公开(公告)号：US09895801B2

公开(公告)日：2018-02-20

申请号：US14734297

申请日：2015-06-09

Applicant: FANUC Corporation

Inventor： Masaru Oda ,  Yoshiharu Nagatsuka ,  Kozo Inoue

IPC: B25J9/16

CPC classification number: B25J9/1664 ,  G05B2219/39132 ,  G05B2219/40042 ,  G05B2219/40417 ,  G05B2219/40519 ,  Y02P90/265

Abstract: An offline teaching device has a calculation unit which calculates a second position of a second tool on a work line which is separated by a predetermined distance from a first position of a first tool on the work line, calculates a workpiece position where the first tool in the first position contacts or adjoins the workpiece, and calculates a workpiece position and posture such that the second tool in the second position contacts or adjoins the workpiece by changing the posture of the workpiece from the workpiece position with respect to the first tool, while maintaining the work posture of the first tool, and has a generation unit which generates a robot teaching position based on the position and posture of the workpiece and the holding position of the workpiece, and generates a program such that the first tool and the second tool pass along the work line.

公开(公告)号：US10789395B2

公开(公告)日：2020-09-29

申请号：US14166581

申请日：2014-01-28

Applicant: FANUC CORPORATION

Inventor： Kozo Inoue

IPC: G06F30/20 ,  B25J9/16

Abstract: A simulation device capable of executing a proper simulation without changing a program, while the definition of virtual peripheral equipment and/or a PLC is not necessary. A signal status setting file, which is separated from a robot program, can be executed in parallel with the program, and includes a command for setting or changing a signal status described corresponding to a line in execution of the program, wherein the status is referenced by executing the line of the program. For example, a command of the file, described corresponding to a fifth line of the robot program, commands inputting a signal which indicates that the opening motion of a door is completed. Therefore, when the simulation is executed, in synchronization with the line in execution of the program, the setting or changing of the signal status, described corresponding to the line in execution, is performed.

公开(公告)号：US09902067B2

公开(公告)日：2018-02-27

申请号：US15292132

申请日：2016-10-13

Applicant: FANUC CORPORATION

Inventor： Kozo Inoue

IPC: B25J9/16

CPC classification number: B25J9/1666 ,  B25J9/1671 ,  G05B2219/40476

Abstract: A robot programming device capable of easily checking interference between a robot and peripheral equipment, by which the interference can be easily avoided automatically or manually. The programming device has: a simulation executing part which executes a simulation of motions of peripheral equipment and a robot hand based on a control signal; a signal setting part which sets the control signal for executing the simulation, with respect to a teaching point or a trajectory between the teaching points included in a predetermined robot operation program or a program template, the control signal being set as attribute data of each teaching point or each trajectory; a moving part which moves the robot to the teaching point or the trajectory; and a display setting part which determines as to whether the workpiece is displayed or hidden, with respect to the teaching point or the trajectory to which the robot is moved.

公开(公告)号：US09676101B2

公开(公告)日：2017-06-13

申请号：US14168325

申请日：2014-01-30

Applicant: FANUC CORPORATION

Inventor： Kozo Inoue

IPC: G06F7/60 ,  G06F17/10 ,  B25J9/16 ,  B25J9/10 ,  G06F17/50

CPC classification number: B25J9/1661 ,  B25J9/10 ,  G05B2219/36177 ,  G05B2219/40099 ,  G06F17/50 ,  Y02P90/02

Abstract: An operating program writing system includes a block storing part which stores a plurality of blocks constituting work units of an operating program, a selecting part which selects any number of blocks from the plurality of blocks, a displaying part which displays a path diagram including the any number of blocks and arguments which are contained in the blocks, a selecting and inputting part which selects at least one block among the any number of blocks and inputs the arguments of the at least one block, a running part which arranges run buttons for the respective any number of blocks and runs blocks which correspond to the run buttons, and a writing part which uses the any number of blocks and the input argument of the at least one block as the basis to write an operating program.

公开(公告)号：US11345026B2

公开(公告)日：2022-05-31

申请号：US16446631

申请日：2019-06-20

Applicant: FANUC CORPORATION

Inventor： Kozo Inoue

IPC: B25J9/16

Abstract: A robot program generation apparatus that selects a typical arrangement pattern of a robot system; selects elements to be arranged in the arrangement pattern; automatically generates a layout where the elements in a stationary state do not interfere with each other; automatically generates a robot program in accordance with task details corresponding to the arrangement pattern and with the layout; executes the robot program in a virtual environment and automatically modifies installation positions of the elements in the layout based on whether or not the robot in an operating state interfere with any other elements and on whether or not the robot can reach a workpiece; and corrects the robot program based on the installation positions.

公开(公告)号：US09718189B2

公开(公告)日：2017-08-01

申请号：US14874575

申请日：2015-10-05

Applicant: FANUC Corporation

Inventor： Hiroyuki Atohira ,  Yoshiharu Nagatsuka ,  Kozo Inoue

IPC: B25J9/16 ,  G05B19/423

CPC classification number: B25J9/1687 ,  Y10S901/05

Abstract: A robot teaching device for teaching a robot offline, capable of setting target, advance and rotation angles of a tool, so that a flat and stable posture of the tool can be obtained. The teaching device has: a storing part which stores a combination of a plurality of processing portion shapes and the target and advance angles associated with each processing portion; a first setting part which sets the target and advance angles associated with the selected processing portion shape, as target and advance angles with respect to the designated processing portion shape; and a second setting part which rotates the tool about a longitudinal axis thereof while maintaining the target and advance angles, so as to calculate the rotation angle of the tool, wherein a height of a face plate of the robot from a horizon plane in the virtual space is maximum at the rotation angle.

公开(公告)号：US11262727B2

公开(公告)日：2022-03-01

申请号：US16296567

申请日：2019-03-08

Applicant: FANUC CORPORATION

Inventor： Kozo Inoue

IPC: G05B19/4068 ,  G05B19/418

Abstract: An integrated simulation system includes a first simulation device which executes a simulation of a first program, a second simulation device which executes a simulation of a second program, a start timing setting section which sets start timing for the correlated first program and second program so as to verify the presence or absence of malfunctions caused by a start order of the correlated first program and second program, and a program starting section which issues commands to the first simulation device and the second simulation device to start the correlated first program and second program at the set start timing by a single starting operation.