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1. 发明授权

EP1510893B1 Verfahren und Vorrichtung zum Festlegen der Bewegungsbahn eines Handling-systems 失效
标题翻译：用于确定处理系统的轨迹的方法和设备
公开(公告)号：EP1510893B1
公开(公告)日：2014-11-05
申请号：EP03077737.9
申请日：2003-09-01
申请人： TRUMPF Werkzeugmaschinen GmbH + Co. KG
发明人： Otterbach, Olaf , Ege-Keilbach, Gabriele , Munk, Mathias
IPC分类号： G05B19/408
CPC分类号： G05B19/408 , G05B2219/35318 , G05B2219/36017 , G05B2219/36168 , G05B2219/39438 , G05B2219/39444 , G05B2219/40522

2. 发明公开

EP1510893A1 Verfahren und Vorrichtung zum Festlegen der Bewegungsbahn eines Handling-systems 失效
标题翻译：处理系统Verfahren und Vorrichtung zum Festlegen der Bewegungsbahn
公开(公告)号：EP1510893A1
公开(公告)日：2005-03-02
申请号：EP03077737.9
申请日：2003-09-01
申请人： TRUMPF Werkzeugmaschinen GmbH + Co. KG
发明人： Otterbach, Olaf , Ege-Keilbach, Gabriele , Munk, Mathias
IPC分类号： G05B19/408
CPC分类号： G05B19/408 , G05B2219/35318 , G05B2219/36017 , G05B2219/36168 , G05B2219/39438 , G05B2219/39444 , G05B2219/40522
摘要： Bei einem Verfahren zum Festlegen der Bewegungsbahn eines ein Werkstück (5) bewegenden Handlingsystems (2), dessen Bewegungsbahn entsprechend den unterschiedlichen am Werkstück (5) durchgeführten Prozessschritten mehrere Bewegungsabschnitte aufweist, wobei die Bewegungsbahn des Handlingsystems (2) zunächst festgelegt und dann manuell korrigiert wird, ordnet bei der manuellen Korrektur ein Rechner (8) jedem Bewegungsabschnitt eine in oder auf dem Werkstück (5) liegende Bezugsstelle, -linie oder -fläche (7) zu, die in dem jeweiligen Bewegungsabschnitt die Bezugsgröße für eine manuelle Korrektur der Bewegungsbahn des Handlingsystems (2) bildet. Vorzugsweise werden die Freiheitsgrade der Bezugsstelle, -linie oder -fläche (7) auf dem Bildschirm (8) als Dialogelement (11) anzeigt, das der Bezugsstelle, -linie oder -fläche (7) optisch zugeordnet ist.
摘要翻译：该方法包括首先确定运动路径，其具有根据所执行的处理步骤的几个部分，然后手动校正。手动校正涉及在工件（5）中或工件（5）上分配参考点，线或表面（7）的计算机（9），每个移动部分在相应部分中形成用于手动校正运动路径的参考参数。还包括以下独立权利要求：（a）用于实施本发明方法的装置。

3. 发明公开

EP2874789A1 VERFAHREN ZUR BEDIENUNG EINES INDUSTRIEROBOTERS SOWIE SICHERES ÜBERWACHUNGSGERÄT ZUR DURCHFÜHRUNG DES VERFAHRENS 有权
标题翻译：法工业机器人实现该方法的操作和设备
公开(公告)号：EP2874789A1
公开(公告)日：2015-05-27
申请号：EP13737598.6
申请日：2013-07-16
申请人： Reis Group Holding GmbH & Co. KG
发明人： SOM, Franz
IPC分类号： B25J13/06
CPC分类号： B25J13/06 , B25J11/0005 , G01B11/03 , G05B19/409 , G05B2219/36143 , G05B2219/36168 , G05B2219/39438 , G05B2219/39444 , G05B2219/39446
摘要： The invention relates to a method for operating an industrial robot and to a secure monitoring device for carrying out said method. The invention relates to a method and a device for operating an industrial robot (12) by means of an operating device (10) which comprises a graphical operator interface (18) such as a touch-sensitive display (20), said robot being connected to a robot control unit (16). In order to simplify operation of said industrial robot and increase operational safety, the method comprises the following method steps: - requesting a desired industrial robot (12) function or operational mode by means of an actuation input, by an operator, of at least one operating element (80, 82, 84; 96), - registering said actuation input of the at least one operating element (80, 82, 84; 96) and transmitting it to a secure monitoring device (78) in order to approve and/or monitor the function or operational mode to be carried out by said industrial robot (12), - identifying a graphical information (88) associated with the requested function or operational mode in said secure monitoring device (78), - coding the graphical information (88, 90, 108) using a random generator (100, 107), transmitting the coded graphical information (88, 90, 108) from the secure monitoring device (78) to the operating device (10), and displaying the coded graphical information (88) on the graphical operator interface (18), - registering a confirmation input from the operator which confirms the accuracy of the displayed coded graphical information (88, 90, 108), - returning said confirmation input from the operating device (10) to the secure monitoring device (78) and comparing the received confirmation input with the transmitted coded graphical information, and - carrying out the requested function or operational mode if said confirmation input matches the transmitted coded graphical information.

4. 发明公开

EP1906284A1 A control device for controlling an industrial robot 审中-公开
标题翻译： Steuervorrichtung zur Steuerung eines Industrieroboters
公开(公告)号：EP1906284A1
公开(公告)日：2008-04-02
申请号：EP06121445.8
申请日：2006-09-28
申请人： ABB AB
发明人： Eriksson, Peter
IPC分类号： G05B19/409
CPC分类号： B25J9/1674 , B25J13/065 , G05B2219/39378 , G05B2219/39438 , G05B2219/39443
摘要： This invention concerns a handheld control device for controlling an industrial robot including a manipulator. The handheld control device is adapted to manually control the movements of the manipulator during manual mode of operation. The handheld control device also comprises a main control unit (44) adapted to automatically control the movements of the manipulator based on a robot program including movement instructions.
摘要翻译：本发明涉及用于控制包括机械手的工业机器人的手持式控制装置。手持控制装置适于在手动操作模式期间手动地控制操纵器的运动。手持控制装置还包括适于基于包括运动指令的机器人程序自动控制机械手的运动的主控制单元（44）。

5. 发明公开

EP0792726A1 TEACH PENDANT 失效
标题翻译：教学吊坠
公开(公告)号：EP0792726A1
公开(公告)日：1997-09-03
申请号：EP96931245.3
申请日：1996-09-18
申请人： FANUC LTD.
发明人： WATANABE, Atsushi, N-3 Fanuc Haitsufuji , TERADA Tomoyuki, Room 5-308 Fanuc Manshon-Harimomi , KAIHORI, Hirotsugu, Room 303, Erukasa Choshi , OUMI, Tatsuya, Room 12-603, Fanuc Manshon-Harimomi , SAKAMOTO, Shinsuke, Fanuc Dai-1 Vira-karamatsu
IPC分类号： B25J9/22
CPC分类号： B25J9/1671 , G05B2219/36162 , G05B2219/36168 , G05B2219/39438 , G05B2219/39443 , G05B2219/39444 , G05B2219/39446 , G05B2219/40522 , H01H9/0214 , H01H2300/026
摘要： A robot teaching pendant is furnished with a display device (6) having a graphic display function, and display data, such as the movement of a robot and taught points, are generated by display data generating means (4) based on the robot programs (1a) and the like stored in data storage means (1) by buffering the data from a robot controller, and are displayed on the display device (6). Thus, the action of the robot can be visually recognized with ease, and the robot can be taught easily and accurately.
摘要翻译：机器人教导盒配备有具有图形显示功能的显示装置（6），并且由显示数据生成装置（4）基于机器人程序（4）生成显示数据，诸如机器人的运动和示教点 1a）等通过缓冲来自机器人控制器的数据而存储在数据存储装置（1）中，并显示在显示装置（6）上。因此，机器人的动作可以容易地被视觉识别，并且可以容易且准确地教导机器人。

6. 发明授权

EP0792726B1 TEACH PENDANT 失效
标题翻译：教学吊坠
公开(公告)号：EP0792726B1
公开(公告)日：1999-06-23
申请号：EP96931245.3
申请日：1996-09-18
申请人： FANUC LTD.
发明人： WATANABE, Atsushi, N-3 Fanuc Haitsufuji , TERADA Tomoyuki, Room 5-308 Fanuc Manshon-Harimomi , KAIHORI, Hirotsugu, Room 303, Erukasa Choshi , OUMI, Tatsuya, Room 12-603, Fanuc Manshon-Harimomi , SAKAMOTO, Shinsuke, Fanuc Dai-1 Vira-karamatsu
IPC分类号： B25J9/22 , B25J9/16
CPC分类号： B25J9/1671 , G05B2219/36162 , G05B2219/36168 , G05B2219/39438 , G05B2219/39443 , G05B2219/39444 , G05B2219/39446 , G05B2219/40522 , H01H9/0214 , H01H2300/026
摘要： A teach pendant comprising a graphic display (6) for displaying information, including motions and teach points of a robot, which is produced by a data generator according to a robot program (1a), etc., stored in a data buffer (1) that receives data from a robot controller. In this way, the robot operation can be recognized visually easily, and the robot can be instructed easily and precisely.
摘要翻译：一种示教盒，包括用于显示信息的图形显示器（6），所述信息包括存储在数据缓冲器（1）中的由机器人程序（1a）等由数据生成器产生的机器人的运动和示教点，从机器人控制器接收数据。通过这种方式，可以容易地在视觉上识别机器人操作，并且可以容易且精确地指示机器人。

7. 发明授权

EP0840909B1 STEUER- UND PROGRAMMIEREINRICHTUNG 失效
标题翻译：控制和编程设备
公开(公告)号：EP0840909B1
公开(公告)日：1999-03-31
申请号：EP96926377.1
申请日：1996-07-20
申请人： KUKA Roboter GmbH
发明人： WÖRN, Heinz , HAJDU, Erwin
IPC分类号： G05B19/409
CPC分类号： B25J9/1656 , B25J13/02 , G05B2219/33192 , G05B2219/39438 , G05B2219/39443
摘要： The invention concerns a control and programming unit (1) for a manipulator (2), the control and programming unit having a manipulator-control unit (3), a computer (4) with a graphics unit, and a portable programming device (10) connected by data telecommunication to the computer unit (4). The programming device (10) has a screen (12), without its own graphics circuit board, which is connected by data telecommunication to the graphics unit (5) of the computer (4) and receives its image data from this graphics unit (5). To this end, the graphics unit (5) preferably has a graphics board (6) with a transducer (9) and an integrated serial interface (7) for the data telecommunication. In addition, the programming device (10) has a serial interface (7) connected via a transducer (9) to the screen (12).

8. 发明授权

EP0840910B1 PROGRAMMIERGERÄT 失效
标题翻译：编程器
公开(公告)号：EP0840910B1
公开(公告)日：1999-03-24
申请号：EP96927565.0
申请日：1996-07-20
申请人： KUKA Roboter GmbH
发明人： WÖRN, Heinz , HAJDU, Erwin
IPC分类号： G05B19/409 , G05B19/425 , B25J13/02
CPC分类号： G05B19/425 , B25J9/1656 , B25J13/06 , G05B2219/33192 , G05B2219/35419 , G05B2219/39438 , G05B2219/39443 , Y02P90/265
摘要： The invention concerns a device (1) for programming multi-axis industrial robots. The housing (2) has a display (3) and several switches and/or function keys (4). It has three or more ergonomically shaped holding areas (6, 7, 8, 9) including, integrally moulded along two or more edges (25, 26) of the housing, holding strips (6, 7, 8) located within finger reach of the function keys (4). Mounted on one side (26) of the housing is a horizontal joystick (14), with a holding strip (8) and a hand rest (15) close to it. The housing (2) also has one or more interfaces (16, 17) designed to connect the device up to external communications equipment, in particular external input/output devices and/or external computers.

9. 发明公开

EP0840910A1 PROGRAMMIERGERÄT 失效
标题翻译：编程器
公开(公告)号：EP0840910A1
公开(公告)日：1998-05-13
申请号：EP96927565.0
申请日：1996-07-20
申请人： KUKA Roboter GmbH
发明人： WÖRN, Heinz , HAJDU, Erwin
IPC分类号： B25J9 , B25J13 , G05B19
CPC分类号： G05B19/425 , B25J9/1656 , B25J13/06 , G05B2219/33192 , G05B2219/35419 , G05B2219/39438 , G05B2219/39443 , Y02P90/265
摘要： The invention concerns a device (1) for programming multi-axis industrial robots. The housing (2) has a display (3) and several switches and/or function keys (4). It has three or more ergonomically shaped holding areas (6, 7, 8, 9) including, integrally moulded along two or more edges (25, 26) of the housing, holding strips (6, 7, 8) located within finger reach of the function keys (4). Mounted on one side (26) of the housing is a horizontal joystick (14), with a holding strip (8) and a hand rest (15) close to it. The housing (2) also has one or more interfaces (16, 17) designed to connect the device up to external communications equipment, in particular external input/output devices and/or external computers.

10. 发明公开

EP0792726A4 EP0792726A4 - 失效
标题翻译： EP0792726A4 - Google专利
公开(公告)号：EP0792726A4
公开(公告)日：1997-10-15
申请号：EP96931245
申请日：1996-09-18
IPC分类号： B25J9/16 , B25J9/22 , G05B19/42 , H01H9/02
CPC分类号： B25J9/1671 , G05B2219/36162 , G05B2219/36168 , G05B2219/39438 , G05B2219/39443 , G05B2219/39444 , G05B2219/39446 , G05B2219/40522 , H01H9/0214 , H01H2300/026
摘要： A teach pendant comprising a graphic display (6) for displaying information, including motions and teach points of a robot, which is produced by a data generator according to a robot program (1a), etc., stored in a data buffer (1) that receives data from a robot controller. In this way, the robot operation can be recognized visually easily, and the robot can be instructed easily and precisely.
摘要翻译：一种示教盒，包括用于显示信息的图形显示器（6），所述信息包括存储在数据缓冲器（1）中的由机器人程序（1a）等由数据生成器产生的机器人的运动和示教点，从机器人控制器接收数据。通过这种方式，可以容易地在视觉上识别机器人操作，并且可以容易且精确地指示机器人。

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