专利快速检索-快速检索全球专利，免费商用专利数据库-IPRDB

1. 发明专利

JPH11249725A ROBOT CONTROLLER 失效
公开(公告)号：JPH11249725A
公开(公告)日：1999-09-17
申请号：JP6221898
申请日：1998-02-26
申请人： FANUC LTD
发明人： KURAKAKE MITSUO , WATANABE ATSUSHI , HASHIMOTO YOSHIKI , TERADA TOMOYUKI
IPC分类号： B25J9/16 , B25J9/22 , B25J13/02 , G05B19/42 , G05B19/425 , G05B23/02
摘要： PROBLEM TO BE SOLVED: To provide a robot controller provided with a teaching control panel capable of displaying a drawing and a graph. SOLUTION: This teaching control panel is provided with a processor 21, a flash memory 22, a DRAM 23, a communication port 24, a touch panel 27, a graphic controller 28 for controlling a liquid crystal display 29, and a key control circuit 30 for a jog key 31 or the like. The flash memory 22 stores an operation system for supporting a graphic interface which can be composed of only a semiconductor memory. A robot operation program stored in a robot controller 10 is read, graphically changed and displayed. Since the program is displayed as a graph, it can be easily comprehended and editing such as the correction or preparation of the robot operation program is facilitated.

2. 发明专利

JPH0981228A ROBOT TEACHING CONSOLE PANEL AND METHOD FOR UPDATING ROBOT PROGRAM 失效
公开(公告)号：JPH0981228A
公开(公告)日：1997-03-28
申请号：JP24022295
申请日：1995-09-19
申请人： FANUC LTD
发明人： ITO TAKAYUKI , TERADA TOMOYUKI
IPC分类号： B25J9/22 , G05B19/42 , G05B19/425
摘要： PROBLEM TO BE SOLVED: To provide a robot teaching console panel capable of preparing an obstacle evading route by simple operation. SOLUTION: The robot teaching console panel 10 is composed of a program storing means 1 for buffering a robot program 1a stored in a robot control device 60, an obstacle specifying means 2 for specifying an inhibition area regulated by the size and position of an obstacle, an evading route generating means 3 for generating an obstacle evading route from a teaching point in the robot program 1a and the inhibition area, and a graphic display means 5 for displaying the teaching point, the obstacle and the obstacle evading route and teaches the position of the obstacle as an instruction for generating the obstacle evading route without teaching the evading route itself. The teaching point displayed on the means 5 is specified as the specification of the teaching point and the position of the obstacle is teached by moving a robot up to the obstacle.

3. 发明专利

JPH07121222A AUTOMATIC GENERATING METHOD FOR DEBURRING PROGRAM USING FIXED TOOL 失效
公开(公告)号：JPH07121222A
公开(公告)日：1995-05-12
申请号：JP28973993
申请日：1993-10-27
申请人： FANUC LTD
发明人： TERADA TOMOYUKI , NAGATSUKA YOSHIHARU
IPC分类号： B23Q15/00 , B23D79/00 , B23Q15/14 , B24B9/00 , B25J9/22 , G05B19/4093 , G05B19/42
摘要： PURPOSE:To provide the automatic generating method for the deburring operation program using the fixed tool. CONSTITUTION:On an off-line system, a bur G which extends in the direction of a vector (g) is formed along the ridge PsPe of a work W gripped by a robot. In the figure, O is the origin of a reference coordinate system integral 0, TCP is a tool tip point set on the work W, and K is a machining point on the machined surface (normal vector (h)) of the fixed tool. Then A = B*invT is calculated by using a matrix A showing the position and attitude of TCP viewed from SIGMA0, a matrix B showing the position and attitude of the fixed tool viewed from TCP at the bur pint, and a matrix T showing the position and attitude of the work W at the bur point from TCP to determine the position and attitude of the robot. The attitude of the robot is determined so that the attitude expression part of the matrix T is held constant between Ps and Pe or smoothly varies between Ps and Pe. When the path is curved, polygonal approximation is performed between Ps and Pe according to smoothness precision Ac, and the matrix A is calculated at each division point in each short section to determine the position and attitude of the robot sequentially, thereby generating the operation program based upon them.

4. 发明专利

JPH07112346A METHOD OF PREPARING OPERATION PROGRAM FOR DEBURRING WORK CONDUCTED BY ROBOT 失效
公开(公告)号：JPH07112346A
公开(公告)日：1995-05-02
申请号：JP28212993
申请日：1993-10-18
申请人： FANUC LTD
发明人： TERADA TOMOYUKI , NAGATSUKA YOSHIHARU
IPC分类号： B23Q15/00 , B24B9/00 , B25J9/10 , B25J9/22 , G05B19/4093
摘要： PURPOSE:To prepare a robot operation program Mere an efficient order of deburring work is designated. CONSTITUTION:The lengths of routes are evaluated for designating an order of deburring work for burrs distributed in a work space R on an off-line programming device. Considering a computation burden, computation levels n1, n2... are designated as appropriate according to the magnitude of the total nor of burrs (f). Through the level n1 computation, an order of deburring work for the first to the n1th burrs is determined, and then, through the level n2 computation, an order of deburring work for the n1+1th to the n1+n2th burrs is determined. The same process is repeated until no burrs with their processing order undetermined have been left. Position data and the like used herein include mounting table positions G1, G2, approach points G1a, G2a and escape points G1d, G2d for respective tools grain1, grain2, and end points Vja, Vjb, approach points Qjaa, Qjba and escape points Qjad, Qjbd for V1, V2... Vf. Once a deburring order for all the burrs has been designated, an operation program is prepared based thereon.

5. 发明专利

JPH05204428A PLURAL ROBOT CONTROL SYSTEM 失效
公开(公告)号：JPH05204428A
公开(公告)日：1993-08-13
申请号：JP3581692
申请日：1992-01-28
申请人： FANUC LTD
发明人： TERADA TOMOYUKI , WATANABE ATSUSHI
IPC分类号： B25J13/00 , B25J9/16 , B25J9/18 , B25J19/06 , G05B19/18 , G05B19/19 , G05B19/4155
摘要： PURPOSE:To provide the control system of plural robots in which an operational program can be freely taught to each robot without predicting an interruption area, and the interruption can not be generated. CONSTITUTION:An operational occupancy area necessary for the execution of a command is searched for each command (YAmax, YAmin). When the interference with an occupancy area(YBmax, YBmin) stored by the other robot B at that time is not generated, the operation of the operational command is executed. When the pertinent interference is generated, a waiting is operated until the occupancy area of the other robot B is changed, and the interference is not generated. At the time of the completion of the execution, the occupancy area is stored according to the position of the robot at that time. The occupancy area is decided by the surface of a sphere including the wrist and hand H of the robot. Each robot executes the processing operation. It is not necessary to predict the occupancy area, and it is possible to freely teach the operational program to each robot.

6. 发明专利

JPH03161792A THREE-DIMENSIONAL CURSOR AND OFFLINE PROGRAMMING SYSTEM USING THIS CURSOR 失效
公开(公告)号：JPH03161792A
公开(公告)日：1991-07-11
申请号：JP30162689
申请日：1989-11-20
申请人： FANUC LTD
发明人： SUGIMURA HIROSHI , TERADA TOMOYUKI , NAGATSUKA YOSHIHARU
IPC分类号： B25J9/16 , G06F3/033 , G06F3/048 , G09G5/08
摘要： PURPOSE:To allow the visual setting and checking of the disposition and position of an object on a three-dimensional space or the position, posture, etc., of a robot tool by displaying the three segments intersecting orthogonally with each other on the three-dimensional space as three segment cursors on a display screen and allowing the movement of the three segment cursors on the three- dimensional space. CONSTITUTION:The three segments intersecting orthogonally with each other on the three-dimensional space are displayed as the three segment cursors X, Y, Z on the display screen 1 and the three segment cursors X, Y, Z are so formed that these cursors can be moved on the three-dimensional space. The position of the three-dimensional space can, therefore, be assigned on the display screen displayed with a two-dimensional plane. The visual setting and checking of the disposition and position of the object on the three-dimensional space or the position of the object on the three-dimensional space or the position, posture, etc., of the robot tool are possible in this way.

7. 发明专利

JPS6410116A MEASUREMENT SYSTEM FOR BODY POSITION CORRESPONDING TO PICTURE ELEMENT 失效
公开(公告)号：JPS6410116A
公开(公告)日：1989-01-13
申请号：JP16553287
申请日：1987-07-03
申请人： FANUC LTD
发明人： TERADA TOMOYUKI
IPC分类号： G01B11/24 , G01C3/00 , G01C3/06 , G02B7/32 , G03B3/00 , G03B13/36 , G03B37/02 , G06T1/00
摘要： PURPOSE:To easily measure distances by a small number of scans by finding distances by picture elements from image data obtained by scanning an optical scanner and a camera synchronously by the number of digits of a digital code in a divided area. CONSTITUTION:Areas L1-L7 are classified by adding Gray codes. In respective scans, the optical scanner 1 projects slit light beams S1(t)-S7(t) according to the patterns of respective digits of the Gray codes of the respective areas L1-L7 to make scans as many times as identification digits of the Gray codes. The presence area of a body corresponding to picture elements is specified by the picture elements by using three image data obtained as mentioned above to discriminate the distance from the camera 2.

8. 发明专利

JPH0976182A ROBOT TEACHING CONTROL PANEL 失效
公开(公告)号：JPH0976182A
公开(公告)日：1997-03-25
申请号：JP23846895
申请日：1995-09-18
申请人： FANUC LTD
发明人： ITO TAKAYUKI , TERADA TOMOYUKI , SAKAMOTO SHINSUKE
IPC分类号： B25J9/22 , B25J19/06 , G05B19/42
摘要： PROBLEM TO BE SOLVED: To provide a robot teaching control panel capable of displaying a cause of an alarm, restoration procedure, etc., on a graphic display screen. SOLUTION: Information of an alarm, cause, restoration procedure, etc., is memorized in an alarm processing data memory means 1. An alarm display data forming means 2 forms an alarm display data to inform an operator of alarm occurrence. An investigation item data forming means 3 forms an investigation item data of alarm classification. An alarm factor investigation means 4 investigates an inside state of a robot control device 60. An investigation data input means 5 inputs an investigation data by an operator. An alarm cause judgement means 6 judges a final alarm cause. A restoration procedure data forming means 7 forms a restriction procedure data against the alarm cause. Owing to such constitution, it is possible to easily study the alarm cause and to carry out restoration work at an early stage.

9. 发明专利

JPH08287291A IMAGE DISPLAY SYSTEM 失效
公开(公告)号：JPH08287291A
公开(公告)日：1996-11-01
申请号：JP8792195
申请日：1995-04-13
申请人： FANUC LTD
发明人： TERADA TOMOYUKI , KATOU MORITAKE
IPC分类号： G01C19/00 , G06T3/60 , G06T17/00
摘要： PURPOSE: To display a projection image on a screen at a desired angle with easy operability as to the image display system which displays three-dimensional image data corresponding to the position of a viewpoint. CONSTITUTION: A display device 6 is able to rotate and move at least in three dimensions. This display device 6 is provided with a gyro sensor 7 which detects the angles α, β, and γ of the three-dimensional directions of the display device 6. A matrix arithmetic means 1 calculates rotational matrixes around the respective axes according to the angles α, β, and γof rotation of the three-dimensional directions that the gyro sensor 7 detects. A viewpoint position arithmetic means 2 calculates a viewpoint position after movement on the basis of the calculated rotational matrixes. An image data generating means 3 generates image data viewed from the viewpoint after the movement on the basis of the calculated viewpoint position after the movement and original image data 4a stored in an original image storage means 4. Then a display control means 5 displays the generated image data 8 on the screen 6a of the display device 6.

10. 发明专利

JPH07302110A PRODUCTION OF ROBOT OPERATION PROGRAM 失效
公开(公告)号：JPH07302110A
公开(公告)日：1995-11-14
申请号：JP11739094
申请日：1994-05-09
申请人： FANUC LTD
发明人： TERADA TOMOYUKI , NAGATSUKA YOSHIHARU
IPC分类号： B25J9/10 , B25J9/22 , G05B19/4093 , G05B19/4103 , G05B19/42
摘要： PURPOSE:To extremely improve the coincidence between the track of a robot and its target one in a non-positioning control state. CONSTITUTION:The dividing points Ai are decided to divide a target robot track Qd (t) into many minute sections, and a teaching point generation intervenient point Bj is extracted out of these points Ai in response to the curvature. Each point Bj is extacted under the condition that the space between these points does not exceed a teaching point non-setting allowable section length index Lmax and every time the directional change of tangent vector exceeds a teaching point setting density index N at each of points Ai. Then a teaching point Pj is set at a position that is decided when the point BJ is shifted toward the center of the curvature according to the curvature of the track Qd (t) at the position of the point BJ. Then an interpolation system, a moving speed and a positioning rate are designated and a robot operation program is produced for execution of a trial reproduction operation. Meanwhile an actual robot track Qo (t) is recorded and the difference between both tracks Qo (t) and Qd (t) is evaluated. Then the trial operation is repeated while the parameter is changed to decide a shift extent toward the center of the curvature until the satisfactory result of evaluation is obtained.

你已经成功收藏专利！

检索式保存成功!

IPRDB

热门服务

关于我们

友情链接

联系方式