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1. 发明申请

WO1994025907A1 tINK LENGTH DATA ACQUISITION/CORRECTION METHOD AND ROBOT CONTROL METHOD 审中-公开
标题翻译： tink长度数据采集/校正方法和机器人控制方法
公开(公告)号：WO1994025907A1
公开(公告)日：1994-11-10
申请号：PCT/JP1994000654
申请日：1994-04-20
申请人： NIHEI, Ryo , TERADA, Akihiro , SASAKI, Yasuo , HASE, Takahiro
IPC分类号： G05B19/18
CPC分类号： B25J9/1692
摘要： This invention provides a method of acquiring correct link length data and correcting it without using a specific measuring instrument, and a method of controlling a robot by using the link length data acquired and corrected by the method. An articulated robot having link elements L1 to L4 moving in one plane or in parallel planes is operated, and a tool point K2 is positioned to a mastering position and to a plurality of points P1 to P3 set in the periphery of the mastering position. Angle changes a2-a1, a3-a1, b2-b1, b3-b1 of the link elements are measured while the tool point K2 is moved to each of points P1 to P3. A calculation processing program is executed by using the angle change and the position data of the points P1 to P3 so as to obtain the link length data L1 to L4. The link length data which has already been set is corrected to the acquired link length data, and the robot is controlled on the basis of the link length data so corrected.
摘要翻译：本发明提供一种获取正确链路长度数据并且不使用特定测量仪器进行校正的方法，以及通过使用通过该方法获取和校正的链路长度数据来控制机器人的方法。操作具有在一个平面或平行平面中移动的连接元件L1至L4的关节式机器人，并且工具点K2位于母盘控制位置和设置在母盘制作位置的周边的多个点P1至P3。在将工具点K2移动到点P1至P3中的每一个时，测量连接元件的角度变化a2-a1，a3-a1，b2-b1，b3-b1。通过使用点P1至P3的角度变化和位置数据来执行计算处理程序，以获得链接长度数据L1至L4。已经设置的链路长度数据被校正为所获取的链路长度数据，并且基于如此校正的链路长度数据来控制机器人。

2. 发明申请

WO1992001529A1 LASER BEAM GUIDING TUBE IN LASER ROBOT 审中-公开
标题翻译：激光机器人激光光束导管
公开(公告)号：WO1992001529A1
公开(公告)日：1992-02-06
申请号：PCT/JP1991000956
申请日：1991-07-17
申请人： FANUC LTD , TORII, Nobutoshi , Terada, Akihiro , SASAKI, Yasuo
发明人： FANUC LTD
IPC分类号： B23K26/08
CPC分类号： B23K26/0884 , B23K26/02
摘要： A laser beam guiding tube in the laser robot, in which laser beams transmitted from an external laser beam guiding tube is introduced into a robot body (10) through a mirror arranged in the inside of a table (12) on which the robot body (10) stands upright. A mirror cabinet (20) is provided to be capable of being drawn from the table (12) at a fixed position and contains a mirror unit (30) having a mirror for laser beams. In this way, when applying maintenance operation to the mirror contained in the table (12), polishing of the mirror surface or replacement of the mirror can easily be performed by drawing out the mirror cabinet from the table (12).

3. 发明申请

WO1990008621A1 ARTICULATED ARM TYPE INDUSTRIAL LASER ROBOT 审中-公开
标题翻译： ARTICULATED ARM型工业激光机器人
公开(公告)号：WO1990008621A1
公开(公告)日：1990-08-09
申请号：PCT/JP1990000104
申请日：1990-01-29
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 , B25J9/047 , B25J19/0037
摘要： This invention relates to articulated arm type industrial laser robot equipped with at least two robot arms (24:26, 44:46, 82:84) of a joint coupling type that are held by robot base (21, 41, 81) either directly or through a swivel drum (42) and laser beam emission robot wrists (48, 86) held by the foremost tip (46a) of these robot arms (24:26, 44:46, 82:84). This laser robot further includes laser beam passage means (31, 50, 96) having a hollow ball spline shaft (30, 54, 94) and a ball spline nut (28, 52, 92) and extending and contracting between the two robot arms ((24:26, 44:46, 82:84) in accordance with their relative swivel motion so as to guide the laser beam introduced from outside the robot machine body to the robot wrist (48, 86).

4. 发明申请

WO1994015748A1 HEIGHT SENSOR OF LASER ROBOT 审中-公开
标题翻译：激光机器人高度传感器
公开(公告)号：WO1994015748A1
公开(公告)日：1994-07-21
申请号：PCT/JP1994000049
申请日：1994-01-14
申请人： FANUC LTD , NIHEI, Ryo , TERADA, Akihiro , SASAKI, Yasuo , TAKAMATSU, Hiroshi
发明人： FANUC LTD
IPC分类号： B23K26/00
CPC分类号： B23K26/0884 , B23K26/046 , B23K26/048 , B25J19/021
摘要： A height sensor (13) is fitted to a fitting blank (14) in such a manner that it is substantially in close contact with, and parallel with, a laser machining head (9). Three-dimensional distance data between a laser emission port (9a) of the machining head (9) and a measurement edge (13a) of the height sensor (13) is stored in advance in a robot controller (10). A longitudinal distance of a laser machining start point is measured automatically and directly from above on the basis of this distance data, and the longitudinal distance of the laser emission port (9a) of the machining head (9) is corrected. Accordingly, a laser robot of the invention can execute laser machining while measuring highly accurately correction data of the height distance when the machining head is positioned to the laser machining start point.
摘要翻译：高度传感器（13）以与激光加工头（9）基本上紧密接触并平行的方式装配到配件坯料（14）上。加工头（9）的激光发射口（9a）和高度传感器（13）的测量边缘（13a）之间的三维距离数据被预先存储在机器人控制器（10）中。激光加工起始点的纵向距离是根据该距离数据从上方自动和直接测量的，并且校正加工头（9）的激光发射端口（9a）的纵向距离。因此，本发明的激光机器人能够在将加工头位于激光加工起点的高度距离的高精度校正数据进行测量时进行激光加工。

5. 发明申请

WO1993024285A1 SMALL PASS MACHINING APPARATUS 审中-公开
标题翻译：小型加工设备
公开(公告)号：WO1993024285A1
公开(公告)日：1993-12-09
申请号：PCT/JP1993000584
申请日：1993-04-30
申请人： FANUC LTD , NIHEI, Ryo , TERADA, Akihiro , SASAKI, Yasuo
发明人： FANUC LTD
IPC分类号： B25J17/02
CPC分类号： B25J9/107 , Y10T74/20317
摘要： A small pass machining apparatus which is fitted to the distal end of a wrist of a robot and is operated independently of a robot main body. First and second driving units (M1, M2) are fixed to a base (8) with their output shafts in parallel with each other. First and second rotary arms (11, 12) are fitted to output shafts (15, 16) of reduction gears (D1, D2) directly coupled to these driving units (M1, M2) and rotate on a plane orthogonally crossing the output shafts. These rotary arms (11, 12) and links (13, 14) connecting these rotary arms constitute a link mechanism having five joints, for example. A tool (2) is fitted to this link mechanism and the rotating quantities of the first and second rotary arms (11, 12) are detected. In this way, the position of the coordinates of the tool (2) can be computed.
摘要翻译：一种小型加工装置，其安装在机器人手腕的远端，并且独立于机器人主体进行操作。第一和第二驱动单元（M1，M2）固定到基座（8）上，其输出轴彼此平行。第一和第二旋转臂（11,12）装配到直接联接到这些驱动单元（M1，M2）的减速齿轮（D1，D2）的输出轴（15,16）上，并且在与输出轴正交的平面上旋转。这些旋转臂（11,12）和连接这些旋转臂的连杆（13,14）构成例如具有五个关节的连杆机构。工具（2）安装到该连杆机构上，并检测第一和第二旋转臂（11,12）的旋转量。以这种方式，可以计算工具（2）的坐标位置。

6. 发明申请

WO1994013425A1 LASER MACHINING METHOD AND LASER ROBOT FOR EXECUTING THIS METHOD 审中-公开
标题翻译：激光加工方法和激光机器人执行本方法
公开(公告)号：WO1994013425A1
公开(公告)日：1994-06-23
申请号：PCT/JP1993001798
申请日：1993-12-10
申请人： FANUC LTD , NIHEI, Ryo , TERADA, Akihiro , SASAKI, Yasuo
发明人： FANUC LTD
IPC分类号： B23K26/00
CPC分类号： B23K26/0884 , B23K26/02 , G05B19/4166 , G05B2219/43152 , G05B2219/45165 , G05B2219/50117
摘要： In a method for effecting precision laser machining to a work by a laser machining head through additional operation shaft means (8) mounted to a robot body (1) of a multi-joint type laser robot, a required time (A+B) for taking the machining head by rapid feed from an origin point (OR) to a machining start point (E) according to various machining specifications stored in a rewritable storage means and a required time (C) for taking it similarly to the starting point without using rapid feed are calculated and compared with each other by arithmetic means (CPU) provided to a robot controller (10) of the laser robot. Only when the required time (A+B) is shorter than the required time (C), a rapid feed command is given automatically to driving motors (MA, MB) of the additional operation shaft means (8) so that the rapid feed operation of the laser machining head becomes effective to a predetermined laser machining trajectory. In this way, judgement is made automatically and laser machining efficiency can be improved.
摘要翻译：在通过安装到多关节型激光机器人的机器人主体（1）的附加操作轴装置（8）通过激光加工头对工件进行精密激光加工的方法中，需要时间（A + B）用于通过根据存储在可重写存储装置中的各种加工规格的快速进给从原点（OR）到加工起始点（E）的加工头，以及与起始点类似地使用的所需时间（C），而不使用计算快速进给，并通过提供给激光机器人的机器人控制器（10）的算术装置（CPU）相互比较。仅当所需时间（A + B）短于所需时间（C）时，自动给予附加操作轴装置（8）的驱动马达（MA，MB）快速进给命令，使得快速进给操作的激光加工头对于预定的激光加工轨迹变得有效。以这种方式自动进行判断，提高激光加工效率。

7. 发明申请

WO1992013669A1 PIPING ARRANGEMENT FOR WRIST OF LASER ROBOT 审中-公开
标题翻译：激光机器人的管路安排
公开(公告)号：WO1992013669A1
公开(公告)日：1992-08-20
申请号：PCT/JP1992000093
申请日：1992-01-30
申请人： FANUC LTD , TORII, Nobutoshi , TERADA, Akihiro , SASAKI, Yasuo
发明人： FANUC LTD
IPC分类号： B23K26/08
CPC分类号： B23K26/0884
摘要： Annular chambers (84-90) utilizing a plurality of seal means (70-78) are provided on the outer sheath pipe (42) of a wrist (18) of a laser robot, annular chambers (86, 90) are formed to be assist gas transfer chambers and a cooling liquid transfer chamber, such a piping arrangement as to be able to supply and recover the assist gas and the cooling liquid through these annular chambers is adopted, pipings (22, 24, 26, 28) are formed of metal pipe free from damage and provided in close contact with the periphery of the forearm (16) and the wrist (18), other annular chambers (84, 88) are formed to be operating chambers for supplying dust-proof pressure air fed from the side of an inner pipe (44) of the wrist (18) and seal means (70-78) are provided therebetween, so that the annular gas chambers and the annular liquid chambers can be formed to be the annular chambers free from the leakage of gas and liquid.

8. 发明申请

WO1991008858A1 ROBOT EQUIPPED WITH HEAT REMOVING MEANS 审中-公开
标题翻译：机器人配备热卸除装置
公开(公告)号：WO1991008858A1
公开(公告)日：1991-06-27
申请号：PCT/JP1990001627
申请日：1990-12-12
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 , B23K26/703 , B25J19/00 , B25J19/0054
摘要： A laser robot is equipped with a swing arm (16) mounted to a swivel post (14) implanted to a robot foundation portion (12), a laser emission device (20) provided on the tip of the robot arm (16), and a driving motor (Mv) for driving the swing operation of the robot arm (16) through a precision transmission device (30, 32, 34) placed between the swivel post and the robot arm. The robot comprises a heat removing device which includes a bracket member (26) and an annularly recessed fluid circuit (50) formed in the bracket. The bracket has one end in contact with the end surface of the driving motor on its output shaft side and the other end in contact with the precision transmission mechanism. The heat removing device is located at the joint portion between the precision transmission mechanism (30, 32, 34) and the driving motor (Mv). Cooling water is supplied to the recessed fluid circuit (50) from a cooling water supply source (70) for supplying cooling water to a laser beam conduit of the robot arm (16) so as to cool the bracket member (26). The bracket member (26) thus cooled absorbs and removes the heat of the driving motor (Mv) and prevents heat transfer to the precision transmission mechanism (30, 32, 34).

9. 发明申请

WO1993018771A1 PLATELET AGGLUTINATION INHIBITOR CONTAINING STAUROSPORINE 'gamma'-LACTAM DERIVATIVE 审中-公开
标题翻译：含有氨基酸的酶抑制剂γ-LACTAM衍生物
公开(公告)号：WO1993018771A1
公开(公告)日：1993-09-30
申请号：PCT/JP1992000357
申请日：1992-03-24
申请人： ASAHI KASEI KOGYO KABUSHIKI KAISHA , KITASATO KENKYUSHO , YAMADA, Rintaro , SASAKI, Yasuo , OMURA, Satoshi
发明人： ASAHI KASEI KOGYO KABUSHIKI KAISHA , KITASATO KENKYUSHO
IPC分类号： A61K31/55
CPC分类号： C07D498/22
摘要： A platelet agglutination inhibitor containing an active ingredient comprising a staurosporine gamma -lactam derivative having a platelet agglutination inhibitory activity and a reduced toxicity, represented by general formula (I), and a pharmacologically acceptable salt thereof, wherein R1 represents hydrogen, lower alkyl, acyl, aralkyl, aralkyloxycarbonyl or beta , beta , beta -trichloroethoxycarbonyl; and R2 and R3 may be the same with or different from each other and each reprensents hydrogen, nitro, amino, formyl, hydroxyl, hydroxymethyl or carboxyl, provided that either R2 or R3 is hydrogen when R2 and R3 are different from each other.
摘要翻译：一种含有活性成分的血小板凝集抑制剂，其包含通式（I）表示的血小板凝集抑制活性和毒性降低的星形孢菌素γ-内酰胺衍生物及其药理学上可接受的盐，其中R1表示氢，低级烷基，酰基，芳烷基，芳烷氧基羰基或β，β，β-三氯乙氧基羰基; 并且R 2和R 3可以彼此相同或不同，并且各自代表氢，硝基，氨基，甲酰基，羟基，羟甲基或羧基，条件是当R 2和R 3彼此不同时，R 2或R 3为氢。

10. 发明申请

WO1992008583A1 INDUSTRIAL ROBOT WITH MEANS FOR COOLING BALL SCREW SHAFT 审中-公开
标题翻译：用于冷却球螺旋桨的工业机器人
公开(公告)号：WO1992008583A1
公开(公告)日：1992-05-29
申请号：PCT/JP1991001493
申请日：1991-10-31
申请人： FANUC LTD , TORII, Nobutoshi , TERADA, Akihiro , SASAKI, Yasuo
发明人： FANUC LTD
IPC分类号： B25J19/00
CPC分类号： B25J9/102 , B25J19/00 , B25J19/0054 , Y10T74/18712 , Y10T74/19991 , Y10T74/20305 , Y10T74/2189
摘要： A cooling device, in which a coolant, or typically a cooling air, is temporarily passed into a coolant path (33) formed in a shaft end having a non-threaded portion of a ball screw shaft (27) formed of a solid shaft body provided on an industrial robot, said non-threaded portion being coupled to a rotary driving motor (M) of the industrial robot, the outlet (34) of the coolant path (33) is opened in a region of a terminal end of the outer peripheral portion where screw threads (27a) of the ball screw shaft are provided, the coolant is discharged via the outlet (34) of the coolant path, and subsequently, the coolant is caused to flow along the outer surface of the screw threads (27a) of the ball screw shaft, whereby heat generated on the outer surface of a portion screwed to a ball screw nut (28) is taken away.

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