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91. 发明申请

WO1994008391A1 CIRCUIT AND METHOD FOR DRIVING VARIABLE RELUCTANCE MOTOR 审中-公开
标题翻译：用于驱动可变电机的电路和方法
公开(公告)号：WO1994008391A1
公开(公告)日：1994-04-14
申请号：PCT/JP1993001404
申请日：1993-09-30
申请人： FANUC LTD , SAKANO, Tetsuro , ARIMOTO, Kohei
发明人： FANUC LTD
IPC分类号： H02P07/00
CPC分类号： H02P25/098
摘要： A variable reluctance motor is driven by a circuit comprising a common switching element, and switching elements which correspond to the phases. The total value (total current it) of the currents flowing through the phase coils is found. In accordance with the difference between the total value and a current command icmd, and its sign (positive or negative), the duty ratio of the PWM signal for turning the common switching element on and off is calculated. Further, based on which phase is excited according to the electrical angle of the rotor, and on the sign of the difference, the turn on/off of the switching element corresponding to each phase is controlled. In this way, a current loop is controlled to permit the detected total current it to follow up the current command icmd. Therefore, even when the excited phases are switched over, the current is always controlled to suppress the torque ripple.
摘要翻译：可变磁阻电动机由包括公共开关元件的电路和对应于相的开关元件驱动。找到流过相线圈的电流的总值（总电流）。根据总值和电流指令icmd之间的差值及其符号（正或负），计算用于使公共开关元件接通和断开的PWM信号的占空比。此外，基于哪个相位根据转子的电角度被激发，并且根据差异的符号，控制与每相相对应的开关元件的导通/截止。以这种方式，控制电流回路以允许检测到的总电流跟随电流指令icmd。因此，即使激励相切换，也始终控制电流以抑制转矩脉动。

92. 发明申请

WO1994007298A1 CAGE ROTOR FOR HIGH-SPEED INDUCTION MOTOR 审中-公开
标题翻译：用于高速感应电机的笼式转子
公开(公告)号：WO1994007298A1
公开(公告)日：1994-03-31
申请号：PCT/JP1993001335
申请日：1993-09-17
申请人： FANUC LTD , NAKAMURA, Kosei , HAYASHI, Yoshiyuki , KIMIJIMA, Masami , ARIMATSU, Yohei
发明人： FANUC LTD
IPC分类号： H02K17/16
CPC分类号： H02K17/165 , Y10T29/49012
摘要： A cage rotor (10) comprises a laminated core (14) fixed to a rotor shaft (12); a secondary conductor (18) arranged in a plurality of through holes (16) made through the laminated core (14); a pair of end rings (20) connected to the secondary conductor (18) at both ends of the laminated core (14) in the axial direction; and a pair of reinforcing members (22 and 23) covering the end rings (20) respectively. The secondary conductor (18) and end rings (20) are integrally formed by casting, and connected to the laminated core (14) and reinforcing members (22 and 23). The reinforcing members (22 and 23) are made up of annular elements made of a highly rigid material, and are provided with the cylindrical walls (26 and 27) enclosing the cylindrical outer periphery of the end rings (20), and the multi-hole walls (28 and 29) sandwiched between the respective end rings (20) and the laminated core and having a plurality of holes (32) communicating with the through holes (16) of the laminated core (14), and end walls (30 and 31) which contact with the outer ends of the end rings (20) in the axial direction.
摘要翻译：笼式转子（10）包括固定在转子轴（12）上的层叠铁心（14）。布置在通过层叠铁心（14）制成的多个通孔（16）中的次级导体（18）; 一对在所述叠层铁芯（14）的轴向两端连接到所述次级导体（18）的端环（20）; 以及分别覆盖端环（20）的一对加强构件（22和23）。次级导体（18）和端环（20）通过铸造而一体地形成，并且连接到层压铁芯（14）和加强构件（22和23）。加强构件（22和23）由高刚性材料制成的环形元件构成，并且设置有封闭端环（20）的圆柱形外周的圆柱形壁（26和27）夹在相应的端环（20）和层叠铁芯之间的多个孔壁（28和29），并且具有与层叠铁心（14）的通孔（16）连通的多个孔（32）和端壁（30 和31），其沿着轴向与端环（20）的外端接触。

93. 发明申请

WO1994000904A1 MULTI-STAGE TYPE INDUCTION MOTOR 审中-公开
标题翻译：多级电感式电动机
公开(公告)号：WO1994000904A1
公开(公告)日：1994-01-06
申请号：PCT/JP1993000859
申请日：1993-06-24
申请人： FANUC LTD , NAKAMURA, Kosei , HAYASHI, Yoshiyuki , TAMAI, Takayuki
发明人： FANUC LTD
IPC分类号： H02K16/00
CPC分类号： H02K16/02 , H02K16/00
摘要： A high-output induction motor having its stator and rotor elongated without affecting grinding and die-casting while maintaining the flexural rigidity of the articles. The induction motor (10) includes two rotor cores (14) fixed to a spindle with a predetermined gap in an axial direction and two stator cores (24) encompassing the rotor cores (14) and fixed to a sleeve portion (22) of housing means (20). Each rotor core (14) includes a plurality of secondary conductors (36) extending in the axial direction and a pair of end rings (38) connecting each secondary conductor (36) at both ends of the rotor core (14) in the axial direction. Each stator core (24) includes a plurality of windings (26). These rotor cores (14) and stator cores (24) are shaped longer to such an extent that die-casting and grinding are not affected and the flexural rigidity of the articles is maintained.
摘要翻译：一种高输出感应电动机，其定子和转子伸长而不影响研磨和压铸，同时保持制品的抗弯刚度。感应电动机（10）包括两个固定在心轴上的转子芯（14），其轴向具有预定的间隙，并且包括两个包围转子芯（14）的定子芯（24）并固定到壳体的套筒部分（20）。每个转子铁心（14）包括在轴向方向上延伸的多个次级导体（36）和一对端环（38），其在轴向上连接转子铁心（14）两端的每个次级导体（36）。每个定子铁心（24）包括多个绕组（26）。这些转子铁心（14）和定子铁芯（24）的形状更长，使得压铸和研磨不受影响并且保持制品的抗弯刚度。

94. 发明申请

WO1994000265A1 METHOD OF MONITORING DISCHARGING MACHINING CONDITION OF WIRE-CUT DISCHARGE MACHINE 审中-公开
标题翻译：电力放电机械排放加工条件监测方法
公开(公告)号：WO1994000265A1
公开(公告)日：1994-01-06
申请号：PCT/JP1993000826
申请日：1993-06-18
申请人： FANUC LTD , KAMIGUCHI, Masao
发明人： FANUC LTD
IPC分类号： B23H07/02
CPC分类号： B23H7/04 , B23H7/20
摘要： A method of monitoring a discharge machining condition in a set monitor zone while displaying various physical quantities representing the discharge machining condition on one display screen. According to this monitor method, average machining current, average gap voltage, wire tension, acceleration and other physical quantities representing the discharge machining condition are simultaneously displayed on one screen. Further, such physical quantities are sampled in the set monitor zone, and the sampled data are displayed as functions of time on a graph. The discharge machining condition can be known with the passage of time after completion of machining. Therefore, this method is helpful for clarifying and solving machining problems.
摘要翻译：一种在一个显示屏上显示表示放电加工条件的各种物理量的同时监视设定监视区中的放电加工条件的方法。根据该监视方法，平均加工电流，平均间隙电压，线张力，加速度等表示放电加工条件的物理量同时显示在一个屏幕上。此外，这样的物理量在设置的监视区域中被采样，并且采样的数据作为时间的函数被显示在图表上。放电加工条件可以在加工完成后经过时间知道。因此，这种方法有助于澄清和解决加工问题。

95. 发明申请

WO1993024875A1 CONTROL METHOD FOR SERVOMOTOR 审中-公开
标题翻译：伺服电机的控制方法
公开(公告)号：WO1993024875A1
公开(公告)日：1993-12-09
申请号：PCT/JP1993000618
申请日：1993-05-11
申请人： FANUC LTD , IWASHITA, Yasusuke
发明人： FANUC LTD
IPC分类号： G05D03/12
CPC分类号： G05B19/19 , G05B2219/41428 , G05B2219/41429 , G05B2219/41433 , G05B2219/43048
摘要： This method is to reduce the positional errors by compensating for the delay in the rising torque of servo systems when the change in acceleration by an instruction is great. This control method comprises the steps of pre-smoothing (7) for each loop processing cycle of the position and speed; calculating the feed forward amount FFp on the basis of the pre-smoothed data SMD; and controlling the feed forward by adding the feed forward amount FFp to the speed instruction obtained by the positional loop. In the step of obtaining the feed forward amount FFp, the feed forward amount is calculated by advancing it temporally if the change in acceleration by the instruction is great, hence compensating for the delay in the rising torque.
摘要翻译：该方法是通过补偿指令的加速度变化大时伺服系统的上升转矩的延迟来减小位置误差。该控制方法包括对位置和速度的每个循环处理循环进行预平滑（7）的步骤; 基于预平滑数据SMD计算前馈量FFp; 并且通过将前馈量FFp添加到由位置环获得的速度指令来控制前馈。在获得前馈量FFp的步骤中，如果通过指令的加速度的变化大，则通过前进来计算前馈量，从而补偿上升转矩的延迟。

96. 发明申请

WO1993024297A1 INJECTION MOULDING MACHINE 审中-公开
标题翻译：注塑机
公开(公告)号：WO1993024297A1
公开(公告)日：1993-12-09
申请号：PCT/JP1993000691
申请日：1993-05-25
申请人： FANUC LTD , ITO, Susumu , NISHIMURA, Koichi
发明人： FANUC LTD
IPC分类号： B29C45/20
CPC分类号： B29C45/17 , B29C45/1755 , B29C2045/1797
摘要： An injection moulding machine wherein the state of nozzle contact can be easily observed from the outside of a mold clamping unit (10). Monitoring holes (16a, 16b) are provided in a fixed platen (1) of the mold clamping unit (10). The monitoring holes (16a, 16b) are caused to penetrate from at least either of the front and back sides of the mold clamping unit (10) toward a locating hole (12) for locating a sprue bush (31) of a mold. It is possible to provide shutters (22a, 22b) on the monitoring holes (16a, 16b) that are adapted to interlock with a purge shield (20) for opening and/or closing. Furthermore, it is possible to construct the injection moldig machine such that the monitoring holes (16a, 16b) can be used for unobstructed observation via windows (34a, 34b) provided in a purge shield (30).
摘要翻译：一种注射成型机，其中可以从模具夹紧单元（10）的外部容易地观察到喷嘴接触的状态。监控孔（16a，16b）设置在合模单元（10）的固定台板（1）中。使监测孔（16a，16b）从模具夹紧单元（10）的前后两侧的至少任一侧朝向定位孔（12）穿过，用于定位模具的直浇道（31）。可以在监控孔（16a，16b）上设置适于与用于打开和/或关闭的吹扫屏蔽（20）互锁的快门（22a，22b）。此外，可以构造注射成型机，使得可以通过设置在吹扫屏蔽（30）中的窗口（34a，34b）将监测孔（16a，16b）用于无阻碍地观察。

97. 发明申请

WO1993022109A1 CABLE HANDLING APPARATUS FOR ARMS OF INDUSTRIAL ROBOT 审中-公开
标题翻译：工业机器人电缆处理装置
公开(公告)号：WO1993022109A1
公开(公告)日：1993-11-11
申请号：PCT/JP1993000565
申请日：1993-04-28
申请人： FANUC LTD , NIHEI, Ryo , HAMURA, Masayuki , MIYAWAKI, Masanao
发明人： FANUC LTD
IPC分类号： B25J19/00
CPC分类号： B25J19/0029 , Y10T74/20311 , Y10T74/20317
摘要： An industrial robot having a construction wherein the robot includes a structural arm (18) disposed as a structural element on the side portion of a robot drum (12) of a robot machine and a cable handling arm (20) disposed in a double-arm structure. A cable bundle (58) is stored inside a cable storage element (50) of this cable handling arm (20), and the cable storage element (50) itself can be removed from the side portion of the robot drum (12) as a unit element. Power feed cables and transmission cables, that are removably mounted in a unitized structure to the robot machine body, are stored without being exposed to the outside. When breakage of the cables occurs, the disconnected cables can easily be removed from the robot machine body and repaired.
摘要翻译：一种具有这样一种结构的工业机器人，其中机器人包括一个结构臂（18），该结构臂（18）作为结构元件设置在机器人机器人的机器人滚筒（12）的侧部上，以及一个电缆处理臂（20）结构体。电缆束（58）存储在该电缆处理臂（20）的电缆存储元件（50）内部，并且电缆存储元件（50）本身可以从机器人滚筒（12）的侧部移除，作为单位元素可拆卸地安装在机器人机体的组合结构中的供电电缆和传输电缆被存储而不暴露于外部。当电缆断裂时，断开的电缆可以很容易地从机器人机身移除并进行修理。

98. 发明申请

WO1993020491A1 TOOL COORDINATES DEFINITION SYSTEM 审中-公开
标题翻译：工具坐标定义系统
公开(公告)号：WO1993020491A1
公开(公告)日：1993-10-14
申请号：PCT/JP1993000340
申请日：1993-03-23
申请人： FANUC LTD , KAWAMURA, Hideaki , ISHIKAWA, Haruyuki
发明人： FANUC LTD
IPC分类号： G05B19/403
CPC分类号： G05B19/4086 , G05B2219/39398 , G05B2219/39403 , G05B2219/39417
摘要： A tool coordinates definition system capable of easily obtaining a transformation matrix for defining a tool coordinates system of a robot. The tool coordinates system (10C) at the 0 DEG position of the robot is rotated around each axis so that the tool coordinates system (10C) becomes parallel to a base coordinates system (10A). A transformation matrix (XO) representing the relation of inclination between the hand coordinates system (10B) and the tool coordinates system (10C) is determined on the basis of an angle of rotation around each axis (P, Q, R) at that time and a matrix [HAND O] representing the attitude of the hand coordinates system at the 0 DEG position. The attitude of the hand coordinates system (10B) at the 0 DEG position can be obtained easily from a design value. An angle of rotation around each axis, too, can be obtained easily from a drawing, etc. Therefore, the transformation matrix (XO) can be easily determined without practically causing the robot (10) to take an attitude so that the tool coordinates system (10C) and the hand coordinates system (10B) become parallel to each other. The tool coordinates system (10C) is defined by the use of the transformation matrix (XO).
摘要翻译：一种能够容易地获得用于定义机器人的工具坐标系的变换矩阵的工具坐标定义系统。机器人的0°位置的工具坐标系（10C）围绕各轴旋转，使得工具坐标系（10C）平行于基坐标系（10A）。基于当时在每个轴（P，Q，R）周围的旋转角度来确定表示手坐标系（10B）和刀具坐标系（10C）之间的倾斜关系的变换矩阵（XO）以及表示在0°位置处的手坐标系的姿态的矩阵[HAND O]。可以从设计值容易地获得手坐标系（10B）在0°位置的姿态。也可以从绘图等容易地获得围绕各轴的旋转角度。因此，可以容易地确定变形矩阵（XO），而不会使实际上使机器人（10）采取姿态，使得工具坐标系（10C）和手坐标系（10B）变得彼此平行。通过使用变换矩阵（XO）来定义刀具坐标系（10C）。

99. 发明申请

WO1993019407A1 METHOD OF CREATING OPERATIVE PROGRAM AND METHOD OF EXECUTING THE SAME 审中-公开
标题翻译：创建操作程序的方法及其执行方法
公开(公告)号：WO1993019407A1
公开(公告)日：1993-09-30
申请号：PCT/JP1993000302
申请日：1993-03-11
申请人： FANUC LTD , WATANABE, Atsushi , ITO, Takayuki , TAKAHASHI, Hiromitsu
发明人： FANUC LTD
IPC分类号： G05B19/405
CPC分类号： B25J9/1658 , G05B2219/35256 , G05B2219/35257 , G05B2219/35258 , G05B2219/35262 , G05B2219/36162 , G05B2219/39431 , G05B2219/40006
摘要： A method of creating an operation program easy to understand, and of executing the operation program simply. When creating a program (20), in addition to such ordinary operative statements as "each axis position [1] 100 % alignment", macro names are used. For example, in the fifth line a macro name "hand close" is used, and in the tenth line a macro name "hand open" is used. According to macro programs fetched under such macro names, a robot (100) performs the opening and closing operations of a robot hand (102). In this manner, macro programs are given macro names representing their uses, etc., and an operation program is created using the macro names. Therefore, the creation of the program (20) is easy for the creator. The operation program (20) is easy for the operator to understand at a glance.
摘要翻译：一种创建易于理解的操作程序的方法，简单地执行操作程序。当创建程序（20）时，除了“每轴位置[1] 100％对齐”之类的常规操作语句之外，还使用宏名称。例如，在第五行中，使用了宏名称“hand close”，在第十行中使用宏名称“hand open”。根据在这样的宏名称下取出的宏程序，机器人（100）执行机器人手（102）的打开和关闭操作。以这种方式，宏程序被赋予表示其用途等的宏名称，并且使用宏名称创建操作程序。因此，创建程序（20）的创建很容易。操作程序（20）易于操作者一目了然。

100. 发明申请

WO1993017483A1 ROTOR OF SYNCHRONOUS MOTOR 审中-公开
标题翻译：同步电机转子
公开(公告)号：WO1993017483A1
公开(公告)日：1993-09-02
申请号：PCT/JP1993000248
申请日：1993-02-26
申请人： FANUC LTD , UCHIDA, Hiroyuki
发明人： FANUC LTD
IPC分类号： H02K01/27
CPC分类号： H02K1/2773
摘要： A rotor of a synchronous motor according to the present invention includes a plurality of permanent magnets (12) radially disposed around a shaft (10), and a plurality of laminate core members (14) disposed around the shaft (10) to clamp each permanent magnet (12) and serving as magnetic poles. The permanent magnets (12) are extended as a continuous member substantially along the full length of the laminate core members (14). Each laminate core member (14) is separated substantially in the middle by a disc member (24). The disc member (24) includes a shaft hole (26) at the center into which the shaft (10) is fitted, and a plurality of magnet engagement holes (28) around the shaft hole (26). Each magnet engagement hole (28) has a peripheral edge portion (32) having substantially the same profile as the section of the permanent magnet (12) and is formed in substantial alignment with each permanent magnet (12). Accordingly, each permanent magnet (12) is held at a predetermined position in a radial direction by the magnet engagement hole (28) of the disc member (24) against an external direction acting outward relative to the radial direction due to centrifugal force, etc.

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