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1. 发明授权

EP0295306B1 FIRST ARM STRUCTURE OF HORIZONTALLY ARTICULATED ROBOT 失效
标题翻译： FOR水平上臂建设转向机器人。
公开(公告)号：EP0295306B1
公开(公告)日：1994-01-12
申请号：EP87907814.5
申请日：1987-11-25
申请人： FANUC LTD.
发明人： TOYODA, Kenichi , TORII, Nobutoshi , NIHEI, Ryo , TERADA, Akihiro
IPC分类号： B25J17/00 , B25J9/04
CPC分类号： B25J9/042 , B25J19/0004 , Y10T74/20317
摘要： Structure of a first arm (12) of a horizontally articulated robot. A direct driving motor (19), an electromagnetic brake (25) and rotary encoders (34, 36) that are concentric are disposed close to one another between a base portion post (10) supporting the first arm (12) and the first arm (12), and a direct driving motor (39), an electromagnetic brake (45) and rotary encoders (54, 56) that are concentric are disposed close to one another between the first arm (12) and a second arm (14) which is supported rotatably relative to the first arm (12). There is thus provided the compact first arm (12).

2. 发明授权

EP0187865B1 INDUSTRIAL ROBOT 无效
标题翻译：工业机器人
公开(公告)号：EP0187865B1
公开(公告)日：1989-06-14
申请号：EP85903380.5
申请日：1985-07-04
申请人： FANUC LTD.
发明人： NAKASHIMA, Seiichiro , TOYODA, Kenichi , TORII, Nobutoshi Fuyo Haitsu 308
IPC分类号： B25J19/06 , H02H5/08
CPC分类号： G05B19/4063 , B25J9/046 , B25J9/1035 , B25J19/0079 , B25J19/06
摘要： A body of an industrial robot includes a fixed constituent part (11), and a plurality of movable constituent parts (12, 13, 14). The robot has air-tight chambers (15, 16, 17) in which at least some of the fixed and movable constituent parts are communicated with each other, and the pressure in which should be maintained at a level not lower than the level of the pressure of the external atmosphere. The air-tight chambers are provided therein with motors (18-23) for driving the movable constituent parts. A means (27) for driving and controlling the motors is connected thereto via electric cables provided in the air-tight chambers. The pressure switches (25) are adapted to detect the pressures in the air-tight chambers, and output a motor-stopping signal to the motor driving and control means when the pressure in the air-tight chambers drop below a predetermided level.
摘要翻译：工业机器人的主体包括固定组成部分（11）和多个可移动组成部分（12,13,14）。机器人具有气密室（15,16,17），其中至少一些固定和可移动组成部分彼此连通，并且其中压力应保持在不低于外部大气压力。气密室内设有用于驱动可动组成部件的电动机（18-23）。用于驱动和控制电动机的装置（27）通过设置在气密腔室中的电缆与其连接。压力开关（25）适于检测气密腔室中的压力，并且当气密腔室中的压力下降到预定水平以下时向电动机驱动和控制装置输出电动机停止信号。

3. 发明公开

EP0303708A1 TEACHING INSTRUCTION PANEL FOR INDUSTRIAL ROBOTS 失效
标题翻译： LERNPANEELFÜR工业机器人。
公开(公告)号：EP0303708A1
公开(公告)日：1989-02-22
申请号：EP88901917.0
申请日：1988-02-18
申请人： FANUC LTD
发明人： TOYODA, Kenichi , TORII, Nobutoshi Fuyo Haitsu 308 , ITO, Susumu Tabata 4F , NIHEI, Ryo Mezon Rira 202 , ITO, Takayuki Shibaso 101
IPC分类号： G05B19/42 , G05B19/405 , B25J9/22 , B25J13/06
CPC分类号： G05B19/409 , B25J13/06 , G05B2219/36007
摘要： This invention relates to a teaching instruction panel for industrial robots, which is capable of being utilized without any difference by either right-handed or left-handed persons and carrying out a shift operation in accordance with a mode of utilization of a user. This teaching instruction panel for robots has a plurality of keys (13) for use in teaching a robot to make actions, and two shift keys (11, 12) in the opposite positions In the upper front portion thereof. The effectiveness of an operation of at least one of these two shift keys is registered in advance in a control unit. Various actions are taught to a robot effectively by a combination of an operation of the effective shift key and the operations of the mentioned set of keys.
摘要翻译：操作键单元（13）具有能够一只手握住的厚度。当教学用面板81）被左手握住时，左侧移动键（11）位于能够通过作为自由手指的左手的拇指容易操作（11）的位置。类似地，当教学用面板（1）被右手握住时，装备侧换档键（12）位于能够通过自由拇指容易操作（12）的位置。右手工人可以左手握住教学面板，用左手的左手操作换档键（11），同时用右手手指自由操作，例如“前进” 'BACKWARD'等操作键。

4. 发明公开

EP0301098A1 METHOD OF STARTING ARC-SENSING 失效
标题翻译： VERFAHREN ZUM STARTEN DES ABTASTENS VONBÖGEN。
公开(公告)号：EP0301098A1
公开(公告)日：1989-02-01
申请号：EP88901096.3
申请日：1988-01-22
申请人： FANUC LTD
发明人： TOYODA, Kenichi , MIZUNO, Toru , TORII, Nobutoshi , KANDA, Yuichi , MORIKAWA, Shigehiro
IPC分类号： B23K9/12
CPC分类号： B23K9/127
摘要： A method of starting arc-sensing adaptable to an automatic welding apparatus designed to perform arc-sensing in such a manner that a variation of welding current during a welding operation involving weaving is utilized to detect both vertical and horizontal deviations of its welding electrode from a predetermined path so as to control the welding electrode to eliminate such deviations. In an extremely unstable arcing condition immediately after the generation of arcing, the welding electrode is maintained under the dwell condition. At the first predetermined time (T,) when the arcing condition is somewhat improved, the electrode is allowed to start weaving. Deviation is then detected and eliminated by sensing the arc only in the horizontal direction at the second predetermined time (T 2 ) when the arc has been stabilized in the weaving condition. At the third predetermined time (T 3 ) after the deviation is eliminated by the horizontal arc-sensing, vertical sensing is started while simultaneously performing the horizontal arc-sensing to detect and eliminate devia301099
摘要翻译：一种自动焊接开始电弧感测的方法。被设计为执行电弧感测，使得在涉及weavinq的焊接操作期间焊接电流的变化被用于检测其焊接电极的垂直和水平偏离与预定路径，以便控制焊接电极以消除偏差。在电弧发生后立即发生极不稳定的电弧状态，焊接电极保持在停留状态。在第一预定时间（T1），当电弧条件稍微改善时，允许电极开始编织。然后，当电弧在编织条件下稳定时，通过仅在第二预定时间（T2）仅在水平方向感测电弧来检测和消除偏差。在通过水平电弧感测消除偏差之后的第三预定时间（T3），开始垂直电弧检测，同时执行水平电弧检测以检测和消除偏差。

5. 发明公开

EP0195085A1 BALANCING MECHANISM FOR INDUSTRIAL ROBOT 失效
标题翻译：补偿机制一个工业机器人。
公开(公告)号：EP0195085A1
公开(公告)日：1986-09-24
申请号：EP85903371.4
申请日：1985-06-28
申请人： FANUC LTD.
发明人： NAKASHIMA, Seiichiro , TOYODA, Kenichi , TORII, Nobutoshi Fuyo Haitsu 308 , MIZUNO, Hitoshi Fanuc Hino Shataku 307
IPC分类号： B25J9/06 , B25J19/00
CPC分类号： B25J19/0016 , B25J9/046 , Y10T16/53834
摘要： 07 An industrial robot has a lower arm (13) which is provided so that it can be turned around a first horizontal axis (C,) extending horizontally with respect to a robot body (12). A front arm (14) is provided on the lower arm so that the front arm can be turned around a second horizontal axis (C 2 ). The front arm is turned by a driving unit, such as a motor (16). The robot body is provided with a pivotable disc (17) so that the disc can be turned around the first axis in accordance with the pivotal movement of the front arm around the second axis. A first wheel (18), the diameter of which is smaller than that of the pivotable disc, is fixed concentrically thereto. A second wheel (21), the diameter of which is substantially equal to that of the first wheel, is connected pivotably to one end of a tension spring unit (19) the other end of which is joined to the robot body. A wire (22), one end of which is connected to the pivotable disc, and the other end portion of which is engaged with the outer circumference of the first wheel and retained by the first wheel, is engaged with the outer circumference of the second wheel with the tension spring unit pulled by the wire. The wire is arranged at its one end on the pivotable disc so that, when the distal end of the front arm is directed perpendicularly downward, the portion (22b) of the wire which extends between the pivotable plate and second wheel becomes substantially parallel to the portion (22c) thereof which extends between the first and second wheels.

6. 发明公开

EP0187865A1 INDUSTRIAL ROBOT 无效
标题翻译：产业用机器人。
公开(公告)号：EP0187865A1
公开(公告)日：1986-07-23
申请号：EP85903380.5
申请日：1985-07-04
申请人： FANUC LTD.
发明人： NAKASHIMA, Seiichiro , TOYODA, Kenichi , TORII, Nobutoshi Fuyo Haitsu 308
IPC分类号： B25J19/06 , H02H5/08
CPC分类号： G05B19/4063 , B25J9/046 , B25J9/1035 , B25J19/0079 , B25J19/06
摘要： A body of an industrial robot includes a fixed constituent part (11), and a plurality of movable constituent parts (12, 13, 14). The robot has air-tight chambers (15, 16, 17) in which at least some of the fixed and movable constituent parts are communicated with each other, and the pressure in which should be maintained at a level not lower than the level of the pressure of the external atmosphere. The air-tight chambers are provided therein with motors (18-23) for driving the movable constituent parts. A means (27) for driving and controlling the motors is connected thereto via electric cables provided in the air-tight chambers. The pressure switches (25) are adapted to detect the pressures in the air-tight chambers, and output a motor-stopping signal to the motor driving and control means when the pressure in the air-tight chambers drop below a predetermided level.

7. 发明公开

EP0185776A1 APPARATUS FOR DETECTING ABSOLUTE POSITION OF SERVO CONTROL SYSTEM 失效
标题翻译： VORRICHTUNG ZUM NACHWEIS DER ABSOLUTEN STELLUNG EINES SERVOREGELSYSTEMS。
公开(公告)号：EP0185776A1
公开(公告)日：1986-07-02
申请号：EP85903365.6
申请日：1985-06-26
申请人： FANUC LTD.
发明人： TOYODA, Kenichi , SAKAKIBARA, Shinsuke Mezonizumi 101
IPC分类号： G05D3/12 , G05B19/39
CPC分类号： G05B19/27 , G05B19/39
摘要： The apparatus for detecting the absolute position of a servo control system consists of a servo system including a servomotor (105) which is adapted to control the movement of a movable element (112), a first absolute encoder (106a) adapted to divide the whole stroke f of the movable element (112) into a plurality of grid positions m, a second absolute encoder (106b) for detecting the positions in the grid sections in the movable element (112), and a means for detecting the absolute position of the movable element (112) on the basis of the output signals from the first and second absolute encoders (106a, 106b). A combination of these parts enables the detection of the absolute position of the movable element.
摘要翻译：用于检测伺服控制系统的绝对位置的装置由伺服系统组成，伺服系统包括适于控制可移动元件（112）运动的伺服电动机（105），适于将整体分配的第一绝对编码器（106a）可移动元件（112）的行程l形成多个栅格位置m，用于检测可移动元件（112）中的栅格部分中的位置的第二绝对编码器（106b），以及用于检测可移动元件基于来自第一和第二绝对编码器（106a，106b）的输出信号，可移动元件（112）。这些部件的组合使得能够检测可移动元件的绝对位置。

8. 发明公开

EP0173750A1 CONSTANT SPEED CONTROL METHOD 失效
标题翻译：控制方法恒速。
公开(公告)号：EP0173750A1
公开(公告)日：1986-03-12
申请号：EP85901062.1
申请日：1985-02-19
申请人： FANUC LTD.
发明人： NAKASHIMA, Seiichiro , TOYODA, Kenichi , SAKAKIBARA, Shinsuke , ISHIKAWA, Haruyuki
IPC分类号： G05B19/407 , G05D13/00
CPC分类号： G05B19/416 , G05B2219/43158 , G05B2219/49285
摘要： A constant speed control method used to turn at a constant speed a second movable portion (3) of a linear- pivotal converter unit in which a first movable portion (2c) is moved along a linear shaft (2a) with the second movable portion (3) turned in accordance with the linear movement of the first movable portion (2c). This constant speed control method has (1) a first step of monitoring the position of the first movable portion on the linear shaft, (2) a second step of computing the moving speed of the first movable portion which is used to turn the second movable portion at a constant speed, in accordance with the position of the first movable portion on the linear shaft, and (3) a third step of moving the first movable portion at a computed speed to render the pivotal speed of the second movable portion constant.

9. 发明公开

EP0172256A1 SYSTEM FOR RETURNING TO ORIGIN FOR AN ARTICULATED ROBOT 失效
标题翻译： RÜCKKEHRSYSTEMFÜREINEN GEGLIEDERTEN ROBOTER。
公开(公告)号：EP0172256A1
公开(公告)日：1986-02-26
申请号：EP85901063.9
申请日：1985-02-20
申请人： FANUC LTD.
发明人： NAKASHIMA, Seiichiro , TOYODA, Kenichi , TORII, Nobutoshi , NIHEI, Ryo
IPC分类号： B25J9/10 , B25J9/16 , B25J13/00 , G05B19/18
CPC分类号： B25J9/046 , B25J9/1692 , G05B2219/45083
摘要： A system for returning to origin for an articulated robot (39) having a plurality of operation axes that are controlled by a numerical control unit (NC). Being designated by the mode for returning to origin, the numerical control unit (NC) enables the plurality of operation axes of the articulated robot (39) to operate independently of each other based upon a program for returning to origin, and drives at least two axes among many operation axes. i.e., preferably drives an operation axis (U) that actuates the upper arm and drives an operation axis (W) that actuates the lower arm, so that they move toward the origin, simultaneously.
摘要翻译：一种用于由具有由数控单元（NC）控制的多个操作轴的铰接机器人（39）返回原点的系统。通过返回到原点的模式指定，数控单元（NC）使得铰接机器人（39）的多个操作轴基于用于返回原点的程序彼此独立地操作，并且驱动至少两个即，优选地驱动致动上臂并驱动致动下臂的操作轴线（W）的操作轴线（U），使得它们同时朝着原点移动。

10. 发明公开

EP0167632A1 WRIST ASSEMBLY OF INDUSTRIAL ROBOT 失效
标题翻译：手腕工业机器人的。
公开(公告)号：EP0167632A1
公开(公告)日：1986-01-15
申请号：EP85900494.7
申请日：1984-12-27
申请人： FANUC LTD.
发明人： NAKASHIMA, Seiichiro , TOYODA, Kenichi , TERADA, Akihiro
IPC分类号： B25J17/02
CPC分类号： B25J17/0258
摘要： A chain-driven biaxial motion wrist assembly for an industrial robot has a wrist proximal region (12) disposed on one side of the distal end region of a robot arm (11). A hollow shaft (13) is secured at its one end to the wrist proximal region (12) and is supported by one side wall at the distal end region of the robot arm (11) such as to be rotatable around a first axis (p) orthogonal to the longitudinal axis ofthe robot arm (11). The other end region of the hollow shaft (13) opposes the inner surface of the wall on the other side of the distal end region of the robot arm (11). A wrist distal region (16) is supported by the wrist proximal region (12) such as to be rotatable around a second axis (a) orthogonal to the first axis. A through-shaft (17) is rotatably and coaxially provided within the hollow shaft (13). The wrist distal region (16) is interlockably connected to the through-shaft (17) by a pair of bevel gears (18 and 19). A first sprocket (22) is provided inside the distal end portion of the robot arm (11) such as to be coaxial with the second-mentioned end region of the hollow shaft (13). A second sprocket (23) is provided inside the distal end region of the robot arm (11) such as to be coaxial with the through-shaft (17) and in the vicinity of the first sprocket (22). The first and second sprockets (22 and 23) are respectively connected to first and second chains (26 and 27) for power transmission.

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