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71. 发明申请

WO1991019235A1 SYSTEM FOR CONTROLLING COMPLIANCE 审中-公开
标题翻译：控制合规体系
公开(公告)号：WO1991019235A1
公开(公告)日：1991-12-12
申请号：PCT/JP1991000751
申请日：1991-05-31
申请人： FANUC LTD , TORII, Nobutoshi , NIHEI, Ryo , KATO, Tetsuaki
发明人： FANUC LTD
IPC分类号： G05B13/02
CPC分类号： G05B13/0255 , B25J9/1646
摘要： A system for controlling the compliance of a servo control system. The servo control system is controlled in a sliding mode (SP1, SP2, SP3), and a changing over surface (Suf) of the sliding mode control according to the deviations of the position, the velocity and the force (SP4, SP5, SP6, SP7). Thereby a servo control system whose compliance can be arbitrarily set is formed (SP8, SP9). A desired compliance is always obtained by performing the sliding mode control even if parameters of a controlled system change.

72. 发明申请

WO1991005296A1 SLIDING MODE CONTROL METHOD 审中-公开
标题翻译：滑动模式控制方法
公开(公告)号：WO1991005296A1
公开(公告)日：1991-04-18
申请号：PCT/JP1990001187
申请日：1990-09-17
申请人： FANUC LTD , TORII, Nobutoshi , NIGEI, Ryo , KATO, Tetsuaki
发明人： FANUC LTD
IPC分类号： G05D03/12
CPC分类号： G05B19/19 , B25J9/1641 , G05B2219/37356 , G05B2219/39186 , G05B2219/41112 , G05B2219/41251 , G05B2219/41367 , G05B2219/42344 , G05B2219/42352
摘要： This invention relates to a sliding mode control method which can improve a property of a control system to follow up an instruction at the time of change of the operation conditions of a machine and can prevent vibration of the machine which is likely to occur due to the action of spring elements of the machine when the operating conditions change. A processor of a servo circuit calculates a position error (ε) and a speed error (ε) on the basis of an instructed position (Υr) and an actual position (Υ), estimates a twist quantity (εn) and a twist speed (εn) by observer processing and calculates a switch plane (s) (102). The processor calculates each of the first to fourth terms of the switch quantity (T1) in accordance with the positive or negative and position error of the switch plane (s), the second order differentiation of the instructed position and one corresponding positive or negative of twist quantity and twist speed (103 ∩ 129) and then calculates a torque instruction (T) sufficient to converge the switch plane to zero on the basis of the switch quantity obtained by adding these four terms (130, 131). Even when non-linear parameters associated with the spring elements of the machine change, the servo system follows up the change in an excellent way and prevents the vibration of the machine.

73. 发明申请

WO1990013858A1 SLIDING MODE CONTROL METHOD WITH FEEDFORWARD COMPENSATION FUNCTION 审中-公开
标题翻译：具有前馈补偿功能的滑模控制方法
公开(公告)号：WO1990013858A1
公开(公告)日：1990-11-15
申请号：PCT/JP1990000602
申请日：1990-05-11
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 , G05B2219/39178 , G05B2219/39194 , G05B2219/41367 , G05B2219/41426 , G05B2219/41441 , G05B2219/42034 , G05B2219/42352
摘要： A sliding mode control method with feedforward compensation function which realizes control response adapted to varying system parameters and which always normalizes the operation quantity added to the control object. Position deviation (ε), speed deviation (ε), estimated maximum and minimum inertias (Jmax, J0), estimated maximum and minimum gravity loads (GRmax, GRmin), switch-over variable (s), integration element (∫(ε+C.ε)), the second differential (Υr) of an instructed position, and an actual speed (Υ) are periodically calculated based upon the instructed position (Υr), an actual position (Υ), inertia data and gravity load data (100 to 102, 104, 107, 110, 114, 117, 120, 123, 127). Based upon a switch-over quantity (T1) obtained by adding up five terms calculated depending on positive or negative sign of the switch-over variable, position deviation, integration element, second differential and actual speed, a proper torque instruction (T) is periodically calculated as an operation quantity even when nonlinear system parameters such as inertia are changed (105, 106, 108, 109, 111 to 113, 115, 116, 118, 119, 121, 122, 124 to 126, 128 to 131).

74. 发明申请

WO1990013001A1 OPTICAL DISTANCE SENSOR 审中-公开
标题翻译：光学距离传感器
公开(公告)号：WO1990013001A1
公开(公告)日：1990-11-01
申请号：PCT/JP1990000505
申请日：1990-04-18
申请人： FANUC LTD , TORII, Nobutoshi , WAKIO, Hiroshi
发明人： FANUC LTD
IPC分类号： G01C03/06
CPC分类号： G01S17/48 , B23K9/0956 , G01S17/06 , G01S17/89
摘要： An optical distance sensor which is featured by precise measurement and simple constitution is mounted on, for example, the welding torch of an arc-welding robot. The laser beam from a laser (1) scans in a direction perpendicular to the welding line on a work (100) according to the oscillation of a mirror (2). The primary and secondary reflected lights and scattered light, except arcing light interrupted by a filter (5), are received by the light-receiving cells of a light-receiving unit (3) comprising a one-dimensional charge coupled device, via a lens (4). When the light-receiving unit is being scanned, the outputs according to the quantity of the light are successively produced from the light-receiving cells, and data that specifies the light-receiving cells that have produced the outputs whose levels exceed a predetermined one is written in one of memory buffers (12, 13). The output of the light-receiving cell is sent to a peak detecting circuit (18) via an analog switch (17) only when the data indicating that the output of the cell in the previous scanning cycle have been of the predetermined level is read out from the other memory buffer, whereby the sputtering light is removed. On the basis of the outputs of the peak detecting circuit and of the address counter (14), the robot controller (30) determines the light-receiving cell that has generated the peak output, and calculates the distance from a work by the trigonometrical survey method on the basis of the position of the cell and the oscillating angle of the mirror.

75. 发明申请

WO1989006182A1 METHOD OF CONFIRMING THE OPERATION ABILITY OF AN INDUSTRIAL ROBOT AND AN APPARATUS THEREFOR 审中-公开
标题翻译：确认工业机器人及其装置的操作能力的方法
公开(公告)号：WO1989006182A1
公开(公告)日：1989-07-13
申请号：PCT/JP1989000017
申请日：1989-01-09
申请人： FANUC LTD , TORII, Nobutoshi , NIHEI, Ryo , TERADA, Akihiro
发明人： FANUC LTD
IPC分类号： B25J19/02
CPC分类号： G05B19/4062 , G05B2219/35402 , G05B2219/37285 , G05B2219/45083
摘要： In an industrial robot, shafts (, U, W, Z) of joints are driven by electric motors (Mz, M, Mu, Mw, Mz), respectively. The drive currents of the electric motors (Mz, M, Mu, Mw, Mz) for driving the shafts (, U, W, Z) are detected by a motor current detector (30). One of the shafts (, U, W, Z) is selected in the interval between a first time and a second time in the operation programs of the shafts (, U, W, Z), and the current of the motor (Mz, M, Mu, Mw, Mz) for the selected shaft is sampled at very short intervals. The ratio of the rms value of the sampled currents in said first and second times to the rated current of the motor is calculated by operation means (CPU), and the rms value and the ratio of it to the rated current are displayed on a display unit (40), so that the operator is allowed to confirm the proper degree in the operation ability of the robot operation portions (16, 18, 20, 22, 24) inclusive of robot arms.

76. 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。

77. 发明申请

WO1988006510A1 INDUSTRIAL ROBOT APPARATUS 审中-公开
标题翻译：工业机器人设备
公开(公告)号：WO1988006510A1
公开(公告)日：1988-09-07
申请号：PCT/JP1988000190
申请日：1988-02-23
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： B25J13/06 , G05B19/425
摘要： In order to provide an industrial robot which makes it possible to execute teaching instruction with the position of an operator as a reference, an industrial robot mechanism portion (4) is equipped with a teaching instruction panel (1) having operation keys (13) which teach at least the ''back and forth'' and ''right and left'' operations, a control system (3) for inputting the instruction key operation via the teaching instruction panel (1) and driving the industrial robot mechanism portion (4) in response to the input instruction key operation and setting means (2) for setting the operation position of the operator with respect to the industrial robot mechanism portion (4). The control system (3) specifies the ''back and forth'' and ''right and left'' directions of the teaching instruction panel (1) in accordance with the operation position set by the operation position setting means (2), and the teaching operation of the robot mechanism portion (4) is executed on the basis of the specified directions.
摘要翻译：为了提供能够以操作者的位置为基准执行教学指导的工业机器人，工业机器人机构部（4）配备有具有操作键（13）的教学用指示面板（1），其具有操作键教导至少“来回”和“左右”操作，用于通过教学指令面板（1）输入指令键操作并驱动工业机器人机构部分（4）的控制系统（3）），用于设置操作者相对于工业机器人机构部分（4）的操作位置的输入指令键操作和设定装置（2）。控制系统（3）根据由操作位置设定单元（2）设定的操作位置来指定教学用指示面板（1）的“前进”和“左右”方向，基于指定的方向执行机器人机构部分（4）的教导操作。

78. 发明申请

WO1988005714A1 WRIST OF INDUSTRIAL ROBOT 审中-公开
标题翻译：工业机器人手表
公开(公告)号：WO1988005714A1
公开(公告)日：1988-08-11
申请号：PCT/JP1988000062
申请日：1988-01-27
申请人： FANUC LTD , TOYODA, Kenichi , TORII, Nobutoshi , NAITO, Yasuo , OTSUKA, Kazuhisa
发明人： FANUC LTD
IPC分类号： B25J17/02
CPC分类号： B25J17/0283 , B25J9/102
摘要： A wrist structure of an industrial robot, in which a beta speed reducer (3) and an alpha speed reducer (5) are provided at one side portion and a front portion, respectively, of the interior of a wrist (1), an outer rotary shaft (2) in a second arm (10) and an inner rotary shaft (4) therein being connected to the beta speed reducer (3) and alpha speed reducer (5), respectively, via a transmission means, and a robot hand retainer (E) being connected directly to the alpha speed reducer (5). This wrist structure is used for an industrial robot having a coaxial wrist.
摘要翻译：一种工业机器人的手腕结构，其中分别在腕部（1）的内部的一个侧部和前部设置有β减速器（3）和α减速器（5），外部第二臂（10）中的旋转轴（2）和内旋转轴（4）分别经由传动装置和机器人手连接到β减速器（3）和α减速器（5）保持器（E）直接连接到α减速器（5）。该腕部结构用于具有同轴手腕的工业机器人。

79. 发明申请

WO1988004979A1 FIRST ARM STRUCTURE OF HORIZONTALLY ARTICULATED ROBOT 审中-公开
标题翻译：水平机器人的第一臂结构
公开(公告)号：WO1988004979A1
公开(公告)日：1988-07-14
申请号：PCT/JP1987000910
申请日：1987-11-25
申请人： FANUC LTD , TOYODA, Kenichi , TORII, Nobutoshi , NIHEI, Ryo , TERADA, Akihiro
发明人： FANUC LTD
IPC分类号： B25J17/00
CPC分类号： B25J9/042 , B25J19/0004 , Y10T74/20317
摘要： Structure of a first arm (12) of a horizontally articulated robot. A direct driving motor (19), an electromagnetic brake (25) and rotary encoders (34, 36) that are concentric are disposed close to one another between a base portion post (10) supporting the first arm (12) and the first arm (12), and a direct driving motor (39), an electromagnetic brake (45) and rotary encoders (54, 56) that are concentric are disposed close to one another between the first arm (12) and a second arm (14) which is supported rotatably relative to the first arm (12). There is thus provided the compact first arm (12).

80. 发明申请

WO1988002682A1 APPARATUS FOR SETTING THE REVOLVING ZONE OF REVOLVING DRUM OF INDUSTRIAL ROBOT 审中-公开
标题翻译：设置改造工业机器人革新区的装置
公开(公告)号：WO1988002682A1
公开(公告)日：1988-04-21
申请号：PCT/JP1987000782
申请日：1987-10-15
申请人： FANUC LTD , TORII, Nobutoshi , NAITO, Yasuo , OTSUKA, Kazuhisa , KINOSHITA, Satoshi
发明人： FANUC LTD
IPC分类号： B25J19/00
CPC分类号： B25J9/101 , Y10T74/1453 , Y10T74/1494
摘要： The revolving angle zones (A, B) of a revolving drum (12) of an industrial robot can be changed in accordance with a type of work to be done by disposing movable stoppers (18, 20). Furthermore, revolving movement is stopped by electrical means (LS1, LS2, LS3, LS4, LS5) when a stopper (22) fixed to the revolving drum impinges against mechanical stoppers (14, 16, 18, 20) in order to protect a driving motor and a driving mechanism. Proximity switches (PS1, PS2, PS3, PS4) are disposed in order to prevent any accident resulting from the malfunction of the movable stoppers and the like.

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