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    • 1. 发明申请
    • tINK LENGTH DATA ACQUISITION/CORRECTION METHOD AND ROBOT CONTROL METHOD
    • tink长度数据采集/校正方法和机器人控制方法
    • WO1994025907A1
    • 1994-11-10
    • PCT/JP1994000654
    • 1994-04-20
    • NIHEI, RyoTERADA, AkihiroSASAKI, YasuoHASE, Takahiro
    • G05B19/18
    • B25J9/1692
    • 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.
    • 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。
    • 4. 发明申请
    • HEIGHT SENSOR OF LASER ROBOT
    • 激光机器人高度传感器
    • WO1994015748A1
    • 1994-07-21
    • PCT/JP1994000049
    • 1994-01-14
    • FANUC LTDNIHEI, RyoTERADA, AkihiroSASAKI, YasuoTAKAMATSU, Hiroshi
    • FANUC LTD
    • B23K26/00
    • B23K26/0884B23K26/046B23K26/048B25J19/021
    • 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.
    • 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
    • SMALL PASS MACHINING APPARATUS
    • 小型加工设备
    • WO1993024285A1
    • 1993-12-09
    • PCT/JP1993000584
    • 1993-04-30
    • FANUC LTDNIHEI, RyoTERADA, AkihiroSASAKI, Yasuo
    • FANUC LTD
    • B25J17/02
    • B25J9/107Y10T74/20317
    • 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.
    • 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
    • LASER MACHINING METHOD AND LASER ROBOT FOR EXECUTING THIS METHOD
    • 激光加工方法和激光机器人执行本方法
    • WO1994013425A1
    • 1994-06-23
    • PCT/JP1993001798
    • 1993-12-10
    • FANUC LTDNIHEI, RyoTERADA, AkihiroSASAKI, Yasuo
    • FANUC LTD
    • B23K26/00
    • B23K26/0884B23K26/02G05B19/4166G05B2219/43152G05B2219/45165G05B2219/50117
    • 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.
    • 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。