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51. 发明专利

JPH06210210A CONTROLLING METHOD OF ROBOT WHICH CARRIES OUT SEALING WORK 失效
公开(公告)号：JPH06210210A
公开(公告)日：1994-08-02
申请号：JP2341093
申请日：1993-01-20
申请人： FANUC LTD
发明人： HAMURA MASAYUKI , HATADA MASAHIRO , NISHIKAWA AKIO
IPC分类号： B05B12/00 , B25J9/16
摘要： PURPOSE:To control a sealing agent supplying pump and apply the sealing agent uniformly to an object by a robot controlling apparatus. CONSTITUTION:A motor of a sealing agent supplying pump is connected with an added axis controlling circuit of a robot controlling apparatus and carry out controlling. In the case a seal gun is a rod-like nozzle type, the motor of the sealing agent supplying pump is controlled at Vcmd speed in proportion to the robot moving speed (the seal gun moving speed) Vr (a2-a4). In the case the seal gun is a spray nozzle type, a pressure sensor to detect the sealing agent pressure at the tip of the seal gun is installed and the rotation speed of the motor of the sealing agent supplying pump is so controlled as to make the sealing agent pressure detected by the pressure sensor be the same as a set value.

52. 发明专利

JPH06179077A ARC WELDING CONTROL METHOD FOR WELDING ROBOT 失效
公开(公告)号：JPH06179077A
公开(公告)日：1994-06-28
申请号：JP35242292
申请日：1992-12-11
申请人： FANUC LTD
发明人： HAMURA MASAYUKI , OKUDA MITSUHIRO , MAKIHATA TAKEKI
IPC分类号： B23K9/00 , B23K9/06 , B23K9/067 , B23K9/095 , B23K9/12
摘要： PURPOSE:To prevent weld metal at the time of arc welding starting from forming a molten pool in the welding robot. CONSTITUTION:When an arc starting command is given, the welding command voltage E and a welding command current I are made initial values E0 and I0 (S4). The welding command voltage E is increased gradually till an arc is generated (S5 and S6). When the arc is generated (S5) by increasing the welding voltage, the welding command voltage E and current I are made the robot stoppage state voltage Es and current Is (S9). Increasing processing of the welding command voltage E and current I is carried out so as to correspond to the moving speed of the robot in accordance with acceleration processing of the robot from a subsequent period (S11). When the acceleration time (i>N) of the robot is completed, the welding command voltage E and current I are made the ordinary voltage Ec and Ic at the time of welding and control is made by these command voltage and current. Since impression of the excessive voltage is prevented, the generation of molten pool of the weld metal is prevented. In addition, since the welding command voltage E and current I in accordance with the moving speed of the robot are formed, the welding voltage and current do not become excessive at the time of accelerating the robot.

53. 发明专利

JPH05123935A WORKPIECE FEEDER WITH WORKPIECE POSITIONING SENSOR 失效
公开(公告)号：JPH05123935A
公开(公告)日：1993-05-21
申请号：JP28672491
申请日：1991-10-31
申请人： FANUC LTD
发明人： NIHEI AKIRA , HAMURA MASAYUKI , MIYAWAKI MASANAO , YASUMURA MITSUHIRO , TAMURA TOSHIISA
IPC分类号： B23Q7/00 , B23Q7/06
摘要： PURPOSE:To grip a workpiece positively and desirably without causing the deformation and damage of the workpiece by providing a workpiece position sensor for detecting the arrival of an uppermost layer workpiece, lifted by workpiece lift mechanism, into a specified stop position in the non-contact state so as to output an detection signal. CONSTITUTION:When an uppermost layer workpiece 6 reaches a specified workpiece stop position, a stop signal is transmitted to an air cylinder 9 from an NC device, and the air cylinder 9 is stopped by the operating air and the action of a brake. Using a laser sensor 7, the actually stopped position of the uppermost layer workpiece 6 is outputted with the area shielding the detected space as analog voltage and amplified by an amplifier unit so as to be transmitted to the NC device. After applying A/D conversion in the NC device, an error X between the actual workpiece stop position and a specified workpiece stop position is computed, and the target position correction quantity X of a robot hand 4 is transmitted to a robot 2. On the basis of this correction quantity, the robot hand 4 grips the uppermost layer workpiece 6 to mount it to the chuck 10 of a lathe 3.

54. 发明专利

JPH02285982A METHOD OF DETECTING COLLISION OF MEMBERS DRIVEN VERTICALLY BY SERVO MOTOR 失效
公开(公告)号：JPH02285982A
公开(公告)日：1990-11-26
申请号：JP10164089
申请日：1989-04-24
申请人： FANUC LTD
发明人： TORII NOBUTOSHI , ITO SUSUMU , HAMURA MASAYUKI , SAKAI TAMOTSU
IPC分类号： B25J19/06 , H02P29/00
摘要： PURPOSE:To quickly detect a collision of members by detecting an inversion of the sign of a speed deviation value or a torque command value. CONSTITUTION:A mechanism 13 of an industrial robot is composed of a servo motor 30, a reduction gear 31, a ball screw 32, a ball nut 33, and a handler 34 as a driven element. In a method of detecting a collision of the handle 34 with a foreign matter 35, when the collision is detected, a speed deviation value and a torque command value are reduced to become zero, it is then returned to zero. Therefore, the inversion of the signs of the deviation value and the command value are detected to detect the collision.

55. 发明专利

JPH0253580A STRUCTURE FOR DIRECT ACTING SHAFT OF INDUSTRIAL ROBOT 失效
公开(公告)号：JPH0253580A
公开(公告)日：1990-02-22
申请号：JP19882188
申请日：1988-08-11
申请人： FANUC LTD
发明人： TORII NOBUTOSHI , ITO SUSUMU , HAMURA MASAYUKI , TANAKA AKIRA
IPC分类号： B25J9/02 , B25J9/10 , B25J18/02
摘要： PURPOSE:To fit a feeding screw to a bearing plate and an arm support slider from side part for the axial direction by providing the fitting passage and the passage for fitting the bearing plate provided by respectively cutting through the fitting hole of the bearing plate and arm support slider by cutting through at the release side of a column. CONSTITUTION:After moving a ball nut 10 upward, the lower end of a ball screw 9 is inserted to the inner part of a vertical column 2 from the upper part of an arm support slider 4. The fitting passage 17 provided on the link part 14 of an upper plate 7 and the arm support slider 4 is passed through by making a screw 9 vertical by moving the upper part to a vertical column side, and the ball screw 9 is fitted into fitting hole 16, 16'. The screw 9 is then descended, the lower end thereof is inserted to the gear box 12 of a direct acting shaft driving mechanism 11 to link with the driving system by a servomotor 3, simultaneously, the shaft stopping bearing 18 fitted to the upper end is engaged with the fitting hole 16, and the flange thereof is fixed to the upper plate 7. The nut 10 is then descended, fitted to the fitting hole 16' and a flange is fixed to the link part 14.

56. 发明专利

JPH0248187A STRAIGHT MOVEMENT SHAFT COLUMN OF INDUSTRIAL ROBOT 失效
公开(公告)号：JPH0248187A
公开(公告)日：1990-02-16
申请号：JP19881988
申请日：1988-08-11
申请人： FANUC LTD
发明人： TORII NOBUTOSHI , ITO SUSUMU , HAMURA MASAYUKI , TANAKA AKIRA
IPC分类号： B25J9/02 , B25J5/02 , B25J9/06
摘要： PURPOSE:To reduce the number of processes for shaping a supporting member by forming a shoulder on which a slide guide is to be mounted, in such a way that the side face part of a shape steel member is directly cut. CONSTITUTION:A longitudinal shoulder is formed by the cutting procedure on the external face of a shape steel member 15. Then the slide guide 17 of a slide is positioned on the shape steel member 15 using this shoulder and mounted, whereby providing the desired supporting member 4. This supporting member 4 is stuck to a floor in parallel to the straight movement shaft of a robot, whereby providing the desired straight moving shaft column. At this time the shape copper members are faced to each other and the a recess part 17 defined by these main face part and the side face part 14 opens externally. Using this recess part 17, the mounting part of the support member 14 to the floor may be minimized so that the mounting area also may be minimized.

57. 发明专利

JPS6388070A ELECTROMOTIVE INDUSTRIAL ROBOT EQUIPPED WITH INTERNAL PRESSURE EXPLOSION-PROOF CONSTRUCTION 失效
公开(公告)号：JPS6388070A
公开(公告)日：1988-04-19
申请号：JP22997386
申请日：1986-09-30
申请人： FANUC LTD
发明人： TORII NOBUTOSHI , ITO SUSUMU , HAMURA MASAYUKI
IPC分类号： B05B12/00 , B25J19/00
摘要： PURPOSE:To enhance the reliability and workability of explosion-proofness, by concentrating all of driving motors to one place of a body part to limit an internal pressure holding space to one place and performing the transmission of driving force to a wrist by a gear train composed of an intermediate cylinder. CONSTITUTION:A partition chamber 22' is formed in a body part 12 by a partition wall 12' and the outer covers of all of motors Mtheta, MW, MV, Mgamma, Mbeta, Malpha to the inner wall of the partition chamber 22'. Each motor output shaft is protruded from the partition wall 12' and a seal means 10 is applied to the boundary of each motor and the partition wall 12' to bring the partition chamber 22' to an airtight chamber and one pressure detector PS is provided in the chamber 22'. The transmission of power from each motor output shaft is entirely achieved by a gear train having cavities S1-S$3 at the center part thereof in the part ahead of the joint of the first arm 13 and a working tube T is introduced into a robot from the outside through the hole H of the body part 12 and pierced through the cavities S1-S3 of the gear train to be connected to a wrist.

58. 发明专利

JPS6294291A DUSTPROOF STRUCTURE OF INDUSTRIAL ROBOT 失效
公开(公告)号：JPS6294291A
公开(公告)日：1987-04-30
申请号：JP23345685
申请日：1985-10-21
申请人： FANUC LTD
发明人： TOYODA KENICHI , HAMURA MASAYUKI , WAKIO HIROSHI
IPC分类号： B25J19/00

59. 发明专利

JPS61252087A TURNING LIFTING MECHANISM FOR INDUSTRIAL ROBOT 失效
公开(公告)号：JPS61252087A
公开(公告)日：1986-11-10
申请号：JP9122585
申请日：1985-04-30
申请人： FANUC LTD
发明人： TORII NOBUTOSHI , ITO SUSUMU , HAMURA MASAYUKI
IPC分类号： B25J9/04

60. 发明专利

JPS61203290A ROBOT FOR CLEAN ROOM 失效
公开(公告)号：JPS61203290A
公开(公告)日：1986-09-09
申请号：JP4030085
申请日：1985-03-02
申请人： FANUC LTD
发明人： TOYODA KENICHI , HAMURA MASAYUKI
IPC分类号： B25J19/00

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