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41. 发明申请

WO1989006180A1 INDUSTRIAL ROBOT CAPABLE OF AUTOMATICALLY CHANGING OPERATING CONDITIONS DEPENDING ON ITS ATTITUDE OF INSTALLATION 审中-公开
标题翻译：工业机器人可根据其安装方式自动更改操作条件
公开(公告)号：WO1989006180A1
公开(公告)日：1989-07-13
申请号：PCT/JP1989000016
申请日：1989-01-09
申请人： FANUC LTD , TORII, Nobutoshi , MIZUNO, Hitoshi , MURAKI, Katsuyuki
发明人： FANUC LTD
IPC分类号： B25J09/16
CPC分类号： G05B19/4083 , G05B19/4063 , G05B19/42 , G05B2219/36513
摘要： In an industrial robot system, movements of a robot (10) is taught and controlled by a robot controller (26). The controller (26) has a storage (30) including an area which contains the data of possible attitudes of the robot with respect to a reference attitude as well as the data of the operating conditions for the possible attitudes. In operation, when the data of the current attitude are input to the robot controller (26), the data of operating conditions corresponding to the input data are read from the first data storage unit (30) and are automatically loaded in a second data storage (32). Operation of the robot body (10) is then controlled depending on the operation conditions in the second data storage (32).

42. 发明申请

WO1986006998A1 APPARATUS FOR SETTING INDUSTRIAL ROBOT IN REFERENCE POSITION 审中-公开
标题翻译：参考位置设置工业机器人的装置
公开(公告)号：WO1986006998A1
公开(公告)日：1986-12-04
申请号：PCT/JP1986000273
申请日：1986-05-30
申请人： FANUC LTD , TORII, Nobutoshi , NIHEI, Ryo , MIZUNO, Hitoshi
发明人： FANUC LTD
IPC分类号： B25J09/10
CPC分类号： B25J9/10 , B25J9/1692
摘要： An apparatus for setting an industrial robot in a reference position is provided with a block to be measured (19) attached to a free end portion (18) of a wrist of the industrial robot, and a measuring support means (23) attached to a fixed base (11) of the robot. The block has three surfaces to be measured (20, 21, 22) which cross one another at right angles, and it is positioned on the free end portion of the wrist so that these three surfaces to be measured take predetermined positions with respect to the same portion of the wrist. The support means has three frames (24, 25, 26) which cross one another at right angles, and it is positioned on the fixed base so that the three frames take predetermined positions with respect to the triaxial rectangular coordinates determined in advance on the basis of the fixed base. The positions of the surfaces to be measured of the block are measured with a plurality of dial gauges (27-32; 37-42) attached to the predetermined portions of the frames. These dial gauges are adapted to display predetermined values when the surfaces to be measured of the block are placed in predetermined positions with respect to the frames of the support means.

43. 发明申请

WO1989001381A1 WEAVING WELDING WITH WELDING ROBOT 审中-公开
标题翻译：焊接机器人焊接
公开(公告)号：WO1989001381A1
公开(公告)日：1989-02-23
申请号：PCT/JP1988000819
申请日：1988-08-18
申请人： FANUC LTD , TOYODA, Kenichi , TORII, Nobutoshi , MORIKAWA, Shigehiro
发明人： FANUC LTD
IPC分类号： B23K09/12
CPC分类号： B23K9/127
摘要： This invention provides a weaving welding method using a welding robot which can weld suitably works having various thicknesses and various kinds of leg lengths using the same weaving pattern. A welding torch is woven in a transverse direction of a groove center line with the groove center (WC) acting as the center of rocking while the welding torch (1) is being moved in its axial direction so that the tip of a wire (3) having a substantially constant projecting length moves in parallel with the wall surface of a work (W). The direction of welding is corrected in accordance with the difference between welding currents (IL, IR) detected when the welding torch is in the left end position (TL) or the right end position (TR) in the direction of weaving or with the difference between the integrated values of the welding currents at the 1/4 period points of the right and left sides, respectively. Since molten metal(s) exists at the welding work position, the effective wire projecting length at the center of the direction of weaving becomes shorter than that at both end portions of said direction and the welding current at the center becomes greater than those at both end portions. As a result, lack of penetration of the wire into the work at the center of the direction of weaving can be avoided and welding of various works can be made.

44. 发明申请

WO1988006509A1 TEACHING INSTRUCTION PANEL FOR INDUSTRIAL ROBOTS 审中-公开
标题翻译：工业机器人教学指导小组
公开(公告)号：WO1988006509A1
公开(公告)日：1988-09-07
申请号：PCT/JP1988000167
申请日：1988-02-18
申请人： FANUC LTD , TOYODA, Kenichi , TORII, Nobutoshi , ITO, Susumu , NIHEI, Ryo , ITO, Takayuki
发明人： FANUC LTD
IPC分类号： B25J09/22
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：工业机器人培训指导操纵杆，既可左右使用者左右使用，又可根据使用方式进行换档操作。操纵杆包括用于教导机器人应该执行的动作的一组键（13）以及位于操纵杆的前上部两端的两个定位键（11,12）。这些定位键中的至少一个的致动的有效性被预先记录在控制单元中。通过组合致动的定位键和上述组的键，可以向机器人教授不同的动作。

45. 发明申请

WO1988006078A1 TEACHING INSTRUCTION PANEL FOR INDUSTRIAL ROBOTS 审中-公开
标题翻译：工业机器人教学面板
公开(公告)号：WO1988006078A1
公开(公告)日：1988-08-25
申请号：PCT/JP1988000096
申请日：1988-02-03
申请人： FANUC LTD , TOYODA, Kenichi , TORII, Nobutoshi , ITO, Susumu , TANAKA, Akira
发明人： FANUC LTD
IPC分类号： B25J09/22
CPC分类号： B25J13/02 , H01H3/122 , H01H9/0214 , H01H2300/026
摘要： A robot instruction panel capable of being held easily by hand, hardly fatiguing the holder's hand, and provided with a deadman's switch operated reliably at all times. A push-plate (9) of the deadman's switch having an elliptic recess (91) is provided on that portion of the rear surface of the instruction panel which the finger tips contact simultaneously when the instruction panel is gripped from a side portion thereof. This instruction panel is used for various types of electrically operated industrial robots.

46. 发明申请

WO1986000727A1 SYSTEM FOR SETTING TOOL COORDINATE SYSTEM 审中-公开
标题翻译：用于设置工具坐标系的系统
公开(公告)号：WO1986000727A1
公开(公告)日：1986-01-30
申请号：PCT/JP1985000390
申请日：1985-07-11
申请人： FANUC LTD , NAKASHIMA, Seiichiro , TOYODA, Kenichi , SAKAKIBARA, Shinsuke , KARAKAMA, Tatsuo
发明人： FANUC LTD
IPC分类号： G05B19/18
CPC分类号： B25J9/1692 , G05B2219/36503 , G05B2219/45083
摘要： A system for setting a tool coordinate system, in which the directions$(1,10)$of fundamental axes of the tool coordinate system are brought into agreement with the directions (X, Y, Z) of fundamental axes of a fundamental robot coordinate system with a tool center point (TCP) as an origin, and metric values of operation axes of the robot at this moment are stored in the robot as data for setting the tool coordinate system. The data thus stored are then used for operating the robot. With this invention, setting the tool coordinates, a very complex process in the prior art, can be simplified and executed easily and reliably.

47. 发明申请

WO1985004615A1 CABLE SUPPORT STRUCTURE FOR INDUSTRIAL ROBOTS 审中-公开
标题翻译：工业机器人电缆支撑结构
公开(公告)号：WO1985004615A1
公开(公告)日：1985-10-24
申请号：PCT/JP1985000193
申请日：1985-04-12
申请人： FANUC LTD , NAKASHIMA, Seiichiro , TOYODA, Kenichi , INAGAKI, Shigemi , OTSUKA, Kazuhisa
发明人： FANUC LTD
IPC分类号： B25J19/00
CPC分类号： B25J19/0029 , Y10S414/131
摘要： In this cable support structure, at least one cable (14) introduced into a movable body (13), which is provided so that it can be turned relative to a base body (10) about its axis (X), through the interior of the base body (10), which has a cylindrical inner surface (11) is supported in the interior of the base body of an industrial robot. An inner cylinder (15) is provided coaxially in the base body and fixed to the movable body (13). The inner cylinder and base body define an annular space therebetween. Each of resilient belt-like plates (19, 20) is fixed at its one end (21, 30) to the inner surface of the inner surface of the base body, and at the other end (22, 31) thereof to an outer cylindrical surface (16) of the inner cylinder. The plates are bent arcuately at their arbitrary portions so that one side surface of one plate is opposed to that of the other. The plates are pressed against the inner surface of the base body and the outer surface of the inner cylinder due to their own resilient force in an arbitrary position of pivotal movement of the movable body. A plurality of cable holders (25, 32) are provided on one side surface of the plates (19, 20) so that the cable holders are spaced from one another along the longitudinal direction of the plates, the cable holders supporting the cables.

48. 发明申请

WO1985003784A1 CONSTANT SPEED CONTROL METHOD 审中-公开
标题翻译：恒速控制方法
公开(公告)号：WO1985003784A1
公开(公告)日：1985-08-29
申请号：PCT/JP1985000067
申请日：1985-02-19
申请人： FANUC LTD , NAKASHIMA, Seiichiro , TOYODA, Kenichi , SAKAKIBARA, Shinsuke , ISHIKAWA, Haruyuki
发明人： FANUC LTD
IPC分类号： G05B19/407
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.

49. 发明申请

WO1984004162A1 METHOD OF DETECTING ABSOLUTE POSITION OF SERVO CONTROL SYSTEM 审中-公开
标题翻译：伺服控制系统绝对位置检测方法
公开(公告)号：WO1984004162A1
公开(公告)日：1984-10-25
申请号：PCT/JP1984000185
申请日：1984-04-11
申请人： FANUC LTD , NAKASHIMA, Seiichiro , TOYODA, Kenichi , SAKAKIBARA, Shinsuke
发明人： FANUC LTD
IPC分类号： G01D05/245
CPC分类号： G05B19/4062 , G01B7/003 , G01D3/08 , G01D5/2458 , G05B19/39
摘要： In a method of detecting the absolute position of a servo control system which is controlled according to, for example, a numerical control program, the absolute position of an operating shaft is detected with a high accuracy from an output corresponding to a predetermined rotational ratio between a resolver (106) and an absolute encoder (110) which rotate together with a servo motor (105), making it possible to rapidly stabilize any change of the absolute position of the operating shaft occurring when the servo control system is in an abnormal state.
摘要翻译：在例如通过数字控制程序控制的伺服系统的绝对位置的检测方法中，驱动轴的绝对位置以高精度从输出信号对应于与伺服电动机（105）一起旋转的旋转变压器（106）和绝对编码器（110）之间的预定旋转比，从而快速地稳定当伺服系统处于异常状态时发生的驱动轴。

50. 发明申请

WO1989000305A1 METHOD OF OPTIMIZING OPERATION OF ARTICULATED INDUSTRIAL ROBOT 审中-公开
标题翻译：优化工业机器人操作的方法
公开(公告)号：WO1989000305A1
公开(公告)日：1989-01-12
申请号：PCT/JP1988000656
申请日：1988-06-30
申请人： FANUC LTD , TOYODA, Kenichi , TORII, Nobutoshi , NIHEI, Ryo , YASUMURA, Mitsuhiro
发明人： FANUC LTD
IPC分类号： G05B19/407
CPC分类号： G05B19/4181 , B25J9/161 , Y02P90/06
摘要： A method of optimizing the operation of an articulated industrial robot (10) having many moving parts (14, 16, 18, 20) that are articulated together. When programmed control is employed to drive the moving parts by their corresponding motors to move an end effector (22) from one position to another position, the speed condition and time constant during the operation of the moving parts (14 to 20) are not maintained constant but are allowed to vary by taking the torque interference into consideration. The optimum speed condition and time constant are calculated by a robot control unit (30), and the operation instruction is issued to the drive motor system of each of the moving parts (14 to 20) based upon the calculated values.
摘要翻译：一种优化具有铰接在一起的许多运动部件（14,16,18,20）的关节式工业机器人（10）的操作的方法。当使用编程控制来通过其相应的电动机驱动运动部件以将末端执行器（22）从一个位置移动到另一个位置时，运动部件（14至20）的运行期间的速度状态和时间常数不被维持但是通过考虑转矩干扰而允许变化。通过机器人控制单元（30）计算最佳速度条件和时间常数，并且基于计算值向每个运动部件（14至20）的驱动马达系统发出操作指令。

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