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71. 发明申请

WO1984004269A1 ARTICULATED ARM TYPE OF INDUSTRIAL ROBOT 审中-公开
标题翻译：工业机器人的ARM型
公开(公告)号：WO1984004269A1
公开(公告)日：1984-11-08
申请号：PCT/JP1984000218
申请日：1984-04-27
申请人： FANUC LTD , NAKASHIMA, Seiichiro , TOYODA, Kenichi , TORII, Nobutoshi , NIHEI, Ryo
发明人： FANUC LTD
IPC分类号： B25J09/00
CPC分类号： B25J17/0258 , B25J9/1045 , Y10T74/18832
摘要： An articulated arm type of industrial robot has a movable robot body (11) provided on a base (10). The near end portion of an upper arm (13) provided with both a near end portion and a far end portion is pivotally attached to the robot body (11). A forearm (16) provided with a rear end portion and a front end portion is pivotally attached by a point between its rear and front end portions to the far end portion of the upper arm (13). A wrist device (20) is provided with two movable elements (21, 22) which can move with respect to the front end portion of the forearm (16) around, preferably, different axes. The movable elements (21, 22) of the wrist device (20) are rotated around their axes by wrist drive devices (27, 28), respectively. The wrist drive devices (27, 28) are provided with first sprocket wheels (29, 36), respectively, which are rotatably arranged within the rear end portion of the forearm (16). Drive motors (31, 37) for rotating the first sprocket wheels (29, 36), respectively, are provided in the rear end portion of the forearm (16). Second sprocket wheels (33, 39) which are linked to the movable elements (21, 22), respectively, of the wrist device (20) are arranged within the front end portion of the forearm (16). The rotations of the first sprocket wheels (29, 36) are transmitted to the corresponding second sprocket wheels (33, 39) by wound connectors (34, 45), respectively. The wound connectors (34, 45) are constituted by endless assemblies composed of chains (46, 47) and rods (48, 49).

72. 发明申请

WO1984003654A1 APPARATUS FOR CHANGING HAND OF INDUSTRIAL ROBOT 审中-公开
标题翻译：改变工业机器人的手段
公开(公告)号：WO1984003654A1
公开(公告)日：1984-09-27
申请号：PCT/JP1984000118
申请日：1984-03-22
申请人： FANUC LTD , NAKASHIMA, Seiichiro , TORII, Nobutoshi , HAMURA, Masayuki
发明人： FANUC LTD
IPC分类号： B25J15/04
CPC分类号： B25J19/063 , B23Q1/0018 , B23Q1/0063 , B25J15/04
摘要： An apparatus for changing a hand of an industrial robot is provided with a changer body (10) mounted on a robot arm (92) and a changer adapter (50) with a robot hand (74) mounted thereon. The changer body (10) and the changer adapter (50) are constituted by separate parts which are independently detachable. The changer adapter (50), together with the robot hand (74), is clamped to the changer body (10) by the engagement between a plurality of clamp balls provided in the changer body (10) and a ball engagement portion provided on the changer adapter (50). A fluid-actuated piston (20) is provided in the changer body (10) to move the clamp balls between two positions: a clamped position and an unclamped position.

73. 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.

74. 发明申请

WO1992014195A1 OSCILLATION DAMPER 审中-公开
标题翻译：振荡阻尼器
公开(公告)号：WO1992014195A1
公开(公告)日：1992-08-20
申请号：PCT/JP1992000120
申请日：1992-02-06
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： G05B5/01 , G05B13/021 , G05B19/19 , G05B2219/37356 , G05B2219/41367 , G05B2219/45083
摘要： Oscillation is suppressed by a state feedback in which a special filter is applied to the amount of twist and the speed of twist of a control object such as a robot that has a low-frequency oscillation system. The amount of twist ε and the speed of twist ε(1) are estimated by an observer (36), and are fed through elements (38 and 39) to an adder (40) where they are added up together, and the added amount is fed back as a state feedback amount F and is subtracted from a speed instruction Υd. Therefore, a damping term of the transfer function can be independently changed by using a constant K¿1? to suppress the oscillation. Furthermore, an inertia term is independently changed by using a constant K2 to shorten the time for positioning.

75. 发明申请

WO1992008582A1 INDUSTRIAL ROBOT PROVIDED WITH MEANS FOR MOUNTING WORK PIECE ONTO MACHINE TOOL AND REMOVING WORK PIECE THEREFROM 审中-公开
标题翻译：工业机器人提供手动安装工具和机器工具，并删除其中的工作
公开(公告)号：WO1992008582A1
公开(公告)日：1992-05-29
申请号：PCT/JP1991001530
申请日：1991-11-07
申请人： FANUC LTD , TORII, Nobutoshi , NIHEI, Ryo
发明人： FANUC LTD
IPC分类号： B25J09/06
CPC分类号： B25J9/04 , B23Q1/5431 , B23Q7/04 , B23Q7/048
摘要： An industrial robot wherein robot hands (44, 46) for grasping a work piece are movably displaced by rotations between a work handling position for feeding and conveying the work piece to a work catching device (10) of a machine tool and a retracted position separated from the work handling position, a robot hand (42) is rocked in a plane to registrate the work piece with the work catching device (10) of the machine tool at the work handling position, by a rectilinear displacement in which the robot hand (42) is made approach or separated from the work catching device (10) by a pneumatic operation type cylinder (48), the work piece is mounted onto the work catching device (10) or removed therefrom, and a robot body portion (22) can be easily mounted onto a machine frame of the machine tool by use of fixing means such as bolts and screws.

76. 发明申请

WO1992000542A1 METHOD OF CONTROLLING OPERATIONS OF GALVANOMETER FOR SCANNER 审中-公开
标题翻译：控制扫描仪电位计操作的方法
公开(公告)号：WO1992000542A1
公开(公告)日：1992-01-09
申请号：PCT/JP1991000722
申请日：1991-05-28
申请人： FANUC LTD , TORII, Nobutoshi , WAKIO, Hiroshi
发明人： FANUC LTD
IPC分类号： G02B26/10
CPC分类号： B23K9/1274
摘要： A method of controlling the operations of a galvanometer for a scanner for moving sweepingly a laser beam in conjunction with a rocking mirror of an arc sensor for searching a welding line of a welding robot. A memory (43) stores waveform data of a galvanometer driving command current obtained by the combination of a constant speed command current and an acceleration/deceleration command current. An address circuit (42) causes the memory (43) to output the waveform data at predetermined intervals, a D/A converter (44) converts the data into the analogue value on receiving it from the memory (43), and a drive circuit (45) drives the galvanometer (22). The galvanometer (22) rocks the rocking mirror to search the welding line. For a successful search, the galvanometer, in accordance with the waveforms of the galvanometer driving command current, is operated at a constant angular velocity at points other than bent points of deflection angles, or is operated at a constant angular acceleration at the bent points of the deflection angles. Accordingly, deflection angles are accurately controlled over all the operation angles. Furthermore, at bent points, changes in directions of the deflection angles can be performed in very small periods of time. Further, overshoots, which used to occur at the bent points of triangular waveforms, do not occur. As a result, measuring for searching the welding lines by the laser beam scan can be performed most effectively and efficiently.

77. 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.

78. 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.

79. 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).

80. 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.

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