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1. 发明授权

EP2375298B1 Programming method for a robot, programming apparatus for a robot, and robot control system 有权
公开(公告)号：EP2375298B1
公开(公告)日：2018-09-05
申请号：EP11002509.5
申请日：2011-03-25
申请人： Daihen Corporation
发明人： Yanagawa, Kouzou , Koujina, Yasuhiro
IPC分类号： B23Q17/24 , G05B19/401 , G05B19/42 , G05B19/423 , G05B19/425 , G05B19/427
CPC分类号： G05B19/42 , B23Q17/24 , G05B19/401 , G05B19/423 , G05B19/425 , G05B19/427 , G05B2219/36404 , G05B2219/36504 , G05B2219/37555 , G05B2219/39527 , G05B2219/40564 , G05B2219/40622
摘要： An operator inputs a sensing instruction at a sensing point, which is a rough taught point, in a teaching mode (S22). The instruction and sensing point are stored in a second storage region 23b (S23). Further, a target angle and an advance/retraction angle are both input in the second storage region 23b (S24). A CPU 20 moves a robot to the sensing point (S33) in a sensing mode, to perform detection tasks by a laser sensor, thereby acquiring the shape of a workpiece (S33). The CPU 20 calculates a position and a posture of a welding torch to create a task program (S35). In such a manner, it is possible to greatly simplify teaching tasks in an environment free of workpiece displacements.

2. 发明公开

EP2282873A1 A METHOD AND A SYSTEM FOR FACILITATING CALIBRATION OF AN OFF-LINE PROGRAMMED ROBOT CELL 有权转让
标题翻译：方法和系统，以方便校准脱机编排的机器人单元
公开(公告)号：EP2282873A1
公开(公告)日：2011-02-16
申请号：EP08760708.1
申请日：2008-06-09
申请人： ABB Technology AB
发明人： SVENSSON, Tommy Y , GUSTAFSSON, Magnus K , HAAGE, Mathias
IPC分类号： B25J9/16
CPC分类号： B25J9/1692 , B25J9/1671 , G05B2219/36404 , G05B2219/39021 , G05B2219/40099
摘要： The present invention relates to a method and a system for facilitating calibration of a robot cell including one or more objects (8) and an industrial robot (1,2,3) performing work in connection to the objects, wherein the robot cell is programmed by means of an off-line programming tool including a graphical component for generating 2D or 3D graphics based on graphical models of the objects. The system comprises a computer unit (10) located at the off-line programming site and configured to store a sequence of calibration points for each of the objects, and to generate a sequence of images (4) including graphical representations of the objects to be calibrated and the calibration points in relation to the objects, and to transfer the images to the robot, and that the robot is configured to display said sequence of images to a robot operator during calibration of the robot cell so that for each calibration point a view including the present calibration point and the object to be calibrated is displayed to the robot operator.

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

EP1727008A2 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：EP1727008A2
公开(公告)日：2006-11-29
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
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.
摘要翻译：甲教点修正装置（10），用于在机器人的动作程序中校正教导点。该装置包括判断的任何不同教点的多个位置是否数据判断部（12），此前讲授，并在业务方案（80,82）包括在已被纠正; 和数据校正部分校正（14）当判断部分（12）判断没有不同教点中的第一点教的位置数据已被校正，具有与第一相对位置关系的相关教导点的位置数据教点，在雅舞蹈与教点规则（102）以前规定的不同教点之间的相对位置关系。因此，该设备可以包括：存储教点规则（102）的区段中存储（16）。示教点的规则（102）可以包括一个规则规定的距离之间的任意两个所教导的不同教点中的点。

5. 发明授权

EP1727008B1 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：EP1727008B1
公开(公告)日：2012-03-14
申请号：EP06010775.2
申请日：2006-05-24
申请人： FANUC CORPORATION
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

6. 发明公开

EP1345099A3 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：EP1345099A3
公开(公告)日：2006-07-26
申请号：EP02017503.0
申请日：2002-08-06
申请人： TECMEDIC GmbH , VMT 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
摘要： Die Erfindung betrifft ein Verfahren zur Bestimmung der Lage eines Objektes (1) und Werkstücks (6) im Raum zur Montage des Werkstücks (6) am Objekt (1) mittels eines Roboters (7) mit Greifer (7'), mit einem Bildverarbeitungssystems mit Sensoren (3,3',3"), wie Kameras, und Rechner. Roboter (7), Greifer (7') und Kameras (3,3',3") werden im Weltkoordinatensystem (W) vermessen und die Koordinaten im Bildverarbeitungssystem gespeichert. Die Lage eines ersten Objektes (1), Kalibrierobjekt, wird in einer Soll-Montageposition des Objektes (1) ebenfalls im Weltkoordinatensystem (W) vermessen und die Koordinaten im Bildverarbeitungssystem gespeichert. Ein erstes Werkstück (6), Kalibrierwerkstück, wird mittels des Greifers (7') in eine Vorhalteposition gefahren, die einen kleinen Abstand von der Soll-Montageposition zum Kalibrierobjekt besitzt und ebenfalls im Weltkoordinatensystem (W) vermessen und die Koordinaten gespeichert. Die Kameras (3,3',3") sind dergestalt im Weltkoordinatensystem (W) angeordnet und im Weltkoordinatensystem eingemessen, dass sie gleichzeitig sowohl die Soll-Montageposition des Kalibrierobjektes (1) als auch die Soll-Vorhalteposition des Kalibrierwerkstücks (6) erfassen, so dass das Bildverarbeitungssystem die Abweichung zwischen der Soll-Vorhalte- und der Soll-Montageposition berechnen kann. Nun wird ein Objekt (1) "ungenau" in eine Ist-Montageposition des Objektes (1) verbracht, die von der Soll-Montageposition des Kalibrierobjektes abweichen kann; der Greifer (7') entnimmt aus einem Lager (9) ein Werkstück (6) "ungenau" auf und verfährt es in eine Ist-Vorhalteposition, welche von der Soll-Vorhalteposition des Kalibrierwerkstücks abweichen kann, wobei die Kameras (3,3',3") das Werkstück (6) in der Ist-Vorhalteposition und gleichzeitig das Objekt (1) in der Ist-Montageposition erfassen. Das Bildverarbeitungssystem bestimmt die angefahrenen Ist-Positionen von Werkstück (6) und Objekt (1) und errechnet die notwendige Relativbewegung zwischen Werkstück (6) und Objekt (1) sechs-dimensional und gibt dem Greifer (7') des Roboters (7) diese Koordinaten der Ist-Montageposition vor, um welche der Greifer (7') zur genauen Plazierung des Werkstücks (6) am Objekt (1) translatorisch und rotatorisch zu verfahren ist.

7. 发明公开

EP1631423A1 A METHOD FOR FINE TUNING OF A ROBOT PROGRAM 有权
标题翻译：方法的机器人程序进行微调
公开(公告)号：EP1631423A1
公开(公告)日：2006-03-08
申请号：EP04748974.5
申请日：2004-06-01
申请人： ABB AB
发明人： ROSSANO, Gregory , TANG, Quing , LI, Xiongzi , SUN, Yunquan , GAN, Zhongxue , BROGÄRDH, Torgny , BRANTMARK, H kan
IPC分类号： B25J9/16 , G05B19/408 , G05B19/42 , G05B19/18
CPC分类号： B25J9/1664 , B23K26/04 , B23K26/0884 , B25J9/1692 , G05B19/4083 , G05B19/425 , G05B2219/36404 , G05B2219/36407
摘要： A method for fine tuning of a robot program for a robot application comprising an industrial robot, tool and a work object to be processed by the tool along a path comprising a number of desired poses on the work object, the robot program comprises a number of program instructions containing programmed poses corresponding to the desired poses, wherein the method comprises: defining a fine tuning coordinate system Xft, Yft, Zft, selecting one of said programmed poses pi, calculating said selected pose in the fine tuning coordinate system, producing program instructions for said selected pose in the fine tuning coordinate system, running said one or more program instructions by the robot, determining the difference between the pose obtained after running the program instructions and the desired pose, adjusting the fine tuning coordinate system in dependence of said difference, producing program instructions for said selected pose in the adjusted fine tuning coordinate system Xft’, Yft’, Zft’.

8. 发明公开

EP1510894A1 Robot program position correcting apparatus 有权
标题翻译： Vorrichtung zur Korrektur der einem Roboter程序中的位置
公开(公告)号：EP1510894A1
公开(公告)日：2005-03-02
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
摘要： A robot program position correcting apparatus causes an image showing positions of a robot and peripheral devices in a work cell, and teaching points in a program, to be displayed on a display means (100, 101). A distance Jmm preceding a teaching point for a spot weld is set (103). A robot program is run and robot operation is stopped at a point retreated by Jmm from the teaching point for the spot weld (116, 117). If there is no risk of interference, the operator allows the program to continue running (118). If there is risk of interference, the operator moves the robot to a new position by means of jog feeding (120) and obtains a correction amount for setting this new position as a new teaching point (121). With this correction amount, teaching points in the program and arrangement of images are also shifted (122).
摘要翻译：机器人程序位置校正装置使得显示机器人和周边设备的位置的图像在工作单元中以及程序中的教导点被显示在显示装置（100,101）上。设定点焊之前的距离Jmm（103）。运行机器人程序，机器人操作在Jmm从用于点焊的教学点（116,117）退出的点处停止。如果没有干扰的风险，操作员允许程序继续运行（118）。如果存在干扰的风险，则操作者通过点动进给（120）将机器人移动到新位置，并获得用于将该新位置设置为新的教导点（121）的校正量。利用该校正量，程序中的教学点和图像的布置也被移位（122）。

9. 发明公开

EP2375298A3 Programming method for a robot, programming apparatus for a robot, and robot control system 有权
标题翻译：用于机器人和机器人控制系统的编程用于机器人的方法，编程装置
公开(公告)号：EP2375298A3
公开(公告)日：2014-05-07
申请号：EP11002509.5
申请日：2011-03-25
申请人： Daihen Corporation
发明人： Yanagawa, Kouzou , Koujina, Yasuhiro
IPC分类号： G05B19/42
CPC分类号： G05B19/42 , B23Q17/24 , G05B19/401 , G05B19/423 , G05B19/425 , G05B19/427 , G05B2219/36404 , G05B2219/36504 , G05B2219/37555 , G05B2219/39527 , G05B2219/40564 , G05B2219/40622
摘要： An operator inputs a sensing instruction at a sensing point, which is a rough taught point, in a teaching mode (S22). The instruction and sensing point are stored in a second storage region 23b (S23). Further, a target angle and an advance/retraction angle are both input in the second storage region 23b (S24). A CPU 20 moves a robot to the sensing point (S33) in a sensing mode, to perform detection tasks by a laser sensor, thereby acquiring the shape of a workpiece (S33). The CPU 20 calculates a position and a posture of a welding torch to create a task program (S35). In such a manner, it is possible to greatly simplify teaching tasks in an environment free of workpiece displacements.

10. 发明授权

EP2282873B1 A METHOD AND A SYSTEM FOR FACILITATING CALIBRATION OF AN OFF-LINE PROGRAMMED ROBOT CELL 有权转让
标题翻译：方法和系统，以方便校准脱机编排的机器人单元
公开(公告)号：EP2282873B1
公开(公告)日：2013-04-10
申请号：EP08760708.1
申请日：2008-06-09
申请人： ABB Technology Ltd
发明人： SVENSSON, Tommy Y , GUSTAFSSON, Magnus K , HAAGE, Mathias
IPC分类号： B25J9/16
CPC分类号： B25J9/1692 , B25J9/1671 , G05B2219/36404 , G05B2219/39021 , G05B2219/40099

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