公开(公告)号：WO1988008350A1

公开(公告)日：1988-11-03

申请号：PCT/JP1988000396

申请日：1988-04-22

Applicant: FANUC LTD ,  KISHI, Hajimu ,  MIZUNO, Tohru ,  KANDA Yuichi

Inventor： FANUC LTD

IPC: B23K09/12

CPC classification number: B23K9/127

Abstract: When welding is carried out while the welding torch TC of a welding machine is gripped by a robot and woven to the right and left with respect to a weld line, a path correction method of an automatic welding machine in accordance with the present invention comprises the steps of computing an integration value of a welding current for each half cycle of the torch to be woven with respect to a given weld line, deciding a correcting direction, making computation on the basis of the integration value in accordance with the correcting direction thus determined to determine correction quantity, multiplying the correction quantity thus determined by a predetermined coefficient and correcting the weaving path of the torch.

公开(公告)号：WO1987000311A1

公开(公告)日：1987-01-15

申请号：PCT/JP1986000338

申请日：1986-07-01

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

Inventor： FANUC LTD

IPC: G05B19/18

CPC classification number: B25J9/161 ,  G05B19/4148 ,  G05B2219/33182 ,  G05B2219/33337 ,  G05B2219/34076 ,  G05B2219/36417 ,  G05B2219/37572

Abstract: A system for controlling articulated robot wherein a cycle which receives serial data from an external instruction device and a cycle which reversely converts the received serial data into correction data on each of the axes from orthogonal coordinates and distributes them, are executed in parallel by first and second operation units (CPU-a, CPU-b) in a robot control unit which is served with control target information on the articulated robot via a serial interface (11), in order to produce in real time a robot drive instruction that corresponds to said control target information maintaining a sufficiently short interpolation interval, and in order to control the operation of each of the axes.

公开(公告)号：WO1986004160A1

公开(公告)日：1986-07-17

申请号：PCT/JP1985000726

申请日：1985-12-27

Applicant: FANUC LTD ,  KISHI, Hajimu ,  TANAKA, Kunio ,  TAKEGAHARA, Takashi ,  ONISHI, Yasushi

Inventor： FANUC LTD

IPC: G05B19/403

CPC classification number: G05B19/40937 ,  G05B2219/35262 ,  G05B2219/35263 ,  G05B2219/36283 ,  G05B2219/36333 ,  Y02P90/265

Abstract: A method of preparing NC data, and particularly a method of preparing NC data by preparing macros (macros A, B, C, -----) that determine auxiliary data for machining (such as tools, the number of revolutions of main spindle, cutting speed, cutting conditions, or the like) in addition to the processing program (MNDP) for preparing NC data. The method of preparing NC data comprises: a step for interactively inputting at least data related to the shapes among the data required for preparing the NC data; a step for storing in advance in the memory (13) the processing program (MNDP) for automatically preparing the NC data using said data related to the shapes, and the macros (macros A, B, C, -----) that determine auxiliary data for machining required for preparing the NC data; a step for calling a macro that corresponds to said auxiliary data for machining in determining the auxiliary data for a predetermined machining; a step for determining the auxiliary data for the machining using said macro; and a step for preparing the NC data that perform the machining in accordance with a shape that is input by using said data related to the shapes and the auxiliary data for machining under the control of the processing program.

Abstract translation: 一种准备NC数据的方法，特别是通过准备确定用于加工的辅助数据的宏（宏A，B，C，-----）来准备NC数据的方法（例如工具，主轴的转数 ，切割速度，切割条件等），以及用于准备NC数据的处理程序（MNDP）。 准备NC数据的方法包括：用于交互地输入与准备NC数据所需的数据中与形状有关的至少数据的步骤; 预先存储在存储器（13）中的处理程序（MNDP）的步骤，用于使用与形状有关的数据自动准备NC数据，以及宏（宏A，B，C，-----） 确定准备NC数据所需的加工辅助数据; 用于在确定用于预定加工的辅助数据时调用与所述用于加工的辅助数据相对应的宏的步骤; 使用所述宏来确定用于加工的辅助数据的步骤; 以及根据在处理程序的控制下通过使用与形状相关的数据和用于加工的辅助数据而输入的形状来准备执行加工的NC数据的步骤。

公开(公告)号：WO1986004004A1

公开(公告)日：1986-07-17

申请号：PCT/JP1985000723

申请日：1985-12-26

Applicant: FANUC LTD ,  KISHI, Hajimu ,  SAKAKIBARA, Shinsuke ,  ISHIKAWA, Haruyuki

Inventor： FANUC LTD

IPC: B23K09/12

CPC classification number: B23K9/127

Abstract: A system for correcting welding lines of an automatic welding machine comprises detecting means (I) for detecting a welding current that flows between the tip of a wire (WR) and a welding member (WK), memory means for storing the welding current detected by the detecting means (I) at either the right end point or the left end point of the welding line during the weaving movement, and operation means for operating the correction amount of the weaving movement based upon the current values at two or more end points stored in said memory means.

公开(公告)号：WO1985004271A1

公开(公告)日：1985-09-26

申请号：PCT/JP1985000134

申请日：1985-03-18

Applicant: FANUC LTD ,  KISHI, Hajimu ,  TANAKA, Kunio ,  YAMAUCHI, Takashi

Inventor： FANUC LTD

IPC: G06F03/02

CPC classification number: G06F3/0238

Abstract: Data input device in which a display portion DP consisting of LED or liquid crystal is provided on the face of keys (21a to 21n) arranged on a keyboard (21). Predetermined select items are displayed on the display portions DP. When a key is depressed, the item displayed on the display portion of the key is input to the device.

Abstract translation: 数据输入装置，其中由设置在键盘（21）上的键（21a至21n）的表面上提供由LED或液晶组成的显示部分DP。 预定的选择项目显示在显示部分DP上。 当按下键时，显示在键的显示部分上的项目被输入到设备。

公开(公告)号：WO1985003667A1

公开(公告)日：1985-08-29

申请号：PCT/JP1985000073

申请日：1985-02-20

Applicant: FANUC LTD ,  KISHI, Hajimu ,  MATSUI, Mitsuo ,  ARAMAKI, Hitoshi

Inventor： FANUC LTD

IPC: B28Q15/00

CPC classification number: B23Q35/121 ,  G05B2219/50167

Abstract: The machining apparatus comprises a profile machining controller (1), and NC machining controller (2), and switching circuits (3X, 3Y, 3Z) which selectively transfer, depending upon select signals, the control instruction from said profile machining controller (1) and said NC machining controller (2) to a three-axis driver (4) on the side of profile machining and to a three-axis driver (5) ont he side of NC machining. Here, the select signals include a profile machining select signal (SA), an NC machining select signal (SB), and an NC-and-profile machining select signal (SC). When the NC-and-profile machining select signal (SC) is selected, the three-axis driver (4) on the side of profile machining is controlled by the profile machining controller (1) and the three-axis driver (5) on the side of NC machining is controlled by the NC machining controller (2) independently of each other. Therefore, the preparatory work for profile machining is effected or numerical data for profile machining are obtained while the NC machining is being carried out.

公开(公告)号：WO1985003145A1

公开(公告)日：1985-07-18

申请号：PCT/JP1985000007

申请日：1985-01-10

Applicant: FANUC LTD ,  KISHI, Hajimu ,  MATSUMURA, Teruyuki

Inventor： FANUC LTD

IPC: G05B19/403

CPC classification number: G05B19/40937 ,  G05B2219/34069 ,  G05B2219/34072 ,  G05B2219/36161 ,  G05B2219/36283 ,  Y02P90/265

Abstract: An NC apparatus with an automatic programming function is provided with an automatic programming unit (101) which executes the automatic programming and an NC unit (102) which executes NC processing. The apparatus includes: a nonvolatile memory (102g) which is provided for only one of the automatic programming unit and the NC unit to store data, such as a material file and a tooling file, required for the automatic programming and data required for the NC processing; a common memory (101e) which can be accessed by both a processor (101a) in the automatic programming unit and a processor (102a) in the NC unit; and a bus changeover controller (101d) which provides bus changeover control such that a predetermined processor is able to access the common memory. The unit on the data transmission side stores data in the common memory (101e), while the unit on the data reception side reads the data out of the common memory, so that data transfer is carried out between the two units.

公开(公告)号：WO1985001908A1

公开(公告)日：1985-05-09

申请号：PCT/JP1984000522

申请日：1984-10-30

Applicant: FANUC LTD ,  KISHI, Hajimu ,  TANAKA, Kunio

Inventor： FANUC LTD

IPC: B23Q15/013

CPC classification number: G05B19/41 ,  G05B2219/35316 ,  G05B2219/49381 ,  G05B2219/49385 ,  G05B2219/50109 ,  Y10T408/175

Abstract: Method of machining by a reciprocating cutting motion and, more particularly, to a machining method including the steps of: automatically preparing a pickfeed path along which a tool (TL) does not interfere with a workpiece (WK) at the time of pickfeed; moving the tool along the pickfeed path; and effecting cutting. In the case of a workpiece which has a concave portion in the vicinity of the pickfeed path, first, an approach plane (AP) is obtained which is parallel to a plane (PL) that comes in contact with an outline curve (OLC) of the workpiece at a subsequent machining start point Ps and which includes a machining end point Pe, and then, a crossing point Pc is obtained which is defined between the approach plane (AP) and a straight line (SL) which passes through the machining start point Ps and extends in the direction of the central axis of the tool at the machining start point, whereby the pickfeed path is determined by the path Pe -> Pc -> Ps. On the other hand, in the case of a workpiece which has a convex portion in the vicinity of the pickfeed path, first, an approach plane (AP) is obtained which comes in contact with an outline curve (OLC) of the workpiece at a subsequent machining start point Ps, and then, a crossing point Pc is obtained which is defined between the approach plane and a straight line (SL') which passes through the machining end point Pe and extends in the direction of the central axis of the tool at the machining end point, whereby the pickfeed path is determined by the path Pe -> Pc -> Ps.

公开(公告)号：WO1985000444A1

公开(公告)日：1985-01-31

申请号：PCT/JP1984000348

申请日：1984-07-07

Applicant: FANUC LTD ,  KISHI, Hajimu ,  SEKI, Masaki

Inventor： FANUC LTD

IPC: G05B19/415

CPC classification number: G05B19/4099 ,  G05B19/41 ,  G05B2219/35115 ,  G05B2219/35146 ,  G05B2219/35151

Abstract: A method of producing a curved surface includes a step of inputting section data on two sections (11, 12) of a three-dimensional curved-surface object, data on first and second section curves (11a, 12a) formed by the two sections (11, 12), respectively, and data on a three-dimensional curve (31a) which includes points (P1, P1') on the first and second section curves, respectively, and specifies the outer shape of the three-dimensional curved-surface object; a step of generating an intermediate section (41) for each of division points (Si) (i = 1, 2, 3 ... ) which divide the three-dimensional curve (31a) into a large number of line elements, each intermediate section (41) including the corresponding division point; a step of calculating an intermediate section curve (41a) of each intermediate section using the data on the two section curves (11a, 12a) and positional information about the division points (Si); and a step of generating the curved surface of the three-dimensional curved-surface object using this set of a plurality of intermediate section curves.

公开(公告)号：WO1984003958A1

公开(公告)日：1984-10-11

申请号：PCT/JP1984000136

申请日：1984-03-27

Applicant: FANUC LTD ,  KISHI, Hajimu ,  TANAKA, Kunio ,  TAKEGAHARA, Takashi

Inventor： FANUC LTD

IPC: G05B19/403

CPC classification number: G05B19/40937 ,  G05B2219/35431 ,  G05B2219/36257 ,  G05B2219/36318 ,  Y02P90/265

Abstract: A method of specifying a machining region for automatic programming, wherein part of a path to be machined is specified within a closed path, comprises the steps of displaying the locus of a closed path constituted by a plurality of path blocks (b1, b2...b16) on a display screen (105) using path data which is already prepared, indicating and inputting first and second points (P5, P12) on the closed path with a cursor (CSR), indicating with the cursor a point (P6) within a first path part (P5$(1,5)$P6$(1,5)$...$(1,5)$P12) between the first and second points and a point (P13) within a second path part (P12$(1,5)$P13$(1,5)$...$(1,5)$P'5), and specifying a region to be machined by actuating a machining region input switch when the first path part is indicated by the cursor when the first path part is to be machined, and when the second path part is indicated by the cursor when the second passage part is to be machined.