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41. 发明申请

WO1987000790A1 APPARATUS FOR LIMITING THE OPERATION RANGE OF AN INDUSTRIAL ROBOT 审中-公开
标题翻译：限制工业机器人操作范围的装置
公开(公告)号：WO1987000790A1
公开(公告)日：1987-02-12
申请号：PCT/JP1986000392
申请日：1986-07-25
申请人： FANUC LTD , TORII, Nobutoshi , NIHEI, Ryo , MIZUNO, Hitoshi
发明人： FANUC LTD
IPC分类号： B25J19/00
CPC分类号： B25J9/101 , B25J17/0241 , B25J19/0091 , B25J19/06 , Y10T74/2063
摘要： An apparatus for limiting the operation range of an industrial robot, wherein a display portion (7) to display, e.g., the angle of rotation is provided on a fixed side (1) of a turning portion of a shaft that turns, and a range limiting member (6) having a dog and a stopper is movably arranged on said display portion (7). When the industrial robot is going to rotate in excess of a specified range of rotation during an operation, a limit member (81) provided on the moving side (2) of the shaft portion comes into contact with a dog (61) on the fixed side (1), whereby an overtravel is detected and an alarm is produced to indicate that the specified range of rotation has been exceeded. When the robot is further going to pivot due to inertia or the like, a buffer member (82) abuts against a stopper mechanism (62) to prevent the robot from turning excessively.

42. 发明申请

WO1992000542A1 METHOD OF CONTROLLING OPERATIONS OF GALVANOMETER FOR SCANNER 审中-公开
标题翻译：控制扫描仪电位计操作的方法
公开(公告)号：WO1992000542A1
公开(公告)日：1992-01-09
申请号：PCT/JP1991000722
申请日：1991-05-28
申请人： FANUC LTD , TORII, Nobutoshi , WAKIO, Hiroshi
发明人： FANUC LTD
IPC分类号： G02B26/10
CPC分类号： B23K9/1274
摘要： A method of controlling the operations of a galvanometer for a scanner for moving sweepingly a laser beam in conjunction with a rocking mirror of an arc sensor for searching a welding line of a welding robot. A memory (43) stores waveform data of a galvanometer driving command current obtained by the combination of a constant speed command current and an acceleration/deceleration command current. An address circuit (42) causes the memory (43) to output the waveform data at predetermined intervals, a D/A converter (44) converts the data into the analogue value on receiving it from the memory (43), and a drive circuit (45) drives the galvanometer (22). The galvanometer (22) rocks the rocking mirror to search the welding line. For a successful search, the galvanometer, in accordance with the waveforms of the galvanometer driving command current, is operated at a constant angular velocity at points other than bent points of deflection angles, or is operated at a constant angular acceleration at the bent points of the deflection angles. Accordingly, deflection angles are accurately controlled over all the operation angles. Furthermore, at bent points, changes in directions of the deflection angles can be performed in very small periods of time. Further, overshoots, which used to occur at the bent points of triangular waveforms, do not occur. As a result, measuring for searching the welding lines by the laser beam scan can be performed most effectively and efficiently.

43. 发明申请

WO1990013001A1 OPTICAL DISTANCE SENSOR 审中-公开
标题翻译：光学距离传感器
公开(公告)号：WO1990013001A1
公开(公告)日：1990-11-01
申请号：PCT/JP1990000505
申请日：1990-04-18
申请人： FANUC LTD , TORII, Nobutoshi , WAKIO, Hiroshi
发明人： FANUC LTD
IPC分类号： G01C03/06
CPC分类号： G01S17/48 , B23K9/0956 , G01S17/06 , G01S17/89
摘要： An optical distance sensor which is featured by precise measurement and simple constitution is mounted on, for example, the welding torch of an arc-welding robot. The laser beam from a laser (1) scans in a direction perpendicular to the welding line on a work (100) according to the oscillation of a mirror (2). The primary and secondary reflected lights and scattered light, except arcing light interrupted by a filter (5), are received by the light-receiving cells of a light-receiving unit (3) comprising a one-dimensional charge coupled device, via a lens (4). When the light-receiving unit is being scanned, the outputs according to the quantity of the light are successively produced from the light-receiving cells, and data that specifies the light-receiving cells that have produced the outputs whose levels exceed a predetermined one is written in one of memory buffers (12, 13). The output of the light-receiving cell is sent to a peak detecting circuit (18) via an analog switch (17) only when the data indicating that the output of the cell in the previous scanning cycle have been of the predetermined level is read out from the other memory buffer, whereby the sputtering light is removed. On the basis of the outputs of the peak detecting circuit and of the address counter (14), the robot controller (30) determines the light-receiving cell that has generated the peak output, and calculates the distance from a work by the trigonometrical survey method on the basis of the position of the cell and the oscillating angle of the mirror.

44. 发明申请

WO1988000515A1 WRIST MECHANISM OF A ROBOT USED IN A CLEAN AIR ATMOSPHERE 审中-公开
标题翻译：在清洁空气大气中使用的机器人的手持机构
公开(公告)号：WO1988000515A1
公开(公告)日：1988-01-28
申请号：PCT/JP1987000506
申请日：1987-07-14
申请人： FANUC LTD , TORII, Nobutoshi , ITO, Susumu , WAKIO, Hiroshi
发明人： FANUC LTD
IPC分类号： B25J17/00
CPC分类号： B25J17/0258 , B25J19/0029 , B25J19/0079
摘要： Robot wrist mechanisms (8, 8a) mounted on the tip of a robot arm (6) of a robot (4) used in a clean air atmosphere, comprise wrist housings (10, 90) connected to a vacuum line that has a source of negative pressure; wrist-operating units (20, 100) provided at ends of the wrist housings (10, 90); motors (16, 96) provided in said wrist housings (10, 90) to actuate the wrist-operating units (20, 100); and reduction gears (24, 98). The boundary between the wrist housings (10, 90) and the wrist operating units (20, 100) is sealed with a labyrinth sealing means (54), and the output ends of the electric motors (16, 96) and the reduction gears (24, 98) are sealed with sealing means (32, 36, 50, 52, 114) to prevent the leakage of grease.
摘要翻译：安装在在清洁空气气氛中使用的机器人（4）的机器人臂（6）的尖端上的机器人手腕机构（8,8a）包括连接到真空管线的手腕壳体（10,90），该真空管线具有负压; 设置在手腕壳体（10,90）的端部处的手腕操作单元（20,100）; 设置在所述手腕壳体（10,90）中以致动手腕操作单元（20,100）的马达（16,96）; 和减速齿轮（24,98）。手腕壳体（10,90）和手腕操作单元（20,100）之间的边界用迷宫式密封装置（54）密封，并且电动机（16,96）的输出端和减速齿轮 24，98）用密封装置（32,36,50,52,114）密封，以防止润滑脂泄漏。

45. 发明申请

WO1997039853A1 SPOT WELDING SYSTEM 审中-公开
标题翻译：点焊系统
公开(公告)号：WO1997039853A1
公开(公告)日：1997-10-30
申请号：PCT/JP1997001462
申请日：1997-04-25
申请人： FANUC LTD , NIHEI, Ryo , OKADA, Takeshi
发明人： FANUC LTD
IPC分类号： B23K11/11
CPC分类号： B23K37/047 , B23K11/314
摘要： A spot welding system using parallel link robots disposed close to one another. When a camera (CM) detects the arrival of a work (W) that is being conveyed, a mount moves along a guide and tracking of the work is started. Then, a parallel link having a plurality of contractile arms and robots RB1 to RB4 each having a wrist fitted to the distal end of the link start their operations. A large number of positions of the work are welded by spot welding guns G1 to G4 fitted to the wrists of these robots. The proximal end portion of each contractile arm is supported by a vertical wall of the mount in such a manner as to be capable of swinging, and each robot is so disposed as to protrude from the mount. The parallel link robots may be suspended from the mount close to one another.
摘要翻译：使用彼此靠近设置的平行连杆机器人的点焊系统。当摄像机（CM）检测到被传送的工件（W）的到达时，安装座沿着导轨移动，并开始跟踪工作。然后，具有多个收缩臂的平行连杆和各自具有安装在链节的远端的手腕的机器人RB1至RB4开始其操作。工件的大量位置通过点焊枪G1到G4被焊接在这些机器人的手腕上。每个收缩臂的近端部分以能够摆动的方式由支架的垂直壁支撑，并且每个机器人被设置成从支架突出。平行连杆机器人可以从安装座彼此靠近悬挂。

46. 发明申请

WO1994015748A1 HEIGHT SENSOR OF LASER ROBOT 审中-公开
标题翻译：激光机器人高度传感器
公开(公告)号：WO1994015748A1
公开(公告)日：1994-07-21
申请号：PCT/JP1994000049
申请日：1994-01-14
申请人： FANUC LTD , NIHEI, Ryo , TERADA, Akihiro , SASAKI, Yasuo , TAKAMATSU, Hiroshi
发明人： FANUC LTD
IPC分类号： B23K26/00
CPC分类号： B23K26/0884 , B23K26/046 , B23K26/048 , B25J19/021
摘要： A height sensor (13) is fitted to a fitting blank (14) in such a manner that it is substantially in close contact with, and parallel with, a laser machining head (9). Three-dimensional distance data between a laser emission port (9a) of the machining head (9) and a measurement edge (13a) of the height sensor (13) is stored in advance in a robot controller (10). A longitudinal distance of a laser machining start point is measured automatically and directly from above on the basis of this distance data, and the longitudinal distance of the laser emission port (9a) of the machining head (9) is corrected. Accordingly, a laser robot of the invention can execute laser machining while measuring highly accurately correction data of the height distance when the machining head is positioned to the laser machining start point.
摘要翻译：高度传感器（13）以与激光加工头（9）基本上紧密接触并平行的方式装配到配件坯料（14）上。加工头（9）的激光发射口（9a）和高度传感器（13）的测量边缘（13a）之间的三维距离数据被预先存储在机器人控制器（10）中。激光加工起始点的纵向距离是根据该距离数据从上方自动和直接测量的，并且校正加工头（9）的激光发射端口（9a）的纵向距离。因此，本发明的激光机器人能够在将加工头位于激光加工起点的高度距离的高精度校正数据进行测量时进行激光加工。

47. 发明申请

WO1994009949A1 INDUSTRIAL ROBOT HAVING JOINTS USING A HOLLOW REDUCTION GEAR 审中-公开
标题翻译：使用中空减速齿轮的工业机器人
公开(公告)号：WO1994009949A1
公开(公告)日：1994-05-11
申请号：PCT/JP1993001563
申请日：1993-10-28
申请人： FANUC LTD , NIHEI, Ryo , IWASAKI, Kyozi , ITO, Masatoshi , OKADA, Takeshi , TAKIKAWA, Ryuji
发明人： FANUC LTD
IPC分类号： B25J19/00
CPC分类号： B25J19/0029 , B25J17/0241
摘要： An industrial robot having joints (10) each having in turn a joint driving motor (MR) and a reduction gear (40), wherein when a rotational input of said motor (MR) is inputted to said reduction gear (10) via transmission mechanisms (32, 34), an reduced output is transmitted to movable elements of said joint (10), wherein said reduction gear (10) has a hollow cylindrical area (16a) about its central axis (A), wherein void areas (16b, 16c) are formed at upper and lower portions of said reduction gear (10) without structural members and components of said robot being connected to each other, and wherein said hollow cylindrical area and said void areas (16a-16c) are used for wiring and piping passages of cables (50) and hoses (52), whereby said cables and hoses are allowed to pass along said central axis (A) of said joint (10).
摘要翻译：一种具有接头（10）的工业机器人，每个接头（10）分别具有接头驱动电动机（MR）和减速齿轮（40），其中当所述电动机（MR）的旋转输入通过传动机构输入到所述减速齿轮（32,34），减小的输出传递到所述接头（10）的可移动元件，其中所述减速齿轮（10）围绕其中心轴线（A）具有中空圆柱形区域（16a），其中空隙区域 16c）形成在所述减速齿轮（10）的上部和下部，而没有所述机器人的结构部件和部件彼此连接，并且其中所述中空圆柱形区域和所述空隙区域（16a-16c）用于布线和电缆（50）和软管（52）的管道通道，由此使所述电缆和软管沿着所述接头（10）的所述中心轴线（A）通过。

48. 发明申请

WO1994003303A1 LASER ROBOT SYSTEM FOR INDUSTRIAL USE 审中-公开
标题翻译：激光机器人工业系统
公开(公告)号：WO1994003303A1
公开(公告)日：1994-02-17
申请号：PCT/JP1993001045
申请日：1993-07-26
申请人： FANUC LTD , WATANABE, Atsushi , NIHEI, Ryo , TERADA, Akihiro
发明人： FANUC LTD
IPC分类号： B23K26/06
CPC分类号： B23K26/0884 , B23K26/067 , B23K26/0673
摘要： This is a laser robot system for an industrial use, wherein said laser robot system controls two laser robots (14, 16) for an industrial use by use of a robot control device (10), controls a laser oscillator (18) generating laser beams transmittable over optical fibers and a laser beam branch controlling device (20) simultaneously, and is provided with optical fiber means (36a, 36b) consisting of two systems between two light exit openings (22a, 22b) of said laser beam branch controlling device (20) and respective condensing devices (42, 42) of said two laser robots (14, 16); so that said two laser robots for the industrial use can be simultaneously controlled independently of or in synchronism with each other.
摘要翻译：这是用于工业用途的激光机器人系统，其中所述激光机器人系统通过使用机器人控制装置（10）来控制用于工业用途的两个激光机器人（14,16），控制激光振荡器（18），其产生激光束同时可透过光纤和激光束分支控制装置（20）传输，并且在所述激光束分支控制装置的两个光出射孔（22a，22b）之间设置由两个系统组成的光纤装置（36a，36b） 20）和所述两个激光机器人（14,16）的各个冷凝装置（42,42）; 使得用于工业用途的所述两个激光机器人可以彼此独立地或同步地同时控制。

49. 发明申请

WO1992018293A1 ARTICULATED MANIPULATOR HAVING SEVEN DEGREES OF FREEDOM OF MOTION 审中-公开
标题翻译：具有运动自由度的七个程序的控制器
公开(公告)号：WO1992018293A1
公开(公告)日：1992-10-29
申请号：PCT/JP1992000484
申请日：1992-04-16
申请人： FANUC LTD , TORII, Nobutoshi , NIHEI, Ryo , TAKIZAWA, Katsutoshi
发明人： FANUC LTD
IPC分类号： B25J09/06
CPC分类号： B25J9/06
摘要： An articulated manipulator having seven degrees of freedom of motion which comprises a shoulder portion (14) supported on a proximal portion (12), an upper arm portion (16) coupled to the shoulder portion, an elbow portion (18), a forearm portion (20), and a wrist portion (22), wherein the shoulder portion (14) is provided with three shoulder joints (R1, R2, P3, or P1, R2, R3), wherein the wrist portion (22) is provided with three wrist joints (R5, P6, R7; P5, R6, R7; R5, R6, P7), wherein the shoulder portion is constituted by three shoulder link elements including at least one crank-shaped link element, wherein the wrist portion (22) is also constituted by three link elements, wherein the axes (a1 to a3) of motion of the joints of at least the shoulder portion (14) intersect with each other at one point, and wherein the axes (a5 to a7) of motions of the joints of the wrist portion (22) preferably intersect with each other at one point.
摘要翻译：具有七个运动自由度的关节运动器，其包括支撑在近侧部分（12）上的肩部（14），联接到所述肩部的上臂部分（16），肘部（18），前臂部分（20）和手腕部（22），其中所述肩部（14）设置有三个肩关节（R1，R2，P3或P1，R2，R3），其中所述腕部（22）设置有三个腕关节（R5，P6，R7; P5，R6，R7; R5，R6，P7），其中肩部由包括至少一个曲柄形连接元件的三个肩部连接元件构成，其中腕部）也由三个连接元件构成，其中至少所述肩部（14）的关节的运动轴线（a1〜a3）在一点相互交叉，并且其中运动的轴线（a5〜a7）手腕部分（22）的关节优选地在一个点处彼此相交。

50. 发明申请

WO1992011590A1 INSTRUCTION METHOD FOR ROBOT OPERATION PROGRAM 审中-公开
标题翻译：机器人操作程序的指导方法
公开(公告)号：WO1992011590A1
公开(公告)日：1992-07-09
申请号：PCT/JP1991001718
申请日：1991-12-16
申请人： FANUC LTD , MIZUNO, Tohru , KARAKAMA, Tatsuo , NIHEI, Ryo , MIURA, Takenobu
发明人： FANUC LTD
IPC分类号： G05B19/42
CPC分类号： B25J9/1658 , G05B19/40936 , Y02P90/265
摘要： An instruction method for a robot operation program capable of easily making a program. Required one of the standard operation programs (61 ~ 6n) for operating a robot in a typical operation pattern is read out from a memory (31c) of a robot controller (30) and is displayed on the screen of an instruction operation board (57). An operator operates the instruction operation board, adds position and speed data, etc, into the standard operation program on the display screen or corrects the data described in advance in the standard operation program. Therefore, operation programs (71, 72) for operating the robot in the typical operation pattern or similar patterns can be generated easily.

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