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91. 发明申请

WO1992018293A1 ARTICULATED MANIPULATOR HAVING SEVEN DEGREES OF FREEDOM OF MOTION 审中-公开
标题翻译：具有运动自由度的七个程序的控制器
公开(公告)号：WO1992018293A1
公开(公告)日：1992-10-29
申请号：PCT/JP1992000484
申请日：1992-04-16
申请人： FANUC LTD , TORII, Nobutoshi , NIHEI, Ryo , TAKIZAWA, Katsutoshi
发明人： FANUC LTD
IPC分类号： B25J09/06
CPC分类号： B25J9/06
摘要： An articulated manipulator having seven degrees of freedom of motion which comprises a shoulder portion (14) supported on a proximal portion (12), an upper arm portion (16) coupled to the shoulder portion, an elbow portion (18), a forearm portion (20), and a wrist portion (22), wherein the shoulder portion (14) is provided with three shoulder joints (R1, R2, P3, or P1, R2, R3), wherein the wrist portion (22) is provided with three wrist joints (R5, P6, R7; P5, R6, R7; R5, R6, P7), wherein the shoulder portion is constituted by three shoulder link elements including at least one crank-shaped link element, wherein the wrist portion (22) is also constituted by three link elements, wherein the axes (a1 to a3) of motion of the joints of at least the shoulder portion (14) intersect with each other at one point, and wherein the axes (a5 to a7) of motions of the joints of the wrist portion (22) preferably intersect with each other at one point.
摘要翻译：具有七个运动自由度的关节运动器，其包括支撑在近侧部分（12）上的肩部（14），联接到所述肩部的上臂部分（16），肘部（18），前臂部分（20）和手腕部（22），其中所述肩部（14）设置有三个肩关节（R1，R2，P3或P1，R2，R3），其中所述腕部（22）设置有三个腕关节（R5，P6，R7; P5，R6，R7; R5，R6，P7），其中肩部由包括至少一个曲柄形连接元件的三个肩部连接元件构成，其中腕部）也由三个连接元件构成，其中至少所述肩部（14）的关节的运动轴线（a1〜a3）在一点相互交叉，并且其中运动的轴线（a5〜a7）手腕部分（22）的关节优选地在一个点处彼此相交。

92. 发明申请

WO1992001537A1 DENSELY DISPOSED ROBOT 审中-公开
标题翻译： DENSELY DISPOOSO机器人
公开(公告)号：WO1992001537A1
公开(公告)日：1992-02-06
申请号：PCT/JP1991000974
申请日：1991-07-18
申请人： FANUC LTD , TORII, Nobutoshi , OTSUKA, Kazuhisa , UEDA, Kunio
发明人： FANUC LTD
IPC分类号： B25J09/06
CPC分类号： B25J9/02 , Y10T74/20305
摘要： A densely disposed robot to be arranged side by side with the others with respect to an object to be worked, and capable of operating simultaneously with the others. A wrist (30) of the robot is provided with three rotating axes (α, β, and η) and a robot arm (26) having the wrist (30) at the tip thereof is provided with one rotating axis Υ. A braket-like supporting part (24) for supporting said robot arm (26) is provided movably in the vertical (V) and linear (FR) directions. Thus, a three-dimensional work-space envelope of a large rectangular prism is ensured and no wasteful work-space is provided.

93. 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).

94. 发明申请

WO1991018717A1 ACCELERATION/DECELERATION TIME CONSTANT CONTROL SYSTEM OF ROBOT 审中-公开
标题翻译：机器人加速/减速时间恒定控制系统
公开(公告)号：WO1991018717A1
公开(公告)日：1991-12-12
申请号：PCT/JP1991000645
申请日：1991-05-15
申请人： FANUC LTD , TORII, Nobutoshi , NIHEI, Ryo , NAITO, Yasuo , KATO, Tetsuaki , KINOSHITA, Satoshi
发明人： FANUC LTD
IPC分类号： B25J09/10
CPC分类号： G05B19/416 , B25J9/1651 , G05B2219/37391 , G05B2219/43009 , G05B2219/43023 , G05B2219/43046 , G05B2219/43059 , G05B2219/43099
摘要： An acceleration/deceleration time constant control system of a robot for controlling the operations of the robot while setting the acceleration/deceleration time constant of a servomotor to an optimal value for each block. An arrival speed is determined from a travelling amount of a block (S1-S4). An output torque (Tmax) of the servomotor is determined from this arrival speed (S5), and a static load torque (Twn) is substracted from this output torque (Tmax) to obtain an acceleration torque (Tan) (S6). An acceleration (an) is obtained from this acceleration torque (Tan) and a load inertia of the servomotor (S7), and an acceleration/deceleration time constant (τ) is determined from this acceleration (an) (S8). With this operation, an optimal acceleration/deceleration time constant can be determined.

95. 发明申请

WO1991003780A1 METHOD OF CONTROLLING ROBOT 审中-公开
标题翻译：控制机器人的方法
公开(公告)号：WO1991003780A1
公开(公告)日：1991-03-21
申请号：PCT/JP1990001130
申请日：1990-09-04
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： B25J9/1646 , G05B19/19 , G05B2219/39195 , G05B2219/41112 , G05B2219/41251 , G05B2219/41367 , G05B2219/42352 , G05D19/02
摘要： A method of controlling a robot, by which the robot can be prevented from causing vibration arising from low rigidity thereof. A processor in a digital servo circuit cyclically performing loop processing of position, speed, and electric current computes an amount (ε) and speed (ε) of distorsion on the output side of a reduction gear corresponding to the rotational position and rotational speed on the input side of the reduction gear, respectively, after executing observer processing on the basis of a speed instruction computed by speed loop processing and a torque instruction computed by the speed loop processing in the previous cycle in order to achieve an observer function modeled on the basis of a state equation representing the mechanism of the robot (103). The processor computes a switching surface (s) in a sliding mode expressed by a function of the amount and speed of distorsion (104) and finds a current instruction value by adding a correction torque found by an operation expression selected according to a positive or negative value of the computation to the torque instruction value computed by the speed loop processing (105 ∩ 108). When the motor is driven according to the current instruction value, the amount and speed of distorsion converge to zero, whereby vibration of the tip of the robot mechanism is prevented and the robot can quickly operate.

96. 发明申请

WO1989012531A1 SHAFT SUPPORT STRUCTURE FOR INDUSTRIAL ROBOTS 审中-公开
标题翻译：工业机器人轴支撑结构
公开(公告)号：WO1989012531A1
公开(公告)日：1989-12-28
申请号：PCT/JP1989000619
申请日：1989-06-22
申请人： FANUC LTD , TORII, Nobutoshi , ITO, Susumu , HAMURA, Masayuki , TANAKA, Akira
发明人： FANUC LTD
IPC分类号： B25J09/04
CPC分类号： B25J9/0009 , B25J18/02 , Y10T74/18856 , Y10T74/19181
摘要： A shaft support (10), which supports both end portions of an elongated screw shaft (12) for use in moving a movable element, such as an arm of an industrial robot in a predetermined direction, is fixed to the upper surface of a base plate (14) via a gear box (30) which supports a driving motor (22) and the elongated screw shaft (12), and which contains reduction gears (24) therein, in such a manner that a projected area of the shaft support (10) on a plane perpendicular to the longitudinal direction of the elongated screw shaft (12) is reduced. When the gear box (30) is fixed to the base plate (14), a circular boss (32b), which is provided on the lower surface of the gear box (30) for use in positioning the gear box (30) in the plane of the base plate (14), and a bore (14a) provided in the base plate (14) are used. The vertical positioning of the gear box (30) is done by a positioning member (40) having a predetermined height.

97. 发明申请

WO1989011380A1 FITTING STRUCTURE OF HORIZONTAL MULTIPLE JOINT ROBOT ARMS 审中-公开
标题翻译：水平多重联动机器人的配置结构
公开(公告)号：WO1989011380A1
公开(公告)日：1989-11-30
申请号：PCT/JP1989000498
申请日：1989-05-17
申请人： FANUC LTD , TORII, Nobutoshi , ITO, Susumu , TANAKA, Akira
发明人： FANUC LTD
IPC分类号： B25J09/06
CPC分类号： B25J18/02 , B25J9/0009 , B25J9/042 , Y10T74/20329 , Y10T403/32975 , Y10T403/32983
摘要： This invention relates to a structure for fitting a robot base (1) with a first arm (3) of a horizontal multiple joint type robot. The base (2) of the first arm is fitted rotatably to a slider (6), which is guided linearly in the longitudinal direction of the robot base (1), and the rotation of the slider (6) and the base (2) is restricted by removable fixing means. The present invention is effective for packaging a robot.
摘要翻译：本发明涉及一种用于将机器人基座（1）与水平多关节型机器人的第一臂（3）相配合的结构。第一臂的基部（2）可旋转地安装在沿着机器人基座（1）的纵向被直线引导的滑块（6）上，滑块（6）和基座（2）的旋转，受到可拆卸固定装置的限制。本发明对包装机器人是有效的。

98. 发明申请

WO1989004514A1 MOTOR DRIVING METHOD IN INDUSTRIAL ROBOT 审中-公开
标题翻译：工业机器人电机驱动方法
公开(公告)号：WO1989004514A1
公开(公告)日：1989-05-18
申请号：PCT/JP1988001107
申请日：1988-10-29
申请人： FANUC LTD , TORII, Nobutoshi , NIHEI, Ryo , KIKUCHI, Jun
发明人： FANUC LTD
IPC分类号： G05B19/407
CPC分类号： G05B19/416 , G05B19/4062 , G05B2219/34188 , G05B2219/37344 , G05B2219/42268 , G05B2219/43083 , G05B2219/43203
摘要： This invention provides a motor driving method which can prevent the operation stop of an industrial robot and the occurrence of deviation of a moving orbit from an instructed orbit resulting from the occurrence of an overload of a motor. An output torque instruction value of a motor for each axis of the robot is detected (S1) and when any of the detected values exceeds a predetermined value which is determined in accordance with the maximum one of the ouptut torques of motors for individual axes, a moving instruction value per unit time is reduced for all the axes by use of the product of a coefficient determined in accordance with the torque instruction value thus increased and its differential value and an override value (S3, S6, S14) so as to prevent the occurrence of the overload state of the motor.

99. 发明申请

WO1987001644A1 INDUSTRIAL ROBOT HAVING INTERCHANGEABLE MODULES 审中-公开
标题翻译：具有交换模块的工业机器人
公开(公告)号：WO1987001644A1
公开(公告)日：1987-03-26
申请号：PCT/JP1986000467
申请日：1986-09-11
申请人： FANUC LTD , TORII, Nobutoshi , NIHEI, Ryo
发明人： FANUC LTD
IPC分类号： B25J09/08
CPC分类号： B23Q37/00 , B25J9/042 , B25J9/08 , B25J18/025 , Y10T74/20207 , Y10T74/20317
摘要： In an industrial robot having interchangeable modules assembled on a base (2) provided with a built-in drive mechanism, blocks (1, 3, 4, 5, 9) of the robot are composed of interchangeable members having common structures which can be selected and assembled modularly. The engaging portions of these members are formed to have interchangeability with modules of other specifications. Accordingly, the specifications of the robot can be changed easily with modules having a wide range of effective application. This enables each block constituting an industrial robot to be assembled and disassembled easily.

100. 发明申请

WO1992018920A1 ADAPTIVE PI CONTROL SYSTEM 审中-公开
标题翻译：自适应PI控制系统
公开(公告)号：WO1992018920A1
公开(公告)日：1992-10-29
申请号：PCT/JP1992000478
申请日：1992-04-15
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： G05B19/19 , B25J9/1638 , G05B13/042 , G05B2219/34047 , G05B2219/41367 , G05B2219/42037 , G05B2219/42153 , G05B2219/42155
摘要： An adaptive proportional integration control system for controlling a robot or a machine tool having large load fluctuation. This PI control system includes a speed control loop and a pre-compensator (31) disposed in the speed control loop. The pre-compensator is equivalent to a system formed by coupling a norm model (51) and an inverse system (52) of a servo motor (22), and has adaptability. Since the pre-compensator (31) is disposed in the speed control loop, robust control can be made even when inertia of a load drastically fluctuates.

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