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1. 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.

2. 发明申请

WO1992020993A1 METHOD OF DETECTING POSITION IN A LASER SENSOR AND DEVICE THEREFOR 审中-公开
标题翻译：检测激光传感器中的位置的方法及其装置
公开(公告)号：WO1992020993A1
公开(公告)日：1992-11-26
申请号：PCT/JP1992000630
申请日：1992-05-15
申请人： FANUC LTD , TORII, Nobutoshi , NIHEI, Ryo , NAITO, Yasuo , WAKIO, Hiroshi , IWAMOTO, Takashi
发明人： FANUC LTD
IPC分类号： G01B11/00
CPC分类号： G01S17/48 , G01B11/00
摘要： A position detection method featuring improved detection precision for a laser sensor that uses CCD as a light-receiving element in the laser sensor, and a device therefor. The sum of products of cell outputs (Ci) and cell positions (Xi) of light-receiving elements (14) is found (42), and the cell outputs are added up (46). A counter (45) is reset when the cell output becomes greater than a preset threshold value, and sample-holding signals (SH) are counted when it becomes smaller than the preset threshold value. The sum of products is divided by an added value through a division circuit (47), and the barycentric position the sum of products is found as a light-receiving position and is stored in the latch buffer. When two or more light-receiving positions are found, the controller finds a position by the primary light of reflection and finds the position of the object. The position is not detected by the CCD cell unit, but the light-receiving position among the CCDs is detected, contributing to improving precision of position detection.

3. 发明申请

WO1992017754A1 SYSTEM FOR MONITORING ARC SENSOR PROTECTING WINDOW 审中-公开
标题翻译：用于监控电弧传感器保护窗的系统
公开(公告)号：WO1992017754A1
公开(公告)日：1992-10-15
申请号：PCT/JP1992000409
申请日：1992-04-02
申请人： FANUC LTD , TORII, Nobutoshi , NIHEI, Ryo , WAKIO, Hiroshi
发明人： FANUC LTD
IPC分类号： G01J01/04
CPC分类号： G01J1/18 , B23K9/10 , G01N2021/157 , G01N2021/5957 , G01N2201/12753
摘要： An object of the title system is to appropriately determine a replacement time for arc sensor protecting windows by use of a function originally provided to an arc sensor. The system for monitoring an arc sensor protecting window according to the present invention is constructed such that an unused (new) arc sensor protecting window (28) is mounted on an arc sensor unit (20), and a reference reflecting surface (30) is provided at a position a predetermined distance apart from the front surface of the arc sensor protecting window (28). In this state, a laser beam (26) scans the reference reflecting surface (30) to receive a reflected light (27). The received light is stored in a memory as a first received light amount. Subsequently, the arc sensor protecting window (28) is used as it is for arc welding, and thereafter, similarly to the case of the unused arc sensor protecting window, the reflected light (27) is received from the reference reflecting surface (30). This received light amount is stored as a second received light value. A degree of contamination of the arc sensor protecting window (28) is discriminated on the basis of the first and second received light amounts, whereby it is determined whether the replacement time for the arc sensor protecting windows (28) is reached or not.

4. 发明申请

WO1994006603A1 SPATTER PREVENTING METHOD AND APPARATUS FOR VISUAL ARC SENSORS 审中-公开
标题翻译：用于视觉传感器的防喷器方法和装置
公开(公告)号：WO1994006603A1
公开(公告)日：1994-03-31
申请号：PCT/JP1993001336
申请日：1993-09-17
申请人： FANUC LTD , NIHEI, Ryo , WAKIO, Hiroshi
发明人： FANUC LTD
IPC分类号： B25J19/04
CPC分类号： B23K9/1274
摘要： A visual arc sensor (30) attached with a welding torch to a free end portion of a welding robot is provided with a spatter preventing apparatus having a curtain forming unit, which is adapted to form a curtain (37) of a gas current in parallel with a protective window glass (38) of the arc sensor (30), so as to prevent the welding spatter or welding fume scattering and falling from the above from reaching the outer surface of the window glass even when the detection of a welding position (52) is carried out with an arc welding torch (28) used in an upwardly directed posture.
摘要翻译：在焊接机器人的自由端部安装有焊炬的视觉电弧传感器（30）具有防溅装置，该防溅装置具有帘幕形成单元，该帘幕形成单元适于形成平行的气流帘（37）具有电弧传感器（30）的保护窗玻璃（38），以便即使当检测到焊接位置（...）时，防止焊接飞溅物或焊接烟雾从上述散射和落下到达窗玻璃的外表面 52）使用以向上姿势使用的电弧焊炬（28）进行。

5. 发明申请

WO1993008958A1 ABNORMAL LOAD DETECTING METHOD 审中-公开
标题翻译：异常负载检测方法
公开(公告)号：WO1993008958A1
公开(公告)日：1993-05-13
申请号：PCT/JP1992001391
申请日：1992-10-27
申请人： FANUC LTD , NIHEI, Ryo , NAITO, Yasuo , OTSUKA, Kazuhisa , KATO, Tetsuaki , SUGIYAMA, Hideki
发明人： FANUC LTD
IPC分类号： B25J19/06
CPC分类号： B25J19/06 , B23K11/252 , B25J9/1674
摘要： A method of accurately detecting the abnormality of a load, such as the fusion at a free end of a spot gun. In this load abnormality detecting method, while a flag F2 which is set to ''1'' when an instruction for moving a movable mechanical part is outputted, and which is reset to ''0'' after a predetermined very short period of time has then elapsed, is in ''0'' because the movable part is stopped, estimated disturbance torque T0 is first determined successively by a disturbance estimating observer, updated and stored (S4, S11). When an instruction for moving the movable mechanical part is outputted and the flag F2 is set to ''1'', an estimated disturbance torque T1 is determined (S5). When an absolute value [T1-T0] of the difference between this torque T1 and estimated disturbance torque T1 determined immediately before the starting of the movable mechanical part exceeds a reference level Ts (S6), an alarm representing the occurence of a load abnormality is given (S7), and a flag F1 is set to ''1'' to stop the operation (S3, S8). The estimated disturbance torque T0 during the stoppage of the movable mechanical part represents a value such as the gravity which this part receives during this time. Consequently, the value, [T1-T0] represents the disturbance torque, from which the influence of gravity is eliminated, during the movement of the mechanical part. By comparing this value with the reference value Ts, a force exerted on the movable part, other than the gravity and a frictional force, can be detected more accurately. Therefore, abnormality, such as the occurrence of fusion can be determined accurately.

6. 发明申请

WO1993017839A1 BALANCER FOR ROBOT ARMS 审中-公开
标题翻译：机器人平衡机
公开(公告)号：WO1993017839A1
公开(公告)日：1993-09-16
申请号：PCT/JP1993000256
申请日：1993-03-01
申请人： FANUC LTD , NIHEI, Ryo , NAITO, Yasuo , OKADA, Takeshi , MIYAGAWA, Tsutomu
发明人： FANUC LTD
IPC分类号： B25J19/00
CPC分类号： B25J19/0012 , Y10T16/82 , Y10T74/20305
摘要： A balancer provided so as to balance the moment produced by the gravity working on a robot arm one end portion of which is provided pivotably around a predetermined center of pivotal movement, and the other end portion of which has a joint, is provided with a pressure-operated actuator means (7), a tension transmission member mounting portion (6) attached to a position in the vicinity of the joint of the robot arm (1), a tension transmission member (2) adapted to transmit tension to the robot arm (1) in cooperation with the actuator means (7), and a plurality of pivotable guide means (3, 4, 5) around which the tension transmission member (2) is passed and guided. The tension transmission member (2) is passed around the guide means (3, 4, 5) and tension transmission member mounting portion (6) in order so as to apply tension to the mounting portion (6) in two different directions, and a predetermined level of tension is transmitted to the robot arm (1) by the actuator means (7), whereby counter-torque working in the opposite direction with respect to the moment produced by the gravity is applied to the robot arm (1).
摘要翻译：一种平衡器，其设置为平衡由重力作用产生的力矩，该机器人手臂的一端部围绕预定的枢转运动中心可枢转地设置，另一端部具有接头，该机械臂设有压力操作的致动器装置（7），附接到机器人手臂（1）的关节附近的位置的张力传递构件安装部分（6），适于将张力传递到机器人手臂的张力传递构件（1）与致动器装置（7）协作，以及多个可枢转的引导装置（3,4,5），张力传递构件（2）绕过该导向装置通过并被引导。张力传递部件（2）依次引导引导装置（3,4,5）和张力传递部件安装部（6），从而沿着两个不同的方向向安装部（6）施加张力，通过致动器装置（7）将预定水平的张力传递到机器人臂（1），由此相对于由重力产生的力矩的相反方向的反扭矩施加到机器人臂（1）。

7. 发明申请

WO1991018717A1 ACCELERATION/DECELERATION TIME CONSTANT CONTROL SYSTEM OF ROBOT 审中-公开
标题翻译：机器人加速/减速时间恒定控制系统
公开(公告)号：WO1991018717A1
公开(公告)日：1991-12-12
申请号：PCT/JP1991000645
申请日：1991-05-15
申请人： FANUC LTD , TORII, Nobutoshi , NIHEI, Ryo , NAITO, Yasuo , KATO, Tetsuaki , KINOSHITA, Satoshi
发明人： FANUC LTD
IPC分类号： B25J09/10
CPC分类号： G05B19/416 , B25J9/1651 , G05B2219/37391 , G05B2219/43009 , G05B2219/43023 , G05B2219/43046 , G05B2219/43059 , G05B2219/43099
摘要： An acceleration/deceleration time constant control system of a robot for controlling the operations of the robot while setting the acceleration/deceleration time constant of a servomotor to an optimal value for each block. An arrival speed is determined from a travelling amount of a block (S1-S4). An output torque (Tmax) of the servomotor is determined from this arrival speed (S5), and a static load torque (Twn) is substracted from this output torque (Tmax) to obtain an acceleration torque (Tan) (S6). An acceleration (an) is obtained from this acceleration torque (Tan) and a load inertia of the servomotor (S7), and an acceleration/deceleration time constant (τ) is determined from this acceleration (an) (S8). With this operation, an optimal acceleration/deceleration time constant can be determined.

8. 发明申请

WO1994015761A1 INDUSTRIAL ROBOT EQUIPPED WITH MEANS FOR SETTING REFERENCE POSITION OF EACH AXIS 审中-公开
标题翻译：工业机器人设备用于设定每个轴的参考位置
公开(公告)号：WO1994015761A1
公开(公告)日：1994-07-21
申请号：PCT/JP1994000040
申请日：1994-01-13
申请人： FANUC LTD , NIHEI, Ryo , TERADA, Akihiro , IWASAKI, Kyozi , YAMASHIRO, Hikaru
发明人： FANUC LTD
IPC分类号： B25J19/00
CPC分类号： B25J9/10 , B25J9/1692 , Y10T74/20329
摘要： Geometric reference position setting means comprising two engagement portions (22, 24) is provided to each joint portion (16) of a robot body (10). A geometric reference position is set by the engagement of the two engagement portions (22, 24) before and after the exchange of a drive motor of a joint driving source and a decelerator, and position data are inputted after setting. In this way, uniaxial mastering can be easily executed and can be simplified with respect to each joint axis of an articulated robot. Moreover, the geometric reference position setting means can execute uniaxial mastering without any spatial restriction.
摘要翻译：包括两个接合部分（22,24）的几何参考位置设定装置设置在机器人本体（10）的每个接合部分（16）上。几何参考位置通过两个接合部分（22,24）的接合驱动源和减速器的驱动马达的更换之前和之后的配合来设定，位置数据在设定后被输入。以这种方式，可以容易地执行单轴母盘制作，并且可以相对于关节式机器人的每个关节轴线来简化。此外，几何参考位置设定装置可以在没有空间限制的情况下执行单轴母盘制作。

9. 发明申请

WO1993013589A1 METHOD OF DEMAGNETIZATION PREVENTION AND CONTROL FOR ELECTRIC MOTOR 审中-公开
标题翻译：电动汽车预防和控制方法
公开(公告)号：WO1993013589A1
公开(公告)日：1993-07-08
申请号：PCT/JP1992001542
申请日：1992-11-26
申请人： FANUC LTD , NIHEI, Ryo , HAMURA, Masayuki , SAKAI, Tamotsu
发明人： FANUC LTD
IPC分类号： H02P07/00
CPC分类号： H02K15/125 , B60L3/0023 , Y02T10/641
摘要： The present invention aims at providing a motor operation method capable of preventing demagnetization of an electric motor due to over-cooling in an ultralow-temperature environment, and an electric motor capable of withstanding the use in such an environment. Thus the present invention provides a method of demagnetization prevention and control for an electric motor, in which the temperature of the electric motor or the ambient temperature of the motor is detected by temperature sensor means, and if it is lower than the critical demagnetization temperature, the motor is stopped and kept at rest at least until the critical temperature is exceeded. In an alternative demagnetization prevention and control method, motor heating means and a temperature switch are used, and if the temperature of the motor is lower than the critical demagnetization temperature, the heating means is energized to raise the temperature of the motor itself.

10. 发明申请

WO1992005921A1 INDUSTRIAL ROBOT WITH MULTIPLE DRIVING DEVICE 审中-公开
标题翻译：具有多种驱动装置的工业机器人
公开(公告)号：WO1992005921A1
公开(公告)日：1992-04-16
申请号：PCT/JP1991001290
申请日：1991-09-27
申请人： FANUC LTD , TORII, Nobutoshi , NIHEI, Ryo , YASUMURA, Mitsuhiro
发明人： FANUC LTD
IPC分类号： B25J18/04
CPC分类号： B25J18/04 , Y10T74/20317
摘要： A multiple driving device (30) capable of causing one output element (10, 40) of an industrial robot to move rectilinearly in one axial direction and of causing the output element (10, 40) to independently swing about the same axis is provided with a driving motor (M2) for giving swinging motion to the element (10, 40) rectilinearly movable in accordance with the drive of a motor (M1) for driving in the rectilinear motion at a fixed position as viewed from the output element (10, 40), and with a rotary bearing (18, 46) between means (12, 14; 42, 44) for transmitting rectilinear movement to the output element (10, 40) and means (18, 20; 48, 50) for transmitting swinging motion to the same, thereby obviating mutual interference between the both means.

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