公开(公告)号：US07848851B2

公开(公告)日：2010-12-07

申请号：US12230858

申请日：2008-09-05

申请人： Hiroji Nishi ,  Yoshitaka Ikeda

发明人： Hiroji Nishi ,  Yoshitaka Ikeda

IPC分类号： G05B15/00

CPC分类号： B25J9/1674 ,  G05B19/425 ,  G05B2219/39442 ,  G05B2219/39445 ,  Y02P90/083

摘要： A controller for work piece-conveying robot having: a coordinate system storage section for storing one or more manual jog feed coordinate systems; a working area setting section for setting to a machine tool a working area to which the manual jog feed coordinate system is assigned; a hand position obtaining section for obtaining a current position of the robot hand at each specified sampling period; a determination section for determining whether or not the current position of the robot hand obtained by the hand position obtaining section is within the working area set by the working area setting section; and a coordinate system switching section for switching a present manual jog feed coordinate system to the manual jog feed coordinate system assigned to the working area if it is determined by the determination section that the current position of the robot hand is within the working area.

摘要翻译： 一种用于工件输送机器人的控制器，具有：用于存储一个或多个手动点动进给坐标系的坐标系存储部分; 工作区域设定部，其向机床设定分配了手动点动供给坐标系的工作区域; 指针位置获取部分，用于在每个指定的采样周期获得机器人手的当前位置; 确定部，用于确定由所述手位置取得部获得的所述机器人手的当前位置是否在由所述工作区域设定部设定的工作区域内; 以及坐标系切换部分，用于如果由所述确定部分确定所述机器人手的当前位置在所述工作区域内，则将当前手动点动供给坐标系切换到分配给所述工作区域的手动点动给送坐标系。

公开(公告)号：US20060229766A1

公开(公告)日：2006-10-12

申请号：US11399676

申请日：2006-04-06

申请人： Nobuyuki Setsuda

发明人： Nobuyuki Setsuda

IPC分类号： G06F19/00

CPC分类号： B25J9/1697 ,  G05B19/425 ,  G05B2219/39057 ,  G05B2219/39442 ,  G05B2219/40003 ,  G05B2219/40523

摘要： A motion control apparatus for teaching a robot position includes an operating unit that inputs an operating command to a robot on a camera coordinate system having, as a reference, an image capturing screen displayed on the monitor, a converting unit that generates a motion vector on the camera coordinate system for moving the robot from the current position to the next moving position in accordance with the operating command on the camera coordinate system input from the operating unit and converts the motion vector on the camera coordinate system into a motion vector on a robot coordinate system, an operating-instruction generating unit that generates a motor instructing value to be given to a motor arranged at a joint of the robot 1 based on the motion vector on the robot coordinate system obtained by the converting unit, and a motor control unit that controls the motor arranged at the joint of the robot in accordance with the motor instructing value generated by the operating-instruction generating unit.

摘要翻译： 一种用于示教机器人位置的运动控制装置包括：操作单元，其将摄像机坐标系上的机器人的操作命令输入到作为参考的显示在监视器上的图像拍摄屏幕的摄像机坐标系上，生成运动矢量的转换单元 根据从操作单元输入的摄像机坐标系上的操作命令将机器人从当前位置移动到下一移动位置的相机坐标系，并将摄像机坐标系上的运动矢量转换为机器人上的运动矢量 基于由所述转换单元获得的所述机器人坐标系上的运动矢量，生成针对设置在所述机器人1的接合处的电动机的电动机指示值的操作指令生成单元，以及电动机控制单元 其根据由操作部产生的电动机指示值来控制布置在机器人的接合处的电动机 发电机组。

公开(公告)号：US5608618A

公开(公告)日：1997-03-04

申请号：US397471

申请日：1995-03-02

申请人： Tetsuya Kosaka ,  Seigou Katou

发明人： Tetsuya Kosaka ,  Seigou Katou

IPC分类号： B23Q15/00 ,  B25J9/10 ,  B25J9/18 ,  B25J13/06 ,  G05B19/425 ,  G05B19/18

CPC分类号： G05B19/425 ,  G05B2219/39442 ,  G05B2219/50045

摘要： A jog-feed operation is set to enable rotation and movement of a coordinate system. During the jog-feed of the coordinate system, a robot is moved equivalently to the jog-feed steps. A tool distal end point of the robot is initially moved to the origin of a user coordinate system serving as a moving target. A jog-feed mode is set to a coordinate system jog-feed mode in conformity to the coordinate system itself. A translating jog-feed operation is carried out until the tool distal end point of the robot reaches a vertex of a workpiece. The tool distal end point of the robot is subsequently moved to a point on an axis of the coordinate system. A rotational jog-feed operation is carried out until the tool distal end point of the robot reaches an edge line of the workpiece. According to the above jog-feed operation, a robot control device calculates an amount of movement of the coordinate system.

摘要翻译： 点动进给操作被设置为允许坐标系的旋转和移动。 在坐标系的点动进给期间，机器人等效于移动步进。 机器人的工具远端终点最初移动到用作移动目标的用户坐标系的原点。 按照坐标系自身的方式将点动进给模式设置为坐标系微动加料模式。 进行平移点动进给操作，直到机器人的刀具远端到达工件的顶点。 机器人的工具远端终点随后移动到坐标系轴线上的一个点上。 进行旋转点动进给操作，直到机器人的工具远端到达工件的边缘线。 根据上述点动送料操作，机器人控制装置计算坐标系的移动量。

公开(公告)号：US07164971B2

公开(公告)日：2007-01-16

申请号：US10678270

申请日：2003-10-06

申请人： Davide Ferla ,  Luca Lachello ,  Gianluca Gastaldi ,  Giorgio Cantello ,  Renzo Calcagno

发明人： Davide Ferla ,  Luca Lachello ,  Gianluca Gastaldi ,  Giorgio Cantello ,  Renzo Calcagno

IPC分类号： G05B15/00

CPC分类号： B25J13/06 ,  G05B19/425 ,  G05B2219/36159 ,  G05B2219/39442 ,  H01H9/0214

摘要： A programming system for a robot includes a portable programming terminal (6) having a series of jog keys (14) for controlling the motions of the robot, a key (18) for selecting one among a plurality of possible co-ordinate systems for the jog keys (14) and a key (21) for storing the position reached by a predefined point of a tool supported by the robot, as a result of a motion thereof. The terminal (6) includes additional control keys (40, 41), able to be operated manually instead of the jog keys (14), to cause, independently from the co-ordinate system selected with the selection key (18), a Cartesian and/or angular displacement of the predefined point of the tool relative to a reference point that may be varied at will, which corresponds to the position of the operator who uses the terminal (6).

摘要翻译： 一种用于机器人的编程系统包括：便携式编程终端（6），具有用于控制机器人的运动的一系列点动键（14），用于在多个可能的坐标系中选择一个的键 作为其运动的结果，用于存储由机器人支撑的工具的预定点到达的位置的按键（14）和键（21）。 终端（6）包括附加的控制键（40,41），能够手动操作而不是点动键（14），独立于使用选择键（18）选择的坐标系，使笛卡尔 和/或刀具的预定点相对于可随意改变的参考点的角位移，其对应于使用终端（6）的操作者的位置。

公开(公告)号：US20240248453A1

公开(公告)日：2024-07-25

申请号：US18561417

申请日：2021-05-25

申请人： Fanuc Corporation

发明人： Hideo Ogino

IPC分类号： G05B19/409 ,  G05B19/416

CPC分类号： G05B19/409 ,  G05B19/4166 ,  G05B2219/39442

摘要： This control device includes: a determination unit that determines whether an operation mode which has been set is a manual operation mode; an image display unit that causes a manipulation image corresponding to the manual operation mode to be displayed on a display screen, if the determination unit has determined that the operation mode is the manual operation mode; an assessment unit that assess the movement state of a drive shaft on the basis of a manipulation performed with respect to the manipulation image; and a control unit that controls the drive shaft on the basis of the movement state assessed by the assessment unit.

公开(公告)号：US20090112362A1

公开(公告)日：2009-04-30

申请号：US12230858

申请日：2008-09-05

申请人： Hiroji Nishi ,  Yoshitaka Ikeda

发明人： Hiroji Nishi ,  Yoshitaka Ikeda

IPC分类号： G05B19/00

CPC分类号： B25J9/1674 ,  G05B19/425 ,  G05B2219/39442 ,  G05B2219/39445 ,  Y02P90/083

摘要： A controller for work piece-conveying robot having: a coordinate system storage section for storing one or more manual jog feed coordinate systems; a working area setting section for setting to a machine tool a working area to which the manual jog feed coordinate system is assigned; a hand position obtaining section for obtaining a current position of the robot hand at each specified sampling period; a determination section for determining whether or not the current position of the robot hand obtained by the hand position obtaining section is within the working area set by the working area setting section; and a coordinate system switching section for switching a present manual jog feed coordinate system to the manual jog feed coordinate system assigned to the working area if it is determined by the determination section that the current position of the robot hand is within the working area.

摘要翻译： 一种用于工件输送机器人的控制器，具有：用于存储一个或多个手动点动进给坐标系的坐标系存储部分; 工作区域设定部，其向机床设定分配了手动点动供给坐标系的工作区域; 指针位置获取部分，用于在每个指定的采样周期获得机器人手的当前位置; 确定部，用于确定由所述手位置取得部获得的所述机器人手的当前位置是否在由所述工作区域设定部设定的工作区域内; 以及坐标系切换部分，用于如果由所述确定部分确定所述机器人手的当前位置在所述工作区域内，则将当前手动送进坐标系切换到分配给所述工作区域的手动点动给送坐标系。

公开(公告)号：US20040068335A1

公开(公告)日：2004-04-08

申请号：US10678270

申请日：2003-10-06

申请人： COMAU S.P.A.

发明人： Davide Ferla ,  Luca Lachello ,  Gianluca Gastaldi ,  Giorgio Cantello ,  Renzo Calcagno

IPC分类号： G05B019/42 ,  G05B019/04 ,  G05B019/18

CPC分类号： B25J13/06 ,  G05B19/425 ,  G05B2219/36159 ,  G05B2219/39442 ,  H01H9/0214

摘要： A programming system for a robot comprises a portable programming terminal (6) having a series of jog keys (14) for controlling the motions of the robot, a key (18) for selecting one among a plurality of possible co-ordinate system for the jog keys (14) and a key (21) for storing the position reached by a predefined point of a tool supported by the robot, as a result of a motion thereof. The terminal (6) comprises additional control keys (40, 41), able to be operated manually instead of the jog keys (14), to cause, independently from the co-ordinate system selected with the selection key (18), a Cartesian and/or angular displacement of the predefined point of the tool relative to a reference point that may be varied at will, which corresponds to the position of the operator who uses the terminal (6).

摘要翻译： 用于机器人的编程系统包括具有用于控制机器人的运动的一系列点动键（14）的便携式编程终端（6），用于在多个可能的坐标系中选择一个的键 作为其运动的结果，用于存储由机器人支撑的工具的预定点到达的位置的按键（14）和键（21）。 终端（6）包括附加的控制键（40,41），其能够手动操作而不是点动键（14），以独立于用选择键（18）选择的坐标系，导致笛卡儿坐标 和/或刀具的预定点相对于可随意改变的参考点的角位移，其对应于使用终端（6）的操作者的位置。

公开(公告)号：US5876325A

公开(公告)日：1999-03-02

申请号：US940613

申请日：1997-09-30

申请人： Hitoshi Mizuno ,  Yuuichi Ikeda ,  Akihiro Horii ,  Shuichi Takayama ,  Akio Nakada ,  Naoki Uchiyama ,  Yasuhiro Ueda ,  Koichi Umeyama ,  Sakae Takehana

发明人： Hitoshi Mizuno ,  Yuuichi Ikeda ,  Akihiro Horii ,  Shuichi Takayama ,  Akio Nakada ,  Naoki Uchiyama ,  Yasuhiro Ueda ,  Koichi Umeyama ,  Sakae Takehana

IPC分类号： A61B1/00 ,  A61B1/04 ,  A61B19/00

CPC分类号： A61B1/00193 ,  A61B1/00048 ,  A61B1/00149 ,  A61B1/00188 ,  A61B34/30 ,  A61B34/37 ,  A61B34/74 ,  A61B1/042 ,  A61B2034/301 ,  A61B2034/742 ,  A61B2090/502 ,  A61B2090/506 ,  G05B2219/39442

摘要： A surgical manipulator system comprising at least one surgical manipulator, at least one guide, a detector, and a drive controller. The surgical manipulator has a surgical device for performing a desired operation. The guide guides the surgical device. The detector detects a position and/or orientation relationship between the surgical device and the guide, and/or a position and/or orientation relationship between the surgical device and another surgical device. The drive controller controls the surgical manipulator such that the surgical device is guided by the guide.

摘要翻译： 一种手术操纵器系统，包括至少一个手术操纵器，至少一个引导件，检测器和驱动器控制器。 手术操纵器具有用于执行所需操作的手术装置。 引导件引导手术装置。 检测器检测手术装置和引导件之间的位置和/或取向关系，和/或手术装置与另一手术装置之间的位置和/或取向关系。 驱动器控制器控制手术操纵器，使得外科装置由引导件引导。