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21. 发明申请

WO1997048539A1 INJECTION MOLDING MACHINE 审中-公开
标题翻译：注塑机
公开(公告)号：WO1997048539A1
公开(公告)日：1997-12-24
申请号：PCT/JP1997002111
申请日：1997-06-19
申请人： FANUC LTD , ITO, Susumu , YOSHIOKA, Mitsushi
发明人： FANUC LTD
IPC分类号： B29C45/07
CPC分类号： B29C45/07 , B29C45/661
摘要： The main part of an injection molding machine (1) consists of a stationary platen (3), a moving platen (4), a clamping mechanism unit (7) and a linear platen (5) which are built up in this order. The stationary platen (3) and the linear platen (5) are tied by tie-bars (2), and the moving platen (4) is driven by the clamping mechanism unit (7) which is provided between the linear platen (5) and the moving platen (4). A guide rod (9) is made to protrude from the surface of the moving platen (4) opposite to the surface to which a movable side mold is attached and guides the sliding of a cross-head (10). Further, the guide rod (9) is made to pass through the linear platen (5) to protrude, and an injection unit (8) is fixed to the end of the guide rod (9). As the sliding guide of the cross-head (10) and the supporting guide of the injection unit (8) are unified, the number of components is reduced and the manufacturing cost is reduced.
摘要翻译：注射成型机（1）的主要部分由固定压板（3），移动压板（4），夹紧机构单元（7）和直线压板（5）构成。固定台板（3）和直线压板（5）用连杆（2）捆扎，活动压板（4）由夹紧机构单元（7）驱动，夹紧机构单元（7）设置在直线压板（5）和移动压板（4）。引导杆（9）从可移动的压板（4）的与可移动侧模具的表面相对的表面突出，并引导十字头（10）的滑动。此外，引导杆（9）通过直线压板（5）突出，并且注射单元（8）固定到导杆（9）的端部。由于十字头（10）的滑动引导件和注射单元（8）的支撑引导件是一体的，所以部件数量减少，制造成本降低。

22. 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。

23. 发明申请

WO1995003161A1 METHOD OF CONTROLLING PLASTICIZATION IN INJECTION MOLDING MACHINE 审中-公开
标题翻译：控制注塑机中塑化的方法
公开(公告)号：WO1995003161A1
公开(公告)日：1995-02-02
申请号：PCT/JP1994001151
申请日：1994-07-13
申请人： FANUC LTD , ITO, Susumu , YAMANAKA, Katsuyuki
发明人： FANUC LTD
IPC分类号： B29C45/50
CPC分类号： B29C45/76 , B29C45/7666 , B29C45/768
摘要： A method of controlling plasticization in an injection molding machine, wherein a plasticization state of resin in an injection cylinder at the time of metering is controlled by detecting a turning force of a screw. A reference screw turning force C or F required for a desirable metering operation is decided. The upper limit D and the lower limit E in an allowable range of a screw turning force, in which a normal metering should be expected, are set for each position of the screw on the basis of the reference screw turning force C or F and are stored in an allowable value storage file. During the execution of the metering operation, a turning force V working on the screw is successively detected, and, if the turning force V is not between the upper limit D and the lower limit E in an allowable range corresponding to the current position of the screw, it is assumed that abnormal plasticization has occurred, and an abnormal state alarm is issued. Thus, insufficient heating of the injection cylinder, the mixture of foreign matters in a molding material, short supply of resin and the like can be accurately detected.
摘要翻译：一种控制注射成型机中的增塑的方法，其中通过检测螺杆的转动力来控制计量时在注射缸中树脂的塑化状态。确定所需计量操作所需的参考螺杆转动力C或F. 基于参考螺杆转动力C或F，对于螺杆的每个位置设定在预期正常计量的螺杆转动力的允许范围内的上限D和下限E，并且分别是存储在允许的值存储文件中。在执行计量操作期间，依次检测在螺钉上工作的转动力V，如果转向力V不在上限D和下限E之间，在与当前位置相对应的允许范围内螺杆，假定发生异常塑化，发出异常状态报警。因此，可以精确地检测注射缸的加热不足，成型材料中的异物混合物，树脂供应不足等。

24. 发明申请

WO1991014544A1 METHOD OF CONTROLLING STOP OF INDUSTRIAL ROBOT 审中-公开
标题翻译：控制工业机器人停止的方法
公开(公告)号：WO1991014544A1
公开(公告)日：1991-10-03
申请号：PCT/JP1991000358
申请日：1991-03-13
申请人： FANUC LTD , TORII, Nobutoshi , ITO, Susumu , HAMURA, Masayuki , SAKAI, Tamotsu
发明人： FANUC LTD
IPC分类号： B25J19/06
CPC分类号： B25J19/06 , B25J9/1674 , B25J9/1676 , G05B2219/45083 , G05B2219/49142
摘要： A method of controlling stop of an industrial robot having a plurality of axes driven by servomotors in which the robot is stopped after sensing of colliding with a foreign object. The monitoring of a positional deviation value (S11) of the servomotor with respect to which a collision is sensed is stopped and a command to make the speed of the servomotor zero is issued (S12). Thereby, reverse torque is generated (S13) and the speed of the servomotor begins to decrease. After the predetermined lapse of time (S14), the monitoring of the positional deviation value is restarted (S15). When the positional deviation value exceeds a predetermined value (S31) an alarm is issued (S32). Then, the currents of all the servomotors are cut off (S33) and the operation of the robot is stopped in a short time.

25. 发明申请

WO1991013731A1 INDUSTRIAL ROBOT PROVIDED WITH CABLING MECHANISM 审中-公开
标题翻译：工业机器人提供机架
公开(公告)号：WO1991013731A1
公开(公告)日：1991-09-19
申请号：PCT/JP1991000309
申请日：1991-03-07
申请人： FANUC LTD , TORII, Nobutoshi , ITO, Susumu , TERADA, Akihiro , INOUE, Toshihiko
发明人： FANUC LTD
IPC分类号： B25J19/00
CPC分类号： B23K26/0884 , B25J19/0029 , B25J19/0037
摘要： An industrial robot provided with a cabling mechanism in which a hollow shaft (3) is set upright along a revolving axis from the bottom of a robot base (1) to the inside of a revolving body (2) and further, a plurality of cables (7) are fastened on the outer periphery of the hollow shaft (3) distributedly with cable clamps (4) each of which has a plurality of grooves (41) which receive the cables and is provided on the outer periphery of the hollow shaft (3).
摘要翻译：一种具有布线机构的工业机器人，其中空心轴（3）沿着从机器人基座（1）的底部到旋转体（2）的内部的旋转轴线竖立设置，并且还具有多根电缆（7）分别用电缆夹（4）紧固在中空轴（3）的外周上，电缆夹（4）具有多个容纳电缆的槽（41），并设置在中空轴的外周 3）。

26. 发明申请

WO1991008858A1 ROBOT EQUIPPED WITH HEAT REMOVING MEANS 审中-公开
标题翻译：机器人配备热卸除装置
公开(公告)号：WO1991008858A1
公开(公告)日：1991-06-27
申请号：PCT/JP1990001627
申请日：1990-12-12
申请人： FANUC LTD , TORII, Nobutoshi , ITO, Susumu , TERADA, Akihiro , SASAKI, Yasuo
发明人： FANUC LTD
IPC分类号： B23K26/08
CPC分类号： B23K26/0884 , B23K26/703 , B25J19/00 , B25J19/0054
摘要： A laser robot is equipped with a swing arm (16) mounted to a swivel post (14) implanted to a robot foundation portion (12), a laser emission device (20) provided on the tip of the robot arm (16), and a driving motor (Mv) for driving the swing operation of the robot arm (16) through a precision transmission device (30, 32, 34) placed between the swivel post and the robot arm. The robot comprises a heat removing device which includes a bracket member (26) and an annularly recessed fluid circuit (50) formed in the bracket. The bracket has one end in contact with the end surface of the driving motor on its output shaft side and the other end in contact with the precision transmission mechanism. The heat removing device is located at the joint portion between the precision transmission mechanism (30, 32, 34) and the driving motor (Mv). Cooling water is supplied to the recessed fluid circuit (50) from a cooling water supply source (70) for supplying cooling water to a laser beam conduit of the robot arm (16) so as to cool the bracket member (26). The bracket member (26) thus cooled absorbs and removes the heat of the driving motor (Mv) and prevents heat transfer to the precision transmission mechanism (30, 32, 34).

27. 发明申请

WO1991001194A1 ARTICULATED ARM TYPE INDUSTRIAL LASER ROBOT 审中-公开
标题翻译： ARTICULATED ARM型工业激光机器人
公开(公告)号：WO1991001194A1
公开(公告)日：1991-02-07
申请号：PCT/JP1990000920
申请日：1990-07-17
申请人： FANUC LTD , TORII, Nobutoshi , ITO, Susumu , TERADA, Akihiro
发明人： FANUC LTD
IPC分类号： B23K26/08
CPC分类号： B23K26/0884 , B25J19/0037
摘要： An articulated arm type industrial laser robot utilizing laser robot beam passage means for bypassing a beam around a robot body, which is provided with a plurality of rotary joints having a plurality of axes of rotation which are disposed orthogonally to one another and one contractile joint on the laser beam source side, a first laser beam path changing system with a built-in laser beam reflection mirror, a plurality of rotary joints having a plurality of axes of rotation disposed orthogonally on the end side of the second arm, and a second laser beam path changing system with a built-in beam reflection mirror, for coupling and introducing the laser beam emitted from the first laser beam path changing system with and into the end portion of the robot arm on the first arm side. Accordingly, machining and assembling can be made with a desired accuracy of the beam path system as the laser beam path means. Furthermore, even during the robot operation process, the robot operation can be followed up without being affected by various errors inherent in movable portions such as the robot arm, and the laser beam can be introduced accurately into a laser beam emission portion of the wrist.

28. 发明申请

WO1987002927A1 INDUSTRIAL ROBOT HAVING DUST-PROOF STRUCTURE 审中-公开
标题翻译：具有防尘结构的工业机器人
公开(公告)号：WO1987002927A1
公开(公告)日：1987-05-21
申请号：PCT/JP1986000562
申请日：1986-11-06
申请人： FANUC LTD , TORII, Nobutoshi , ITO, Susumu , WAKIO, Hiroshi , IWASAKI, Kyoji
发明人： FANUC LTD
IPC分类号： B25J19/00
CPC分类号： B25J19/0029 , B25J19/0079 , Y10T74/219
摘要： An industrial robot having a dust-proof structure is equipped with at least one dust cover (33, 47) having an opening (34, 48) at one of its end portions and with a straightly moving unit (19, 37) extending through the opening of the dust cover and moved back and forth in a longitudinal direction. Suction is made by a suction unit (50) inside the dust cover so that the flow of air occurs from outside the dust cover into the same through the opening. A ring member (52, 56) is disposed at the opening of the dust cover in such a manner as to encompass the outer periphery of the straightly moving unit through a gap. At least one annular groove (55, 57) for air reservoir is disposed on the inner peripheral surface of the ring member so as to encompass the outer circumference of the straightly moving unit.

29. 发明申请

WO1987000111A1 INDUSTRIAL ROBOT 审中-公开
标题翻译：工业机器人
公开(公告)号：WO1987000111A1
公开(公告)日：1987-01-15
申请号：PCT/JP1986000321
申请日：1986-06-24
申请人： FANUC LTD , NAKASHIMA, Seiichiro , TOYODA, Kenichi , INAGAKI, Shigemi , ITO, Susumu
发明人： FANUC LTD
IPC分类号： B25J09/00
CPC分类号： B25J9/12 , B25J9/08 , B25J19/00 , B25J19/0004
摘要： An industrial robot comprises a robot body having an operation unit (13), a driving motor (19) for driving said operation unit (13), and a handle (29). A casing (21) of the driving motor (19) is fastened with bolts (25) to the outer wall of the robot body, and an output shaft (26) of the driving motor (19) is coupled to the operation unit. An internal braking device of the driving motor (19) works to fix the output shaft (26) to the casing (21) when the driving motor (19) is stopped. In case the driving motor (19) is stopped due to an abnormal condition, the bolts (25) are removed, and a handle (29) is fitted to the casing (21) of the driving motor (19). By moving the handle, the output shaft (26) of the driving motor (19) is turned together with the casing (21), and the operation unit (13) of the robot is moved.

30. 发明申请

WO1985000548A1 METHOD OF AND APPARATUS FOR DETERMINING REFERENCE POSITION OF INDUSTRIAL ROBOT 审中-公开
标题翻译：用于确定工业机器人参考位置的方法和装置
公开(公告)号：WO1985000548A1
公开(公告)日：1985-02-14
申请号：PCT/JP1984000365
申请日：1984-07-16
申请人： FANUC LTD , NAKASHIMA, Seiichiro , TOYODA, Kenichi , INAGAKI, Shigemi , ITO, Susumu
发明人： FANUC LTD
IPC分类号： B25J09/00
CPC分类号： B25J9/046 , B25J9/10 , B25J9/1692
摘要： In the method, reference surfaces (1a, 1b) are formed on a fixed base (1) for an industrial robot having freedom of movement in a plurality of directions. Separate reference positions for the robot wrist proximal portion (5) and the robot wrist distal portion (7) with respect to the fixed base (1) in each of the directions of free movement is determined by means of a body jig (11) positioned and secured to the reference surfaces and to the measuring instruments (14 to 19) respectively attached to predetermined reference positions on the body jig (11). The determined reference position is input to a robot NC apparatus so that the apparatus is informed of the reference position. Also disclosed is an apparatus suitably employed for the above-described method.

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