公开(公告)号：WO1993015876A1

公开(公告)日：1993-08-19

申请号：PCT/JP1993000092

申请日：1993-01-26

Applicant: FANUC LTD ,  KONO, Shinichi ,  FUKUKURA, Masaaki

Inventor： FANUC LTD

IPC: B23Q15/26

CPC classification number: G05B19/232 ,  G05B2219/42104

Abstract: A main spindle positioning method which makes the most of deceleration of a spindle motor and speeds up a spindle positioning operation. It is assumed that the spindle motor is running under speed control. In response to a command for a stop at a given position, the spindle motor is decelerated to a speed N below a maximum rotating speed N1 determining a constant torque region on the basis of the speed control (Step S1), and the speed control is switched to a position control at the position at which the speed N is reached. At this time, a value which takes into consideration the present position at one rotating position of the spindle and a target stop position as an initial position error are set to an error counter (Steps S5 to S11). Thereafter, a position feedback quantity Pf from a position sensor is received by the error counter so as to execute linear acceleration/deceleration control to a final stop position (Step S12) and a speed command Vcmd is determined (Step S13), and a speed loop processing follows.

公开(公告)号：WO1993015472A1

公开(公告)日：1993-08-05

申请号：PCT/JP1993000067

申请日：1993-01-20

Applicant: FANUC LTD ,  WATANABE, Atsushi ,  TERAWAKI, Fumikazu ,  JYUMONJI, Takashi

Inventor： FANUC LTD

IPC: G06F15/70

CPC classification number: G06F3/04845 ,  G06T7/70 ,  G06T2207/30164

Abstract: A process for setting a retrieval window used for finding an object surely and quickly by an image processing equipment. Using a reference point G as a center, which is located in a group of sampled detection points Pi, the coordinates of the points Pi are determined in succession anticlockwise. In this order, stored are the coordinates data Qi of the points Pi in a file (S1-S9), and the coordinates data stored in the file are read out in succession in sets of three (S10). If a line segment Qi+1-Qi+2 is not broken to the left of a line segment Qi-Qi+1, the coordinate data Qi+1 is deleted from the file. Hereafter, the processing is similarly repeated, and the coordinate data of the points which are not of the vertexes of a convex polygon are all deleted from the file (S10-S29). The convex polygon obtained by joining together in succession the points of the coordinate value data which are left in the file finally is set on the image processing equipment, as a retrieval window.

Abstract translation: 一种用于设置用于由图像处理设备确定地和快速地找到对象的检索窗口的过程。 使用位于一组采样检测点Pi中的参考点G作为中心，点Pi的坐标被逆时针连续地确定。 按照该顺序，存储文件中的点Pi的坐标数据Qi（S1-S9），并且存储在文件中的坐标数据被连续地读出为三组（S10）。 如果线段Qi + 1-Qi + 2在线段Qi-Qi + 1的左侧没有断开，则从文件中删除坐标数据Qi + 1。 此后，类似地重复处理，并且从文件中全部删除不是凸多边形的顶点的点的坐标数据（S10-S29）。 作为检索窗口，在图像处理设备上设置连续地连接在文件中留下的坐标值数据的点的凸多边形。

公开(公告)号：WO1993014910A1

公开(公告)日：1993-08-05

申请号：PCT/JP1993000055

申请日：1993-01-18

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

Inventor： FANUC LTD

IPC: B25J19/06

CPC classification number: B25J9/1669 ,  G05B2219/49143 ,  G05B2219/49153

Abstract: A plurality of robots (A, B) that are installed adjacent to one another may be instructed to simultaneously operate, space areas occupied by the robots having respective positions and postures in accordance with respective operation commands are defined by one or two planes (Pa1, Pa2; Pb1, Pb2). Such planes for all the robots are parallel (to XZ plane) and have translational motion in a predetermined direction (Y-axis direction), and it is determined whether or not the space area thus defined crosses the space area defined for another. When the defined space areas for the two robots are apart, the robot (A) operates in accordance with the operation command, assuming that interference between the robots does not occur. On the other hand, when an overlap between the defined space areas for the two robots are detected, the robot (A) is stopped and kept on stand-by until the two space areas become apart as a result of the progress of the operation of the other robot (B).

公开(公告)号：WO1993011476A1

公开(公告)日：1993-06-10

申请号：PCT/JP1992001501

申请日：1992-11-17

Applicant: FANUC LTD ,  SEKI, Masaki ,  TAKEGAHARA, Takeshi ,  ITOU, Kouichi

Inventor： FANUC LTD

IPC: G05B19/403

CPC classification number: G05B19/4093 ,  G05B19/4063 ,  G05B2219/35245 ,  G05B2219/36031 ,  G05B2219/36225 ,  G05B2219/36227 ,  Y02P90/265

Abstract: A method of expanding the function of an automatic programming apparatus capable of making various kinds of technical calculations easily without being restricted by an intrinsic automatic programming language. A compiler for a high level language is provided in the control software for a ROM to enable the programming based on a general-purpose high level language suitable for technical calculations to be carried out, prepare a program, which is required by a user for attaining a specific object, by using a high level language, and store this object (b1') in a RAM. When NC data are prepared by executing the objects (a1', a2') prepared using an automatic programming language, the technical calculations, which are impossible by instructions based on the automatic programming language, are performed by the object (b1'), and the automatic programming function based on the objects (a1', a2') is executed by using the results of this computation. If libraries (c, d) in an automatic programming apparatus can be utilized when a program of a high level language required to attain a specific object is prepared, a part of the program is prepared by utilizing the automatic programming function including the libraries (c, d).

公开(公告)号：WO1993008958A1

公开(公告)日：1993-05-13

申请号：PCT/JP1992001391

申请日：1992-10-27

Applicant: FANUC LTD ,  NIHEI, Ryo ,  NAITO, Yasuo ,  OTSUKA, Kazuhisa ,  KATO, Tetsuaki ,  SUGIYAMA, Hideki

Inventor： FANUC LTD

IPC: B25J19/06

CPC classification number: B25J19/06 ,  B23K11/252 ,  B25J9/1674

Abstract: A method of accurately detecting the abnormality of a load, such as the fusion at a free end of a spot gun. In this load abnormality detecting method, while a flag F2 which is set to ''1'' when an instruction for moving a movable mechanical part is outputted, and which is reset to ''0'' after a predetermined very short period of time has then elapsed, is in ''0'' because the movable part is stopped, estimated disturbance torque T0 is first determined successively by a disturbance estimating observer, updated and stored (S4, S11). When an instruction for moving the movable mechanical part is outputted and the flag F2 is set to ''1'', an estimated disturbance torque T1 is determined (S5). When an absolute value [T1-T0] of the difference between this torque T1 and estimated disturbance torque T1 determined immediately before the starting of the movable mechanical part exceeds a reference level Ts (S6), an alarm representing the occurence of a load abnormality is given (S7), and a flag F1 is set to ''1'' to stop the operation (S3, S8). The estimated disturbance torque T0 during the stoppage of the movable mechanical part represents a value such as the gravity which this part receives during this time. Consequently, the value, [T1-T0] represents the disturbance torque, from which the influence of gravity is eliminated, during the movement of the mechanical part. By comparing this value with the reference value Ts, a force exerted on the movable part, other than the gravity and a frictional force, can be detected more accurately. Therefore, abnormality, such as the occurrence of fusion can be determined accurately.

公开(公告)号：WO1993007998A1

公开(公告)日：1993-04-29

申请号：PCT/JP1992001328

申请日：1992-10-12

Applicant: FANUC LTD ,  KARAKAMA, Tatsuo

Inventor： FANUC LTD

IPC: B25J09/10

CPC classification number: G05B19/404 ,  G05B2219/37251 ,  G05B2219/45083

Abstract: A method of correcting the position of the forward end of a tool, wherein a tool such as a welding gun and a grinder is rendered light in weight and control of a robot work program is facilitated. Data showing the relationship between working hour of a robot and a variable amount of the forward end point of the tool is previously stored in a memory, an integrated working hour t is read when the forward end point of the tool is moved to a moving target point (S4), and the position of the varied forward end point of the tool is determined on the basis of the data in the memory (S5). The moving target of the forward end point of the tool is corrected on the basis of the varied amount (S6), and the forward end point of the tool is moved to the moving target point (S7). Owing to this, the position of the forward end point of the tool is corrected in accordance with the varied amount, so that accurate working can be performed on the moving target point on a work, thus eliminating the necessity for a spring mechanism which has heretofore been required. Furthermore, the robot work programs which have heretofore been separately provided can be integrated together.

公开(公告)号：WO1993007670A1

公开(公告)日：1993-04-15

申请号：PCT/JP1992001288

申请日：1992-10-05

Applicant: FANUC LTD ,  NAKAMURA, Kosei ,  KATSUZAWA, Yukio ,  MASUYA, Michi

Inventor： FANUC LTD

IPC: H02K09/19

CPC classification number: H02K9/19 ,  H02K5/20

Abstract: A jacket with passages (2) for cooling liquid is provided by extrusion of aluminum alloy billets. This product is used as a stator-cooling jacket, i.e. a motor casing (1). Front and rear cast-iron housings (4, 5) are fitted to the front and rear surfaces of the casing (1) with tie-bolts (10) to form a liquid-cooled motor. The flanges (14, 16) of the front and rear housings (4, 5) are provided with either holes for passing the tie-bolts (10) or female threads for receiving the male threads at the free end portions of the tie-bolts (10). The cross section of each lightening hole (11), formed during the casting of the casing (1) and utilized as a hole for passing the tie-bolt, is shaped so as to allow only the axial movement of the tie-bolt (10). The number of lightening holes (11) is four, for example, and they are positioned at regular intervals in the circumferential direction of the casing (1). The passages (2) for passing a cooling liquid through the interior thereof are provided on the left and right sides of each lightening hole (11), and a plurality of cooling fins (12) projecting inward are formed by precision machining in the lightening holes. Thus, the liquid-cooled motor and its jacket have improved reliability with respect to the leakage of the liquid, and an improved cooling efficiency. In addition, the number of manufacturing steps is decreased.

公开(公告)号：WO1993007546A1

公开(公告)日：1993-04-15

申请号：PCT/JP1992001262

申请日：1992-09-30

Applicant: FANUC LTD ,  MIYAJIMA, Keiichiro

Inventor： FANUC LTD

IPC: G05B19/403

CPC classification number: G05B19/408 ,  G05B2219/35262 ,  G05B2219/45137 ,  G05B2219/50266 ,  Y10T83/0524 ,  Y10T83/06 ,  Y10T483/10

Abstract: A machining method using a punching press in which the operation efficiency is improved by eliminating the work table movement time in punch-pressing. When an instruction of punch-pressing of many works at a time is given, a custom macro stored in a memory in the NC machine is read out (S3). When tool-exchange is instructed (S4), the tool is exchanged out (S5) without moving a worktable to which a work is fixed (S5), and the punching sequence is reversed (S6) to carry out a forward or backward punching sequence using one tool (S7). When the custom macro does not end, the operation is advanced to the next punching instruction (S8). When the whole machining does not end, the operation is advanced to the execution of the next custom macro (S9). Therefore, the useless waiting time for the tool exchange is eliminated, so that the operation efficiency can be improved.

公开(公告)号：WO1993005455A1

公开(公告)日：1993-03-18

申请号：PCT/JP1992001150

申请日：1992-09-09

Applicant: FANUC LTD ,  IWASHITA, Yasusuke

Inventor： FANUC LTD

IPC: G05B19/18

CPC classification number: G05B19/19 ,  G05B2219/41429 ,  G05B2219/41441

Abstract: The instruction follow-up ability of a servo system is improved. The mean value of move instructions in each of position/speed loop processing cycles is determined, the number of the move instructions being equal to the quotient N of the division of a distribution cycle by the position/speed loop processing cycle with the cycle of a position/speed loop processing as the center. A feed-forward quantity FFp of a position is determined by multiplying this mean value by a position feed-forward coefficient (S13), and this feed-forward quantity FFp is added to a speed instruction obtained by a normal position loop processing to obtain a corrected speed instruction Vc(j) (S14). Furthermore, speed feed-forward processing, too, is carried out (S16) to obtain a torque instruction Tc(j) for driving a motor (S17). Even when feed-forward control is effected, undulation does not exist in position error, and no shock occurs in a machine.

公开(公告)号：WO1993004339A1

公开(公告)日：1993-03-04

申请号：PCT/JP1992001081

申请日：1992-08-26

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

Inventor： FANUC LTD

IPC: G01B21/00

CPC classification number: G01S17/48 ,  B23K9/127 ,  B23K9/1274 ,  G01B11/24 ,  G01D3/08

Abstract: A method of diagnosing operational conditions of a real time sensor by storing data obtained therefrom during the operation of a robot. This method includes such steps that: data on the cross section of an object is obtained by scanning the object with a laser sensor (S3); the position of a welding line is detected from said data on the cross section (S4); the position of a welding line and that of the robot at the time of detection are stored in memory (S5); and data on the cross section are stored (S12) when the robot is in a specified position and a conditional value is set at [1] (S7), when the position of a welding line fails to be detected for the first time and a conditional value is set at [2] (S8-S11), and when positional variation in welding line is great and a conditional value is set at [3] (S9). Various detection parameters are set for optimum detection on the basis of the position of a welding line and data on the cross section stored in the memory. In this way, the sensor is constantly watched during operation thereof and parameters can be set at optimum values.