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1. 发明公开

EP1936458A3 Device, method, program and recording medium for robot offline programming 有权转让
标题翻译：用于机器人的离线编程的装置，方法，程序和记录介质
公开(公告)号：EP1936458A3
公开(公告)日：2009-05-27
申请号：EP07024622.8
申请日：2007-12-19
申请人： FANUC LTD
发明人： Nagatsuka, Yoshiharu , Inoue, Kozo
IPC分类号： G05B19/418 , B25J9/16
CPC分类号： B25J9/1656 , G05B2219/40387 , G05B2219/40394 , Y02P90/087 , Y02P90/14 , Y02P90/265
摘要： An offline programming device for preparing an operation program for making a robot with a hand perform a handling operation for an object with respect to a machine tool. The device includes a hand-position designating section designating a relative positional relationship between the object and the hand when the hand holds the object; a first calculating section determining a position and orientation of the object mounted on the machine tool when the robot performs the handling operation, based on a command specifying a position of the object and included in a workpiece processing program given to the machine tool; a second calculating section determining a position and orientation of the robot acting to hold the object by the hand when the robot performs the handling operation, based on the relative positional relationship between the object and the hand and the position and orientation of the object; and an operation-program generating section generating the operation program by using the position and orientation of the robot.

2. 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。

3. 发明授权

EP1936458B1 Device, method, program and recording medium for robot offline programming 有权转让
标题翻译：用于机器人的离线编程的装置，方法，程序和记录介质
公开(公告)号：EP1936458B1
公开(公告)日：2013-09-04
申请号：EP07024622.8
申请日：2007-12-19
申请人： FANUC CORPORATION
发明人： Nagatsuka, Yoshiharu , Inoue, Kozo
IPC分类号： G05B19/418 , B25J9/16
CPC分类号： B25J9/1656 , G05B2219/40387 , G05B2219/40394 , Y02P90/087 , Y02P90/14 , Y02P90/265

4. 发明公开

EP1619567A3 Data processing apparatus for arc welding 有权转让
标题翻译：用于电弧焊接的数据处理装置
公开(公告)号：EP1619567A3
公开(公告)日：2009-11-11
申请号：EP05015914.4
申请日：2005-07-21
申请人： FANUC LTD
发明人： Watanabe, Atsushi , Nagatsuka, Yoshiharu FANUC , Takeda, Toshiya
IPC分类号： G05B19/42
CPC分类号： G05B19/425 , G05B2219/39029 , G05B2219/40387 , G05B2219/40394
摘要： A data processing apparatus for processing data described in a welding operation program of an arc welding robot system. The data processing apparatus includes a data obtaining section for obtaining a plurality of position and orientation data at a plurality of different teaching points previously taught and included in the welding operation program; a reference plane setting section for setting a virtual reference plane as a reference defining a geometric placement of an arc welding torch relative to a workpiece during a welding operation, based on the position and orientation data obtained in the data obtaining section; an angle calculating section for calculating a plurality of angle data representing the geometric placement of the arc welding torch at every teaching points, by using the position and orientation data obtained in the data obtaining section and the virtual reference plane set in the reference plane setting section; and an angle processing section for performing at least one of a displaying process and a correcting process of the angle data calculated in the angle calculating section.

5. 发明授权

EP2381325B1 Method for robot offline programming 有权
标题翻译： Verfahren zur Offline-Programmierung eines Roboters
公开(公告)号：EP2381325B1
公开(公告)日：2017-03-08
申请号：EP11005946.6
申请日：2007-12-19
申请人： FANUC CORPORATION
发明人： Nagatsuka, Yoshiharu , Inoue, Kozo
IPC分类号： G05B19/418 , B25J9/16
CPC分类号： B25J9/1656 , G05B2219/40387 , G05B2219/40394 , Y02P90/087 , Y02P90/14 , Y02P90/265

6. 发明公开

EP1619567A2 Data processing apparatus for arc welding 有权转让
标题翻译： DatenverarbeitungsgerätzumLichtbogenschweißen
公开(公告)号：EP1619567A2
公开(公告)日：2006-01-25
申请号：EP05015914.4
申请日：2005-07-21
申请人： FANUC LTD
发明人： Watanabe, Atsushi , Nagatsuka, Yoshiharu FANUC , Takeda, Toshiya
IPC分类号： G05B19/42
CPC分类号： G05B19/425 , G05B2219/39029 , G05B2219/40387 , G05B2219/40394
摘要： A data processing apparatus for processing data described in a welding operation program of an arc welding robot system. The data processing apparatus includes a data obtaining section for obtaining a plurality of position and orientation data at a plurality of different teaching points previously taught and included in the welding operation program; a reference plane setting section for setting a virtual reference plane as a reference defining a geometric placement of an arc welding torch relative to a workpiece during a welding operation, based on the position and orientation data obtained in the data obtaining section; an angle calculating section for calculating a plurality of angle data representing the geometric placement of the arc welding torch at every teaching points, by using the position and orientation data obtained in the data obtaining section and the virtual reference plane set in the reference plane setting section; and an angle processing section for performing at least one of a displaying process and a correcting process of the angle data calculated in the angle calculating section.
摘要翻译：一种用于处理电弧焊机器人系统的焊接操作程序中描述的数据的数据处理装置。数据处理装置包括数据获取部分，用于在先前教导并包括在焊接操作程序中的多个不同教学点处获得多个位置和取向数据; 参考平面设定部，其基于在所述数据取得部中获取的位置和取向数据，设定虚拟参考平面作为基准，定义在焊接操作期间相对于工件的电弧焊炬的几何位置; 角度计算部分，用于通过使用在数据获取部分中获得的位置和取向数据以及在参考平面设置部分中设置的虚拟参考平面来计算表示每个示教点处的电弧焊炬的几何位置的多个角度数据 ; 以及角度处理部，用于执行角度计算部中计算出的角度数据的显示处理和校正处理中的至少一个。

7. 发明公开

EP1465028A2 Robot offline programming system with error-correction feedback function 审中-公开
标题翻译： System mitFehlerkorrekturrückmeldungsfunktionzur offline Programmierung eines Roboters
公开(公告)号：EP1465028A2
公开(公告)日：2004-10-06
申请号：EP04251706.0
申请日：2004-03-24
申请人： FANUC LTD
发明人： Watanabe, Atsushi , Ito, Takayuki , Kosaka, Tetsuya, Room 11-403 FANUC
IPC分类号： G05B19/042 , B25J9/16
CPC分类号： B25J9/1664 , G05B19/425 , G05B2219/39029 , G05B2219/40387 , G05B2219/40394
摘要： An offline programming system making it easy to perform operations for correcting a positional deviation produced when a program, to which taught points have been added or position/orientation modifications have been made offline, is applied to a robot (20). A program P1 prepared by the offline programming system is applied to the robot, and a program P2 for which corrections of position deviation have been made is read in from a robot controller (21). Correction amounts E are each determined from a position/orientation deviation between corresponding taught points of the programs P1, P2. A program P3 is obtained by adding taught points to the program P1 or modifying taught points thereof. Expected correction amounts for the added or modified taught points are each calculated from the correction amounts of existing taught points near the position of the added or modified taught point. A program P4 obtained by modifying taught points in the program P3 using corresponding correction amounts is output to the robot controller which can easily correct actual position/orientation deviations because even the added or modified taught points have been modified with the expected correction amounts.
摘要翻译：离线编程系统使得易于执行操作，用于校正时产生的程序的位置偏差，向其中教点已添加或位置/姿势的修改已经离线制成，应用于机器人（20）。将离线编程系统准备的程序P1应用于机器人，并且从机器人控制器（21）读入已经进行了位置偏差校正的程序P2。校正量E各自根据程序P1，P2的对应教导点之间的位置/方向偏差来确定。通过将教导点添加到程序P1或修改其教导点来获得程序P3。所添加或修改的教导点的预期校正量各自根据添加或修改的教导点的位置附近的现有教导点的校正量来计算。通过修改获得的程序P4使用对应的校正量被输出到可以容易地校正实际位置/取向的偏差，因为即使是添加或修改的教点已被修改与预期校正量机器人控制器教点中的程序P3。

8. 发明授权

EP1619567B1 Data processing apparatus for arc welding 有权转让
标题翻译：用于电弧焊接的数据处理装置
公开(公告)号：EP1619567B1
公开(公告)日：2013-10-23
申请号：EP05015914.4
申请日：2005-07-21
申请人： FANUC CORPORATION
发明人： Watanabe, Atsushi , Nagatsuka, Yoshiharu FANUC , Takeda, Toshiya
IPC分类号： G05B19/425
CPC分类号： G05B19/425 , G05B2219/39029 , G05B2219/40387 , G05B2219/40394

9. 发明公开

EP2381325A1 Method for robot offline programming 有权
标题翻译： Verfahren zur Offline-Programmierung eines Roboters
公开(公告)号：EP2381325A1
公开(公告)日：2011-10-26
申请号：EP11005946.6
申请日：2007-12-19
申请人： FANUC CORPORATION
发明人： Nagatsuka, Yoshiharu , Inoue, Kozo
IPC分类号： G05B19/418 , B25J9/16
CPC分类号： B25J9/1656 , G05B2219/40387 , G05B2219/40394 , Y02P90/087 , Y02P90/14 , Y02P90/265
摘要： An offline programming method for preparing an operation program for making a robot with a hand attached thereto perform a handling operation for an object with respect to a machine tool is provided. Said object includes at least one of a workpiece and a tool. The method comprises:
correcting said operation program in response to an error in a relative positional relationship between said machine tool and said robot, when said operation program is applied to a manufacturing system including said machine tool and said robot;

wherein correcting said operation program comprises:
providing a machine tool model and a robot model, respectively prepared by modeling said machine tool and said robot;
setting a base coordinate-system model on said machine tool model, said base coordinate-system model allowing said workpiece processing program to be executed;
providing a position detector in said manufacturing system, said position detector being disposed under a known positional relationship with respect to said robot;
providing a target capable of being detected by said position detector at a basic position on said machine tool, said basic position corresponding to a position of an origin of said base coordinate-system model on said machine tool model;
detecting said basic position of said target by said position detector;
shifting said target along a feed axis of said machine tool, said feed axis corresponding to a coordinate axis of said base coordinate-system model, from said basic position to a predetermined reference position, and detecting said reference position of said target by said position detector;
determining a base coordinate system of said machine tool for executing said workpiece processing program, based on said basic position and said reference position of said target detected by said position detector; and
correcting said operation program accordingly to a difference between a positional relationship of said base coordinate-system model relative to said robot model and a positional relationship of said base coordinate system relative to said robot.
摘要翻译：提供了一种用于制备用于使附接到其上的手的机器人的操作程序的离线编程方法执行相对于机床的对象的处理操作。所述物体包括工件和工具中的至少一个。该方法包括：当所述操作程序应用于包括所述机床和所述机器人的制造系统时，响应于所述机床和所述机器人之间的相对位置关系的误差来校正所述操作程序; 其中校正所述操作程序包括：提供分别通过对所述机床和所述机器人进行建模而制备的机床模型和机器人模型; 在所述机床模型上设置基座坐标系模型，所述基座坐标系模型允许执行所述工件处理程序; 在所述制造系统中提供位置检测器，所述位置检测器相对于所述机器人以已知的位置关系设置; 提供能够在所述机床上的基本位置由所述位置检测器检测的目标，所述基本位置对应于所述机床模型上的所述基座坐标系模型的原点的位置; 通过所述位置检测器检测所述目标的所述基本位置; 沿所述机床的进给轴移动所述目标，所述进给轴对应于所述基座坐标系模型的坐标轴，从所述基本位置到预定参考位置，并且通过所述位置检测器检测所述目标的所述参考位置 ; 基于由所述位置检测器检测到的所述目标的所述基本位置和所述基准位置，确定用于执行所述工件处理程序的所述机床的基座坐标系; 并且相应地校正所述操作程序与所述基座坐标系模型相对于所述机器人模型的位置关系与所述基座坐标系相对于所述机器人的位置关系之间的差异。

10. 发明公开

EP1936458A2 Device, method, program and recording medium for robot offline programming 有权转让
标题翻译： Vorrichtung，Verfahren，Programm und Aufzeichnungsmedium zur Offlineprogrammierung von Robotern
公开(公告)号：EP1936458A2
公开(公告)日：2008-06-25
申请号：EP07024622.8
申请日：2007-12-19
申请人： FANUC LTD
发明人： Nagatsuka, Yoshiharu , Inoue, Kozo
IPC分类号： G05B19/418 , B25J9/16
CPC分类号： B25J9/1656 , G05B2219/40387 , G05B2219/40394 , Y02P90/087 , Y02P90/14 , Y02P90/265
摘要： An offline programming device for preparing an operation program for making a robot with a hand perform a handling operation for an object with respect to a machine tool. The device includes a hand-position designating section designating a relative positional relationship between the object and the hand when the hand holds the object; a first calculating section determining a position and orientation of the object mounted on the machine tool when the robot performs the handling operation, based on a command specifying a position of the object and included in a workpiece processing program given to the machine tool; a second calculating section determining a position and orientation of the robot acting to hold the object by the hand when the robot performs the handling operation, based on the relative positional relationship between the object and the hand and the position and orientation of the object; and an operation-program generating section generating the operation program by using the position and orientation of the robot.
摘要翻译：用于制备用于制造具有手的机器人的操作程序的离线编程装置执行相对于机床的对象的处理操作。该装置包括指针位置指定部，指定手握持物体时物体与手之间的相对位置关系; 第一计算部，其基于指定对象的位置并包含在给予所述机床的工件处理程序中的指令，来确定安装在所述机床上的所述物体的位置和姿势; 第二计算部，基于所述物体与所述手的相对位置关系以及所述物体的位置和姿态，确定所述机器人在所述机器人执行所述操作操作时用手保持所述物体的姿势和姿势; 以及通过使用所述机器人的位置和姿势来生成所述操作程序的操作程序生成部。

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