公开(公告)号：EP2685334A3

公开(公告)日：2015-05-27

申请号：EP13175503.5

申请日：2013-07-08

申请人： OMRON CORPORATION

发明人： Ueno, Jyunichi ,  Sato, Toshinori ,  Morikawa, Akihiko ,  Ushiyama, Takao

IPC分类号： G05B19/406

CPC分类号： B25J9/1674 ,  G05B19/406 ,  G05B2219/40213

摘要： One aspect of the present invention provides a new safety system (1,1A,1B) that can perform measurement in order to clearly set a realistic determination value and a control device (50,70) constituting the safety system. The safety system, which transfers a target device (5,9) to a safety state when an event matched with a predetermined safety condition is generated, is provided. The safety system includes the control device that includes a monitoring function (22,22A,22B) of continuously collecting information on the safety condition and a management device (10) that aggregates the information on the safety condition, which is collected by the control device. In response to generation of the event matched with the safety condition, the control device stores the information on the safety condition for a predetermined period based on generation timing of the event while correlating the generation timing with the collected information. The management device aggregates the information on the safety condition with the generation timing as a reference.

公开(公告)号：EP1935578A1

公开(公告)日：2008-06-25

申请号：EP06126974.2

申请日：2006-12-22

申请人： ABB Research Ltd.

发明人： Wäppling, Daniel ,  Andersson, Hans

IPC分类号： B25J9/16

CPC分类号： B25J9/1674 ,  G05B2219/40213 ,  Y02P90/86

摘要： The invention relates to a control system (2) for an industrial robot (1), wherein the control system (2) comprises a memory unit (4) intended to comprise at least one task program (5) intended for controlling the movements of the robot (1) and including movement instructions for controlling the movements of the robot (1), as well as a program executer (6) configured to generate instructions based on movement instructions included in the task program (5) as well as data necessary to be able to carry out said instructions, to a path planner (7) configured to receive said instructions from the program executer (6) and based thereon to plan how the movements of the robot (1) are to be designed to enable it to carry out said movement instructions. The control system (2) includes a recording device (9), with at least one memory unit (10) connected thereto, arranged for the purpose of recording and storing the instructions and said data sent to the path planner (7) from the program executer (6).

摘要翻译： 本发明涉及用于工业机器人（1）的控制系统（2），其中控制系统（2）包括存储单元（4），该存储单元旨在包括至少一个任务程序（5），该任务程序用于控制 机器人（1）并且包括用于控制机器人（1）的移动的移动指令，以及程序执行器（6），其被配置为基于包括在任务程序（5）中的移动指令来生成指令， 能够执行所述指令到路径规划器（7），所述路径规划器（7）被配置成接收来自程序执行器（6）的所述指令并且基于此来规划机器人（1）的移动如何被设计为使其能够携带 取出所述移动指示。 控制系统（2）包括记录装置（9），其上连接有至少一个存储器单元（10），用于记录和存储从程序发送到路径计划器（7）的指令和所述数据 执行者（6）。

公开(公告)号：EP1518648B1

公开(公告)日：2017-08-30

申请号：EP04023038.5

申请日：2004-09-28

申请人： FANUC CORPORATION

发明人： Watanabe, Atsushi ,  Ban, Kazunori ,  Kanno, Ichiro

IPC分类号： B25J9/16 ,  G05B19/4069 ,  G05B19/4067

CPC分类号： G05B19/4069 ,  B25J9/1664 ,  B25J9/1674 ,  G05B2219/37555 ,  G05B2219/40053 ,  G05B2219/40125 ,  G05B2219/40213

公开(公告)号：EP2090408A1

公开(公告)日：2009-08-19

申请号：EP08101548.9

申请日：2008-02-13

申请人： ABB AS

发明人： Landsnes, Øyvind A.

IPC分类号： B25J9/16

CPC分类号： B25J9/1674 ,  G05B2219/40213 ,  G05B2219/40216

摘要： The present invention relates to a system for visualizing process errors that occur in connection with processing a workpiece by means of a process tool (3) and an industrial robot (5) moving the tool along a path in relation to the workpiece during the processing. The system is configured to store information on process errors and information on where on the robot path the error occurred upon detecting the process errors and to present a visualization of the robot path (10) and the position of the stored errors (13) in relation to the robot path.

摘要翻译： 本发明涉及一种用于通过处理工具（3）和工业机器人（5）在处理过程中使工具沿着相对于工件的路径移动来处理工件时发生的过程错误的可视化系统。 该系统被配置为在检测到过程错误时存储关于过程错误的信息和关于错误发生在机器人路径上的何处的信息并且呈现关于机器人路径（10）的可视化和存储的错误（13）的位置关系 到机器人路径。

公开(公告)号：EP1935578B1

公开(公告)日：2012-01-25

申请号：EP06126974.2

申请日：2006-12-22

申请人： ABB Research Ltd.

发明人： Wäppling, Daniel ,  Andersson, Hans

IPC分类号： B25J9/16

CPC分类号： B25J9/1674 ,  G05B2219/40213 ,  Y02P90/86

公开(公告)号：EP2090408B1

公开(公告)日：2009-12-16

申请号：EP08101548.9

申请日：2008-02-13

申请人： ABB AS

发明人： Landsnes, Øyvind A.

IPC分类号： B25J9/16

CPC分类号： B25J9/1674 ,  G05B2219/40213 ,  G05B2219/40216

公开(公告)号：EP2685334A2

公开(公告)日：2014-01-15

申请号：EP13175503.5

申请日：2013-07-08

申请人： OMRON CORPORATION

发明人： Ueno, Jyunichi ,  Sato, Toshinori ,  Morikawa, Akihiko ,  Ushiyama, Takao

IPC分类号： G05B19/406

CPC分类号： B25J9/1674 ,  G05B19/406 ,  G05B2219/40213

摘要： One aspect of the present invention provides a new safety system (1,1A,1B) that can perform measurement in order to clearly set a realistic determination value and a control device (50,70) constituting the safety system. The safety system, which transfers a target device (5,9) to a safety state when an event matched with a predetermined safety condition is generated, is provided. The safety system includes the control device that includes a monitoring function (22,22A,22B) of continuously collecting information on the safety condition and a management device (10) that aggregates the information on the safety condition, which is collected by the control device. In response to generation of the event matched with the safety condition, the control device stores the information on the safety condition for a predetermined period based on generation timing of the event while correlating the generation timing with the collected information. The management device aggregates the information on the safety condition with the generation timing as a reference.

摘要翻译： 本发明的一个方面提供了一种新的安全系统（1,1A，1B），其可以执行测量以清楚地设定一个实际的确定值，以及构成安全系统的控制装置（50,70）。 提供了当产生符合预定安全条件的事件时将目标设备（5,9）传送到安全状态的安全系统。 安全系统包括控制装置，其包括连续收集关于安全条件的信息的监视功能（22,22A，22B）和聚集由控制装置收集的关于安全条件的信息的管理装置（10） 。 响应于与安全条件匹配的事件的生成，控制装置基于事件的生成定时将关于安全条件的信息存储在预定时段内，同时将生成定时与收集的信息相关联。 管理装置将生成时刻的安全条件信息合并为参考。

公开(公告)号：EP1518648A3

公开(公告)日：2010-11-03

申请号：EP04023038.5

申请日：2004-09-28

申请人： FANUC LTD

发明人： Watanabe, Atsushi ,  Ban, Kazunori ,  Kanno, Ichiro, Room 14-307

IPC分类号： B25J9/16 ,  G05B19/4069 ,  G05B19/4067

CPC分类号： G05B19/4069 ,  B25J9/1664 ,  B25J9/1674 ,  G05B2219/37555 ,  G05B2219/40053 ,  G05B2219/40125 ,  G05B2219/40213

摘要： A robot system can grasp and take out one of a plurality of workpieces placed in a basket-like container by a hand mounted at the forward end of a robot arm. The workpiece is detected by a visual sensor, and the robot is controlled depending on a position and an orientation of the workpiece. When a problem such as interference or the like occurs, information relating to the problem is stored in a robot control unit or a visual sensor control unit. Information relating to the problem includes a predetermined amount of the latest data retrospectively traced from the time point of problem occurrence, a position which the robot has reached, the target position data, the content of the process executed by the visual sensor, and the detection result. When the problem is reproduced, these data are used to simulate the situation at the time of problem occurrence by using simulation unit. The situation at the time of problem occurrence can also be reproduced by using the actual robot without using the simulation unit.

公开(公告)号：EP1518648A2

公开(公告)日：2005-03-30

申请号：EP04023038.5

申请日：2004-09-28

申请人： FANUC LTD

发明人： Watanabe, Atsushi ,  Ban, Kazunori ,  Kanno, Ichiro, Room 14-307

IPC分类号： B25J9/16 ,  G05B19/4069 ,  G05B19/4067

CPC分类号： G05B19/4069 ,  B25J9/1664 ,  B25J9/1674 ,  G05B2219/37555 ,  G05B2219/40053 ,  G05B2219/40125 ,  G05B2219/40213

摘要： A robot system can grasp and take out one of a plurality of workpieces placed in a basket-like container by a hand mounted at the forward end of a robot arm. The workpiece is detected by a visual sensor, and the robot is controlled depending on a position and an orientation of the workpiece. When a problem such as interference or the like occurs, information relating to the problem is stored in a robot control unit or a visual sensor control unit. Information relating to the problem includes a predetermined amount of the latest data retrospectively traced from the time point of problem occurrence, a position which the robot has reached, the target position data, the content of the process executed by the visual sensor, and the detection result. When the problem is reproduced, these data are used to simulate the situation at the time of problem occurrence by using simulation unit. The situation at the time of problem occurrence can also be reproduced by using the actual robot without using the simulation unit.

摘要翻译： 机器人系统可以通过安装在机器人手臂的前端的手抓住并取出放置在篮状容器中的多个工件中的一个。 通过视觉传感器检测工件，并根据工件的位置和方向来控制机器人。 当发生诸如干扰等的问题时，与问题相关的信息被存储在机器人控制单元或视觉传感器控制单元中。 与问题有关的信息包括从问题发生的时间点，机器人到达的位置，目标位置数据，由视觉传感器执行的处理的内容以及检测的追溯地追溯的预定量的最新数据 结果。 当问题复制时，这些数据用于通过使用模拟单元来模拟发生问题时的情况。 发生问题时的情况也可以通过使用实际的机器人而不使用模拟单元来再现。