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91. 发明申请

WO1992017931A1 ROTOR FOR SYNCHRONOUS MOTOR 审中-公开
标题翻译：同步电机转子
公开(公告)号：WO1992017931A1
公开(公告)日：1992-10-15
申请号：PCT/JP1992000408
申请日：1992-04-02
申请人： FANUC LTD , IWAMATSU, Noboru , HIGASHI, Syougo
发明人： FANUC LTD
IPC分类号： H02K01/27
CPC分类号： H02K1/278 , H02K2201/06
摘要： A rotor of a synchronous motor is provided with a rotor core assembly body (14), which comprises a rotor core (10) formed by laminating magnetic thin plates, and plural permanent magnets (12) provided on the outer surface of the rotor core (10). The rotor core assembly body (14) is formed by coupling plural rotor core units (18) to each other concentrically in a shaft direction of the synchronous motor. Each rotor core unit (18) has a length in a shaft directional large enough to magnetize the materials to turn them into the permanent magnets by a magnetizer having an ordinal size. Each rotor core unit (18) is provided with a small rotor core (10') formed by laminating the magnetic thin plates, and plural small permanent magnets (12') which are fastened to the outer peripheral surface of the small rotor core (10') at predetermined equal intervals in a circumferential direction of the core (10'). Each small permanent magnet (12') has an identical curved plate-like shape shown by an isosceles trapezoid symmetrical with a line in a plan. The small rotor core (10') is provided with plural through holes (26) of identical diameters, which extend in a shaft direction and are arranged on a circle of a predetermined radius at equal intervals. Four spring pins (28) in total are inserted into the four through holes (26) every other hole in a circumferential direction. The spring pins (28) hold a lamination structure of the magnetic thin plates of the small rotor core (10') in a body.

92. 发明申请

WO1992015838A1 DETECTION POSITION CORRECTION SYSTEM 审中-公开
标题翻译：检测位置校正系统
公开(公告)号：WO1992015838A1
公开(公告)日：1992-09-17
申请号：PCT/JP1992000241
申请日：1992-02-28
申请人： FANUC LTD , WATANABE, Atsushi , ARIMATSU, Taro , WARASHINA, Fumikazu
发明人： FANUC LTD
IPC分类号： G01B21/00
CPC分类号： G01S5/16 , B25J9/1692 , B25J9/1697 , G05B19/4015
摘要： Calibration is effected only once at a given position, enabling the position of an object to be detected at any other position, i.e., enabling the position of the object to be detected over a wide range. Calibration data (CDA) (32) are obtained by calibration at a position A of a camera (3) is moved, and the camera is moved to a position B to obtain calibration data (CDB) (33) by calculation based on the position of the camera (3) and the data (CM) (12) of the change of the camera attitude. Then, the position of an object (30) is detected from the calibration data (CDB) (33) and imaged data (WDB) (31) of the object (30) with the camera (3) at the position B.

93. 发明申请

WO1992013676A1 COPYING CONTROL DEVICE 审中-公开
标题翻译：复制控制装置
公开(公告)号：WO1992013676A1
公开(公告)日：1992-08-20
申请号：PCT/JP1992000116
申请日：1992-02-05
申请人： FANUC LTD , MATSUURA, Hitoshi
发明人： FANUC LTD
IPC分类号： B23Q35/12
CPC分类号： B23Q35/123 , Y10T409/30112
摘要： A tool is made to copy a model, following the same path as that of a tracer head which copies the model, and lagging the tracer head by a predetermined time in order that a cutter doesn't bite a work at a corner part. On each axis of a machine tool, the tracer head is driven independently of the tool by sub-motors additively provided on the feed shafts for the tool. Copying command values are stored in a FIFO memory (41), and are outputted to each axis of the machine tool at predetermined time intervals. In a computing circuit (43), speed command values (Vxs) for the sub-motors are computed from the copying command values. According to these speed command values (Vxs), the tracer head copies the model, preceding the tool.

94. 发明申请

WO1992013669A1 PIPING ARRANGEMENT FOR WRIST OF LASER ROBOT 审中-公开
标题翻译：激光机器人的管路安排
公开(公告)号：WO1992013669A1
公开(公告)日：1992-08-20
申请号：PCT/JP1992000093
申请日：1992-01-30
申请人： FANUC LTD , TORII, Nobutoshi , TERADA, Akihiro , SASAKI, Yasuo
发明人： FANUC LTD
IPC分类号： B23K26/08
CPC分类号： B23K26/0884
摘要： Annular chambers (84-90) utilizing a plurality of seal means (70-78) are provided on the outer sheath pipe (42) of a wrist (18) of a laser robot, annular chambers (86, 90) are formed to be assist gas transfer chambers and a cooling liquid transfer chamber, such a piping arrangement as to be able to supply and recover the assist gas and the cooling liquid through these annular chambers is adopted, pipings (22, 24, 26, 28) are formed of metal pipe free from damage and provided in close contact with the periphery of the forearm (16) and the wrist (18), other annular chambers (84, 88) are formed to be operating chambers for supplying dust-proof pressure air fed from the side of an inner pipe (44) of the wrist (18) and seal means (70-78) are provided therebetween, so that the annular gas chambers and the annular liquid chambers can be formed to be the annular chambers free from the leakage of gas and liquid.

95. 发明申请

WO1992012470A1 METHOD OF TEACHING PALLETIZING 审中-公开
标题翻译：教学方法
公开(公告)号：WO1992012470A1
公开(公告)日：1992-07-23
申请号：PCT/JP1991001776
申请日：1991-12-26
申请人： FANUC LTD , WATANABE, Atsushi , ITO, Takayuki , NISHI, Makoto
发明人： FANUC LTD
IPC分类号： G05B19/403
CPC分类号： B25J9/1669
摘要： A stack pattern corresponding to a work arrangement (50) is previously prepared in a robot control system (10). In teaching, at first, a work coordinate system is set (S1), a stack pattern corresponding to the work arrangement is selected (S2), further, arrangement data on the work arrangement are input (S3), and two points in the work arrangement are taught (S4). Then, the robot control system (10) generates an operation program for palletizing, from the data.

96. 发明申请

WO1992012468A1 TRANSMISSION/RECEPTION DEVICE FOR OPERATING NUMERICALLY CONTROLLED MACHINE BY RADIO CONTROL AND ITS COUPLING METHOD 审中-公开
标题翻译：通过无线电控制操作数控机器的传输/接收装置及其耦合方法
公开(公告)号：WO1992012468A1
公开(公告)日：1992-07-23
申请号：PCT/JP1991001709
申请日：1991-12-13
申请人： FANUC LTD , KANDA, Kunio
发明人： FANUC LTD
IPC分类号： G05B19/18
CPC分类号： G05B19/409 , G05B2219/33126 , G05B2219/33192 , G05B2219/36169 , Y02P90/10
摘要： An operator transmits the ID number of a numerically controlled machine to be called to all stand-by numerically controlled machines. In response to this, all the machines display the received ID number and their own numbers to allow the operator to confirm the numbers. The operator issues a command for coupling a portable and wireless manual operation device used for the call to the called numerically controlled machine. According to this coupling command, the uncalled numerically controlled machines return to their stand-by states.

97. 发明申请

WO1992009021A1 METHOD OF EVALUATING OPERATING ACCURACY IN NUMERICALLY CONTROLLED MACHINE 审中-公开
标题翻译：数控机床运行精度评估方法
公开(公告)号：WO1992009021A1
公开(公告)日：1992-05-29
申请号：PCT/JP1991001485
申请日：1991-10-30
申请人： FANUC LTD , SASAKI, Takao , OTSUKI, Toshiaki , SAITO, Yasuhiro
发明人： FANUC LTD
IPC分类号： G05B19/405
CPC分类号： G05B19/401 , G05B2219/35286 , G05B2219/35353 , G05B2219/37619
摘要： A method of evaluating an accuracy in which an operating accuracy of a machine can be easily evaluated on the side of a numerically controlled system without using a special measuring device. For example, during execution of a circular arc processing program (14a) for evaluating an accuracy by the processor (11) of a numerically controlled system (10) with numerically controlled machine (30) idly operated, machine operating positions in directions of an X-axis and a Y-axis are periodically measured in response to position feedback signals output from pulse coders provided on servo motors of the X-axis and the Y-axis of a machine tool, and stored in a memory (13). Upon completion of the execution of the program, a radius of an operating path and an error with respect to a specified radius on the X-Y plane of the machine tool are calculated by the processor based on the measured positions in the directions of the X-axis and the Y-axis. The machine operating path is displayed on the display unit (16a) together with the specified path and allowable external and internal paths for the accuracy evaluation by the operator in accordance with image signals produced by a graphic control circuit (16) based on the calculated path or the calculated radius error, the radius specified by the program and allowable upper and lower limit radii.

98. 发明申请

WO1992009019A1 METHOD FOR SETTING COORDINATE SYSTEM OF ROBOT 审中-公开
标题翻译：设定机器人坐标系的方法
公开(公告)号：WO1992009019A1
公开(公告)日：1992-05-29
申请号：PCT/JP1991001566
申请日：1991-11-15
申请人： FANUC LTD , WATANABE, Atsushi , TERAWAKI, Fumikazu , WARASHINA, Fumikazu
发明人： FANUC LTD
IPC分类号： G05B19/18
CPC分类号： B25J9/1692 , G05B19/4086 , G05B2219/39399
摘要： A method for setting a common coordinate system of the robots of a robot system, including a robot substituted for one of them. Calculated is a coordinate converting matrix for converting a provisional coordinate system (X2Y2Z2), which has been recognized by a first robot (10, 30) through the access to a second jig (62), to a common coordinate system (X1Y1Z1), which has been recognized by the first robot through accessing a first jig (61). Further, by using this converting matrix, a provisional coordinate system, which has been recognized by a second robot through the access to the second jig, is converted to the common coordinate system, which is set in the second robot. When a substitute robot for the second robot is provided, calculated is a second coordinate converting matrix for converting a provisional system, which has been recognized by the first robot through accessing a third jig (63), to the common coordinate system. Further, a second provisional coordinate system, which has been recognized by the substitute robot through accessing the third jig, is converted to the common coordinate system by using the second coordinate converting matrix, and is set in the substitute robot.

99. 发明申请

WO1992006528A1 COOLING DEVICE OF ROTATING MEMBER 审中-公开
标题翻译：旋转部件的冷却装置
公开(公告)号：WO1992006528A1
公开(公告)日：1992-04-16
申请号：PCT/JP1991001289
申请日：1991-09-27
申请人： FANUC LTD , NAKAMURA, Kosei , HAYASHI, Yoshiyuki , OKA, Hideki
发明人： FANUC LTD
IPC分类号： H02K09/19
CPC分类号： H02K9/22 , H02K9/19
摘要： This invention is directed to efficient cool a rotating member under an environment where it receives an excessive heat transfer, such as a main spindle equipped with a built-in motor. The rotor (12) of a built-in motor is directly fitted to the rear end side of a main spindle (10) of a machine tool, and the stator (14) is so disposed on a spindle housing (16) encompassing the main spindle (10) as to encompass the rotor (12). A ring-like member (18) is fixed to the inner peripheral surface of the spindle housing (16) in front of the stator (14), and encompasses the main spindle (10) with a suitable gap. A magnetic fluid (20), for example, a mixture of fine powder of iron oxide and a liquid such as water or a mineral oil, is filled into the gap defined between the main spindle (10) and the ring-like member (18). A cooling liquid passage (22) is disposed in the spindle housing (16) in the proximity of the stator (14) and the ring-like member (18).

100. 发明申请

WO1992004668A1 SYSTEM FOR CONTROLLING SERVOMOTOR 审中-公开
标题翻译：用于控制伺服电机的系统
公开(公告)号：WO1992004668A1
公开(公告)日：1992-03-19
申请号：PCT/JP1991001065
申请日：1991-08-08
申请人： FANUC LTD , IWASHITA, Yasusuke
发明人： FANUC LTD
IPC分类号： G05D13/62
CPC分类号： G05B19/19 , G05B13/04 , H02P23/16
摘要： A system for controlling a servomotor in which a controlled system is a servomotor for driving a mechanical system of low rigidity such as a robot arm, and the control error of the torque of command value of the servomotor is corrected according to the estimate of a disturbance torque applied to the mechanical system. The system comprises a calculating means (15) for calculating an actual acceleration (a) of the mechanical system from its actual velocity (VL), a signal converting means (16) for converting the torque command of a servomotor (3) to an estimated acceleration (an) of the mechanical system based on the torque command, and an estimating means (18) for estimating the disturbance torque applied to the mechanical system by calculating a deviation (Δa) of the output of the calculating means (15) from the output of the signal converting means (16). Thereby, the effect of the disturbance changing nonlinearly due to a spring constant and a damping constant is suppressed.

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