公开(公告)号：WO1988005362A1

公开(公告)日：1988-07-28

申请号：PCT/JP1988000043

申请日：1988-01-22

Applicant: FANUC LTD ,  TOYODA, Kenichi ,  MIZUNO, Toru ,  TORII, Nobutoshi ,  KANDA, Yuichi ,  MORIKAWA, Shigehiro

Inventor： FANUC LTD

IPC: B23K09/12

CPC classification number: B23K9/127

Abstract: A method of starting arc-sensing adaptable to an automatic welding apparatus designed to perform arc-sensing in such a manner that a variation of welding current during a welding operation involving weaving is utilized to detect both vertical and horizontal deviations of its welding electrode from a predetermined path so as to control the welding electrode to eliminate such deviations. In an extremely unstable arcing condition immediately after the generation of arcing, the welding electrode is maintained under the dwell condition. At the first predetermined time (T1) when the arcing condition is somewhat improved, the electrode is allowed to start weaving. Deviation is then detected and eliminated by sensing the arc only in the horizontal direction at the second predetermined time (T2) when the arc has been stabilized in the weaving condition. At the third predetermined time (T3) after the deviation is eliminated by the horizontal arc-sensing, vertical arc-sensing is started while simultaneously performing the horizontal arc-sensing to detect and eliminate deviations.

公开(公告)号：WO1988004971A1

公开(公告)日：1988-07-14

申请号：PCT/JP1987000854

申请日：1987-11-05

Applicant: FANUC LTD ,  TOYODA, Kenichi ,  MIZUNO, Toru ,  TORII, Nobutoshi ,  KANDA, Yuichi ,  MORIKAWA, Shigehiro

Inventor： FANUC LTD

IPC: B23K09/12

CPC classification number: B23K9/127

Abstract: An arc current is divided into two areas corresponding to 1/4 cycle of weaving, and the sizes of these two areas are compared. That end portion of the larger-sized area which corresponds to a predetermined period of time is subtracted from the larger-sized area, and the sizes of the areas are further compared. The movement of a welding torch is then compensated in accordance with a predetermined correction function. Owing to this method, the arc welding can be done by moving the welding torch accurately along the welding line of a base metal even when an instructed welding line and the welding line of the base metal to be actually welded are out of alignment.

公开(公告)号：WO1988007916A1

公开(公告)日：1988-10-20

申请号：PCT/JP1988000362

申请日：1988-04-09

Applicant: FANUC LTD ,  MIZUNO, Tohru ,  ITO, Takayuki

Inventor： FANUC LTD

IPC: B25J09/16

CPC classification number: G05B19/414 ,  G05B19/40936 ,  G05B2219/34346 ,  G05B2219/45083 ,  Y02P90/265

Abstract: This invention relates to a robot controller in which control conditions of a robot are set by a monitor program described in robot language. Usually, a system program is designed exclusively for a particular robot controller and cannot be freely modified by a user. However, part of the system program for always monitoring the operation of the robot is stored in a user region USER, and is opened to the user, so that functions can be deleted, altered or added.

Abstract translation: 机器人控制器，其中机器人的控制条件由机器人语言中描述的监控程序确定。 通常，系统程​​序专为特定的机器人控制器设计，不能由用户自由修改。 在该实施例中，允许对机器人的操作进行持续监视的系统程序的一部分被存储在用户区域“用户”中并且可供用户访问，使得后者可以擦除，修改或添加功能 。

公开(公告)号：WO1987004536A1

公开(公告)日：1987-07-30

申请号：PCT/JP1987000048

申请日：1987-01-26

Applicant: FANUC LTD ,  MIZUNO, Tohru ,  ISHIKAWA, Haruyuki

Inventor： FANUC LTD

IPC: G05B19/403

CPC classification number: G05B19/40936 ,  G05B2219/35511 ,  G05B2219/36011 ,  G05B2219/36019 ,  G05B2219/36128 ,  G05B2219/36131 ,  Y02P90/265

Abstract: An apparatus for controlling robot which controls a robot according to a program language and is provided with keys and a display unit which displays the data of at least one block. In the data of one block that is displayed, a language to be changed is cyclically selected to arrange desired blocks and the data are directly stored. Therefore, even an unskilled user can easily arrange desired blocks within a short period of time without involving error such as syntax error.

公开(公告)号：WO1988008158A1

公开(公告)日：1988-10-20

申请号：PCT/JP1988000374

申请日：1988-04-15

Applicant: FANUC LTD ,  MIZUNO, Tohru ,  KOSAKA, Tetsuya

Inventor： FANUC LTD

IPC: G05B19/403

CPC classification number: G05B19/408

Abstract: A robot controller for programmed control of a robot of the teach reproduction system. The robot controller has an operation control means (CPU) which converts a group of position data included in a plurality of robot instruction data input from a teach operation board into integrated instruction data including other robot instruction data for storage into a data memory (RAM). The controller also compiles the instruction data to prepare an operation program of the robot.

Abstract translation: 机器人控制单元，用于再现学习动作类型的机器人的程序控制。 该机器人控制单元具有转换使用任务学习控制台引入的一组机器人指令数据中包括的一组位置数据的任务控制器（CPU）。 ，包括机器人的其他指令数据的综合指令数据，用于存储在数据存储器（RAM）中。 控制单元还负责编译指令数据以准备机器人的运行程序。

公开(公告)号：WO1992011590A1

公开(公告)日：1992-07-09

申请号：PCT/JP1991001718

申请日：1991-12-16

Applicant: FANUC LTD ,  MIZUNO, Tohru ,  KARAKAMA, Tatsuo ,  NIHEI, Ryo ,  MIURA, Takenobu

Inventor： FANUC LTD

IPC: G05B19/42

CPC classification number: B25J9/1658 ,  G05B19/40936 ,  Y02P90/265

Abstract: An instruction method for a robot operation program capable of easily making a program. Required one of the standard operation programs (61 ~ 6n) for operating a robot in a typical operation pattern is read out from a memory (31c) of a robot controller (30) and is displayed on the screen of an instruction operation board (57). An operator operates the instruction operation board, adds position and speed data, etc, into the standard operation program on the display screen or corrects the data described in advance in the standard operation program. Therefore, operation programs (71, 72) for operating the robot in the typical operation pattern or similar patterns can be generated easily.

公开(公告)号：WO1988005186A1

公开(公告)日：1988-07-14

申请号：PCT/JP1988000010

申请日：1988-01-07

Applicant: FANUC LTD ,  MIZUNO, Tohru ,  ISHIKAWA, Haruyuki

Inventor： FANUC LTD

IPC: G05B19/403

CPC classification number: G05B19/237 ,  B25J9/1664 ,  B25J9/1679 ,  G05B2219/40006 ,  G05B2219/50109

Abstract: A robot controller enables the robot to hold a work by a robot hand and to stack it on a predetermined place or take it down. The robot controller has memory means (3) for storing a plurality of approaching patterns in relation to the movement of the hand. This controller can arbitrarily set a path pattern from stacking the work from a position where the robot hand starts to move to a poistion where the work is taken down, as well as a path from the point of operation to the position where the robot hand ceases to move, depending upon the kind of work and the position of operation. The controller can also change the attitude of the robot hand at a position of operation.

Abstract translation: 机器人控制器允许机器人用机械手握住工件，将其堆放在预定位置，或将其从堆叠中移出。 机器人控制器具有用于存储与手的移动有关的多个接近模式的存储器构件（3）。 控制器可以任意地设定从机械手开始移动的位置到工件从堆叠移除的位置的工件堆叠的路径，以及 从活动点到手停止位置的路径，取决于工件类型和活动位置。 控制器还可以改变机械手在活动位置的姿态。

公开(公告)号：WO1988005363A1

公开(公告)日：1988-07-28

申请号：PCT/JP1988000048

申请日：1988-01-23

Applicant: FANUC LTD ,  TOYODA, Kenichi ,  MIZUNO, Toru ,  TORII, Nobutoshi ,  KANDA, Yuichi ,  MORIKAWA, Shigehiro

Inventor： FANUC LTD

IPC: B23K09/12

CPC classification number: B23K9/127 ,  B23K9/0956

Abstract: An automatic welding apparatus capable of arc sensing equipped with a memory (2) for storing parameters for arc sensing. The parameter in the memory may be rewritten by a manual input operation prior to starting of a welding operation, or by an on-line computer during a welding operation, or by a welder operating program at a predetermined instant.

公开(公告)号：WO1998026906A1

公开(公告)日：1998-06-25

申请号：PCT/JP1997004656

申请日：1997-12-17

Applicant: FANUC LTD ,  TERADA, Akihiro ,  YAMASHIRO, Hikaru

Inventor： FANUC LTD

IPC: B25J19/00

CPC classification number: B25J9/047 ,  B25J19/0025 ,  B25J19/0029 ,  Y10S414/131 ,  Y10T74/20311

Abstract: A robot (1A) comprises a robot fixing base (1), a first speed reducing mechanism mount base (11) mounting thereto a first shaft speed reducing mechanism (12) and a second shaft speed reducing mechanism (21), a first arm (AM1), a second speed reducing mechanism mount base (11) mounting thereto a third shaft speed reducing mechanism (31) and a fourth shaft speed reducing mechanism (41), and a second arm (AM2). An electric cable (CB) or piping passes through a hollow portion of the first shaft speed reducing mechanism (12) from the robot fixing base (1), is routed around an outside of the second shaft speed reducing mechanism (21) and extends along the first arm (AM1).

Abstract translation: 机器人（1A）包括机器人固定座（1），安装在其上的第一减速机构安装座（11）和第二轴减速机构（21），第一臂（ AM1），安装有第三轴减速机构（31）和第四轴减速机构（41）的第二减速机构安装基座（11）和第二臂（AM2）。 电缆（CB）或管道从机器人固定座（1）穿过第一轴减速机构（12）的中空部分，绕第二轴减速机构（21）的外侧延伸并沿着 第一臂（AM1）。

公开(公告)号：WO1998024586A1

公开(公告)日：1998-06-11

申请号：PCT/JP1997004424

申请日：1997-12-03

Applicant: FANUC LTD ,  KAMIGUCHI, Masao ,  SAITO, Osamu ,  KUKITA, Atsuyuki

Inventor： FANUC LTD

IPC: B23Q41/00

CPC classification number: G05B19/4185 ,  G05B2219/31089 ,  G05B2219/31094 ,  G05B2219/31145 ,  G05B2219/31324 ,  G05B2219/34192 ,  Y02P90/18 ,  Y02P90/185 ,  Y02P90/28 ,  Y02P90/285 ,  Y02P90/60 ,  Y10T29/53004 ,  Y10T29/53009 ,  Y10T29/53048 ,  Y10T29/53174

Abstract: An information transfer system, to be used in a factory, which allows information to be easily transmitted between controllers without requiring a complicated wiring of a communication line and a complicated communication protocol. A controller for each forming cell (Ai), a carriage controller (C) which controls an unmanned carrying means (D) and a warehouse cell (C), and a centralized controlling equipment (B) are connected to each other with an Ethernet line (100). Information is transmitted among these controllers via a common information storage (107). There is no necessity of installing communication lines parallelly between these controllers, and there is no increase in the number of I/O ports and communication lines. Therefore, a complicated wiring of the communication lines is prevented, resulting in the reduction in cost required for installation of the system.

Abstract translation: 在工厂中使用的信息传输系统，其允许在控制器之间容易地传送信息，而不需要通信线路的复杂布线和复杂的通信协议。 用于每个成型单元（Ai）的控制器，控制无人携带装置（D）的托架控制器（C）和仓库单元（C）以及集中控制设备（B））通过以太网线相互连接 （100）。 通过公共信息存储（107）在这些控制器之间传送信息。 不需要在这些控制器之间并行安装通信线路，并且不增加I / O端口和通信线路的数量。 因此，防止了通信线路的复杂布线，导致系统安装所需的成本降低。