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    • 2. 发明申请
    • ROBOT CAPABLE OF FORMING OPERATING PATH PATTERN
    • 形成操作路径图案的机器人
    • WO1990011167A1
    • 1990-10-04
    • PCT/JP1990000379
    • 1990-03-20
    • FANUC LTDKARAKAMA, Tatsuo
    • FANUC LTD
    • B25J09/16
    • G05B19/425
    • 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.
    • 4. 发明申请
    • METHOD OF CORRECTING POSITION OF FORWARD END OF TOOL
    • 校正工具前端位置的方法
    • WO1993007998A1
    • 1993-04-29
    • PCT/JP1992001328
    • 1992-10-12
    • FANUC LTDKARAKAMA, Tatsuo
    • FANUC LTD
    • B25J09/10
    • G05B19/404G05B2219/37251G05B2219/45083
    • 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.
    • 5. 发明申请
    • ARC WELDING CURRENT/VOLTAGE CONTROL METHOD
    • 弧焊电流/电压控制方法
    • WO1991003351A1
    • 1991-03-21
    • PCT/JP1990000989
    • 1990-08-02
    • FANUC LTDKARAKAMA, TatsuoKOBAYASHI, Eiichi
    • FANUC LTD
    • B23K09/073
    • B23K9/0956B23K9/073
    • 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.
    • 6. 发明申请
    • METHOD FOR TEACHING POSITION TO ROBOT
    • 教学机器人的方法
    • WO1994009422A1
    • 1994-04-28
    • PCT/JP1993001502
    • 1993-10-19
    • FANUC LTDKARAKAMA, TatsuoIKEDA, YoshitakaWATANABE, Atsushi
    • FANUC LTD
    • G05B19/42
    • G05B19/425G05B2219/36043
    • 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.
    • 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。