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1. 发明授权

US4553077A Industrial robot 失效
标题翻译：工业机器人
公开(公告)号：US4553077A
公开(公告)日：1985-11-12
申请号：US508976
申请日：1983-06-29
申请人： Hakan Brantmark , Johan Ennerfelt
发明人： Hakan Brantmark , Johan Ennerfelt
IPC分类号： B25J9/16 , B25J9/18 , B25J9/22 , G05B19/18 , G05B19/427 , G05B19/00
CPC分类号： G05B19/427 , G05B2219/35262 , G05B2219/35438 , G05B2219/36495 , G05B2219/36497 , G05B2219/36498 , G05B2219/45135
摘要： An industrial robot has a control system with a program memory. During programming, the robot is manually controlled to a sequence of desired positions. At each position, an operating member may be activated to store into the program memory an instruction containing both information about the robot position and information about robot operation at that position.Suitably information about robot operation is entered in the form of identification of a sub-program containing a set or sequence of control signals which have been stored in advance. The sub-program is suitably identified by a number fetched from a buffer memory. For each of the instructions, during the execution of the main program, on the one hand the positioning of the robot is executed and, on the other hand, the sub-program is called and executed.
摘要翻译：工业机器人具有带有程序存储器的控制系统。在编程期间，机器人手动控制到所需位置的顺序。在每个位置，可以激活操作构件以在程序存储器中存储包含关于机器人位置的信息和关于在该位置处的机器人操作的信息的指令。适当地关于机器人操作的信息以包含已经预先存储的一组或多个控制信号的子程序的识别的形式输入。子程序由从缓冲存储器取出的数字适当地标识。对于每个指令，在执行主程序期间，一方面执行机器人的定位，另一方面，调用和执行子程序。

2. 发明申请

US20080091301A1 System And A Method For Controlling Movements Of An Industrial Robot 有权
标题翻译：系统与控制工业机器人运动的方法
公开(公告)号：US20080091301A1
公开(公告)日：2008-04-17
申请号：US11791760
申请日：2005-11-07
申请人： Hakan Brantmark , Mattias Falk , Gorgen Johansson
发明人： Hakan Brantmark , Mattias Falk , Gorgen Johansson
IPC分类号： B25J9/16 , G05B19/4155 , G05B19/418
CPC分类号： G05B19/41825 , G05B2219/32159 , G05B2219/32247 , G05B2219/40097 , G05B2219/40113 , G05B2219/40308 , G05B2219/45137 , Y02P90/083 , Y02P90/087 , Y02P90/20
摘要： A system and a method for controlling movements of an industrial robot during a work cycle including visiting and performing work on a plurality of workstations in a work cell. The system includes a set of predefined workstations. Each workstation includes preprogrammed robot code adapted to the workstation, an entry point defining the entrance position to the workstation, and one or more predefined paths to be followed by the robot at the workstation. A user interface is adapted to provide information about the predefined workstations and allows an operator to select one or more of the predefined workstations and to specify a desired part flow between the workstations. A scheduling unit is adapted during execution of the work cycle to schedule the execution order for the workstations based on the workstations selected from the predefined workstations and the desired part flow, and to control the movements of the robot based on the scheduled execution order and the predefined paths.
摘要翻译：一种用于在工作循环期间控制工业机器人的移动的系统和方法，包括在工作单元中的多个工作站上访问和执行工作。该系统包括一组预定义的工作站。每个工作站包括适用于工作站的预编程机器人代码，定义工作站的入口位置的入口点以及工作站处机器人遵循的一个或多个预定义的路径。用户界面适于提供关于预定义工作站的信息，并且允许操作者选择一个或多个预定义的工作站并指定工作站之间的所需部分流程。在执行工作周期期间调整调度单元以基于从预定义的工作站和期望的部件流程中选择的工作站来调度工作站的执行顺序，并且基于所调度的执行顺序来控制机器人的移动，并且预定义路径。

3. 发明授权

US06941192B2 Robot machining tool position and orientation calibration 有权
标题翻译：机器人加工刀具位置和方位校准
公开(公告)号：US06941192B2
公开(公告)日：2005-09-06
申请号：US10355764
申请日：2003-01-31
申请人： Qing Tang , Hakan Brantmark , Zhongxue Gan , Torgny Brogardh
发明人： Qing Tang , Hakan Brantmark , Zhongxue Gan , Torgny Brogardh
IPC分类号： B23Q17/22 , B25J9/16 , B25J9/18 , G05B19/04 , G05B19/18
CPC分类号： B25J9/1692 , B23Q17/22 , G05B2219/39019 , G05B2219/39026 , G05B2219/50291
摘要： A robot having a spindle is calibrated by disposing a calibration tool in the robot spindle. The position of the calibration tool is measured. An axis of the spindle is determined based on the measured position. A calibration tool center point is determined based on the measured position. A robot tool rotation axis is determined based on the determined spindle axis, robot tool center point, the determined calibration tool center point, and difference in length between the calibration tool and a robot tool.
摘要翻译：具有主轴的机器人通过将校准工具放置在机器人主轴中来校准。测量校准工具的位置。基于测量位置确定主轴的轴。基于测量位置确定校准工具中心点。基于确定的主轴，机器人工具中心点，确定的校准工具中心点以及校准工具与机器人工具之间的长度差确定机器人工具旋转轴。

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