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71. 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.

72. 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.

73. 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.

74. 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.

75. 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.

76. 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.

77. 发明申请

WO1992021003A1 MAGNETORESISTANCE TYPE REVOLUTION DETECTOR 审中-公开
标题翻译： MAGNETORESISTANCE型变革检测器
公开(公告)号：WO1992021003A1
公开(公告)日：1992-11-26
申请号：PCT/JP1992000596
申请日：1992-05-11
申请人： FANUC LTD , NAKAMURA, Kosei , KATSUZAWA, Yukio , TUKUOKA, Hiroshi
发明人： FANUC LTD
IPC分类号： G01D05/244
CPC分类号： G01D5/147 , G01D5/2457
摘要： This invention is directed to reduce a production cost of a revolution detector by providing an integrally sintered rotor of a magnetoresistance type revolution detector. The magnetoresistance type revolution detector (10) includes a rotor (12) equipped with an angular position detection plane (26) at an upper stage and a rotational speed detection plane (22) at a lower stage; permanent magnets (14, 16) so fixed as to oppose the respective detection planes of the rotor; and pairs (18) and (20) of magnetoresistance devices disposed between the rotor (12) and the magnet (14) and between the rotor (12) and the magnet (16), respectively. The rotation speed detection plane (22) of the rotor (12) is equipped with teeth (24) having a dimension of a predetermined gear. On the other hand, the angular position detection plane (26) is equipped with one tooth (28) having the same phase and the same tooth shape as those of one of the teeth (24). Accordingly, the rotor (12) can be molded and sintered integrally. Moreover, interference of magnetic fluxes does not occur between the speed detection side and the position detection side, and an accurate signal can be obtained.

78. 发明申请

WO1992020018A1 WIRELESS CONTROL BOARD, AND METHOD OF CONNECTION BETWEEN THE WIRELESS CONTROL BOARD AND NUMERIC CONTROLLER 审中-公开
标题翻译：无线控制板和无线控制板与数字控制器之间的连接方法
公开(公告)号：WO1992020018A1
公开(公告)日：1992-11-12
申请号：PCT/JP1992000529
申请日：1992-04-23
申请人： FANUC LTD , KANDA, Kunio
发明人： FANUC LTD
IPC分类号： G05B19/18
CPC分类号： B25J13/00 , G05B19/409 , G05B2219/33192 , G05B2219/34456 , G05B2219/36159
摘要： Wire communication means is added to a portable control board (OP) designed originally for exchanging instructions and signals with a numeric controller (NC), so that wire communication channels are established between the control board and numeric controllers (NC). Therefore, unexpected erroneous connection is prevented even if the same ID number is allotted erroneously to a plurality of numeric controllers (NC) or if a wrong control board (OP) is used.

79. 发明申请

WO1992019418A1 COPY CONTROL DEVICE 审中-公开
标题翻译：复制控制装置
公开(公告)号：WO1992019418A1
公开(公告)日：1992-11-12
申请号：PCT/JP1992000516
申请日：1992-04-21
申请人： FANUC LTD , MATSUURA, Hitoshi , NAKAJIMA, Osamu , OKAMOTO, Tetsuji
发明人： FANUC LTD
IPC分类号： B23Q35/121
CPC分类号： B23Q35/121
摘要： A copy control device for always eliminating the bite-in of a cutter head irrespective of the copying speed. A cutter head is moved on the basis of the displacements of respective axes of a stylus provided on a tracer head (41) to thereby machine a work. The tracer head (41) is driven in directions of the respective copy axes by a motor (31) other than a motor for driving the cutter head, independently of the cutter head. A calculating means (6) calculates an actual position of the tracer head (41). A speed command at the center of a cutter of the cutter head is corrected according to a relative displacement between the stylus and tracer head (41) by a correcting means (7) on the basis of the actual position of the tracer head (41) and the respective axis displacements of the stylus. With this arrangement, the position of the center of the cutter head can be controlled to coincide with the center position of the stylus at all times.

80. 发明申请

WO1992019409A1 WIRE ELECTRODE CUTTING DEVICE 审中-公开
标题翻译：线电极切割装置
公开(公告)号：WO1992019409A1
公开(公告)日：1992-11-12
申请号：PCT/JP1992000555
申请日：1992-04-28
申请人： FANUC LTD , ARAKAWA, Yasuo
发明人： FANUC LTD
IPC分类号： B23H07/10
CPC分类号： B23H7/10
摘要： A wire electrode cutting device which can be used in an automatic wire connecting mechanism and produces no burrs at the cut end of a wire electrode (6) when cut. A guide block (21) having a wire electrode passage (24) put through the center thereof, a whirling block (22) having a cutting hole (28) having a diameter larger than that of the wire electrode passage (24) of the guide block (21) formed in the center thereof, and a supporting block (23) having a wire electrode passage (29) put through the center thereof are placed in that order from above in the main body portion of an upper guide unit (1). The whirling block (22) is supported on the supporting block (23) in such a manner that a whirling motion is possible around the wire electrode (6) passing through the main body portion and that an upward jump is also possible. Blades (26, 31) having a sharp corner are mounted, respectively, at the end edge on the outlet side of the wire electrode passage (24) of the guide block (21) and at the end edge on the wire receiving side of the cutting hole (28) of the whirling block (22). Driving means are provided in the main body portion of the upper guide block (1), respectively, for acting so as to cause the whirling block (22) to effect whirling actions about the wire electrode and for acting so as to allow the whirling block (22) to move upwardly.
摘要翻译：线电极切割装置，其可以用于自动线连接机构，并且在切割时在线电极（6）的切割端处不产生毛刺。具有穿过其中心的线电极通道（24）的引导块（21），具有直径大于引导件的线电极通道（24）的直径的切割孔（28）的旋转块（22）在其中心形成的块体（21）和具有穿过其中心的线电极通道（29）的支撑块（23）从上方依次放置在上引导单元（1）的主体部分中，。旋转块（22）以能够通过主体部分的线电极（6）周围的旋转运动的方式支撑在支撑块（23）上，并且向上跳跃也是可能的。具有尖角的叶片（26,31）分别安装在引导块（21）的线电极通道（24）的出口侧的端部边缘处，并且在导线接收侧的端部边缘处旋转块（22）的切割孔（28）。驱动装置分别设置在上引导块（1）的主体部分中，用于使旋转块（22）发生绕线电极的旋转作用并且用于使旋转块（22）向上移动。

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