公开(公告)号：EP0173750B1

公开(公告)日：1991-07-17

申请号：EP85901062.1

申请日：1985-02-19

申请人： FANUC LTD.

发明人： NAKASHIMA, Seiichiro ,  TOYODA, Kenichi ,  SAKAKIBARA, Shinsuke ,  ISHIKAWA, Haruyuki

IPC分类号： G05B19/407 ,  G05D13/00

CPC分类号： G05B19/416 ,  G05B2219/43158 ,  G05B2219/49285

摘要： A constant speed control method used to turn at a constant speed a second movable portion (3) of a linear-pivotal converter unit in which a first movable portion (2c) is moved along a linear shaft (2a) with the second movable portion (3) turned in accordance with the linear movement of the first movable portion (2c). This constant speed control method has (1) a first step of monitoring the position of the first movable portion on the linear shaft, (2) a second step of computing the moving speed of the first movable portion which is used to turn the second movable portion at a constant speed, in accordance with the position of the first movable portion on the linear shaft, and (3) a third step of moving the first movable portion at a computed speed to render the pivotal speed of the second movable portion constant.

公开(公告)号：EP0256133A1

公开(公告)日：1988-02-24

申请号：EP87900892.8

申请日：1987-01-26

申请人： FANUC LTD

发明人： MIZUNO, Tohru ,  ISHIKAWA, Haruyuki

IPC分类号： G05B19/403 ,  G05B19/405 ,  G06F3/023 ,  G06F15/02

CPC分类号： G05B19/40936 ,  G05B2219/35511 ,  G05B2219/36011 ,  G05B2219/36019 ,  G05B2219/36128 ,  G05B2219/36131 ,  Y02P90/265

摘要： An apparatus for controlling robot which controls a robot according to a program language and is provided with keys and a display unit which displays the data of at least one block. In the data of one block that is displayed, a language to be changed is cyclically selected to arrange desired blocks and the data are directly stored. Therefore, even an unskilled user can easily arrange desired blocks within a short period of time without involving error such as syntax error.

摘要翻译： 该系统包括机器人控制单元（1）和具有可动臂（23,24）和手（25）的机器人（2）。 控制单元具有带有显示器（121），软功能键（122），数字键（123）和光标（124）的示教器（12），微处理器（13），电缆（14）和 输入面板（14）和显示器（151）和键盘（152）。 而不是传统的GS代码，提供了一种程序语言来促进编程过程。 例如，“移动”对应于GS代码中的G00，“MOVE LINEAR”到G01，“MOVE CIRCULAR”“对应于G02。 通过循环选择准备程序数据块，然后直接存储在存储器中。

公开(公告)号：EP0298128B1

公开(公告)日：1994-06-08

申请号：EP88900789.4

申请日：1988-01-07

申请人： FANUC LTD.

发明人： MIZUNO, Tohru ,  ISHIKAWA, Haruyuki

IPC分类号： G05B19/403 ,  G05B19/18

CPC分类号： G05B19/237 ,  B25J9/1664 ,  B25J9/1679 ,  G05B2219/40006 ,  G05B2219/50109

摘要： A robot controller enables the robot to hold a work by a robot hand and to stack it on a predetermined place or take it down. The robot controller has memory means (3) for storing a plurality of approaching patterns in relation to the movement of the hand. This controller can arbitrarily set a path pattern from stacking the work from a position where the robot hand starts to move to a poistion where the work is taken down, as well as a path from the point of operation to the position where the robot hand ceases to move, depending upon the kind of work and the position of operation. The controller can also change the attitude of the robot hand at a position of operation.

公开(公告)号：EP0298128A1

公开(公告)日：1989-01-11

申请号：EP88900789.4

申请日：1988-01-07

申请人： FANUC LTD

发明人： MIZUNO, Tohru ,  ISHIKAWA, Haruyuki

IPC分类号： G05B19/403 ,  G05B19/18

CPC分类号： G05B19/237 ,  B25J9/1664 ,  B25J9/1679 ,  G05B2219/40006 ,  G05B2219/50109

摘要： A robot controller enables the robot to hold a work by a robot hand and to stack it on a predetermined place or take it down. The robot controller has memory means (3) for storing a plurality of approaching patterns in relation to the movement of the hand. This controller can arbitrarily set a path pattern from stacking the work from a position where the robot hand starts to move to a position where the work is taken down, as well as a path from the point of operation to the position where the robot hand ceases to move, depending upon the kind of work and the position of operation. The controller can also change the attitude of the robot hand at a position of operation.

摘要翻译： 机器人手握住工作并将其堆叠在预定的位置或将其取下。 机器人臂的五个轴中的每一个由伺服电机（8）和具有位置，速度和电流的反馈控制回路的控制电路（6）控制。 ROM（2）存储包括G代码和用于堆叠操作的操作数的控制程序。 RAM（3）存储包括底点位置，机器人手的接近图案和机器人姿态参数的数据。 通过从CRT上显示的菜单进行选择，任意地设定从起点到终点的路径图案，其他参数也是如此。 当需要操作时，基于已经指定的数据，实时地在RAM（3）上产生链路缓冲器，并向伺服控制电路（6）发出指令。

公开(公告)号：EP0173750A1

公开(公告)日：1986-03-12

申请号：EP85901062.1

申请日：1985-02-19

申请人： FANUC LTD.

发明人： NAKASHIMA, Seiichiro ,  TOYODA, Kenichi ,  SAKAKIBARA, Shinsuke ,  ISHIKAWA, Haruyuki

IPC分类号： G05B19/407 ,  G05D13/00

CPC分类号： G05B19/416 ,  G05B2219/43158 ,  G05B2219/49285

摘要： A constant speed control method used to turn at a constant speed a second movable portion (3) of a linear- pivotal converter unit in which a first movable portion (2c) is moved along a linear shaft (2a) with the second movable portion (3) turned in accordance with the linear movement of the first movable portion (2c). This constant speed control method has (1) a first step of monitoring the position of the first movable portion on the linear shaft, (2) a second step of computing the moving speed of the first movable portion which is used to turn the second movable portion at a constant speed, in accordance with the position of the first movable portion on the linear shaft, and (3) a third step of moving the first movable portion at a computed speed to render the pivotal speed of the second movable portion constant.

公开(公告)号：EP0198090B1

公开(公告)日：1992-05-20

申请号：EP85904880.3

申请日：1985-10-04

申请人： FANUC LTD.

发明人： KISHI, Hajimu Hinohirayamadai-Jutaku 1104 ,  SAKAKIBARA, Shinsuke ,  ISHIKAWA, Haruyuki

IPC分类号： B23K9/12

CPC分类号： B23K9/127

摘要： A system for correcting a path of an automatic welding machine has a means which differentiates the welding current at the right and left positions of the torch during weaving and a means which detects welding current when a value obtained from the above differentiation means is zero. The welding current is subtracted when the right and left differentiated values are zero. Based upon the value thus obtained, the central position of weaving in which the torch proceeds is corrected.

公开(公告)号：EP0263181A1

公开(公告)日：1988-04-13

申请号：EP86906935.1

申请日：1986-11-19

申请人： FANUC LTD

发明人： WATANABE, Atsushi ,  ISHIKAWA, Haruyuki

IPC分类号： G05B19/405

CPC分类号： G05B19/4063

摘要： An apparatus for controlling a robot having an alarm display function wherein a plurality of alarm conditions detected by an error detecting unit (13) are stored in a memory (14) for each generation of alarm together with code numbers that indicate the cause of the alarm and position numbers that indicate the positions where the alarm is generated. All of the data thus stored are displayed by means of a display control unit (15) on a display in the order of alarm generation. When the alarm is generated, therefore, the cause can be easily followed.

摘要翻译： 控制appts。 具有从报警源（11,12），存储器（14），显示控制单元（15），输入装置MDI（16）和CRT显示器（17）接收信号的错误检测单元。 存储器（14）存储用于报警产生的报警条件的数据，以及指示报警原因和指示报警代的位置的位置编号的代号。 因此，系统中产生的所有报警按时间顺序显示，其代码和位置编号在CRT上。 ADNTAGE - 识别报警原因变得容易。

公开(公告)号：EP0207173A1

公开(公告)日：1987-01-07

申请号：EP86900280.8

申请日：1985-12-26

申请人： FANUC LTD.

发明人： KISHI, Hajimu ,  SAKAKIBARA, Shinsuke ,  ISHIKAWA, Haruyuki

IPC分类号： B23K9/12

CPC分类号： B23K9/127

摘要： A system for correcting welding lines of an automatic welding machine comprises detecting means (I) for detecting a welding current that flows between the tip of a wire (WR) and a welding member (WK), memory means for storing the welding current detected by the detecting means (I) at either the right end point or the left end point of the welding line during the weaving movement, and operation means for operating the correction amount of the weaving movement based upon the current values at two or more end points stored in said memory means.

摘要翻译： 一种用于校正自动焊接机的焊接线的系统，包括检测装置（I），用于检测在焊丝（WR）的尖端和焊接部件（WK）之间流动的焊接电流;存储装置，用于存储由焊丝 在编织运动期间在焊接线的右端点或左端点处的检测装置（I）以及基于存储的两个或更多个端点处的当前值来操作织造运动的校正量的操作装置 在所述记忆装置中。

公开(公告)号：EP0592681A1

公开(公告)日：1994-04-20

申请号：EP93906805.2

申请日：1993-03-23

申请人： FANUC LTD.

发明人： KAWAMURA, Hideaki ,  ISHIKAWA, Haruyuki

IPC分类号： G05B19/403

CPC分类号： G05B19/4086 ,  G05B2219/39398 ,  G05B2219/39403 ,  G05B2219/39417

摘要： A tool coordinates definition system capable of easily obtaining a transformation matrix for defining a tool coordinates system of a robot. The tool coordinates system (10C) at the 0° position of the robot is rotated around each axis so that the tool coordinates system (10C) becomes parallel to a base coordinates system (10A). A transformation matrix (XO) representing the relation of inclination between the hand coordinates system (10B) and the tool coordinates system (10C) is determined on the basis of an angle of rotation around each axis (P, Q, R) at that time and a matrix [HAND O] representing the attitude of the hand coordinates system at the 0° position. The attitude of the hand coordinates system (10B) at the 0° position can be obtained easily from a design value. An angle of rotation around each axis, too, can be obtained easily from a drawing, etc. Therefore, the transformation matrix (XO) can be easily determined without practically causing the robot (10) to take an attitude so that the tool coordinates system (10C) and the hand coordinates system (10B) become parallel to each other. The tool coordinates system (10C) is defined by the use of the transformation matrix (XO).

摘要翻译： 一种能够容易地获得用于定义机器人的工具坐标系的变换矩阵的工具坐标定义系统。 机器人的0度位置的工具坐标系（10C）围绕各轴旋转，使得工具坐标系（10C）平行于基准坐标系（10A）。 基于当时在每个轴（P，Q，R）周围的旋转角度来确定表示手坐标系（10B）和工具坐标系（10C）之间的倾斜关系的变换矩阵（XO） 以及表示在0°位置处的手坐标系的姿态的矩阵[HAND O]。 可以从设计值容易地获得手坐标系（10B）在0°位置的姿态。 因此，可以容易地从绘图等获得围绕各轴的旋转角度。因此，可以容易地确定变形矩阵（XO），而不会使实际上使机器人（10）采取姿态，使得工具坐标系 （10C）和手坐标系（10B）变得彼此平行。 通过使用变换矩阵（XO）来定义刀具坐标系（10C）。

公开(公告)号：EP0195089B1

公开(公告)日：1991-12-27

申请号：EP85904862.1

申请日：1985-09-26

申请人： FANUC LTD.

发明人： KISHI, Hajimu Hinohirayamadai-Jutaku 1104 ,  SAKAKIBARA, Shinsuke ,  ISHIKAWA, Haruyuki

IPC分类号： B23K9/12 ,  B23K9/02

CPC分类号： B23K9/127

摘要： A welding control system in an automatic welding machine, in which a controller (3) controls the movement of a torch (TC), while the tip of said torch is weaving along a welding line (CT), based upon independent amplitude instructions of the left side (aL) and the right side (aR) with the welding line as a center. The system makes it possible to obtain a weaving pattern that is adapted to the mode of the welding portion.