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1. 发明授权

EP1522912B1 Manual-mode operating system for robot 有权
标题翻译：机器人手动控制系统
公开(公告)号：EP1522912B1
公开(公告)日：2009-09-09
申请号：EP04023913.9
申请日：2004-10-07
申请人： FANUC LTD
发明人： Watanabe, Atsushi , Oumi, Tatsuya Room 12-603
IPC分类号： G05B19/425 , B25J1/00 , G05D3/00
CPC分类号： B25J9/1671 , B25J13/06 , G05B2219/40311 , G05B2219/40562 , G05D3/00

2. 发明授权

EP1444072B1 A SYSTEM AND METHOD FOR COMMUNICATION BETWEEN AN INDUSTRIAL ROBOT AND A TPU 有权
标题翻译：系统和方法用于工业机器人和编程手册设备单元之间的通信
公开(公告)号：EP1444072B1
公开(公告)日：2008-12-03
申请号：EP02778162.4
申请日：2002-10-20
申请人： ABB AB
发明人： CARLSON, Erik , JOHANNESSEN, Svein , ENDRESEN, Jan
IPC分类号： B25J13/02 , G05B19/42
CPC分类号： G06F3/016 , B25J13/02 , B25J13/065 , G05B19/427 , G05B2219/33192 , G05B2219/40562
摘要： An industrial robot comprising a manipulator (2), a control unit (3) for controlling the manipulator, a portable operating unit (4) for teaching an manually operating the robot, which operating unit is adapted for communication with the control unit and comprising a operator control means (9).

3. 发明公开

EP2308657A1 ROBOT AND ITS TEACHING METHOD 有权
标题翻译： ROBOTER UND SEIN LEHRVERFAHREN
公开(公告)号：EP2308657A1
公开(公告)日：2011-04-13
申请号：EP08778038.3
申请日：2008-07-10
申请人： Kawasaki Jukogyo Kabushiki Kaisha
发明人： HASHIMOTO, Yasuhiko , SHIMOMURA, Nobuyasu
IPC分类号： B25J9/22 , G05B19/42 , H01L21/677
CPC分类号： H01L21/68707 , B25J9/1692 , G05B19/401 , G05B2219/39516 , G05B2219/40562 , G05B2219/45032 , G05B2219/45057 , H01L21/67265
摘要： A robot of the invention includes a robot arm (28) having a distal end to which a wrist axis (27) is rotatably provided; arm drive unit (29, 30), each configured to move the robot arm (28); a wrist axis drive unit (31) configured to rotate the wrist axis (27); and a robot control unit (40) configured to control the arm drive unit (29, 30) and wrist axis drive unit (31). The robot control unit (40) is configured to control the arm drive unit (29, 30) to move the distal end of the robot arm (28) to bring a contact member (50) attached to the wrist axis (27) into contact with an instruction target (51), thereby detecting a posture of the robot arm (28) and an angular position of the wrist axis (27) when the wrist axis (27) begins to be angularly displaced due to the contact between the contact member (50) and the instruction target (51), thus determining a position of an instruction point.
摘要翻译：本发明的机器人包括具有可旋转地设置有腕轴（27）的远端的机器人手臂（28）臂驱动单元（29,30），每个构造成移动机器人手臂（28）; 手腕轴驱动单元（31），其构造成旋转腕轴（27）; 以及被配置为控制所述臂驱动单元（29,30）和腕轴驱动单元（31）的机器人控制单元（40）。机器人控制单元（40）被构造成控制臂驱动单元（29,30）移动机器人臂（28）的远端，以使附接到腕轴（27）的接触构件（50）接触具有指示目标（51），从而由于接触构件（51）之间的接触而使手腕轴线（27）开始成角度位移时检测机器人臂（28）的姿势和腕轴（27）的角位置（50）和指令目标（51），从而确定指令点的位置。

4. 发明公开

EP1522912A3 Manual-mode operating system for robot 有权
标题翻译：机器人手动控制系统
公开(公告)号：EP1522912A3
公开(公告)日：2008-07-16
申请号：EP04023913.9
申请日：2004-10-07
申请人： FANUC LTD
发明人： Watanabe, Atsushi , Oumi, Tatsuya Room 12-603
IPC分类号： G05B19/425 , B25J1/00 , G05D3/00
CPC分类号： B25J9/1671 , B25J13/06 , G05B2219/40311 , G05B2219/40562 , G05D3/00
摘要： A manual-mode operating system for a robot provided with an end-effector. The manual-mode operating system includes a display section including a screen for displaying an image of an end-effector; a first input section for an input of coordinate system data on the screen of the display section, displaying the image of the end-effector, the coordinate system data designating a manual-mode coordinate system used for describing an orientation of the end-effector; a coordinate system setting section for setting the manual-mode coordinate system at a spatial position corresponding to an input position on the screen of the display section, based on the coordinate system data input through the first input section; a second input section for an input of orientation data using the manual-mode coordinate system set through the coordinate system setting section, the orientation data instructing the orientation of the end-effector; and an orientation adjusting section for adjusting the orientation of the end-effector, based on the orientation data input through the second input section.

5. 发明公开

EP2308657A4 ROBOT AND ITS TEACHING METHOD 有权
标题翻译：机器人及其教学方法
公开(公告)号：EP2308657A4
公开(公告)日：2012-05-09
申请号：EP08778038
申请日：2008-07-10
申请人： KAWASAKI HEAVY IND LTD
发明人： HASHIMOTO YASUHIKO , SHIMOMURA NOBUYASU
IPC分类号： B25J9/22 , G05B19/42 , H01L21/677
CPC分类号： H01L21/68707 , B25J9/1692 , G05B19/401 , G05B2219/39516 , G05B2219/40562 , G05B2219/45032 , G05B2219/45057 , H01L21/67265
摘要： A robot of the invention includes a robot arm (28) having a distal end to which a wrist axis (27) is rotatably provided; arm drive unit (29, 30), each configured to move the robot arm (28); a wrist axis drive unit (31) configured to rotate the wrist axis (27); and a robot control unit (40) configured to control the arm drive unit (29, 30) and wrist axis drive unit (31). The robot control unit (40) is configured to control the arm drive unit (29, 30) to move the distal end of the robot arm (28) to bring a contact member (50) attached to the wrist axis (27) into contact with an instruction target (51), thereby detecting a posture of the robot arm (28) and an angular position of the wrist axis (27) when the wrist axis (27) begins to be angularly displaced due to the contact between the contact member (50) and the instruction target (51), thus determining a position of an instruction point.

6. 发明公开

EP1444072A1 A SYSTEM AND METHOD FOR COMMUNICATION BETWEEN AN INDUSTRIAL ROBOT AND A TPU 有权
标题翻译：系统和方法用于工业机器人和编程手册设备单元之间的通信
公开(公告)号：EP1444072A1
公开(公告)日：2004-08-11
申请号：EP02778162.4
申请日：2002-10-20
申请人： ABB AB
发明人： CARLSON, Erik , JOHANNESSEN, Svein , ENDRESEN, Jan
IPC分类号： B25J13/02 , G05B19/42
CPC分类号： G06F3/016 , B25J13/02 , B25J13/065 , G05B19/427 , G05B2219/33192 , G05B2219/40562
摘要： An industrial robot comprising a manipulator (2), a control unit (3) for controlling the manipulator, a portable operating unit (4) for teaching an manually operating the robot, which operating unit is adapted for communication with the control unit and comprising a operator control means (9).

7. 发明公开

EP1522912A2 Manual-mode operating system for robot 有权
标题翻译： Manuelles SteuerungssystemfürRoboter
公开(公告)号：EP1522912A2
公开(公告)日：2005-04-13
申请号：EP04023913.9
申请日：2004-10-07
申请人： FANUC LTD
发明人： Watanabe, Atsushi , Oumi, Tatsuya Room 12-603
IPC分类号： G05B19/425 , B25J1/00 , G05D3/00
CPC分类号： B25J9/1671 , B25J13/06 , G05B2219/40311 , G05B2219/40562 , G05D3/00
摘要： A manual-mode operating system for a robot provided with an end-effector. The manual-mode operating system includes a display section including a screen for displaying an image of an end-effector; a first input section for an input of coordinate system data on the screen of the display section, displaying the image of the end-effector, the coordinate system data designating a manual-mode coordinate system used for describing an orientation of the end-effector; a coordinate system setting section for setting the manual-mode coordinate system at a spatial position corresponding to an input position on the screen of the display section, based on the coordinate system data input through the first input section; a second input section for an input of orientation data using the manual-mode coordinate system set through the coordinate system setting section, the orientation data instructing the orientation of the end-effector; and an orientation adjusting section for adjusting the orientation of the end-effector, based on the orientation data input through the second input section.
摘要翻译：用于机器人的手动模式操作系统，其具有末端执行器。手动模式操作系统包括显示部分，其包括用于显示末端执行器的图像的屏幕; 第一输入部分，用于在显示部分的屏幕上输入坐标系统数据，显示末端执行器的图像，指定用于描述末端执行器的取向的手动模式坐标系的坐标系统数据; 坐标系设定部，基于通过第一输入部输入的坐标系数据，将手动模式坐标系设定在与显示部的画面上的输入位置对应的空间位置上; 第二输入部分，用于使用通过坐标系设置部分设置的手动模式坐标系输入定向数据，所述定向数据指示末端执行器的方向; 以及基于通过第二输入部输入的取向数据来调整末端执行器的取向的取向调整部。

8. 发明授权

EP0785848B1 CONTROL EQUIPMENT WITH A MOVABLE CONTROL MEMBER 失效
标题翻译：有可移动的控制控制装置
公开(公告)号：EP0785848B1
公开(公告)日：1999-11-17
申请号：EP95933692.6
申请日：1995-09-25
申请人： Fäger, Jan G.
发明人： Fäger, Jan G.
IPC分类号： B25J13/02 , G06K11/18
CPC分类号： G06F3/0482 , B25J9/1656 , G05B2219/35422 , G05B2219/39435 , G05B2219/40002 , G05B2219/40402 , G05B2219/40562 , G05B2219/40613 , G06F3/0346 , G06F3/0421 , Y02P90/265
摘要： A control equipment provided with an operator-actuated control member (1) having a transducer (10, 11) that receives signals which propagate linearly between a plurality of signal sources (M1-M4) and the transducer. The equipment has means (10, CU) sensing the directions from the transducer to the signal sources, which therefrom determines the angles between the sight lines from the transducer to the signal sources and, on the basis of these angles, determines the position of the control member.

9. 发明公开

EP0785848A1 CONTROL EQUIPMENT WITH A MOVABLE CONTROL MEMBER 失效
标题翻译：有可移动的控制控制装置
公开(公告)号：EP0785848A1
公开(公告)日：1997-07-30
申请号：EP95933692.0
申请日：1995-09-25
申请人： Fäger, Jan G.
发明人： Fäger, Jan G.
IPC分类号： B25J13 , B25J9 , G05B19 , G06F3
CPC分类号： G06F3/0482 , B25J9/1656 , G05B2219/35422 , G05B2219/39435 , G05B2219/40002 , G05B2219/40402 , G05B2219/40562 , G05B2219/40613 , G06F3/0346 , G06F3/0421 , Y02P90/265
摘要： A control equipment provided with an operator-actuated control member (1) having a transducer (10, 11) that receives signals which propagate linearly between a plurality of signal sources (M1-M4) and the transducer. The equipment has means (10, CU) sensing the directions from the transducer to the signal sources, which therefrom determines the angles between the sight lines from the transducer to the signal sources and, on the basis of these angles, determines the position of the control member.

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