD) including interpolation commands (I), at respective predefined taught points (Q0-Qn), from an existing first processing program (P1) for a first workpiece (W1); a processing-path calculating section (14) for determining a processing path (T1) in the first program, based on the position and orientation data and the interpolation commands; a model generating section (16) for generating, by using data of a second workpiece model (M2) of a second workpiece (W2) having geometrical features different from the first workpiece, a processing line (L2) showing a range of processing on the second workpiece; a taught-point calculating section (18) for determining a geometrical correlation between the processing path and the processing line, and determining positions (PA) and orientations (OA) at respective taught points (R0-Rn) in the processing line; and a program generating section (20) for generating a processing program (P2) for the second workpiece, by using the processing-condition data at the predefined taught points as well as the positions and the orientations at the taught points.

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