公开(公告)号：WO1998003314A1

公开(公告)日：1998-01-29

申请号：PCT/JP1997002571

申请日：1997-07-24

Applicant: FANUC LTD ,  WATANABE, Atsushi ,  ITO, Takayuki ,  TERADA, Tomoyuki

Inventor： FANUC LTD

IPC: B25J13/06

CPC classification number: B25J9/1656 ,  B25J13/06 ,  G05B2219/35462 ,  G05B2219/36168 ,  G05B2219/36401 ,  G05B2219/39446

Abstract: An operating unit (32) of a teaching operation panel (30) connected to a robot controller (10) by a cable (40) is provided with a general operating member (321) having an auxiliary display (323), and a graphic display operating member (322) for a touch panel-carrying display (31). When a finger touches a finger tip mark (21') displayed with a graphic image (20') and is moved on a screen (as shown by an arrow A, i.e., from H1 to H2), contact positions are sensed in order on the touch panel and converted into three-dimensional position data by using planar position data (calculated on the basis of the direction of graphic display line of sight or a separately set planar direction and the latest touch position). These data are utilized for the sequential update display of the graphic image (20'), and transmitted on the other hand to the robot controller (10) and utilized for the jog feeding (arrow A') of the robot (20). A mouse (34) may be used instead of the touch panel. The direction of graphic display line of sight may be determined by using a sensor having a three-dimensional attitude detecting capability.

Abstract translation: 通过电缆（40）连接到机器人控制器（10）的教学操作面板（30）的操作单元（32）设置有具有辅助显示器（323）的一般操作构件（321）和图形显示器 用于触摸面板携带显示器（31）的操作构件（322）。 当手指触摸用图形图像（20'）显示的指尖标记（21'）并且在屏幕上移动（如箭头A所示，即从H1到H2）时，接触位置被依次感测 通过使用平面位置数据（基于图形显示视线的方向计算或单独设置的平面方向和最近的触摸位置计算）将触摸面板转换成三维位置数据。 这些数据用于图形图像（20'）的顺序更新显示，另一方面被传送到机器人控制器（10），并被用于机器人（20）的点动馈送（箭头A'）。 可以使用鼠标（34）而不是触摸面板。 可以通过使用具有三维姿态检测能力的传感器来确定图形显示视线的方向。

公开(公告)号：WO1998001944A1

公开(公告)日：1998-01-15

申请号：PCT/JP1997002317

申请日：1997-07-03

Applicant: FANUC LTD ,  MATSUBARA, Shunsuke ,  YAMADA, Yuichi

Inventor： FANUC LTD

IPC: H02P07/63

CPC classification number: G01R31/346 ,  G01R31/42 ,  H02H7/1227

Abstract: An electric current is made to flow between selected phases by turning on the selective switching elements (for example, Tra and Trd) of an inverter. When the inclination of the current waveform detected by means of current detecting circuits IR and IS coincide with a reference inclination, the current detecting circuit and switching element of the circuit to which the current flows and the winding of a motor can be diagnosed as normal. When the inclination of the detected current waveform is "0" or gentler than the reference inclination, the current detecting circuit, switching element, and motor winding can be diagnosed as abnormal and the abnormal part is specified by changing the switching element to be turned on and finding the inclination of the waveform of the current detecting circuit in the same way. When the inclination of the detected current waveform is very steep as compared with the reference inclination, it can be diagnosed that a short circuit occurs in a cable or the motor winding.

Abstract translation: 通过接通逆变器的选择性开关元件（例如，Tra和Trd），使电流在选定相之间流动。 当通过电流检测电路IR和IS检测到的电流波形的倾斜度与参考斜率一致时，可以正常地诊断电流流过的电路的电流检测电路和开关元件以及电动机的绕组。 当检测到的电流波形的倾斜度为“0”或比基准倾斜度慢时，可以将电流检测电路，开关元件和电动机绕组诊断为异常，通过改变开关元件来指定异常部分 并且以相同的方式找到电流检测电路的波形的倾斜度。 当检测到的电流波形的倾斜与参考斜率相比非常陡峭时，可以诊断出在电缆或电动机绕组中发生短路。

公开(公告)号：WO1998001263A1

公开(公告)日：1998-01-15

申请号：PCT/JP1997002390

申请日：1997-07-10

Applicant: FANUC LTD ,  HASHIMOTO, Yoshiki

Inventor： FANUC LTD

IPC: B25J13/00

CPC classification number: B25J19/025 ,  B25J9/1602 ,  B25J13/00 ,  G05B2219/33189 ,  G05B2219/34429 ,  G05B2219/34448

Abstract: A control device for controlling robots is divided into a servo amplifier, a strong electric current unit (3) such as a power supply, which supplies the servo amplifier with electric power, and a control unit (1) of an information processing system except the servo amplifier and the current unit. The strong electric current unit (3) is adjacent to or housed in a robot mechanism unit (2). The control unit (1) is installed outside a safety fence (4). The control unit (1) and the servo amplifier of the strong electric current unit (3) are connected to each other by an optical fiber cable (5). Since the control unit (1) is outside the safety fence (4), it is easy to perform operation and maintenance of robots. Also, the optical fiber cable (5) performs high-speed serial communication, only a single cable is required to reduce an occupied space.

Abstract translation: 用于控制机器人的控制装置被分为伺服放大器，向伺服放大器提供电力的诸如电源的强电流单元（3）以及信息处理系统的控制单元（1），除了 伺服放大器和当前单元。 强电流单元（3）邻近或容纳在机器人机构单元（2）中。 控制单元（1）安装在安全栅栏（4）的外面。 控制单元（1）和强电流单元（3）的伺服放大器通过光纤电缆（5）彼此连接。 由于控制单元（1）位于安全栅栏（4）的外侧，所以容易进行机器人的操作和维护。 此外，光纤电缆（5）进行高速串行通信，仅需要一条电缆来减少占用空间。

公开(公告)号：WO1997049518A1

公开(公告)日：1997-12-31

申请号：PCT/JP1997002179

申请日：1997-06-24

Applicant: FANUC LTD ,  WATANABE, Atsushi ,  ITO, Takayuki ,  KOSAKA, Tetsuya ,  NISHI, Hiroji ,  TAKAHASHI, Hiromitsu

Inventor： FANUC LTD

IPC: B23K09/095

CPC classification number: G05B19/40937 ,  B23K9/0953 ,  B23K9/1062 ,  B23K9/127 ,  G05B2219/35569 ,  G05B2219/45135 ,  Y02P90/265

Abstract: An arc welding method by which welding conditions such as the welding speed, the voltage and the current can be varied easily. A starting point at which the change of the welding conditions, i.e., the welding speed, voltage and current, is started and a finishing point at which the change of the conditions is finished are taught, and the welding speeds, voltages and currents at those starting and finishing points are determined. At the starting point, the welding is started at the welding speed, voltage and current which are set as the conditions at the starting point and the welding conditions are gradually changed so as to reach, at the finishing point, the welding speed, voltage and current which are set as the conditions at the finishing point. Only by setting the positions of the starting point and finishing point and the welding conditions at the positions, the welding conditions can be gradually changed while a welding torch is moved from the starting point to the finishing point, so that the welding conditions can be varied easily.

Abstract translation: 可以容易地改变诸如焊接速度，电压和电流之类的焊接条件的电弧焊接方法。 开始焊接条件的变化，即焊接速度，电压和电流的起始点，以及完成条件变化的完成点，焊接速度，电压和电流在这些 确定起点和终点。 在起始点，以焊接速度开始焊接，设定为起始点处的条件的电压和电流，焊接条件逐渐变化，以在最终点达到焊接速度，电压和 设定为终点处的条件的电流。 只要通过设定起点和终点的位置以及位置处的焊接条件，焊接条件可以在焊炬从起始点到终点处移动的同时逐渐改变，从而可以改变焊接条件 容易。

公开(公告)号：WO1997049016A1

公开(公告)日：1997-12-24

申请号：PCT/JP1997002137

申请日：1997-06-20

Applicant: FANUC LTD ,  ITO, Takayuki ,  KOSAKA, Tetsuya ,  ARAMAKI, Takeaki

Inventor： FANUC LTD

IPC: G05B19/4155

CPC classification number: G05B19/408 ,  G05B2219/34332 ,  G05B2219/36558

Abstract: A robot controller having an expanded backward movement function. At the time of a forward movement in a movement program, the type of the order, the line number, the movement position of the robot, the I/O signal status before the order is practiced and values before the calculation order is practiced are stored as historical data. At the time of a backward movement, the data written in a history table are read in a backward direction, the type of the order is judged and the backward movement processing is executed in accordance with the judgment result. The separately taught backward movement exclusive order is read and practiced. If the order is a signal output order to a cooperating apparatus, the signal output order is practiced after the robot movement to the stored position is finished. The automatic reversing or the individual setting of the I/O signal is performed after the movement to the stored position is finished.

Abstract translation: 具有扩展的向后移动功能的机器人控制器。 在移动程序中的向前移动时，实行订单的类型，行号，机器人的移动位置，执行订单前的I / O信号状态，并且存储计算顺序之前的值 作为历史数据。 在向后移动时，以向后方向读入写入历史表的数据，判断顺序的种类，根据判断结果执行向后移动处理。 阅读和实践单独教导的向后运动排他顺序。 如果顺序是对协作装置的信号输出顺序，则在机器人移动到存储位置之后完成信号输出顺序。 I / O信号的自动反转或单独设置在完成到存储位置的移动之后执行。

公开(公告)号：WO1997049012A1

公开(公告)日：1997-12-24

申请号：PCT/JP1997002081

申请日：1997-06-17

Applicant: FANUC LTD ,  ONISHI, Yasushi ,  SAIKI, Yoshiharu

Inventor： FANUC LTD

IPC: G05B19/18

CPC classification number: G05B19/19 ,  G05B19/4068 ,  G05B19/4148 ,  G05B2219/33102 ,  G05B2219/33304 ,  G05B2219/34348 ,  G05B2219/34367 ,  Y02P90/06

Abstract: In a CNC apparatus (10), in addition to a PC circuit (200) which performs the sequence control of a machine (60) which is controlled numerically, a PC circuit (300) for the sequence control of peripheral apparatuses is provided. Sequence programs which are executed by the PC circuits can be inputted/outputted to/from EEPROMs (240 and 340) independently and, further, the sequence programs can be edited and diagnosed independently. Moreover, signals are transmitted between the PC circuits (200 and 300) and the operations of both the PC circuits are matched with each other when the sequence programs are executed.

Abstract translation: 在CNC装置（10）中，除了进行数字控制的机器（60）的序列控制的PC电路（200）之外，还提供了用于周边装置的顺序控制的PC电路（300）。 由PC电路执行的顺序程序可以独立地输入/输出到EEPROM（240和340），并且还可以独立地对序列程序进行编辑和诊断。 此外，当执行顺序程序时，在PC电路（200和300）之间传输信号，并且两个PC电路的操作彼此匹配。

公开(公告)号：WO1997048539A1

公开(公告)日：1997-12-24

申请号：PCT/JP1997002111

申请日：1997-06-19

Applicant: FANUC LTD ,  ITO, Susumu ,  YOSHIOKA, Mitsushi

Inventor： FANUC LTD

IPC: B29C45/07

CPC classification number: B29C45/07 ,  B29C45/661

Abstract: The main part of an injection molding machine (1) consists of a stationary platen (3), a moving platen (4), a clamping mechanism unit (7) and a linear platen (5) which are built up in this order. The stationary platen (3) and the linear platen (5) are tied by tie-bars (2), and the moving platen (4) is driven by the clamping mechanism unit (7) which is provided between the linear platen (5) and the moving platen (4). A guide rod (9) is made to protrude from the surface of the moving platen (4) opposite to the surface to which a movable side mold is attached and guides the sliding of a cross-head (10). Further, the guide rod (9) is made to pass through the linear platen (5) to protrude, and an injection unit (8) is fixed to the end of the guide rod (9). As the sliding guide of the cross-head (10) and the supporting guide of the injection unit (8) are unified, the number of components is reduced and the manufacturing cost is reduced.

Abstract translation: 注射成型机（1）的主要部分由固定压板（3），移动压板（4），夹紧机构单元（7）和直线压板（5）构成。 固定台板（3）和直线压板（5）用连杆（2）捆扎，活动压板（4）由夹紧机构单元（7）驱动，夹紧机构单元（7）设置在直线压板（5） 和移动压板（4）。 引导杆（9）从可移动的压板（4）的与可移动侧模具的表面相对的表面突出，并引导十字头（10）的滑动。 此外，引导杆（9）通过直线压板（5）突出，并且注射单元（8）固定到导杆（9）的端部。 由于十字头（10）的滑动引导件和注射单元（8）的支撑引导件是一体的，所以部件数量减少，制造成本降低。

公开(公告)号：WO1997040433A1

公开(公告)日：1997-10-30

申请号：PCT/JP1997001463

申请日：1997-04-25

Applicant: FANUC LTD ,  IKEDA, Yoshiaki ,  SASAKI, Kazuyuki

Inventor： FANUC LTD

IPC: G05B19/414

CPC classification number: G05B19/409

Abstract: A casing (3) of a control unit of a body of a numerical control apparatus is provided at its front side with a display and an interface (2) into which a PC card (13) can be inserted. A dustproof mechanism (6) is also provided so as to prevent dust from entering the control unit from the outside through the interface (2) both when the PC card (13) is inserted into the interface (2) and when the PC card (13) is not inserted.

Abstract translation: 数字控制装置的主体的控制单元的壳体（3）在其前侧设置有可插入PC卡（13）的显示器和接口（2）。 还设有防尘机构（6），以防止当PC卡（13）插入接口（2）中时，以及PC卡（ 13）未插入。

公开(公告)号：WO1997039859A1

公开(公告)日：1997-10-30

申请号：PCT/JP1997001443

申请日：1997-04-24

Applicant: FANUC LTD ,  NISHI, Hiroji ,  OKADA, Takeshi

Inventor： FANUC LTD

IPC: B25J13/00

CPC classification number: B25J17/0241 ,  B25J9/126 ,  B25J15/0206

Abstract: The driving source of the final wrist shaft of a robot is also used as the driving source of a servo tool. When a command E1 is outputted from a robot controller, another command E2 is not outputted and only the coil of a first hollow clutch is excited to fix a first arm (18) to the housing of a speed reducer. Consequently, the rotation of a servo motor M6 is transmitted only to a second arm (20) through the speed reducer, and the second arm (20) is rotationally displaced from the first arm (18). As a result, the front ends of the arms (18 and 20) are brought closer to or separated from each other and the hands of the robot are opened or closed. When the command E2 is outputted, the command E1 is not outputted and only a second hollow clutch is turned on. As a result, the arms (18 and 20) are coupled with each other and integrally driven by means of the motor M6 to change the attitude of the hands of the robot.

Abstract translation: 机器人的最终腕轴的驱动源也被用作伺服工具的驱动源。 当从机器人控制器输出命令E1时，不输出另一命令E2，并且仅激励第一中空离合器的线圈，以将第一臂（18）固定到减速器的壳体。 因此，伺服马达M6的旋转仅通过减速器传递到第二臂（20），第二臂（20）从第一臂（18）旋转移位。 结果，臂（18和20）的前端彼此靠近或分开，并且机器人的手被打开或关闭。 当输出命令E2时，不输出指令E1，只有第二中空离合器被接通。 结果，臂（18和20）彼此联接并且通过马达M6一体地驱动以改变机器人的手的姿态。

公开(公告)号：WO1997037291A1

公开(公告)日：1997-10-09

申请号：PCT/JP1997001089

申请日：1997-03-28

Applicant: FANUC LTD ,  KAMIGUCHI, Masao ,  MAEKAWA, Susumu

Inventor： FANUC LTD

IPC: G05B19/4155

CPC classification number: G05B19/4155 ,  G05B19/4103 ,  G05B19/414 ,  G05B2219/33099 ,  G05B2219/34096 ,  G05B2219/35012 ,  G05B2219/35051 ,  G05B2219/36043 ,  G05B2219/36048 ,  G05B2219/41363 ,  G05B2219/50057 ,  Y02P90/265

Abstract: Trial machining is performed to determine the actual machining positions (P1, P2, ...) corresponding to the command positions (S1, S2, S3, ...) of each block of NC data. Point symmetry positions of the actual machining positions (P1, P2, ...) with respect to the command positions (S1, S2, S3, ...) of each block are calculated. Corrected NC data are generated as the command positions of each block whose point symmetry positions are corrected. The corrected NC data include a correction quantity for correcting the position error due to a delay of the servo system. Thus, performing the machining using the corrected NC data cancels this correction quantity with the follow-up delay due to the actual servo system delay, resulting in a more accurate machined shape.

Abstract translation: 执行加工，以确定与NC数据块的命令位置（S1，S2，S3，...）对应的实际加工位置（P1，P2，...）。 计算实际加工位置（P1，P2，...）相对于每个块的命令位置（S1，S2，S3，...）的点对称位置。 生成校正的NC数据作为校正点对称位置的每个块的命令位置。 校正NC数据包括用于校正由于伺服系统的延迟引起的位置误差的校正量。 因此，使用校正的NC数据进行加工，由于实际的伺服系统的延迟而使跟随延迟抵消该修正量，导致更精确的加工形状。