专利快速检索-快速检索全球专利，免费商用专利数据库-IPRDB

1. 发明申请

WO1992021075A1 METHOD OF CONTROLLING BACKLASH ACCELERATION 审中-公开
标题翻译：控制反向加速的方法
公开(公告)号：WO1992021075A1
公开(公告)日：1992-11-26
申请号：PCT/JP1992000666
申请日：1992-05-22
申请人： FANUC LTD , SAKAMOTO, Keiji , IWASHITA, Yasusuke
发明人： FANUC LTD
IPC分类号： G05B19/407
CPC分类号： G05B19/404 , G05B2219/41078 , G05B2219/41084 , G05B2219/41429 , G05B2219/41439
摘要： A method of controlling a backlash acceleration for effecting a more accurate timing of the start of backlash acceleration correction in a servosystem performing feed-forward control. In this method, backlash acceleration correction is started on reversal of the quantity of feed-forward from a positive value to a negative one or vice versa. Said correction may be started when a value of a speed command corrected by the quantity of feed-forward is reversed from a positive value to negative one or vice versa. With approach of a feed-forward coefficient to [1], a positional deviation reaches almost [0] and delay of actual move from a move command comes to almost none. Accordingly, positional variation in directional reversal of a move command makes difficult the timing of the start of backlash acceleration correction, causing it to vary. However, at the time (Ts) of reversal of a feed-forward quantity from a positive value to a negative one or vice versa, a directional reversal position is indicated more accurately.

2. 发明申请

WO1988005566A1 SPEED CONTROLLER IN A SERVO SYSTEM 审中-公开
标题翻译：伺服系统中的速度控制器
公开(公告)号：WO1988005566A1
公开(公告)日：1988-07-28
申请号：PCT/JP1988000049
申请日：1988-01-23
申请人： FANUC LTD , KAWAMURA, Hideaki , FUJIBAYASHI, Kentaro , ARIMOTO, Nozomu
发明人： FANUC LTD
IPC分类号： G05B19/407
CPC分类号： G05B19/416 , G05B2219/43009
摘要： Speeds designated to a plurality of blocks are read in advance and the deceleration start position is calculated at a start position of the block that is read first so that the speed of the servo system will become slower than the speed that is designated to the block. The servo system is decelerated from the deceleration start position that is calculated, such that the speed of the servo system is smaller than the speed designated to the block in all of the blocks, thereby suitably controlling the deceleration of the servo system.

3. 发明申请

WO1984001444A1 ACCELERATION AND DECELERATION CIRCUIT 审中-公开
标题翻译：加速和减速电路
公开(公告)号：WO1984001444A1
公开(公告)日：1984-04-12
申请号：PCT/JP1983000326
申请日：1983-09-30
申请人： FANUC LTD , NOZAWA, Ryoichiro , KAWAMURA, Hideaki , SASAKI, Takao
发明人： FANUC LTD
IPC分类号： G05B19/407
CPC分类号： G05B19/4103 , G05B19/416 , G05B2219/34167
摘要： An acceleration and deceleration circuit accelerates or decelerates a feed speed up to an instructed speed at a predetermined time constant (tau), irrespective of variations in the speed. This circuit comprises means (301) for calculating the distances moved in each axial direction at each sampling period (T), a first memory (#1 - #n) for storing the moved distance components in each axial direction for n samplings (where n = tau/T), a second memory (SUM) for storing the calculated result, and an arithmetic unit (ADD, ACC, DIV) for calculating DELTAXn - DELTAX0 + St$(1,8)$St where DELTAXn is the latest moved distance component, DELTAX0 is the oldest of the moved distance components stored in the first memory, and St is the contents of the second memory, and divides the calculated result St by n, to store the calculated result St in the second memory and outputting, as the moved distance component during the present sampling time, St/n.

4. 发明申请

WO1982000371A1 NUMERICAL CONTROL UNIT 审中-公开
标题翻译：数值控制单元
公开(公告)号：WO1982000371A1
公开(公告)日：1982-02-04
申请号：PCT/JP1981000165
申请日：1981-07-16
申请人： FUJITSU FANUC LTD , KURAKAKE M
发明人： FUJITSU FANUC LTD
IPC分类号： G05B19/407
CPC分类号： G05B19/416 , G05B2219/34241
摘要： Dans une unite de commande numerique un moteur est entraine a la vitesse d'alimentation designee par un compteur de designation de la vitesse d'alimentation. Des potentiometres (f1 a f7) produisent la tension continue proportionnelle a la rotation d'un bouton du cadran de designation de vitesse d'alimentation, un convertisseur A/D (20) recoit selectivement la tension continue provenant d'un potentiometre et convertit cette tension en une quantite numerique, et un processeur principal (CPU) lie la sortie du convertisseur A/D (20) et produit un signal de designation de vitesse d'alimentation.
摘要翻译：在数字控制单元中，电动机以由速度指定计数器指定的进给速度被驱动。电位器（f1至f7）产生与功率速度指定刻度盘的按钮的旋转成比例的DC电压，A / D转换器（20）选择性地接收来自电位计的DC电压并转换该电压。数字量的电压，主处理器（CPU）连接A / D转换器（20）的输出并产生馈送速度指定信号。

5. 发明申请

WO1993016422A1 METHOD OF CREATING NC PROGRAM FOR CUTTING CORNER 审中-公开
标题翻译：创建切割角的NC程序的方法
公开(公告)号：WO1993016422A1
公开(公告)日：1993-08-19
申请号：PCT/JP1993000125
申请日：1993-02-03
申请人： FANUC LTD , SEKI, Masaki , TAKEGAHARA, Takashi , HAYANAGI, Shizuoki , HIROSE, Noboru
发明人： FANUC LTD
IPC分类号： G05B19/407
CPC分类号： G05B19/40937 , Y02P90/265
摘要： A method of creating an NC program for cutting corners, in which the rotational speed of the main shaft can be specified for each corner to be cut in an interactive mode by a CAD/CAM system. The method comprises a first step (S1) of checking the completion of specifying the corners to be cut; a second step (S2) of selecting either of an individual specification and a batch specification when the specifying of all the corners is not complete; a third step (S3) of instructing whether the rotational speed of the main shaft is specified or not; a fourth step (S4) in which when the rotational speed of the main shaft is not specified, corners are specified by a selected specification method, i.e., in the case of the individual specification, the individual selection or a range selection is specified, and in the case of the batch specification, the angular range etc. are specified; a fifth step (S5) in which as the result of the third step S3, when the rotational speed is to be specified, a method of specifying the rotational speed of the spindle is selected; a sixth step (S6) of inputting the rotational speeds of the main shaft or the coefficients, etc. of the computational equations by which the rotational speed of the main shaft is computed according to the selected method for specifying the rotational speed; and a seventh step (S7) of storing in a memory the data of the corners where the rotational speeds are altered and the data of the rotational speeds.

6. 发明申请

WO1990008992A1 INVOLUTE INTERPOLATION SPEED CONTROL SYSTEM 审中-公开
标题翻译：相关插值速度控制系统
公开(公告)号：WO1990008992A1
公开(公告)日：1990-08-09
申请号：PCT/JP1990000028
申请日：1990-01-10
申请人： FANUC LTD , SASAKI, Takao , MURAKAMI, Kunihiko , SANO, Masafumi
发明人： FANUC LTD
IPC分类号： G05B19/407
CPC分类号： G05B19/4103 , G05B2219/34144 , G05B2219/43141 , G05B2219/50336
摘要： This invention relates to an involute interpolation speed control system for making involute interpolation by applying tool correction for machining in a numerical controller or the like. The system instructs a rotating direction of a first involute curve (In1) as an actual machining shape, the coordinates (Pee) of an end point, the center position of a basic circle (C) as viewed from a start point (Pss), the radius (R) of the basic circle (C), a feed speed, a tool diameter offset direction and the radius of the tool (Rofs). An offset vector of the tool is generated from this instruction and an equation of a second involute curve (In2) connecting its start point (Ps) and its end point (Pe) is calculated. The radius of curvature of the second involute curve (In2) is determined and a feed speed override value is determined from the tool offset direction and the radius of curvature. The second involute curve (In2) is interpolated by the speed as the product of the feed speed and the feed speed override value. This interpolation is made so that the cutting speed (Fp) in the tangential direction of the outer periphery of the tool generating the actual machining shape becomes constant.

7. 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。

8. 发明申请

WO1988008562A1 SPEED CONTROLLER 审中-公开
标题翻译：速度控制器
公开(公告)号：WO1988008562A1
公开(公告)日：1988-11-03
申请号：PCT/JP1988000420
申请日：1988-04-27
申请人： FANUC LTD , HARA, Ryuichi
发明人： FANUC LTD
IPC分类号： G05B19/407
CPC分类号： G05B19/416 , G05B2219/43107 , G05B2219/43158 , G05B2219/49164
摘要： A speed controller which works to control the speed of a robot hand or a moving part of an NC machine tool. The speed controller has speed over-ride means for changing the instruction speed for the moving part at a predetermined rate and acceleration/deceleration means (2X, 2Y) having a time constant inversely proportional to the speed set by the over-ride means. When the speed over-ride quantity is changed, the time constant of the acceleration/deceleration means (2X, 2Y) is changed depending upon the instruction speed, such that a pool quantity in the instruction pulse quantity becomes constant during the acceleration or deceleration. Therefore, the moving part is controlled to move at a predetermined speed without changing the locus at the corners.

9. 发明申请

WO1985005198A1 METHOD OF CONTROLLING MULTI-JOINT ROBOT 审中-公开
标题翻译：控制多机器人的方法
公开(公告)号：WO1985005198A1
公开(公告)日：1985-11-21
申请号：PCT/JP1985000234
申请日：1985-04-25
申请人： MATSUSHITA ELECTRIC INDUSTRIAL CO., LTD. , SOJI, Kazuo , NAGANO, Hiroyuki
发明人： MATSUSHITA ELECTRIC INDUSTRIAL CO., LTD.
IPC分类号： G05B19/407
CPC分类号： G05B19/416 , G05B2219/41123 , G05B2219/43069 , G05B2219/45083
摘要： A method of controlling first and second arms (11), (12) of a multi-joint robot, in which the first arm (11) is supported pivotably on a robot body (1) via a first joint with the second arm (12) supported pivotably on the first arm (11) via a second joint. When the outer end of the second arm (12) is moved from a point Pi to a subsequent point Pi+1, the curves of angular velocities during the acceleration and deceleration are determined on the basis of the positioning data on the two points Pi, Pi+1 so that the shortest acceleration time and deceleration time can be attained with all of the torques applied to motors (13), (14) and decelerators (15), (16) within tolerance limits. This method enables the time of movement of the arm to be reduced greatly and naturally as compared with a conventional method of this kind in which the acceleration and deceleration time is fixed.

10. 发明申请

WO1983000755A1 NUMERICAL CONTROL METHOD 审中-公开
标题翻译：数值控制方法
公开(公告)号：WO1983000755A1
公开(公告)日：1983-03-03
申请号：PCT/JP1982000343
申请日：1982-08-27
申请人： FANUC LTD , NOZAWA, Ryoichiro , KAWAMURA, Hideaki , SASAKI, Takao
发明人： FANUC LTD
IPC分类号： G05B19/407
CPC分类号： G05B19/416 , G05B2219/43203 , G05B2219/49164
摘要： Procédé de commande numérique qui obtient en avance des vitesses d'avancement de limite supérieure en fonction de l'état de l'usinage et d'une erreur admissible de l'usinage, et qui limite la vitesse d'avancement pendant l'usinage à la vitesse d'avancement de limite supérieure, permettant ainsi de réduire à des valeurs admissibles les erreurs d'usinage provoquées par un retard dans un servosystème. Lorsque les données NC lues au travers d'un lecteur de bande (102d) à partir d'une bande NC et décodées par un décodeur (102a) sont des données de parcours, les données (Xc, Yc, Zc) sont traitées à l'avance par un processeur (102c) et sont envoyées ensuite à un distributeur d'impulsions. Une vitesse d'instruction (Vi) est comparée par un comparateur (CMU) aux vitesses d'avancement de limite supérieure (VL, Vc) en fonction de l'état de l'usinage, et la vitesse d'instruction est limitée à VL (Vc) lorsque Vi est >VL (Vc), et cette décision est communiquée à un distributeur d'impulsions (103). Le distributeur d'impulsions (103) émet à sa sortie des impulsions de distribution (Xp, Yp, Zp) en fonction des données (DELTAX, DELTAY, DELTAZ) provenant du processeur (102c) et de la vitesse provenant du comparateur (CMU).

你已经成功收藏专利！

检索式保存成功!

IPRDB

热门服务

关于我们

友情链接

联系方式