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1. 发明申请

WO1986000256A1 INDUSTRIAL ROBOT 审中-公开
标题翻译：工业机器人
公开(公告)号：WO1986000256A1
公开(公告)日：1986-01-16
申请号：PCT/JP1985000365
申请日：1985-06-28
申请人： FANUC LTD , NAKASHIMA, Seiichiro , TOYODA, Kenichi , TERADA, Akihiro , MIZUNO, Hitoshi
发明人： FANUC LTD
IPC分类号： B25J19/00
CPC分类号： B25J9/046 , B25J9/1035 , B25J19/0029 , B25J19/0079
摘要： An electrically-driven industrial robot is provided with a movable robot body (10) in which an air-tight chamber is formed, and an electric driving unit for driving the robot body. The electric driving unit is provided with a plurality of motors (36-41). The casings (36a-41a) of the motors are arranged in the air-tight chamber (30) in the robot body. The electric cables (57-62) connected to the motors are introduced into a fixed pipe (67), which is joined to the robot body, through the air-tight chamber in the robot body. The interior of the motors and air-tight chamber is maintained at a pressure which is higher than the atmospheric pressure in the exterior of the robot body.

2. 发明申请

WO1985003663A1 SYSTEM FOR RETURNING TO ORIGIN FOR AN ARTICULATED ROBOT 审中-公开
标题翻译：用于返回原始机器人的系统
公开(公告)号：WO1985003663A1
公开(公告)日：1985-08-29
申请号：PCT/JP1985000068
申请日：1985-02-20
申请人： FANUC LTD , NAKASHIMA, Seiichiro , TOYODA, Kenichi , TORII, Nobutoshi , NIHEI, Ryo
发明人： FANUC LTD
IPC分类号： B25J09/10
CPC分类号： B25J9/046 , B25J9/1692 , G05B2219/45083
摘要： A system for returning to origin for an articulated robot (39) having a plurality of operation axes that are controlled by a numerical control unit (NC). Being designated by the mode for returning to origin, the numerical control unit (NC) enables the plurality of operation axes of the articulated robot (39) to operate independently of each other based upon a program for returning to origin, and drives at least two axes among many operation axes, i.e., preferably drives an operation axis (U) that actuates the upper arm and drives an operation axis (W) that actuates the lower arm, so that they move toward the origin, simultaneously.

3. 发明申请

WO1984004269A1 ARTICULATED ARM TYPE OF INDUSTRIAL ROBOT 审中-公开
标题翻译：工业机器人的ARM型
公开(公告)号：WO1984004269A1
公开(公告)日：1984-11-08
申请号：PCT/JP1984000218
申请日：1984-04-27
申请人： FANUC LTD , NAKASHIMA, Seiichiro , TOYODA, Kenichi , TORII, Nobutoshi , NIHEI, Ryo
发明人： FANUC LTD
IPC分类号： B25J09/00
CPC分类号： B25J17/0258 , B25J9/1045 , Y10T74/18832
摘要： An articulated arm type of industrial robot has a movable robot body (11) provided on a base (10). The near end portion of an upper arm (13) provided with both a near end portion and a far end portion is pivotally attached to the robot body (11). A forearm (16) provided with a rear end portion and a front end portion is pivotally attached by a point between its rear and front end portions to the far end portion of the upper arm (13). A wrist device (20) is provided with two movable elements (21, 22) which can move with respect to the front end portion of the forearm (16) around, preferably, different axes. The movable elements (21, 22) of the wrist device (20) are rotated around their axes by wrist drive devices (27, 28), respectively. The wrist drive devices (27, 28) are provided with first sprocket wheels (29, 36), respectively, which are rotatably arranged within the rear end portion of the forearm (16). Drive motors (31, 37) for rotating the first sprocket wheels (29, 36), respectively, are provided in the rear end portion of the forearm (16). Second sprocket wheels (33, 39) which are linked to the movable elements (21, 22), respectively, of the wrist device (20) are arranged within the front end portion of the forearm (16). The rotations of the first sprocket wheels (29, 36) are transmitted to the corresponding second sprocket wheels (33, 39) by wound connectors (34, 45), respectively. The wound connectors (34, 45) are constituted by endless assemblies composed of chains (46, 47) and rods (48, 49).

4. 发明申请

WO1984003654A1 APPARATUS FOR CHANGING HAND OF INDUSTRIAL ROBOT 审中-公开
标题翻译：改变工业机器人的手段
公开(公告)号：WO1984003654A1
公开(公告)日：1984-09-27
申请号：PCT/JP1984000118
申请日：1984-03-22
申请人： FANUC LTD , NAKASHIMA, Seiichiro , TORII, Nobutoshi , HAMURA, Masayuki
发明人： FANUC LTD
IPC分类号： B25J15/04
CPC分类号： B25J19/063 , B23Q1/0018 , B23Q1/0063 , B25J15/04
摘要： An apparatus for changing a hand of an industrial robot is provided with a changer body (10) mounted on a robot arm (92) and a changer adapter (50) with a robot hand (74) mounted thereon. The changer body (10) and the changer adapter (50) are constituted by separate parts which are independently detachable. The changer adapter (50), together with the robot hand (74), is clamped to the changer body (10) by the engagement between a plurality of clamp balls provided in the changer body (10) and a ball engagement portion provided on the changer adapter (50). A fluid-actuated piston (20) is provided in the changer body (10) to move the clamp balls between two positions: a clamped position and an unclamped position.

5. 发明申请

WO1984001537A1 ARTICULATED ARM TYPE OF INDUSTRIAL ROBOT 审中-公开
标题翻译：铰接臂式工业机器人
公开(公告)号：WO1984001537A1
公开(公告)日：1984-04-26
申请号：PCT/JP1983000366
申请日：1983-10-19
申请人： FANUC LTD , NAKASHIMA, Seiichiro , INAGAKI, Shigemi , ITO, Susumu
发明人： FANUC LTD
IPC分类号： B25J09/00
CPC分类号： B25J9/046 , B25J9/1025 , B25J17/0283 , B25J19/002
摘要： An articulated arm type of industrial robot is provided with a wrist-operating mechanism comprising: a robot forearm (20) rotatably attached to the upper end of a robot upper arm (16) which is rotatably attached to a rotary or horizontally movable robot body (10) of an industrial robot; a wrist unit (30) attached to the free end of the robot forearm (20); three rotary shafts, i.e., an outer shaft (52), an intermediate shaft (54) and an inner shaft (56), which are coaxially arranged within the robot forearm; an outer wrist unit (34) connected to the end of the outer shaft (52) and which is adapted to rotate therewith at a reduced speed; and a hand retainer (38) connected to the intermediate shaft (54) by at least a pair of a bevel gear mechanism (80) and a reduction gear (84) within the outer wrist unit and which is adapted to be rotatable about an axis of rotation substantially the same as the axis of rotation of the outer wrist unit.
摘要翻译：关节臂为设置有手腕致动机构，包括工业机器人：机器人前臂（20）可旋转地固定到机器人用上臂（16）的上端部可旋转地附连到旋转或水平移动的工业机器人本体（10）; 附连到机器人前臂20的自由端的腕部单元30; 三个可旋转的轴，即同轴设置在机器人的前臂内的外轴（52），中间轴（54）和内轴（56）连接到外臂（52）和可与其一起旋转以减小的速度的结尾手腕（34）的室外单元; 通过至少一个伞齿轮机构（80）和外腕部单元内的减速齿轮（84）连接到中间轴（54）的手持部件（38），以及可绕与外腕部单元的旋转轴线大致相同的旋转轴线旋转。

6. 发明申请

WO1986006312A1 INDUSTRIAL ROBOT 审中-公开
标题翻译：工业机器人
公开(公告)号：WO1986006312A1
公开(公告)日：1986-11-06
申请号：PCT/JP1986000208
申请日：1986-04-25
申请人： FANUC LTD , NAKASHIMA, Seiichiro , TOYODA, Kenichi , TORII, Nobutoshi
发明人： FANUC LTD
IPC分类号： B25J19/00
CPC分类号： B25J9/046 , B25J9/1035 , B25J9/12 , B25J19/0029 , B25J19/005 , G05B19/23 , G05B2219/45083 , G05B2219/50078 , G05B2219/50084
摘要： An industrial robot which is so constructed that operations of robot moving portions (16, 18, 20) are controlled by drive motors (M, Mw, Mu) that have absolute position detecting encoders (EC, ECw, ECu, ECalpha, ECbeta, ECgamma). The drive motor (M) for controlling the operation of the robot moving portion is mounted on a turning body (16) that is installed on a fixed base (12) of a robot frame (10). There is further mounted a storage battery (46) that supplies a back-up voltage to the encoders of the drive motors (Mw, Mu, Malpha, Mbeta, Mgamma) for the robot moving portions (18, 20). The storage battery is wired to each of the encoders (EC to ECgamma) via cables (48, 49).
摘要翻译：通过具有绝对位置检测编码器（EC，ECw，ECu等）的驱动马达（M，Mw，Mu）来控制机器人16,18,20的动作部的动作而设计的工业用机器人， ECalpha，ECbeta，ECgamma）。用于控制机器人的运动部件的操作的驱动马达（M）安装在安装在机器人（10）的框架的固定基座（12）上的旋转体（16）上。也安装它提供了一个电压储备到机器人（18，20）的可动部分的驱动马达（MW，穆，Malpha，Mbeta，Mgamma）的编码器的储液器（46）。累加器通过电缆（48,49）连接到每个编码器（EC到ECgamma）。

7. 发明申请

WO1984001732A1 WELDING METHOD IN AUTOMATIC WELDER 审中-公开
标题翻译：焊接自动焊接方法
公开(公告)号：WO1984001732A1
公开(公告)日：1984-05-10
申请号：PCT/JP1983000384
申请日：1983-10-27
申请人： FANUC LTD , NAKASHIMA, Seiichiro , TORII, Nobutoshi
发明人： FANUC LTD
IPC分类号： B23K09/12
CPC分类号： B23K9/125 , B23K9/0956 , B23K9/10 , B23K9/1037
摘要： A welding method is employed for an automatic welder, wherein a voltage is applied between a wire (WR) which is moved along a weld path (P0$(1,5)$P1$(1,5)$P2$(1,5)$P3) by a robot, and a welding workpiece (WK), so that an arc is generated from the wire end, and while the wire is successively supplied, the wire end is moved along the weld path by the robot, thereby providing the weld. A multiplicity of welding conditions, including welding voltage, wire feed rate, pre-flow time, crater-treatment time, and post-flow time, are previously stored in a memory, and predetermined welding conditions are selected according to a program. At the welding start point (P1), gas is blown onto the workpiece (WK) during a pre-flow time which is one of the welding conditions selected according to the program. Thereafter, the selected welding voltage is generated, and the wire (WR) is supplied at the selected wire feed rate to start the welding. At the welding end point (P2), a predetermined welding voltage is generated only during the crater-treatment time which is one of the welding conditions selected according to the program. Thereafter, gas is blown on the workpiece (WK) during the post-flow time to effect post-flow processing.

8. 发明申请

WO1986000847A1 INDUSTRIAL ROBOT HAVING VARIABLE ARM STRUCTURE 审中-公开
标题翻译：具有可变ARM结构的工业机器人
公开(公告)号：WO1986000847A1
公开(公告)日：1986-02-13
申请号：PCT/JP1985000416
申请日：1985-07-23
申请人： FANUC LTD , NAKASHIMA, Seiichiro , TOYODA, Kenichi , TORII, Nobutoshi , TERADA, Akihiro , MIZUNO, Hitoshi
发明人： FANUC LTD
IPC分类号： B25J18/00
CPC分类号： B25J9/08 , B25J18/00
摘要： An industrial robot, in which the length of an arm tube (120) can be varied as necessary, consisting of an elbow portion (110) having driving gears (10, 12, 14), which are used to obtain a rotary force, at the outer ends of a plurality of coaxial, annular members (16, 18, 20), and connecting ends with pins (40, 42) and a connecting end with bolts (56) at the inner ends thereof; an arm tube (120) composed of coaxially-arranged members and capable of being connected detachably to the elbow portion (110); and a wrist driving portion (130) composed of coaxially-arranged members, connected detachably to the arm tube (120) by pins (48, 50) and bolts (58) and having gears (66, 68) for transmitting a rotary force to a wrist (88).

9. 发明申请

WO1986000730A1 ACCELERATION/DECELERATION CONTROL SYSTEM 审中-公开
标题翻译：加速/减速控制系统
公开(公告)号：WO1986000730A1
公开(公告)日：1986-01-30
申请号：PCT/JP1985000377
申请日：1985-07-04
申请人： FANUC LTD , NAKASHIMA, Seiichiro , TOYODA, Kenichi , SAKAKIBARA, Shinsuke
发明人： FANUC LTD
IPC分类号： G05B19/407
CPC分类号： G05B19/416 , G05B2219/34042 , G05B2219/43048
摘要： An acceleration/deceleration control system works to smoothly control the acceleration and deceleration of an electric motor which drives moving portions of a machine tool or a robot, and has a linear acceleration/deceleration circuit (3) which executes a linear arithmetic operation for acceleration or deceleration upon receipt of interpolation data from a pulse distributor (5), and has, connected in series therewith, an exponential function acceleration/deceleration circuit (4) which executes exponential function arithmetic operation for acceleration or deceleration upon receipt of an output signal from the linear acceleration/deceleration circuit (3). A sudden change in the controlled speed, which is a defect inherent in the linear acceleration/deceleration circuit, is compensated by the exponential function acceleration/deceleration control system, to prevent shock at the moment when the shaft starts to move and during deceleration, and to smoothly and properly control acceleration and deceleration.

10. 发明申请

WO1985003783A1 SCALING METHOD IN AN AUTOMATIC WELDING MACHINE 审中-公开
标题翻译：自动焊接机的分切方法
公开(公告)号：WO1985003783A1
公开(公告)日：1985-08-29
申请号：PCT/JP1985000069
申请日：1985-02-20
申请人： FANUC LTD , NAKASHIMA, Seiichiro , TOYODA, Kenichi , SAKAKIBARA, Shinsuke , KARAKAMA, Tatsuo
发明人： FANUC LTD
IPC分类号： G05B19/403
CPC分类号： B23K9/0216 , B23K9/02 , G05B19/4083 , G05B2219/36503 , G05B2219/45104 , G05B2219/45135 , G05B2219/49221
摘要： A scaling method in an automatic welding machine which has a robot controller to control a robot that holds a welding torch, and in which the robot controller finds subsequent positions that are taught based upon the instruction data for positions for the primary welding points (P1, -----, Pn) of the welding member. The direction of normal vector $(1,4)$ on the surface of the welding member WK is found by calculation relying upon the data of three given points Q1, Q2, Q3 on the surface of the welding member WK. Based upon the direction of said normal vector $(1,4)$, the scaling points are corrected with respect to said points of primary welding.

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