公开(公告)号：WO1988005714A1

公开(公告)日：1988-08-11

申请号：PCT/JP1988000062

申请日：1988-01-27

Applicant: FANUC LTD ,  TOYODA, Kenichi ,  TORII, Nobutoshi ,  NAITO, Yasuo ,  OTSUKA, Kazuhisa

Inventor： FANUC LTD

IPC: B25J17/02

CPC classification number: B25J17/0283 ,  B25J9/102

Abstract: A wrist structure of an industrial robot, in which a beta speed reducer (3) and an alpha speed reducer (5) are provided at one side portion and a front portion, respectively, of the interior of a wrist (1), an outer rotary shaft (2) in a second arm (10) and an inner rotary shaft (4) therein being connected to the beta speed reducer (3) and alpha speed reducer (5), respectively, via a transmission means, and a robot hand retainer (E) being connected directly to the alpha speed reducer (5). This wrist structure is used for an industrial robot having a coaxial wrist.

Abstract translation: 一种工业机器人的手腕结构，其中分别在腕部（1）的内部的一个侧部和前部设置有β减速器（3）和α减速器（5），外部 第二臂（10）中的旋转轴（2）和内旋转轴（4）分别经由传动装置和机器人手连接到β减速器（3）和α减速器（5） 保持器（E）直接连接到α减速器（5）。 该腕部结构用于具有同轴手腕的工业机器人。

公开(公告)号：WO1988004979A1

公开(公告)日：1988-07-14

申请号：PCT/JP1987000910

申请日：1987-11-25

Applicant: FANUC LTD ,  TOYODA, Kenichi ,  TORII, Nobutoshi ,  NIHEI, Ryo ,  TERADA, Akihiro

Inventor： FANUC LTD

IPC: B25J17/00

CPC classification number: B25J9/042 ,  B25J19/0004 ,  Y10T74/20317

Abstract: Structure of a first arm (12) of a horizontally articulated robot. A direct driving motor (19), an electromagnetic brake (25) and rotary encoders (34, 36) that are concentric are disposed close to one another between a base portion post (10) supporting the first arm (12) and the first arm (12), and a direct driving motor (39), an electromagnetic brake (45) and rotary encoders (54, 56) that are concentric are disposed close to one another between the first arm (12) and a second arm (14) which is supported rotatably relative to the first arm (12). There is thus provided the compact first arm (12).

公开(公告)号：WO1988002682A1

公开(公告)日：1988-04-21

申请号：PCT/JP1987000782

申请日：1987-10-15

Applicant: FANUC LTD ,  TORII, Nobutoshi ,  NAITO, Yasuo ,  OTSUKA, Kazuhisa ,  KINOSHITA, Satoshi

Inventor： FANUC LTD

IPC: B25J19/00

CPC classification number: B25J9/101 ,  Y10T74/1453 ,  Y10T74/1494

Abstract: The revolving angle zones (A, B) of a revolving drum (12) of an industrial robot can be changed in accordance with a type of work to be done by disposing movable stoppers (18, 20). Furthermore, revolving movement is stopped by electrical means (LS1, LS2, LS3, LS4, LS5) when a stopper (22) fixed to the revolving drum impinges against mechanical stoppers (14, 16, 18, 20) in order to protect a driving motor and a driving mechanism. Proximity switches (PS1, PS2, PS3, PS4) are disposed in order to prevent any accident resulting from the malfunction of the movable stoppers and the like.

公开(公告)号：WO1988000515A1

公开(公告)日：1988-01-28

申请号：PCT/JP1987000506

申请日：1987-07-14

Applicant: FANUC LTD ,  TORII, Nobutoshi ,  ITO, Susumu ,  WAKIO, Hiroshi

Inventor： FANUC LTD

IPC: B25J17/00

CPC classification number: B25J17/0258 ,  B25J19/0029 ,  B25J19/0079

Abstract: Robot wrist mechanisms (8, 8a) mounted on the tip of a robot arm (6) of a robot (4) used in a clean air atmosphere, comprise wrist housings (10, 90) connected to a vacuum line that has a source of negative pressure; wrist-operating units (20, 100) provided at ends of the wrist housings (10, 90); motors (16, 96) provided in said wrist housings (10, 90) to actuate the wrist-operating units (20, 100); and reduction gears (24, 98). The boundary between the wrist housings (10, 90) and the wrist operating units (20, 100) is sealed with a labyrinth sealing means (54), and the output ends of the electric motors (16, 96) and the reduction gears (24, 98) are sealed with sealing means (32, 36, 50, 52, 114) to prevent the leakage of grease.

Abstract translation: 安装在在清洁空气气氛中使用的机器人（4）的机器人臂（6）的尖端上的机器人手腕机构（8,8a）包括连接到真空管线的手腕壳体（10,90），该真空管线具有 负压; 设置在手腕壳体（10,90）的端部处的手腕操作单元（20,100）; 设置在所述手腕壳体（10,90）中以致动手腕操作单元（20,100）的马达（16,96）; 和减速齿轮（24,98）。 手腕壳体（10,90）和手腕操作单元（20,100）之间的边界用迷宫式密封装置（54）密封，并且电动机（16,96）的输出端和减速齿轮 24，98）用密封装置（32,36,50,52,114）密封，以防止润滑脂泄漏。

公开(公告)号：WO1987005554A1

公开(公告)日：1987-09-24

申请号：PCT/JP1987000163

申请日：1987-03-16

Applicant: FANUC LTD ,  TORII, Nobutoshi ,  NIHEI, Ryo

Inventor： FANUC LTD

IPC: B25J19/02

CPC classification number: B25J9/126 ,  B25J19/0029 ,  B25J19/021

Abstract: A method for incorporating an optical encoder into a direct drive motor and an industrial robot driven by a direct drive motor wherein said method is employed. An optical encoder (E) of standardized type having a through hole (H 2) and a direct drive motor (M) of various dimensions having a through hole (H 1) are coupled by means of a transmission member (3) having dimensions compatible with the dimension of the direct drive motor and comprising a rigid material in such a way that the effective space of said through hole (H 1) is not obstructed and both through holes (H 1, H 2) communicate with each other so that the encoder is subjected to neither backlash nor slippage and, when this method applies to a robot, various kinds of cables (20) for the control of the robot can be inserted into each of the central through holes (H 1, H 2) of the encoder and the motor. This invention is effective for use in an industrial robot requiring particularly a high accuracy of work.

Abstract translation: 一种用于将光学编码器并入直接驱动电动机和由直接驱动电动机驱动的工业机器的方法，其中使用所述方法。 具有通孔（H 2）和具有通孔（H 1）的各种尺寸的直接驱动马达（M））的具有标准类型的光学编码器（E）通过具有尺寸兼容的传输构件（3）联接 具有直接驱动电动机的尺寸并且包括刚性材料，使得所述通孔（H 1）的有效空间不被阻塞，并且两个通孔（H 1，H 2）彼此连通，使得 编码器既不会产生齿隙也不会发生滑动，并且当该方法适用于机器人时，可以将用于控制机器人的各种类型的电缆（20）插入到所述机器人的每个中心通孔（H 1，H 2）中 编码器和电机。 本发明对于需要特别高工作精度的工业机器人有用。

公开(公告)号：WO1987001327A1

公开(公告)日：1987-03-12

申请号：PCT/JP1986000462

申请日：1986-09-10

Applicant: FANUC LTD ,  TORII, Nobutoshi ,  NIHEI, Ryo

Inventor： FANUC LTD

IPC: B25J19/00

CPC classification number: B25J9/042 ,  B23Q1/58 ,  B25J9/08 ,  B25J18/025 ,  Y10T74/20317

Abstract: A shaft supporting mechanism for industrial robots, in which an arm is supported on an extensible and retractable support shaft (4) in the interior of a hollow post (1) and which is capable of setting a working surface of the arm variably, is provided with a plurality of sets of linear support guides (16) opposed to each other around a driving means for the support shaft (4). Accordingly, the support shaft (4) is held on the post (1) in a vertically stable and balanced state even when an external force of inclining the support shaft (4) is applied thereto during a vertical movement thereof and an operation of the arm.

公开(公告)号：WO1987000790A1

公开(公告)日：1987-02-12

申请号：PCT/JP1986000392

申请日：1986-07-25

Applicant: FANUC LTD ,  TORII, Nobutoshi ,  NIHEI, Ryo ,  MIZUNO, Hitoshi

Inventor： FANUC LTD

IPC: B25J19/00

CPC classification number: B25J9/101 ,  B25J17/0241 ,  B25J19/0091 ,  B25J19/06 ,  Y10T74/2063

Abstract: An apparatus for limiting the operation range of an industrial robot, wherein a display portion (7) to display, e.g., the angle of rotation is provided on a fixed side (1) of a turning portion of a shaft that turns, and a range limiting member (6) having a dog and a stopper is movably arranged on said display portion (7). When the industrial robot is going to rotate in excess of a specified range of rotation during an operation, a limit member (81) provided on the moving side (2) of the shaft portion comes into contact with a dog (61) on the fixed side (1), whereby an overtravel is detected and an alarm is produced to indicate that the specified range of rotation has been exceeded. When the robot is further going to pivot due to inertia or the like, a buffer member (82) abuts against a stopper mechanism (62) to prevent the robot from turning excessively.

公开(公告)号：WO1986006312A1

公开(公告)日：1986-11-06

申请号：PCT/JP1986000208

申请日：1986-04-25

Applicant: FANUC LTD ,  NAKASHIMA, Seiichiro ,  TOYODA, Kenichi ,  TORII, Nobutoshi

Inventor： FANUC LTD

IPC: B25J19/00

CPC classification number: B25J9/046 ,  B25J9/1035 ,  B25J9/12 ,  B25J19/0029 ,  B25J19/005 ,  G05B19/23 ,  G05B2219/45083 ,  G05B2219/50078 ,  G05B2219/50084

Abstract: An industrial robot which is so constructed that operations of robot moving portions (16, 18, 20) are controlled by drive motors (M, Mw, Mu) that have absolute position detecting encoders (EC, ECw, ECu, ECalpha, ECbeta, ECgamma). The drive motor (M) for controlling the operation of the robot moving portion is mounted on a turning body (16) that is installed on a fixed base (12) of a robot frame (10). There is further mounted a storage battery (46) that supplies a back-up voltage to the encoders of the drive motors (Mw, Mu, Malpha, Mbeta, Mgamma) for the robot moving portions (18, 20). The storage battery is wired to each of the encoders (EC to ECgamma) via cables (48, 49).

Abstract translation: 通过具有绝对位置检测编码器（EC，ECw，ECu等）的驱动马达（M，Mw，Mu）来控制机器人16,18,20的动作部的动作而设计的工业用机器人， ECalpha，ECbeta，ECgamma）。 用于控制机器人的运动部件的操作的驱动马达（M）安装在安装在机器人（10）的框架的固定基座（12）上的旋转体（16）上。 也安装它提供了一个电压储备到机器人（18，20）的可动部分的驱动马达（MW，穆，Malpha，Mbeta，Mgamma）的编码器的储液器（46）。 累加器通过电缆（48,49）连接到每个编码器（EC到ECgamma）。

公开(公告)号：WO1984001732A1

公开(公告)日：1984-05-10

申请号：PCT/JP1983000384

申请日：1983-10-27

Applicant: FANUC LTD ,  NAKASHIMA, Seiichiro ,  TORII, Nobutoshi

Inventor： FANUC LTD

IPC: B23K09/12

CPC classification number: B23K9/125 ,  B23K9/0956 ,  B23K9/10 ,  B23K9/1037

Abstract: A welding method is employed for an automatic welder, wherein a voltage is applied between a wire (WR) which is moved along a weld path (P0$(1,5)$P1$(1,5)$P2$(1,5)$P3) by a robot, and a welding workpiece (WK), so that an arc is generated from the wire end, and while the wire is successively supplied, the wire end is moved along the weld path by the robot, thereby providing the weld. A multiplicity of welding conditions, including welding voltage, wire feed rate, pre-flow time, crater-treatment time, and post-flow time, are previously stored in a memory, and predetermined welding conditions are selected according to a program. At the welding start point (P1), gas is blown onto the workpiece (WK) during a pre-flow time which is one of the welding conditions selected according to the program. Thereafter, the selected welding voltage is generated, and the wire (WR) is supplied at the selected wire feed rate to start the welding. At the welding end point (P2), a predetermined welding voltage is generated only during the crater-treatment time which is one of the welding conditions selected according to the program. Thereafter, gas is blown on the workpiece (WK) during the post-flow time to effect post-flow processing.

公开(公告)号：WO1992020993A1

公开(公告)日：1992-11-26

申请号：PCT/JP1992000630

申请日：1992-05-15

Applicant: FANUC LTD ,  TORII, Nobutoshi ,  NIHEI, Ryo ,  NAITO, Yasuo ,  WAKIO, Hiroshi ,  IWAMOTO, Takashi

Inventor： FANUC LTD

IPC: G01B11/00

CPC classification number: G01S17/48 ,  G01B11/00

Abstract: A position detection method featuring improved detection precision for a laser sensor that uses CCD as a light-receiving element in the laser sensor, and a device therefor. The sum of products of cell outputs (Ci) and cell positions (Xi) of light-receiving elements (14) is found (42), and the cell outputs are added up (46). A counter (45) is reset when the cell output becomes greater than a preset threshold value, and sample-holding signals (SH) are counted when it becomes smaller than the preset threshold value. The sum of products is divided by an added value through a division circuit (47), and the barycentric position the sum of products is found as a light-receiving position and is stored in the latch buffer. When two or more light-receiving positions are found, the controller finds a position by the primary light of reflection and finds the position of the object. The position is not detected by the CCD cell unit, but the light-receiving position among the CCDs is detected, contributing to improving precision of position detection.