公开(公告)号：US20140156072A1

公开(公告)日：2014-06-05

申请号：US14173373

申请日：2014-02-05

申请人： FANUC LTD

发明人： Kazunori BAN ,  Katsutoshi TAKIZAWA ,  Gang SHEN

IPC分类号： B25J9/16

CPC分类号： B25J9/1692 ,  B25J9/1697 ,  Y10S901/47

摘要： A measurement apparatus for determining a position of a tool center point (31) of a tool (30), which is attached to a tool attachment surface (32) of a robot (1), with respect to the tool attachment surface (32) includes: a camera (4) attached to the arm tip portion of the robot (1); a touch-up point (an origin of Σm) disposed in a working space of the robot; a measurement section (11a) for measuring the position of the touch-up point by using the robot and the camera; a first storage section (12a) for storing the measured position of the touch-up point; a second storage section (12b) for storing a position of the robot (1) when the tool center point is aligned with the touch-up point by moving the robot; and a calculation section (11b) for calculating the position of the tool center point with respect to the tool attachment surface of the robot by using the stored positions of the touch-up point and the robot. Therefore, the position of the tool center point with respect to the tool attachment surface is measured with high accuracy in a short period of time without using a substitution jig.

摘要翻译： 一种用于确定相对于工具附接表面（32）附接到机器人（1）的工具附接表面（32）的工具（30）的工具中心点（31）的位置的测量装置， 包括：附接到机器人（1）的臂尖部的相机（4）; 设置在机器人的工作空间中的接触点（Sgr的原点）; 用于使用所述机器人和所述照相机测量所述接触点的位置的测量部分（11a）; 第一存储部分（12a），用于存储所述接触点的测量位置; 第二存储部（12b），用于通过移动所述机器人来存储所述机器人（1）在所述工具中心点与所述接触点对准时的位置; 以及计算部，其通过使用所述接触点和所述机器人的存储位置来计算所述工具中心点相对于所述机器人的所述工具安装面的位置。 因此，在不使用取代夹具的情况下，在短时间内高精度地测量刀具中心点相对于刀具附接面的位置。

公开(公告)号：US20040245952A1

公开(公告)日：2004-12-09

申请号：US10859237

申请日：2004-06-03

申请人： FANUC LTD

发明人： Yuuichi Yamada ,  Shigeki Hanyu ,  Mamoru Yaeshima

IPC分类号： H02P003/14

CPC分类号： H02M5/458 ,  H02M5/4585 ,  H02P3/14 ,  H02P3/18

摘要： A motor driving apparatus applicable to various types of motor driving apparatuses and having a power storage section for storing a regenerative current and supplying power to an inverter section at the time of acceleration. The motor driving apparatus further comprises a converter section, a DC link, and an inverter section, thereby driving a motor. Connected to the DC link is the power storage section including a capacitor, a charging circuit, a discharging circuit and a diode. The regenerative current produced at the motor deceleration is stored in the capacitor through the diode. The power stored in the capacitor is outputted to the DC link by turning a switching element of the discharging circuit ON at the motor acceleration. Furthermore, the charging circuit has a boost switching regulator circuit for charging the capacitor to the given upper limit voltage equal to or larger than voltage of the DC link and a current limitation circuit for limiting a charging current to the given upper limit. The upper limit of the charging current can be changed according to the type of the motor driving apparatus.

摘要翻译： 一种适用于各种电动机驱动装置的电动机驱动装置，具有用于存储再生电流的蓄电部，并且在加速时向逆变器部供电。 电动机驱动装置还包括转换器部分，直流链路和逆变器部分，从而驱动电动机。 连接到直流链路的是存储部分，其包括电容器，充电电路，放电电路和二极管。 电机减速时产生的再生电流通过二极管存储在电容器中。 存储在电容器中的电力通过在马达加速度下打开放电电路的开关元件而被输出到DC链路。 此外，充电电路具有用于将电容器充电到等于或大于DC链路的电压的给定上限电压的升压开关调节器电路和用于将充电电流限制到给定上限的电流限制电路。 充电电流的上限可以根据电动机驱动装置的类型而改变。

公开(公告)号：US20040238498A1

公开(公告)日：2004-12-02

申请号：US10856977

申请日：2004-05-28

申请人： FANUC, LTD

发明人： Shinji Okuda ,  Mitsuyoshi Ishihara ,  Junichi Kato

IPC分类号： B23H007/10

CPC分类号： B23H7/101

摘要： A method for adjusting the gap between an upper nozzle of a wire electric discharge machine includes placing a spacer member of a known thickness between a forward end of the upper nozzle and a workpiece. The forward end of the upper nozzle is brought into contact with the spacer member, so that the forward end of the upper nozzle is prevented from coming into direct contact with the workpiece. A Z-axis position of the upper nozzle is controlled on the basis of the thickness of the spacer member and the desired nozzle gap to set the gap between the forward end of the upper nozzle and the workpiece to a predetermined value. In controlling the Z-axis position of the upper nozzle, correction is made to compensate for a deformation of the upper guide, the spacer member, the workpiece, and the upper nozzle, and/or for a displacement of the upper guide resulting from a pressure of a working fluid.

摘要翻译： 一种用于调节电火花线切割机的上喷嘴之间的间隙的方法包括将已知厚度的间隔件放置在上喷嘴的前端和工件之间。 上部喷嘴的前端与间隔件接触，防止上部喷嘴的前端与工件直接接触。 基于间隔件的厚度和所需的喷嘴间隙来控制上喷嘴的Z轴位置，以将上喷嘴的前端与工件之间的间隙设定为预定值。 在控制上喷嘴的Z轴位置时，进行校正以补偿上引导件，间隔件，工件和上喷嘴的变形，和/或用于由上引导件产生的上引导件的位移 工作流体的压力。

公开(公告)号：US20040222201A1

公开(公告)日：2004-11-11

申请号：US10838335

申请日：2004-05-05

申请人： FANUC LTD

发明人： Etsuo Yamazaki ,  Kazuhiro Suzuki

IPC分类号： B23K026/14

CPC分类号： B23K26/00

摘要： A laser machining apparatus in which laser output can be easily corrected in view of secular change of components of the laser machining apparatus and influence of temperature. Output values of a laser oscillator operated according to a reference laser output command value Psc are stored as reference output values P(null) at different temperatures null in a table TB1. When the laser oscillator is started up, a measured output value Pr of the laser oscillator supplied with the reference command value Psc is obtained, and a new correction coefficient k is obtained to replace an old one. From a reference output value P(null) at a temperature at that time and the actual output measured value Pr, a correction value nullP is obtained and stored. Each time temperature null is measured, a reference output value (Pnull) at a measured temperature null is obtained from the table TB1, an estimated output value Pa is obtained by subtracting the correction value nullP from the reference output value (Pnull), and a new correction coefficient k is obtained to replace an old one. In other words, an output value at a different temperature is estimated on the basis of the correction value nullP obtained when the laser oscillator is started up, and a new correction coefficient k is obtained to replace an old one. When the temperature reaches a predetermined temperature, a new final correction coefficient k is obtained on the basis of the reference command value and a measured output value to replace an old one.

摘要翻译： 鉴于激光加工装置的部件的长期变化和温度的影响，可以容易地校正激光输出的激光加工装置。 根据参考激光输出命令值Psc操作的激光振荡器的输出值被存储在表TB1中的不同温度θ处的参考输出值P（θ）。 当激光振荡器启动时，获得提供有参考指令值Psc的激光振荡器的测量输出值Pr，并且获得新的校正系数k来代替旧的。 在此时的温度下的参考输出值P（θ）和实际输出测量值Pr，获得并存储校正值ΔP。 每次测量温度θ时，从表TB1获得测量温度θ下的参考输出值（Ptheta），通过从参考输出值（Ptheta）中减去校正值ΔP获得估计输出值Pa， 获得新的校正系数k以代替旧校正系数。 换句话说，根据激光振荡器启动时获得的校正值ΔP来估计不同温度的输出值，并且获得新的校正系数k来代替旧的校正值。 当温度达到预定温度时，基于参考指令值和测量输出值来获得新的最终校正系数k以替换旧的最终校正系数。

公开(公告)号：US20040210338A1

公开(公告)日：2004-10-21

申请号：US10815663

申请日：2004-04-02

申请人： FANUC LTD

发明人： Shuji Ogawa ,  Hideo Ogino

IPC分类号： G06F019/00

CPC分类号： G05B19/408 ,  G05B2219/33088 ,  G05B2219/33337

摘要： Any commands, selected in a program, are set as a reference time data command, an elapsed time data command and a time data command. The program is read and original processing of the commands is performed, and if the reference time data command is read, a time then is stored as a reference time. If the elapsed time data command is read, elapsed time from the reference time is acquired and stored as execution elapsed time. If the time data command is read, the time then is stored as an execution time. Thus, it is possible to easily check the execution time of any program command.

公开(公告)号：US20040208952A1

公开(公告)日：2004-10-21

申请号：US10817916

申请日：2004-04-06

申请人： FANUC LTD

发明人： Koichi Nishimura ,  Yasuo Naito

IPC分类号： B29C045/66

CPC分类号： B29C45/1761 ,  B29C45/661 ,  B29C2045/1788

摘要： In a mold clamping mechanism of a molding machine, at least two pieces of movable platen guides are provided separate from tie bars, inserting the movable platen guides into the holes formed in a movable platen. A sliding part of each movable platen guide on which at least the movable platen slides is given in the form of a ball spline shaft. Also, ball spline nuts are provided in the holes formed in the movable platen.

摘要翻译： 在成型机的模具夹紧机构中，至少两个可移动的压板导向件与拉杆分开设置，将可移动的压板引导件插入形成在可动压板中的孔中。 至少可移动压板滑动的每个活动压板导轨的滑动部分以滚珠花键轴的形式给出。 此外，在可动压板中形成的孔中设置有滚珠花键螺母。

公开(公告)号：US20040206735A1

公开(公告)日：2004-10-21

申请号：US10814275

申请日：2004-04-01

申请人： Fanuc Ltd.

发明人： Mitsuhiro Okuda ,  Yoshitake Furuya

IPC分类号： B23K026/08

CPC分类号： B23K26/0884 ,  B23K26/04

摘要： If a machining program is reproduced in a robot controller and a robot is moved on a machining route, then a detection signal of a distance sensor is fetched through a distance sensor amplifier, and tracer control is carried out so as to keep a distance between a laser machining head and a workpiece at a predetermined value. In an acceleration and decoration processing in a corner, a restriction means that restricts a maximum acceleration and a maximum jerk is used to control an acceleration and a jerk of the robot not to exceed respective predetermined values, and prevents generation of a vibration when the laser machining head passes through the corner.

摘要翻译： 如果在机器人控制器中再现加工程序并且机器人在加工路线上移动，则通过距离传感器放大器获取距离传感器的检测信号，并且执行跟踪器控制以保持距离传感器 激光加工头和工件处于预定值。 在拐角处的加速加工处理中，限制装置的最大加速度和最大加加速度的限制装置用于控制机器人的加速度和加加速度不超过相应的预定值，并且当激光器 加工头通过角落。

公开(公告)号：US20040193320A1

公开(公告)日：2004-09-30

申请号：US10808323

申请日：2004-03-25

申请人： FANUC LTD

发明人： Atsushi Watanabe ,  Takayuki Ito ,  Tetsuya Kosaka

IPC分类号： G06F019/00

CPC分类号： B25J9/1664 ,  G05B19/425 ,  G05B2219/39029 ,  G05B2219/40387 ,  G05B2219/40394

摘要： An offline programming system making it easy to perform operations for correcting a positional deviation produced when a program, to which taught points have been added or position/orientation modifications have been made offline, is applied to a robot. A program P1 prepared by the offline programming system is applied to the robot, and a program P2 for which corrections of position deviation have been made is read in from a robot controller. Correction amounts E are each determined from a position/orientation deviation between corresponding taught points of the programs P1, P2. A program P3 is obtained by adding taught points to the program P1 or modifying taught points thereof. Expected correction amounts for the added or modified taught points are each calculated from the correction amounts of existing taught points near the position of the added or modified taught point. A program P4 obtained by modifying taught points in the program P3 using corresponding correction amounts is output to the robot controller which can easily correct actual position/orientation deviations because even the added or modified taught points have been modified with the expected correction amounts.

摘要翻译： 一种离线编程系统，使得当对已经被添加了教导点的程序或位置/方向修改已经脱机的程序时，执行用于校正产生的位置偏差的操作被应用于机器人。 将离线编程系统准备的程序P1应用于机器人，并且从机器人控制器读入已经进行了位置偏差校正的程序P2。 校正量E各自根据程序P1，P2的对应教导点之间的位置/方位偏差来确定。 通过将教导点添加到程序P1或修改其教导点来获得程序P3。 所添加或修改的教导点的预期校正量各自根据添加或修改的教导点的位置附近的现有教导点的校正量来计算。 通过使用相应的校正量将程序P3中的教导点修改而获得的程序P4被输出到机器人控制器，该机器人控制器可以容易地校正实际的位置/方向偏差，因为即使添加或修改的教导点已经被修改了预期的校正量。

公开(公告)号：US20040178179A1

公开(公告)日：2004-09-16

申请号：US10798288

申请日：2004-03-12

申请人： FANUC LTD

发明人： Toshiyuki Ogata ,  Shigetoshi Takagi

IPC分类号： B23H007/02 ,  B23H007/20

CPC分类号： G05B19/4093 ,  B23H7/06 ,  B23H2600/12 ,  G05B2219/49324 ,  Y02P90/265

摘要： When die machining including machining processes from a rough machining process to a finish machining process is carried out on the same workpiece along a closed machining path, each of the points equally dividing a length of the closed machining path by the repetition number of machining processes is defined as an approach point, so that the approach points are different from each other for each machining process. This makes it possible to avoid a concentration of the approach points at one points thereby preventing a dent from being formed at the approach point.

摘要翻译： 当沿着封闭的加工路径在相同的工件上进行从粗加工过程到精加工过程的加工过程的模具加工时，通过加工过程的重复次数将闭合加工路径的长度相等地分割的每个点是 定义为接近点，使得接近点在每个加工过程中彼此不同。 这使得可以避免接近点在一个点处的集中，从而防止在接近点处形成凹痕。

公开(公告)号：US20040176871A1

公开(公告)日：2004-09-09

申请号：US10791744

申请日：2004-03-04

申请人： FANUC LTD

发明人： Satoru Shinozaki ,  Koji Samukawa

IPC分类号： G06F019/00

CPC分类号： G05B19/40937 ,  Y02P90/265

摘要： A plurality of fixed form programs used to create a processing program are stored. The fixed form programs include undefined data portions respectively. One fixed form program is selected, and data is key-inputted to the undefined data portion included in the fixed form program. Consequently, the processing program using the fixed form program to be used for a numerical control device is created.

摘要翻译： 存储用于创建处理程序的多个固定表单程序。 固定表单程序分别包括未定义的数据部分。 选择一个固定形式的程序，并将数据输入到固定形式程序中包括的未定义的数据部分。 因此，创建了使用用于数控装置的固定形式程序的处理程序。