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1. 发明申请

WO2020163657A1 THROUGH-BEAM AUTO TEACHING 审中-公开
公开(公告)号：WO2020163657A1
公开(公告)日：2020-08-13
申请号：PCT/US2020/017097
申请日：2020-02-06
申请人： YASKAWA AMERICA, INC. , KABUSHIKI KAISHA YASKAWA DENKI
发明人： ROGERS, John, Charles
IPC分类号： B25J9/16 , G06F19/00
摘要： A method of teaching a robot including providing a pin at a location within a work station, and the robot in an area adjacent to the station. The robot having an arm and an end effector that pivots. The end effector has a through-beam sensor including a light emitter and a light receiver to sense when an object is present therebetween. The robot is moved to perform sensing operations in which the sensor senses the pin, such operations are performed while a position and/or an orientation of the end effector are varied to gather sensed position and orientation data. The sensing operations are performed such that the pin is located at different distances between the emitter and the receiver as the robot moves the sensor across the pin. Calculations are performed on the data to determine the location of the pin with respect to a coordinate system of the robot.

2. 发明申请

WO1998025335A1 SENSORLESS CONTROL METHOD AND APPARATUS OF PERMANENT MAGNET SYNCHRONOUS MOTOR 审中-公开
标题翻译：永磁同步电动机的无传感控制方法及装置
公开(公告)号：WO1998025335A1
公开(公告)日：1998-06-11
申请号：PCT/JP1997004434
申请日：1997-12-04
申请人： KABUSHIKI KAISHA YASKAWA DENKI , OGURO, Ryuichi , FUJII, Shuichi , INAZUMI, Masanobu
发明人： KABUSHIKI KAISHA YASKAWA DENKI
IPC分类号： H02P05/408
CPC分类号： H02P21/04 , H02P6/17 , H02P21/18 , H02P21/26 , H02P2207/05
摘要： A sensorless control method and apparatus of a permanent magnet synchronous motor which enables the designation of the magnetic axis over a whole rotational speed range and enables the rotational speed control continuously regardless of the rotational speed command. The control method is such that when a magnetic axis, d-q axis, which rotates at the true motor rotational speed omega R, a designated magnetic axis, gamma - delta axis of the motor are determined and the rotational speed, omega R gamma of the gamma - delta axis is found, a distribution gain K1 which is so set as to be reduced in accordance with the increase of the absolute value of the revolution command omega RREF and a distribution gain K2 which is so set as to be increased in accordance with the increase of the absolute value of the revolution command omega RREF are prepared, the revolution command omega RREF is multiplied by K1, the revolution transition value omega RP which is obtained from the induced voltage or estimated induced voltage of a synchronous motor is multiplied by K2, and the two products are added to each other to determine the rotational speed omega R gamma the designated magnetic axis, gamma - delta axis.
摘要翻译：一种永磁同步电动机的无传感器控制方法和装置，其能够在整个转速范围内指定磁轴，并且能够连续地进行转速控制，而与转速指令无关。控制方法使得当以真正的电动机转速ωR旋转的磁轴dq轴被确定为指定的磁轴时，确定电动机的γ-δ轴，旋转速度ωγ - 发现三角轴，分配增益K1被设定为根据旋转指令ωRREF的绝对值的增加而减小，并且分配增益K2被设置为根据旋转指令ωRREF的绝对值的增加，旋转指令ωRREF乘以K1，从感应电压或同步电机的推定感应电压获得的转数转换值ωRP乘以K2，并且将这两个产品相互添加以确定指定的磁轴γ-δ轴的旋转速度ωRγ。

3. 发明申请

WO1997040956A1 CONTACT TIP FOR ARC WELDING 审中-公开
标题翻译：电弧焊接接头
公开(公告)号：WO1997040956A1
公开(公告)日：1997-11-06
申请号：PCT/JP1997001060
申请日：1997-03-28
申请人： KABUSHIKI KAISHA YASKAWA DENKI , OKUMURA, Shinji , HARA, Masaaki , AMANO, Tadayuki , MITSUSHIO, Takanori
发明人： KABUSHIKI KAISHA YASKAWA DENKI
IPC分类号： B23K09/26
CPC分类号： B23K9/26
摘要： A contact tip for arc welding that improves the welding tolerance for sheet metal welding is provided. A contact tip for use in gas-shielded arc welding comprising a first welding wire guide portion (1) provided at a root portion, a welding wire power supplying portion (2) provided at the distal end of the first welding wire guide portion, and a second welding wire guide portion (3) provided at the distal end of the welding wire power supplying portion, having the same bore diameter as that of the welding wine power supplying portion and formed from a non-conductive material having heat resistance, whereby a ratio between Joule heat and arc heat is changed in proportion to the wire projecting length.
摘要翻译：提供了一种提高钣金焊接的焊接公差的电弧焊接头。一种用于气体保护电弧焊接的接触尖端，包括设置在根部处的第一焊丝引导部分（1），设置在第一焊丝引导部分的远端处的焊丝供电部分（2），以及设置在焊丝供电部的前端的第二焊丝引导部（3），其具有与焊接葡萄酒供电部相同的孔径，并且由具有耐热性的非导电材料形成，焦耳热和电弧热之间的比例与导线长度成比例地变化。

4. 发明申请

WO1997037817A1 WRIST MECHANISM FOR AN INDUSTRIAL ROBOT 审中-公开
标题翻译：工业机器人的机构
公开(公告)号：WO1997037817A1
公开(公告)日：1997-10-16
申请号：PCT/JP1997000746
申请日：1997-03-10
申请人： KABUSHIKI KAISHA YASKAWA DENKI , HANIYA, Kazuhiro , MATSUSHITA, Shigeo
发明人： KABUSHIKI KAISHA YASKAWA DENKI
IPC分类号： B25J17/02
CPC分类号： B25J17/0258 , B25J9/102 , Y10T74/20305 , Y10T74/20335
摘要： A wrist mechanism for an industrial robot comprising spline teeth (2A) formed in the outer circumference of a distal end of a curved driving shaft (2) provided on the inner side of an arm (1), spline grooves (2B) formed in the inner circumference of a first level gear (21) and in mesh engagement with the spline teeth (2A), spline teeth (3A) formed in the outer circumference of a distal end of a swivelling driving shaft (3), a hollow cylindrical intermediate shaft (30) having spline grooves (3B) formed in the inner circumference of an end thereof and in mesh engagement with the spline teeth (3A) and a second level gear (31) fixed to the outer circumference of the other end thereof, a bearing (301) for supporting an end of the intermediate shaft (30) on the inside of the first level gear (21) and bearings (22, 24) for supporting the other end of the intermediate shaft (30) on a fixed gear box (45).
摘要翻译：一种用于工业机器人的手腕机构，其包括形成在设置在臂（1）的内侧的弯曲驱动轴（2）的远端的外周中的花键齿（2A），形成在所述臂第一级齿轮（21）的内周与花键齿（2A）啮合，与旋转驱动轴（3）的前端的外周形成的花键齿（3A），中空圆柱形中间轴（30），其具有形成在其端部的内周中并与所述花键齿（3A）啮合的花键槽（3B）和固定到所述花键齿的另一端的外周的第二水平齿轮（31），轴承（301），用于将所述中间轴（30）的端部支撑在所述第一级齿轮（21）的内侧;以及轴承（22,24），用于将所述中间轴（30）的另一端支撑在固定齿轮箱 45）。

5. 发明申请

WO1997019789A1 INDUSTRIAL ROBOT 审中-公开
标题翻译：工业机器人
公开(公告)号：WO1997019789A1
公开(公告)日：1997-06-05
申请号：PCT/JP1996003423
申请日：1996-11-21
申请人： KABUSHIKI KAISHA YASKAWA DENKI , TOMIYASU, Kazuhiro
发明人： KABUSHIKI KAISHA YASKAWA DENKI
IPC分类号： B25J09/06
CPC分类号： B25J9/102 , B25J9/047 , Y10T74/20317
摘要： An industrial robot which allows its reduction gear to be easily replaced. An intermediate member (6) which includes a disk portion (61), a flange portion (63) provided around the periphery of the disk portion (61) and a through-hole (64) formed in the center of the disk portion (61) is provided between a rotating part (3) and a reduction mechanism part (22) of a reduction gear (2) fixed to a base (1). A through-hole (32) which is concentric with a rotating shaft (S) and has an inner diameter larger than the outer diameter of a fixing portion (21) of the reduction gear (2) is provided in the bottom (31) of the rotating part (3). The fixing portion (61) of the intermediate member (6) is fixed to the top surface of the reduction mechanism part (22) and the flange portion (63) is fixed to the bottom (31) of the rotating part (3) so that the bottom surface of the rotating part (3) is opposed to the top surface of the base (1) across a gap. A driving motor (4) is fixed to the disk portion (61) of the intermediate member (6) concentrically with the rotating shaft (S), and an output shaft (41) of the driving motor (4) is connected to the reduction mechanism part (22).
摘要翻译：一种允许其减速装置容易更换的工业机器人。一种中间构件（6），包括圆盘部分（61），设置在圆盘部分周围的凸缘部分（63）和形成在圆盘部分（61）的中心的通孔（64））设置在固定到基座（1）的减速齿轮（2）的旋转部（3）和减速机构部（22）之间。与减速齿轮（2）的固定部（21）的外径大于内径的与旋转轴（S）同心的通孔（32）设置在所述减速齿轮（2）的固定部（21）的外径旋转部（3）。所述中间构件（6）的固定部（61）固定在所述减速机构部（22）的上表面，所述凸缘部（63）固定在所述旋转部（3）的底部（31）旋转部分（3）的底表面跨越间隙与基部（1）的顶表面相对。驱动电机（4）与转轴（S）同心地固定在中间部件（6）的盘部（61）上，驱动马达（4）的输出轴（41）与减速机构机构部分（22）。

6. 发明申请

WO1997011416A1 ROBOT LANGUAGE PROCESSOR 审中-公开
标题翻译：机器人语言处理器
公开(公告)号：WO1997011416A1
公开(公告)日：1997-03-27
申请号：PCT/JP1996002691
申请日：1996-09-19
申请人： KABUSHIKI KAISHA YASKAWA DENKI , TAKAOKA, Keiichi , OHSAWA, Noriyuki , MANTANI, Noriaki , KANEHARA, Takeyoshi , TANAKA, Youichi , KAWAI, Fumiaki
发明人： KABUSHIKI KAISHA YASKAWA DENKI
IPC分类号： G05B19/4068
CPC分类号： G05B19/4068 , B25J9/1671 , G05B2219/36074 , G05B2219/36143 , G05B2219/36257 , G05B2219/40099 , G05B2219/45104
摘要： When a robot language processor is displayed or edited, a teach unit or a programming pendant in the prior art can only display an intermediate code of the robot language converted to character expression. Therefore, it is not possible to intuitively grasp the robot operation. Furthermore, it takes a long time to learn the language, and prepared programm must be verified by actually operating a robot. Therefore, a processor according to the present invention comprises a display device capable of graphic display and capable of designating a position in a display screen by a pointing device, a memory for storing a robot program, and a graphical language processing portion for displaying a work zone and an air cut zone as a continuous line on the display device by looking up the robot program, and displaying the kind of the work content on a line on the display screen when such a line under display on the display screen is designated by the pointing device, so as to allow robot teaching on the basis of a graphical user interface.
摘要翻译：当显示或编辑机器人语言处理器时，现有技术中的教学单元或编程挂件只能显示转换为字符表达的机器人语言的中间代码。因此，不可能直观地掌握机器人的操作。此外，学习语言需要很长时间，并且必须通过实际操作机器人来验证准备的程序。因此，根据本发明的处理器包括能够进行图形显示并且能够通过指示设备指定显示屏幕中的位置的显示设备，用于存储机器人程序的存储器和用于显示工作的图形语言处理部分区域和通过查找机器人程序在显示装置上作为连续线的空气切割区域，并且当显示屏幕上显示的这样的行被指定时，在显示屏幕上的行上显示工作内容的种类指点设备，以便在图形用户界面的基础上允许机器人教学。

7. 发明申请

WO1997010933A1 STOPPER FOR INDUSTRIAL ROBOTS 审中-公开
标题翻译：停止工业机器人
公开(公告)号：WO1997010933A1
公开(公告)日：1997-03-27
申请号：PCT/JP1996002647
申请日：1996-09-17
申请人： KABUSHIKI KAISHA YASKAWA DENKI , SHIRAKI, Tomoyuki , IWANAGA, Toshiaki , MATSUSHITA, Shigeo , HANIYA, Kazuhiro
发明人： KABUSHIKI KAISHA YASKAWA DENKI
IPC分类号： B25J19/00
CPC分类号： B25J9/101 , Y10T74/20305 , Y10T74/2063
摘要： A stopper for industrial robots which comprises a frame body (51) secured to a stationary base (1) of an industrial robot, a holding shaft (52) secured to the frame body (51) perpendicularly to a revolving surface of a revolving base (2), a rod-shaped engaging lever (53) supported to be turnable about the holding shaft (52), a spring (57) for returning the engaging lever (53) to a position where the lever is directed toward the center of the revolving base (2), stoppers (59A, 59B), respectively, secured to both inner surfaces of the frame body (51) opposed to the engaging lever (53), and an engaging dog (7) secured to the revolving base (2) and capable of engaging with the engaging lever (53). This stopper can set the limit of the moving angle of a revolving base to at least 360 degrees to ensure a large moving range.
摘要翻译：一种用于工业机器人的止动器，包括固定到工业机器人的固定基座（1）上的框体（51），与旋转基座的旋转表面垂直地固定到框体（51）的保持轴（52） 2），支撑成能够围绕保持轴（52）旋转的杆状接合杆（53），弹簧（57），用于将接合杆（53）返回到杆朝向中心的位置旋转基座（2），分别固定在与接合杆（53）相对的框体（51）的内表面的止动件（59A，59B）以及固定在旋转基座（2）上的卡合爪）并且能够与接合杆（53）接合。该止动器可以将旋转底座的移动角度的极限设定为至少360度，以确保大的移动范围。

8. 发明申请

WO1997010919A1 AUTOMATIC WELDING CONDITION SETTING DEVICE 审中-公开
标题翻译：自动焊接条件设定装置
公开(公告)号：WO1997010919A1
公开(公告)日：1997-03-27
申请号：PCT/JP1996002690
申请日：1996-09-19
申请人： KABUSHIKI KAISHA YASKAWA DENKI , HANDA, Hiroyuki , OKUMURA, Shinji , FUJI, Hajime , MITSUSHIO, Takanori , TAKAOKA, Keiichi , OHSAWA, Noriyuki , NISHIMURA, Isao , NISHIMURA, Kiminori , AMANO, Tadayuki , SUZUSHIMA, Michiko
发明人： KABUSHIKI KAISHA YASKAWA DENKI
IPC分类号： B23K09/095
CPC分类号： B23K9/1062 , B23K9/0953
摘要： A welding condition setting device that allows even a beginner to easily set a work process and welding conditions for a target welding, comprising a welding information recording unit (12) recording therein welding working information on welding working such as information on a welding machine for use in arc welding, information on shield gas and information on welding wires, welding information inputting and outputting means (11) for inputting and outputting the welding working information, welding working information setting means (15) for setting the welding working information, retrieving means (13) for retrieving relevant information from the information stored in the welding information storing unit (12) based on information so set, and information control means (14) for giving the retrieving means (13) a retrieving requirement instruction in retrieving information in the information storing unit (12) and outputting the relevant welding information.
摘要翻译：一种焊接条件设定装置，其能够即使初学者容易地设定用于目标焊接的工作过程和焊接条件，包括焊接信息记录单元（12），其中记录关于焊接工作的焊接工作信息，例如关于使用的焊接机的信息在电弧焊接中，关于保护气体的信息和焊丝信息，焊接信息输入输出装置（11），用于输入和输出焊接作业信息，焊接作业信息设定装置（15），用于设定焊接作业信息，检索装置 13），用于根据所设置的信息从存储在焊接信息存储单元（12）中的信息中检索相关信息;以及信息控制装置（14），用于在检索信息中提供检索要求指令，存储单元（12）并输出相关的焊接信息。

9. 发明申请

WO1997009773A1 POWER CONVERTER AND POWER CONVERTING METHOD 审中-公开
标题翻译：电力转换器和电力转换方法
公开(公告)号：WO1997009773A1
公开(公告)日：1997-03-13
申请号：PCT/JP1996002495
申请日：1996-09-04
申请人： KABUSHIKI KAISHA YASKAWA DENKI , SAWA, Toshihiro , KUME, Tsuneo , HIRANO, Koichi
发明人： KABUSHIKI KAISHA YASKAWA DENKI
IPC分类号： H02M05/27
CPC分类号： H02P27/16 , H02M5/271 , H02M7/487 , Y02P80/116
摘要： A power converter which drives a high-voltage AC motor at a variable speed. A conventional inverter system has such problems that the system cannot cope with technical tasks required by the market such as the energy and resource saving for environment conservation, miniaturization, higher efficiency, and suppression of distortion of voltage and current waveforms, and the system cannot cope with a technical task to improve the redundancy such as the operation of the system with a sound part when a fault occurs. This power converter is a multiplex three-phase pulse width modulation cycloconverter and drives a high-voltage motor (10) at a variable speed by controlling two-way semiconductor switches (11-16) by a pulse width modulation so that the voltages of AC ouputs outputted to the single-phase AC terminals (u and v) of three-/single-phase pulse width modulation cycloconverters (1-9) are in phase in the same unit and the electrical angles of the fundamental wave voltage phases of the three units are shifted by 120 DEG from each other. When one of the cycloconverters (1-9) fails, the motor (10) is driven at a variable speed by short-circuiting the single-phase AC terminals (u and v) of the faulty cycloconverter and successively short-circuiting at regular intervals the three pairs of two-way semiconductor switches respectively connected to the three-phase AC terminals (r, s, and t) of the cycloconverters of the other tow units, belonging to the same group as that of the faulty cycloconverter. A current converting method is also disclosed.
摘要翻译：一种以可变速度驱动高压交流电动机的电力转换器。传统的逆变器系统具有这样的问题，即系统无法应对市场所需的技术任务，如节能环保，小型化，高效率，抑制电压和电流波形失真等能源和资源节约，系统无法应对具有提高冗余性的技术任务，例如当故障发生时具有声音部分的系统的操作。该功率转换器是多路复用三相脉宽调制循环变换器，通过脉冲宽度调制来控制双向半导体开关（11-16），以可变速度驱动高压电动机（10），使得AC 输出到三相/单相脉宽调制周波变换器（1-9）的单相交流端子（u和v）的输出在相同的单位中同相，并且三相的基波电压相位的电角度单位相差120度。当循环换流器（1-9）中的一个发生故障时，通过使故障循环变频器的单相交流端子（u和v）短路并以规则间隔连续短路，以可变速度驱动电动机（10）三对双向半导体开关分别连接到与故障循环换流器相同的组的另一个牵引单元的循环变换器的三相AC端子（r，s和t）。还公开了电流转换方法。

10. 发明申请

WO1996025275A1 ROBOT 审中-公开
标题翻译：机器人
公开(公告)号：WO1996025275A1
公开(公告)日：1996-08-22
申请号：PCT/JP1996000321
申请日：1996-02-13
申请人： KABUSHIKI KAISHA YASKAWA DENKI , HANDA, Hiroyuki , MISUMI, Yukio , OKUMURA, Shinji , TANAKA, Michiharu
发明人： KABUSHIKI KAISHA YASKAWA DENKI
IPC分类号： B25J19/00
CPC分类号： B23K9/12 , B23K9/10 , B23K9/287 , B25J9/0009 , B25J13/00 , B25J19/00 , B25J19/0054 , B25J19/0075
摘要： A robot comprising an articulated manipulator, which is installed on a base that houses electric circuits (for example, a welding power source) for driving and controlling tools (for example, a welding torch) held by the robot. This robot thus saves the space for the installation thereof, and requires a shorter time for installation and fewer parts, whereby it becomes possible to reduce the manufacturing cost, simplify a robot installation operation and obtain a stable welding performance.
摘要翻译：一种机器人，其包括铰接式操纵器，其安装在容纳用于驱动和控制由机器人保持的工具（例如，焊炬）的电路的电路（例如，焊接电源）的基座上。该机器人因此节省了安装空间，并且需要更短的安装时间和更少的部件，从而可以降低制造成本，简化机器人安装操作并获得稳定的焊接性能。

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