公开(公告)号：US20200023516A1

公开(公告)日：2020-01-23

申请号：US16458193

申请日：2019-07-01

申请人： FANUC Corporation

发明人： Seigo KATO ,  Yoshiharu NAGATSUKA ,  Yuuki KIMOTO

IPC分类号： B25J9/16 ,  G05B19/425

摘要： An automatic path generation device includes a preprocessing unit creating teacher data based on a temporary motion path which is a motion path between a plurality of motion points where a robot moves and which is automatically generated with a motion planning algorithm and an actual motion path which is a motion path between the motion points and which is created by a skilled worker and a motion path learning unit generating a learned model which has learned a difference between the temporary motion path and the actual motion path with teacher data created by the preprocessing unit.

公开(公告)号：US20180121578A1

公开(公告)日：2018-05-03

申请号：US15788987

申请日：2017-10-20

申请人： FANUC CORPORATION

发明人： Hiroyuki ATOHIRA ,  Yoshiharu NAGATSUKA

IPC分类号： G06F17/50

摘要： A simulation device capable of easily constructing the layout of a three-dimensional model of a robot system in a virtual space. The simulation device includes a model arranging section that arranges a component model in a virtual space, the component model being a three-dimensional model of a component of the robot system; a reference setting section that sets a reference point, a reference axis, or a reference plane in the virtual space; a symmetric model generation section that generates a symmetric component model of the component model arranged in the virtual space, the symmetric component model being a three-dimensional model symmetric with respect to the reference point, the reference axis, or the reference plane; and a simulation section that executes a simulation to simulatively operate the component model and the symmetric component model in the virtual space.

公开(公告)号：US20150209963A1

公开(公告)日：2015-07-30

申请号：US14603396

申请日：2015-01-23

申请人： FANUC Corporation

发明人： Hiroyuki ATOHIRA ,  Yoshiharu NAGATSUKA

IPC分类号： B25J9/16

CPC分类号： B25J9/1697 ,  B25J9/1671 ,  B25J9/1692 ,  G05B2219/39397 ,  Y10S901/47

摘要： A robot programming apparatus includes a virtual space creation unit for creating a virtual space that expresses a work space in three dimensions; a target portion designation unit for designating a target portion whose image is to be captured by an image pickup device, on a workpiece model arranged in the virtual space; a position determination unit for determining at least one position of the image pickup device for capturing the image of the target portion in the virtual space; a position storage unit for storing the at least one position of the image pickup device; and an image pickup program creation unit for creating an image pickup program to be taught to a robot so that the image pickup device captures the image of the target portion according to the at least one position of the image pickup device stored in the position storage unit.

摘要翻译： 机器人编程装置包括虚拟空间创建单元，用于创建在三维中表达工作空间的虚拟空间; 目标部分指定单元，用于在布置在虚拟空间中的工件模型上指定其图像将被图像拾取装置捕获的目标部分; 位置确定单元，用于确定用于在虚拟空间中捕获目标部分的图像的图像拾取装置的至少一个位置; 位置存储单元，用于存储图像拾取装置的至少一个位置; 以及图像拾取程序创建单元，用于创建要向机器人教导的图像拾取程序，使得图像拾取装置根据存储在位置存储单元中的图像拾取装置的至少一个位置捕获目标部分的图像 。

公开(公告)号：US20170146341A1

公开(公告)日：2017-05-25

申请号：US15296142

申请日：2016-10-18

申请人： FANUC CORPORATION

发明人： Yuuki KIMOTO ,  Yoshiharu NAGATSUKA

IPC分类号： G01B21/00 ,  B65G57/03

CPC分类号： G01B21/00 ,  B65G57/03 ,  B65G61/00 ,  B65G2203/0208 ,  B65G2203/041

摘要： A stowage pattern calculation device calculates positions of articles irregularly conveyed. The plurality of articles have a box shape and include articles having dimensions different from each other. The stowage pattern calculation device includes a combination calculation part which calculates a combination of the articles constituting a layer formed in a storage area and selects a layer of the articles based on types of the articles, a height of the layer, and an area of the layer. The stowage pattern calculation device includes a position determination part which calculates a first probability of completion of the layer and determines positions at which the articles are stacked based on a positional relationship between a robot and the storage area and the first probability.

公开(公告)号：US20170021501A1

公开(公告)日：2017-01-26

申请号：US15214464

申请日：2016-07-20

申请人： FANUC CORPORATION

发明人： Yuuki KIMOTO ,  Yoshiharu NAGATSUKA

IPC分类号： B25J9/16

CPC分类号： B25J9/1671 ,  G05B2219/40202

摘要： A robot simulation device, by which a calculation of a cycle time and a simulation of a human intervention-type robot system can be easily carried out with less effort by an operator. The simulation device has: an operation distributing part which distributes a plurality of operations to the robot and the human, based on a weight of an article to be worked in each operation, a conveying distance of the article, and a required time in each operation; a program generating part which generates a motion program for the robot and the human based on a result of distribution of operations obtained by the operation distributing part; and a cycle time calculating part which executes a simulation of the motion program and calculates a cycle time of the motion program.

摘要翻译： 机器人模拟装置，通过操作者较少的努力，可以容易地进行人力干预型机器人系统的周期时间的计算和模拟。 模拟装置具有：基于每次操作中待加工物品的重量，物品的输送距离和每个操作中的所需时间，将操作分配部分分配给机器人和人类的多个操作 ; 基于由所述操作分配部获得的操作的分配结果，生成针对所述机器人和所述人的运动程序的程序生成部; 以及循环时间计算部，其执行运动程序的模拟并计算运动程序的循环时间。

公开(公告)号：US20160096269A1

公开(公告)日：2016-04-07

申请号：US14874575

申请日：2015-10-05

申请人： FANUC Corporation

发明人： Hiroyuki ATOHIRA ,  Yoshiharu NAGATSUKA ,  Kozo INOUE

IPC分类号： B25J9/00 ,  B25J9/16

CPC分类号： B25J9/1687 ,  Y10S901/05

摘要： 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.

摘要翻译： 一种机器人教学装置，用于离线地教导机器人，能够设定工具的目标，前进和旋转角度，从而可以获得工具的平坦且稳定的姿势。 教学装置具有：存储部，其存储多个处理部形状和与各处理部相关联的目标和提前角度的组合; 第一设定部，其将与所选择的处理部形状相关联的目标和前进角度设定为相对于指定处理部形状的目标和前进角度; 以及第二设定部，其围绕其纵轴旋转工具，同时保持目标和提前角度，以便计算工具的旋转角度，其中机器人的面板从虚拟的水平平面的高度 空间在旋转角度处最大。

公开(公告)号：US20170267467A1

公开(公告)日：2017-09-21

申请号：US15461399

申请日：2017-03-16

申请人： FANUC CORPORATION

发明人： Yuuki KIMOTO ,  Yoshiharu NAGATSUKA

IPC分类号： B65G57/22

CPC分类号： B65G57/22 ,  B25J9/1687 ,  B65G47/90 ,  B65G47/905 ,  B65G57/20 ,  B65G61/00 ,  G05B19/41865 ,  G05B2219/40007 ,  G05B2219/40067 ,  G05B2219/40554

摘要： A stowage device is equipped with a transport device that transports a plurality of types of objects in a random sequence, and a control device that sets a position of an object inside a containment area. The control device includes a complete pattern selection unit that selects a complete pattern in which an object transported by the transport device can be stowed on the basis of the type of the object and information on an object currently placed in the containment area. The control device includes a position determination unit that determines a position of an object inside the containment area on the basis of the complete pattern.

公开(公告)号：US20170235301A1

公开(公告)日：2017-08-17

申请号：US15425560

申请日：2017-02-06

申请人： FANUC CORPORATION

发明人： Hiroyuki ATOHIRA ,  Yoshiharu NAGATSUKA

IPC分类号： G05B19/42

CPC分类号： G05B19/42 ,  B25J9/1664 ,  G05B2219/36404 ,  Y02P90/265

摘要： A robot programming device capable of significantly reducing operation time by an operator required for designating processed portions, and generating a robot program for moving a robot between each processed portion in an appropriate order, without depending on skill or experience of the operator. The programming device is configured to: locate three-dimensional models of a robot and a workpiece in a virtual space; extract shape features from the three-dimensional model of the workpiece; set reference positions of the shape features and the robot; determine a movement order for moving the robot between the shape features based on the reference positions, based on the reference positions of the shape features and the robot; and generate a motion program so that the robot moves the tool along the shape feature and the robot is moved between the shape features according to the determined movement order.

公开(公告)号：US20160151913A1

公开(公告)日：2016-06-02

申请号：US14948315

申请日：2015-11-21

申请人： FANUC Corporation

发明人： Yoshiharu NAGATSUKA

IPC分类号： B25J9/16 ,  B25J11/00 ,  B25J15/00

CPC分类号： B25J11/005 ,  B25J9/1664 ,  Y10S901/02

摘要： According to a robot programming apparatus, a position and a posture of a tool is determined based on a machining path formed by projecting an operation pattern onto a workpiece model. The robot programming apparatus includes a determination unit configured to determine whether or not a workpiece and the tool interfere with each other at any point, except for a machining point of the tool, and a position and posture correction unit configured to correct at least one of the position and the posture of the tool so that the workpiece and the tool do not interfere with each other at any point, except for the machining point of the tool.

摘要翻译： 根据机器人编程装置，基于通过将工作模式投影到工件模型而形成的加工路径来确定工具的位置和姿势。 机器人编程装置包括：确定单元，被配置为确定工件和工具之间是否在工具的加工点以外的任何点处彼此干涉;以及位置和姿势校正单元，被配置为校正以下中的至少一个： 工具的位置和姿势，使得工件和工具在工具的加工点以外的任何点处不会彼此干涉。

公开(公告)号：US20160008976A1

公开(公告)日：2016-01-14

申请号：US14794396

申请日：2015-07-08

申请人： FANUC Corporation

发明人： Yoshiharu NAGATSUKA ,  Yanxue LIANG ,  Norio TAKEI

IPC分类号： B25J9/16 ,  G05B13/04

CPC分类号： B25J9/163 ,  G05B2219/40387 ,  G05B2219/40515

摘要： A robot program modification system comprises a robot control apparatus and a program modification apparatus. The robot control apparatus has an information acquisition unit which executes an operation program and acquires robot detection information from a robot, and a communication unit which transmits the robot detection information to the program modification apparatus. The program modification apparatus has a simulation unit which performs simulation on the basis of the operation program, and a program modification unit which modifies the operation program on the basis of the robot detection information so that a result of the simulation satisfies an evaluation basis decided in advance.

摘要翻译： 机器人程序修改系统包括机器人控制装置和程序修改装置。 机器人控制装置具有执行操作程序并从机器人获取机器人检测信息的信息获取单元，以及将机器人检测信息发送到程序修改装置的通信单元。 程序修改装置具有基于操作程序进行仿真的模拟单元和基于机器人检测信息修改操作程序的程序修改单元，使得模拟结果满足在 提前。