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1. 发明专利

DE69102624T2 未知
公开(公告)号：DE69102624T2
公开(公告)日：1994-10-06
申请号：DE69102624
申请日：1991-07-17
申请人： FANUC LTD
发明人： TORII NOBUTOSHI , TERADA AKIHIRO , SASAKI YASUO
IPC分类号： B25J19/00 , B23K26/064 , B23K26/10 , B23K26/02

2. 发明专利

DE69102624D1 未知
公开(公告)号：DE69102624D1
公开(公告)日：1994-07-28
申请号：DE69102624
申请日：1991-07-17
申请人： FANUC LTD
发明人： TORII NOBUTOSHI , TERADA AKIHIRO , SASAKI YASUO
IPC分类号： B25J19/00 , B23K26/064 , B23K26/10 , B23K26/02

3. 发明专利

CA2032524A1 METHOD OF PREVENTING MIS-EMISSION OF A LASER BEAM IN A LASER ROBOT 未知
公开(公告)号：CA2032524A1
公开(公告)日：1990-12-15
申请号：CA2032524
申请日：1990-05-28
申请人： FANUC LTD
发明人： TORII NOBUTOSHI , ITO SUSUMU , TERADA AKIHIRO
IPC分类号： B25J19/06 , B23K26/08 , B23K26/10 , G05B19/4063 , H01S3/104 , B23K26/04
摘要： A laser-beam mis-emission preventing method capable of improving safety of a laser robot. Upon supply of power to the laser- robot. a processor of a robot control unit (10) compares a predetermined value with an angle (.delta.) formed between a horizontal plane (XY plane) and an axis (8a) of a laser nozzle (8) and computed based on joint angles (W, U, r, .beta.) (S1 - S3). When the laser nozzle angle (.delta.) is less than the predetermined value, an interlock signal delivered to the laser oscillator (30) is set to turn off the power of the laser oscillator, thereby bringing the laser oscillator into a condition incapable of laser oscillation (S5). This prevents mis-emission of the laser beam which occurs due to deficiency of a robot operating program, erroneous manual operation, etc., and which can damage the human body or peripheral devices.

4. 发明专利

CA2020028A1 ROBOT WRIST ASSEMBLY FOR AN INDUSTRIAL LASER ROBOT 未知
公开(公告)号：CA2020028A1
公开(公告)日：1990-07-31
申请号：CA2020028
申请日：1990-01-25
申请人： FANUC LTD
发明人： TORII NOBUTOSHI , ITO SUSUMU , TERADA AKIHIRO , OKADA TAKESHI
IPC分类号： B23K26/08 , B23K26/10 , B25J17/02 , B25J19/00
摘要： A robot wrist assembly (26, 126, 226) for an industrial laser robot, attached to the extremity of a robot arm (20, 120, 220) and provided with a laser beam emitting nozzle (28, 128, 228) and a wrist head comprises at least one direct-drive motor (M.alpha., M.beta., M.gamma.) for driving the wrist head, hollow wrist drive shafts (24, 124, 136, 224, 236, 240) driven by the direct-drive motors (M.alpha., M.beta., M.gamma.), and brakes (B.alpha., B.beta., B.gamma.) that are engaged with the respective circumferences of the hollow wrist drive shafts (24, 124, 136, 224, 236, 240), respectively, for breaking. A laser beam transmission pipe (30, 130, 230) is extended internally of the innermost hollow wrist drive shaft (24, 136, 240) to transmit a laser beam through the robot arm (20, 120, 220) to the laser beam emitting nozzle (28, 128, 228) so that the laser beam is emitted through the laser beam emitting nozzle (28, 128, 228).

5. 发明专利

DE60140416D1 未知
公开(公告)号：DE60140416D1
公开(公告)日：2009-12-24
申请号：DE60140416
申请日：2001-03-22
申请人： FANUC LTD
发明人： KARUBE NORIO , WATANABE ATSUSHI , IEHISA NOBUAKI , TERADA AKIHIRO , OKUDA MITSUHIRO
IPC分类号： B23K26/00 , B23K26/064 , B23K26/067 , B23K26/10
摘要： A laser machining apparatus capable of performing a laser machining with an increased rate of operation. A plurality of laser generators (LS#1, LS#2) are provided to be environmentally separated from a machining station, and temperature, humidity, vibration, cleanliness and the like are detected by a sensor, and displayed. When an abnormal environment is detected, machining operation is stopped immediately or after a predetermined time elapsed. The laser generators (LS#1, LS#2) are grouped according to each machining tool (TL1), and fiber-optic cable switching devices (FC3, FC4) are arranged for each group. By the switchover of the laser generator (LS#1, LS#2), and the selective connection of a fiber-optic cable by using a fiber-optic cable switching device (FC3, FC4) a degree of freedom in selecting the laser generator and the fiber-optic cable is produced. The degree of freedom is utilised according to the abnormality of the laser generator, the abnormality of the fiber-optic cable, the type of machining work, and the like, by which a machining apparatus in which the occurrence of a partial failure does not lead to a long-term shutdown of a manufacturing line can be obtained.

6. 发明专利

DE60103812T2 未知
公开(公告)号：DE60103812T2
公开(公告)日：2004-11-04
申请号：DE60103812
申请日：2001-04-11
申请人： FANUC LTD
发明人： IEHISA NOBUAKI , KARUBE NORIO , TERADA AKIHIRO , WATANABE ATSUSHI , OKUDA MITSUHIRO
IPC分类号： B23K26/00 , B23K26/064 , B23K26/067 , H01S3/00 , B23K26/06 , B23K26/10
摘要： A laser machining apparatus has a simplified laser beam transmitting network. Respective laser beams form laser generators LS#11 to LS#25 divided into groups G1 and G2 aggregated to fiber-optic cables H1 and H2 by confluence devices HC1 and HC2 and transmitted to a mostly upstream laser beam outlet OP1. The laser beams are further aggregated to a fiber-optic cable H3 and distributed to a branch fiber-optic cable HH1 by the laser beam outlet OP1, and then distributed by laser beam outlet OP2 to OP8 to branch fiber-optic cables HH2 to HH8. The laser beams distributed to branch fiber-optic cables are focused by the machining tools TL1 to TL8 attached to robots RB1 to RB 8 for laser machining. By controlling output levels of the laser generators with different oscillation wavelengths and different polarization characteristics, the blend ratio of the laser beams can be adjusted. Distribution ratios of the laser beams at the laser beam outlets OP1 to OP8 are adjustable.

7. 发明专利

DE69920081D1 未知
公开(公告)号：DE69920081D1
公开(公告)日：2004-10-21
申请号：DE69920081
申请日：1999-03-10
申请人： FANUC LTD
发明人： TERADA AKIHIRO , INOUE TOSHIHIKO , NAKAYAMA KAZUTAKA
IPC分类号： B23K26/08 , B23K9/12 , B23K26/10 , B23K37/02 , B25J17/02 , B25J15/00
摘要： A robot system and a machining method capable of accurately and simply cutting an end of a pipe into a saddle shape and forming a hole on an outer surface thereof, and further machining a workpiece of a three-dimensional shape which does not have platelike shape. A tool unit is attached to a final axis of a movable arm of a robot. The tool unit is provided with a first additional variable axis expanding and retracting vertically and a second additional variable axis expanding and retracting in the horizontal direction. By rotating the final axis, a cutting tool (machining nozzle of laser) at a distal end of the tool unit is turned about the final axis to cut a workpiece W of a pipe shape. By driving the first and the second additional variable axes in synchronism with rotation of the final axis, the cutting into a saddle shape and the forming of a hole are carried out. The movable arm of the robot is only for rotating the final axis and therefore machining accuracy is promoted.

8. 发明专利

DE60010609D1 未知
公开(公告)号：DE60010609D1
公开(公告)日：2004-06-17
申请号：DE60010609
申请日：2000-09-13
申请人： FANUC LTD
发明人： TERADA AKIHIRO , KOSAKA TETSUYA , KAMIGUCHI MASAO
IPC分类号： B25J9/18 , B29C45/76 , G05B19/418

9. 发明专利

DE69210513T2 未知
公开(公告)号：DE69210513T2
公开(公告)日：1996-12-12
申请号：DE69210513
申请日：1992-01-30
申请人： FANUC LTD
发明人： TORII NOBUTOSHI , TERADA AKIHIRO , SASAKI YASUO
IPC分类号： B23K26/08 , B23K26/10 , B25J17/02 , B25J19/00 , B23K26/12
摘要： Annular chambers (84-90) utilizing a plurality of seal means (70-78) are provided on the outer sheath pipe (42) of a wrist (18) of a laser robot, annular chambers (86, 90) are formed to be assist gas transfer chambers and a cooling liquid transfer chamber, such a piping arrangement as to be able to supply and recover the assist gas and the cooling liquid through these annular chambers is adopted, pipings (22, 24, 26, 28) are formed of metal pipe free from damage and provided in close contact with the periphery of the forearm (16) and the wrist (18), other annular chambers (84, 88) are formed to be operating chambers for supplying dust-proof pressure air fed from the side of an inner pipe (44) of the wrist (18) and seal means (70-78) are provided therebetween, so that the annular gas chambers and the annular liquid chambers can be formed to be the annular chambers free from the leakage of gas and liquid.

10. 发明专利

DE69102841D1 未知
公开(公告)号：DE69102841D1
公开(公告)日：1994-08-18
申请号：DE69102841
申请日：1991-03-07
申请人： FANUC LTD
发明人： TORII NOBUTOSHI , ITO SUSUMU , TERADA AKIHIRO , INOUE TOSHIHIKO
IPC分类号： B23K26/10 , B25J19/00

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