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1. 发明授权

EP2929400B1 PROCÉDÉ DE CONTRÔLE D'UN ROBOT DE PERÇAGE ET ROBOT DE PERÇAGE METTANT EN OEUVRE LE PROCÉDÉ 有权转让
标题翻译： VERFAHREN ZUR STEUERUNG EINES BOHRROBOTERS UND BOHR ROBOTER ZURDURCHFÜHRUNGDES VERFAHRENS
公开(公告)号：EP2929400B1
公开(公告)日：2016-12-28
申请号：EP13821865.6
申请日：2013-12-06
申请人： Aircelle
发明人： COIN, Maxime , RAMAGE, Denis
IPC分类号： G05B19/416
CPC分类号： G05B19/048 , G05B19/416 , G05B2219/37388 , G05B2219/39444 , G05B2219/45059 , Y10S901/41

2. 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

3. 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.

4. 发明授权

EP2874789B1 VERFAHREN ZUR BEDIENUNG EINES INDUSTRIEROBOTERS SOWIE VORRICHTUNG 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：EP2874789B1
公开(公告)日：2017-02-01
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

5. 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.

6. 发明授权

EP1462896B1 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：EP1462896B1
公开(公告)日：2011-05-04
申请号：EP04251125.3
申请日：2004-02-27
申请人： FANUC CORPORATION
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

7. 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。

8. 发明公开

EP2929400A1 PROCÉDÉ DE CONTRÔLE D'UN ROBOT DE PERÇAGE ET ROBOT DE PERÇAGE METTANT EN OEUVRE LE PROCÉDÉ 有权转让
标题翻译：一种用于控制BOHRROBOTERS与钻进机器人执行过程
公开(公告)号：EP2929400A1
公开(公告)日：2015-10-14
申请号：EP13821865.6
申请日：2013-12-06
申请人： Aircelle
发明人： COIN, Maxime , RAMAGE, Denis
IPC分类号： G05B19/416
CPC分类号： G05B19/048 , G05B19/416 , G05B2219/37388 , G05B2219/39444 , G05B2219/45059 , Y10S901/41
摘要： The invention relates to a drilling robot and to a method for controlling a drilling robot, of the type that comprises a guided mechanical structure (4-7) allowing a drilling tool (12) to be placed in a sequence of drilling positions (14-16), programmed in terms of position and orientation for the drilling of a part (1) such as a technical skin. The method comprises a step of determining the acceleration (Ax, Ay, Az) of the drilling tool (12) at the end of the approach towards a drilling position, followed by testing a condition (CL) of stabilisation of the drilling tool (12), and then establishing a drilling authorisation ((c), Figure 2; (d) Figure 3; (a) Figure 7).

9. 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。

10. 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。

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