公开(公告)号：WO1994000265A1

公开(公告)日：1994-01-06

申请号：PCT/JP1993000826

申请日：1993-06-18

Applicant: FANUC LTD ,  KAMIGUCHI, Masao

Inventor： FANUC LTD

IPC: B23H07/02

CPC classification number: B23H7/04 ,  B23H7/20

Abstract: A method of monitoring a discharge machining condition in a set monitor zone while displaying various physical quantities representing the discharge machining condition on one display screen. According to this monitor method, average machining current, average gap voltage, wire tension, acceleration and other physical quantities representing the discharge machining condition are simultaneously displayed on one screen. Further, such physical quantities are sampled in the set monitor zone, and the sampled data are displayed as functions of time on a graph. The discharge machining condition can be known with the passage of time after completion of machining. Therefore, this method is helpful for clarifying and solving machining problems.

Abstract translation: 一种在一个显示屏上显示表示放电加工条件的各种物理量的同时监视设定监视区中的放电加工条件的方法。 根据该监视方法，平均加工电流，平均间隙电压，线张力，加速度等表示放电加工条件的物理量同时显示在一个屏幕上。 此外，这样的物理量在设置的监视区域中被采样，并且采样的数据作为时间的函数被显示在图表上。 放电加工条件可以在加工完成后经过时间知道。 因此，这种方法有助于澄清和解决加工问题。

公开(公告)号：WO1993024875A1

公开(公告)日：1993-12-09

申请号：PCT/JP1993000618

申请日：1993-05-11

Applicant: FANUC LTD ,  IWASHITA, Yasusuke

Inventor： FANUC LTD

IPC: G05D03/12

CPC classification number: G05B19/19 ,  G05B2219/41428 ,  G05B2219/41429 ,  G05B2219/41433 ,  G05B2219/43048

Abstract: This method is to reduce the positional errors by compensating for the delay in the rising torque of servo systems when the change in acceleration by an instruction is great. This control method comprises the steps of pre-smoothing (7) for each loop processing cycle of the position and speed; calculating the feed forward amount FFp on the basis of the pre-smoothed data SMD; and controlling the feed forward by adding the feed forward amount FFp to the speed instruction obtained by the positional loop. In the step of obtaining the feed forward amount FFp, the feed forward amount is calculated by advancing it temporally if the change in acceleration by the instruction is great, hence compensating for the delay in the rising torque.

Abstract translation: 该方法是通过补偿指令的加速度变化大时伺服系统的上升转矩的延迟来减小位置误差。 该控制方法包括对位置和速度的每个循环处理循环进行预平滑（7）的步骤; 基于预平滑数据SMD计算前馈量FFp; 并且通过将前馈量FFp添加到由位置环获得的速度指令来控制前馈。 在获得前馈量FFp的步骤中，如果通过指令的加速度的变化大，则通过前进来计算前馈量，从而补偿上升转矩的延迟。

公开(公告)号：WO1993024297A1

公开(公告)日：1993-12-09

申请号：PCT/JP1993000691

申请日：1993-05-25

Applicant: FANUC LTD ,  ITO, Susumu ,  NISHIMURA, Koichi

Inventor： FANUC LTD

IPC: B29C45/20

CPC classification number: B29C45/17 ,  B29C45/1755 ,  B29C2045/1797

Abstract: An injection moulding machine wherein the state of nozzle contact can be easily observed from the outside of a mold clamping unit (10). Monitoring holes (16a, 16b) are provided in a fixed platen (1) of the mold clamping unit (10). The monitoring holes (16a, 16b) are caused to penetrate from at least either of the front and back sides of the mold clamping unit (10) toward a locating hole (12) for locating a sprue bush (31) of a mold. It is possible to provide shutters (22a, 22b) on the monitoring holes (16a, 16b) that are adapted to interlock with a purge shield (20) for opening and/or closing. Furthermore, it is possible to construct the injection moldig machine such that the monitoring holes (16a, 16b) can be used for unobstructed observation via windows (34a, 34b) provided in a purge shield (30).

Abstract translation: 一种注射成型机，其中可以从模具夹紧单元（10）的外部容易地观察到喷嘴接触的状态。 监控孔（16a，16b）设置在合模单元（10）的固定台板（1）中。 使监测孔（16a，16b）从模具夹紧单元（10）的前后两侧的至少任一侧朝向定位孔（12）穿过，用于定位模具的直浇道（31）。 可以在监控孔（16a，16b）上设置适于与用于打开和/或关闭的吹扫屏蔽（20）互锁的快门（22a，22b）。 此外，可以构造注射成型机，使得可以通过设置在吹扫屏蔽（30）中的窗口（34a，34b）将监测孔（16a，16b）用于无阻碍地观察。

公开(公告)号：WO1993022109A1

公开(公告)日：1993-11-11

申请号：PCT/JP1993000565

申请日：1993-04-28

Applicant: FANUC LTD ,  NIHEI, Ryo ,  HAMURA, Masayuki ,  MIYAWAKI, Masanao

Inventor： FANUC LTD

IPC: B25J19/00

CPC classification number: B25J19/0029 ,  Y10T74/20311 ,  Y10T74/20317

Abstract: An industrial robot having a construction wherein the robot includes a structural arm (18) disposed as a structural element on the side portion of a robot drum (12) of a robot machine and a cable handling arm (20) disposed in a double-arm structure. A cable bundle (58) is stored inside a cable storage element (50) of this cable handling arm (20), and the cable storage element (50) itself can be removed from the side portion of the robot drum (12) as a unit element. Power feed cables and transmission cables, that are removably mounted in a unitized structure to the robot machine body, are stored without being exposed to the outside. When breakage of the cables occurs, the disconnected cables can easily be removed from the robot machine body and repaired.

Abstract translation: 一种具有这样一种结构的工业机器人，其中机器人包括一个结构臂（18），该结构臂（18）作为结构元件设置在机器人机器人的机器人滚筒（12）的侧部上，以及一个电缆处理臂（20） 结构体。 电缆束（58）存储在该电缆处理臂（20）的电缆存储元件（50）内部，并且电缆存储元件（50）本身可以从机器人滚筒（12）的侧部移除，作为 单位元素 可拆卸地安装在机器人机体的组合结构中的供电电缆和传输电缆被存储而不暴露于外部。 当电缆断裂时，断开的电缆可以很容易地从机器人机身移除并进行修理。

公开(公告)号：WO1993020491A1

公开(公告)日：1993-10-14

申请号：PCT/JP1993000340

申请日：1993-03-23

Applicant: FANUC LTD ,  KAWAMURA, Hideaki ,  ISHIKAWA, Haruyuki

Inventor： FANUC LTD

IPC: G05B19/403

CPC classification number: G05B19/4086 ,  G05B2219/39398 ,  G05B2219/39403 ,  G05B2219/39417

Abstract: 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 DEG 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 DEG position. The attitude of the hand coordinates system (10B) at the 0 DEG 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).

Abstract translation: 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°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）和刀具坐标系（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。 也可以从绘图等容易地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：WO1993019407A1

公开(公告)日：1993-09-30

申请号：PCT/JP1993000302

申请日：1993-03-11

Applicant: FANUC LTD ,  WATANABE, Atsushi ,  ITO, Takayuki ,  TAKAHASHI, Hiromitsu

Inventor： FANUC LTD

IPC: G05B19/405

CPC classification number: B25J9/1658 ,  G05B2219/35256 ,  G05B2219/35257 ,  G05B2219/35258 ,  G05B2219/35262 ,  G05B2219/36162 ,  G05B2219/39431 ,  G05B2219/40006

Abstract: A method of creating an operation program easy to understand, and of executing the operation program simply. When creating a program (20), in addition to such ordinary operative statements as "each axis position [1] 100 % alignment", macro names are used. For example, in the fifth line a macro name "hand close" is used, and in the tenth line a macro name "hand open" is used. According to macro programs fetched under such macro names, a robot (100) performs the opening and closing operations of a robot hand (102). In this manner, macro programs are given macro names representing their uses, etc., and an operation program is created using the macro names. Therefore, the creation of the program (20) is easy for the creator. The operation program (20) is easy for the operator to understand at a glance.

Abstract translation: 一种创建易于理解的操作程序的方法，简单地执行操作程序。 当创建程序（20）时，除了“每轴位置[1] 100％对齐”之类的常规操作语句之外，还使用宏名称。 例如，在第五行中，使用了宏名称“hand close”，在第十行中使用宏名称“hand open”。 根据在这样的宏名称下取出的宏程序，机器人（100）执行机器人手（102）的打开和关闭操作。 以这种方式，宏程序被赋予表示其用途等的宏名称，并且使用宏名称创建操作程序。 因此，创建程序（20）的创建很容易。 操作程序（20）易于操作者一目了然。

公开(公告)号：WO1993017483A1

公开(公告)日：1993-09-02

申请号：PCT/JP1993000248

申请日：1993-02-26

Applicant: FANUC LTD ,  UCHIDA, Hiroyuki

Inventor： FANUC LTD

IPC: H02K01/27

CPC classification number: H02K1/2773

Abstract: A rotor of a synchronous motor according to the present invention includes a plurality of permanent magnets (12) radially disposed around a shaft (10), and a plurality of laminate core members (14) disposed around the shaft (10) to clamp each permanent magnet (12) and serving as magnetic poles. The permanent magnets (12) are extended as a continuous member substantially along the full length of the laminate core members (14). Each laminate core member (14) is separated substantially in the middle by a disc member (24). The disc member (24) includes a shaft hole (26) at the center into which the shaft (10) is fitted, and a plurality of magnet engagement holes (28) around the shaft hole (26). Each magnet engagement hole (28) has a peripheral edge portion (32) having substantially the same profile as the section of the permanent magnet (12) and is formed in substantial alignment with each permanent magnet (12). Accordingly, each permanent magnet (12) is held at a predetermined position in a radial direction by the magnet engagement hole (28) of the disc member (24) against an external direction acting outward relative to the radial direction due to centrifugal force, etc.

公开(公告)号：WO1993016423A1

公开(公告)日：1993-08-19

申请号：PCT/JP1993000056

申请日：1993-01-18

Applicant: FANUC LTD ,  KATO, Tetsuaki

Inventor： FANUC LTD

IPC: G05D03/12

CPC classification number: G05B19/19 ,  G05B2219/41112 ,  G05B2219/41251 ,  G05B2219/41367 ,  G05B2219/42352

Abstract: An adaptive sliding mode control method which improves convergence of estimation parameters and having excellent damping characteristics. A position error ε between an instruction position and a motor position, a speed error ε, and acceleration Υr of position instruction are determined (S3). A position error εt between the motor position and a mechanical movable portion and its differentiation value εt are determined (S4, S5). A phase plane Suf is obtained by feeding back the position error εt between the motor position and the mechanical movable portion (S7). The estimation values Jhat, Ahat, Grhat of the terms of inertia, kinetic friction coefficient, and gravity are determined (S8), and a switch input τ1 is set to a maximum value Dis(max) or a minimum value Dis(min) of disturbance in accordance with the sign of the phase plane Suf (S10, S11). The torque instruction τ to the motor is determined and is delivered to a current loop (S12, S13). Vibration of the mechanical movable portion is reduced after positioning is completed.

公开(公告)号：WO1993015876A1

公开(公告)日：1993-08-19

申请号：PCT/JP1993000092

申请日：1993-01-26

Applicant: FANUC LTD ,  KONO, Shinichi ,  FUKUKURA, Masaaki

Inventor： FANUC LTD

IPC: B23Q15/26

CPC classification number: G05B19/232 ,  G05B2219/42104

Abstract: A main spindle positioning method which makes the most of deceleration of a spindle motor and speeds up a spindle positioning operation. It is assumed that the spindle motor is running under speed control. In response to a command for a stop at a given position, the spindle motor is decelerated to a speed N below a maximum rotating speed N1 determining a constant torque region on the basis of the speed control (Step S1), and the speed control is switched to a position control at the position at which the speed N is reached. At this time, a value which takes into consideration the present position at one rotating position of the spindle and a target stop position as an initial position error are set to an error counter (Steps S5 to S11). Thereafter, a position feedback quantity Pf from a position sensor is received by the error counter so as to execute linear acceleration/deceleration control to a final stop position (Step S12) and a speed command Vcmd is determined (Step S13), and a speed loop processing follows.

公开(公告)号：WO1993015472A1

公开(公告)日：1993-08-05

申请号：PCT/JP1993000067

申请日：1993-01-20

Applicant: FANUC LTD ,  WATANABE, Atsushi ,  TERAWAKI, Fumikazu ,  JYUMONJI, Takashi

Inventor： FANUC LTD

IPC: G06F15/70

CPC classification number: G06F3/04845 ,  G06T7/70 ,  G06T2207/30164

Abstract: A process for setting a retrieval window used for finding an object surely and quickly by an image processing equipment. Using a reference point G as a center, which is located in a group of sampled detection points Pi, the coordinates of the points Pi are determined in succession anticlockwise. In this order, stored are the coordinates data Qi of the points Pi in a file (S1-S9), and the coordinates data stored in the file are read out in succession in sets of three (S10). If a line segment Qi+1-Qi+2 is not broken to the left of a line segment Qi-Qi+1, the coordinate data Qi+1 is deleted from the file. Hereafter, the processing is similarly repeated, and the coordinate data of the points which are not of the vertexes of a convex polygon are all deleted from the file (S10-S29). The convex polygon obtained by joining together in succession the points of the coordinate value data which are left in the file finally is set on the image processing equipment, as a retrieval window.

Abstract translation: 一种用于设置用于由图像处理设备确定地和快速地找到对象的检索窗口的过程。 使用位于一组采样检测点Pi中的参考点G作为中心，点Pi的坐标被逆时针连续地确定。 按照该顺序，存储文件中的点Pi的坐标数据Qi（S1-S9），并且存储在文件中的坐标数据被连续地读出为三组（S10）。 如果线段Qi + 1-Qi + 2在线段Qi-Qi + 1的左侧没有断开，则从文件中删除坐标数据Qi + 1。 此后，类似地重复处理，并且从文件中全部删除不是凸多边形的顶点的点的坐标数据（S10-S29）。 作为检索窗口，在图像处理设备上设置连续地连接在文件中留下的坐标值数据的点的凸多边形。