公开(公告)号：WO1992013669A1

公开(公告)日：1992-08-20

申请号：PCT/JP1992000093

申请日：1992-01-30

Applicant: FANUC LTD ,  TORII, Nobutoshi ,  TERADA, Akihiro ,  SASAKI, Yasuo

Inventor： FANUC LTD

IPC: B23K26/08

CPC classification number: B23K26/0884

Abstract: Annular chambers (84-90) utilizing a plurality of seal means (70-78) are provided on the outer sheath pipe (42) of a wrist (18) of a laser robot, annular chambers (86, 90) are formed to be assist gas transfer chambers and a cooling liquid transfer chamber, such a piping arrangement as to be able to supply and recover the assist gas and the cooling liquid through these annular chambers is adopted, pipings (22, 24, 26, 28) are formed of metal pipe free from damage and provided in close contact with the periphery of the forearm (16) and the wrist (18), other annular chambers (84, 88) are formed to be operating chambers for supplying dust-proof pressure air fed from the side of an inner pipe (44) of the wrist (18) and seal means (70-78) are provided therebetween, so that the annular gas chambers and the annular liquid chambers can be formed to be the annular chambers free from the leakage of gas and liquid.

公开(公告)号：WO1992012468A1

公开(公告)日：1992-07-23

申请号：PCT/JP1991001709

申请日：1991-12-13

Applicant: FANUC LTD ,  KANDA, Kunio

Inventor： FANUC LTD

IPC: G05B19/18

CPC classification number: G05B19/409 ,  G05B2219/33126 ,  G05B2219/33192 ,  G05B2219/36169 ,  Y02P90/10

Abstract: An operator transmits the ID number of a numerically controlled machine to be called to all stand-by numerically controlled machines. In response to this, all the machines display the received ID number and their own numbers to allow the operator to confirm the numbers. The operator issues a command for coupling a portable and wireless manual operation device used for the call to the called numerically controlled machine. According to this coupling command, the uncalled numerically controlled machines return to their stand-by states.

公开(公告)号：WO1992009940A1

公开(公告)日：1992-06-11

申请号：PCT/JP1991001569

申请日：1991-11-15

Applicant: FANUC LTD ,  IKEDA, Yoshiaki ,  HIROHAMA, Hideyuki

Inventor： FANUC LTD

IPC: G05B19/18

CPC classification number: G05B19/414 ,  G05B2219/34244 ,  G05B2219/34268

Abstract: A method for executing programs for a CNC equipment by which both a sequence program and a CNC program are executed with one processor. A means (3) for determining the frequency of a timer automatically determines the frequency of the execution time of the CNC program according to a time Tb corresponding to the information on an actual added function. A timer (4) outputs this frequency to a processor (11). Since the processor (11) executes alternately the CNC program and the split sequence program on this frequency, the execution quantity of the sequence program per time is increased.

公开(公告)号：WO1992009021A1

公开(公告)日：1992-05-29

申请号：PCT/JP1991001485

申请日：1991-10-30

Applicant: FANUC LTD ,  SASAKI, Takao ,  OTSUKI, Toshiaki ,  SAITO, Yasuhiro

Inventor： FANUC LTD

IPC: G05B19/405

CPC classification number: G05B19/401 ,  G05B2219/35286 ,  G05B2219/35353 ,  G05B2219/37619

Abstract: A method of evaluating an accuracy in which an operating accuracy of a machine can be easily evaluated on the side of a numerically controlled system without using a special measuring device. For example, during execution of a circular arc processing program (14a) for evaluating an accuracy by the processor (11) of a numerically controlled system (10) with numerically controlled machine (30) idly operated, machine operating positions in directions of an X-axis and a Y-axis are periodically measured in response to position feedback signals output from pulse coders provided on servo motors of the X-axis and the Y-axis of a machine tool, and stored in a memory (13). Upon completion of the execution of the program, a radius of an operating path and an error with respect to a specified radius on the X-Y plane of the machine tool are calculated by the processor based on the measured positions in the directions of the X-axis and the Y-axis. The machine operating path is displayed on the display unit (16a) together with the specified path and allowable external and internal paths for the accuracy evaluation by the operator in accordance with image signals produced by a graphic control circuit (16) based on the calculated path or the calculated radius error, the radius specified by the program and allowable upper and lower limit radii.

公开(公告)号：WO1992009019A1

公开(公告)日：1992-05-29

申请号：PCT/JP1991001566

申请日：1991-11-15

Applicant: FANUC LTD ,  WATANABE, Atsushi ,  TERAWAKI, Fumikazu ,  WARASHINA, Fumikazu

Inventor： FANUC LTD

IPC: G05B19/18

CPC classification number: B25J9/1692 ,  G05B19/4086 ,  G05B2219/39399

Abstract: A method for setting a common coordinate system of the robots of a robot system, including a robot substituted for one of them. Calculated is a coordinate converting matrix for converting a provisional coordinate system (X2Y2Z2), which has been recognized by a first robot (10, 30) through the access to a second jig (62), to a common coordinate system (X1Y1Z1), which has been recognized by the first robot through accessing a first jig (61). Further, by using this converting matrix, a provisional coordinate system, which has been recognized by a second robot through the access to the second jig, is converted to the common coordinate system, which is set in the second robot. When a substitute robot for the second robot is provided, calculated is a second coordinate converting matrix for converting a provisional system, which has been recognized by the first robot through accessing a third jig (63), to the common coordinate system. Further, a second provisional coordinate system, which has been recognized by the substitute robot through accessing the third jig, is converted to the common coordinate system by using the second coordinate converting matrix, and is set in the substitute robot.

公开(公告)号：WO1992006528A1

公开(公告)日：1992-04-16

申请号：PCT/JP1991001289

申请日：1991-09-27

Applicant: FANUC LTD ,  NAKAMURA, Kosei ,  HAYASHI, Yoshiyuki ,  OKA, Hideki

Inventor： FANUC LTD

IPC: H02K09/19

CPC classification number: H02K9/22 ,  H02K9/19

Abstract: This invention is directed to efficient cool a rotating member under an environment where it receives an excessive heat transfer, such as a main spindle equipped with a built-in motor. The rotor (12) of a built-in motor is directly fitted to the rear end side of a main spindle (10) of a machine tool, and the stator (14) is so disposed on a spindle housing (16) encompassing the main spindle (10) as to encompass the rotor (12). A ring-like member (18) is fixed to the inner peripheral surface of the spindle housing (16) in front of the stator (14), and encompasses the main spindle (10) with a suitable gap. A magnetic fluid (20), for example, a mixture of fine powder of iron oxide and a liquid such as water or a mineral oil, is filled into the gap defined between the main spindle (10) and the ring-like member (18). A cooling liquid passage (22) is disposed in the spindle housing (16) in the proximity of the stator (14) and the ring-like member (18).

公开(公告)号：WO1992004668A1

公开(公告)日：1992-03-19

申请号：PCT/JP1991001065

申请日：1991-08-08

Applicant: FANUC LTD ,  IWASHITA, Yasusuke

Inventor： FANUC LTD

IPC: G05D13/62

CPC classification number: G05B19/19 ,  G05B13/04 ,  H02P23/16

Abstract: A system for controlling a servomotor in which a controlled system is a servomotor for driving a mechanical system of low rigidity such as a robot arm, and the control error of the torque of command value of the servomotor is corrected according to the estimate of a disturbance torque applied to the mechanical system. The system comprises a calculating means (15) for calculating an actual acceleration (a) of the mechanical system from its actual velocity (VL), a signal converting means (16) for converting the torque command of a servomotor (3) to an estimated acceleration (an) of the mechanical system based on the torque command, and an estimating means (18) for estimating the disturbance torque applied to the mechanical system by calculating a deviation (Δa) of the output of the calculating means (15) from the output of the signal converting means (16). Thereby, the effect of the disturbance changing nonlinearly due to a spring constant and a damping constant is suppressed.

公开(公告)号：WO1992002870A1

公开(公告)日：1992-02-20

申请号：PCT/JP1991001024

申请日：1991-07-31

Applicant: FANUC LTD ,  IKEDA, Yoshiaki ,  AIZAWA, Yasuharu

Inventor： FANUC LTD

IPC: G05B19/18

CPC classification number: G05B19/4141

Abstract: A signal (21) sent from the machine and including a specified signal requiring high speed transfer and high speed processing and ordinary signals other than it is received by a transmission circuit which is common to the specified signal and the ordinary signals and comprises a receiver (22) and a circuit (23) for controlling serial transfer. When an interruption signal (13a) is sent out from a timer (13) for monitoring high speed signals of a numerically controlled equipment (10), serial signals (24) of one cycle, which are transmitted from the circuit (23) to a circuit (11) for controlling transfer in the numerically controlled equipment and are transferred serially from the circuit (11) to a memory (12) by a direct memory system, are processed by a routine high speed signal processing in a processor (14). According to signal processing routine end signal (14a) from the processor, serial signals of the next cycle sent from the transmission circuit are received by the circuit (11), and are transferred to the memory.

公开(公告)号：WO1992002346A1

公开(公告)日：1992-02-20

申请号：PCT/JP1991001003

申请日：1991-07-25

Applicant: FANUC LTD ,  SEKI, Masaki ,  TAKEGAHARA, Takashi ,  MATSUNAKA, Toru

Inventor： FANUC LTD

IPC: B28Q15/00

CPC classification number: G05B19/4069

Abstract: A method of drawing a locus of a tool, in which the movement of the tool for 3-dimensional machining can be easily recognized. In accordance with a work-shape data prepared on the basis of an input part program statement as a figure definition statement, for example, a cylindrical work figure (1) is drawn on a display (25a) in a shape of a perspective drawing with a YZ co-ordinate system. In accordance with NC data prepared on the basis of an input part program statement as a movement definition statement, the locus (7) of the tool cutting the peripheral surface of the work is drawn on the display. Simultaneously with this, another locus (8) of the tool obtained by developping the said locus of the tool on the YZ plane is drawn on the same display. An operator can easily recognize the movement of the tool, referring to both the locus (7) of the tool based on the working conditions and the locus (8) of the tool based on the drawing of the working.

公开(公告)号：WO1992001522A1

公开(公告)日：1992-02-06

申请号：PCT/JP1991000994

申请日：1991-07-24

Applicant: FANUC LTD ,  MIYAJIMA, Keiichiro

Inventor： FANUC LTD

IPC: B21D37/04

CPC classification number: B21D28/12 ,  G05B19/408 ,  G05B19/40936 ,  G05B19/40938 ,  G05B2219/50253 ,  Y02P90/265 ,  Y10T83/04 ,  Y10T83/175 ,  Y10T83/8732 ,  Y10T483/123 ,  Y10T483/1729

Abstract: In a method of tool selection control for a punch press machine equipped with a multi-tool holder, a tool selection instruction (1) consisting of 4-digit T codes such as (T1101) associated with a first punch tool (42a) of the multi-holder (42) is read from a machining program, and a holder designation code (T11XX) for designating the multi-tool holder provided to a magazine (4), which consists of the upper two digits of the T code, is converted to a target rotation position of the magazine by a first angle parameter (2). A tool designation code (TXX01) for designating a first punch tool fitted to the designated multi-tool holder, which consists of the lower two bits of the T code, is converted to a target rotation position of the designated multi-tool holder by a second angle parameter (3). The magazine and each of the designated multi-tool holders are rotated round their axes of rotation (T axis or C axis) and are positioned to their target rotation positions, so that the designated punch tool of the designated multi-tool holder is selected.