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1. 发明专利

JP2009050921A Handling device 审中-公开
标题翻译：处理设备
公开(公告)号：JP2009050921A
公开(公告)日：2009-03-12
申请号：JP2007216981
申请日：2007-08-23
申请人： Fanuc Ltd , ファナック株式会社
发明人： NIHEI AKIRA , SAKAKIBARA SHINSUKE , OTAKA SHUNICHI , KARIYA ISAO
IPC分类号： B25J13/08
摘要： PROBLEM TO BE SOLVED: To provide a handling device which performs the preparatory measurement before gripping and the final measurement after gripping without requiring a visual sensor. SOLUTION: The handling device is provided with a photoelectric sensor arranged on the end of a parallel link type robot arm. A sensing beam BM is moved so as to cross two sides of a workpiece W temporarily fixed on a mounting plane having a known Z position. The temporarily fixed position (two dimensional) of the workpiece W is obtained from the position and the posture of the robot during the crossing. The position and the posture of the robot are corrected so as to compensate the deviations from the reference temporal fixed position and posture. Then, the workpiece W is gripped and picked up. Next, a plurality of sides or corners of the gripped workpiece W are brought into contact with known abutting sides or known abutting faces, and the gripped position and the gripped posture are obtained using the position and the posture of the robot at this time. Then, the gripping position and posture of the robot are obtained by using the position and posture of the robot at that time. Then, the workpiece W is assembled on another workpiece under the condition of the position and posture of the robot for compensating the deviations from the reference gripping position and posture. COPYRIGHT: (C)2009,JPO&INPIT
摘要翻译：要解决的问题：提供一种在夹持之前进行准备测量并且在夹持之后的最终测量而不需要视觉传感器的处理装置。解决方案：处理装置设置有布置在平行连杆型机器人臂的端部上的光电传感器。移动感测束BM，以便临时固定在具有已知Z位置的安装平面上的工件W的两侧。工件W的临时固定位置（二维）从交叉的机器人的位置和姿势得到。校正机器人的位置和姿势，以补偿与参考时间固定位置和姿势的偏差。然后，夹持并拾取工件W. 接下来，夹持工件W的多个侧面或角部与已知的抵接侧或已知的抵接面接触，此时，利用机器人的位置和姿势来获得抓地位置和抓地姿势。然后，利用机器人的位置和姿势，来获得机器人的握持位置和姿势。然后，在机器人的位置和姿势的条件下，将工件W组装在另一工件上，以补偿与基准夹持位置和姿势的偏差。版权所有（C）2009，JPO＆INPIT

2. 发明专利

JPH11274619A Laser diode deterioration detecting apparatus 失效
标题翻译：激光二极管检测装置
公开(公告)号：JPH11274619A
公开(公告)日：1999-10-08
申请号：JP8957698
申请日：1998-03-19
申请人： Fanuc Ltd , ファナック株式会社
发明人： SAKAKIBARA SHINSUKE , TAKIZAWA KATSUTOSHI , YAMADA SHIN
IPC分类号： H01S5/042 , H01S3/096
摘要： PROBLEM TO BE SOLVED: To positively detect deterioration of a laser diode with use of a simple circuit.
SOLUTION: A controller 1 outputs a light output control command LOC to an automatic power control circuit 2 to cause a light output of a laser diode LD of a laser diode module 3 to be controlled at a value corresponding to the command LOC. A monitor voltage output section 4 outputs a monitor voltage proportional to a drive current of the laser diode LD, and a comparator CP compares the monitor voltage with a reference voltage VO. A comparison result is issued to the controller 1. In its initial state, the controller 1 outputs a maximum command value LOCmax to cause a potential difference between plus and minus input terminals of the comparator CP to be adjusted at O volts using a tester 6. At the time of desired detection of deterioration of the laser diode, an inspection program is activated to execute deterioration detection. The command LOC is gradually increased according to a programmed transition pattern to evaluate the deterioration on the basis of a ratio of the command value LOC and maximum command value LOCmax, when the monitor voltage exceeds the reference voltage.
COPYRIGHT: (C)1999,JPO
摘要翻译：要解决的问题：使用简单的电路积极地检测激光二极管的劣化。解决方案：控制器1将光输出控制指令LOC输出到自动功率控制电路2，使得激光二极管模块3的激光二极管LD的光输出被控制在与指令LOC对应的值。监视电压输出部4输出与激光二极管LD的驱动电流成比例的监视电压，比较器CP将监视电压与基准电压VO进行比较。比较结果被发送到控制器1.在其初始状态下，控制器1输出最大指令值LOCmax，以使用测试器6将比较器CP的正负输入端之间的电位差调整为O伏。在期望检测激光二极管的劣化时，激活检查程序以执行劣化检测。当监视电压超过参考电压时，命令LOC根据编程的转换模式逐渐增加，以根据指令值LOC和最大指令值LOCmax的比率来评估劣化。

3. 发明专利

JP2566550B2 失效
公开(公告)号：JP2566550B2
公开(公告)日：1996-12-25
申请号：JP1578784
申请日：1984-01-31
申请人： FANUC LTD
发明人： NAKAJIMA SEIICHIRO , TOYODA KENICHI , SAKAKIBARA SHINSUKE , TORII NOBUTOSHI
IPC分类号： G05B9/02 , B25J9/16 , B25J9/22 , B25J19/06 , G05B19/19 , G05B19/4063 , G05B19/42

4. 发明专利

JPH068168A DIRECT TEACHING ROD 失效
公开(公告)号：JPH068168A
公开(公告)日：1994-01-18
申请号：JP19014992
申请日：1992-06-25
申请人： FANUC LTD
发明人： SAKAKIBARA SHINSUKE , FURUKAWA YOSHIHISA
IPC分类号： B25J9/22 , B25J19/06
摘要： PURPOSE:To conduct such arrangement that a worker may be able to carry out the work of teaching safely to a robot. CONSTITUTION:This is a direct teach rod 4 which is furnished at the wrist 1 of a robot and conducts operation by taking hold of it, and a plurality of deadman switches 10 are individually provided in connection at this rod so that the emergency stop of the robot may become possible, and their operation portions 12 are arranged at the periphery of the rod 4 in different directions with a rod axis as a center. A base portion can be sued as a fitting portion to a robot face 2, and a tip side can be used as a fitting portion 25 for robot tool.

5. 发明专利

JPH04155406A NUMERICAL CONTROL SYSTEM 失效
公开(公告)号：JPH04155406A
公开(公告)日：1992-05-28
申请号：JP28075690
申请日：1990-10-19
申请人： FANUC LTD
发明人： SAKAKIBARA SHINSUKE , TORII NOBUTOSHI
IPC分类号： G05B19/18 , G05B19/4155
摘要： PURPOSE:To compact a device and to improve working efficiency by providing this numerical control system with plural program executing means for outputting numerical control commands, plural spindle control means for forming the moving signal of each operation spindle and plural signal output means and controlling both of a machine tool and a robot in parallel by one numerical control device. CONSTITUTION:The numerical control system is provided with the program executing means 10, 11 for executing an NC program and a robot program in parallel and outputting numerical control commands, plural spindle control means 31 to 36 for receiving the numerical control commands outputted from the means 10, 11 and forming the moving signals of respective operation spindles for the machine tool and the robot and the signal output means 21 to 26 for simultaneously outputting signals to the driving spindles of the machine tool and the robot. At the time of automatic operation, an MDI key panel is used in common and the machine tool and the robot are unitedly controlled. Consequently, a space can be suppressed to a small area and the operation efficiency can be improved.

6. 发明专利

JPH02210583A SIMPLIFIED THREE-DIMENSIONAL CAD SYSTEM 失效
公开(公告)号：JPH02210583A
公开(公告)日：1990-08-21
申请号：JP2973489
申请日：1989-02-10
申请人： FANUC LTD
发明人： SAKAKIBARA SHINSUKE , NAGATSUKA YOSHIHARU
IPC分类号： G06F17/50
摘要： PURPOSE:To prepare an arbitrary three-dimensional stereoscopic shape by providing the nine kinds of function to prepare a basic stereoscopic shape, to delete the stereoscopic shape, to prepare a ridgeline, to delete the ridgeline, to prepare an apex, to delete the apex, to move the apex, to change a display and to execute file input/output. CONSTITUTION:The nine kinds of function are provided to prepare a polygonal pillar, to delete the stereoscopic shape, to add and prepare the ridgeline on the stereoscopic shape, to delete the ridgeline, to add and prepare the apex on the stereoscopic shape, to delete the apex, to move the apex, to change and display a view point and to execute the input/output to an external storage device. Thus, the polgonal pillar to be the basic shape is prepared or the already prepared stereoscopic shape, which is stored to the external storage device, is drawn on the screen of a graphic display device. Then, the apex or ridgeline is added or deleted to the drawn stereoscopic shape and further, by moving the apex, the desired stereoscopic shape can be obtained.

7. 发明专利

JPH0277805A DEBUGGING SYSTEM FOR ROBOT OFF-LINE TEACHING POINT 失效
公开(公告)号：JPH0277805A
公开(公告)日：1990-03-16
申请号：JP22833388
申请日：1988-09-14
申请人： FANUC LTD
发明人： SAKAKIBARA SHINSUKE , NAGATSUKA YOSHIHARU
IPC分类号： B25J9/22 , G05B19/4069 , G05B19/4093
摘要： PURPOSE:To easily and efficiently correct a teaching point by correcting the teaching point during simulation by robot operation while the simulation is carried out based upon a robot control program and robot teaching data. CONSTITUTION:A central processing unit(cpu) 10 which performs the processing of an off-line programming device has a floating point arithmetic processor 13, an input/output port 14, a hard disk controller 15, etc. Then a break point for interrupting the simulation by the robot control program is set and the robot operation is simulated on the screen of a CRT 23 according to the generated robot control program and robot teaching data, and the simulation is interrupted at the set break point, a teaching point correction mode is entered, and the teaching point is corrected during the simulation. Consequently, the teaching data is easily and efficiently corrected.

8. 发明专利

JPH01269105A OFF-LINE PROGRAMMING DEVICE 失效
公开(公告)号：JPH01269105A
公开(公告)日：1989-10-26
申请号：JP9683188
申请日：1988-04-21
申请人： FANUC LTD
发明人： SAKAKIBARA SHINSUKE , TERADA TOMOYUKI
IPC分类号： B25J9/22 , G05B19/4097 , G05B19/42
摘要： PURPOSE:To operate a robot on a graphic display screen with the same operation as the position of an actual robot by connecting a teaching control panel to an off-lin programming device, moving the robot on the screen with a command from the teaching control panel, teaching it and generating a program. CONSTITUTION:A teaching control panel used for the operation of a robot is connected to an off-line programming device, a robot on a graphic display screen is moved by the command from the teaching control panel, teached, and a program is generated. Namely when a command is inputted from respective keys of a teaching control panel 3 in the same way as the operation to teach for an actual robot 2, an off-line programming device 1 moves a robot plotted on a graphic display screen 10 in accordance with the command, and when the input is executed from the teaching key of the teaching control panel 3, the position and action of the robot 2 are stored and successively, a program is generated. Since a robot picture is moved on the graphic display screen 10, even the operator to operate directly the robot 2 at site can thus simply generated the program with an off-line.

9. 发明专利

JPS6435608A ROBOT OPERATING PATH GENERATING SYSTEM 失效
公开(公告)号：JPS6435608A
公开(公告)日：1989-02-06
申请号：JP19137587
申请日：1987-07-30
申请人： FANUC LTD
发明人： SAKAKIBARA SHINSUKE , NAGATSUKA YOSHIHARU
IPC分类号： B25J9/22 , G05B19/4093
摘要： PURPOSE:To generate the shortest operating path being free from waste, irrespective of a kind of a robot machine, by generating a path for making a detour by a designated distance, when a linear path for connecting a start point of an operation of the robot and its end point has an intersection to an obstacle. CONSTITUTION:First of all, a robot operation start point Ps and its end point Pe are inputted and a straight line PsPe goes to a robot path. When the path PsPe has an intersection to an obstacle 1 being approximate to a rectangular parallelopiped, a processor 11 derives the first intersection A, and derives a cross line Lx which has crossed the surface being parallel to one face H and an X-Y plane containing the intersection A, for constituting the rectangular parallelopiped having the intersection A. Subsequently, in two points B1, B2 for crossing the cross line Lx and edges of both sides of the rectangular parallelopiped, the point B1 being near the end point Pe is selected, a point C separated by a designated distance alpha along the cross line Lx to the outside of the rectangular parallelopiped from the point B1 is derived, the point C is stored as a point on the next operating path of the start point Ps, the point C on the operating path is set as C Ps, a processing work from a new operation start point Ps is repeated, and by using a path for connecting successively the points, as the operating path, a data is generated.

10. 发明专利

JPS6262364B2 失效
公开(公告)号：JPS6262364B2
公开(公告)日：1987-12-25
申请号：JP14260680
申请日：1980-10-13
申请人： FANUC LTD
发明人： INABA HAJIME , SAKAKIBARA SHINSUKE
IPC分类号： B25J9/16 , B25J9/10 , B25J9/18 , G05B19/23 , G05B19/42 , G05D3/12

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