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41. 发明专利

JPS62124896A INDUSTRIAL ROBOT 失效
公开(公告)号：JPS62124896A
公开(公告)日：1987-06-06
申请号：JP26245885
申请日：1985-11-25
申请人： FANUC LTD
发明人： TOYODA KENICHI , HAMURA MASAYUKI , WAKIO HIROSHI
IPC分类号： B25J9/02 , B25J19/00

42. 发明专利

JPS6279996A METHOD OF MOUNTING DUSTPROOF COVER FOR INDUSTRIAL ROBOT 失效
公开(公告)号：JPS6279996A
公开(公告)日：1987-04-13
申请号：JP22136185
申请日：1985-10-04
申请人： FANUC LTD
发明人： TORII NOBUTOSHI , ITO SUSUMU , HAMURA MASAYUKI
IPC分类号： B25J19/00

43. 发明专利

JPS61203276A ROBOT FOR CLEAN ROOM 失效
公开(公告)号：JPS61203276A
公开(公告)日：1986-09-09
申请号：JP3891685
申请日：1985-03-01
申请人： FANUC LTD
发明人： TOYODA KENICHI , HAMURA MASAYUKI
IPC分类号： B25J19/00 , B25J9/04

44. 发明专利

JPS61192490A ARM STRUCTURE OF ROBOT FOR CLEAN ROOM 失效
公开(公告)号：JPS61192490A
公开(公告)日：1986-08-27
申请号：JP3287085
申请日：1985-02-22
申请人： FANUC LTD
发明人： TOYODA KENICHI , HAMURA MASAYUKI
IPC分类号： B25J18/00 , B25J19/00

45. 发明专利

JPS60172493A IMPROVED STRUCTURE OF INDUSTRIAL ROBOT 失效
公开(公告)号：JPS60172493A
公开(公告)日：1985-09-05
申请号：JP2880584
申请日：1984-02-20
申请人： FANUC LTD
发明人： TOYODA KENICHI , HAMURA MASAYUKI , WAKIO HIROSHI
IPC分类号： B25J9/04 , B25J18/00 , B25J18/02

46. 发明专利

JPH10175189A WRIST STRUCTURE OF VERTICAL ARTICULATED ROBOT 失效
公开(公告)号：JPH10175189A
公开(公告)日：1998-06-30
申请号：JP36126797
申请日：1997-12-26
申请人： FANUC LTD
发明人： NIHEI AKIRA , HAMURA MASAYUKI , MIYAWAKI MASANAO
IPC分类号： B25J9/06 , B25J17/02 , B25J19/00 , H01R35/04 , H02G11/00
摘要： PROBLEM TO BE SOLVED: To prevent a cable from being stained by cutting oil by arranging a cable or the like and piping in a storing chamber, and wiring and piping extending from the storing chamber through a cable passing opening formed in the central area of the articulate part of the robot wrist into the inside of the wrist. SOLUTION: A cable 42 or the like is wired or piped like grapes in a storing chamber 48 of a robot arm 22, and then inserted in a passing opening 47 for wiring and piping formed along the central axis a3 of a rotating shaft 46 of a wrist 26 in the central part of the rotating shaft 46 in such a manner as to prevent twisting and elongation caused by rotation to be wired and piped to be connected to a connector 36 arranged in the rear end inside of the wrist 26. The cable 42 or the like is further led out to the outside of the wrist 26 through a cable take-out opening and an air tube take-out opening provided in suitable positions of the outside of the wrist 26.

47. 发明专利

JPH10166292A WRIST STRUCTURE FOR VERTICALLY ARTICULATED ROBOT 失效
公开(公告)号：JPH10166292A
公开(公告)日：1998-06-23
申请号：JP36128897
申请日：1997-12-26
申请人： FANUC LTD
发明人： NIHEI AKIRA , HAMURA MASAYUKI , MIYAWAKI MASANAO
IPC分类号： B25J9/06 , B25J17/02 , B25J19/00 , F16L39/04 , H01R35/04 , H02G11/00
摘要： PROBLEM TO BE SOLVED: To wire and pipe a cable, etc., from the wrist at the end of a robot arm to an end effector without exposing them to outside, as far as possible. SOLUTION: In the structure of mounting an end effector to the wrist of a vertically articulated robot, a wrist flange is provided on the wrist 26 rotatably mounted at the end of a robot arm 16 to be rotatable around an axial line a4 and the end effector 28 is mounted on the wrist flange via a sectionally U-shaped mounting member for which two members, separating and opposing each other in parallel to the mounting face of the wrist flange, are connected together via a member in parallel to the axial line a4 , in such a manner that at least part of a cable between the wrist 26 and the end effector 28 can be covered with the sectionally U-shaped mounting member.

48. 发明专利

JPH0911079A DEBURRING CONTROL METHOD FOR ROBOT 失效
公开(公告)号：JPH0911079A
公开(公告)日：1997-01-14
申请号：JP15425195
申请日：1995-06-21
申请人： FANUC LTD
发明人： HAMURA MASAYUKI
IPC分类号： B23Q15/00 , B23Q15/007 , B24B49/16 , B25J9/10 , B25J13/08
摘要： PURPOSE: To prevent inertial running of a deburring tool after overload is detected, to obtain the retreat direction according to the form of a work, and shorten the cycle time of retry operation. CONSTITUTION: A shaft control means 3 drives the respective shafts of a robot according to a movement command from a movement command means 2 to operate a deburring tool 5 fitted to the arm of the robot 4, thereby deburring a work 6. At this time, an overload detecting sensor 7 detects overload applied to the deburring tool 5. A retreat and retry control means 8 causes the shaft control means 3 to forcedly stop the operation of the deburring tool 5 when overload is detected by the overload detecting sensor 7. After the operation of the deburring tool 5 is stopped, the retreat and retry control means 8 causes the shaft control means 3 to retreat the deburring tool 5 in the direction of decreasing the overload.

49. 发明专利

JPH07132463A CHIP COLLECTING METHOD IN DEBURRING WORK 失效
公开(公告)号：JPH07132463A
公开(公告)日：1995-05-23
申请号：JP30084893
申请日：1993-11-08
申请人： FANUC LTD
发明人： HAMURA MASAYUKI , AZUMA KENJI
IPC分类号： B24B55/06
摘要： PURPOSE:To reduce energy consumed for dust collection and perform deburring and chip collection efficiently by starting dust collection immediately before deburring, and stopping dust collection after the termination of deburring in the case of executing deburring by a robot. CONSTITUTION:Immediately before starting deburring work by a robot, control signals are outputted to a tool driving device 10, a dust collecting device body 16, a door driving device 17 and an air blow valve 21 from the input-output port 20a of a robot controller 20. A deburring tool 11 is then rotated to perform the deburring of a workpiece 12. Chips 23 generated in association with deburring are collected into a dust collecting duct 15 from an opening part 14. The air blow valve 21 is opened, and air is sprayed upward from an air supply pipe 22. After the termination of deburring, the respective devices 10, 16, 17, 21 are stopped, and a door 18 is opened to let accumulated chips 23a fall into a tray 19, thus collecting the chips 23b.

50. 发明专利

JPH06320462A CONTROL METHOD FOR ROBOT WITH SENSOR 失效
公开(公告)号：JPH06320462A
公开(公告)日：1994-11-22
申请号：JP13103093
申请日：1993-05-10
申请人： FANUC LTD
发明人： HAMURA MASAYUKI , MAKIHATA TAKEKI
IPC分类号： B23K9/12 , B23K9/127 , B25J9/16 , B25J9/22 , B25J13/08 , G05B19/18 , G05B19/4155 , G05B19/42
摘要： PURPOSE:To effectively utilize a robot position correction function by a sensor in weaving weld and lap welding. CONSTITUTION:When weaving weld is effected by means of reference teach lines (P1 .. Pn) serving as a reference truck, sensing/correction operation modes (Q1-Q1-10;..) in which movement is effected as a robot position is corrected based on an output from an sensor means and an assigned shape truck operation mode in which, starting from the terminal points (Q1-10;..) of one robot truck section drawn during execution of a sensing/correction operation mode, a truck ([B] 1-1;..) in a pre-assigned shape is followed are alternately executed. A plurality of kinds of patterns/sizes are prepared regarding an assigned shape and selected according to a program. When same or similar truck repetition type work like lap welding is executed, a correction data re-utilizing mode in which data for correction obtained during execution of the sensing/correction operation mode is utilized again is utilized.

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