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1. 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.

2. 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。

3. 发明授权

EP1462224B1 Taught position modification device 有权
标题翻译：用于改变教学岗位
公开(公告)号：EP1462224B1
公开(公告)日：2010-05-05
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

4. 发明公开

EP2088490A2 Production system provided with a production control apparatus 有权
标题翻译：产品系列产品生产商
公开(公告)号：EP2088490A2
公开(公告)日：2009-08-12
申请号：EP08022200.3
申请日：2008-12-19
申请人： Fanuc Ltd
发明人： Nishi, Hiroji , Mizuno, Jun
IPC分类号： G05B19/418
CPC分类号： G05B19/41815 , G05B2219/31078 , G05B2219/50362 , Y02P90/08 , Y02P90/083 , Y02P90/087
摘要： A production control apparatus (10) of a production system (1) provided with a storing means (3) for storing in advance a production system model (4) comprised of workpiece information regarding workpieces (W) and program information regarding a plurality of work programs of robots (11 to 13) and a plurality of machining programs of machine tools (21, 22), an updating means (5) for updating the production system model based on run status signals showing run statuses of the robots and machines tools and workpiece signals from the detectors (311, 321), and an instructing means (6) for selecting one work program and one machining program based on the updated production system model and instructing running of the selected work program and work program to the robot and machine tool. Due to this, by calling up a work program of the robot etc. in accordance with the state of the production system, it is possible to change the program and restore the system from error.
摘要翻译：一种生产系统（1）的生产控制装置（10），其具有预先存储关于工件（W）的工件信息和关于多个工件的程序信息的生产系统模型（4）的存储装置（3）机器人程序（11〜13）和机床（21,22）的多个加工程序，更新机构（5），其基于表示机器人和机床的运行状态的运行状态信号来更新生产系统模型，以及来自检测器（311,321）的工件信号和用于基于更新的生产系统模型选择一个工作程序和一个加工程序的指令装置（6），并且指示所选择的工作程序和工作程序运行到机器人和机器工具。由此，通过根据生产系统的状态调用机器人的工作程序等，可以改变程序并将系统从错误中恢复。

5. 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.

6. 发明公开

EP1462224A2 Taught position modification device 有权
标题翻译： Vorrichtung zumÄnderneiner gelernten职位
公开(公告)号：EP1462224A2
公开(公告)日：2004-09-29
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
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.
摘要翻译：教导位置修改装置在短时间内容易地校正由离线编程系统（6）准备的程序中的教导点的位置。由视觉传感器（4）拍摄的工件图像和具有三个特征点的三维工件模型的图像被显示在屏幕上。基于与工件图像中指定的特征点相对应的工件部分的坐标值，校正机器人操作空间中的模型的位置和取向，并且校正教导点的位置。当机器人（2）的工具端通过在被自动移动到一个校正教导点之后通过点动进给定位在工件上的操作位置而定位时，基于当时检测到的机器人操作位置修改教导点。

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