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1. 发明申请

WO1990011167A1 ROBOT CAPABLE OF FORMING OPERATING PATH PATTERN 审中-公开
标题翻译：形成操作路径图案的机器人
公开(公告)号：WO1990011167A1
公开(公告)日：1990-10-04
申请号：PCT/JP1990000379
申请日：1990-03-20
申请人： FANUC LTD , KARAKAMA, Tatsuo
发明人： FANUC LTD
IPC分类号： B25J09/16
CPC分类号： G05B19/425
摘要： A robot capable of automatically forming an operating path pattern based on taught data, and requiring only a simplified data teaching operation relating to the pattern formation and no specific teaching operation even when changing the pitch between pattern segments. If the starting point (PO) and the end point (Pn) of a thermal spray pattern consisting of consecutive sub-patterns and the first inflection point (P1) of a first sub-pattern are taught to the robot in the manual operation of the robot, teaching data representing these three points are stored in the robot control device together with the thermal spray instruction code and the thermal spray pitch (d) taught separately. During the regenerative operation of the robot, a vector (A) that proceeds from the starting point (PO) to the first inflection point (P1) and another vector (D) that proceeds from the first inflection point (P1) to a second inflection point (P2) are calculated in response to the thermal spray instruction code based on the taught data and the pitch, and each time when a plasma jet torch reaches the starting point, the first to third inflection points or the end point of a certain sub-pattern, a new desired moving position is determined at the end point of the vector (A), the vector (B) or what corresponds to an inversion vector of the vector (A) using said reaching point as a starting point to form the thermal spray pattern.

2. 发明申请

WO1986000727A1 SYSTEM FOR SETTING TOOL COORDINATE SYSTEM 审中-公开
标题翻译：用于设置工具坐标系的系统
公开(公告)号：WO1986000727A1
公开(公告)日：1986-01-30
申请号：PCT/JP1985000390
申请日：1985-07-11
申请人： FANUC LTD , NAKASHIMA, Seiichiro , TOYODA, Kenichi , SAKAKIBARA, Shinsuke , KARAKAMA, Tatsuo
发明人： FANUC LTD
IPC分类号： G05B19/18
CPC分类号： B25J9/1692 , G05B2219/36503 , G05B2219/45083
摘要： A system for setting a tool coordinate system, in which the directions$(1,10)$of fundamental axes of the tool coordinate system are brought into agreement with the directions (X, Y, Z) of fundamental axes of a fundamental robot coordinate system with a tool center point (TCP) as an origin, and metric values of operation axes of the robot at this moment are stored in the robot as data for setting the tool coordinate system. The data thus stored are then used for operating the robot. With this invention, setting the tool coordinates, a very complex process in the prior art, can be simplified and executed easily and reliably.

3. 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.

4. 发明申请

WO1991003351A1 ARC WELDING CURRENT/VOLTAGE CONTROL METHOD 审中-公开
标题翻译：弧焊电流/电压控制方法
公开(公告)号：WO1991003351A1
公开(公告)日：1991-03-21
申请号：PCT/JP1990000989
申请日：1990-08-02
申请人： FANUC LTD , KARAKAMA, Tatsuo , KOBAYASHI, Eiichi
发明人： FANUC LTD
IPC分类号： B23K09/073
CPC分类号： B23K9/0956 , B23K9/073
摘要： This invention relates to a method of controlling automatically arc welding current and voltage to conduct suitable arc welding. A processor calculates (106, 112) the errors (εI, εV) between the mean values (I^¨B7, V^¨B7) of the actual welding current and voltage measured periodically a predetermined number of times and their target values (I0, V0). When the welding current error is out of the allowable range, it calculates (109) a wire feed speed correction quantity (ΔFW) by substituting the mean value (I^¨B7) of the welding current and a welding current correction value (ΔI) equal to the product of the calculated welding current error by the current gain in a formula including a linear polynominal (g'(I)) of the welding current and the welding current change quantity (ΔI) as variables, and sends the quantity (ΔFW) to a welding machine. When the welding voltage error is out of the allowable range, the processor calculates (115) a power source output correction quantity (ΔU) by substituting a welding current correction quantity (ΔI) and a welding voltage correction quantity (ΔV) equal to the product of the calculated welding voltage error by the voltage gain in a formula containing welding current and welding voltage correction values (ΔI, ΔV) as variables and sends the correction quantity (ΔU) to the welding machine. The welding machine optimizes the welding current and voltage by regulating the wire feed speed and the power source output.

5. 发明申请

WO1990006836A1 ROBOT OPERATION METHOD THAT CAN BE MANUALLY CORRECTED 审中-公开
标题翻译：机器人操作方法可以手动校正
公开(公告)号：WO1990006836A1
公开(公告)日：1990-06-28
申请号：PCT/JP1989001234
申请日：1989-12-08
申请人： FANUC LTD , KARAKAMA, Tatsuo , OKANDA, Kouichi
发明人： FANUC LTD
IPC分类号： B25J09/10
CPC分类号： G05B19/40932 , G05B19/425 , G05B2219/34337 , G05B2219/35242 , G05B2219/36087 , G05B2219/36095 , G05B2219/36503 , G05B2219/45083 , Y02P90/265
摘要： A robot operation method which enables the teach point taught in advance to the robot to be easily and manually corrected during the automatic operation of robot and which further enables the required robot operation to be correctly and efficiently executed without using visual sensor. After the automatic operation mode is switched to the manual operation mode (S1, S2) upon reading a predetermined instruction code from a program, the robot tool positioned to a first teach point is shifted to a first work position on the work to compensate the deviation of teach point caused by the deviation of work position (S3) being controlled by a unit that responds to a remote operation board manipulated by an operator, and correction data that indicate the result of manual adjustment are calculated relying upon the input of external signals produced by the manipulation by the operator and are stored in a memory (S4, S5). After the robot's work is completed at the first work position, the second and subsequent teach points are successively corrected based on the correction data upon reading the position correction instruction codes from the program, and the work by the robot is correctly executed at the second and subsequent work positions on the same work.

6. 发明申请

WO1994009422A1 METHOD FOR TEACHING POSITION TO ROBOT 审中-公开
标题翻译：教学机器人的方法
公开(公告)号：WO1994009422A1
公开(公告)日：1994-04-28
申请号：PCT/JP1993001502
申请日：1993-10-19
申请人： FANUC LTD , KARAKAMA, Tatsuo , IKEDA, Yoshitaka , WATANABE, Atsushi
发明人： FANUC LTD
IPC分类号： G05B19/42
CPC分类号： G05B19/425 , G05B2219/36043
摘要： A plurality of teaching points which are on a straight line in a space and are to be taught are written in a program. When the position of an arbitrary one out of the points is modified by shifting the teaching point by a certain distance along the straight line, the position after modification can be easily found without consciousness of the coordinate system. The position after the modification is determined as a position vector from the position vector of the point before the modification, the distance of the shift along the straight line, and the position vectors of two other arbitrary points on the straight line. While observing the display attached to a manual input device for the robot controller, the operator inputs manually the position of the teaching points to be modified, the two arbitrary teaching points on the straight line, and the amount of shift required for the modification.
摘要翻译：在程序中写入空间中要被教导的直线上的多个教学点。当通过沿着直线将教导点移动一定距离来修改任意一个点的位置时，可以容易地找到修改后的位置，而不需要坐标系的意识。修改后的位置被确定为从修改前的点的位置矢量，直线上的移动距离以及直线上的另外两个任意点的位置矢量的位置矢量。在观察附属于机器人控制器的手动输入装置的显示器时，操作者手动输入要修改的示教点的位置，直线上的两个任意教导点以及修改所需的移动量。

7. 发明申请

WO1992012830A1 METHOD OF TEACHING ROBOT 审中-公开
标题翻译：教学机器人的方法
公开(公告)号：WO1992012830A1
公开(公告)日：1992-08-06
申请号：PCT/JP1992000065
申请日：1992-01-23
申请人： FANUC LTD , WATANABE, Atsushi , KARAKAMA, Tatsuo , ARIMATSU, Taro , AKIYAMA, Kazuhiko
发明人： FANUC LTD
IPC分类号： B25J09/22
CPC分类号： G05B19/4083 , B25J9/1607 , G05B2219/36405 , G05B2219/36503 , G05B2219/37572
摘要： A motion program of a robot is easily changed using a work body, instead of using a master body. The motion program of the robot is corrected by correction data obtained by cameras (2, 3, 4). When a point (Q) of the motion program is to be changed to another point (Qn), a point (Qa) on a work body (22) is changed to a change point (Qan). In a robot control system, this change point is read out as respective coordinate values and converted into space coordinate values. Further, these space coordinate values are acted on by inverse correction data to be converted into reference space coordinate values on masterbody (21). These reference coordinate values are inversely converted into reference coordinate values of respective axes. Since the motion program is instructed by the reference coordinate values of the respective axes, the point (Q) of the motion program is changed to the other point (Qn) by use of the reference coordinate values of the respective axes. By this operation, the motion program can be easily changed without using the master body (21).

8. 发明申请

WO1987000310A1 ROBOT CONTROL SYSTEM 审中-公开
标题翻译：机器人控制系统
公开(公告)号：WO1987000310A1
公开(公告)日：1987-01-15
申请号：PCT/JP1986000319
申请日：1986-06-24
申请人： FANUC LTD , KISHI, Hajimu , SAKAKIBARA, Shinsuke , KARAKAMA, Tatsuo
发明人： FANUC LTD
IPC分类号： G05B19/18
CPC分类号： B25J9/1697 , G05B19/4083 , G05B2219/36503 , G05B2219/37572 , G05B2219/45083 , G05B2219/50353
摘要： A predetermined operation is executed by a robot (10) taught an end position (TCP) of an operation member (13) mounted on its wrist (11). Even when the data on the position of a work (12) sent from a sensor (14) indicates that a grip-direction vector (W) of the work (12) is not in parallel with the plane on which it is placed, the angle of rotation is determined by an operation control unit (15) relying upon a projection (W') of the grip-direction vector and an instruction for correcting the rotation of position of a tool coordinate system (Xt-Yt-Zt) is obtained through a simple operation, so that the rotation of the tool position can be corrected and controlled.

9. 发明申请

WO1986005010A1 SYSTEM FOR SETTING RECTANGULAR COORDINATES OF WORKPIECE FOR ROBOTS 审中-公开
标题翻译：用于设置机器人工作的矩形坐标系的系统
公开(公告)号：WO1986005010A1
公开(公告)日：1986-08-28
申请号：PCT/JP1986000075
申请日：1986-02-19
申请人： FANUC LTD , KISHI, Hajimu , SAKAKIBARA, Shinsuke , KARAKAMA, Tatsuo
发明人： FANUC LTD
IPC分类号： G05B19/403
CPC分类号： B25J9/1692
摘要： A system for setting the rectangular coordinates of a work for rotots is designed as follows. When an original point, one arbitrary point on a predetermined axis, and a third point, which is in such a plane that includes the two previously-mentioned points, are taught by the user by moving a working member (tool) attached to a hand of an articulate robot, during the teaching of the position of the tip of the tool attached to the hand, one coordinate system is determined on the basis of the positional data on these three points P1, P2, P3. Accordingly, an arbitrary rectangular coordinate system is defined on the basis of the unit vectors in the directions of the axes of the above coordinate system, and a plurality of tool coordinate systems having a certain relation with a reference coordinate system of the robot are set.

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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