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21. 发明申请

WO1997039859A1 ROBOT WITH SERVO TOOL AT FRONT END OF WRIST 审中-公开
标题翻译：机器人与伺服工具在前端
公开(公告)号：WO1997039859A1
公开(公告)日：1997-10-30
申请号：PCT/JP1997001443
申请日：1997-04-24
申请人： FANUC LTD , NISHI, Hiroji , OKADA, Takeshi
发明人： FANUC LTD
IPC分类号： B25J13/00
CPC分类号： B25J17/0241 , B25J9/126 , B25J15/0206
摘要： The driving source of the final wrist shaft of a robot is also used as the driving source of a servo tool. When a command E1 is outputted from a robot controller, another command E2 is not outputted and only the coil of a first hollow clutch is excited to fix a first arm (18) to the housing of a speed reducer. Consequently, the rotation of a servo motor M6 is transmitted only to a second arm (20) through the speed reducer, and the second arm (20) is rotationally displaced from the first arm (18). As a result, the front ends of the arms (18 and 20) are brought closer to or separated from each other and the hands of the robot are opened or closed. When the command E2 is outputted, the command E1 is not outputted and only a second hollow clutch is turned on. As a result, the arms (18 and 20) are coupled with each other and integrally driven by means of the motor M6 to change the attitude of the hands of the robot.
摘要翻译：机器人的最终腕轴的驱动源也被用作伺服工具的驱动源。当从机器人控制器输出命令E1时，不输出另一命令E2，并且仅激励第一中空离合器的线圈，以将第一臂（18）固定到减速器的壳体。因此，伺服马达M6的旋转仅通过减速器传递到第二臂（20），第二臂（20）从第一臂（18）旋转移位。结果，臂（18和20）的前端彼此靠近或分开，并且机器人的手被打开或关闭。当输出命令E2时，不输出指令E1，只有第二中空离合器被接通。结果，臂（18和20）彼此联接并且通过马达M6一体地驱动以改变机器人的手的姿态。

22. 发明申请

WO1997037291A1 CNC DATA CORRECTION METHOD 审中-公开
标题翻译： CNC数据校正方法
公开(公告)号：WO1997037291A1
公开(公告)日：1997-10-09
申请号：PCT/JP1997001089
申请日：1997-03-28
申请人： FANUC LTD , KAMIGUCHI, Masao , MAEKAWA, Susumu
发明人： FANUC LTD
IPC分类号： G05B19/4155
CPC分类号： G05B19/4155 , G05B19/4103 , G05B19/414 , G05B2219/33099 , G05B2219/34096 , G05B2219/35012 , G05B2219/35051 , G05B2219/36043 , G05B2219/36048 , G05B2219/41363 , G05B2219/50057 , Y02P90/265
摘要： Trial machining is performed to determine the actual machining positions (P1, P2, ...) corresponding to the command positions (S1, S2, S3, ...) of each block of NC data. Point symmetry positions of the actual machining positions (P1, P2, ...) with respect to the command positions (S1, S2, S3, ...) of each block are calculated. Corrected NC data are generated as the command positions of each block whose point symmetry positions are corrected. The corrected NC data include a correction quantity for correcting the position error due to a delay of the servo system. Thus, performing the machining using the corrected NC data cancels this correction quantity with the follow-up delay due to the actual servo system delay, resulting in a more accurate machined shape.
摘要翻译：执行加工，以确定与NC数据块的命令位置（S1，S2，S3，...）对应的实际加工位置（P1，P2，...）。计算实际加工位置（P1，P2，...）相对于每个块的命令位置（S1，S2，S3，...）的点对称位置。生成校正的NC数据作为校正点对称位置的每个块的命令位置。校正NC数据包括用于校正由于伺服系统的延迟引起的位置误差的校正量。因此，使用校正的NC数据进行加工，由于实际的伺服系统的延迟而使跟随延迟抵消该修正量，导致更精确的加工形状。

23. 发明申请

WO1997015873A1 METHOD OF TIMING PLURAL SYSTEMS 审中-公开
标题翻译：定时系统的方法
公开(公告)号：WO1997015873A1
公开(公告)日：1997-05-01
申请号：PCT/JP1996003085
申请日：1996-10-23
申请人： FANUC LTD , FUJIBAYASHI, Kentaro , TSUJIKAWA, Keisuke
发明人： FANUC LTD
IPC分类号： G05B19/18
CPC分类号： G05B19/418 , G05B2219/36507 , Y02P90/02
摘要： A motion timing method using a motion controller capable of easily changing the timings of motions of a plurality of systems in an industrial machine. A motion program (1a) including a timing instruction (1b) in which the amount of movement for timing is designated, prepared and stored in a program storage means (1) of a CNC (10). A means (3) for detecting the amount of movement of a second system is adapted to detect the amount of movement of a belt conveyor (31) constituting the second system. After the timing instruction (1b) is read out from the motion program (1a), a first system motion control means (4) starts measuring the amount of movement of a work (32) when a touch sensor (34) detects the arrival of the work (32) at a predetermined position. When the measured amount of movement reaches the amount of movement for timing, a PC (18) actuates a stick attaching machine (33).
摘要翻译：一种使用能够容易地改变工业机器中的多个系统的运动的定时的运动控制器的运动定时方法。包括定时指令（1b）的运动程序（1a），其中指定，准备并存储在CNC（10）的程序存储装置（1）中的定时运动量。用于检测第二系统的移动量的装置（3）适于检测构成第二系统的带式输送机（31）的移动量。在从运动程序（1a）读出定时指令（1b）之后，第一系统运动控制装置（4）开始测量当触摸传感器（34）检测到工件工件（32）在预定位置。当测量的运动量达到定时运动量时，PC（18）致动一个粘贴机（33）。

24. 发明申请

WO1997015431A1 METHOD AND APPARATUS FOR ZERO ADJUSTMENT OF PRESSURE DETECTOR IN INJECTION MOLDING MACHINE 审中-公开
标题翻译：压力检测器在注塑机中零点调整的方法与装置
公开(公告)号：WO1997015431A1
公开(公告)日：1997-05-01
申请号：PCT/JP1996003124
申请日：1996-10-25
申请人： FANUC LTD , ITO, Susumu , KAMIGUCHI, Masao , NEKO, Noriaki , YAMANAKA, Katsuyuki , ICHIHARA, Toshiaki
发明人： FANUC LTD
IPC分类号： B29C45/76
CPC分类号： B29C45/766 , B29C45/77 , B29C2045/1792 , B29C2045/5032 , B29C2045/773
摘要： A method and an apparatus for making a zero adjustment of a pressure detector on an injection molding machine, in which the external load acting on the pressure detector is completely removed without disassembling its injection mechanism. While a screw (7) is driven in a low output condition, a forward limit position (Qf) and a backward limit position (Qb) are detected to determine the intermediate position (Pm) between them. The screw (7) is then moved to the intermediate position (Pm) to completely remove resin reaction acting directly on the screw (7). Reciprocating motion the amplitude of which decreases progressively is applied to the screw (7) to generate a backlash, i.e., an equal play between a ball nut (9) and a ball screw (8) in both forward and backward directions, and thus a zero adjustment of a load cell (10) is carried out under the state where the pressure acting on the load cell (10) is completely removed.
摘要翻译：一种用于在注射成型机上对压力检测器进行零点调节的方法和装置，其中作用在压力检测器上的外部负载被完全去除而不拆卸其注射机构。当螺杆（7）在低输出状态下被驱动时，检测前进极限位置（Qf）和后退位置（Qb）以确定它们之间的中间位置（Pm）。然后将螺钉（7）移动到中间位置（Pm），以完全去除直接作用在螺钉（7）上的树脂反应。向螺杆（7）施加逐渐减小的往复运动，以产生向前和向后方向上的滚珠螺母（9）和滚珠丝杠（8）之间的间隙，即相反的间隙，因此，在将负载传感器（10）作用的压力完全除去的状态下进行称重传感器（10）的零点调整。

25. 发明申请

WO1997002514A1 SHAFT SYNCHRONIZATION CONTROLLER FOR CNC 审中-公开
标题翻译： CNC同轴同步控制器
公开(公告)号：WO1997002514A1
公开(公告)日：1997-01-23
申请号：PCT/JP1996001890
申请日：1996-07-08
申请人： FANUC LTD , FUJIBAYASHI, Kentaro , YAMADA, Yusaku
发明人： FANUC LTD
IPC分类号： G05B19/18
CPC分类号： G05B19/416 , G05B2219/42186 , G05B2219/50218
摘要： A synchronization priority setting means (3) selects at least one shaft (J1) from among a plurality of shafts (J1, J2, ..., Jn) and sets the speed of the shaft (J1) at a prescribed value as a reference speed and sets the speeds of the other shafts (J2, ..., Jn) based on the reference speed or the speeds of other shafts. A synchronization control means (2) drives the shafts (J1, J2, ..., Jn) at the speeds set by the setting means (3) based on a drive start signal from a timing monitoring means (1).
摘要翻译：同步优先设定装置（3）从多个轴（J1，J2，...，Jn）中选择至少一个轴（J1），并将轴（J1）的速度设定为规定值作为基准根据参考速度或其他轴的速度设定其他轴（J2，...，Jn）的速度。同步控制装置（2）基于来自定时监视装置（1）的驱动开始信号，以设定装置（3）设定的速度驱动轴（J1，J2，...，Jn）。

26. 发明申请

WO1997000469A1 NUMERICAL CONTROLLER 审中-公开
标题翻译：数控系统
公开(公告)号：WO1997000469A1
公开(公告)日：1997-01-03
申请号：PCT/JP1996001695
申请日：1996-06-19
申请人： FANUC LTD , KURAKAKE, Mitsuo , KOKURA, Masuo
发明人： FANUC LTD
IPC分类号： G05B19/414
CPC分类号： G05B19/4148 , G05B19/4142 , G05B2219/31137 , G05B2219/34273 , G05B2219/34429
摘要： A thin small-sized CNC control section is constituted by mounting a CPU card (11) which is exchangeably connected to the printed board (10) of the CNC control section and has a CNC control function, a servo card (11), a display control card (13) on the board (10) and fixing the board (10) to the back of a liquid crystal display device (21). A PMC (14), a spindle interface circuit (15) and memory means (16) are mounted on the board (10) and connected through a bus. The servo amplifiers (41, 42, ...) of the shafts of a machine are connected to the CNC control section through a serial servo bus (30) composed of one optical fiber cable.
摘要翻译：薄型的小型CNC控制部分通过安装CPU卡（11）而构成，CPU卡（11）可互换地连接到CNC控制部分的印刷电路板（10）并具有CNC控制功能，伺服卡（11），显示器控制卡（13），并将板（10）固定在液晶显示装置（21）的背面。 PMC（14），主轴接口电路（15）和存储装置（16）安装在电路板（10）上并通过总线连接。机器的轴的伺服放大器（41,42，...）通过由一根光缆组成的串行伺服总线（30）连接到CNC控制部。

27. 发明申请

WO1996037942A1 METHOD OF PROCESSING FRAME OF MOTOR, AND MOTOR PROCESSED BY THE SAME 审中-公开
标题翻译：电机框架加工方法及其加工方法
公开(公告)号：WO1996037942A1
公开(公告)日：1996-11-28
申请号：PCT/JP1996001371
申请日：1996-05-23
申请人： FANUC LTD , NAKAMURA, Kosei , SADATSUKI, Akio , KATSUZAWA, Yukio , MASUYA, Michi
发明人： FANUC LTD
IPC分类号： H02K15/14
CPC分类号： H02K15/14 , H02K7/14 , H02K15/16 , Y10T29/49009
摘要： A stator (76), a rotor (82), and frames (84, 86) holding a stator core (74) therebetween axially and firmly are assembled into a motor, and a shaft (78) of the rotor and the frame (86) are connected together by a connecting means (106) so that the shaft and frame cannot be relatively rotated. The mounting surfaces (96a, 100a), which are to be brought into direct contact with a surface of an object to which the motor is to be fixed, of the frame (84) mentioned above is then processed by a lathe as these frames (84, 86), stator (76) and rotor (82), which constitute the motor are rotated unitarily around the axis of the rotor (82).
摘要翻译：定子（76），转子（82）和轴向和牢固地保持定子芯（74）的框架（84,86）组装成电动机，转子和框架（86）的轴（78））通过连接装置（106）连接在一起，使得轴和框架不能相对旋转。将要与上述框架（84）直接接触电动机的物体的表面的安装表面（96a，100a）随后由车床作为这些框架 84,86），构成电机的定子（76）和转子（82）围绕转子（82）的轴线整体旋转。

28. 发明申请

WO1996035546A1 METHOD OF REPAIRING DISCONNECTION IN WIRE ELECTRIC DISCHARGE MACHINE 审中-公开
标题翻译：在电力放电机中修复断开的方法
公开(公告)号：WO1996035546A1
公开(公告)日：1996-11-14
申请号：PCT/JP1996001245
申请日：1996-05-10
申请人： FANUC LTD , KAJITORI, Toyotada , YODA, Shinji
发明人： FANUC LTD
IPC分类号： B23H07/10
CPC分类号： B23H7/102
摘要： A method of repairing disconnection in a wire electric discharge machine, in which automatic connection is performed in a processed groove positioned near a position where disconnection occurs, and a period of time until resumption of electric discharge machining after disconnection is shortened. After detection of wire disconnection, if a condition is met, in which a command for a processed block where disconnection occurs is a line command or a circular arc command for a circular arc having a radius of r0 or more and a distance D between a position of disconnection and a starting point of the processed block is equal to or more than a set distance D0, positioning is performed between the position of disconnection and the starting point and automatic connection is performed. If the above condition is not met, and if another condition is met, in which a command for one processed block this side the processed block where disconnection occurs is a line command or a circular arc command for a circular arc having a radius of r0 or more and a distance D between a starting point and a terminal point is equal to or more than the set distance D0, then automatic connection is performed in an intermediate position between the starting point and the terminal point. If the previously processed block does not meet the condition, automatic connection is performed in a hole where machining is started.
摘要翻译：在位于发生断线的位置附近的加工槽内进行自动连接，以及断开后的放电加工恢复的时间缩短的电线放电机的断线方法。在检测到断线后，如果满足发生断线的处理块的命令是具有半径为r0以上的圆弧的直线指令或圆弧指令，以及位置之间的距离D 并且处理块的起点等于或大于设定距离D0，则在断开位置与起始点之间进行定位并进行自动连接。如果不满足上述条件，并且如果满足另一条件，其中对于一个处理块的命令，该侧发生断开连接的处理块是用于具有半径为r0的圆弧的线命令或圆弧指令，起点和终点之间的距离D越多，等于或大于设定距离D0，则在起点和终点之间的中间位置执行自动连接。如果先前处理的块不符合条件，则在开始加工的孔中进行自动连接。

29. 发明申请

WO1996006719A1 TEMPERATURE CONTROL METHOD FOR INJECTION MOLDING MACHINE 审中-公开
标题翻译：注塑机温度控制方法
公开(公告)号：WO1996006719A1
公开(公告)日：1996-03-07
申请号：PCT/JP1995001712
申请日：1995-08-29
申请人： FANUC LTD , KAMIGUCHI, Masao , NEKO, Noriaki
发明人： FANUC LTD
IPC分类号： B29C45/78
CPC分类号： B29C45/78
摘要： A temperature control method for an injection molding machine, which constantly performs stable temperature control irrespective of the heat capacity of objects. The temperature of individual objects, such as a heating zone of an injection cylinder, an injection nozzle, a die, etc., are detected by temperature sensors G1 to Gn. A servo CPU (24) executes temperature feedback control so that the detected temperature coincides with a set temperature, and a current command value is determined. Furthermore, actual currents flowing through heaters H1 to Hn are detected, and currrent feedback control is executed so that the actual current coincides with the current command value obtained by temperature feedback control. In comparison with ON/OFF control, fluctuation of the currents flowing through the heaters H1 to Hn fluctuation of the temperatures of the temperature control objects become smaller, and temperature control can be made more stably.
摘要翻译：一种注射成型机的温度控制方法，其与物体的热容量无关地不断地进行稳定的温度控制。通过温度传感器G1〜Gn检测各个物体的温度，例如注射缸的加热区域，注射喷嘴，模具等。伺服CPU（24）执行温度反馈控制，使得检测到的温度与设定温度一致，并确定电流指令值。此外，检测流过加热器H1至Hn的实际电流，并执行电流反馈控制，使得实际电流与通过温度反馈控制获得的电流指令值一致。与ON / OFF控制相比，流过加热器H1至Hn的电流的波动变得温度控制对象的温度变动较小，并且可以更稳定地进行温度控制。

30. 发明申请

WO1996005638A1 LASER OSCILLATOR 审中-公开
标题翻译：激光振荡器
公开(公告)号：WO1996005638A1
公开(公告)日：1996-02-22
申请号：PCT/JP1995001199
申请日：1995-06-15
申请人： FANUC LTD , EGAWA, Akira
发明人： FANUC LTD
IPC分类号： H01S03/101
CPC分类号： H01S3/0064 , B23K26/06 , B23K26/064 , B23K26/0643 , B23K26/0648 , B23K26/0665
摘要： A laser oscillator which is protected from damage due to reflection from a workpiece while maintaining its productivity. A turn-back mirror (3) is interposed between a rear mirror (2) and an output mirror (4) inside the laser oscillator. The turn-back mirror (3) has a coating, which reflects efficiently S polarized light but has low reflectivity to P polarized light. The laser beam (1) amplified between the rear mirror (2) and the output mirror (4) is outputted from the output mirror (4). The laser beam (1) outputted at this time is S polarized light (1a). The output light (1a) is converted to circular-polarized light by a 0 DEG C shift mirror (5) and a 1/4 wavelength phase delay mirror (6). The laser beam (1) so converted to circular-polarized light changes its direction to a vertical direction at a mirror (7) and is converged on a workpiece (9) by a condenser lens (8). A part of the laser beam (1) emitted to the workpiece (9) is reflected and returns through the outgoing route. When this reflected light is incident to the output mirror (4), it changes to P polarized light (1b) and is attenuated by the turn-back mirror (3) at the time of reflection inside the laser oscillator.
摘要翻译：一种激光振荡器，可保护其不受工件反射而损伤，同时保持其生产率。在后视镜（2）和激光振荡器内部的输出反射镜（4）之间插入有反光镜（3）。反光镜（3）具有能够高效反射S偏振光但对P偏振光具有低反射率的涂层。在后视镜（2）和输出镜（4）之间放大的激光束（1）从输出镜（4）输出。此时输出的激光束（1）是S偏振光（1a）。输出光（1a）通过0°移相镜（5）和1/4波长相位延迟镜（6）转换为圆偏振光。转换为圆偏振光的激光束（1）在反射镜（7）处将其方向改变为垂直方向，并通过聚光透镜（8）会聚在工件（9）上。发射到工件（9）的激光束（1）的一部分被反射并通过输出路线返回。当反射光入射到输出反射镜（4）时，它变为P偏振光（1b），并且在激光振荡器内的反射时被反转镜（3）衰减。

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