公开(公告)号：EP1617380A1

公开(公告)日：2006-01-18

申请号：EP05015371.7

申请日：2005-07-14

申请人： FANUC LTD

发明人： Nagatsuka, Yoshiharu FANUC Dai3virakaramatsu ,  Kobayashi, Hirohiko

IPC分类号： G06T15/20

CPC分类号： G06T15/20 ,  G06K9/6255 ,  G06T7/70 ,  G06T19/00

摘要： A device for producing a shape model used for a matching process of an object to be worked in a robot system. The shape-model producing device includes a shape-data obtaining section for obtaining three-dimensional shape data of the object; a viewpoint setting section for setting, in a coordinate system to which the three-dimensional shape data obtained by the shape-data obtaining section belongs, a plurality of virtual viewpoints permitting the object placed in the coordinate system to be observed in directions different from each other; and a shape-model generating section for generating, as a plurality of shape models, a plurality of two-dimensional image data of the object, based on the three-dimensional shape data, the plurality of two-dimensional image data being estimated when the object is observed in the coordinate system from the plurality of virtual viewpoints set by the viewpoint setting section.

摘要翻译： 一种用于生产用于机器人系统中待加工对象的匹配处理的形状模型的装置。 形状模型生成装置包括：形状数据获取部，其获得被检体的三维形状数据; 一个视点设定部分，用于在由形状数据获取部分所获得的三维形状数据所属的坐标系中设置许多虚拟视点，该虚拟视点允许放置在坐标系中的对象以不同于每一个的方向被观察 其他; 以及形状模型生成部，其根据所述三维形状数据生成所述对象的多个二维图像数据作为多个形状模型，所述多个二维图像数据在 从由视点设定部设定的多个虚拟视点在坐标系中观察对象。

公开(公告)号：EP1584999A1

公开(公告)日：2005-10-12

申请号：EP05007470.7

申请日：2005-04-05

申请人： FANUC LTD

发明人： Watanabe, Atsushi ,  Kobayashi, Hirohiko ,  Nagatsuka, Yoshiharu FANUC Dai3virakaramatsu

IPC分类号： G05B19/4061 ,  B25J9/16

CPC分类号： G05B19/4061 ,  B25J9/1666 ,  G05B2219/40317 ,  G05B2219/40515 ,  Y02P90/265

摘要： An offline programming device in which a path for preventing interference may be automatically inserted such that a welding robot does not interfere with a jig clamping a workpiece to be welded. The models of the robot, the workpiece and the clamp jig are indicated on a display for determining the path for preventing interference. A simulation is carried out to judge that interference with the jig may occur. When it is judged that interference will occur, data of the preventing path suitable for a straight path passing through the jig are read out from a library including registered preventing paths corresponding to shapes of various jigs. The data of the preventing path includes the three-dimensional data of each point of the path as the incremental value in relation to a reference point of the path. Also, the orientation of a welding torch is registered. The corrected welding program may be downloaded to the actual robot so as to correct the uploaded offline program by using a test result in the actual robot.

摘要翻译： 可以自动插入用于防止干扰的路径的离线编程装置，使得焊接机器人不会夹紧夹持待焊接工件的夹具。 在显示器上指示机器人，工件和夹具的型号，以确定用于防止干扰的路径。 进行模拟以判断可能发生对夹具的干扰。 当判断出会发生干扰时，从包括对应于各种夹具的形状的登记防止路径的库中读出适合于通过夹具的直线路径的防止路径的数据。 防止路径的数据包括路径的每个点的三维数据，作为与路径的参考点相关的增量值。 此外，登记焊炬的取向。 修正的焊接程序可以下载到实际的机器人，以便通过在实际的机器人中使用测试结果来校正上传的脱机程序。

公开(公告)号：EP1798616A3

公开(公告)日：2009-07-22

申请号：EP06025583.3

申请日：2006-12-11

申请人： FANUC LTD

发明人： Takizawa, Katsutoshi ,  Nagatsuka, Yoshiharu FANUC Dai3virakaramatsu ,  Kobayashi, Hirohiko

IPC分类号： G05B19/4097 ,  G05B19/4093 ,  G05B19/42 ,  B25J9/16 ,  B25J19/04 ,  G05B19/4069 ,  G05B19/402 ,  G05B19/4061

CPC分类号： B25J9/1671 ,  B25J9/1697 ,  G05B2219/37453 ,  G05B2219/40323 ,  G05B2219/40613

摘要： An offline programming device capable of automatically generating a measuring program by which the time and the workload for making an offline program may be greatly reduced. The offline programming device includes a storing part for storing a plurality of data in relation to a plurality of measurement points of the object and the position and the orientation of a vision sensor relative to the movable part of the robot; a calculating part for calculating the position and the orientation of the vision sensor relative to each measurement point when the measurement point is measured; a measuring program making part for making at least one measuring program, based on the plurality of data stored in the storing part, by means of which the position and the orientation of the vision sensor may be achieved; an evaluating part for evaluating the at least one measuring program according to a predetermined evaluative criteria; and a selecting part for selecting a measuring program, from the at least one measuring program, which satisfies the predetermined evaluative criteria.

公开(公告)号：EP1798616A2

公开(公告)日：2007-06-20

申请号：EP06025583.3

申请日：2006-12-11

申请人： FANUC LTD

发明人： Takizawa, Katsutoshi ,  Nagatsuka, Yoshiharu FANUC Dai3virakaramatsu ,  Kobayashi, Hirohiko

IPC分类号： G05B19/4097 ,  G05B19/4093 ,  G05B19/42 ,  B25J9/16 ,  B25J19/04

CPC分类号： B25J9/1671 ,  B25J9/1697 ,  G05B2219/37453 ,  G05B2219/40323 ,  G05B2219/40613

摘要： An offline programming device capable of automatically generating a measuring program by which the time and the workload for making an offline program may be greatly reduced. The offline programming device includes a storing part for storing a plurality of data in relation to a plurality of measurement points of the object and the position and the orientation of a vision sensor relative to the movable part of the robot; a calculating part for calculating the position and the orientation of the vision sensor relative to each measurement point when the measurement point is measured; a measuring program making part for making at least one measuring program, based on the plurality of data stored in the storing part, by means of which the position and the orientation of the vision sensor may be achieved; an evaluating part for evaluating the at least one measuring program according to a predetermined evaluative criteria; and a selecting part for selecting a measuring program, from the at least one measuring program, which satisfies the predetermined evaluative criteria.

摘要翻译： 能够自动生成测量程序的离线编程装置，通过该测量程序可以大大减少用于进行离线程序的时间和工作量。 离线编程装置包括存储部分，用于存储关于物体的多个测量点的多个数据以及视觉传感器相对于机器人的可移动部分的位置和取向; 计算部分，用于在测量点测量视觉传感器相对于每个测量点的位置和方向; 基于存储在存储部分中的多个数据，进行至少一个测量程序的测量程序制作部分，借此可以实现视觉传感器的位置和取向; 评估部件，用于根据预定的评估标准评估所述至少一个测量程序; 以及选择部件，用于从满足预定评价标准的至少一个测量程序中选择测量程序。

公开(公告)号：EP1661669A2

公开(公告)日：2006-05-31

申请号：EP05016424.3

申请日：2005-07-28

申请人： FANUC LTD

发明人： Nagatsuka, Yoshiharu FANUC Dai3virakaramatsu ,  Inoue, Kozo ,  Fukada, Tetsuo

IPC分类号： B25J9/16

CPC分类号： B25J9/1666 ,  B25J9/1671

摘要： An offline programming device 1, robot control units 2a and 3a, and visual sensors 4 and 5 are connected to each other via a communication line 10. The device 1 stores and displays a shape of a work 6 generated by a CAD, for the work to be processed. Vertexes and edge lines of the work shape are assigned. A straight line processing route is formed by connecting between the assigned vertexes as teaching points. Points at both ends of the assigned edge line are set as teaching points, and the assigned edge line is set as a processing route. A processing program is generated in this way. The processing program is corrected based on a position and a posture of an actual work obtained by acquiring images of the work with the visual sensors 4 and 5. The processing operation of the processing program is simulated, and the work 6 is moved with a carriage 7 so that each axis of the robot is within a stroke limit to avoid the occurrence of interference between the robot and other objects. Alternatively, postures of processing tools 8 and 9 are changed, thereby easily generating the processing program. With this arrangement, the invention provides a processing program generating device that can easily generate a processing program for the robot, without interrupting the processing and without requiring an expensive tool.

摘要翻译： 离线编程设备1，机器人控制单元2a和3a以及视觉传感器4和5经由通信线路10彼此连接。设备1存储并显示由CAD产生的工作6的形状，用于工作 待处理。 分配工作形状的顶点和边缘线。 通过将分配的顶点之间的连接作为教导点形成直线处理路线。 将分配的边缘线的两端的点设置为教导点，并将分配的边缘线设置为处理路线。 以这种方式生成处理程序。 基于通过用视觉传感器4和5获取作品的图像获得的实际作品的位置和姿势来校正处理程序。模拟处理程序的处理操作，并且工件6以托架移动 使得机器人的每个轴线在行程限制内，以避免机器人和其他物体之间的干扰的发生。 或者，改变处理工具8和9的姿势，从而容易地生成处理程序。 利用这种布置，本发明提供一种可以容易地生成机器人的处理程序而不中断处理并且不需要昂贵的工具的处理程序生成装置。