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1. 发明申请

WO1997010931A1 TEACH PENDANT 审中-公开
标题翻译：教学辅导员
公开(公告)号：WO1997010931A1
公开(公告)日：1997-03-27
申请号：PCT/JP1996002688
申请日：1996-09-18
申请人： FANUC LTD , WATANABE, Atsushi , TERADA, Tomoyuki , KAIHORI, Hirotsugu , OUMI, Tatsuya , SAKAMOTO, Shinsuke
发明人： FANUC LTD
IPC分类号： B25J09/22
CPC分类号： B25J9/1671 , G05B2219/36162 , G05B2219/36168 , G05B2219/39438 , G05B2219/39443 , G05B2219/39444 , G05B2219/39446 , G05B2219/40522 , H01H9/0214 , H01H2300/026
摘要： A teach pendant comprising a graphic display (6) for displaying information, including motions and teach points of a robot, which is produced by a data generator according to a robot program (1a), etc., stored in a data buffer (1) that receives data from a robot controller. In this way, the robot operation can be recognized visually easily, and the robot can be instructed easily and precisely.
摘要翻译：一种示教装置，包括用于显示信息的图形显示器（6），所述图形显示器包括存储在数据缓冲器（1）中的根据机器人程序（1a）的数据发生器产生的包括机器人的运动和教导点，它从机器人控制器接收数据。以这种方式，可以容易地识别机器人操作，并且可以容易且准确地指示机器人。

2. 发明申请

WO1993025356A1 METHOD OF MANUAL FEEDING BY ROBOT 审中-公开
标题翻译：手动进给机器人的方法
公开(公告)号：WO1993025356A1
公开(公告)日：1993-12-23
申请号：PCT/JP1993000787
申请日：1993-06-11
申请人： FANUC LTD , TERADA, Tomoyuki , KAIHORI, Hirotsugu
发明人： FANUC LTD
IPC分类号： B25J13/00
CPC分类号： B25J9/1656 , G05B19/425 , G05B2219/36471 , G05B2219/39083
摘要： Even when many robots are arranged densely, each robot can be instructed efficiently and safely. While a manual feed instruction is being inputted in a controller B, the current position coordinates of the characteristic points Pi and Qj defined for robots A1 and A2 are successively simulated, updated and stored in a RAM. The distance R between the characteristic point Pi (i = 1 to the final value) and the characteristic point Qj (j = 1 to the final value) is obtained in succession. Each time a smaller distance R between the characteristic points is calculated, the value of this distance is stored in a register Rmin. Thus, the shortest distance between the robots A1 and A2 are calculated (step S1 to S12). In accordance with the shortest distance Rmin, the actual manual feeding speed V is increased or decreased (step S13 and S14).
摘要翻译：即使许多机器人密集地布置，也可以高效安全地指示每个机器人。当在控制器B中输入手动进给指令时，为机器人A1和A2定义的特征点Pi和Qj的当前位置坐标被连续模拟，更新并存储在RAM中。获得特征点Pi（i = 1到最终值）与特征点Qj（j = 1到最终值）之间的距离R。每当计算特征点之间的较小距离R时，该距离的值被存储在寄存器Rmin中。因此，计算机器人A1和A2之间的最短距离（步骤S1至S12）。根据最短距离Rmin，实际手动进给速度V增加或减小（步骤S13和S14）。

3. 发明申请

WO1988006936A1 METHOD OF CONTROLLING ARC WELDING ROBOT 审中-公开
标题翻译：控制电弧焊机器人的方法
公开(公告)号：WO1988006936A1
公开(公告)日：1988-09-22
申请号：PCT/JP1988000241
申请日：1988-03-07
申请人： FANUC LTD , TOYODA, Kenichi , MIZUNO, Toru , KAIHORI, Hirotsugu
发明人： FANUC LTD
IPC分类号： B23K09/12
CPC分类号： B23K9/12 , B23K9/0216 , G05B19/42 , G05B2219/49384
摘要： A weaving pattern of one cycle suitable for the shape and material of a base metal to be welded is instructed and stored and a welding torch is woven in accordance with this weaving pattern so that arc welding can be carried out with a weaving pattern most suitable for the shape and material of each base metal.

4. 发明申请

WO1997005533A1 METHOD FOR CONTROLLING ROBOT 审中-公开
标题翻译：控制机器人的方法
公开(公告)号：WO1997005533A1
公开(公告)日：1997-02-13
申请号：PCT/JP1996002114
申请日：1996-07-26
申请人： FANUC LTD , WATANABE, Atsushi , TERADA, Tomoyuki , SAKAMOTO, Shinsuke
发明人： FANUC LTD
IPC分类号： G05B19/407
CPC分类号： G05B19/416 , G05B2219/34175 , G05B2219/43129 , G05B2219/45083 , Y02P90/265
摘要： A robot controlling method which guarantees an accurate motion along the path by eliminating the influence of the motion in the preceding path section on a part toward the end of one path section. In a motion instruction, a path guarantee section of a path from "2" to "3" is designated in advance by specifying the length, time, or path guarantee ratio. A path plan EFGH of the motion in the path from "1" to "2" is so made that the motion section expressed by DHGK (D is the end point of the motion in the path from "1" to "2") is the path guarantee section designated in the motion instruction. Therefore, the motion in the path from "1" to "2" does not affect the motions after the point of time expressed by point D or K, and hence the motion along the path "2" to "3" in the path guarantee section is guaranteed.
摘要翻译：一种机器人控制方法，其通过消除在前一路径部分中的运动对朝向一个路径部分的端部的部分的影响来保证沿着路径的精确运动。在运动指令中，通过指定长度，时间或路径保证率来预先指定从“2”到“3”的路径的路径保证部分。在从“1”到“2”的路径中的运动的路径计划EFGH被做成使得由DHGK表示的运动部分（D是从“1”到“2”的路径中的运动的终点）是在运动指令中指定的路径保证部分。因此，从“1”到“2”的路径中的运动不影响由点D或K表示的时间点之后的运动，因此在路径保证中沿着路径“2”到“3”的运动部分保证。

5. 发明申请

WO1998003314A1 JOG FEEDING METHOD FOR ROBOTS 审中-公开
标题翻译：用于机器人的进给方法
公开(公告)号：WO1998003314A1
公开(公告)日：1998-01-29
申请号：PCT/JP1997002571
申请日：1997-07-24
申请人： FANUC LTD , WATANABE, Atsushi , ITO, Takayuki , TERADA, Tomoyuki
发明人： FANUC LTD
IPC分类号： B25J13/06
CPC分类号： B25J9/1656 , B25J13/06 , G05B2219/35462 , G05B2219/36168 , G05B2219/36401 , G05B2219/39446
摘要： An operating unit (32) of a teaching operation panel (30) connected to a robot controller (10) by a cable (40) is provided with a general operating member (321) having an auxiliary display (323), and a graphic display operating member (322) for a touch panel-carrying display (31). When a finger touches a finger tip mark (21') displayed with a graphic image (20') and is moved on a screen (as shown by an arrow A, i.e., from H1 to H2), contact positions are sensed in order on the touch panel and converted into three-dimensional position data by using planar position data (calculated on the basis of the direction of graphic display line of sight or a separately set planar direction and the latest touch position). These data are utilized for the sequential update display of the graphic image (20'), and transmitted on the other hand to the robot controller (10) and utilized for the jog feeding (arrow A') of the robot (20). A mouse (34) may be used instead of the touch panel. The direction of graphic display line of sight may be determined by using a sensor having a three-dimensional attitude detecting capability.
摘要翻译：通过电缆（40）连接到机器人控制器（10）的教学操作面板（30）的操作单元（32）设置有具有辅助显示器（323）的一般操作构件（321）和图形显示器用于触摸面板携带显示器（31）的操作构件（322）。当手指触摸用图形图像（20'）显示的指尖标记（21'）并且在屏幕上移动（如箭头A所示，即从H1到H2）时，接触位置被依次感测通过使用平面位置数据（基于图形显示视线的方向计算或单独设置的平面方向和最近的触摸位置计算）将触摸面板转换成三维位置数据。这些数据用于图形图像（20'）的顺序更新显示，另一方面被传送到机器人控制器（10），并被用于机器人（20）的点动馈送（箭头A'）。可以使用鼠标（34）而不是触摸面板。可以通过使用具有三维姿态检测能力的传感器来确定图形显示视线的方向。

6. 发明申请

WO1993014910A1 METHOD OF CONTROLLING A PLURALITY OF ROBOTS 审中-公开
标题翻译：控制机器人多样性的方法
公开(公告)号：WO1993014910A1
公开(公告)日：1993-08-05
申请号：PCT/JP1993000055
申请日：1993-01-18
申请人： FANUC LTD , TERADA, Tomoyuki , WATANABE, Atsushi
发明人： FANUC LTD
IPC分类号： B25J19/06
CPC分类号： B25J9/1669 , G05B2219/49143 , G05B2219/49153
摘要： A plurality of robots (A, B) that are installed adjacent to one another may be instructed to simultaneously operate, space areas occupied by the robots having respective positions and postures in accordance with respective operation commands are defined by one or two planes (Pa1, Pa2; Pb1, Pb2). Such planes for all the robots are parallel (to XZ plane) and have translational motion in a predetermined direction (Y-axis direction), and it is determined whether or not the space area thus defined crosses the space area defined for another. When the defined space areas for the two robots are apart, the robot (A) operates in accordance with the operation command, assuming that interference between the robots does not occur. On the other hand, when an overlap between the defined space areas for the two robots are detected, the robot (A) is stopped and kept on stand-by until the two space areas become apart as a result of the progress of the operation of the other robot (B).

7. 发明申请

WO1991007738A1 THREE-DIMENSIONAL CURSOR AND OFF-LINE PROGRAMMING SYSTEM USING THE SAME 审中-公开
标题翻译：三维光标和离线编程系统
公开(公告)号：WO1991007738A1
公开(公告)日：1991-05-30
申请号：PCT/JP1990001463
申请日：1990-11-09
申请人： FANUC LTD , SUGIMURA, Hiroshi , TERADA, Tomoyuki , NAGATSUKA, Yoshiharu
发明人： FANUC LTD
IPC分类号： G09G05/08
CPC分类号： G09G5/08 , B25J9/1671 , G05B2219/35318 , G06F3/04812
摘要： A three-dimensional cursor for designating the position and attitude of an object or a robot on a graphic screen that displays three-dimensional space, and an off-line programming system using the same cursor. Three line segments (X, Y, Z) that meet at right angles with each other in three-dimensional space are displayed as three line segment cursors on a display screen (1) and are allowed to move in the three-dimensional space, in order to designate three-dimensional position and attitude on the display screen (1) that displays the three-dimensional space. It is therefore possible to designate a position of three-dimensional space on the two-dimensional display screen (1). By designating the position and attitude of the arrangement of the object or the robot using the three-dimensional cursor, it is allowed to easily prepare a program for controlling the robot.

8. 发明申请

WO1998026906A1 ROBOT CONSTRUCTION 审中-公开
标题翻译：机器人结构
公开(公告)号：WO1998026906A1
公开(公告)日：1998-06-25
申请号：PCT/JP1997004656
申请日：1997-12-17
申请人： FANUC LTD , TERADA, Akihiro , YAMASHIRO, Hikaru
发明人： FANUC LTD
IPC分类号： B25J19/00
CPC分类号： B25J9/047 , B25J19/0025 , B25J19/0029 , Y10S414/131 , Y10T74/20311
摘要： A robot (1A) comprises a robot fixing base (1), a first speed reducing mechanism mount base (11) mounting thereto a first shaft speed reducing mechanism (12) and a second shaft speed reducing mechanism (21), a first arm (AM1), a second speed reducing mechanism mount base (11) mounting thereto a third shaft speed reducing mechanism (31) and a fourth shaft speed reducing mechanism (41), and a second arm (AM2). An electric cable (CB) or piping passes through a hollow portion of the first shaft speed reducing mechanism (12) from the robot fixing base (1), is routed around an outside of the second shaft speed reducing mechanism (21) and extends along the first arm (AM1).
摘要翻译：机器人（1A）包括机器人固定座（1），安装在其上的第一减速机构安装座（11）和第二轴减速机构（21），第一臂（ AM1），安装有第三轴减速机构（31）和第四轴减速机构（41）的第二减速机构安装基座（11）和第二臂（AM2）。电缆（CB）或管道从机器人固定座（1）穿过第一轴减速机构（12）的中空部分，绕第二轴减速机构（21）的外侧延伸并沿着第一臂（AM1）。

9. 发明申请

WO1998024586A1 INFORMATION TRANSFER SYSTEM USED IN FACTORY 审中-公开
标题翻译：在工厂使用的信息传送系统
公开(公告)号：WO1998024586A1
公开(公告)日：1998-06-11
申请号：PCT/JP1997004424
申请日：1997-12-03
申请人： FANUC LTD , KAMIGUCHI, Masao , SAITO, Osamu , KUKITA, Atsuyuki
发明人： FANUC LTD
IPC分类号： B23Q41/00
CPC分类号： G05B19/4185 , G05B2219/31089 , G05B2219/31094 , G05B2219/31145 , G05B2219/31324 , G05B2219/34192 , Y02P90/18 , Y02P90/185 , Y02P90/28 , Y02P90/285 , Y02P90/60 , Y10T29/53004 , Y10T29/53009 , Y10T29/53048 , Y10T29/53174
摘要： An information transfer system, to be used in a factory, which allows information to be easily transmitted between controllers without requiring a complicated wiring of a communication line and a complicated communication protocol. A controller for each forming cell (Ai), a carriage controller (C) which controls an unmanned carrying means (D) and a warehouse cell (C), and a centralized controlling equipment (B) are connected to each other with an Ethernet line (100). Information is transmitted among these controllers via a common information storage (107). There is no necessity of installing communication lines parallelly between these controllers, and there is no increase in the number of I/O ports and communication lines. Therefore, a complicated wiring of the communication lines is prevented, resulting in the reduction in cost required for installation of the system.
摘要翻译：在工厂中使用的信息传输系统，其允许在控制器之间容易地传送信息，而不需要通信线路的复杂布线和复杂的通信协议。用于每个成型单元（Ai）的控制器，控制无人携带装置（D）的托架控制器（C）和仓库单元（C）以及集中控制设备（B））通过以太网线相互连接（100）。通过公共信息存储（107）在这些控制器之间传送信息。不需要在这些控制器之间并行安装通信线路，并且不增加I / O端口和通信线路的数量。因此，防止了通信线路的复杂布线，导致系统安装所需的成本降低。

10. 发明申请

WO1998019374A1 GAS DISCHARGE PUMPED LASER 审中-公开
标题翻译：气体放电泵浦激光
公开(公告)号：WO1998019374A1
公开(公告)日：1998-05-07
申请号：PCT/JP1997003935
申请日：1997-10-29
申请人： FANUC LTD , IEHISA, Nobuaki , ENOKIZONO, Hitoshi
发明人： FANUC LTD
IPC分类号： H01S03/097
CPC分类号： H01S3/097 , H01S3/09702 , H01S3/09705 , H01S3/104
摘要： The response of the real laser output of a gas discharge pumped laser during the transition from the laser output ON command to the laser output OFF command is improved. When the command output is switched from ON to OFF at the timing it2 after the lapse of the ON time (Ton), the output command voltage (Voc) is sharply dropped to an OFF bottom voltage value (Vbott) which is lower than a voltage value (VB1) suitable for keeping the base discharge current when the laser gas is cold, and then gradually elevated to the value (VB1). Thus, the real output can be instantaneously stopped without stopping the discharge. The value (Vbott) is a function of eta = (Pc/Pmax) x beam-ON time and gradually decreased to a lower limit clamp value (VB2) in accordance with the following formula: Vbott( eta ) = VB1 - [(VB1 - VB2)/ eta B2] eta (when 0 eta B), where Pc denotes the laser output at the time of beam-ON, Pmax denotes the maximum rated laser output and eta B2 denotes the value of eta when Vbott( eta ) reaches VB2.
摘要翻译：在从激光输出ON命令转换到激光输出OFF命令期间，气体放电泵浦激光器的真实激光输出的响应得到改善。当在ON时间（Ton）之后的定时it2将命令输出从ON切换到OFF时，输出指令电压（Voc）急剧下降到低于电压的OFF的底部电压值（Vbott）值（VB1）适合于在激光气体冷时保持基极放电电流，然后逐渐升高到值（VB1）。因此，实际输出可以瞬间停止而不停止放电。值（Vbott）是eta =（Pc / Pmax）×beam-ON时间的函数，并根据下式逐渐降低到下限钳位值（VB2）：Vbott（eta）= VB1 - [（VB1 - VB2）/ eta B2] eta（当0 = eta B）时; Vbott（eta）= VB2（当eta> eta B）时，Pc表示光束ON时的激光输出，Pmax表示最大额定激光输出，eta B2表示Vbott（eta）达到VB2时的eta值。

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