公开(公告)号：US20040193320A1

公开(公告)日：2004-09-30

申请号：US10808323

申请日：2004-03-25

Applicant: FANUC LTD

Inventor： Atsushi Watanabe ,  Takayuki Ito ,  Tetsuya Kosaka

IPC: G06F019/00

CPC classification number: B25J9/1664 ,  G05B19/425 ,  G05B2219/39029 ,  G05B2219/40387 ,  G05B2219/40394

Abstract: An offline programming system making it easy to perform operations for correcting a positional deviation produced when a program, to which taught points have been added or position/orientation modifications have been made offline, is applied to a robot. A program P1 prepared by the offline programming system is applied to the robot, and a program P2 for which corrections of position deviation have been made is read in from a robot controller. Correction amounts E are each determined from a position/orientation deviation between corresponding taught points of the programs P1, P2. A program P3 is obtained by adding taught points to the program P1 or modifying taught points thereof. Expected correction amounts for the added or modified taught points are each calculated from the correction amounts of existing taught points near the position of the added or modified taught point. A program P4 obtained by modifying taught points in the program P3 using corresponding correction amounts is output to the robot controller which can easily correct actual position/orientation deviations because even the added or modified taught points have been modified with the expected correction amounts.

Abstract translation: 一种离线编程系统，使得当对已经被添加了教导点的程序或位置/方向修改已经脱机的程序时，执行用于校正产生的位置偏差的操作被应用于机器人。 将离线编程系统准备的程序P1应用于机器人，并且从机器人控制器读入已经进行了位置偏差校正的程序P2。 校正量E各自根据程序P1，P2的对应教导点之间的位置/方位偏差来确定。 通过将教导点添加到程序P1或修改其教导点来获得程序P3。 所添加或修改的教导点的预期校正量各自根据添加或修改的教导点的位置附近的现有教导点的校正量来计算。 通过使用相应的校正量将程序P3中的教导点修改而获得的程序P4被输出到机器人控制器，该机器人控制器可以容易地校正实际的位置/方向偏差，因为即使添加或修改的教导点已经被修改了预期的校正量。

公开(公告)号：US20030090483A1

公开(公告)日：2003-05-15

申请号：US10283228

申请日：2002-10-30

Applicant: Fanuc Ltd.

Inventor： Atsushi Watanabe ,  Yoshiharu Nagatsuka

IPC: G06T015/00

CPC classification number: B25J9/1671 ,  G05B19/4069 ,  G05B2219/37205 ,  G05B2219/40564 ,  Y02P90/265

Abstract: The layout of a three-dimensional model of a peripheral object (such as a table and a workpiece) is provided on a screen of a simulation apparatus, together with a three-dimensional model of a robot or the like. Point arrays, segments and planes or the like of the models are specified to prepare working point arrays for producing an operation program, thereby providing a simulation of the models in accordance with data of the program. A three-dimensional visual sensor is mounted to a robot to detect the layout of the actual robot, thereby correcting a mismatch, if any, between the layout of the models and that of the actual peripheral object.

Abstract translation: 在模拟装置的屏幕上，与机器人等的三维模型一起提供周边物体（例如工作台和工件）的三维模型的布局。 指定模型的点阵列，段和平面等以准备用于产生操作程序的工作点阵列，从而根据程序的数据提供对模型的模拟。 将三维视觉传感器安装到机器人以检测实际机器人的布局，从而校正模型的布局与实际外围物体的布局之间的不匹配（如果有的话）。

公开(公告)号：US20030075051A1

公开(公告)日：2003-04-24

申请号：US10278864

申请日：2002-10-24

Applicant: Fanuc Ltd.

Inventor： Atsushi Watanabe ,  Kazuhisa Otsuka ,  Hiroaki Kubota ,  Tadamasa Horiuchi

IPC: A23L001/00

CPC classification number: B65B5/105 ,  B65B5/12

Abstract: A food dishing robot system capable of dealing with dishing operations of foods of various characteristics. Trays are supplied to vicinities of food dishing robots RB1-RB3 by food supplying lines L1-L3. Four food conveying containers are placed on each tray. Each of the robots RB1-RB3 handles a food conveying container containing a food on the tray to move the food conveying container over a lunch box supplied by a lunch box supplying line L4 at a predetermined position, and dishes the food on a predetermined space in the lunch box. The food contained in the food conveying container is discharged through a cutout or an opening formed at a side thereof by inclining the food conveying container. The food conveying container may have a bottom plate to be opened/closed or the robot may have an auxiliary member in the form of scoop to forcedly discharge the food from the food conveying container. After completing the dishing of the food, the food conveying container is returned on the tray. Shaped, shapeless, solid, powdery, granular and liquid food can be dished on the lunch box.

Abstract translation: 一种能够处理各种特征的食品的凹陷操作的食品机器人系统。 托盘由供应线L1-L3供应给食品机器人RB1-RB3附近。 四个食物输送容器放置在每个托盘上。 机器人RB1-RB3中的每一个处理在托盘上容纳食物的食物输送容器，以将食物输送容器移动到由预定位置的午餐盒供给线L4供给的饭盒上， 午饭盒。 容纳在食物输送容器中的食物通过使食品输送容器倾斜而通过切口或形成在其一侧的开口排出。 食品输送容器可以具有打开/关闭的底板，或者机器人可以具有勺形式的辅助构件，以将食物从食品输送容器强制排出。 食物完成后，食物输送容器返回到托盘上。 形状，无形，坚实，粉状，颗粒状和液体的食物可以在午餐盒上撒上。

公开(公告)号：US20030018414A1

公开(公告)日：2003-01-23

申请号：US10193172

申请日：2002-07-12

Applicant: Fanuc Ltd.

Inventor： Atsushi Watanabe ,  Katsutoshi Takizawa ,  Kazunori Ban ,  Ichiro Kanno

IPC: G06F007/00

CPC classification number: B23Q7/10 ,  B23Q7/04 ,  B23Q17/24 ,  B25J9/1697 ,  B65G61/00 ,  G05B2219/40053 ,  G05B2219/40613

Abstract: A workpiece is gripped and unloaded by moving workpiece unloading means based on the results of measuring the workpiece position and orientation with a visual sensor. When a plurality of loaded workpieces are unloaded in a regular order one by one, or in groups, the position and orientation of the workpiece which is to be unloaded next change for each unloading. However, since a visual sensor is moved when necessary to the position appropriate for measuring the workpiece position and orientation, measurements of the workpieces with the visual sensor are conducted accurately. Therefore, the workpiece unloading is conducted reliably.

公开(公告)号：US20040133312A1

公开(公告)日：2004-07-08

申请号：US10720745

申请日：2003-11-25

Applicant: Fanuc Ltd.

Inventor： Atsushi Watanabe ,  Hiroji Nishi

IPC: G06F019/00

CPC classification number: G05B19/409 ,  B25J13/003 ,  G05B2219/35453 ,  G05B2219/35487

Abstract: A robot control unit for controlling a robot mechanism unit constantly detects the status of a robot and stores it as robot status data. An operation command input by voice from a head set is converted into character data by a voice/character data conversion device, and input to a control device. The control device searches a command corresponding to an operation command input in operation commands stored in management data. An executing program group is specified for link and storage with the corresponding operation command.

Abstract translation: 用于控制机器人机构单元的机器人控制单元不断地检测机器人的状态并将其存储为机器人状态数据。 通过语音/字符数据转换装置将来自头组的语音输入的操作命令转换为字符数据，并输入到控制装置。 控制装置在存储在管理数据中的操作命令中搜索与输入的操作命令相对应的命令。 使用相应的操作命令指定执行程序组的链接和存储。

公开(公告)号：US20040133310A1

公开(公告)日：2004-07-08

申请号：US10720750

申请日：2003-11-25

Applicant: Fanuc Ltd

Inventor： Atsushi Watanabe ,  Hiroji Nishi

IPC: G06F019/00

CPC classification number: G05B19/41815 ,  B25J9/1682 ,  G05B2219/31074 ,  G05B2219/31078 ,  G05B2219/32393 ,  G05B2219/34348 ,  Y02P90/08 ,  Y02P90/083 ,  Y02P90/087

Abstract: An information processing device sends task unit indicator information for a set of task units having an assigned execution sequence to a robot control device and numerical control device which are work performing elements. A work performing element that can execute the first task unit sends back a notification for executability. The information processing device selects one of the work performing elements which has output a notification for executability, and issues an execution command to same. After execution, the task unit indicator information, from which the first task unit that has been executed is deleted, is returned to the information processing device. The information processing device then sends this task unit indicator information to all of the work performing elements. Thereafter, this processing is repeated until task units disappear in the task unit indicator information.

Abstract translation: 信息处理装置将具有分配执行顺序的一组任务单元的任务单元指示符信息发送到作为执行元素的机器人控制装置和数控装置。 可以执行第一个任务单元的工作执行元素发回可执行的通知。 信息处理装置选择输出可执行性通知的工作执行要素之一，并发出执行命令。 在执行之后，已经执行了第一任务单元的任务单元指示符信息被删除，返回到信息处理设备。 信息处理装置然后将该任务单元指示符信息发送到所有工作执行元素。 此后，重复该处理直到任务单元在任务单元指示符信息中消失。

公开(公告)号：US20040089793A1

公开(公告)日：2004-05-13

申请号：US10699651

申请日：2003-11-04

Applicant: Fanuc Ltd.

Inventor： Atsushi Watanabe ,  Masaru Oda

IPC: H01J040/14

CPC classification number: F16P3/08 ,  B25J19/06 ,  F16P3/144

Abstract: During a robot is taking workpieces out of a workpiece container 2, a safety fence 2 and a photoelectric sensor 1 are valid and the robot is stopped when the safety fence 2 is opened or a beam from the photoelectric sensor 1 is cut off. A safety fence 1 and a photoelectric sensor 2 are invalid and do not hinder operation of the robot. Operation feasible state indicating lamps of workpiece feeding lamp/switch boxes 1 and 2 are turned on and off, respectively. If an operator replaces a workpiece container 1, he/she actuates an operating area entrance switch or the box 1 into an ON state to make OFF state an operation feasible signal for the robot RB on a side of the workpiece container 1. When the robot is operating on the side of the workpiece container 1, the robot can continue to operate while similarly ensuring safety of the operator.

Abstract translation: 在机器人将工件从工件容器2中取出时，安全栅栏2和光电传感器1是有效的，并且当安全栅栏2打开或来自光电传感器1的光束被切断时机器人停止。 安全栅1和光电传感器2无效，不妨碍机器人的动作。 工件供给灯/开关盒1和2的操作可行状态指示灯分别被打开和关闭。 如果操作人员替换工件容器1，则将操作区域入口开关或箱1启动到ON状态，使OFF状态成为工件容器1侧的机器人RB的操作可行信号。当机器人 在工件容器1的侧面上操作，机器人可以继续操作，同时确保操作者的安全。

公开(公告)号：US20040037689A1

公开(公告)日：2004-02-26

申请号：US10627722

申请日：2003-07-28

Applicant: Fanuc Ltd

Inventor： Atsushi Watanabe ,  Kazuhisa Otsuka ,  Masaru Oda ,  Tadanori Suzuki

IPC: B66C001/00

CPC classification number: B25J9/1697 ,  G05B2219/39533 ,  G05B2219/40583

Abstract: An object handling apparatus capable of securely holding an object and precisely transferring the held object from a first place to a second place without need of a specific jig for positioning the object on a pallet. A position of an object supplied to the first place is detected by a first visual sensor to obtain a compensation amount for compensating a position displacement of the supplied object. The object is held by a robot hand having position/orientation compensated using the compensation amount and position/orientation of the object held by the robot hand relative to the robot hand is detected by a second visual sensor. A displacement of the position/orientation of the object held by the robot hand from a reference position/orientation is compensated based on the detected position/orientation of the object on the robot hand, so that the object held by the robot hand is precisely moved to have a predetermined position/orientation to be transferred to the second place. The robot hand may be a servo hand having fingers driven by one or more servomotors so that position and force of the fingers in holding the object is controlled.

Abstract translation: 一种能够可靠地保持物体并将被保持物体从第一位置精确地传送到第二位置的物体处理装置，而不需要用于将物体定位在托盘上的特定夹具。 通过第一视觉传感器检测提供给第一位置的物体的位置，以获得用于补偿所提供物体的位置偏移的补偿量。 该物体由具有位置/方位补偿的机器人手保持，使用补偿量，并且通过第二视觉传感器检测由机器人手相对于机器人手保持的对象的位置/方位。 基于检测到的机器人手上的物体的位置/方向，补偿由机器人手保持的物体的位置/姿势与基准位置/姿态的位移，使得由机器人手保持的物体被精确移动 以具有预定的位置/方向被转移到第二位置。 机器人手可以是具有由一个或多个伺服电机驱动的手指的伺服手，从而控制手指在保持物体时的位置和力。

公开(公告)号：US20030088337A1

公开(公告)日：2003-05-08

申请号：US10290535

申请日：2002-11-08

Applicant: Fanuc Ltd.

Inventor： Atsushi Watanabe ,  Katsutoshi Takizawa

IPC: G06F019/00

CPC classification number: G06T7/74 ,  G05B2219/37555 ,  G05B2219/37563 ,  G05B2219/40006 ,  G05B2219/40564 ,  Y10T29/53061

Abstract: A position detecting device and a takeout apparatus capable of obtaining information on height or stage number of an object in a stack of objects by a two-dimensional image capturing device for an operation of taking out the object by a robot. A CCD camera is arranged at a position above a place where workpieces stacked in multiple stages are provided. An image processing device determines a size of the image of the uppermost workpiece in a two-dimensional image captured by the camera. The height or stage number of the workpiece is determined from the size of the workpiece image using a stored relation table or arithmetic expression representing relationship between the height or stage number of the workpiece and the size of the workpiece. For a plurality of kinds of workpieces, the relation table/arithmetic expression is stored for each kind of workpiece and selectively used in accordance of a mark on the workpiece which indicate the kind of workpiece. The obtained positional information on height or stage number is sent to a robot controller so that a robot is operated to a takeout position which is corrected based on the positional information for taking out the workpiece from a stack of workpieces.

Abstract translation: 一种位置检测装置和取出装置，其能够通过二维图像拍摄装置获得关于物体堆叠中的物体的高度或台数的信息，用于通过机器人取出物体的操作。 CCD摄像机设置在设置有多个工件的位置上方的位置。 图像处理装置确定由相机拍摄的二维图像中最上面的工件的图像的尺寸。 使用存储关系表的工件图像的尺寸或表示工件的高度或台数与工件尺寸之间的关系的算术表达式来确定工件的高度或台数。 对于多种工件，对于各种工件存储关系表/算术表达式，并根据工件上的标记选择性地使用，表示工件的种类。 获得的关于高度或台数的位置信息被发送到机器人控制器，使得机器人被操作到取出位置，其基于用于从工件的堆叠中取出工件的位置信息而被校正。

公开(公告)号：US20020072826A1

公开(公告)日：2002-06-13

申请号：US10001990

申请日：2001-12-05

Applicant: Fanuc Ltd.

Inventor： Atsushi Watanabe ,  Tetsuya Kosaka

IPC: G06F019/00

CPC classification number: G05B19/409

Abstract: An operation data display device for a robot allowing an operator to recognize operation data on a plurality of operations performed by the robot at a 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.

Abstract translation: 一种用于机器人的操作数据显示装置，允许操作者一次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一帧的多个焊接操作的形式，显示缩小尺寸的线图的接收操作数据的表示。