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1. 发明专利

JP2011000652A Wireless teaching operation panel and robot control system 有权
标题翻译：无线教学操作面板和机器人控制系统
公开(公告)号：JP2011000652A
公开(公告)日：2011-01-06
申请号：JP2009143505
申请日：2009-06-16
申请人： Fanuc Ltd , ファナック株式会社
发明人： HASHIMOTO YOSHIKI , OYA TOMOKI , MOMOTANI HISASHI , TODA SHUNTARO
IPC分类号： B25J9/22 , B25J19/00 , B25J19/06 , G05B19/18 , G05B19/42
摘要： PROBLEM TO BE SOLVED: To easily recognize whether an emergent stop function of a teaching operation panel is valid or invalid.SOLUTION: Communication is carried out between the portable teaching operation panel 20 and a robot controller through a wireless communication means to control a robot in accordance with a command from the teaching operation panel. The teaching operation panel 20 includes a teaching operation panel body 30 and an emergent stop input part 31 to which an emergent stop command to the robot detachably attached to the teaching operation panel 20 is input. In a state that the emergent stop input part 31 is detached, an emergent stop circuit 35 is constantly opened. In this state, the emergent stop function by an operation of the emergent stop input part 31 is invalidated to constantly output an emergent stop signal. Thus, an operator can easily decide whether the emergent stop function of the teaching operation panel 20 is valid or invalid in accordance with the attachment or detachment of the emergent stop input part 31. The attachment of the emergent stop input part 31 is detected by an attachment and detachment detecting part 26. Only when the emergent stop input part 31 is detached, wireless communication can be interrupted.
摘要翻译：要解决的问题：为了容易地识别教学操作面板的紧急停止功能是有效还是无效。解决方案：通过无线通信装置在便携式教学操作面板20和机器人控制器之间进行通信，以控制机器人按照教学操作面板的命令。教学操作面板20包括教导操作面板主体30和紧急停止输入部件31，其中输入了可拆卸地安装在教学操作面板20上的机器人的紧急停止命令。在紧急停止输入部31分离的状态下，紧急停止电路35不断地打开。在该状态下，通过紧急停止输入部31的动作的紧急停止功能无效，不断输出紧急停止信号。因此，操作者可以根据紧急停止输入部31的安装或拆卸，容易地判定教学操作面板20的紧急停止功能是有效还是无效。紧急停止输入部31的安装由附接和拆卸检测部26.只有当紧急停止输入部31分离时，可以中断无线通信。

2. 发明专利

JP2010284781A Robot system with robot abnormality monitoring function 有权
标题翻译：机器人系统与机器人异常监控功能
公开(公告)号：JP2010284781A
公开(公告)日：2010-12-24
申请号：JP2009142756
申请日：2009-06-15
申请人： Fanuc Ltd , ファナック株式会社
发明人： HASHIMOTO YOSHIKI , OYA TOMOKI , MATSUDAIRA TETSUO
IPC分类号： B25J19/06
CPC分类号： B25J9/1674 , B25J9/1697 , G05B2219/37189 , G05B2219/37546
摘要： PROBLEM TO BE SOLVED: To provide a robot system with an abnormality monitoring function capable of detecting abnormality of an encoder which can not be conventionally detected.
SOLUTION: A robot control device 14 of the robot system has a motor control section 36 for controlling first to third servo motors 22, 24, and 26, an image processing section 38 for processing an image attained by a visual sensor 34, a comparison section or a comparator 40 for making comparison between a first measured value attained by using the visual sensor and a second measured value attained by using the encoder, and an alarm output section 42 for outputting an alarm on the basis of processed results of the comparison section 40.
COPYRIGHT: (C)2011,JPO&INPIT
摘要翻译：要解决的问题：为机器人系统提供能够检测不能常规检测的编码器的异常的异常监视功能。解决方案：机器人系统的机器人控制装置14具有用于控制第一至第三伺服电动机22,24和26的电动机控制部36，用于处理由视觉传感器34获得的图像的图像处理部38，比较部分或比较器40，用于比较通过使用视觉传感器获得的第一测量值和通过使用编码器获得的第二测量值;以及报警输出部分42，用于基于处理结果输出报警比较部分40.版权所有（C）2011，JPO＆INPIT

3. 发明专利

JP2010131705A Robot system having a plurality of robot mechanism parts 有权
标题翻译：具有机器人机器人多样性的机器人系统
公开(公告)号：JP2010131705A
公开(公告)日：2010-06-17
申请号：JP2008309987
申请日：2008-12-04
申请人： Fanuc Ltd , ファナック株式会社
发明人： HASHIMOTO YOSHIKI , OYA TOMOKI , SERA TAKEHISA , TODA SHUNTARO
IPC分类号： B25J9/22 , G05B19/418
CPC分类号： B25J13/06 , B25J9/0084 , B25J9/1682 , B25J9/1689 , G05B19/409 , G05B2219/39439 , G05B2219/39448 , G05B2219/40097 , G05B2219/40099
摘要： PROBLEM TO BE SOLVED: To provide a robot system having a shared teaching operation panel for a plurality of robot mechanism parts which enables the operator to be easily perform an operation for setting a desired robot mechanism as an object to be operated. SOLUTION: The robot mechanism parts 10a, 10b includes respective identification information display parts 11a, 11b on which the identification information for identifying the robot mechanism parts from the others is displayed so as to be visually recognized. The robot system includes: a camera 40 for taking the images of the identification information display parts 11a, 11b of the robot mechanism parts 10a, 10b to be operated by the operator; an identification information recognizing means 21 for recognizing the identification information from the taken images; and a comparison means 23 for comparing the registration identification information stored in a registration identification information storage means 22 with the recognized identification information. A robot control device 20 recognizes one robot mechanism part selected from among the plurality of robot mechanism parts 11a, 11b based on the results of the comparison by the comparison means 23. COPYRIGHT: (C)2010,JPO&INPIT
摘要翻译：要解决的问题：提供一种具有用于多个机器人机构部件的共用教学操作面板的机器人系统，其使得操作者能够容易地执行用于设置作为要操作的对象的期望的机器人机构的操作。机器人机构部分10a，10b包括各自的识别信息显示部分11a，11b，其上显示用于识别其他机器人机构部件的识别信息，以便被视觉识别。机器人系统包括：摄像机40，用于拍摄由操作者操作的机器人机构部分10a，10b的识别信息显示部分11a，11b的图像; 识别信息识别装置21，用于从拍摄图像中识别识别信息; 以及用于将存储在登记识别信息存储装置22中的登记识别信息与识别的识别信息进行比较的比较装置23。基于比较装置23的比较结果，机器人控制装置20识别从多个机器人机构部11a，11b中选出的一个机械手机构部。识别：（C）2010，JPO＆INPIT

4. 发明专利

JP2010023183A Self-traveling robot control system 有权
标题翻译：自行车机器人控制系统
公开(公告)号：JP2010023183A
公开(公告)日：2010-02-04
申请号：JP2008187627
申请日：2008-07-18
申请人： Fanuc Ltd , ファナック株式会社
发明人： HASHIMOTO YOSHIKI , OYA TOMOKI , MATSUDAIRA TETSUO
IPC分类号： B25J19/06 , B25J19/00
摘要： PROBLEM TO BE SOLVED: To provide a self-traveling robot control system for a self-traveling robot ensuring safety without always making cable connection. SOLUTION: The self-traveling robot control system 1,000 has a first area 430 allowing trespass of human being and a second area 440 not allowing trespass of human being, and is provided with a self-traveling robot 100; an instruction device 200 capable of giving forced control instruction for forcedly controlling action of the self-traveling robot 100 to the self-traveling robot 100 by cable connection when the self-traveling robot 100 is present at the first area 430; and a connection mechanism 270 for automatically establishing the cable connection of the self-traveling robot 100 and the instruction device 200 when the self-traveling robot 100 is moved from the second area 440 to the first area 430 and automatically disconnecting the cable connection of the self-traveling robot 100 and the instruction device 200 when the self-traveling robot 100 is moved from the first area 430 to the second area 440. COPYRIGHT: (C)2010,JPO&INPIT
摘要翻译：要解决的问题：为自行车机器人提供自行车机器人控制系统，确保安全，而不必总是进行电缆连接。解决方案：自行车机器人控制系统1000具有允许人的侵入的第一区域430和不允许人的侵入的第二区域440，并且设置有自行车机器人100; 当自行车机器人100存在于第一区域430时，指示装置200能够通过电缆连接向自行车机器人100强制控制动作的强制控制指令; 以及连接机构270，用于当自行车机器人100从第二区域440移动到第一区域430时自动建立自行车机器人100和指示装置200的电缆连接，并自动断开自行车机器人100和自行车机器人100从第一区域430移动到第二区域440时的指示装置200.（C）2010，JPO＆INPIT

5. 发明专利

JP2008218597A Controller with built-in controlling electronic apparatus 审中-公开
标题翻译：控制器内置控制电子设备
公开(公告)号：JP2008218597A
公开(公告)日：2008-09-18
申请号：JP2007052245
申请日：2007-03-02
申请人： Fanuc Ltd , ファナック株式会社
发明人： HASHIMOTO YOSHIKI , OYA TOMOKI , KONDO HIROSHI , MATSUDAIRA TETSUO
IPC分类号： H05K7/14 , G05B11/36
摘要： PROBLEM TO BE SOLVED: To easily carry out the maintenance or the replacement of a controlling electronic apparatus by accessing the controlling electronic apparatus in a cabinet from a surface other than the front face thereof, e.g., from the back face.
SOLUTION: This controller (10) including the cabinet (15) equipped with a door capable of opening and closing at the front face (11) thereof comprises a mounting means (20) removably mounted at the periphery of an opening (13) formed at the surface other than the front face of the cabinet from the outside of the cabinet, and the controlling electronic apparatus (30) removably mounted the mounting surface (21) of the mounting means located inside the cabinet and having a cross-section smaller than the opening. The mounting means may be mounted at the periphery of the opening by a hinge so that it can be opened toward the outside of the cabinet.
COPYRIGHT: (C)2008,JPO&INPIT
摘要翻译：要解决的问题：通过例如从背面从其正面以外的表面访问机柜中的控制电子设备，可以容易地进行控制电子设备的维护或更换。解决方案：该控制器（10）包括装备有能够在其正面（11）处打开和关闭的门的机柜（15），其具有可移除地安装在开口（13）的周边的安装装置（20））从机壳的外部在机壳的前表面以外的表面形成，并且控制电子设备（30）可移除地安装位于机柜内部的安装装置的安装表面（21），并且具有横截面比开口小。安装装置可以通过铰链安装在开口的周边处，使得其可以朝向机柜的外部打开。版权所有（C）2008，JPO＆INPIT

6. 发明专利

JP2007233605A Control panel with flexible display 有权
标题翻译：带柔性显示屏的控制面板
公开(公告)号：JP2007233605A
公开(公告)日：2007-09-13
申请号：JP2006053273
申请日：2006-02-28
申请人： Fanuc Ltd , ファナック株式会社
发明人： HASHIMOTO YOSHIKI , OYA TOMOKI , MORITA SATORU , MATSUDAIRA TETSUO
IPC分类号： G05B19/409 , B25J9/22 , B25J13/06
CPC分类号： H01H9/0214 , H01H2217/022 , H04M1/0268
摘要： PROBLEM TO BE SOLVED: To provide a control panel which can be further miniaturized while maintaining operation key and display functions equivalent to conventional ones.
SOLUTION: The control panel 10 comprises a flexible display 12, a plurality of operation keys 14 and a storage part 16 capable of storing the flexible display 12 in a rolled state. The flexible display 12 can be pulled out of the storage part 16 to a second position covering a third operation key 14c in a second operation mode not using the third operation key 14c for further extending an image display area.
COPYRIGHT: (C)2007,JPO&INPIT
摘要翻译：要解决的问题：提供一种可以进一步小型化的控制面板，同时保持与常规操作相同的操作键和显示功能。解决方案：控制面板10包括柔性显示器12，多个操作键14和能够将柔性显示器12存储在滚动状态的存储部分16。柔性显示器12可以在不使用第三操作键14c的第二操作模式中从存储部分16拉出到覆盖第三操作键14c的第二位置，用于进一步延伸图像显示区域。版权所有（C）2007，JPO＆INPIT

7. 发明专利

JP2010167523A Robot system including electric supply adjusting device 有权
标题翻译：机电系统，包括电源调节装置
公开(公告)号：JP2010167523A
公开(公告)日：2010-08-05
申请号：JP2009011293
申请日：2009-01-21
申请人： Fanuc Ltd , ファナック株式会社
发明人： HASHIMOTO YOSHIKI , OYA TOMOKI , MATSUDAIRA TETSUO
IPC分类号： B25J19/06
摘要： PROBLEM TO BE SOLVED: To provide a robot system structured to prevent harm to a human independently of a safety structure of a controller when the human not gripping a state signal switch or the like works concurrently in collaboration with an industrial robot in a region where the industrial robot works.
SOLUTION: An electric supply adjusting device 18 has at least a function of varying a current amount to a robot controller 14 and adjusts the current amount to the controller 14 by a changeover switch or the like as soon as it detects that the human 20 enters a robot working region 22.
COPYRIGHT: (C)2010,JPO&INPIT
摘要翻译：要解决的问题：提供一种机器人系统，其被构造为当人类不夹持状态信号开关等与工业机器人协同工作时，不依赖于控制器的安全结构而对人造成伤害工业机器人工作的地区。解决方案：电源调节装置18至少具有改变机器人控制器14的电流量的功能，并且一旦检测到人类就会通过转换开关等来调整到控制器14的电流量 20进入机器人工作区域22.版权所有（C）2010，JPO＆INPIT

8. 发明专利

JP2007058736A Robot cooperative control method and system 有权
标题翻译：机器人协同控制方法与系统
公开(公告)号：JP2007058736A
公开(公告)日：2007-03-08
申请号：JP2005245692
申请日：2005-08-26
申请人： Fanuc Ltd , ファナック株式会社
发明人： HASHIMOTO YOSHIKI , OYA TOMOKI
IPC分类号： G05B19/18 , B25J9/10
CPC分类号： H04J3/0667 , B25J9/1682
摘要： PROBLEM TO BE SOLVED: To improve the cooperation accuracy of operations of a plurality of robots by simultaneously generating an operation basic periodic signal in each robot control device.
SOLUTION: A reference signal is transmitted from one of a plurality of robot control devices mutually connected by a communication connection means to the other robot control device, and based on the time from generation of the operation basic periodic signal to transmission of the reference signal in the one of the plurality of robot control devices, the time from generation of the operation basic periodic signal to receipt of the reference signal in the other robot control device, and a communication delay time required for communication between the one of the plurality of robot control device and the other robot control device, the generation timing of operation basic periodic signal in the other robot control device is matched with the generation timing of operation basic periodic signal in the one of the plurality of robot control devices.
COPYRIGHT: (C)2007,JPO&INPIT
摘要翻译：要解决的问题：通过在每个机器人控制装置中同时产生操作基本周期信号来提高多个机器人的操作的协作精度。解决方案：通过通信连接装置相互连接的多个机器人控制装置之一向另一个机器人控制装置发送参考信号，并且基于从生成操作基本周期信号到发送的时间所述多个机器人控制装置中的一个机器人控制装置中的参考信号，从所述操作基本周期信号的生成到所述其他机器人控制装置中的所述参考信号的接收的时间，以及所述多个机器人控制装置中的一个之间的通信所需的通信延迟时间机器人控制装置和其他机器人控制装置中，另一机器人控制装置中的操作基本周期信号的产生定时与多个机器人控制装置之一中的操作基本周期信号的产生定时相匹配。版权所有（C）2007，JPO＆INPIT

9. 发明专利

JP2006107050A Cooperative operation controller for a plurality of robots 审中-公开
标题翻译：多人机器人的合作操作控制器
公开(公告)号：JP2006107050A
公开(公告)日：2006-04-20
申请号：JP2004291695
申请日：2004-10-04
申请人： Fanuc Ltd , ファナック株式会社
发明人： HASHIMOTO YOSHIKI , KUBO YOSHIYUKI , OYA TOMOKI
IPC分类号： G05B19/18 , B25J13/00 , G05B19/414
摘要： PROBLEM TO BE SOLVED: To improve accuracy of cooperative operation in cooperative operation control of a plurality of robots by bringing generation timing of a basic period signal in a control part of each the robot into line to do away with a time lag.
SOLUTION: In a system wherein the control parts of the plurality of robots are connected by a communication means to allow the cooperative operation of each the robot, a reset signal is transmitted to the control part of each the robot from the control part of one robot (100, 101), generation of the basic period signal of a basic period signal generation means inside each the robot control part is stopped by the reset signal, and the basic period signal is immediately thereafter generated (103, 104), so that the generation timing of the basic period signal in each the robot control part is brought into line. The accuracy of the cooperative operation by each the robot is improved. A time difference of a timepiece means provided in each the robot control part is corrected, and the basic period signal generation means of each the robot control part is reset and restarted in the same time to do away with the time lag of the basic period signal.
COPYRIGHT: (C)2006,JPO&NCIPI
摘要翻译：要解决的问题：通过使每个机器人的控制部分中的基本周期信号的生成定时成为一个时间滞后，来提高多个机器人的协同操作控制中的协作操作的精度。解决方案：在通过通信装置连接多个机器人的控制部分以允许每个机器人的协作操作的系统中，将复位信号从控制部分发送到每个机器人的控制部分一个机器人（100,101）中的每一个机器人控制部分内的基本周期信号产生装置的基本周期信号的产生被复位信号停止，然后立即生成基本周期信号（103,104），使得每个机器人控制部分中的基本周期信号的产生定时被并入。提高了每个机器人协同操作的精度。校正每个机器人控制部分中设置的时钟装置的时差，并且每个机器人控制部分的基本周期信号产生装置在同一时间被重置和重新启动，以消除基本周期信号的时滞。版权所有（C）2006，JPO＆NCIPI

10. 发明专利

JP2006341356A ROBOT CONTROLLER 审中-公开
公开(公告)号：JP2006341356A
公开(公告)日：2006-12-21
申请号：JP2005171091
申请日：2005-06-10
申请人： FANUC LTD
发明人： HASHIMOTO YOSHIKI , OYA TOMOKI , MORITA SATORU
IPC分类号： B25J13/06 , B25J13/02 , G05B19/42
摘要： PROBLEM TO BE SOLVED: To provide a robot controller for preventing a robot from emergency-stopping due to an insufficient charge amount of a secondary battery of a portable operation unit during automatic operation of the robot. SOLUTION: The robot controller 10 includes: the portable operation unit 60 activated by the secondary battery 82; a robot control unit 20 communicating with the operation unit 60 and including a means for emergency-stopping the robot 1 when the communication with the unit 60 is lost; a charging circuit 84 for charging the secondary battery 82; and a cable 88 for electrically connecting the charging circuit 84 with the robot control unit 20 during the automatic operation of the robot. COPYRIGHT: (C)2007,JPO&INPIT

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