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41. 发明申请

WO1990004487A1 ARTICULATED ROBOT FOR LASER WORK 审中-公开
标题翻译：用于激光工作的机器人
公开(公告)号：WO1990004487A1
公开(公告)日：1990-05-03
申请号：PCT/JP1989001065
申请日：1989-10-17
申请人： FANUC LTD , TORII, Nobutoshi , ITO, Susumu , TERADA Akihiro , SASAKI, Yasuo
发明人： FANUC LTD
IPC分类号： B23K26/08
CPC分类号： B23K26/0884 , B25J17/0283 , B25J18/04 , B25J19/0037
摘要： This invention relates to an articulated robot for a laser work which emits a laser beam to a desired position inside a three-dimensional space. The robot includes a robot turning drum (14) fitted to a robot base (12), a first hollow robot arm (16) fitted to the top of the robot turning drum (14) in such a manner as to be capable of rocking, a second hollow robot arm (18) fitted to the tip of the first hollow robot arm (16) in such a manner as to be capable of rocking and rotating around the center axis, and a robot wrist (20) equipped with a condensing unit (22) having a laser emission port (22a) and fitted to the tip of the second hollow robot arm (18). The robot wrist (20) can rotate the condensing unit (22) around one axis orthogonal to the laser emitting direction by converting first and second rotation inputs transmitted through first and second hollow rotation drive shafts (30a, 30b) disposed on the second hollow robot arm (18) by a transmission mechanism and can move back and forth the condensing unit (22) in the laser emitting direction.

42. 发明申请

WO1990001403A1 HORIZONTAL ARTICULATED ROBOT 审中-公开
标题翻译：水平机器人
公开(公告)号：WO1990001403A1
公开(公告)日：1990-02-22
申请号：PCT/JP1989000820
申请日：1989-08-11
申请人： FANUC LTD , TORII, Nobutoshi , ITO, Susumu , HAMURA, Masayuki , TANAKA, Akira
发明人： FANUC LTD
IPC分类号： B25J09/02
CPC分类号： B25J9/042 , B25J9/02 , B25J9/102 , B25J18/02 , Y10T74/18648 , Y10T74/20317 , Y10T403/32155 , Y10T403/7015
摘要： A light, miniaturized horizontal articulated robot capable of being moved in a large space, and fabricated, assembled, maintained and transported at reduced costs. A ball screw (21) in a direct-acting actuator (100) is supported rotatably at its upper end on an upper plate of a column (10), and connected at its lower end to a driving unit (40) provided on a base plate of the column. A first link (220) is connected pivotably to a connecting member (210) of a manipulator (200) fixed to a slider (30) in the actuator, and a second link (240) to the first link. The ball screw is turned by the driving unit to move the manipulator with the slider along the ball screw, and a servomotor (230, 250) for the manipulator is driven to turn the two links in a horizontal plane, whereby robot work is carried out as wrist of the robot is positioned in a robot-provided space. Since a base on which the actuator is supported pivotably is not required, the robot can be made smaller in dimension and weight at a lower cost, and the space of movement of the robot becomes large owing to the low downward movement limit position of the manipulator.

43. 发明申请

WO1988010178A1 METHOD AND APPARATUS FOR DIRECTLY TEACHING HORIZONTAL ARM-TYPE MULTI-ARTICULATED ROBOT 审中-公开
标题翻译：用于直接教学水平ARM型多机器人的方法和装置
公开(公告)号：WO1988010178A1
公开(公告)日：1988-12-29
申请号：PCT/JP1988000610
申请日：1988-06-20
申请人： FANUC LTD , TOYODA, Kenichi , TORII, Nobutoshi , NIHEI, Ryo , TERADA, Akihiro
发明人： FANUC LTD
IPC分类号： B25J09/22
CPC分类号： B25J9/044 , B25J9/042 , B25J9/12 , G05B19/423 , G05B2219/36422 , G05B2219/36429
摘要： An industrial multi-articulated robot includes articulated horizontal arms (16, 18) and a motor provided at the arm end. When the operator directly gives a command to move a shaft (20) up or down by means of the motor, a signal path from a robot control unit (RC) is disconnected fromm a current control unit (56) of a unit (50) for controlling the motor that drives the verically moving shaft. The control unit (56) is connected instead to a torque calculation circuit (78) for determining the motor drive torque that meets the sum of the weight of the vertically moving shaft (20) and the weight of a gripper (40) at the lower end of the shaft (20) and varying weight of the work (W), in order to compensate for the load torque related to the vertically moving shaft (20) by the drive motor (30), so that the operator can teach the operation instructions under substantially non-load condition.

44. 发明申请

WO1988005362A1 METHOD OF STARTING ARC-SENSING 审中-公开
标题翻译：启动感光的方法
公开(公告)号：WO1988005362A1
公开(公告)日：1988-07-28
申请号：PCT/JP1988000043
申请日：1988-01-22
申请人： FANUC LTD , TOYODA, Kenichi , MIZUNO, Toru , TORII, Nobutoshi , KANDA, Yuichi , MORIKAWA, Shigehiro
发明人： FANUC LTD
IPC分类号： B23K09/12
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 (T1) 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 (T2) when the arc has been stabilized in the weaving condition. At the third predetermined time (T3) after the deviation is eliminated by the horizontal arc-sensing, vertical arc-sensing is started while simultaneously performing the horizontal arc-sensing to detect and eliminate deviations.

45. 发明申请

WO1988004971A1 CONTROL APPARATUS FOR AUTOMATIC ARC WELDING MACHINES 审中-公开
标题翻译：自动焊接机控制装置
公开(公告)号：WO1988004971A1
公开(公告)日：1988-07-14
申请号：PCT/JP1987000854
申请日：1987-11-05
申请人： FANUC LTD , TOYODA, Kenichi , MIZUNO, Toru , TORII, Nobutoshi , KANDA, Yuichi , MORIKAWA, Shigehiro
发明人： FANUC LTD
IPC分类号： B23K09/12
CPC分类号： B23K9/127
摘要： An arc current is divided into two areas corresponding to 1/4 cycle of weaving, and the sizes of these two areas are compared. That end portion of the larger-sized area which corresponds to a predetermined period of time is subtracted from the larger-sized area, and the sizes of the areas are further compared. The movement of a welding torch is then compensated in accordance with a predetermined correction function. Owing to this method, the arc welding can be done by moving the welding torch accurately along the welding line of a base metal even when an instructed welding line and the welding line of the base metal to be actually welded are out of alignment.

46. 发明申请

WO1988003464A1 ROTARY SHAFT DEVICE FOR INDUSTRIAL ROBOTS 审中-公开
标题翻译：用于工业机器人的旋转轴装置
公开(公告)号：WO1988003464A1
公开(公告)日：1988-05-19
申请号：PCT/JP1987000849
申请日：1987-11-04
申请人： FANUC LTD , TORII, Nobutoshi , OTSUKA, Kazuhisa
发明人： FANUC LTD
IPC分类号： B25J19/00
CPC分类号： B25J17/0241 , B25J19/0075
摘要： In the rotary shaft device for industrial robots, a skirt (3c) is provided so as to extend downward from the outer surface of a member (3) rotatable around an axis , and a collar (7b) opposed to the inner surface of the skirt is projected from a fixed member (2), whereby these two members are set in opposition to each other with a narrow clearance left therebetween, to form a waterproof structure. Therefore, the entry of the dust and water droplets from the outside into the interior of the rotatable shaft can be prevented. This can prevent the corrosion, which is to be caused by the water droplets entering the rotatable shaft, of the inner parts such as a motor.

47. 发明申请

WO1988003463A1 WRIST STRUCTURE OF INDUSTRIAL ROBOT 审中-公开
标题翻译：工业机器人的结构
公开(公告)号：WO1988003463A1
公开(公告)日：1988-05-19
申请号：PCT/JP1987000853
申请日：1987-11-05
申请人： FANUC LTD , TOYODA, Kenichi , TORII, Nobutoshi , ITO, Susumu , SASAKI, Yasuo
发明人： FANUC LTD
IPC分类号： B25J17/02
CPC分类号： B25J17/0258
摘要： Two driving motors (M1, M2) are disposed in such a fashion that their output shafts (52, 78) are in parallel with each other, and a center shaft (66) and a hollow shaft (90) that are disposed in parallel with these output shafts (52, 78) and can rotate concentrically with each other are driven for rotation by the driving motors (M1, M2) so that the fitting portion (76) such as a hand at the tip of the wrist can rotate independently around either of two axes ( alpha , beta ). Thus, the invention can provide a wrist structure of an industrial robot which is compact and can be assembled easily.
摘要翻译：两个驱动马达（M1，M2）以它们的输出轴（52,78）彼此平行的方式设置，并且中心轴（66）和空心轴（90）与这些输出轴（52,78）可以彼此同心地旋转，由驱动马达（M1，M2）驱动旋转，使得诸如手腕顶端的手的配合部分（76）能够独立地围绕两个轴中的任意一个（α，β）。因此，本发明可以提供一种紧凑且易于组装的工业机器人的腕部结构。

48. 发明申请

WO1987007199A1 ROBOT OF HORIZONTAL JOINT TYPE 审中-公开
标题翻译：机器人水平接头类型
公开(公告)号：WO1987007199A1
公开(公告)日：1987-12-03
申请号：PCT/JP1987000321
申请日：1987-05-20
申请人： FANUC LTD , TORII, Nobutoshi , NIHEI, Ryo , TERADA, Akihiro
发明人： FANUC LTD
IPC分类号： B25J09/06
CPC分类号： B25J19/0029 , B25J9/042
摘要： A robot of horizontal joint type has a driving motor (13) at the proximal end of a first arm (4), while the driving force of said driving motor (13) is transmitted to a second shaft (16) located at the distal end of a second arm (7) for mounting a wrist, etc. through a timing belt (15) serving as a first power transmission means, a first shaft (9), and a timing belt (20) serving as a second power transmission means. Accordingly, the robot can be driven by a smaller moment of a force in comparison with that for conventional devices without providing a driving motor (13) to drive a wrist, etc. in the second arm (7).
摘要翻译：水平接头型机器人在第一臂（4）的近端具有驱动马达（13），而驱动马达（13）的驱动力传递到位于远端的第二轴（16）用于通过用作第一动力传递装置的同步皮带（15）安装手腕等的第二臂（7），第一轴（9）和用作第二动力传递装置的同步皮带（20）。因此，与常规装置相比，机器人可以通过较小的力矩驱动，而不需要提供驱动马达（13）来驱动第二臂（7）中的手腕等。

49. 发明申请

WO1987006872A1 ARTICULATE STRUCTURE EQUIPPED WITH A ROTATION DETECTING MECHANISM FOR USE IN AN INDUSTRIAL ROBOT 审中-公开
标题翻译：具有用于工业机器人的旋转检测机构的结构
公开(公告)号：WO1987006872A1
公开(公告)日：1987-11-19
申请号：PCT/JP1987000286
申请日：1987-05-09
申请人： FANUC LTD , TORII, Nobutoshi , NIHEI, Ryo , TERADA, Akihiro
发明人： FANUC LTD
IPC分类号： B25J17/00
CPC分类号： B25J19/021 , B25J17/0241
摘要： An articulate structure which exhibits functions of detecting the rotation and transmitting the output, wherein an articulate (14) that pivotally couples two elements that rotate relative to each other is arranged at an end of an arm (10) of an industrial robot or at a robot wrist and is provided with an optical encoder (40) which detects relative rotation between the two robot elements that rotate relative to each other, and a hollow cylindrical rotor (28) which has a slit plate (50) of the optical encoder (40) is provided at an end thereof with a flange (28b) that couples the two elements which rotate relative to each other.
摘要翻译：一种具有检测旋转和传送输出功能的关节结构，其中枢轴连接两个相对于彼此旋转的元件的铰接件（14）被布置在工业机器人的臂（10）的一端或者在设置有检测相对于彼此旋转的两个机器人元件之间的相对旋转的光学编码器（40），以及具有光学编码器（40）的狭缝板（50）的中空圆柱形转子（28））在其一端处设置有凸缘（28b），凸缘（28b）将相互相对转动的两个元件相连接。

50. 发明申请

WO1987001833A1 ACCELERATION AND DECELERATION CONTROL SYSTEM FOR HORIZONTAL-JOINT ROBOTS 审中-公开
标题翻译：用于水平联动机器人的加速和减速控制系统
公开(公告)号：WO1987001833A1
公开(公告)日：1987-03-26
申请号：PCT/JP1986000468
申请日：1986-09-11
申请人： FANUC LTD , TORII, Nobutoshi , ITO, Surumu , TERADA, Akihiro
发明人： FANUC LTD
IPC分类号： G05B19/407
CPC分类号： G05B19/416 , G05B2219/43061
摘要： In the acceleration and deceleration control system for horizontal-joint robots, the distance between the center of rotation of a horizontal-joint robot (A), which has a plurality of arms (3, 5) adapted to be turned in a horizontal plane, and a reference position, such as the position of a wrist portion (51) at the free end section of the arms (3, 5) is computed to determine appropriate acceleration of a movement of the free end section of the arms (3, 5) on the basis of the results of the computation. Thus the arms (3, 5) can be moved speedily and smoothly by effectively utilizing a servomotor for turning the same.

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