公开(公告)号：EP1845427A2

公开(公告)日：2007-10-17

申请号：EP07004543.0

申请日：2007-03-06

申请人： Fanuc Ltd

发明人： Sato, Takashi Room 8-107, Fanuc ,  Hatanaka, Kokoro

IPC分类号： G05B19/19

CPC分类号： G05B13/024 ,  B25J9/1633 ,  G05B2219/39322 ,  G05B2219/39332 ,  G05B2219/40032 ,  G05B2219/41021 ,  G05B2219/42092

摘要： A controller, for force-controlling a drive source (14) of a controlled object (1), having a position control circuit (8) inside a force control circuit (7) in order to define a relative position of the controlled object (1) to a workpiece (25), and a contact force occurred between the workpiece (25) and the controlled object (1), the controller including a first data acquiring portion (11) for acquiring a time constant of the position control circuit (8) based on a position command value to the drive source (14) and an actual position value, during operations of the controlled object (1); a second data acquiring portion (12) for acquiring a rigidity value for the controlled object (1) and the workpiece (25) based on a force data obtained when the controlled object (1) is brought into contact with the workpiece (25); and an automatic gain calculating portion (10) for calculating a force control gain of the force control circuit (7) from the time constant of the position control circuit (8) acquired by the first data acquiring portion (11) and the rigidity value acquired by the second data acquiring portion (12), under conditions where a time constant of the force control circuit (8) is larger than the time constant of the position control circuit (8).

摘要翻译： 一种用于对控制对象（1）的驱动源（14）进行强制控制的控制器，其在力控制电路（7）内具有位置控制电路（8），以便限定受控对象（1）的相对位置 ）到工件（25），并且在工件（25）和受控对象（1）之间产生接触力，控制器包括用于获取位置控制电路（8）的时间常数的第一数据获取部分（11） ）在所述受控对象（1）的操作期间基于对所述驱动源（14）的位置指令值和实际位置值; 第二数据获取部分（12），用于基于当受控对象（1）与工件（25）接触时获得的力数据来获取受控对象（1）和工件（25）的刚度值; 以及自动增益计算部分，用于根据由第一数据获取部分（11）获取的位置控制电路（8）的时间常数和所获得的刚度值来计算力控制电路（7）的力控制增益 在第二数据获取部分（12）中，在力控制电路（8）的时间常数大于位置控制电路（8）的时间常数的条件下。

公开(公告)号：EP1628177A3

公开(公告)日：2008-11-12

申请号：EP05017763.3

申请日：2005-08-16

申请人： FANUC LTD

发明人： Ban, Kazunori ,  Sato, Takashi ,  Hatanaka, Kokoro

IPC分类号： G05B19/416

CPC分类号： G05B19/4163 ,  Y02P90/265 ,  Y10T409/30084 ,  Y10T409/301792 ,  Y10T409/303472 ,  Y10T409/304256

摘要： A surface of a workpiece, from which the burr is removed, is traced when a machining tool is pressed onto the surface of the workpiece under force control so as to find the positional data of the surface shape (S1). This positional data is corrected by an error caused by a bend of a robot (S2). The thus obtained positional data is compared with the target shape of the surface, from which the burr is removed, obtained from CAD data (S6, S10). A shift of the surface shape in the normal line direction is found (S7, S11). The burr generation start position, the burr generation end position and the height of the burr are found by the shift start position (S8), the shift end position and the shift size (S14). A machining program is made which is composed of a pass connecting the burr end position with the burr start position and also composed of a cutting pass for removing the burr, and the thus made machining program is executed (S16, S17). As the burr position is found and the burr is removed when the machining tool is moved to the burr position, the burr can be effectively removed. Due to the foregoing, it is possible to provide a finishing machine characterized in that useless burr removing actions can be reduced and, further, that the overcutting of a workpiece can be prevented.

公开(公告)号：EP1628177A2

公开(公告)日：2006-02-22

申请号：EP05017763.3

申请日：2005-08-16

申请人： FANUC LTD

发明人： Ban, Kazunori ,  Sato, Takashi ,  Hatanaka, Kokoro

IPC分类号： G05B19/416

CPC分类号： G05B19/4163 ,  Y02P90/265 ,  Y10T409/30084 ,  Y10T409/301792 ,  Y10T409/303472 ,  Y10T409/304256

摘要： A surface of a workpiece, from which the burr is removed, is traced when a machining tool is pressed onto the surface of the workpiece under force control so as to find the positional data of the surface shape (S1). This positional data is corrected by an error caused by a bend of a robot (S2). The thus obtained positional data is compared with the target shape of the surface, from which the burr is removed, obtained from CAD data (S6, S10). A shift of the surface shape in the normal line direction is found (S7, S11). The burr generation start position, the burr generation end position and the height of the burr are found by the shift start position (S8), the shift end position and the shift size (S14). A machining program is made which is composed of a pass connecting the burr end position with the burr start position and also composed of a cutting pass for removing the burr, and the thus made machining program is executed (S16, S17). As the burr position is found and the burr is removed when the machining tool is moved to the burr position, the burr can be effectively removed. Due to the foregoing, it is possible to provide a finishing machine characterized in that useless burr removing actions can be reduced and, further, that the overcutting of a workpiece can be prevented.

摘要翻译： 当加工工具在力控制下被压在工件表面上时，跟踪去除毛刺的工件的表面，以找到表面形状的位置数据（S1）。 该位置数据由机器人的弯曲引起的误差进行校正（S2）。 将如此获得的位置数据与从CAD数据获得的从毛数除去的表面的目标形状进行比较（S6，S10）。 发现在法线方向上的表面形状的偏移（S7，S11）。 通过换档开始位置（S8），换档结束位置和换档尺寸（S14）找到毛刺生成开始位置，毛刺生成结束位置和毛刺高度。 进行加工程序，该加工程序由将毛刺末端位置与毛刺开始位置连接的通路构成，并且还包括用于去除毛刺的切割道，并且执行这样的加工程序（S16，S17）。 当加工刀具移动到毛刺位置时，当找到毛刺位置并除去毛刺时，可以有效地去除毛刺。 由于上述原因，可以提供一种整理机，其特征在于可以减少无用的毛刺去除动作，另外可以防止工件的过度切割。

公开(公告)号：EP2011610A3

公开(公告)日：2010-03-24

申请号：EP08007791.0

申请日：2008-04-22

申请人： Fanuc Ltd

发明人： Hatanaka, Kokoro ,  Sato, Takashi

IPC分类号： B25J9/16 ,  B23P19/00

CPC分类号： B25J9/1687 ,  G05B2219/39529 ,  G05B2219/40032

摘要： A fitting device (10) for fitting a first fitting member held in a hand (4) mounted at the forward end of a robot arm (2) to a corresponding second fitting member, comprising a detection unit (3) for detecting the force or moment generated when the first and second fitting members come into contact with each other, and a judging unit (12) for judging, based on the force or moment detected by the detection unit (3), whether a one-point contact state prevails in which the first and second fitting members are in contact with each other at one point or a two-point contact state prevails in which the first and second fitting members are in contact with each other at least two points. In the one-point contact state, the first fitting member held in the hand is pressed against the second fitting member in the fitting direction thereby to proceed with the fitting operation while maintaining the holding posture of the robot arm (2). In the two-point contact state, the fitting operation is caused to proceed further while the holding posture of the robot arm is changeable. As a result, the first fitting member can be fitted in the second fitting member while keeping the robot arm in the normal posture.

公开(公告)号：EP2011610A2

公开(公告)日：2009-01-07

申请号：EP08007791.0

申请日：2008-04-22

申请人： Fanuc Ltd

发明人： Hatanaka, Kokoro ,  Sato, Takashi

IPC分类号： B25J9/16

CPC分类号： B25J9/1687 ,  G05B2219/39529 ,  G05B2219/40032

摘要： A fitting device (10) for fitting a first fitting member held in a hand (4) mounted at the forward end of a robot arm (2) to a corresponding second fitting member, comprising a detection unit (3) for detecting the force or moment generated when the first and second fitting members come into contact with each other, and a judging unit (12) for judging, based on the force or moment detected by the detection unit (3), whether a one-point contact state prevails in which the first and second fitting members are in contact with each other at one point or a two-point contact state prevails in which the first and second fitting members are in contact with each other at least two points. In the one-point contact state, the first fitting member held in the hand is pressed against the second fitting member in the fitting direction thereby to proceed with the fitting operation while maintaining the holding posture of the robot arm (2). In the two-point contact state, the fitting operation is caused to proceed further while the holding posture of the robot arm is changeable. As a result, the first fitting member can be fitted in the second fitting member while keeping the robot arm in the normal posture.

摘要翻译： 一种用于将保持在安装在机器人臂（2）的前端的手（4）中的第一装配构件装配到相应的第二装配构件的装配装置（10），包括用于检测力的检测单元（3） 当第一和第二装配构件彼此接触时产生的力矩;以及判断单元（12），用于基于由检测单元（3）检测到的力或力矩判断单点接触状态是否存在于 其中第一和第二装配构件在一个点处彼此接触，或者两点接触状态占优势，其中第一和第二装配构件彼此接触至少两个点。 在一点接触状态下，保持在手中的第一装配构件在装配方向上压靠第二装配构件，从而在维持机器人臂（2）的保持姿态的同时进行装配操作。 在两点接触状态下，机器人手臂的保持姿势可变，使嵌合动作继续进行。 结果，第一装配构件可以在保持机器人臂处于正常姿态的同时装配在第二装配构件中。