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。

公开(公告)号：WO1998019374A1

公开(公告)日：1998-05-07

申请号：PCT/JP1997003935

申请日：1997-10-29

Applicant: FANUC LTD ,  IEHISA, Nobuaki ,  ENOKIZONO, Hitoshi

Inventor： FANUC LTD

IPC: H01S03/097

CPC classification number: H01S3/097 ,  H01S3/09702 ,  H01S3/09705 ,  H01S3/104

Abstract: The response of the real laser output of a gas discharge pumped laser during the transition from the laser output ON command to the laser output OFF command is improved. When the command output is switched from ON to OFF at the timing it2 after the lapse of the ON time (Ton), the output command voltage (Voc) is sharply dropped to an OFF bottom voltage value (Vbott) which is lower than a voltage value (VB1) suitable for keeping the base discharge current when the laser gas is cold, and then gradually elevated to the value (VB1). Thus, the real output can be instantaneously stopped without stopping the discharge. The value (Vbott) is a function of eta = (Pc/Pmax) x beam-ON time and gradually decreased to a lower limit clamp value (VB2) in accordance with the following formula: Vbott( eta ) = VB1 - [(VB1 - VB2)/ eta B2] eta (when 0 eta B), where Pc denotes the laser output at the time of beam-ON, Pmax denotes the maximum rated laser output and eta B2 denotes the value of eta when Vbott( eta ) reaches VB2.

Abstract translation: 在从激光输出ON命令转换到激光输出OFF命令期间，气体放电泵浦激光器的真实激光输出的响应得到改善。 当在ON时间（Ton）之后的定时it2将命令输出从ON切换到OFF时，输出指令电压（Voc）急剧下降到低于电压的OFF的底部电压值（Vbott） 值（VB1）适合于在激光气体冷时保持基极放电电流，然后逐渐升高到值（VB1）。 因此，实际输出可以瞬间停止而不停止放电。 值（Vbott）是eta =（Pc / Pmax）×beam-ON时间的函数，并根据下式逐渐降低到下限钳位值（VB2）：Vbott（eta）= VB1 - [（VB1 - VB2）/ eta B2] eta（当0 = eta B）时; Vbott（eta）= VB2（当eta> eta B）时，Pc表示光束ON时的激光输出，Pmax表示最大额定激光输出，eta B2表示Vbott（eta）达到VB2时的eta值 。

公开(公告)号：WO1998006545A1

公开(公告)日：1998-02-19

申请号：PCT/JP1997002827

申请日：1997-08-13

Applicant: FANUC LTD ,  WATANABE, Atsushi ,  KATO, Tetsuaki ,  SHIRAHATA, Toru ,  NAGAYAMA, Atsuo

Inventor： FANUC LTD

IPC: B25J09/18

CPC classification number: B25J9/1656 ,  G05B2219/35263 ,  G05B2219/40127 ,  G05B2219/45238 ,  G05B2219/50104

Abstract: A stitch processing method using an industrial robot which is simple in teaching and capable of performing an accurate stitch processing. Processing (application of sealing agent) block distances (n1) and non-processing block distances (n2) are set on a robot control device as shown in Fig. 5b without teaching switching points (P1, P2,...), between blocks of sealing agent application and blocks of non-application in a sealing processing or the like as shown in Fig. 5a. The robot control device monitors moving distances and permits stitch processing by switching between non-processing and processing for every movement of the distance (n1) or the distance (n2). As shown in Figs. 5c and 5g, a starting point and a terminal point in one block belong to the processing block distance (n1). It is also possible to perform stitch processing continuously over a plurality of blocks as shown in Fig. 5d. It is also possible to perform stitch processing including a set number of processings and non-processings in one block as shown in Fig. 5f.

Abstract translation: 一种使用工业机器人的线迹处理方法，其简单的教导并且能够进行精确的针迹处理。 如图1所示，在机器人控制装置上设置加工（密封剂的应用）块距离（n1）和非处理块距离（n2）。 5b，没有教导切换点（P1，P2，...），密封剂应用块和密封处理中的不施加块等，如图5所示。 5A。 机器人控制装置通过在距离（n1）或距离（n2）的每次移动中切换非处理和处理来监视移动距离并允许缝合处理。 如图1 如图5c和5g所示，一个块中的起点和终点属于处理块距离（n1）。 也可以如图3所示在多个块上连续进行线迹处理。 5D。 也可以在一个程序段中执行包括设定数量的处理和非处理的缝合处理，如图6所示。 5F。

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。