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1. 发明公开

EP0864400A1 STITCH PROCESSING METHOD USING INDUSTRIAL ROBOT 失效
标题翻译：方法与工业机器人加工缝
公开(公告)号：EP0864400A1
公开(公告)日：1998-09-16
申请号：EP97935782.9
申请日：1997-08-13
申请人： FANUC LTD
发明人： WATANABE, Atsushi , KATO, Tetsuaki , SHIRAHATA, Toru Room 8-308 Fanuc Manshonharimomi , NAGAYAMA, Atsuo Room 12-508 Fanuc Manshonharimomi
IPC分类号： B25J9/18
CPC分类号： B25J9/1656 , G05B2219/35263 , G05B2219/40127 , G05B2219/45238 , G05B2219/50104
摘要： A stitch machining method by an industrial robot capable of performing a teaching operation easily and the stitch machining accurately. Instead of teaching switchover points p1, P2,... for application and non-application of sealant in sealing as shown in FIG. 5a, a distance n1 of a machining section (where sealant is applied) and a distance n2 of a non-machining section are set to a robot controller as shown in FIG. 5b. The robot controller monitors a travel distance and switches from machining to non-machining and vice versa each time the robot travels the distance n1 and the distance n2, respectively, to thereby effect the stitch machining. As shown in FIGS. 5c and 5g, it is possible to ensure that a start and an end points of each block are positioned in the machining sections n1. Further, as shown in FIG. 5d, the stitch machining can be performed continuously for a plurality of blocks. As shown in FIG. 5f, the stitch machining can be performed in each block with a set number of cycles of machining and non-machining.

2. 发明公开

EP1864764A3 Robot simulation apparatus 有权转让
公开(公告)号：EP1864764A3
公开(公告)日：2009-12-30
申请号：EP07010714.9
申请日：2007-05-30
申请人： FANUC LTD
发明人： Nagatsuka, Yoshiharu , Inoue, Kozo
IPC分类号： B25J9/16 , G05B19/4068 , G05B19/4069
CPC分类号： B25J9/1671 , G05B19/4069 , G05B2219/32351 , G05B2219/39031 , G05B2219/40003 , G05B2219/40121 , G05B2219/40122 , G05B2219/40127 , G05B2219/40131 , G05B2219/40314 , Y02P90/26 , Y02P90/265
摘要： A robot simulation apparatus (10) capable of creating and executing a robot program includes a virtual space creating unit (31) for creating a virtual space (60), a workpiece model layout unit (32) for automatically arranging at least one workpiece model (40) in an appropriate posture at an appropriate position in a workpiece accommodation unit model (24) defined in the virtual space, a virtual camera unit (33) for acquiring a virtual image (52) of workpiece models existing in the range of a designated visual field as viewed from a designated place in the virtual space, a correcting unit (34) for correcting the teaching points in the robot program based on the virtual image, and a simulation unit (35) for simulating the operation of the robot handling the workpieces, and as a result, interference between the robot and the workpieces can be predicted while at the same time accurately determining the required workpiece handling time.

3. 发明授权

EP0864400B1 STITCH PROCESSING METHOD USING INDUSTRIAL ROBOT 失效
标题翻译： VERFAHREN ZUR STICHVERARBEITUNG麻省理工学院机器人
公开(公告)号：EP0864400B1
公开(公告)日：2008-10-08
申请号：EP97935782.9
申请日：1997-08-13
申请人： FANUC LTD
发明人： WATANABE, Atsushi , KATO, Tetsuaki , SHIRAHATA, Toru Room 8-308 Fanuc Manshonharimomi , NAGAYAMA, Atsuo Room 12-508 Fanuc Manshonharimomi
IPC分类号： B25J9/18 , B25J9/16
CPC分类号： B25J9/1656 , G05B2219/35263 , G05B2219/40127 , G05B2219/45238 , G05B2219/50104
摘要： A stitch processing method using an industrial robot which is simple in teaching and capable of performing an accurate stitch processing. Processing (application of sealing agent) block distances (n1) and non-processing block distances (n2) are set on a robot control device as shown in Fig. 5b without teaching switching points (P1, P2,...), between blocks of sealing agent application and blocks of non-application in a sealing processing or the like as shown in Fig. 5a. The robot control device monitors moving distances and permits stitch processing by switching between non-processing and processing for every movement of the distance (n1) or the distance (n2). As shown in Figs. 5c and 5g, a starting point and a terminal point in one block belong to the processing block distance (n1). It is also possible to perform stitch processing continuously over a plurality of blocks as shown in Fig. 5d. It is also possible to perform stitch processing including a set number of processings and non-processings in one block as shown in Fig. 5f.
摘要翻译：能够容易地进行示教操作的工业机器人的线圈加工方法，并且能够精确地进行线圈加工。代替如图1所示的用于施加和不施加密封剂的密封剂的切换点p1，P2，...。如图5a所示，将加工部（施加密封剂的位置）的距离n1和非加工部的距离n2设定为机器人控制器。 5B。机器人控制器每次机器人分别行进距离n1和距离n2时，监视行驶距离并从加工切换到非加工，反之亦然，从而进行线圈加工。如图所示如图5c和5g所示，可以确保每个块的开始点和终点位于加工部分n1中。此外，如图1所示。如图5d所示，针对多个块可以连续地进行线圈加工。如图1所示。如图5f所示，可以在每个块中进行加工和非加工的循环次数的线圈加工。

4. 发明授权

EP1864764B1 Robot simulation apparatus 有权转让
标题翻译： Robotersimulationsvorrichtung
公开(公告)号：EP1864764B1
公开(公告)日：2011-11-16
申请号：EP07010714.9
申请日：2007-05-30
申请人： FANUC CORPORATION
发明人： Nagatsuka, Yoshiharu , Inoue, Kozo
IPC分类号： B25J9/16 , G05B19/4068 , G05B19/4069
CPC分类号： B25J9/1671 , G05B19/4069 , G05B2219/32351 , G05B2219/39031 , G05B2219/40003 , G05B2219/40121 , G05B2219/40122 , G05B2219/40127 , G05B2219/40131 , G05B2219/40314 , Y02P90/26 , Y02P90/265

5. 发明公开

EP1864764A2 Robot simulation apparatus 有权转让
标题翻译：机器人模拟装置
公开(公告)号：EP1864764A2
公开(公告)日：2007-12-12
申请号：EP07010714.9
申请日：2007-05-30
申请人： Fanuc Ltd
发明人： Nagatsuka, Yoshiharu , Inoue, Kozo
IPC分类号： B25J9/16 , G05B19/4068
CPC分类号： B25J9/1671 , G05B19/4069 , G05B2219/32351 , G05B2219/39031 , G05B2219/40003 , G05B2219/40121 , G05B2219/40122 , G05B2219/40127 , G05B2219/40131 , G05B2219/40314 , Y02P90/26 , Y02P90/265
摘要： A robot simulation apparatus (10) capable of creating and executing a robot program includes a virtual space creating unit (31) for creating a virtual space (60), a workpiece model layout unit (32) for automatically arranging at least one workpiece model (40) in an appropriate posture at an appropriate position in a workpiece accommodation unit model (24) defined in the virtual space, a virtual camera unit (33) for acquiring a virtual image (52) of workpiece models existing in the range of a designated visual field as viewed from a designated place in the virtual space, a correcting unit (34) for correcting the teaching points in the robot program based on the virtual image, and a simulation unit (35) for simulating the operation of the robot handling the workpieces, and as a result, interference between the robot and the workpieces can be predicted while at the same time accurately determining the required workpiece handling time.
摘要翻译：一种能够创建和执行机器人程序的机器人模拟装置（10），包括用于创建虚拟空间（60）的虚拟空间创建单元（31），用于自动布置至少一个工件模型（30）的工件模型布局单元（32）虚拟照相机单元（33），用于获取存在于被指定的范围内的工件模型的虚拟图像（52），该虚拟照相机单元（33）以适当的姿势在适当的姿势下在虚拟空间中定义的工件收纳单元模型（24）从虚拟空间中的指定位置观看的视野;校正单元（34），用于基于虚拟图像校正机器人程序中的示教点;以及模拟单元（35），用于模拟处理工件，因此可以预测机器人与工件之间的干涉，同时准确地确定所需的工件处理时间。

6. 发明公开

EP0864400A4 STITCH PROCESSING METHOD USING INDUSTRIAL ROBOT 失效
标题翻译：方法与工业机器人加工缝
公开(公告)号：EP0864400A4
公开(公告)日：2003-04-02
申请号：EP97935782
申请日：1997-08-13
申请人： FANUC LTD
发明人： WATANABE ATSUSHI , KATO TETSUAKI , SHIRAHATA TORU , NAGAYAMA ATSUO
IPC分类号： B25J9/16 , B25J9/18 , G05B19/18
CPC分类号： B25J9/1656 , G05B2219/35263 , G05B2219/40127 , G05B2219/45238 , G05B2219/50104
摘要： A stitch processing method using an industrial robot which is simple in teaching and capable of performing an accurate stitch processing. Processing (application of sealing agent) block distances (n1) and non-processing block distances (n2) are set on a robot control device as shown in Fig. 5b without teaching switching points (P1, P2,...), between blocks of sealing agent application and blocks of non-application in a sealing processing or the like as shown in Fig. 5a. The robot control device monitors moving distances and permits stitch processing by switching between non-processing and processing for every movement of the distance (n1) or the distance (n2). As shown in Figs. 5c and 5g, a starting point and a terminal point in one block belong to the processing block distance (n1). It is also possible to perform stitch processing continuously over a plurality of blocks as shown in Fig. 5d. It is also possible to perform stitch processing including a set number of processings and non-processings in one block as shown in Fig. 5f.

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