公开(公告)号：WO1994018740A1

公开(公告)日：1994-08-18

申请号：PCT/JP1994000227

申请日：1994-02-15

Applicant: FANUC LTD ,  UCHIDA, Hiroyuki ,  OKAMOTO, Takashi ,  UEMATSU, Hidetoshi

Inventor： FANUC LTD

IPC: H02K01/27

CPC classification number: H02K1/2773 ,  H02K15/03 ,  H02K2201/09

Abstract: A rotor (10) includes a plurality of permanent magnets (14) disposed substantially equidistantly round a shaft (12) and a plurality of laminated core members (16) each being disposed between the permanent magnets (14) and forming a magnetic pole. The laminated core members (16) are formed by laminating and bonding a large number of thin magnetic plate cores (26) and integral type thin cores. The integral type thin core (26) includes a plurality of thin core portions having the same shape and connecting portions (46) for connecting mutually the adjacent thin core portions. When a large number of thin cores (26) and integral type thin cores are integrally joined by a press work, each laminated core member (16) is mutually interconnected between the adjacent laminated core members (16) with a relative arrangement at the time of completion of assembly having installation spaces of the permanent magnets (14), and an integrated type laminate rotor core (48) is formed.

Abstract translation: 转子（10）包括基本上等距离地设置在轴（12）周围的多个永久磁铁（14）和多个叠置的铁芯构件（16），每个叠置的铁芯构件（16）都设置在永磁体（14）之间并形成磁极。 层叠铁心构件（16）通过层叠并粘接大量薄磁性板芯（26）和整体型薄铁芯而形成。 整体型薄芯（26）包括具有相同形状的多个薄芯部分和用于连接相邻的薄芯部分的连接部分（46）。 当大量薄芯（26）和整体式薄芯通过冲压加工而整体连接时，每个层叠芯构件（16）在相邻层叠铁芯构件（16）之间以相对的布置相互互连 形成具有永磁体（14）的安装空间的组装完成和一体型层压转子芯（48）。

公开(公告)号：WO1994017948A1

公开(公告)日：1994-08-18

申请号：PCT/JP1994000148

申请日：1994-02-02

Applicant: FANUC LTD ,  SAWADA, Kiyoshi ,  ODAKA, Syunichi

Inventor： FANUC LTD

IPC: B23H07/32

CPC classification number: B23H7/20 ,  B23H7/18

Abstract: A gap condition detector (3) detects a discharge machining condition of the gap between a tool electrode (1) and a work (2). The difference between this detection value Vg and a target value Vs is multiplied by axial components of a direction vector a &cir& _ in a retreating direction so as to obtain retreat speed command V2x to V2z. These values are added to speed commands V1x to V1z obtained by position loop control to obtain speed commands for speed loop control, and servo-motors (6x to 6z) are driven to regulate the gap described above. The retreat speed commands V2x to V2z are integrated by integrators (10x to 10z) to obtain the displacement of the tool when the speed commands are corrected. This displacement is added to the movement command inputted to the position loop, so as not to lose track of the tool.

Abstract translation: 间隙条件检测器（3）检测工具电极（1）和工件（2）之间的间隙的放电加工条件。 将该检测值Vg与目标值Vs之间的差乘以退避方向的方向矢量a＆cir＆_的轴向分量，以获得后退速度指令V2x〜V2z。 这些值被添加到通过位置环控制获得的速度指令V1x到V1z，以获得用于速度环控制的速度命令，并且驱动伺服电动机（6x至6z）以调节上述间隙。 退出速度命令V2x至V2z由积分器（10x至10z）集成，以在修正速度指令时获得刀具的位移。 该位移被添加到输入到位置环的移动指令，以便不失去工具的轨迹。

公开(公告)号：WO1994013425A1

公开(公告)日：1994-06-23

申请号：PCT/JP1993001798

申请日：1993-12-10

Applicant: FANUC LTD ,  NIHEI, Ryo ,  TERADA, Akihiro ,  SASAKI, Yasuo

Inventor： FANUC LTD

IPC: B23K26/00

CPC classification number: B23K26/0884 ,  B23K26/02 ,  G05B19/4166 ,  G05B2219/43152 ,  G05B2219/45165 ,  G05B2219/50117

Abstract: In a method for effecting precision laser machining to a work by a laser machining head through additional operation shaft means (8) mounted to a robot body (1) of a multi-joint type laser robot, a required time (A+B) for taking the machining head by rapid feed from an origin point (OR) to a machining start point (E) according to various machining specifications stored in a rewritable storage means and a required time (C) for taking it similarly to the starting point without using rapid feed are calculated and compared with each other by arithmetic means (CPU) provided to a robot controller (10) of the laser robot. Only when the required time (A+B) is shorter than the required time (C), a rapid feed command is given automatically to driving motors (MA, MB) of the additional operation shaft means (8) so that the rapid feed operation of the laser machining head becomes effective to a predetermined laser machining trajectory. In this way, judgement is made automatically and laser machining efficiency can be improved.

Abstract translation: 在通过安装到多关节型激光机器人的机器人主体（1）的附加操作轴装置（8）通过激光加工头对工件进行精密激光加工的方法中，需要时间（A + B）用于 通过根据存储在可重写存储装置中的各种加工规格的快速进给从原点（OR）到加工起始点（E）的加工头，以及与起始点类似地使用的所需时间（C），而不使用 计算快速进给，并通过提供给激光机器人的机器人控制器（10）的算术装置（CPU）相互比较。 仅当所需时间（A + B）短于所需时间（C）时，自动给予附加操作轴装置（8）的驱动马达（MA，MB）快速进给命令，使得快速进给操作 的激光加工头对于预定的激光加工轨迹变得有效。 以这种方式自动进行判断，提高激光加工效率。

公开(公告)号：WO1994012915A1

公开(公告)日：1994-06-09

申请号：PCT/JP1993001750

申请日：1993-12-01

Applicant: FANUC LTD ,  TERAWAKI, Fumikazu ,  WARASHINA Fumikazu

Inventor： FANUC LTD

IPC: G05B19/19

CPC classification number: B25J9/1692 ,  G01B11/00

Abstract: A jig (J) has a large number of characteristic points (Pmn) which are disposed at known intervals at grid points of a grid corresponding the coordinate system of a vision sensor, and the characteristic points can be recognized by the sensor. Three or more, but not many, of characteristic points have additional characteristics so that they can be distinguished from the rest of characteristic points by the vision sensor, and the mode of their arrangement or the characteristic points themselves represent the origin and the axes of the coordinate system of the vision sensor. The jig (J) is disposed at a predetermined position and observation is effected through the vision sensor. The origin and axes of the coordinate system are recognized according to the mode of arrangement of the characteristic points or those points themselves, and data required for combining a camera coordinate system with the sensor coordinate system is obtained by using image data of the recognized characteristic points including those having the additional characteristics.

Abstract translation: 夹具（J）具有大量特征点（Pmn），它们以对应于视觉传感器的坐标系的网格的网格点以已知的间隔布置，并且特征点可被传感器识别。 特征点的三个或更多但不多的具有附加特征，使得它们可以通过视觉传感器与特征点的其余部分区分开，并且它们的排列方式或特征点本身表示原点和轴的轴 视觉传感器坐标系。 夹具（J）设置在预定位置，通过视觉传感器进行观察。 根据特征点或这些点本身的配置方式识别坐标系的原点和轴，并通过使用识别的特征点的图像数据获得组合相机坐标系与传感器坐标系所需的数据 包括具有附加特征的那些。

公开(公告)号：WO1994010615A1

公开(公告)日：1994-05-11

申请号：PCT/JP1993001487

申请日：1993-10-14

Applicant: FANUC LTD ,  SHIBATA, Tomoatsu

Inventor： FANUC LTD

IPC: G05B19/417

CPC classification number: G05B19/4147 ,  G05B19/4145 ,  G05B19/41845 ,  G05B2219/31017 ,  Y02P90/16 ,  Y02P90/18 ,  Y02P90/185

Abstract: This invention relates to a CNC provided with an autonomous function as one of the constituent elements of an FA system, etc., using a host computer as the primary constituent. A CNC system (2A) comprises a CNC board (21), a PMC board (22) and a communication board (24), and plays the role of a machining cell in the FA system inclusive of a machine tool (23). The PMC board (22) receives a request indicated by the FA computer through a LAN (11) and the communication board (24), and executes suitable processing for the machine tool (23). It sends the processing result back to the FA computer through the communication board (24). Further, the PMC board (22) is provided with instruction means (22A). The instruction means (22A) makes suitable judgement in accordance with the condition of the machine tool (23) on the basis of various data sent from the machine tool (23), and requests suitable processings required to the FA computer, the PLC and other CNC system. The instruction means also makes suitable judgement on the basis of data from units other than itself, and requests necessary processings to the FA computer, the PLC and other CNC system.

Abstract translation: 本发明涉及一种使用主机作为主要部件的具有作为FA系统的组成要素之一的自主功能的CNC。 数控系统（2A）包括CNC板（21），PMC板（22）和通信板（24），并且在包括机床（23）的FA系统中起到加工单元的作用。 PMC板（22）通过LAN（11）和通信板（24）接收由FA计算机指示的请求，并对机床（23）执行适当的处​​理。 它通过通信板（24）将处理结果发送回FA计算机。 此外，PMC板（22）设置有指令装置（22A）。 指示装置（22A）根据机床（23）发送的各种数据，根据机床（23）的状况进行适当的判断，并请求FA计算机，PLC等的所需处理 数控系统。 指令手段还根据自身以外的单位的数据进行适当判断，并向FA计算机，PLC等数控系统请求必要的处理。

公开(公告)号：WO1994009938A1

公开(公告)日：1994-05-11

申请号：PCT/JP1993001530

申请日：1993-10-22

Applicant: FANUC LTD ,  KITA, Yuki ,  YODA, Shinji ,  TAKAYAMA, Yushi

Inventor： FANUC LTD

IPC: B23H07/02

CPC classification number: B23H7/02

Abstract: A water-tight structure of a simple construction which has a high waterproofing effect and a low sliding resistance, and which is provided between a lower arm of and a processing liquid tank for an immersion wire electric discharge machine. First and second water-tight structures are provided between a wall (24) of a processing liquid tank (23) through which a lower arm (22) is passed and the lower arm (22). The first water-tight structure is provided with a slide plate (27) moving slidingly along with the lower arm (22), and the second water-tight structure is provided with an oil seal (29) which is provided at the portion of the slide plate through which the lower arm (22) passes, and which contacts the outer circumferential surface of the lower arm (22).

Abstract translation: 一种具有高防水效果和低滑动阻力的简单结构的防水结构，并且设置在浸没式放电加工机的下臂与处理液罐之间。 第一和第二水密结构设置在下臂（22）通过的处理液罐（23）的壁（24）和下臂（22）之间。 第一不透水结构设置有与下臂（22）一起滑动移动的滑板（27），第二防水结构设置有油封（29），该油封（29）设置在 滑动板，下臂（22）穿过该滑板，并与下臂（22）的外圆周表面相接触。

公开(公告)号：WO1994008391A1

公开(公告)日：1994-04-14

申请号：PCT/JP1993001404

申请日：1993-09-30

Applicant: FANUC LTD ,  SAKANO, Tetsuro ,  ARIMOTO, Kohei

Inventor： FANUC LTD

IPC: H02P07/00

CPC classification number: H02P25/098

Abstract: A variable reluctance motor is driven by a circuit comprising a common switching element, and switching elements which correspond to the phases. The total value (total current it) of the currents flowing through the phase coils is found. In accordance with the difference between the total value and a current command icmd, and its sign (positive or negative), the duty ratio of the PWM signal for turning the common switching element on and off is calculated. Further, based on which phase is excited according to the electrical angle of the rotor, and on the sign of the difference, the turn on/off of the switching element corresponding to each phase is controlled. In this way, a current loop is controlled to permit the detected total current it to follow up the current command icmd. Therefore, even when the excited phases are switched over, the current is always controlled to suppress the torque ripple.

Abstract translation: 可变磁阻电动机由包括公共开关元件的电路和对应于相的开关元件驱动。 找到流过相线圈的电流的总值（总电流）。 根据总值和电流指令icmd之间的差值及其符号（正或负），计算用于使公共开关元件接通和断开的PWM信号的占空比。 此外，基于哪个相位根据转子的电角度被激发，并且根据差异的符号，控制与每相相对应的开关元件的导通/截止。 以这种方式，控制电流回路以允许检测到的总电流跟随电流指令icmd。 因此，即使激励相切换，也始终控制电流以抑制转矩脉动。

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。