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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. 发明授权

EP1172719B1 Améliorations à des robots mobiles et à leur système de commande 有权
标题翻译：在移动机器人的改进及其控制系统
公开(公告)号：EP1172719B1
公开(公告)日：2004-02-11
申请号：EP01202945.0
申请日：1998-11-27
申请人： Solar & Robotics S.A.
发明人： Colens, André
IPC分类号： G05D1/02 , B25J19/00 , A47L9/00
CPC分类号： G05D1/0225 , A47L5/30 , A47L9/2805 , A47L9/2826 , A47L9/2852 , A47L9/2894 , A47L2201/022 , A47L2201/04 , B25J9/1694 , G05B2219/24136 , G05B2219/31004 , G05B2219/37266 , G05B2219/40522 , G05B2219/40621 , G05D1/0242 , G05D2201/0215

3. 发明公开

EP1049964A1 AMELIORATIONS A DES ROBOTS MOBILES ET A LEUR SYSTEME DE COMMANDE 有权
标题翻译：改进技术移动机器人，并在其控制系统
公开(公告)号：EP1049964A1
公开(公告)日：2000-11-08
申请号：EP98956726.8
申请日：1998-11-27
申请人： Solar & Robotics
发明人： COLENS, André
IPC分类号： G05D1/02 , B25J19/00 , A47L9/00
CPC分类号： G05D1/0225 , A47L5/30 , A47L9/2805 , A47L9/2826 , A47L9/2852 , A47L9/2894 , A47L2201/022 , A47L2201/04 , B25J9/1694 , G05B2219/24136 , G05B2219/31004 , G05B2219/37266 , G05B2219/40522 , G05B2219/40621 , G05D1/0242 , G05D2201/0215
摘要： The invention concerns a system for guiding and positioning relative to a fixed recharging station an autonomous mobile robot comprising a rechargeable battery. The system operates by means of at least one directional infrared beam emitted by the fixed station, the mobile robot being equipped with a directional system for detecting infrared emission connected to a microcomputer incorporated in said robot. The robot moves on working surface in an essentially random manner, the microcomputer comprising an algorithm for controlling the return to the fixed station by moving the robot towards the direction of said infrared beam. The microcomputer algorithm initiates the return towards the fixed recharging station after a minimum working time, independently of the state of the battery charge, and when the mobile robot detects an intensity greater than a certain threshold, said threshold decreasing with the increase of the working time interval and/or when the state of the battery charge is below a certain level. Several infrared beams operating in different directions can be emitted to cause the robot to return to the recharge station.

4. 发明授权

EP0543236B1 Automatic manipulator-head trajectory producing system 失效
标题翻译：系统会自动生成一个处理头的轨迹
公开(公告)号：EP0543236B1
公开(公告)日：1998-07-08
申请号：EP92119049.2
申请日：1992-11-06
申请人： FUJITSU LIMITED
发明人： Okabayashi, Keiju, c/o Fujitsu Limited
IPC分类号： B25J9/16
CPC分类号： B25J9/1689 , B25J9/1666 , G05B2219/35349 , G05B2219/36455 , G05B2219/40038 , G05B2219/40476 , G05B2219/40522

5. 发明授权

EP1049964B1 AMELIORATIONS A DES ROBOTS MOBILES ET A LEUR SYSTEME DE COMMANDE 有权
标题翻译：改进技术移动机器人，并在其控制系统
公开(公告)号：EP1049964B1
公开(公告)日：2002-03-13
申请号：EP98956726.8
申请日：1998-11-27
申请人： Solar & Robotics
发明人： COLENS, André
IPC分类号： G05D1/02 , B25J19/00 , A47L9/00
CPC分类号： G05D1/0225 , A47L5/30 , A47L9/2805 , A47L9/2826 , A47L9/2852 , A47L9/2894 , A47L2201/022 , A47L2201/04 , B25J9/1694 , G05B2219/24136 , G05B2219/31004 , G05B2219/37266 , G05B2219/40522 , G05B2219/40621 , G05D1/0242 , G05D2201/0215
摘要： The invention concerns a system for guiding and positioning relative to a fixed recharging station an autonomous mobile robot comprising a rechargeable battery. The system operates by means of at least one directional infrared beam emitted by the fixed station, the mobile robot being equipped with a directional system for detecting infrared emission connected to a microcomputer incorporated in said robot. The robot moves on working surface in an essentially random manner, the microcomputer comprising an algorithm for controlling the return to the fixed station by moving the robot towards the direction of said infrared beam. The microcomputer algorithm initiates the return towards the fixed recharging station after a minimum working time, independently of the state of the battery charge, and when the mobile robot detects an intensity greater than a certain threshold, said threshold decreasing with the increase of the working time interval and/or when the state of the battery charge is below a certain level. Several infrared beams operating in different directions can be emitted to cause the robot to return to the recharge station.

6. 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。

7. 发明公开

EP0543236A3 Automatic manipulator-head trajectory producing system 失效
标题翻译：自动操纵机头制造系统
公开(公告)号：EP0543236A3
公开(公告)日：1993-08-25
申请号：EP92119049.2
申请日：1992-11-06
申请人： FUJITSU LIMITED
发明人： Okabayashi, Keiju, c/o Fujitsu Limited
IPC分类号： B25J9/16
CPC分类号： B25J9/1689 , B25J9/1666 , G05B2219/35349 , G05B2219/36455 , G05B2219/40038 , G05B2219/40476 , G05B2219/40522
摘要： In a remote operation system using a manipulator-head, a trajectory of the mamipulator head is automatically produced on the basis of an execution environment of a manipulator by using an automatic manipulator-head trajectory producing system. The automatic manipulator-head trajectory producing system (42) includes a template storage memory (43), a shape register (44), an obstacle detecting section (45), a size decision section (46), a size register (47), a template limiting section (48), a priority order granting section (49), a first interference inspecting section (50), a curve interpolation section (51) and a second interference inspecting section (52). The trajectory templates are registered in the template storage memory (43), then an interference of the manipulator with an obstacle is inspected by the obstacle detecting section (45) based on each trajectory template. As a result of such an inspection, a priority is made for the templates inspected to have no interference with the obstacle. Then the manipulator-head trajectory is automatically produced by previously estimating the priority of the templates. As a result, the manipulator-head trajectory can automatically be produced in a reduced time with a smaller memory capacity.

8. 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。

9. 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。

10. 发明公开

EP0543236A2 Automatic manipulator-head trajectory producing system 失效
标题翻译：系统自动化Herstellung der Bahn eines Handhabungskopfes。
公开(公告)号：EP0543236A2
公开(公告)日：1993-05-26
申请号：EP92119049.2
申请日：1992-11-06
申请人： FUJITSU LIMITED
发明人： Okabayashi, Keiju, c/o Fujitsu Limited
IPC分类号： B25J9/16
CPC分类号： B25J9/1689 , B25J9/1666 , G05B2219/35349 , G05B2219/36455 , G05B2219/40038 , G05B2219/40476 , G05B2219/40522
摘要： In a remote operation system using a manipulator-head, a trajectory of the mamipulator head is automatically produced on the basis of an execution environment of a manipulator by using an automatic manipulator-head trajectory producing system. The automatic manipulator-head trajectory producing system (42) includes a template storage memory (43), a shape register (44), an obstacle detecting section (45), a size decision section (46), a size register (47), a template limiting section (48), a priority order granting section (49), a first interference inspecting section (50), a curve interpolation section (51) and a second interference inspecting section (52). The trajectory templates are registered in the template storage memory (43), then an interference of the manipulator with an obstacle is inspected by the obstacle detecting section (45) based on each trajectory template. As a result of such an inspection, a priority is made for the templates inspected to have no interference with the obstacle. Then the manipulator-head trajectory is automatically produced by previously estimating the priority of the templates. As a result, the manipulator-head trajectory can automatically be produced in a reduced time with a smaller memory capacity.
摘要翻译：在使用机械手头的远程操作系统中，通过使用自动机械手头轨迹生成系统，基于操纵器的执行环境自动生成操纵器头部的轨迹。自动机械手头轨迹产生系统（42）包括模板存储器（43），形状寄存器（44），障碍物检测部分（45），尺寸判定部分（46），尺寸寄存器（47）模板限制部（48），优先级授权部（49），第一干涉检查部（50），曲线插补部（51）和第二干涉检查部（52）。轨迹模板被登记在模板存储存储器（43）中，然后由障碍物检测部（45）基于每个轨迹模板检查操纵器与障碍物的干涉。作为这种检查的结果，优先考虑被检查的模板不会干扰障碍物。然后，通过先前估计模板的优先级，自动产生操纵器头部轨迹。结果，可以在更小的存储容量的缩短的时间内自动产生机械手头部轨迹。

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