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1. 发明公开

EP3246134A1 METHOD AND APPARATUS OF COORDINATING INDEPENDENT AUTOMATED SYSTEMS 审中-公开
标题翻译：协调独立自动系统的方法和设备
公开(公告)号：EP3246134A1
公开(公告)日：2017-11-22
申请号：EP17160659.3
申请日：2017-03-13
申请人： The Boeing Company
发明人： FREEMAN, Philip L. , WEISS, Trent T. , SRIDHAR, Shubang
IPC分类号： B25J9/16
CPC分类号： G05B19/402 , B25J9/1682 , G05B11/01 , G05B2219/32085 , G05B2219/32285 , G05B2219/39109 , G05B2219/39122 , G05B2219/39129 , G05B2219/39139 , G05B2219/39141 , G05B2219/39146 , G05B2219/39149 , G05B2219/40032 , G05B2219/40394 , G05B2219/40512 , G05B2219/45064 , G05B2219/45071 , G05B2219/50047 , G05B2219/50049
摘要： A method of coordinating automated systems, the method includes providing a first automated system that is programmed with a set of predetermined operating instructions that correspond with automated system processing requirements, monitoring an operational status of the first automated system with a second automated system, automatically generating a second system action, with the second automated system, that is complimentary to a first system action of the first automated system, where the first system action corresponds to the set of predetermined operating instructions and the second system action depends on the operational status of the first automated system, and performing the second system action with the second automated system so that the second automated system cooperates with the first automated system to perform a predetermined operation.
摘要翻译：一种协调自动化系统的方法，该方法包括提供第一自动化系统，该第一自动化系统被编程有与自动化系统处理要求相对应的一组预定操作指令，利用第二自动化系统监控第一自动化系统的操作状态，自动生成第二系统动作与第二自动系统互补，第二系统动作与第一自动系统的第一系统动作互补，其中第一系统动作对应于该组预定操作指令，并且第二系统动作取决于第一自动系统的操作状态第一自动系统，以及利用第二自动系统执行第二系统动作，使得第二自动系统与第一自动系统协作以执行预定操作。

2. 发明授权

EP2921266B1 Robot, robot system,robot control apparatus, and method of controlling the operation of a robot 有权
公开(公告)号：EP2921266B1
公开(公告)日：2017-09-06
申请号：EP14191446.5
申请日：2014-11-03
申请人： Seiko Epson Corporation
发明人： Yamaguchi, Yukihiro
IPC分类号： B25J9/16
CPC分类号： B25J9/1697 , G05B2219/37208 , G05B2219/37555 , G05B2219/39107 , G05B2219/39109 , G05B2219/40072 , G05B2219/40087 , G05B2219/40609 , G05B2219/40615 , G05B2219/45203 , Y10S901/09 , Y10S901/41 , Y10S901/47

3. 发明公开

EP2783809A3 Robot system and a method for producing a to-be-processed material 审中-公开
标题翻译：用于制造材料机器人系统和方法将被处理
公开(公告)号：EP2783809A3
公开(公告)日：2015-09-02
申请号：EP14158290.8
申请日：2014-03-07
申请人： Kabushiki Kaisha Yaskawa Denki
发明人： Ichimaru, Yuji , Horiuchi, Tomoyuki
IPC分类号： B25J9/16
CPC分类号： B25J9/1697 , B25J9/1682 , B25J9/1687 , G05B2219/39109
摘要： A robot system 1 includes a first robot (120R), a second robot (120L), a stocker (300), and a controller (20). The first robot (120R) includes a first sensor (122R). The second robot (120L) includes a second sensor (122L). The stocker (300) is configured to accommodate a plurality of workpieces that are to be held by at least one of the first robot (120R) and the second robot (120L). The controller (20) is configured to control the first robot (120R) and the second robot (120L). When the first robot (120R) holds a first workpiece among the plurality of workpieces, the controller (20) is configured to control the first sensor (122R) to recognize shapes of the plurality of workpieces in the stocker (300) and control the second sensor (122L) to detect a holding state of the first workpiece held by the first robot (120R).

4. 发明公开

EP2614936A2 Robots, computer program products, and methods for trajectory plan optimization 有权
标题翻译： Roboter，Computerprogrammprodukte und Verfahren zur Verlaufsplanoptimierung
公开(公告)号：EP2614936A2
公开(公告)日：2013-07-17
申请号：EP13151030.7
申请日：2013-01-11
申请人： Toyota Motor Engineering & Manufacturing North America, Inc. , CARNEGIE MELLON UNIVERSITY
发明人： Ota, Yasuhiro , Kim, Junggon , Kuffner, James J.
IPC分类号： B25J9/16
CPC分类号： B25J9/162 , B25J9/1669 , G05B2219/39109 , G05B2219/40014 , G05B2219/40411 , G05B2219/45084
摘要： Robots, computer program products, and methods for trajectory plan optimization are disclosed. In one embodiment, a method of controlling a robot having a first manipulator and a second manipulator includes receiving a trajectory plan including a plurality of sequential motion segments. The method further includes determining a moveable motion segment, and shifting the moveable motion segment and motion segments subsequent to the moveable motion segment backward in time to a shifted time such that one or more unshifted segments of the trajectory plan occur at a same time as one or more shifted segment segments. The method may further include controlling the robot according to the optimized trajectory plan such that one or more components of the first manipulator are moved concurrently with one or more components of the second manipulator.
摘要翻译：公开了机器人，计算机程序产品和轨迹图优化方法。在一个实施例中，一种控制具有第一操纵器和第二操纵器的机器人的方法包括接收包括多个顺序运动段的轨迹计划。该方法还包括确定可移动运动段，以及将可移动运动段之后的可移动运动段和运动段在时间上向后移动到移位时间，使得轨迹计划的一个或多个非移位段同时发生一个或更多偏移的段段。该方法还可以包括根据优化的轨迹计划来控制机器人，使得第一操纵器的一个或多个部件与第二操纵器的一个或多个部件同时移动。

5. 发明公开

EP2018940A3 Flexible workpiece assembling method 审中-公开
标题翻译：一种用于组装可挠性工件的方法
公开(公告)号：EP2018940A3
公开(公告)日：2009-09-30
申请号：EP08009956.7
申请日：2008-05-30
申请人： Fanuc Ltd
发明人： Hariki, Kazuo , Oda, Masaru , Kajio, Shigenori , Nihei, Ryo
IPC分类号： B25J9/16
CPC分类号： B25J9/1682 , B25J9/1687 , G05B2219/39109 , G05B2219/39123 , G05B2219/39469 , G05B2219/40052 , G05B2219/40307 , G05B2219/45064 , Y10T29/49829
摘要： A flexible workpiece assembling method for assembling a flexible workpiece (W) with an object (60) by using a first robot (20) comprising a first hand (21) and a second robot (30) comprising a second hand (31) includes the steps of: gripping a first portion of the flexible workpiece by the first hand and gripping a second portion of the flexible workpiece different from the first portion by the second hand; moving the flexible workpiece to the object through a cooperating operation of the first and second robots; deforming the flexible workpiece into a shape corresponding to the nonflexible object by the first and second robots; and assembling the flexible workpiece onto the nonflexible object by the first and second robots. As a result, the flexible workpiece can be accurately assembled onto the nonflexible object without breaking or tearing. The first and second robots may comprise a pushing means for pushing the flexible workpiece into the object.

6. 发明公开

EP1942387A1 Beschichtungskonzept für eine APS/HVOF Anlage mit 2 Robotern 审中-公开
标题翻译： Beschichtungskonzeptfüreine APS / HVOF Anlage mit 2 Robotern
公开(公告)号：EP1942387A1
公开(公告)日：2008-07-09
申请号：EP07000143.3
申请日：2007-01-04
申请人： SIEMENS AKTIENGESELLSCHAFT
发明人： Stadelmaier, Falk
IPC分类号： G05B19/418 , B25J9/16
CPC分类号： G05B19/41815 , B05B7/20 , B05B13/0221 , B05B13/0431 , B25J9/1682 , C23C4/129 , C23C4/134 , F01D5/005 , F01D5/288 , F01D25/285 , F05D2230/312 , F05D2230/90 , G05B2219/39109 , G05B2219/39132 , G05B2219/45013
摘要： Die Erfindung betrifft ein Verfahren und eine Einrichtung zur Bearbeitung eines Bauteils
Ein Verfahren zur Bearbeitung eines Bauteils, bei dem das Bauteil in einer Halterung an einem Positionierungsroboter befestigt und von einer Bearbeitungsvorrichtung an einem Bearbeitungsroboter automatisch bearbeitet wird, während das Bauteil und die Bearbeitungsvorrichtung gleichzeitig bewegt werden, wobei das Bauteil und die Bearbeitungsvorrichtung so bewegt werden, dass ihre jeweiligen Bewegungsvektoren während eines Großteils der Bearbeitung kollinear entgegengesetzt orientiert sind.
摘要翻译：该方法包括将涡轮机叶片（4）紧固在定位机器人中。涡轮叶片在机械加工机器人（2）处由涂布机（5）自动涂覆。涡轮叶片和涂层机同时移动。涡轮叶片和涂布机以这样的方式移动，使得它们的运动矢量相反地定向，而主要部分处理是共线的。涡轮叶片和涂布机的运动矢量的量不同。还包括用于定位和处理组件的设备的独立权利要求。

7. 发明公开

EP1388396A2 Verfahren und Vorrichtung zum Steuern von Handhabungsgeräten 有权转让
标题翻译： Verfahren und Vorrichtung zum Steuern vonHandhabungsgeräten
公开(公告)号：EP1388396A2
公开(公告)日：2004-02-11
申请号：EP03016459.4
申请日：2003-07-22
申请人： KUKA Roboter GmbH
发明人： Graf, Stefan
IPC分类号： B25J9/16
CPC分类号： B25J9/1669 , B25J9/1682 , G05B19/41825 , G05B2219/31157 , G05B2219/34458 , G05B2219/39109 , G05B2219/40307 , Y02P90/087 , Y02P90/18
摘要： Ein Verfahren zum synchronen Steuern einer Mehrzahl von Handhabungsgeräten, wie Industrierobotern, zeichnet sich dadurch aus, dass ein von Steuerungen der an einer Synchronisation beteiligten Handhabungsgeräte auszuführender Steuer-Befehl an einer beliebigen Steuerung initiiert und anschließend in dieser abhängig von der Art des Befehls weiterbearbeitet wird. Eine im Verbund mit anderen zum Durchführen des erfindungsgemäßen Verfahren geeignete Vorrichtung weist auf: Speichermittel zum Speichern eines Steuerungsprogramms für das jeweilige Handhabungsgerät, Eingabemittel zum Initiieren eines zu Synchronisationszwecken zu verteilenden Steuer-Befehls, Sendemittel zum Senden eines initiierten Befehls an andere an einer Synchronisation beteiligte Steuerungen, Empfangsmittel zum Empfangen eines von einer anderen beteiligten Steuerung übermittelten Befehls, Prozessormittel zum Bearbeiten des Steuerungsprogramms nach Maßgabe des Steuer-Befehls und ggf. zum Prüfen des initiierten bzw. des empfangenen Befehls und Entscheidungsmittel zum Freigeben oder Blockieren des Versandes und/oder zum Anordnen eines lediglich lokalen Ausführens eines initiierten Steuer-Befehls.
摘要翻译：要执行的命令从控制器发送到参与同步操作的机器人。这在任何控制器中启动，用于根据命令的性质进一步处理。相应设备包括独立的索赔。

8. 发明授权

EP0752633B1 MACHINE CONTROLLER 失效
标题翻译：机器控制
公开(公告)号：EP0752633B1
公开(公告)日：2001-11-14
申请号：EP95913318.2
申请日：1995-03-22
申请人： KABUSHIKI KAISHA YASKAWA DENKI
发明人： OKABAYASHI, Kazuo, Kabushiki Kaisha Yaskawa Denki , SAKANASHI, Kouji, Kabushiki Kaisha Yaskawa Denki
IPC分类号： G05B19/18 , B25J9/16
CPC分类号： B25J9/1682 , G05B2219/39109 , G05B2219/39121 , G05B2219/39122 , G05B2219/40307 , Y02P90/087 , Y02P90/265
摘要： A machine controller which can execute control asynchronously and simultaneously even when control objects compete in a plurality of jobs. The controller includes first execution means for storing commands describing the operation of a plurality of control objects as a first cooperative job and for executing them, second execution means for storing commands describing the operation of at least one control object other than a plurality of control objects governed by the first execution means as a second cooperative job and for executing them, and third execution means for storing commands for activating the first and second series execution means and for executing them asynchronously and simultaneously. The first and second execution means have a master-slave relation, and one designated as the slave refers to the output of the other as the master so as to correct the command of its own.

9. 发明公开

EP2780764A4 SYSTEM AND METHOD FOR 3D PROJECTION MAPPING WITH ROBOTICALLY CONTROLLED OBJECTS 有权转让
标题翻译：系统和方法与机器人受控对象的3D投影图
公开(公告)号：EP2780764A4
公开(公告)日：2015-07-29
申请号：EP12849815
申请日：2012-11-14
申请人： AUTOFUSS
发明人： LINNELL JEFF
IPC分类号： H04N13/04 , B25J9/16 , B25J11/00
CPC分类号： G06T13/40 , B25J9/1666 , B25J9/1671 , B25J9/1682 , B25J11/00 , G05B2219/39109 , H04N5/2224 , H04N7/18 , H04N9/3185 , H04N13/0459 , H04N13/0493 , H04N13/0497
摘要： A system for motion control is presented. In one embodiment, a motion control 3D projection system includes a projector; and a projection surface coupled to a robotic arm, where the robotic arm moves the projection surface through a set of spatial coordinates, and a 3D projection from the projector is projected onto a set of coordinates of the projection surface and matches the 3D projection to the set of coordinates of the projection surface as the projection surface moves through the set of spatial coordinates. In additional embodiments, a master control system may integrate additional robotic arms and other devices to create a motion control scene with a master timeline.

10. 发明公开

EP2783808A3 Robot system, method for controlling robot, and method for producing to-be-processed material 审中-公开
标题翻译：机器人系统中，将被处理用于控制用于材料的制造的机器人和方法的方法
公开(公告)号：EP2783808A3
公开(公告)日：2015-07-22
申请号：EP14157609.0
申请日：2014-03-04
申请人： Kabushiki Kaisha Yaskawa Denki
发明人： Izumi, Tetsuro , Nakamura, Tamio , Kouno, Dai , Nagai, Ryoichi
IPC分类号： B25J9/16
CPC分类号： G05B19/41815 , B25J9/0084 , B25J9/1682 , B25J21/00 , G05B2219/39109 , G05B2219/39135 , G05B2219/40307
摘要： A robot system 1 includes a plurality of robots 10, 10A, a plurality of cells 11, 11A, a detection device 121, and a changer device 122. Each of the plurality of robots 10, 10A is configured to operate based on an operation command. The plurality of cells 11, 11A respectively accommodate the plurality of robots 10, 10A and are connectable to each other. The detection device 121 is configured to detect that the plurality of cells 11, 11A are connected to each other. When the detection device 121 detects that the plurality of cells 11, 11A are connected to each other, the changer device 122 is configured to change at least one operation command among operation commands for the plurality of robots 10, 10A respectively accommodated in the connected cells 11, 11A.

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