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1. 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.

2. 发明申请

WO1991018812A1 DEVICE FOR KEEPING AND FEEDING STACKED WORKS 审中-公开
标题翻译：保持和送料堆叠工作的设备
公开(公告)号：WO1991018812A1
公开(公告)日：1991-12-12
申请号：PCT/JP1991000704
申请日：1991-05-27
申请人： FANUC LTD , TORII, Nobutoshi , INAGAKI, Shigemi , NIHEI, Ryo , YASUMURA, Mitsuhiro
发明人： FANUC LTD
IPC分类号： B65G61/00
CPC分类号： B23Q7/10 , B23Q7/04 , Y10S414/114
摘要： A device, in which a plurality of work supporting rods (26) arranged to project upward from the top of the pallet (22) keep a plurality of works (W) stacked on the pallet (22) and conveying means (80) having work gripping hands (50) provided with gripping hooks (54) conveys the works (W) to the destination for delivery while beginning with the uppermost one, is provided with resilient pushing up means (32) for constantly pushing and urging the work supporting rods (26) upward so that the upright work supporting rods (26) support the stacked works for preventing collapse thereof; and an annular depressing plate (56) is provided in the rear of a plurality of gripping hooks (54) of the work gripping hands (50) for pushing down the work support rods so as to convey the work to the destination while adapting the gripping hooks (54) to grip the work without external interference for transfer to the destination after exposing the uppermost work (W) to the outer space above the upper end of the work supporting rods (26). The work supporting rods (26) are depressed by said depressing plate (56) for opening the gripping hooks (54) and then the work gripping hands (50) put the work (W) on the pallet (22).

3. 发明申请

WO1989000305A1 METHOD OF OPTIMIZING OPERATION OF ARTICULATED INDUSTRIAL ROBOT 审中-公开
标题翻译：优化工业机器人操作的方法
公开(公告)号：WO1989000305A1
公开(公告)日：1989-01-12
申请号：PCT/JP1988000656
申请日：1988-06-30
申请人： FANUC LTD , TOYODA, Kenichi , TORII, Nobutoshi , NIHEI, Ryo , YASUMURA, Mitsuhiro
发明人： FANUC LTD
IPC分类号： G05B19/407
CPC分类号： G05B19/4181 , B25J9/161 , Y02P90/06
摘要： A method of optimizing the operation of an articulated industrial robot (10) having many moving parts (14, 16, 18, 20) that are articulated together. When programmed control is employed to drive the moving parts by their corresponding motors to move an end effector (22) from one position to another position, the speed condition and time constant during the operation of the moving parts (14 to 20) are not maintained constant but are allowed to vary by taking the torque interference into consideration. The optimum speed condition and time constant are calculated by a robot control unit (30), and the operation instruction is issued to the drive motor system of each of the moving parts (14 to 20) based upon the calculated values.
摘要翻译：一种优化具有铰接在一起的许多运动部件（14,16,18,20）的关节式工业机器人（10）的操作的方法。当使用编程控制来通过其相应的电动机驱动运动部件以将末端执行器（22）从一个位置移动到另一个位置时，运动部件（14至20）的运行期间的速度状态和时间常数不被维持但是通过考虑转矩干扰而允许变化。通过机器人控制单元（30）计算最佳速度条件和时间常数，并且基于计算值向每个运动部件（14至20）的驱动马达系统发出操作指令。

4. 发明申请

WO1990008016A1 POSITIONING CORRECTION FOR ROBOTS 审中-公开
标题翻译：机器人定位校正
公开(公告)号：WO1990008016A1
公开(公告)日：1990-07-26
申请号：PCT/JP1990000075
申请日：1990-01-23
申请人： FANUC LTD , TORII, Nobutoshi , NIHEI, Ryo , YASUMURA, Mitsuhiro
发明人： FANUC LTD
IPC分类号： B25J09/10
CPC分类号： B25J9/1692 , G05B2219/39007
摘要： A positioning correction for robots, capable of preventing a decrease in the positioning accuracy, which is ascribed to an error specific to a robot. Simultaneous equations including link length errors (Δ11, Δ12) and actual angles of rotation (Υ1, Υ2), of first and second links as unknown quantities are solved by using displayed angles of rotation of the first and second links (1, 2), which are obtained by sequentially carrying out the mastering concerning a plurality of known points, to determine the link length errors, errors (Δx0, Δy0) of positions of centers of pivotal movements of arms, errors (ΔΥ10, ΔΥ20) of angles of rotation of the links. When a robot is operated, the program-designated target positions of transfer of the front ends of the arms on the X- and Y-axes are corrected by using the errors of positions of centers of pivotal movements of the arms, and the actual link lengths are determined by using the link length errors. The angles of rotation of a servomotor relating to the first and second links is determined by a coordinate transformation processing based on the corrected positions of transfer of the front ends of the arms, actual link lengths and errors of angles of rotation of the links.

5. 发明申请

WO1991018332A1 OBSERVER CONTROL SYSTEM 审中-公开
标题翻译：观察控制系统
公开(公告)号：WO1991018332A1
公开(公告)日：1991-11-28
申请号：PCT/JP1991000583
申请日：1991-04-26
申请人： FANUC LTD , TORII, Nobutoshi , NIHEI, Ryo , KATO, Tetsuaki
发明人： FANUC LTD
IPC分类号： G05B13/02
CPC分类号： B25J9/163 , G05B13/023 , G05B13/04 , G05B19/232 , G05B2219/41367
摘要： An observer control system which monitors a machine system, estimates state variables and controls the machine system. The system comprises a main observer (7) for estimating the state variables relating to linear elements of the machine system (4a), a disturbance estimation observer (8) for estimating the state variables relating to non-linear elements of the machine system, and an adder (6) for removing the non-linear elements from the input of the main observer (7). The disturbance estimation observer (8) estimates the non-linear state variables and deletes the non-linear terms from the main observer (8). Since the main observer (7) can estimate the state variables by only the linear term, the estimated state variables free from the influences of the non-linear term can be obtained. When the machine system is controlled by this estimated state variable, the state feedback gain of the machine system can be increased.

6. 发明申请

WO1990016020A1 ZEROING METHOD USING A DISTURBANCE ESTIMATING OBSERVER 审中-公开
标题翻译：使用干扰估计观察器的零点方法
公开(公告)号：WO1990016020A1
公开(公告)日：1990-12-27
申请号：PCT/JP1990000721
申请日：1990-06-04
申请人： FANUC LTD , TORII, Nobutoshi , NIHEI, Ryo , KATO, Tetsuaki , ARITA, Soichi
发明人： FANUC LTD
IPC分类号： G05B13/04
CPC分类号： G05B13/045 , G05B13/04
摘要： A zeroing method which prevents transient characteristics of a control system from being deteriorated by the provision of the observer while exhibiting the effect of removing disturbance caused by the disturbance estimating observer. Based on a practical current instruction (I-y') and a practical motor speed (v), the disturbance (x) is estimated by the disturbance estimating observer (5) equipped with four transfer elements (51 to 54) that have transfer functions (Kt/Jm, K1, K2/S, 1/S) determined by those corresponding to a torque constant (Kt) of the motor, an inertia (Jm) of the system, and parameters (K1, K2). When the positional deviation is small, an estimated disturbance is adjusted by multiplying the estimated disturbance by a feedback gain of a value ''1'' by a gain adjusting means (4), and the adjusted quantity (y') is subtracted from the current instruction (I) to remove static frictional disturbance. When the positional deviation is great, the estimated disturbance is multiplied by a feedback gain of a value ''0'' to inhibit operation of the observer, and therefore transient characteristics of the control system are prevented from being deteriorated by the operation of the observer.

7. 发明申请

WO1990013857A1 METHOD OF SLIDING MODE CONTROL 审中-公开
标题翻译：滑模控制方法
公开(公告)号：WO1990013857A1
公开(公告)日：1990-11-15
申请号：PCT/JP1990000601
申请日：1990-05-11
申请人： FANUC LTD , TORII, Nobutoshi , NIHEI, Ryo , KATO, Tetsuaki
发明人： FANUC LTD
IPC分类号： G05D03/12
CPC分类号： G05B13/0255 , G05B19/19 , G05B2219/33337 , G05B2219/34069 , G05B2219/41112 , G05B2219/42034 , G05B2219/42035 , G05B2219/42062 , G05B2219/42067 , G05B2219/42352 , H01L2924/01013
摘要： A method of sliding mode control which decreases the steady deviation from the control target and which improves control stability by adapting the control system to a change in the system parameter. The processor in a digital servo circuit of the servo control system calculates position deviation (ε), speed deviation (ε), a value of the switch-over plane (s) and a value of an integration element (∫)((ε + C.ε)) on the switch-over plane (100 to 102, 107, 113) based on an instructed position (Υr) and an actual position (Υ). The processor further calculates a first term and a second term of switch-over quantity (T1) according to a calculation formula determined depending upon the switch-over plane, position deviation and positive or negative sign to which the value of the integration element is corresponded (103 to 115). Then, based on a calculated value of switch-over quantity (T1) that is equal to the sum of the first and second terms and that satisfies the Liapunov stabilization condition, a torque instruction (T) is calculated that is sufficient to converge the characteristics of the control system to the switch-over plane (s = 0). As a result, the control system does not lose stability even when the system parameters undergo a change.

8. 发明申请

WO1990010260A1 METHOD OF SLIDING MODE CONTROL 审中-公开
标题翻译：滑模控制方法
公开(公告)号：WO1990010260A1
公开(公告)日：1990-09-07
申请号：PCT/JP1990000224
申请日：1990-02-23
申请人： FANUC LTD , TORII, Nobutoshi , NIHEI, Ryo
发明人： FANUC LTD
IPC分类号： G05B13/00
CPC分类号： G05B19/19 , G05B13/0255 , G05B2219/41112 , G05B2219/42008 , G05B2219/42009 , G05B2219/42011 , G05B2219/42062 , G05B2219/42352
摘要： A method of sliding mode control for realizing a control system which exhibits strong robustness and excellent control stability. A processor of a digital servo circuit of a servo control system includes a position loop that effects proportional control, a speed loop that effects proportional-plus-integral control to calculate a torque instruction, and a current loop that responds to the torque instruction. The processor calculates a position deviation (x1), the differential (x2) of the position deviation, the integral (x3) of the differential of position deviation, and the integral (x4) of the position deviation (100 to 103) based upon an instructed position (Υr), the actual position (Υ) and actual speed (Υ), and further calculates a switching surface (s = x2 + C.x1 + K.x3 + K.Kp.x4) in the sliding mode control and a discrimination reference value (Kp.x1 + x2). The processor further calculates switching quantities ((τ', τ') that enable the characteristics of the control system to be converged on the switching surface depending on the switching surface, position deviation and discrimination reference value of positive or negative sign, and the motor is operated according to a torque instruction (τ = τ' + τ') obtained by adding them up together. The robust control system controlled by the sliding mode does not permit the characteristics to change even when the motor inertia undergoes a change.
摘要翻译：可调模式控制方法提供了一个非常强大和稳定的控制系统。伺服控制系统数字伺服处理器包括用于比例控制的定位回路，用于比例和积分转矩指令计算的速度回路以及电流敏感回路。夫妇的指示。处理器计算的偏差的位置偏差的差分的位置，积分（×3）的偏差的位置（X1），所述差速器（×2）的偏差，积分（X4）从指令位置$ g（（U）r）的位置（100到103），实际位置和实际速度。它还计算可调模式控制中的切换表面（S = x2 + C.x1 + K.x3 + K.Kp.x4）和参考识别值（Kp.x1 + x2）。它还根据切换表面，位置偏差和判别值计算将切换表面上的控制系统的特性收敛的切换量（tau'，tau'）。参考正号或负号，根据通过添加这些值获得的转矩指令（tau = tau'+ tau）来启动电机。这种鲁棒控制系统由可调模式控制，即使发动机的惯性发生变化，特性也不会改变。

9. 发明申请

WO1987007554A1 ARM STRUCTURE OF AN INDUSTRIAL ROBOT 审中-公开
标题翻译：工业机器人的ARM结构
公开(公告)号：WO1987007554A1
公开(公告)日：1987-12-17
申请号：PCT/JP1987000352
申请日：1987-06-03
申请人： FANUC LTD , TORII, Nobutoshi , NIHEI, Ryo , TERADA, Akihiro
发明人： FANUC LTD
IPC分类号： B25J09/06
CPC分类号： B25J9/0009 , B25J9/042 , B25J18/00 , Y10T74/20 , Y10T74/20207
摘要： An arm structure of an industrial robot comprising a first robot arm (16) supported at the upper end of a robot-elevating shaft (14) of an industrial robot, and a second robot arm (20) which is pivotably attached via a transmission/reduction gear box (18) fixed to the tip of the first robot arm (16). A plurality of coupling bolts (22) whose ends (22b) on one side are fastened to a flange (18b) of the transmission/reduction gear (18) are permitted to penetrate through the first robot arm (16) and to protrude as designated at (22a) beyond the rear end of the first robot arm (16) and engage therewith. Clamping nuts (24) are engaged with engaging ends (22a or 22b) of at least either side of the coupling bolts (22), and the first robot arm (16) and the transmission/reduction gear box (18) are coupled together while in advance imparting compressive force to the first robot arm (16).

10. 发明申请

WO1987001646A1 DUSTPROOF STRUCTURE FOR INDUSTRIAL ROBOTS 审中-公开
标题翻译：工业机车防尘结构
公开(公告)号：WO1987001646A1
公开(公告)日：1987-03-26
申请号：PCT/JP1986000466
申请日：1986-09-11
申请人： FANUC LTD , TORII, Nobutoshi , NIHEI, Ryo
发明人： FANUC LTD
IPC分类号： B25J19/00
CPC分类号： B25J18/025 , B25J19/0075
摘要： In a dustproof structure for industrial robots, a support shaft (4) which supports an operating arm and which is adapted to be moved vertically by a ball screw (61) in a post (1) is provided with a dust cover (42) enclosing the ball screw (61), so as to prevent the grease applied to the ball screw (61) from causing the environmental pollution, and a top plate (11) of the post (1) is provided with an opening (11a) having a cross-section corresponding to those of the support shaft and the dust cover, so as to prevent chips from entering the interior of the post (1).
摘要翻译：在用于工业机器人的防尘结构中，支撑操作臂并且适于通过柱（1）中的滚珠丝杠（61）垂直移动的支撑轴（4）设置有防尘罩（42），其包围滚珠丝杠（61），以防止施加到滚珠丝杠（61）上的润滑脂引起环境污染，并且柱（1）的顶板（11）设置有开口（11a），该开口具有横截面对应于支撑轴和防尘罩的横截面，以防止碎屑进入柱（1）的内部。

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