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1. 发明申请

US20170095924A1 TEACHING DATA PREPARATION DEVICE AND TEACHING DATA PREPARATION METHOD FOR ARTICULATED ROBOT 审中-公开
公开(公告)号：US20170095924A1
公开(公告)日：2017-04-06
申请号：US15308002
申请日：2014-05-01
申请人： HONDA MOTOR CO., LTD.
发明人： Masahiro YAMANAKA , Masao SHIMOYAMA , Tetsuya YOSHINO , Shinji AOKI
IPC分类号： B25J9/16
CPC分类号： B25J9/163 , G05B19/42 , G05B2219/36461 , G05B2219/36492 , Y10S901/03 , Y10S901/28 , Y10S901/42
摘要： The present invention relates to a teaching data preparation device and a teaching data preparation method for an articulated robot. Pre-existing position data that approximates new position data is retrieved from a database that, from among data related to working points for a pre-existing workpiece, stores for each working point pre-existing position data that indicates the position of the working point and pre-existing orientation data that indicates the orientation of an end effector at the working point. Next, pre-existing orientation data that is associated with the retrieved pre-existing position data is extracted. Next, incomplete new orientation data is completed using the extracted pre-existing orientation data. As a result of this series of processes, the precision of teaching data can be improved.

2. 发明申请

US20110125322A1 METHOD AND SYSTEM FOR APPLYING A COATING MATERIAL USING A PROGRAMMABLE ROBOT 有权
标题翻译：使用可编程机器人涂覆涂料的方法和系统
公开(公告)号：US20110125322A1
公开(公告)日：2011-05-26
申请号：US13003108
申请日：2009-07-01
申请人： Lothar Rademacher , Martin Wolf
发明人： Lothar Rademacher , Martin Wolf
IPC分类号： B25J9/10
CPC分类号： G05B19/42 , B05C5/0212 , G05B2219/36461 , G05B2219/39133 , G05B2219/45065
摘要： In order to program the sealing membranes to be applied to attachment parts of vehicle bodies, for example to the edge-formed seam of vehicle doors using a robot, an attachment part may be removed from the body and, away from the latter, be mounted on a teach frame where all regions of the attachment part which need to be coated are highly visible to the programmer during programming.
摘要翻译：为了将要施加到车身的附接部分的密封膜编程到例如使用机器人的车门的边缘形成的接缝处，可以将安装部分从主体移除，并且远离后者被安装在教学框架中，需要被涂覆的附接部分的所有区域在编程期间对程序员高度可见。

3. 发明授权

US07248012B2 Teaching data preparing method for articulated robot 有权
标题翻译：铰接机器人的教学数据准备方法
公开(公告)号：US07248012B2
公开(公告)日：2007-07-24
申请号：US10558641
申请日：2004-06-02
申请人： Koji Takahashi , Shinji Aoki , Yutaka Mitsuhashi
发明人： Koji Takahashi , Shinji Aoki , Yutaka Mitsuhashi
IPC分类号： B25J9/22
CPC分类号： G05B19/425 , G05B2219/36461
摘要： Set the first temporary attitude of an end effector for a plurality of work points (step S3). Determine the attitude of an articulated robot at one-end first work point out of a plurality of work points (step S4). Determine the attitude of an articulated robot at the other-end final work point out of a plurality of work points (step S5). Set the second temporary attitudes of an end effector respectively for the other work points so that the attitude of an end effector gradually changes from the first work point toward the final work point (step S6). Correct the first temporary attitude with the second temporary attitude (step S7).
摘要翻译：设置多个工作点的末端执行器的第一临时姿态（步骤S3）。在多个工作点中确定关节式机器人在一端第一工作点的姿态（步骤S 4）。确定在多个工作点的另一端最终工作点处的铰接机器人的姿态（步骤S 5）。分别为其他工作点设置末端执行器的第二临时姿态，使得末端执行器的姿态从第一工作点向最终工作点逐渐变化（步骤S6）。用第二临时态度纠正第一临时态度（步骤S 7）。

4. 发明申请

US20130345858A1 MANIPULATOR AUTO-TEACH AND POSITION CORRECTION SYSTEM 有权
标题翻译：操纵器自动教学和位置校正系统
公开(公告)号：US20130345858A1
公开(公告)日：2013-12-26
申请号：US13914397
申请日：2013-06-10
申请人： Brooks Automation, Inc.
发明人： Martin Hosek
IPC分类号： G05B19/418
CPC分类号： G05B19/4189 , G05B19/402 , G05B19/421 , G05B2219/36414 , G05B2219/36461 , H01L21/67294 , H01L21/68 , Y02P90/28 , Y10S901/00
摘要： A substrate processing system including a housing for housing at least part of a processing device, at least one target affixed to the processing device, the processing device having a first processing device reference point in a known relationship with the at least one target, at least one transmitter located within the housing and configured to transmit an identification signal identifying the at least one transmitter to the at least one target and a controller operably connected to the at least one target and the at least one transmitter, the controller being configured to receive data signals, based on the identification signal, from one of the at least one target and the at least one transmitter and control an operational characteristic of the processing device, based on the data signals.
摘要翻译：一种基板处理系统，包括用于容纳处理装置的至少一部分的壳体，附着到处理装置的至少一个目标，所述处理装置具有与所述至少一个目标已知关系的第一处理装置参考点，至少一个发射机位于所述外壳内，并被配置为将识别所述至少一个发射机的识别信号发射到所述至少一个目标，以及可操作地连接到所述至少一个目标和所述至少一个发射机的控制器，所述控制器被配置为接收数据基于所述识别信号从所述至少一个目标和所述至少一个发射机之一发送信号，并基于所述数据信号来控制所述处理设备的操作特性。

5. 发明授权

US08459922B2 Manipulator auto-teach and position correction system 有权
标题翻译：机械手自动教学和位置校正系统
公开(公告)号：US08459922B2
公开(公告)日：2013-06-11
申请号：US12651160
申请日：2009-12-31
申请人： Martin Hosek
发明人： Martin Hosek
IPC分类号： G06F19/00
CPC分类号： G05B19/4189 , G05B19/402 , G05B19/421 , G05B2219/36414 , G05B2219/36461 , H01L21/67294 , H01L21/68 , Y02P90/28 , Y10S901/00
摘要： A substrate processing system including a housing for housing at least part of a processing device, at least one target affixed to the processing device, the processing device having a first processing device reference point in a known relationship with the at least one target, at least one transmitter located within the housing and configured to transmit an identification signal identifying the at least one transmitter to the at least one target and a controller operably connected to the at least one target and the at least one transmitter, the controller being configured to receive data signals, based on the identification signal, from one of the at least one target and the at least one transmitter and control an operational characteristic of the processing device, based on the data signals.
摘要翻译：一种基板处理系统，包括用于容纳处理装置的至少一部分的壳体，附着到处理装置的至少一个目标，所述处理装置具有与所述至少一个目标已知关系的第一处理装置参考点，至少一个发射机位于所述外壳内，并被配置为将识别所述至少一个发射机的识别信号发射到所述至少一个目标，以及可操作地连接到所述至少一个目标和所述至少一个发射机的控制器，所述控制器被配置为接收数据基于所述识别信号从所述至少一个目标和所述至少一个发射机之一发送信号，并基于所述数据信号来控制所述处理设备的操作特性。

6. 发明授权

US4613943A Operation teaching method and apparatus for industrial robot 失效
标题翻译：工业机器人操作教学方法与装置
公开(公告)号：US4613943A
公开(公告)日：1986-09-23
申请号：US599472
申请日：1984-04-12
申请人： Norihisa Miyake , Akira Tsuchihashi , Osamu Fujiwara , Yasuhiro Hashimoto , Yutaka Maruyama
发明人： Norihisa Miyake , Akira Tsuchihashi , Osamu Fujiwara , Yasuhiro Hashimoto , Yutaka Maruyama
IPC分类号： B25J9/22 , B23K9/12 , B25J9/18 , G05B19/42 , G06F15/46
CPC分类号： G05B19/42 , B23K9/12 , G05B2219/36461 , G05B2219/36503 , G05B2219/45083
摘要： An operation teaching method and apparatus for an industrial robot adapted to be successively moved to and set at different positions along an objective structure to conduct a predetermined operation on working objects of the same configuration on the objective structure to which objects the different positions correspond, respectively. The data taught at an initial position is corrected through a coordinate transformation between a coordinate system fixed on a working object and a coordinate system assumed on the robot, and the corrected data are reproduced and used as the operation data for the second and the following working positions.
摘要翻译：一种用于工业机器人的操作教学方法和装置，其适用于沿目标结构连续移动并设置在不同位置，以对相同结构的工作对象分别对不同位置对应的目标结构进行预定操作。通过在工作对象上固定的坐标系和机器人上假设的坐标系之间的坐标变换来校正在初始位置上教导的数据，并且将修正后的数据作为第二和下一个工作的操作数据进行再现和使用职位

7. 发明授权

US08892248B2 Manipulator auto-teach and position correction system 有权
标题翻译：机械手自动教学和位置校正系统
公开(公告)号：US08892248B2
公开(公告)日：2014-11-18
申请号：US13914397
申请日：2013-06-10
申请人： Brooks Automation, Inc.
发明人： Martin Hosek
IPC分类号： G06F7/00 , H01L21/68 , H01L21/67 , G05B19/421 , G05B19/402 , G05B19/418
CPC分类号： G05B19/4189 , G05B19/402 , G05B19/421 , G05B2219/36414 , G05B2219/36461 , H01L21/67294 , H01L21/68 , Y02P90/28 , Y10S901/00
摘要： A substrate processing system including a housing for housing at least part of a processing device, at least one target affixed to the processing device, the processing device having a first processing device reference point in a known relationship with the at least one target, at least one transmitter located within the housing and configured to transmit an identification signal identifying the at least one transmitter to the at least one target and a controller operably connected to the at least one target and the at least one transmitter, the controller being configured to receive data signals, based on the identification signal, from one of the at least one target and the at least one transmitter and control an operational characteristic of the processing device, based on the data signals.
摘要翻译：一种基板处理系统，包括用于容纳处理装置的至少一部分的壳体，附着到处理装置的至少一个目标，所述处理装置具有与所述至少一个目标已知关系的第一处理装置参考点，至少一个发射机位于所述外壳内，并被配置为将识别所述至少一个发射机的识别信号发射到所述至少一个目标，以及可操作地连接到所述至少一个目标和所述至少一个发射机的控制器，所述控制器被配置为接收数据基于所述识别信号从所述至少一个目标和所述至少一个发射机之一发送信号，并基于所述数据信号来控制所述处理设备的操作特性。

8. 发明授权

US08644989B2 Method and system for applying a coating material using a programmable robot 有权
标题翻译：使用可编程机器人涂覆涂料的方法和系统
公开(公告)号：US08644989B2
公开(公告)日：2014-02-04
申请号：US13003108
申请日：2009-07-01
申请人： Lothar Rademacher , Martin Wolf
发明人： Lothar Rademacher , Martin Wolf
IPC分类号： G06F19/00
CPC分类号： G05B19/42 , B05C5/0212 , G05B2219/36461 , G05B2219/39133 , G05B2219/45065
摘要： In order to program the sealing membranes to be applied to attachment parts of vehicle bodies, for example to the edge-formed seam of vehicle doors using a robot, an attachment part may be removed from the body and, away from the latter, be mounted on a teach frame where all regions of the attachment part which need to be coated are highly visible to the programmer during programming.
摘要翻译：为了将要施加到车身的附接部分的密封膜编程到例如使用机器人的车门的边缘形成的接缝处，可以将安装部分从主体移除，并且远离后者被安装在教学框架中，需要被涂覆的附接部分的所有区域在编程期间对程序员高度可见。

9. 发明申请

US20110118875A1 MANIPULATOR AUO-TEACH AND POSITION CORRECTION SYSTEM 有权
标题翻译：辅助教学和位置校正系统
公开(公告)号：US20110118875A1
公开(公告)日：2011-05-19
申请号：US12651160
申请日：2009-12-31
申请人： Martin Hosek
发明人： Martin Hosek
IPC分类号： B25J9/00 , G05B19/04 , G05B13/02
CPC分类号： G05B19/4189 , G05B19/402 , G05B19/421 , G05B2219/36414 , G05B2219/36461 , H01L21/67294 , H01L21/68 , Y02P90/28 , Y10S901/00
摘要： A substrate processing system including a housing for housing at least part of a processing device, at least one target affixed to the processing device, the processing device having a first processing device reference point in a known relationship with the at least one target, at least one transmitter located within the housing and configured to transmit an identification signal identifying the at least one transmitter to the at least one target and a controller operably connected to the at least one target and the at least one transmitter, the controller being configured to receive data signals, based on the identification signal, from one of the at least one target and the at least one transmitter and control an operational characteristic of the processing device, based on the data signals.
摘要翻译：一种基板处理系统，包括用于容纳处理装置的至少一部分的壳体，附着到处理装置的至少一个目标，所述处理装置具有与所述至少一个目标已知关系的第一处理装置参考点，至少一个发射机位于所述外壳内，并被配置为将识别所述至少一个发射机的识别信号发射到所述至少一个目标，以及可操作地连接到所述至少一个目标和所述至少一个发射机的控制器，所述控制器被配置为接收数据基于所述识别信号从所述至少一个目标和所述至少一个发射机之一发送信号，并基于所述数据信号来控制所述处理设备的操作特性。

10. 发明申请

US20060255758A1 Teaching data preparing method for articulated robot 有权
标题翻译：铰接机器人的教学数据准备方法
公开(公告)号：US20060255758A1
公开(公告)日：2006-11-16
申请号：US10558641
申请日：2004-06-02
申请人： Koji Takahashi , Shinji Aoki , Yutaka Mitsuhasi
发明人： Koji Takahashi , Shinji Aoki , Yutaka Mitsuhasi
IPC分类号： G05B19/42 , B25J9/22
CPC分类号： G05B19/425 , G05B2219/36461
摘要： Set the first temporary attitude of an end effector for a plurality of work points (step S3). Determine the attitude of an articulated robot at one-end first work point out of a plurality of work points (step S4). Determine the attitude of an articulated robot at the-other-end final work point out of a plurality of work points (step S5). Set the second temporary attitudes of an end effector respectively for the other work points so that the attitude of an end effector gradually changes from the first work point toward the final work point (step S6). Correct the first temporary attitude with the second temporary attitude (step S7).
摘要翻译：设置多个工作点的末端执行器的第一临时姿态（步骤S3）。在多个工作点中确定关节式机器人在一端第一工作点的姿态（步骤S 4）。确定在多个工作点的另一端最终工作点的关节式机器人的姿态（步骤S 5）。分别为其他工作点设置末端执行器的第二临时姿态，使得末端执行器的姿态从第一工作点向最终工作点逐渐变化（步骤S6）。用第二临时态度纠正第一临时态度（步骤S 7）。

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