公开(公告)号：EP1092513A3

公开(公告)日：2004-04-07

申请号：EP00308932.3

申请日：2000-10-11

申请人： Fanuc Ltd

发明人： Watanabe, Atsushi ,  Kosaka, Tetsuya ,  Nagatsuka, Yoshiharu

IPC分类号： B25J9/16

CPC分类号： B25J9/1671 ,  G05B2219/35314 ,  G05B2219/36071 ,  G05B2219/36315

摘要： 3-D models of various types of objects such as a robot body, and a peripheral equipment, a machine, a part (workpiece), of the robot, are stored in an object library in advance. Dimension line data of an edge line of which dimension can be changed, and constraint condition for constraining coordinate positions of apexes which can be changed are also stored in the object library. A model having the shape corresponding to the shape of the object to be used is selected from the object library, and the dimension of the shape is set. The dimension of the selected model is modified so that the shape of the model corresponds to the shape of the actual object. Using the model of which dimension was adjusted, animation motion of the robot is formed on a display screen. With the above arrangement, it is possible to easily set and change object 3-D models relating to a robot motion.

公开(公告)号：EP1215552A2

公开(公告)日：2002-06-19

申请号：EP01310267.8

申请日：2001-12-07

申请人： Fanuc Ltd

发明人： Watanabe, Atsushi ,  Kosaka, Tetsuya

IPC分类号： G05B19/409

CPC分类号： G05B19/409

摘要： An operation data display device for a robot allows an operator to recognize operation data for a plurality of operations performed by the robot at any time. When an arc start command is read out from a taught operation program by the robot controller, a welding start command is issued to an arc welding power supply. The arc welding power supply starts supply of a welding current to a welding torch mounted on a robot. Values of the welding current in a welding operation is outputted to a robot controller and sampled at every predetermined period and recorded. When an arc end command is read out from the operation program, the arc welding power supply terminates the welding operation and output of the values of the welding current. The robot controller transfers a file containing the data of the actual welding current to a personal computer. The personal computer displays representations of the received operation data in the form of line graphs of reduced size for the plurality of welding operations in one frame on a display screen.

摘要翻译： 用于机器人的操作数据显示装置允许操作者在任何时候识别由机器人执行的多个操作的操作数据。 当通过机器人控制器从教导操作程序读出电弧起动命令时，向电弧焊接电源发出焊接开始命令。 电弧焊接电源开始向安装在机器人上的焊枪提供焊接电流。 将焊接操作中的焊接电流的值输出到机器人控制器，并以每个预定周期进行采样并记录。 当从操作程序读出电弧结束命令时，电弧焊接电源终止焊接操作并输出焊接电流的值。 机器人控制器将包含实际焊接电流的数据的文件传送到个人计算机。 个人计算机以显示屏幕上的一帧中的多个焊接操作的形式，以减小尺寸的线图的形式显示所接收的操作数据的表示。

公开(公告)号：EP1085389A1

公开(公告)日：2001-03-21

申请号：EP00307935.7

申请日：2000-09-13

申请人： Fanuc Ltd

发明人： Terada, Akihiro ,  Kosaka, Tetsuya ,  Kamiguchi, Masao

IPC分类号： G05B19/418

CPC分类号： B29C45/76 ,  B29C45/7626 ,  B29C2045/7633 ,  B29C2945/76779 ,  G05B19/41825 ,  G05B2219/45244 ,  Y02P90/087

摘要： A controller (12) of an industrial machine such (10) as an injection molding machine and the controller (22) of a robot (20) attached to the machine are connected. The controller (12), of the industrial machine (10) with whichever of a display unit (13), input unit (14), and control panel (15) may be present includes an apparatus for creating motion programs of the robot as well as a calibration apparatus for associating coordinate systems of the machine (10) and robot (20). The robot motion programs created on the controller (12) of the industrial machine (10) is sent to the robot controller (12) and the robot operates based on them. It is also possible to enter the data for robot motion programs into the controller (12) of the industrial machine and send the data to the robot controller (22) in order for the robot controller to create robot motion programs.

摘要翻译： 诸如注射成型机（10）的工业机器的控制器（12）和连接到机器的机器人（20）的控制器（22）连接。 可以存在具有显示单元（13），输入单元（14）和控制面板（15）中的任何一个的工业机器（10）的控制器（12）包括用于创建机器人的运动程序的设备 作为用于关联机器（10）和机器人（20）的坐标系的校准装置。 在工业机器（10）的控制器（12）上创建的机器人运动程序被发送到机器人控制器（12），并且机器人基于它们进行操作。 还可以将机器人运动程序的数据输入到工业机器的控制器（12）中，并将数据发送到机器人控制器（22），以便机器人控制器创建机器人运动程序。

公开(公告)号：EP1085389B1

公开(公告)日：2004-05-12

申请号：EP00307935.7

申请日：2000-09-13

申请人： Fanuc Ltd

发明人： Terada, Akihiro ,  Kosaka, Tetsuya ,  Kamiguchi, Masao

IPC分类号： G05B19/418

CPC分类号： B29C45/76 ,  B29C45/7626 ,  B29C2045/7633 ,  B29C2945/76779 ,  G05B19/41825 ,  G05B2219/45244 ,  Y02P90/087

公开(公告)号：EP1092513A2

公开(公告)日：2001-04-18

申请号：EP00308932.3

申请日：2000-10-11

申请人： Fanuc Ltd

发明人： Watanabe, Atsushi ,  Kosaka, Tetsuya ,  Nagatsuka, Yoshiharu

IPC分类号： B25J9/16

CPC分类号： B25J9/1671 ,  G05B2219/35314 ,  G05B2219/36071 ,  G05B2219/36315

摘要： 3-D models of various types of objects such as a robot body, and a peripheral equipment, a machine, a part (workpiece), of the robot, are stored in an object library in advance. Dimension line data of an edge line of which dimension can be changed, and constraint condition for constraining coordinate positions of apexes which can be changed are also stored in the object library. A model having the shape corresponding to the shape of the object to be used is selected from the object library, and the dimension of the shape is set. The dimension of the selected model is modified so that the shape of the model corresponds to the shape of the actual object. Using the model of which dimension was adjusted, animation motion of the robot is formed on a display screen. With the above arrangement, it is possible to easily set and change object 3-D models relating to a robot motion.

摘要翻译： 机器人的各种物体（例如机器人主体，周边设备，机器，零件（工件））的3-D模型被预先存储在对象库中。 可以改变尺寸的边线的尺寸线数据，以及用于限制可以改变的顶点的坐标位置的约束条件也存储在对象库中。 从对象库中选择具有与要使用的对象的形状对应的形状的模型，并且设置形状的尺寸。 修改所选模型的尺寸，使模型的形状对应于实际物体的形状。 使用调整尺寸的模型，在显示屏上形成机器人的动画运动。 通过上述结构，可以容易地设定和改变与机器人运动相关的对象3-D模型。

公开(公告)号：EP1092513B1

公开(公告)日：2006-01-25

申请号：EP00308932.3

申请日：2000-10-11

申请人： FANUC LTD

发明人： Watanabe, Atsushi ,  Kosaka, Tetsuya ,  Nagatsuka, Yoshiharu

IPC分类号： B25J9/16

CPC分类号： B25J9/1671 ,  G05B2219/35314 ,  G05B2219/36071 ,  G05B2219/36315

公开(公告)号：EP1215552A3

公开(公告)日：2005-04-20

申请号：EP01310267.8

申请日：2001-12-07

申请人： FANUC LTD

发明人： Watanabe, Atsushi ,  Kosaka, Tetsuya

IPC分类号： G05B19/409 ,  G05B19/406

CPC分类号： G05B19/409

摘要： An operation data display device for a robot allows an operator to recognize operation data for a plurality of operations performed by the robot at any time. When an arc start command is read out from a taught operation program by the robot controller, a welding start command is issued to an arc welding power supply. The arc welding power supply starts supply of a welding current to a welding torch mounted on a robot. Values of the welding current in a welding operation is outputted to a robot controller and sampled at every predetermined period and recorded. When an arc end command is read out from the operation program, the arc welding power supply terminates the welding operation and output of the values of the welding current. The robot controller transfers a file containing the data of the actual welding current to a personal computer. The personal computer displays representations of the received operation data in the form of line graphs of reduced size for the plurality of welding operations in one frame on a display screen.