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公开(公告)号：EP0864401A4
公开(公告)日：2004-05-06
申请号：EP97933011
申请日：1997-07-24
申请人： FANUC LTD
发明人： WATANABE ATSUSHI , ITO TAKAYUKI , TERADA TOMOYUKI
CPC分类号： B25J9/1656 , B25J13/06 , G05B2219/35462 , G05B2219/36168 , G05B2219/36401 , G05B2219/39446
摘要： An operating unit (32) of a teaching operation panel (30) connected to a robot controller (10) by a cable (40) is provided with a general operating member (321) having an auxiliary display (323), and a graphic display operating member (322) for a touch panel-carrying display (31). When a finger touches a finger tip mark (21') displayed with a graphic image (20') and is moved on a screen (as shown by an arrow A, i.e., from H1 to H2), contact positions are sensed in order on the touch panel and converted into three-dimensional position data by using planar position data (calculated on the basis of the direction of graphic display line of sight or a separately set planar direction and the latest touch position). These data are utilized for the sequential update display of the graphic image (20'), and transmitted on the other hand to the robot controller (10) and utilized for the jog feeding (arrow A') of the robot (20). A mouse (34) may be used instead of the touch panel. The direction of graphic display line of sight may be determined by using a sensor having a three-dimensional attitude detecting capability.
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公开(公告)号：EP0864400A4
公开(公告)日：2003-04-02
申请号：EP97935782
申请日：1997-08-13
申请人： FANUC LTD
CPC分类号： B25J9/1656 , G05B2219/35263 , G05B2219/40127 , G05B2219/45238 , G05B2219/50104
摘要： A stitch processing method using an industrial robot which is simple in teaching and capable of performing an accurate stitch processing. Processing (application of sealing agent) block distances (n1) and non-processing block distances (n2) are set on a robot control device as shown in Fig. 5b without teaching switching points (P1, P2,...), between blocks of sealing agent application and blocks of non-application in a sealing processing or the like as shown in Fig. 5a. The robot control device monitors moving distances and permits stitch processing by switching between non-processing and processing for every movement of the distance (n1) or the distance (n2). As shown in Figs. 5c and 5g, a starting point and a terminal point in one block belong to the processing block distance (n1). It is also possible to perform stitch processing continuously over a plurality of blocks as shown in Fig. 5d. It is also possible to perform stitch processing including a set number of processings and non-processings in one block as shown in Fig. 5f.
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公开(公告)号：EP0590154A4
公开(公告)日：1994-06-15
申请号：EP93905636
申请日：1993-03-11
申请人： FANUC LTD
IPC分类号： B25J9/16 , B25J9/22 , B25J13/06 , G05B19/4093 , G05B19/4155 , G05B19/405
CPC分类号： B25J9/1658 , G05B2219/35256 , G05B2219/35257 , G05B2219/35258 , G05B2219/35262 , G05B2219/36162 , G05B2219/39431 , G05B2219/40006
摘要： A method of creating an operation program easy to understand, and of executing the operation program simply. When creating a program (20), in addition to such ordinary operative statements as 'each axis position [1] 100 % alignment', macro names are used. For example, in the fifth line a macro name 'hand close' is used, and in the tenth line a macro name 'hand open' is used. According to macro programs fetched under such macro names, a robot (100) performs the opening and closing operations of a robot hand (102). In this manner, macro programs are given macro names representing their uses, etc., and an operation program is created using the macro names. Therefore, the creation of the program (20) is easy for the creator. The operation program (20) is easy for the operator to understand at a glance.
摘要翻译： 创建易于理解的操作程序的方法，以及简单地执行操作程序。 当创建程序（20）时，除了“每个轴位置[1] 100％对齐”的常规操作语句之外，还使用宏名称。 例如，在第五行中，使用宏名称“手关”，并且在第十行中使用宏名称“手打开”。 根据在这样的宏名称下取出的宏程序，机器人（100）执行机器人手（102）的打开和关闭操作。 以这种方式，宏程序被赋予表示其用途等的宏名称，并且使用宏名称创建操作程序。 因此，创建程序（20）的创建很容易。 操作程序（20）易于操作者一目了然。
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公开(公告)号：EP0889383A4
公开(公告)日：2004-04-21
申请号：EP97913449
申请日：1997-11-26
申请人： FANUC LTD
发明人： WATANABE ATSUSHI , HARA RYUICHI , BAN KAZUNORI
IPC分类号： B25J9/16 , B25J9/18 , G05B19/427 , G05B19/4068
CPC分类号： B25J9/1674 , G05B19/427 , G05B2219/36419 , G05B2219/40311 , G05B2219/40523
摘要： A robot control device which enables finding of an erroneous instruction route by avoiding the risk accompanied by actual operation of a robot, without using an off-line simulation system. The robot control device is set in a state that a simulation function is on and actual operation is off while comparative processing is on, and an operating program for carrying out safety check is reproduced. When the reproduction route of each block is to be compared with a reference route by using interpolation point data, an interpolation point order index i is increased by 1 (K1), and an interpolation point Tref(i) of the reference route is read out (K2), thus comparing the interpolation point Tref(i) with an interpolation point T(i) of the reproduction route. A distance expression index d(i) and a distance discrimination index Δd(i) are calculated (K3, K4), and tool distal end point attitude difference indices f(i) to h(i) and attitude difference discrimination indices Δf(i) to Δh(i) are calculated (K5, K6). From these results, it is judged whether or not there is any change in route exceeding the reference. The actual operation is turned into the on-state to start processing, and the actual operation of the robot may be invalidated when a large change in route is found.
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公开(公告)号：EP0785490A4
公开(公告)日：1997-10-15
申请号：EP96925105
申请日：1996-07-26
申请人： FANUC LTD
IPC分类号： G05B19/05 , B25J9/18 , B25J9/22 , G05B19/18 , G05B19/4103 , G05B19/416 , G05D3/00
CPC分类号： G05B19/416 , G05B2219/34175 , G05B2219/43129 , G05B2219/45083 , Y02P90/265
摘要： A robot controlling method which guarantees an accurate motion along the path by eliminating the influence of the motion in the preceding path section on a part toward the end of one path section. In a motion instruction, a path guarantee section of a path from '2' to '3' is designated in advance by specifying the length, time, or path guarantee ratio. A path plan EFGH of the motion in the path from '1' to '2' is so made that the motion section expressed by DHGK (D is the end point of the motion in the path from '1' to '2') is the path guarantee section designated in the motion instruction. Therefore, the motion in the path from '1' to '2' does not affect the motions after the point of time expressed by point D or K, and hence the motion along the path '2' to '3' in the path guarantee section is guaranteed.
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6.发明公开
公开(公告)号：EP0704780A4
公开(公告)日：1997-02-26
申请号：EP95912466
申请日：1995-03-17
申请人： FANUC LTD
发明人： WATANABE ATSUSHI , NIHEI RYO , TERADA AKIHIRO , BAN KAZUNORI
CPC分类号： B25J9/0084 , B25J9/0087 , B25J9/1682 , G05B2219/39109 , G05B2219/39468 , G05B2219/40272 , G05B2219/40307 , G05B2219/45064
摘要： First and second robots (R1, R2) are placed apart from each other on a track (2) and caused to grab a component on supply conveyor lines (SP1, SP2) by hand at respective positions. Then, the robots (R1, R2) are moved to approach each other on the track (2), and stopped at positions where they are closest to each other. The two robots (R1, R2) are caused to select and grab a hand on a rotary hand placing table (4) and are switched from a state that a two-arm-cooperation mode is released to a state that the mode is put into effect by means of a robot control device. Then, the assembly job on a common assembling table (TB) is performed.
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公开(公告)号：EP0901054A4
公开(公告)日：2003-03-12
申请号：EP98900748
申请日：1998-01-27
申请人： FANUC LTD
CPC分类号： B25J9/1687
摘要： A robot (30) clamping a work (W) to be loaded onto a chuck (CH) moves to a point Q from a TCP along a taught route in accordance with a command. When a force sensor (41) detects that the front end face of the work (W) comes into contact with a work fixing surface (H), the loop gain of a servo control system is changed to a lower value and, as a result, the attitude of the work (W) is corrected by reactive forces from the work fixing surface (H) and chucking members (CH1-CH4), and the work (W) is chucked.
摘要翻译： 保持装载有卡盘（CH）的工件（W）的机器人（30）响应于命令在从TCP到点Q的编程路径上移动。 当力传感器（41）检测到工件（W）的远端面与工件固定面（H）的接触时，伺服控制系统的环路增益变为较低的值。 因此，通过从工件固定面（H）接收的反作用力和夹紧构件（CH1〜CH4）的反作用力来校正工件（W）的姿态，从而完成夹紧。
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公开(公告)号：EP0852985A4
公开(公告)日：2000-01-19
申请号：EP97927449
申请日：1997-06-24
申请人： FANUC LTD
CPC分类号： G05B19/40937 , B23K9/0953 , B23K9/1062 , B23K9/127 , G05B2219/35569 , G05B2219/45135 , Y02P90/265
摘要： An arc welding method by which welding conditions such as the welding speed, the voltage and the current can be varied easily. A starting point at which the change of the welding conditions, i.e., the welding speed, voltage and current, is started and a finishing point at which the change of the conditions is finished are taught, and the welding speeds, voltages and currents at those starting and finishing points are determined. At the starting point, the welding is started at the welding speed, voltage and current which are set as the conditions at the starting point and the welding conditions are gradually changed so as to reach, at the finishing point, the welding speed, voltage and current which are set as the conditions at the finishing point. Only by setting the positions of the starting point and finishing point and the welding conditions at the positions, the welding conditions can be gradually changed while a welding torch is moved from the starting point to the finishing point, so that the welding conditions can be varied easily.
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9.发明公开APPARATUS FOR CONTROLLING MOVEMENT OF ROBOT AND METHOD OF CONTROLLING MOVEMENT OF ROBOT 失效DEVICE AND METHOD FOR控制机器人的运动
公开(公告)号：EP0780197A4
公开(公告)日：1997-08-20
申请号：EP96922247
申请日：1996-07-05
申请人： FANUC LTD
IPC分类号： B25J9/16 , B25J9/22 , G05B19/425 , G05B19/42
CPC分类号： B25J9/1658 , G05B19/425 , G05B2219/36048 , G05B2219/36427 , G05B2219/40385
摘要： A tool (12) is jog-fed by a jog-feed command means toward a position Pa to which a taught point is to be corrected. When the position of the tool comes close to any taught point Pt described in a movement command program, a robot is moved automatically to the taught point Pt. Therefore, the operator can know that the position in which the robot has stopped is the taught point Pt to be corrected described in the movement command program. When the point Pt to be corrected is known, it is corrected to the object position Pa by a method indentical with a conventional method.
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公开(公告)号：EP0842726A4
公开(公告)日：1999-09-08
申请号：EP97922079
申请日：1997-05-16
申请人： FANUC LTD
发明人： WATANABE ATSUSHI , TERADA AKIHIRO
CPC分类号： B23K9/1274
摘要： Provided are an arc welding path detecting method, which facilitates pretreatment required for detection of an arc welding path to lighten load on a welder, and an arc welding path sensor. A delustering agent for promoting irregular reflection of light is sprayed or applied to the circumference of an arc welding path (6) to cause an applied light (3) from a sensor (2) to perform a sure irregular reflection off the surface of a work (4) thus projecting the reflected light (5) into a light receiving portion of the sensor (2). It becomes unnecessary to roughen the surface of the work (4) by manually scratching the same, so that load on a welder is lightened. Further, a spray nozzle (9) is mounted integrally on the sensor (2) to spray the delustering agent in synchronism with an on/off command for arc welding, whereby a process including the pretreatment required for detection of an arc welding path and a main operation for detection of an arc welding path is completely automatized.
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