公开(公告)号：WO1984001647A1

公开(公告)日：1984-04-26

申请号：PCT/JP1983000358

申请日：1983-10-14

Applicant: FANUC LTD ,  KISHI, Hajimu ,  SEKI, Masaki ,  MIZUNO, Yutaka

Inventor： FANUC LTD

IPC: G06K01/02

CPC classification number: G06K1/02 ,  G05B19/4202

Abstract: A data input/output device comprises a controller (1), a tape punch (5), a tape reader (4), and a printer (6) and can be operated by commands from a host computer. A data discriminator identifying meaningless data is provided for data processing without normal printing, in the tape punch (5) and the tape reader (4). When such data is detected by the data discriminator in the tape punch (5), the codes corresponding to the data are not punched, and when such data is detected by the data discriminator in the tape reader (4), the data is not transmitted from the tape reader (4).

Abstract translation: 数据输入/输出设备包括控制器（1），磁带打孔机（5），磁带读取器（4）和打印机（6），并且可以通过来自主计算机的命令来操作。 在带式打孔器（5）和磁带读取器（4）中，提供了一种识别无意义数据的数据鉴别器，用于无需正常打印的数据处理。 当这种数据被磁带打孔器（5）中的数据鉴别器检测到时，与数据相对应的代码不被冲击，并且当这种数据被磁带读取器（4）中的数据鉴别器检测到时，不发送数据 从磁带阅读器（4）。

公开(公告)号：WO1982004339A1

公开(公告)日：1982-12-09

申请号：PCT/JP1982000192

申请日：1982-05-25

Applicant: FANUC LTD ,  KISHI HAJIMU ,  SEKI MASAKI

Inventor： FANUC LTD

IPC: G06F15/20

CPC classification number: G06F9/445 ,  G06F3/04883 ,  G06T1/20

Abstract: The processors (201a, 201b, 201c) of a figure input device (201) are constructed with a computer, a plurality of processing programs are stored in a memory (101c) of a host computer (101), and a predetermined processing program is transferred from the host side computer to a rewritable memory (201b) of a figure I/0 device in response to the figure processing executed by the figure I/0 device, thereby allowing the figure I/0 device to process the figure in accordance with the transferred processing program.

Abstract translation: 图形输入装置（201）的处理器（201a，201b，201c）由计算机构成，多个处理程序存储在主计算机（101）的存储器（101c）中，预定处理程序 响应于由图I / 0设备执行的图形处理，从主机计算机传送到图形I / O设备的可重写存储器（201b），从而允许图I / 0设备根据 转移处理程序。

公开(公告)号：WO1982003475A1

公开(公告)日：1982-10-14

申请号：PCT/JP1982000105

申请日：1982-04-05

Applicant: FANUC LTD ,  KISHI HAJIMU ,  SEKI MASAKI

Inventor： FANUC LTD

IPC: G05B19/415

CPC classification number: G05B19/41 ,  G05B2219/35151

Abstract: Procede de formage de la surface courbe d'un article incurve a trois dimensions, comprenant les etapes consistant a introduire la courbe de section (SC) d'un article incurve a trois dimensions, un nombre de divisions, un pas de divisions, etc. en tant qu'informations de divisions, a diviser la courbe de section (SC), a obtenir de maniere sequentielle une pluralite de courbes de section intermediaires (CVi) (i = 1, 2, ...n) comprenant les points de divisions respectifs (Pi) (i = 1, 2, ...n), a former la surface courbe a partir des courbes de section intermediaires, et a deplacer un outil (TI) le long des courbes de section intermediaires (CVi) lors de l'usinage, de maniere a usiner la surface courbe. Apres l'usinage, il n'est pas necessaire de modifier l'arbre de division meme en cas de changement de la courbure de la surface incurvee, de maniere a obtenir un traitement uniforme et une amelioration de la precision d'usinage.

Abstract translation: 一种形成三维曲面物品的曲面的方法，包括以下步骤：引入三维曲面物品的截面曲线（SC），分割数量，分割步骤等 作为分割信息，对分割曲线（SC）进行分割，从而依次获得包括分割点的多个中间分割曲线（CVi）（i = 1,2，...，n） （Pi）（i = 1,2，... n），以从中间截面曲线形成曲面，并且沿着中间截面曲线（CVi）移动工具（TI） 加工，以加工曲面。 在加工之后，即使弯曲表面的曲率改变，也不需要改变分割轴，从而获得均匀的处理和提高加工精度。

公开(公告)号：WO1982003473A1

公开(公告)日：1982-10-14

申请号：PCT/JP1982000085

申请日：1982-03-30

Applicant: FANUC LTD ,  KISHI HAJIMU ,  SEKI MASAKI ,  KAWASUMI MASASHI

Inventor： FANUC LTD

IPC: G05B19/18

CPC classification number: G05B19/41 ,  G05B2219/50282 ,  G05B2219/50334 ,  Y10T409/300896 ,  Y10T409/30112 ,  Y10T409/303752

Abstract: Lors du decoupage de la surface (CS1) d'une piece a usiner (WK) possedant une surface oblique, son rayon est obtenu au point d'extremite (Pe) a partir des coordonnees et de la hauteur du point final de coupe (Pe) au moyen d'une unite arithmetique de passage. Les coordonnees de la position decalee (Pe') du point final au centre de l'outil sont ensuite calculees, des valeurs de correction sur l'axe X et l'axe Y sont obtenues a partir des coordonnees de position decalees (Ps') du point de depart, et le mouvement du centre de l'outil est ainsi corrige.

公开(公告)号：WO1987000310A1

公开(公告)日：1987-01-15

申请号：PCT/JP1986000319

申请日：1986-06-24

Applicant: FANUC LTD ,  KISHI, Hajimu ,  SAKAKIBARA, Shinsuke ,  KARAKAMA, Tatsuo

Inventor： FANUC LTD

IPC: G05B19/18

CPC classification number: B25J9/1697 ,  G05B19/4083 ,  G05B2219/36503 ,  G05B2219/37572 ,  G05B2219/45083 ,  G05B2219/50353

Abstract: A predetermined operation is executed by a robot (10) taught an end position (TCP) of an operation member (13) mounted on its wrist (11). Even when the data on the position of a work (12) sent from a sensor (14) indicates that a grip-direction vector (W) of the work (12) is not in parallel with the plane on which it is placed, the angle of rotation is determined by an operation control unit (15) relying upon a projection (W') of the grip-direction vector and an instruction for correcting the rotation of position of a tool coordinate system (Xt-Yt-Zt) is obtained through a simple operation, so that the rotation of the tool position can be corrected and controlled.

公开(公告)号：WO1986005010A1

公开(公告)日：1986-08-28

申请号：PCT/JP1986000075

申请日：1986-02-19

Applicant: FANUC LTD ,  KISHI, Hajimu ,  SAKAKIBARA, Shinsuke ,  KARAKAMA, Tatsuo

Inventor： FANUC LTD

IPC: G05B19/403

CPC classification number: B25J9/1692

Abstract: A system for setting the rectangular coordinates of a work for rotots is designed as follows. When an original point, one arbitrary point on a predetermined axis, and a third point, which is in such a plane that includes the two previously-mentioned points, are taught by the user by moving a working member (tool) attached to a hand of an articulate robot, during the teaching of the position of the tip of the tool attached to the hand, one coordinate system is determined on the basis of the positional data on these three points P1, P2, P3. Accordingly, an arbitrary rectangular coordinate system is defined on the basis of the unit vectors in the directions of the axes of the above coordinate system, and a plurality of tool coordinate systems having a certain relation with a reference coordinate system of the robot are set.

公开(公告)号：WO1986000428A1

公开(公告)日：1986-01-16

申请号：PCT/JP1985000363

申请日：1985-06-28

Applicant: FANUC LTD ,  KISHI, Hajimu ,  TANAKA, Kunio ,  MATSUNAKA, Tohru

Inventor： FANUC LTD

IPC: G05B19/403

CPC classification number: G05B19/4202 ,  G05B2219/34197 ,  G05B2219/36043 ,  G05B2219/36078 ,  G05B2219/36112 ,  G05B2219/36174

Abstract: A method of correcting a system program in an automatic programming apparatus which prepares an NC program using data prepared with a predetermined language to specify a path for a tool. The system program is stored in a first external memory medium (FD0), said program consists of a plurality of modules (M1 - M4) divided depending upon the functions and a table (BT) which stores at least the first positions of each of the modules and the data lengths. In a second external memory medium (FDn) are stored a latest module (M4') and a control program (MRP) which replaces an old module (M4) stored in the first external memory medium by said latest module. The contents of the second external memory medium (FDn) are stored in the memory of an automatic programming apparatus, the first external memory medium (FD0) is set to the automatic programming apparatus, the first position of the old module (M4) is retrieved from the table (BT) being controlled by the control program (MRP) stored in the memory, and the latest module (M4') is written from said position to replace the old module with the latest module.

公开(公告)号：WO1985003023A1

公开(公告)日：1985-07-18

申请号：PCT/JP1985000008

申请日：1985-01-10

Applicant: FANUC LTD ,  KISHI, Hajimu ,  SEKI, Masaki ,  TAKEGAHARA, Takashi ,  ONISHI, Yasushi

Inventor： FANUC LTD

IPC: B23Q15/013

CPC classification number: G05B19/41 ,  G05B2219/49381 ,  G05B2219/49392

Abstract: A method of machining the inside of an area (AR) surrounded by a closed curve (OFC'). The method includes: (1) the step of calculating the centroid (W) of the area (AR) surrounded by the closed curve (OFC'); (2) the step of deciding whether or not each of the line segments (L1 to L10) respectively connecting the centroid and the vertexes (P1 to P10) of the area crosses the closed curve; the step (3) of, if each of the line segments does not cross the closed curve, dividing each of the line segments into a predetermined number of partitions; (4) the step of moving a tool along a plurality of closed paths (CPT1, CPT2 ...) each formed by connecting the corresponding points of partition of the respective line segments, thereby effecting an area machining operation; and (5) the step of, if at least one of the line segments crosses the closed curve, dividing the area (AR) into a plurality of regions, calculating the centroid of each of the divided regions, dividing each of the line segments into a predetermined number of partitions, the line segments being respectively formed by connecting each of the centroids and the vertexes of the divided region corresponding to that centroid, calculating a plurality of closed paths, each formed by connecting the corresponding points of partition of the respective line segments for each of the divided regions, and successively moving the tool along each of the closed paths, thereby effecting an area machining operation.

Abstract translation: 加工由闭合曲线（OFC'）包围的表面（AR）内部的方法。 该方法包括1）计算由闭合曲线（OFC'）包围的表面（AR）的重心（W）; 2）确定分别连接重心和表面的顶点（P1到P10）的每条线段（L1到L10）是否与闭合曲线相交; 3）当每个线段不穿过闭合曲线时，将每个线段划分为预定数量的分离; 4）通过连接各个线段的相应分离点沿着多个闭合路径（CTP1，CTP2 ...）移动工具，从而执行表面加工操作; 5）当至少一个线段与闭合曲线相交时，将面积（AR）分割成多个区域，计算每个分割区域的重心，将每个线段划分成数字 通过连接每个重心和对应于所讨论的重心的分割区域的顶点分别形成线元件，以计算多个闭合路径，每个闭合路径通过将相应的分离点 对于每个分割区域的相应线段，并且沿着每个闭合路径连续地移动工具以执行表面加工操作。

公开(公告)号：WO1985000442A1

公开(公告)日：1985-01-31

申请号：PCT/JP1984000347

申请日：1984-07-07

Applicant: FANUC LTD ,  KISHI, Hajimu ,  SEKI, Masaki

Inventor： FANUC LTD

IPC: G05B19/403

CPC classification number: G05B19/4099 ,  G05B19/41 ,  G05B2219/35146

Abstract: A method of specifying a three-dimensional curve includes a step of input data specifying a first projected curve (CV1) and a second projected curve (CV2) which are formed when a three-dimensional curve (31a) is projected onto each of two adjacent planes in Cartesian coordinates (e.g., an XY plane and a YZ plane), a step of obtaining coordinates (ai, bi) of an ith (i = 1, 2 ... ) division point (Pi) of division points which divide the first projected curve (CV1) into a large number of line elements, a step of obtaining coordinates (bi, ci) of a point (Qi) on the second projected curve (CV2) which has the coordinate (bi) along the common axis (the Y-axis) of the coordinate axes of the two adjacent planes, and a step of specifying the three-dimensional curve (31a) using a set of points (Ri) with three-dimensional coordinates (ai, bi, ci).

公开(公告)号：WO1984004407A1

公开(公告)日：1984-11-08

申请号：PCT/JP1984000138

申请日：1984-03-27

Applicant: FANUC LTD ,  KISHI, Hajimu ,  TANAKA, Kunio ,  MATSUMURA, Teruyuki

Inventor： FANUC LTD

IPC: G05B19/403

CPC classification number: G05B19/40935 ,  Y02P90/265

Abstract: A method of specifying the shape of a blank during automatic programming for a lathe comprises the steps of specifying a finished shape (1); inputting a maximum length (Lm) and a maximum diameter(Fm) for the shape of a blank (2); obtaining a maximum length (Lt) and a maximum diameter (Ft) for the finished shape from the input finished shape data; calculating a surplus thickness (tz) for the blank in the longitudinal direction thereof and a surplus thickness (tx) for the blank in the diametrical direction thereof, using the values Lm, Lt, Fm, Ft; calculating the shape of the blank (2) obtained by increasing the dimensions of the finished shape by the surplus thickness in each direction, and displaying both the shape of the blank and the finished shape; inputting positional data on inflection points (P1, P2 ... P5) in the actual shape of the blank; and storing the input positional data on the inflection points and changing the display of the shape of the blank, using the positional data.