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1. 发明专利

JP2011000652A Wireless teaching operation panel and robot control system 有权
标题翻译：无线教学操作面板和机器人控制系统
公开(公告)号：JP2011000652A
公开(公告)日：2011-01-06
申请号：JP2009143505
申请日：2009-06-16
申请人： Fanuc Ltd , ファナック株式会社
发明人： HASHIMOTO YOSHIKI , OYA TOMOKI , MOMOTANI HISASHI , TODA SHUNTARO
IPC分类号： B25J9/22 , B25J19/00 , B25J19/06 , G05B19/18 , G05B19/42
摘要： PROBLEM TO BE SOLVED: To easily recognize whether an emergent stop function of a teaching operation panel is valid or invalid.SOLUTION: Communication is carried out between the portable teaching operation panel 20 and a robot controller through a wireless communication means to control a robot in accordance with a command from the teaching operation panel. The teaching operation panel 20 includes a teaching operation panel body 30 and an emergent stop input part 31 to which an emergent stop command to the robot detachably attached to the teaching operation panel 20 is input. In a state that the emergent stop input part 31 is detached, an emergent stop circuit 35 is constantly opened. In this state, the emergent stop function by an operation of the emergent stop input part 31 is invalidated to constantly output an emergent stop signal. Thus, an operator can easily decide whether the emergent stop function of the teaching operation panel 20 is valid or invalid in accordance with the attachment or detachment of the emergent stop input part 31. The attachment of the emergent stop input part 31 is detected by an attachment and detachment detecting part 26. Only when the emergent stop input part 31 is detached, wireless communication can be interrupted.
摘要翻译：要解决的问题：为了容易地识别教学操作面板的紧急停止功能是有效还是无效。解决方案：通过无线通信装置在便携式教学操作面板20和机器人控制器之间进行通信，以控制机器人按照教学操作面板的命令。教学操作面板20包括教导操作面板主体30和紧急停止输入部件31，其中输入了可拆卸地安装在教学操作面板20上的机器人的紧急停止命令。在紧急停止输入部31分离的状态下，紧急停止电路35不断地打开。在该状态下，通过紧急停止输入部31的动作的紧急停止功能无效，不断输出紧急停止信号。因此，操作者可以根据紧急停止输入部31的安装或拆卸，容易地判定教学操作面板20的紧急停止功能是有效还是无效。紧急停止输入部31的安装由附接和拆卸检测部26.只有当紧急停止输入部31分离时，可以中断无线通信。

2. 发明专利

JP2010287730A Heat receiving surface parallel-fin type flat heat dissipation structure 有权
标题翻译：加热表面平行冷却型平面散热结构
公开(公告)号：JP2010287730A
公开(公告)日：2010-12-24
申请号：JP2009140339
申请日：2009-06-11
申请人： Fanuc Ltd , ファナック株式会社
发明人： TAKIGAWA HIROSHI , NODA HIROSHI , HASHIMOTO YOSHIKI , AOYAMA KAZUNARI
IPC分类号： H01L23/36 , H05K7/20
摘要： PROBLEM TO BE SOLVED: To provide a heat sink having a heat receiving surface parallel-fin type flat heat dissipation structure which can be fitted to the principal surface of a printed circuit board.
SOLUTION: The heat receiving surface parallel-fin type flat heat dissipation structure 1 includes one side face of a columnar part 2 as a heat receiving surface 4 opposed to a heat generation body surface 4, and also has plate-like heat dissipating fins 3 parallel to the heat receiving surface 4, and extended in a first direction and in a second direction opposite to the first direction from two side faces of the columnar part 2 different from the heat receiving surface of the columnar part 2 where H≤(W-47)
0.5 /0.6+5 is satisfied providing that 5≤H and 47≤W (unit: mm) where H is the height (mm) of the heat receiving surface parallel-fin type flat heat dissipation structure 1 in the section of the heat receiving surface parallel-fin type flat heat dissipation structure perpendicular to the long-axis direction 30 of the columnar part 2 in a direction perpendicular to the heat receiving surface, and W is the width (mm) of the heat receiving surface parallel-fin type flat heat dissipation structure in a direction parallel to the heat receiving surface.
COPYRIGHT: (C)2011,JPO&INPIT
摘要翻译：要解决的问题：提供一种散热器，该散热器具有可装配到印刷电路板的主表面上的受热面平行翅片型扁平散热结构。解决方案：受热面平行翅片型扁平散热结构1包括作为与发热体表面4相对的受热面4的柱状部分2的一个侧面，并且还具有板状散热与受热面4平行的翅片3，与柱状部分2的不同于柱状部分2的受热面的两个侧面沿第一方向和与第一方向相反的第二方向延伸，其中H≤（ W-47） 0.5 /0.6+5满足5≤H和47≤W（单位：mm），其中H是受热面平行翅片型平面的高度（mm）散热结构1在与受热面垂直的方向上垂直于柱状部分2的长轴方向30的受热面平行鳍式平坦散热结构的部分中，W是宽度（mm ）的受热面平行翅片型平面散热结构在与受热面平行的方向上。版权所有（C）2011，JPO＆INPIT

3. 发明专利

JP2010023183A Self-traveling robot control system 有权
标题翻译：自行车机器人控制系统
公开(公告)号：JP2010023183A
公开(公告)日：2010-02-04
申请号：JP2008187627
申请日：2008-07-18
申请人： Fanuc Ltd , ファナック株式会社
发明人： HASHIMOTO YOSHIKI , OYA TOMOKI , MATSUDAIRA TETSUO
IPC分类号： B25J19/06 , B25J19/00
摘要： PROBLEM TO BE SOLVED: To provide a self-traveling robot control system for a self-traveling robot ensuring safety without always making cable connection. SOLUTION: The self-traveling robot control system 1,000 has a first area 430 allowing trespass of human being and a second area 440 not allowing trespass of human being, and is provided with a self-traveling robot 100; an instruction device 200 capable of giving forced control instruction for forcedly controlling action of the self-traveling robot 100 to the self-traveling robot 100 by cable connection when the self-traveling robot 100 is present at the first area 430; and a connection mechanism 270 for automatically establishing the cable connection of the self-traveling robot 100 and the instruction device 200 when the self-traveling robot 100 is moved from the second area 440 to the first area 430 and automatically disconnecting the cable connection of the self-traveling robot 100 and the instruction device 200 when the self-traveling robot 100 is moved from the first area 430 to the second area 440. COPYRIGHT: (C)2010,JPO&INPIT
摘要翻译：要解决的问题：为自行车机器人提供自行车机器人控制系统，确保安全，而不必总是进行电缆连接。解决方案：自行车机器人控制系统1000具有允许人的侵入的第一区域430和不允许人的侵入的第二区域440，并且设置有自行车机器人100; 当自行车机器人100存在于第一区域430时，指示装置200能够通过电缆连接向自行车机器人100强制控制动作的强制控制指令; 以及连接机构270，用于当自行车机器人100从第二区域440移动到第一区域430时自动建立自行车机器人100和指示装置200的电缆连接，并自动断开自行车机器人100和自行车机器人100从第一区域430移动到第二区域440时的指示装置200.（C）2010，JPO＆INPIT

4. 发明专利

JP2008218597A Controller with built-in controlling electronic apparatus 审中-公开
标题翻译：控制器内置控制电子设备
公开(公告)号：JP2008218597A
公开(公告)日：2008-09-18
申请号：JP2007052245
申请日：2007-03-02
申请人： Fanuc Ltd , ファナック株式会社
发明人： HASHIMOTO YOSHIKI , OYA TOMOKI , KONDO HIROSHI , MATSUDAIRA TETSUO
IPC分类号： H05K7/14 , G05B11/36
摘要： PROBLEM TO BE SOLVED: To easily carry out the maintenance or the replacement of a controlling electronic apparatus by accessing the controlling electronic apparatus in a cabinet from a surface other than the front face thereof, e.g., from the back face.
SOLUTION: This controller (10) including the cabinet (15) equipped with a door capable of opening and closing at the front face (11) thereof comprises a mounting means (20) removably mounted at the periphery of an opening (13) formed at the surface other than the front face of the cabinet from the outside of the cabinet, and the controlling electronic apparatus (30) removably mounted the mounting surface (21) of the mounting means located inside the cabinet and having a cross-section smaller than the opening. The mounting means may be mounted at the periphery of the opening by a hinge so that it can be opened toward the outside of the cabinet.
COPYRIGHT: (C)2008,JPO&INPIT
摘要翻译：要解决的问题：通过例如从背面从其正面以外的表面访问机柜中的控制电子设备，可以容易地进行控制电子设备的维护或更换。解决方案：该控制器（10）包括装备有能够在其正面（11）处打开和关闭的门的机柜（15），其具有可移除地安装在开口（13）的周边的安装装置（20））从机壳的外部在机壳的前表面以外的表面形成，并且控制电子设备（30）可移除地安装位于机柜内部的安装装置的安装表面（21），并且具有横截面比开口小。安装装置可以通过铰链安装在开口的周边处，使得其可以朝向机柜的外部打开。版权所有（C）2008，JPO＆INPIT

5. 发明专利

JP2007233605A Control panel with flexible display 有权
标题翻译：带柔性显示屏的控制面板
公开(公告)号：JP2007233605A
公开(公告)日：2007-09-13
申请号：JP2006053273
申请日：2006-02-28
申请人： Fanuc Ltd , ファナック株式会社
发明人： HASHIMOTO YOSHIKI , OYA TOMOKI , MORITA SATORU , MATSUDAIRA TETSUO
IPC分类号： G05B19/409 , B25J9/22 , B25J13/06
CPC分类号： H01H9/0214 , H01H2217/022 , H04M1/0268
摘要： PROBLEM TO BE SOLVED: To provide a control panel which can be further miniaturized while maintaining operation key and display functions equivalent to conventional ones.
SOLUTION: The control panel 10 comprises a flexible display 12, a plurality of operation keys 14 and a storage part 16 capable of storing the flexible display 12 in a rolled state. The flexible display 12 can be pulled out of the storage part 16 to a second position covering a third operation key 14c in a second operation mode not using the third operation key 14c for further extending an image display area.
COPYRIGHT: (C)2007,JPO&INPIT
摘要翻译：要解决的问题：提供一种可以进一步小型化的控制面板，同时保持与常规操作相同的操作键和显示功能。解决方案：控制面板10包括柔性显示器12，多个操作键14和能够将柔性显示器12存储在滚动状态的存储部分16。柔性显示器12可以在不使用第三操作键14c的第二操作模式中从存储部分16拉出到覆盖第三操作键14c的第二位置，用于进一步延伸图像显示区域。版权所有（C）2007，JPO＆INPIT

6. 发明专利

JP2007181885A Robot control device 有权
标题翻译：机器人控制装置
公开(公告)号：JP2007181885A
公开(公告)日：2007-07-19
申请号：JP2006000129
申请日：2006-01-04
申请人： Fanuc Ltd , ファナック株式会社
发明人： HASHIMOTO YOSHIKI , KUBO YOSHIYUKI , KAYANO NOBUO , TANABE YOSHIKIYO
IPC分类号： B25J19/06 , G05B19/18 , H02M7/12 , H02M7/48
CPC分类号： H01H47/002 , H01H2231/04
摘要： PROBLEM TO BE SOLVED: To provide an inexpensive and high-safety robot control device, detecting failure in power supply connection or a shut-down circuit. SOLUTION: This robot control device generates an excitation/non-excitation command from a processor 51 to a charging relay KA1 and a main circuit connecting electromagnetic contact device KM1 disposed in a servo power supply connecting or interrupting circuit 50 connected to a servo amplifier 52 for supplying power to a robot and the processor 51 for controlling the action of the robot, and monitors the opening and closing state of the respective contacts of the charging relay KA1 and the main circuit connecting electromagnetic contact device KM1 by the processor 51 to check whether or not failure occurs in the power supply connecting or interrupting circuit 50 by detecting whether or not the respective contacts open or close according to the command. COPYRIGHT: (C)2007,JPO&INPIT
摘要翻译：要解决的问题：提供廉价和高安全性的机器人控制装置，检测电源连接或停机电路中的故障。解决方案：该机器人控制装置从处理器51产生激励/非激励命令到充电继电器KA1，以及连接到伺服电源连接或中断电路50中的电磁接触装置KM1的主电路连接到伺服用于向机器人供电的放大器52和用于控制机器人的动作的处理器51，并且通过处理器51监视充电继电器KA1和连接电磁接触装置KM1的主电路的各个触点的打开和关闭状态通过根据该命令检测相应的触点是打开还是闭合来检查电源连接或中断电路50是否发生故障。版权所有（C）2007，JPO＆INPIT

7. 发明专利

JP2006105782A Measurement device by robot vision and robot controlling method 有权
标题翻译：机器人视觉和机器人控制方法的测量装置
公开(公告)号：JP2006105782A
公开(公告)日：2006-04-20
申请号：JP2004292829
申请日：2004-10-05
申请人： Fanuc Ltd , ファナック株式会社
发明人： HASHIMOTO YOSHIKI , ENOMOTO MINORU
IPC分类号： G01B11/00 , B25J13/08 , G05B19/19
CPC分类号： B25J9/1697
摘要： PROBLEM TO BE SOLVED: To improve working efficiency when an imaging part of a visual sensor is changed by a plurality of robots so as to be used.
SOLUTION: An imaging instruction is wirelessly transmitted from a portable operational part 40 to the imaging part 4 via a robot controller 11, a network circuit 30, and a transceiver 6, and a measurement object 50 is imaged. The image data are wirelessly transmitted to the transceiver 6 and processed by an image processor 21 in the robot controller 11 via the network circuit 30. The three-dimensional positions of P1-P3 are measured, and the three-dimensional relative positional posture of the measurement object 50 with respect to the robot 1 can be obtained. The imaging part 4 is changed onto the robots 2 and 3 to perform similar measurement for each corresponding measurement object. The cable removing/connecting work is reduced, utilizing the network circuit 30 and the radio. The image processor may be disposed outside the robot controller and incorporated into the network.
COPYRIGHT: (C)2006,JPO&NCIPI
摘要翻译：要解决的问题：当通过多个机器人改变视觉传感器的成像部分以便使用时，提高工作效率。
解决方案：成像指令通过机器人控制器11，网络电路30和收发器6从便携式操作部件40无线传输到成像部件4，成像测量对象50。图像数据被无线发送到收发器6，并经由网络电路30由机器人控制器11中的图像处理器21进行处理。测量P1-P3的三维位置，并且测量三维相对位置姿势可以获得关于机器人1的测量对象50。将成像部件4改变为机器人2和3，以对每个相应的测量对象进行类似的测量。利用网络电路30和无线电来减少电缆去除/连接工作。图像处理器可以设置在机器人控制器的外部并且并入到网络中。版权所有（C）2006，JPO＆NCIPI

8. 发明专利

JP2005165755A Emergency stop circuit 有权
标题翻译：紧急停止电路
公开(公告)号：JP2005165755A
公开(公告)日：2005-06-23
申请号：JP2003404801
申请日：2003-12-03
申请人： Fanuc Ltd , ファナック株式会社
发明人： HASHIMOTO YOSHIKI , KAYANO NOBUO , TANABE YOSHIKIYO , YUYAMA MAKINE
IPC分类号： B25J19/06 , F16P3/16 , G05B19/18 , H01H47/00
CPC分类号： H01H47/004
摘要： PROBLEM TO BE SOLVED: To obtain a reliable emergency stop circuit at low costs.
SOLUTION: Two of emergency stop lines A and B are provided. Current conduction to contactors Ca and Cb is removed by contacts r1a, r1b, r3a, r2a, r2b, and r3b opened by reference transmitted from emergency stop factors 14 and 15, and CPUs 10a and 10b. Contacts ca1 to ca3, and cb1 to cb3 of the contactors are opened, and power supply to a motor 12 is blocked so as to fall into emergency stop. The CPUs of respective lines A and B transmitted an error signals to other CPU when the state of contacts is not normal on the self emergency stop line detected with digital input DI. The other CPU makes the contact on the self emergency stop line open, and stops power supply to the motor by making the contactor in a non-magnetized state. Both of hardware and software doubly transmit emergency stop orders, and stop the motor. Further, the contactor in other line is set to be at a non-magnetized state instead of an error detecting side of the line, and it is surely at an emergency stop.
COPYRIGHT: (C)2005,JPO&NCIPI
摘要翻译：要解决的问题：以低成本获得可靠的紧急停机电路。解决方案：提供两条紧急停止线A和B。通过从紧急停止因子14和15以及CPU 10a和10b发送的参考打开的触点r1a，r1b，r3a，r2a，r2b和r3b来去除对接触器Ca和Cb的电流传导。接触器的ca1〜ca3和cb1〜cb3的接点被打开，电动机12的供电被阻塞，从而进入急停状态。当用数字输入DI检测到的自紧急停止线上的接点状态不正常时，各行A和B的CPU将错误信号发送到其他CPU。另一个CPU使自紧急停止线路上的接点打开，并使接触器处于非磁化状态，停止对电机的供电。硬件和软件双重传送紧急停止命令，并停止电机。此外，其他线路中的接触器被设定为处于非磁化状态而不是线路的错误检测侧，并且确实处于紧急停止状态。版权所有（C）2005，JPO＆NCIPI

9. 发明专利

JP2004237416A Emergency stop circuit 有权
公开(公告)号：JP2004237416A
公开(公告)日：2004-08-26
申请号：JP2003031249
申请日：2003-02-07
申请人： Fanuc Ltd , ファナック株式会社
发明人： HASHIMOTO YOSHIKI , TANABE YOSHIKIYO
IPC分类号： B25J19/06 , F16P7/02 , G05B19/18
摘要： PROBLEM TO BE SOLVED: To improve reliability of an emergency stop circuit for a long-term use by simplifying a duplex emergency stop circuit employed in an automatic machine.
SOLUTION: When an emergency stop signal is input, relays KA1, KA2 become (OFF, OFF), and emergency stop lines 1, 2 are both opened, and an output contact is opened. When the emergency stop signal is released, a condenser is charged. When a reset is input, electric current is supplied to coils of the relays KA1, KA2, and monitor contacts KA1-2, KA2-2 are opened. However, excitation for the coils of the relays KA1, KA2 is maintained by the discharge current from the condenser, and self-holding contacts KA1-1, KA2-1 are closed and the output contact is closed. For example, if the normally open contact KA1-1 is welded, relays KA1, KA2 become (ON, OFF) when the emergency stop signal is released, and the trouble becomes clear. Instead of the relays KA1, KA2, for example, a 24 V drive type electromagnetic contactor may be used.
COPYRIGHT: (C)2004,JPO&NCIPI

10. 发明专利

JP2011108044A Robot controller which simultaneously controls n robots 审中-公开
标题翻译：机器人控制器，同时控制N机器人
公开(公告)号：JP2011108044A
公开(公告)日：2011-06-02
申请号：JP2009263299
申请日：2009-11-18
申请人： Fanuc Ltd , ファナック株式会社
发明人： TANABE YOSHIKIYO , KAYANO NOBUO , HASHIMOTO YOSHIKI
IPC分类号： G05B19/414 , B25J13/06 , H02P5/68 , H02P5/74
CPC分类号： B25J9/1682 , G05B2219/33226 , G05B2219/39146
摘要： PROBLEM TO BE SOLVED: To provide a low-cost and compact controller for easily adding and deleting a robot. SOLUTION: The robot controller for simultaneously controlling N (N≥2) robots (R1 to Rn) is equipped with a main control unit (MCU). In this case, the main control unit includes a main processor (MP) for creating operation commands for the N robots, and a servo processor (SP) for calculating the operation amount for servo motors driving the robots based on the operation commands created by the main processor. Furthermore, servo amplifiers (SA1 to SAn) are included which are equipped with N amplifier units (AU1 to AUn) connected to a main control unit and driving the servo motor for one of the N robots based on the operation amount of the servo motor calculated by the servo processor. COPYRIGHT: (C)2011,JPO&INPIT
摘要翻译：要解决的问题：提供一种便于添加和删除机器人的低成本且紧凑的控制器。
解决方案：同时控制N（N≥2）机器人（R1至Rn）的机器人控制器配有主控单元（MCU）。在这种情况下，主控制单元包括：用于为N个机器人创建操作命令的主处理器（MP）;以及伺服处理器（SP），用于根据由该机器人创建的操作命令来计算驱动机器人的伺服电动机的操作量主处理器此外，还包括配备有与主控制单元连接的N个放大器单元（AU1〜AUn）的伺服放大器（SA1〜SAn），并且基于计算出的伺服电动机的操作量来驱动N个机器人中的一个的伺服电动机由伺服处理器。版权所有（C）2011，JPO＆INPIT

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