公开(公告)号：WO1994007298A1

公开(公告)日：1994-03-31

申请号：PCT/JP1993001335

申请日：1993-09-17

Applicant: FANUC LTD ,  NAKAMURA, Kosei ,  HAYASHI, Yoshiyuki ,  KIMIJIMA, Masami ,  ARIMATSU, Yohei

Inventor： FANUC LTD

IPC: H02K17/16

CPC classification number: H02K17/165 ,  Y10T29/49012

Abstract: A cage rotor (10) comprises a laminated core (14) fixed to a rotor shaft (12); a secondary conductor (18) arranged in a plurality of through holes (16) made through the laminated core (14); a pair of end rings (20) connected to the secondary conductor (18) at both ends of the laminated core (14) in the axial direction; and a pair of reinforcing members (22 and 23) covering the end rings (20) respectively. The secondary conductor (18) and end rings (20) are integrally formed by casting, and connected to the laminated core (14) and reinforcing members (22 and 23). The reinforcing members (22 and 23) are made up of annular elements made of a highly rigid material, and are provided with the cylindrical walls (26 and 27) enclosing the cylindrical outer periphery of the end rings (20), and the multi-hole walls (28 and 29) sandwiched between the respective end rings (20) and the laminated core and having a plurality of holes (32) communicating with the through holes (16) of the laminated core (14), and end walls (30 and 31) which contact with the outer ends of the end rings (20) in the axial direction.

Abstract translation: 笼式转子（10）包括固定在转子轴（12）上的层叠铁心（14）。 布置在通过层叠铁心（14）制成的多个通孔（16）中的次级导体（18）; 一对在所述叠层铁芯（14）的轴向两端连接到所述次级导体（18）的端环（20）; 以及分别覆盖端环（20）的一对加强构件（22和23）。 次级导体（18）和端环（20）通过铸造而一体地形成，并且连接到层压铁芯（14）和加强构件（22和23）。 加强构件（22和23）由高刚性材料制成的环形元件构成，并且设置有封闭端环（20）的圆柱形外周的圆柱形壁（26和27） 夹在相应的端环（20）和层叠铁芯之间的多个孔壁（28和29），并且具有与层叠铁心（14）的通孔（16）连通的多个孔（32）和端壁（30 和31），其沿着轴向与端环（20）的外端接触。

公开(公告)号：WO1994000904A1

公开(公告)日：1994-01-06

申请号：PCT/JP1993000859

申请日：1993-06-24

Applicant: FANUC LTD ,  NAKAMURA, Kosei ,  HAYASHI, Yoshiyuki ,  TAMAI, Takayuki

Inventor： FANUC LTD

IPC: H02K16/00

CPC classification number: H02K16/02 ,  H02K16/00

Abstract: A high-output induction motor having its stator and rotor elongated without affecting grinding and die-casting while maintaining the flexural rigidity of the articles. The induction motor (10) includes two rotor cores (14) fixed to a spindle with a predetermined gap in an axial direction and two stator cores (24) encompassing the rotor cores (14) and fixed to a sleeve portion (22) of housing means (20). Each rotor core (14) includes a plurality of secondary conductors (36) extending in the axial direction and a pair of end rings (38) connecting each secondary conductor (36) at both ends of the rotor core (14) in the axial direction. Each stator core (24) includes a plurality of windings (26). These rotor cores (14) and stator cores (24) are shaped longer to such an extent that die-casting and grinding are not affected and the flexural rigidity of the articles is maintained.

Abstract translation: 一种高输出感应电动机，其定子和转子伸长而不影响研磨和压铸，同时保持制品的抗弯刚度。 感应电动机（10）包括两个固定在心轴上的转子芯（14），其轴向具有预定的间隙，并且包括两个包围转子芯（14）的定子芯（24）并固定到壳体的套筒部分 （20）。 每个转子铁心（14）包括在轴向方向上延伸的多个次级导体（36）和一对端环（38），其在轴向上连接转子铁心（14）两端的每个次级导体（36） 。 每个定子铁心（24）包括多个绕组（26）。 这些转子铁心（14）和定子铁芯（24）的形状更长，使得压铸和研磨不受影响并且保持制品的抗弯刚度。

公开(公告)号：WO1994000271A1

公开(公告)日：1994-01-06

申请号：PCT/JP1993000848

申请日：1993-06-22

Applicant: FANUC LTD ,  NAKATA, Yoshinori ,  MORI, Atsushi

Inventor： FANUC LTD

IPC: B23K26/00

CPC classification number: B23K26/123 ,  B23K26/14 ,  B23K26/1476

Abstract: A laser machining apparatus adapted to apply a laser beam to a work and cut the same. The cutting of a work of a nonferrous metal is done efficiently and stably, and the cutting of even a work of a large thickness is also done. In a point A, a boring process is carried out under a machining condition A to form an arcuate portion (31). The machining condition is then switched to B, and an expansion treatment is carried out to form an expanded bore (32) in an extended form of the original arcuate portion (31). When the expansion treatment has completed in the position B, the stand-off (distance between the front end of a machining nozzle and the surface of the work) is set to a lowest possible level, and the machining condition is switched to C, under which a cutting process is started. Therefore, the cutting process is carried out in substantially the same manner as in a process in which the cutting of a work is started directly from the outer side of an end portion thereof. During the cutting process, the pressure of an assist gas is set high, and the stand-off small, so that the dross scattering effect by the assist gas is displayed more remarkably. Accordingly, a cutting process can be carried out efficiently and stably.

Abstract translation: 一种激光加工设备，适用于将激光束施加到工件上并将其切割。 高效稳定地切割有色金属的工件，甚至还可以切割大厚度的工件。 在点A中，在加工条件A下进行钻孔加工以形成弓形部分（31）。 然后将加工条件切换到B，进行膨胀处理以形成延伸形式的原始弓形部分（31）的膨胀孔（32）。 当位置B的膨胀处理完成时，将支座（加工用喷嘴的前端与工件的表面之间的距离）设定为最低水平，将加工条件切换为C 开始切割过程。 因此，切割处理以与从其端部的外侧直接开始工件切割的工序基本相同的方式进行。 在切割过程中，辅助气体的压力被设定得高，并且间隔较小，使得辅助气体的浮渣散射效应被更显着地显示。 因此，可以有效且稳定地进行切割加工。

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：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.