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1. 发明专利

JP5123127B2 The image processing device for determining the position of the workpiece 有权
公开(公告)号：JP5123127B2
公开(公告)日：2013-01-16
申请号：JP2008248730
申请日：2008-09-26
申请人：ファナック株式会社
发明人：一訓伴 , 一郎管野 , 俊之安藤
IPC分类号： G01B11/00 , G01B11/26 , G06T1/00

2. 发明专利

JP5113623B2 Robot control apparatus for performing position teaching of the robot by using a measuring device 有权
公开(公告)号：JP5113623B2
公开(公告)日：2013-01-09
申请号：JP2008132165
申请日：2008-05-20
申请人：ファナック株式会社
发明人：一訓伴 , 克俊滝澤 , 愼山田
IPC分类号： B25J9/22 , B25J13/08

3. 发明专利

JP4763074B2 Measuring device and a method of measuring the position of the tool center point of the robot 有权
公开(公告)号：JP4763074B2
公开(公告)日：2011-08-31
申请号：JP2009180757
申请日：2009-08-03
申请人：ファナック株式会社
发明人：一訓伴 , 崗沈 , 克俊滝澤
IPC分类号： B25J9/10 , G05B19/404
CPC分类号： B25J9/1692 , B25J9/1697 , Y10S901/47

4. 发明专利

JP4220920B2 Visual sensor 有权
公开(公告)号：JP4220920B2
公开(公告)日：2009-02-04
申请号：JP2004064124
申请日：2004-03-08
申请人：ファナック株式会社
发明人：一訓伴 , 淳渡邉 , 一郎管野
IPC分类号： G06T1/00 , B25J9/10 , B25J9/16
CPC分类号： B25J9/1697 , G05B19/401 , G05B2219/37555 , G05B2219/40564
摘要： A measuring system for easily detecting Misjudged Detection (M/D). A camera for measurement attached to a robot is used to obtain an image for measurement of a workpiece so as to measure and detect a set point. Next, a camera for validation is used to obtain an image for validation of the workpiece so as to measure and detect the set point. One camera may capture both of the images for measurement and validation, by utilizing movement of the robot. It is judged whether the measured results obtained from the images represent the same point on the workpiece or not. If yes, the measured results are judged to be valid, otherwise, the measured results are judged to be invalid and an exception process, such as a retrial, is executed. The images by the camera may also be used for judging a moving path of the robot during measurement of a large object.

5. 发明专利

JP4098761B2 Finishing method 有权
公开(公告)号：JP4098761B2
公开(公告)日：2008-06-11
申请号：JP2004237476
申请日：2004-08-17
申请人：ファナック株式会社
发明人：一訓伴 , 貴之佐藤 , 心畑中
IPC分类号： G05B19/4097 , B23Q15/00 , B23Q33/00 , B24B27/00 , B25J9/10
CPC分类号： G05B19/4163 , Y02P90/265 , Y10T409/30084 , Y10T409/301792 , Y10T409/303472 , Y10T409/304256

6. 发明专利

JP3623599B2 6-axis force sensor using a shear strain gauge 失效
公开(公告)号：JP3623599B2
公开(公告)日：2005-02-23
申请号：JP15637996
申请日：1996-05-29
申请人：ファナック株式会社
发明人：一訓伴 , 龍一原
IPC分类号： G01L1/22 , G01L5/16

7. 发明专利

JP5345869B2 Production system using a parts kit 有权
公开(公告)号：JP5345869B2
公开(公告)日：2013-11-20
申请号：JP2009034142
申请日：2009-02-17
申请人：ファナック株式会社
发明人：亮二瓶 , 伸介榊原 , 一訓伴 , 昌宏森岡 , 悟志足立 , 象太滝澤
IPC分类号： B23P21/00 , B25J13/08
摘要： PROBLEM TO BE SOLVED: To improve reliability of formation of a part kit composed of parts required for production. SOLUTION: A production system has a parts storage section for housing a plurality of parts and a robot taking out and collecting a plurality of parts required for production of products from the parts storage section to form a part kit. The production system is provided with: storage means of storing part reference images 51 which are images of respective types of parts photographed in advance and part kit components information 52 which are information of parts to be included in the part kit for respective products; photographing means 6 of photographing the part kit actually formed by the robot; part identification means 42a of comparing the images of the part kit photographed by the photographing means with the part reference images 51 and identifying the types and number of parts actually included in the part kit; and check means 43 of comparing the types and number of parts identified by the part identification means with the part kit components information 52 and checking that required parts are included in the part kit in just proportion. COPYRIGHT: (C)2010,JPO&INPIT

8. 发明专利

JP4837116B2 Robot system equipped with a visual sensor 有权
公开(公告)号：JP4837116B2
公开(公告)日：2011-12-14
申请号：JP2010091363
申请日：2010-04-12
申请人：ファナック株式会社
发明人：勇太並木 , 一訓伴 , 愼山田 , 文和藁科
IPC分类号： B25J13/08
CPC分类号： B25J9/1697

9. 发明专利

JP4819957B1 Position information restoring apparatus and position information restoring method of robot 有权
公开(公告)号：JP4819957B1
公开(公告)日：2011-11-24
申请号：JP2010126148
申请日：2010-06-01
申请人：ファナック株式会社
发明人：一訓伴 , 恭平小窪 , 崗沈
IPC分类号： B25J9/10
CPC分类号： B25J9/1692 , B25J9/101
摘要：【課題】モータ交換等により無効となったセンサ信号による位置情報を容易に有効化する。
【解決手段】モータ駆動により支持部材３１に対して回動可能な可動部材３２を有するロボット１において、支持部材３１と可動部材３２との位置関係を表す視覚マーク３０を設け、モータ交換の前後において、それぞれカメラ４により視覚マーク３０を撮影するとともに、カメラ４からの画像信号に基づいてモータ交換の前後の視覚マーク３０の位置関係が同一の位置関係となるようにサーボモータＭを制御する。これらモータ制御後のセンサ信号に対応した軸角度θref-n，θref-n'に基づいて、モータ交換後のセンサ信号による軸角度θｎを補正する。
【選択図】図９

10. 发明专利

JP4708464B2 Work gripping device 有权
公开(公告)号：JP4708464B2
公开(公告)日：2011-06-22
申请号：JP2008254508
申请日：2008-09-30
申请人：ファナック株式会社
发明人：一訓伴 , 象太滝澤 , 文和藁科
IPC分类号： B25J15/00 , B25J15/06 , B25J15/08
CPC分类号： B25J15/0616 , B25J15/0266

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