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61. 发明申请

WO1993011476A1 METHOD OF EXPANDING FUNCTION OF AUTOMATIC PROGRAMMING APPARATUS 审中-公开
标题翻译：扩展自动编程设备功能的方法
公开(公告)号：WO1993011476A1
公开(公告)日：1993-06-10
申请号：PCT/JP1992001501
申请日：1992-11-17
申请人： FANUC LTD , SEKI, Masaki , TAKEGAHARA, Takeshi , ITOU, Kouichi
发明人： FANUC LTD
IPC分类号： G05B19/403
CPC分类号： G05B19/4093 , G05B19/4063 , G05B2219/35245 , G05B2219/36031 , G05B2219/36225 , G05B2219/36227 , Y02P90/265
摘要： A method of expanding the function of an automatic programming apparatus capable of making various kinds of technical calculations easily without being restricted by an intrinsic automatic programming language. A compiler for a high level language is provided in the control software for a ROM to enable the programming based on a general-purpose high level language suitable for technical calculations to be carried out, prepare a program, which is required by a user for attaining a specific object, by using a high level language, and store this object (b1') in a RAM. When NC data are prepared by executing the objects (a1', a2') prepared using an automatic programming language, the technical calculations, which are impossible by instructions based on the automatic programming language, are performed by the object (b1'), and the automatic programming function based on the objects (a1', a2') is executed by using the results of this computation. If libraries (c, d) in an automatic programming apparatus can be utilized when a program of a high level language required to attain a specific object is prepared, a part of the program is prepared by utilizing the automatic programming function including the libraries (c, d).

62. 发明申请

WO1993008958A1 ABNORMAL LOAD DETECTING METHOD 审中-公开
标题翻译：异常负载检测方法
公开(公告)号：WO1993008958A1
公开(公告)日：1993-05-13
申请号：PCT/JP1992001391
申请日：1992-10-27
申请人： FANUC LTD , NIHEI, Ryo , NAITO, Yasuo , OTSUKA, Kazuhisa , KATO, Tetsuaki , SUGIYAMA, Hideki
发明人： FANUC LTD
IPC分类号： B25J19/06
CPC分类号： B25J19/06 , B23K11/252 , B25J9/1674
摘要： A method of accurately detecting the abnormality of a load, such as the fusion at a free end of a spot gun. In this load abnormality detecting method, while a flag F2 which is set to ''1'' when an instruction for moving a movable mechanical part is outputted, and which is reset to ''0'' after a predetermined very short period of time has then elapsed, is in ''0'' because the movable part is stopped, estimated disturbance torque T0 is first determined successively by a disturbance estimating observer, updated and stored (S4, S11). When an instruction for moving the movable mechanical part is outputted and the flag F2 is set to ''1'', an estimated disturbance torque T1 is determined (S5). When an absolute value [T1-T0] of the difference between this torque T1 and estimated disturbance torque T1 determined immediately before the starting of the movable mechanical part exceeds a reference level Ts (S6), an alarm representing the occurence of a load abnormality is given (S7), and a flag F1 is set to ''1'' to stop the operation (S3, S8). The estimated disturbance torque T0 during the stoppage of the movable mechanical part represents a value such as the gravity which this part receives during this time. Consequently, the value, [T1-T0] represents the disturbance torque, from which the influence of gravity is eliminated, during the movement of the mechanical part. By comparing this value with the reference value Ts, a force exerted on the movable part, other than the gravity and a frictional force, can be detected more accurately. Therefore, abnormality, such as the occurrence of fusion can be determined accurately.

63. 发明申请

WO1993007998A1 METHOD OF CORRECTING POSITION OF FORWARD END OF TOOL 审中-公开
标题翻译：校正工具前端位置的方法
公开(公告)号：WO1993007998A1
公开(公告)日：1993-04-29
申请号：PCT/JP1992001328
申请日：1992-10-12
申请人： FANUC LTD , KARAKAMA, Tatsuo
发明人： FANUC LTD
IPC分类号： B25J09/10
CPC分类号： G05B19/404 , G05B2219/37251 , G05B2219/45083
摘要： A method of correcting the position of the forward end of a tool, wherein a tool such as a welding gun and a grinder is rendered light in weight and control of a robot work program is facilitated. Data showing the relationship between working hour of a robot and a variable amount of the forward end point of the tool is previously stored in a memory, an integrated working hour t is read when the forward end point of the tool is moved to a moving target point (S4), and the position of the varied forward end point of the tool is determined on the basis of the data in the memory (S5). The moving target of the forward end point of the tool is corrected on the basis of the varied amount (S6), and the forward end point of the tool is moved to the moving target point (S7). Owing to this, the position of the forward end point of the tool is corrected in accordance with the varied amount, so that accurate working can be performed on the moving target point on a work, thus eliminating the necessity for a spring mechanism which has heretofore been required. Furthermore, the robot work programs which have heretofore been separately provided can be integrated together.

64. 发明申请

WO1993007670A1 COOLED MOTOR AND ITS JACKET 审中-公开
标题翻译：冷却电机及其夹克
公开(公告)号：WO1993007670A1
公开(公告)日：1993-04-15
申请号：PCT/JP1992001288
申请日：1992-10-05
申请人： FANUC LTD , NAKAMURA, Kosei , KATSUZAWA, Yukio , MASUYA, Michi
发明人： FANUC LTD
IPC分类号： H02K09/19
CPC分类号： H02K9/19 , H02K5/20
摘要： A jacket with passages (2) for cooling liquid is provided by extrusion of aluminum alloy billets. This product is used as a stator-cooling jacket, i.e. a motor casing (1). Front and rear cast-iron housings (4, 5) are fitted to the front and rear surfaces of the casing (1) with tie-bolts (10) to form a liquid-cooled motor. The flanges (14, 16) of the front and rear housings (4, 5) are provided with either holes for passing the tie-bolts (10) or female threads for receiving the male threads at the free end portions of the tie-bolts (10). The cross section of each lightening hole (11), formed during the casting of the casing (1) and utilized as a hole for passing the tie-bolt, is shaped so as to allow only the axial movement of the tie-bolt (10). The number of lightening holes (11) is four, for example, and they are positioned at regular intervals in the circumferential direction of the casing (1). The passages (2) for passing a cooling liquid through the interior thereof are provided on the left and right sides of each lightening hole (11), and a plurality of cooling fins (12) projecting inward are formed by precision machining in the lightening holes. Thus, the liquid-cooled motor and its jacket have improved reliability with respect to the leakage of the liquid, and an improved cooling efficiency. In addition, the number of manufacturing steps is decreased.

65. 发明申请

WO1993007546A1 MACHINING METHOD USING PUNCHING PRESS 审中-公开
标题翻译：使用冲压压力机的加工方法
公开(公告)号：WO1993007546A1
公开(公告)日：1993-04-15
申请号：PCT/JP1992001262
申请日：1992-09-30
申请人： FANUC LTD , MIYAJIMA, Keiichiro
发明人： FANUC LTD
IPC分类号： G05B19/403
CPC分类号： G05B19/408 , G05B2219/35262 , G05B2219/45137 , G05B2219/50266 , Y10T83/0524 , Y10T83/06 , Y10T483/10
摘要： A machining method using a punching press in which the operation efficiency is improved by eliminating the work table movement time in punch-pressing. When an instruction of punch-pressing of many works at a time is given, a custom macro stored in a memory in the NC machine is read out (S3). When tool-exchange is instructed (S4), the tool is exchanged out (S5) without moving a worktable to which a work is fixed (S5), and the punching sequence is reversed (S6) to carry out a forward or backward punching sequence using one tool (S7). When the custom macro does not end, the operation is advanced to the next punching instruction (S8). When the whole machining does not end, the operation is advanced to the execution of the next custom macro (S9). Therefore, the useless waiting time for the tool exchange is eliminated, so that the operation efficiency can be improved.

66. 发明申请

WO1993005455A1 METHOD OF CONTROLLING FEED-FORWARD OF SERVO MOTOR 审中-公开
标题翻译：控制伺服电机进给方法
公开(公告)号：WO1993005455A1
公开(公告)日：1993-03-18
申请号：PCT/JP1992001150
申请日：1992-09-09
申请人： FANUC LTD , IWASHITA, Yasusuke
发明人： FANUC LTD
IPC分类号： G05B19/18
CPC分类号： G05B19/19 , G05B2219/41429 , G05B2219/41441
摘要： The instruction follow-up ability of a servo system is improved. The mean value of move instructions in each of position/speed loop processing cycles is determined, the number of the move instructions being equal to the quotient N of the division of a distribution cycle by the position/speed loop processing cycle with the cycle of a position/speed loop processing as the center. A feed-forward quantity FFp of a position is determined by multiplying this mean value by a position feed-forward coefficient (S13), and this feed-forward quantity FFp is added to a speed instruction obtained by a normal position loop processing to obtain a corrected speed instruction Vc(j) (S14). Furthermore, speed feed-forward processing, too, is carried out (S16) to obtain a torque instruction Tc(j) for driving a motor (S17). Even when feed-forward control is effected, undulation does not exist in position error, and no shock occurs in a machine.

67. 发明申请

WO1993004339A1 METHOD OF DIAGNOSING REAL TIME SENSOR 审中-公开
标题翻译：诊断实时传感器的方法
公开(公告)号：WO1993004339A1
公开(公告)日：1993-03-04
申请号：PCT/JP1992001081
申请日：1992-08-26
申请人： FANUC LTD , NIHEI, Ryo , NAITO, Yasuo , WAKIO, Hiroshi , IWAMOTO, Takashi
发明人： FANUC LTD
IPC分类号： G01B21/00
CPC分类号： G01S17/48 , B23K9/127 , B23K9/1274 , G01B11/24 , G01D3/08
摘要： A method of diagnosing operational conditions of a real time sensor by storing data obtained therefrom during the operation of a robot. This method includes such steps that: data on the cross section of an object is obtained by scanning the object with a laser sensor (S3); the position of a welding line is detected from said data on the cross section (S4); the position of a welding line and that of the robot at the time of detection are stored in memory (S5); and data on the cross section are stored (S12) when the robot is in a specified position and a conditional value is set at [1] (S7), when the position of a welding line fails to be detected for the first time and a conditional value is set at [2] (S8-S11), and when positional variation in welding line is great and a conditional value is set at [3] (S9). Various detection parameters are set for optimum detection on the basis of the position of a welding line and data on the cross section stored in the memory. In this way, the sensor is constantly watched during operation thereof and parameters can be set at optimum values.

68. 发明申请

WO1993001029A1 AUTOMATIC CALIBRATION METHOD 审中-公开
标题翻译：自动校准方法
公开(公告)号：WO1993001029A1
公开(公告)日：1993-01-21
申请号：PCT/JP1992000851
申请日：1992-07-06
申请人： FANUC LTD , WATANABE, Atsushi , TERAWAKI, Fumikazu , WARASHINA, Fumikazu
发明人： FANUC LTD
IPC分类号： B25J09/10
CPC分类号： B25J9/1692 , G05B19/4015
摘要： A method of automatically effecting calibration between an image processor and an automatic machine. Data of a calibration jig and a position of a robot to which is fitted a jig capable of imaging by a a camera at the time of calibration are instructed beforehand. The robot having the jig fitted thereto moves to the instruction point (T3) by a calibration instruction and after this movement, the image processor takes the image of the jig and inputs the image (T4, S3, S4). Calibration processing is carried out by the image data taken, the jig data set and the robot position (T6, S7-S9, S10-S13). Once the jig data and the instruction point are set and instructed at the beginning, subsequent calibration can be carried out automatically by merely fitting the jig to the robot and inputting the calibration instruction.

69. 发明申请

WO1992021482A1 METHOD OF PREPARING PROGRAM FOR ROUGH WORKING 审中-公开
标题翻译：制定粗糙程序的方法
公开(公告)号：WO1992021482A1
公开(公告)日：1992-12-10
申请号：PCT/JP1992000635
申请日：1992-05-15
申请人： FANUC LTD , SEKI, Masaki , HAYANAGI, Shizuaki , SUZUKI, Koji
发明人： FANUC LTD
IPC分类号： B23Q15/00
CPC分类号： G05B19/40937 , G05B2219/36191 , Y02P90/265
摘要： A method of preparing a program for rough working, wherein a block of NC data outputted by a working program for performing the rough working of a regional cutting is reduced so as to shorten time for the rough working. At a cut ending point (3) of a material to be worked on (1), a further one cut-in of an instructed depth is performed, and a regional cutting is performed in the reverse direction from the cut ending point (3) to a cut starting point (4). Accordingly, a block of NC data outputted can be reduced. Furthermore, outputs of NC data for performing a rapid return from the cut ending point (3) to the cut starting point (4) are eliminated, so that time for the rough working can be shortened.

70. 发明申请

WO1992021075A1 METHOD OF CONTROLLING BACKLASH ACCELERATION 审中-公开
标题翻译：控制反向加速的方法
公开(公告)号：WO1992021075A1
公开(公告)日：1992-11-26
申请号：PCT/JP1992000666
申请日：1992-05-22
申请人： FANUC LTD , SAKAMOTO, Keiji , IWASHITA, Yasusuke
发明人： FANUC LTD
IPC分类号： G05B19/407
CPC分类号： G05B19/404 , G05B2219/41078 , G05B2219/41084 , G05B2219/41429 , G05B2219/41439
摘要： A method of controlling a backlash acceleration for effecting a more accurate timing of the start of backlash acceleration correction in a servosystem performing feed-forward control. In this method, backlash acceleration correction is started on reversal of the quantity of feed-forward from a positive value to a negative one or vice versa. Said correction may be started when a value of a speed command corrected by the quantity of feed-forward is reversed from a positive value to negative one or vice versa. With approach of a feed-forward coefficient to [1], a positional deviation reaches almost [0] and delay of actual move from a move command comes to almost none. Accordingly, positional variation in directional reversal of a move command makes difficult the timing of the start of backlash acceleration correction, causing it to vary. However, at the time (Ts) of reversal of a feed-forward quantity from a positive value to a negative one or vice versa, a directional reversal position is indicated more accurately.

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