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41. 发明申请

WO1995011114A1 ROBOT DEVICE 审中-公开
标题翻译：机器人设备
公开(公告)号：WO1995011114A1
公开(公告)日：1995-04-27
申请号：PCT/JP1994001677
申请日：1994-10-06
申请人： FANUC LTD , HASHIMOTO, Yoshiki , SHIMODA, Yasuyuki , OBI, Tatsuya , MATSUO, Yasuhiro , OHYA, Tomoki
发明人： FANUC LTD
IPC分类号： B25J19/00
CPC分类号： G05B19/409 , B25J13/00 , B25J19/00
摘要： A robot device that does not need any connection cable for connecting a robot mechanism section and a robot control section to each other. The robot device comprises the robot mechanism section (1) and the robot control section (3). The robot mechanism section (1) comprises an arm and a drive, as well as a connector (2) for receiving control signals and outputting sensor signals. The robot control section (3) comprises a circuit for controlling the robot mechanism section (1) and a connector (6) capable of directly connecting to a servo-amplifier and the connector (2) of the robot mechanism section (1). In addition, a spot where the robot control section (3) is installed constitutes a blind spot out of a range of operation of the robot mechanism section (1) and is adjacent to the robot mechanism section.
摘要翻译：机器人装置，其不需要用于将机器人机构部分和机器人控制部分彼此连接的任何连接电缆。机器人装置包括机器人机构部分（1）和机器人控制部分（3）。机器人机构部分（1）包括臂和驱动器，以及用于接收控制信号并输出传感器信号的连接器（2）。机器人控制部（3）包括用于控制机器人机构部（1）的电路和能够直接连接到伺服放大器和机器人机构部（1）的连接器（2）的连接器（6）。此外，机器人控制部（3）的安装位置构成机器人机构部（1）的操作范围内的盲点，与机器人机构部相邻。

42. 发明申请

WO1995005915A1 PROTECTIVE CONSTRUCTION OF SEALING MECHANISM FOR PROCESSING LIQUID VESSEL IN WIRE ELECTRICAL DISCHARGE MACHINE 审中-公开
标题翻译：电力放电机加工液体密封机构的保护性构造
公开(公告)号：WO1995005915A1
公开(公告)日：1995-03-02
申请号：PCT/JP1994001417
申请日：1994-08-26
申请人： FANUC LTD
发明人： FANUC LTD , ISHIHARA, Mitsuyoshi
IPC分类号： B23H07/02
CPC分类号： B23H7/02
摘要： Formed on a side wall (2) of a processing liquid vessel placed on a movable table is a window portion, through which an arm member (31) extends and which permits the arm member (31) to move relative to the processing liquid vessel in a direction (X-direction) perpendicular to an axial direction of the arm member (31). The window portion is sealed by a sealing mechanism (S) which includes a seal plate (6) engaged with the arm member (31). On the other hand, a partition member (70) is provided inside of the processing liquid vessel so as to cover the sealing mechanism (S). When a closed space defined by the partition member (70) is filled with a clean processing liquid which is supplied from the outside through liquid feed pipes (74A, 74B), the clean processing liquid isolates the sealing mechanism from a dirty processing liquid in the processing liquid vessel. The processing liquid flows into the processing liquid vessel through a slight gap between a window portion (71) provided in that portion of the partition member (70), through which the lower arm member (31) extends, and a bellows (72) which closes the window portion (71).
摘要翻译：形成在放置在可移动台上的处理液体容器的侧壁（2）上的是窗口部分，臂构件（31）延伸通过该窗部分，并且允许臂构件（31）相对于处理液体容器移动与臂部件（31）的轴向垂直的方向（X方向）。窗口部分由密封机构（S）密封，密封机构（S）包括与臂部件（31）接合的密封板（6）。另一方面，在处理液容器的内部设置有分隔构件70，以覆盖密封机构（S）。当由分隔构件（70）限定的封闭空间填充有通过液体供给管（74A，74B）从外部供给的清洁处理液时，清洁处理液将密封机构与来自处理液体容器。处理液体通过设置在分隔构件（70）的分隔构件（70）的该部分中的窗口部分（71）和下部臂构件（31）延伸的部分之间的微小间隙而流入处理液体容器和波纹管（72）关闭窗口部分（71）。

43. 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。

44. 发明申请

WO1995001851A1 SYSTEM FOR CONTROLLING LASER OUTPUT 审中-公开
标题翻译：用于控制激光输出的系统
公开(公告)号：WO1995001851A1
公开(公告)日：1995-01-19
申请号：PCT/JP1994000980
申请日：1994-06-16
申请人： FANUC LTD , YAMAZAKI, Etsuo , IEHISA, Nobuaki , SUZUKI, Kazuhiro
发明人： FANUC LTD
IPC分类号： B23K26/00
CPC分类号： G05B19/408 , B23K26/382 , G05B2219/35395 , G05B2219/45165 , G05B2219/49353
摘要： According to an instruction signal from a CNC in laser-machining, the laser output is controlled, and the time taken to transfer waveform data from the CNC is much shortened. Receiving an output instruction from the CNC, means (36) for controlling the laser output reads registered data and waveform data stored in the registers (351 to 358) and a memory (34) on the output controller (30) side, and converts the waveform data into the waveform having a desired peak value by multiplying the peak value of the designated waveform by the value of waveform multiplying factor, one of the registered data, and an override value preset in the PMC (18). Next, the repetition period and the number of repetitions are obtained by use of the frequency of the registered data and the times of output. The means (36) outputs the output waveform thus obtained to the power-supply of a laser oscillator.
摘要翻译：根据CNC在激光加工中的指令信号，可以控制激光输出，从CNC中传输波形数据所花费的时间大大缩短。接收来自CNC的输出指令，用于控制激光输出的装置（36）读取存储在输出控制器（30）侧的寄存器（351〜358）和存储器（34）中的登记数据和波形数据，并将通过将指定波形的峰值乘以波形乘法因子的值，登记数据之一和在PMC（18）中预设的超控值，将波形数据转换为具有期望峰值的波形。接下来，通过使用登记数据的频率和输出次数来获得重复周期和重复次数。装置（36）将由此获得的输出波形输出到激光振荡器的电源。

45. 发明申请

WO1995000277A1 WIRE-CUT ELECTRICAL DISCHARGE MACHINE 审中-公开
标题翻译：电线切断电机
公开(公告)号：WO1995000277A1
公开(公告)日：1995-01-05
申请号：PCT/JP1994000830
申请日：1994-05-24
申请人： FANUC LTD
发明人： FANUC LTD , SAKURAI, Akihiro
IPC分类号： B23H01/02
CPC分类号： B23H1/022 , B23H2300/20 , B23H2300/22
摘要： A wire-cut electrical discharge machine capable of controlling a discharge current to constant. Provided between a main current power source (71) and a capacitor (C) is a current detecting unit (72) which converts electric current (I3) flowing through a closed circuit formed by the main current power source (71) and the capacitor (C) into voltage to detect the same, and the detected result is transmitted to a control unit (500) after it is smoothed by a smoothing circuit unit (73). Also, electric discharge between a wire (49) and a work (36) is detected by a discharge detecting unit (62). A processing unit (52) of the control unit (500) calculates a sum of the electric current (I3) per one cycle of electric discharge machining on the basis of the converted voltage value of the electric current (I3) transmitted through the smoothing circuit unit (73) and the number of electric discharges counted by a counting unit (53). The discharge control unit (55) controls a pulse width of a drive signal (SS) being fed to a main current switches (S2, S3) so that the sum of the electric current (I3) per one cycle of electric discharge machining amounts to a reference value. Accordingly, an appropriate drive signal (SS) can be output taking into consideration temperature changes during an operational lag time of the main current switches (S2, S3), so that it is possible to readily maintain discharge currents (I2a, I2b) at desired values.
摘要翻译：一种能够将放电电流控制为恒定的线切割放电机。在主电流源（71）和电容器（C）之间设置有电流检测单元（72），其转换流经由主电流源（71）和电容器（71）形成的闭合电路的电流（I3） C）进行电压检测，并且在被平滑电路单元（73）平滑后，将检测结果发送到控制单元（500）。此外，由放电检测单元（62）检测线（49）和工件（36）之间的放电。控制单元（500）的处理单元（52）基于通过平滑电路传输的电流（I3）的转换电压值，计算每一个放电加工周期的电流（I3）之和单元（73）和由计数单元（53）计数的放电次数。放电控制单元（55）控制馈送到主电流开关（S2，S3）的驱动信号（SS）的脉冲宽度，使得每一个放电加工循环的电流（I3）之和等于参考值。因此，考虑到主电流开关（S2，S3）的运行滞后时间期间的温度变化，可以输出适当的驱动信号（SS），使得可以容易地将放电电流（I2a，I2b）保持在期望值值。

46. 发明申请

WO1994029777A1 REGION DESIGNATING METHOD 审中-公开
标题翻译：区域指定方法
公开(公告)号：WO1994029777A1
公开(公告)日：1994-12-22
申请号：PCT/JP1994000931
申请日：1994-06-08
申请人： FANUC LTD , MATSUURA, Syuji , YAMAMURO, Kouji
发明人： FANUC LTD
IPC分类号： G05B19/405
CPC分类号： G05B19/40932 , G05B19/4061 , G05B2219/35141 , G05B2219/36257 , G05B2219/49137 , Y02P90/265
摘要： On a designated display screen, shape data (I, J, R) for specifying a shape is input to designate the shape, and at least one side (limit area 0) of a region which is defined by a profile of the shape is specified to designate the region. With this region designating method, designation of a region can be readily performed with respect to a moving region and a forbidden region in a movable portion to be controlled without accurately defining as numerical data positional information regarding positions of movement and bounds of movement in the movable portion to be controlled.
摘要翻译：在指定的显示屏幕上，输入用于指定形状的形状数据（I，J，R）以指定形状，并且指定由形状轮廓限定的区域的至少一个侧面（极限区域0）指定该地区。利用该区域指定方法，可以容易地对待控制的可移动部分中的移动区域和禁止区域进行区域的指定，而无需精确定义关于可移动的移动位置和移动范围的数字数据位置信息待控制的部分。

47. 发明申请

WO1994021425A1 TOOL LIFE MANAGEMENT METHOD BY ESTIMATION OF DISTURBANCE LOAD 审中-公开
标题翻译：工具生命管理方法通过估计干扰负荷
公开(公告)号：WO1994021425A1
公开(公告)日：1994-09-29
申请号：PCT/JP1994000336
申请日：1994-03-02
申请人： FANUC LTD , MATSUBARA, Shunsuke , IWASHITA, Yasusuke , OKITA, Tadashi
发明人： FANUC LTD
IPC分类号： B23Q17/09
CPC分类号： G05B19/4065 , G05B2219/37252 , G05B2219/37285 , G05B2219/41368 , G05B2219/41376 , G05B2219/41379
摘要： The invention relates to a method of estimating a load applied on a tool of a machine tool and managing the life of the tool on the basis of the load thus estimated. When a predetermined amount of processing is carried out on a predetermined work, a disturbance loading torque (Td2) exerted on a motor for a main shaft or a motor for a feed shaft is estimated by means of a disturbance estimating observer. When the disturbance loading torque (Td2) thus estimated becomes equal to or greater than a set reference value Ts (A2), a timer (te) is reset to start clocking (A5) and continue the same until the timer (te) clocks a predetermined set period of time (to). When the estimated disturbance loading torque (Td2) is equal to or greater than the set reference value (Ts), a tool change command is issued to suspend the processing (A7 to A9). Since the life of a tool is determined on the basis of a magnitude of a load applied on the tool, it is managed in an objective and positive manner.
摘要翻译：本发明涉及一种估计施加在机床的工具上的负载并基于如此估计的负载来管理工具的寿命的方法。当在规定的作业中进行预定量的处理时，借助于扰动估计观测器来估计施加在用于主轴的马达上的扰动加载扭矩（Td2），或用于进给轴的马达。当由此估计的扰动加载转矩（Td2）变得等于或大于设定的参考值Ts（A2）时，定时器（te）被复位以开始计时（A5）并且继续相同，直到定时器（te）计时预定设定的时间段（至）。当估计的扰动负载转矩（Td2）等于或大于设定的参考值（Ts）时，发出刀具更换命令以暂停处理（A7至A9）。由于工具的使用寿命是基于施加在工具上的负载的大小来确定的，因此以客观和积极的方式进行管理。

48. 发明申请

WO1994021417A1 LASER BEAM MACHINING METHOD AND APPARATUS THEREFOR 审中-公开
标题翻译：激光束加工方法及其设备
公开(公告)号：WO1994021417A1
公开(公告)日：1994-09-29
申请号：PCT/JP1994000443
申请日：1994-03-17
申请人： FANUC LTD , NAKATA, Yoshinori
发明人： FANUC LTD
IPC分类号： B23K26/00
CPC分类号： B23K26/0869 , B23K26/08 , B23K26/361
摘要： A laser beam machining method capable of preventing the occurrence of a notch portion (burn-through) at a machining terminating point on a product even when a work is machined into a shape in which a machining starting point and machining terminating point agree with each other, and an apparatus used therefor. A boring and periphery machining operations are started with a boring operation at a point P, and a cutting operation is then carried out from the point P to a point Q. A periphery machining operation is started at the point Q, and this cutting operation is carried out along a path 40 up to a point R. At the point R, the machining conditions are changed, and the laser beam reaches a point S, at which the periphery machining operation is completed. In order to carry out this boring and periphery machining operations, a CNC (10) subtracts a very short distance DELTA L1 between the points Q, S from a one-round machining path which starts at the point Q, to generate the machining path 40, which is then stored in a memory. This very short distance DELTA L1 is set to such a level that permits the portion of the work which is on the inner side of the periphery thereof to be removed speedily at the time of completion of the periphery machining operation. Since the machining finishing point S is set by subtracting the very short distance DELTA L1 from a one round machining path without having the starting and finishing points Q, S of the periphery machining operation agree with each other, the occurrence of a notch portion, which is encountered in a machining operation in which the starting and finishing points Q, S agree with each other, can be avoided.
摘要翻译：即使将加工成加工起点和加工终止点一致的形状，也能够防止产品的加工终点处的切口部（直通）发生的激光加工方法，以及用于其的装置。通过点P处的镗孔操作开始钻孔和周边加工操作，然后从点P到点Q执行切割操作。在点Q开始周边加工操作，并且该切割操作是沿着路径40直到点R.在点R处，改变加工条件，并且激光束到达周边加工操作完成的点S. 为了进行这种无聊和周边加工操作，CNC（10）从点Q处开始的单向加工路径中减去点Q，S之间的非常短的距离DELTA L1，以产生加工路径40 ，然后将其存储在存储器中。这个非常短的距离DELTA L1被设定为使得在周边加工操作完成时能够快速地移除在其周边的内侧的工件的部分的水平。由于通过从一个圆形加工路径减去非常短的距离DELTA L1而不使周边加工操作的起点和终点Q，S彼此一致来设定加工精加工点S，所以出现切口部分，其中可以避免起点和终点Q，S彼此一致的加工操作中遇到的。

49. 发明申请

WO1994018740A1 ROTOR OF SYNCHRONOUS MOTOR 审中-公开
标题翻译：同步电机转子
公开(公告)号：WO1994018740A1
公开(公告)日：1994-08-18
申请号：PCT/JP1994000227
申请日：1994-02-15
申请人： FANUC LTD , UCHIDA, Hiroyuki , OKAMOTO, Takashi , UEMATSU, Hidetoshi
发明人： FANUC LTD
IPC分类号： H02K01/27
CPC分类号： H02K1/2773 , H02K15/03 , H02K2201/09
摘要： A rotor (10) includes a plurality of permanent magnets (14) disposed substantially equidistantly round a shaft (12) and a plurality of laminated core members (16) each being disposed between the permanent magnets (14) and forming a magnetic pole. The laminated core members (16) are formed by laminating and bonding a large number of thin magnetic plate cores (26) and integral type thin cores. The integral type thin core (26) includes a plurality of thin core portions having the same shape and connecting portions (46) for connecting mutually the adjacent thin core portions. When a large number of thin cores (26) and integral type thin cores are integrally joined by a press work, each laminated core member (16) is mutually interconnected between the adjacent laminated core members (16) with a relative arrangement at the time of completion of assembly having installation spaces of the permanent magnets (14), and an integrated type laminate rotor core (48) is formed.
摘要翻译：转子（10）包括基本上等距离地设置在轴（12）周围的多个永久磁铁（14）和多个叠置的铁芯构件（16），每个叠置的铁芯构件（16）都设置在永磁体（14）之间并形成磁极。层叠铁心构件（16）通过层叠并粘接大量薄磁性板芯（26）和整体型薄铁芯而形成。整体型薄芯（26）包括具有相同形状的多个薄芯部分和用于连接相邻的薄芯部分的连接部分（46）。当大量薄芯（26）和整体式薄芯通过冲压加工而整体连接时，每个层叠芯构件（16）在相邻层叠铁芯构件（16）之间以相对的布置相互互连形成具有永磁体（14）的安装空间的组装完成和一体型层压转子芯（48）。

50. 发明申请

WO1994017948A1 METHOD AND APPARATUS FOR DISCHARGE MACHINING CONTROL 审中-公开
标题翻译：放电加工控制方法与装置
公开(公告)号：WO1994017948A1
公开(公告)日：1994-08-18
申请号：PCT/JP1994000148
申请日：1994-02-02
申请人： FANUC LTD , SAWADA, Kiyoshi , ODAKA, Syunichi
发明人： FANUC LTD
IPC分类号： B23H07/32
CPC分类号： B23H7/20 , B23H7/18
摘要： A gap condition detector (3) detects a discharge machining condition of the gap between a tool electrode (1) and a work (2). The difference between this detection value Vg and a target value Vs is multiplied by axial components of a direction vector a &cir& _ in a retreating direction so as to obtain retreat speed command V2x to V2z. These values are added to speed commands V1x to V1z obtained by position loop control to obtain speed commands for speed loop control, and servo-motors (6x to 6z) are driven to regulate the gap described above. The retreat speed commands V2x to V2z are integrated by integrators (10x to 10z) to obtain the displacement of the tool when the speed commands are corrected. This displacement is added to the movement command inputted to the position loop, so as not to lose track of the tool.
摘要翻译：间隙条件检测器（3）检测工具电极（1）和工件（2）之间的间隙的放电加工条件。将该检测值Vg与目标值Vs之间的差乘以退避方向的方向矢量a＆cir＆_的轴向分量，以获得后退速度指令V2x〜V2z。这些值被添加到通过位置环控制获得的速度指令V1x到V1z，以获得用于速度环控制的速度命令，并且驱动伺服电动机（6x至6z）以调节上述间隙。退出速度命令V2x至V2z由积分器（10x至10z）集成，以在修正速度指令时获得刀具的位移。该位移被添加到输入到位置环的移动指令，以便不失去工具的轨迹。

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