公开(公告)号：WO1993005316A1

公开(公告)日：1993-03-18

申请号：PCT/JP1992001099

申请日：1992-08-28

Applicant: FANUC, LTD. ,  NIHEI, Ryo ,  NAITO, Yasuo ,  OTSUKA, Kazuhisa ,  EBIHARA, Yasuhiro

Inventor： FANUC, LTD.

IPC: F16H01/08

CPC classification number: F16H57/04 ,  B25J17/0283 ,  F16H1/222 ,  F16H57/029 ,  F16H57/038 ,  F16H2057/02013 ,  F16H2057/02069 ,  F16H2057/02086 ,  F16H2057/02095

Abstract: A hermetically closed power transmission apparatus wherein a minimum number of gear pairs (56 and 57, 60 and 61, 65 and 66) are disposed inside gear casings (51, 52) coupled separably with each other, seal means (59) is disposed in a region where an intermediate shaft (58) penetrates through both gear casings (51, 52), and a plurality of rotating driving outputs are obtained at an output end (64) inside a space by a plurality of rotation driving forces inputted from a plurality of coaxial input shafts (53, 54, 55).

公开(公告)号：WO1988005714A1

公开(公告)日：1988-08-11

申请号：PCT/JP1988000062

申请日：1988-01-27

Applicant: FANUC LTD ,  TOYODA, Kenichi ,  TORII, Nobutoshi ,  NAITO, Yasuo ,  OTSUKA, Kazuhisa

Inventor： FANUC LTD

IPC: B25J17/02

CPC classification number: B25J17/0283 ,  B25J9/102

Abstract: A wrist structure of an industrial robot, in which a beta speed reducer (3) and an alpha speed reducer (5) are provided at one side portion and a front portion, respectively, of the interior of a wrist (1), an outer rotary shaft (2) in a second arm (10) and an inner rotary shaft (4) therein being connected to the beta speed reducer (3) and alpha speed reducer (5), respectively, via a transmission means, and a robot hand retainer (E) being connected directly to the alpha speed reducer (5). This wrist structure is used for an industrial robot having a coaxial wrist.

Abstract translation: 一种工业机器人的手腕结构，其中分别在腕部（1）的内部的一个侧部和前部设置有β减速器（3）和α减速器（5），外部 第二臂（10）中的旋转轴（2）和内旋转轴（4）分别经由传动装置和机器人手连接到β减速器（3）和α减速器（5） 保持器（E）直接连接到α减速器（5）。 该腕部结构用于具有同轴手腕的工业机器人。

公开(公告)号：WO1988002682A1

公开(公告)日：1988-04-21

申请号：PCT/JP1987000782

申请日：1987-10-15

Applicant: FANUC LTD ,  TORII, Nobutoshi ,  NAITO, Yasuo ,  OTSUKA, Kazuhisa ,  KINOSHITA, Satoshi

Inventor： FANUC LTD

IPC: B25J19/00

CPC classification number: B25J9/101 ,  Y10T74/1453 ,  Y10T74/1494

Abstract: The revolving angle zones (A, B) of a revolving drum (12) of an industrial robot can be changed in accordance with a type of work to be done by disposing movable stoppers (18, 20). Furthermore, revolving movement is stopped by electrical means (LS1, LS2, LS3, LS4, LS5) when a stopper (22) fixed to the revolving drum impinges against mechanical stoppers (14, 16, 18, 20) in order to protect a driving motor and a driving mechanism. Proximity switches (PS1, PS2, PS3, PS4) are disposed in order to prevent any accident resulting from the malfunction of the movable stoppers and the like.

公开(公告)号：WO1993012947A1

公开(公告)日：1993-07-08

申请号：PCT/JP1987000514

申请日：1987-07-15

Applicant: NAITO, Yasuo;

IPC: B60K31/00

CPC classification number: B60K31/047 ,  B60K31/107 ,  B60W2720/106

Abstract: The present invention relates to a controller for running a vehicle at a constant speed in which a change in the speed deviation is calculated by means (14) for calculating a change in the speed deviation, the acceleration is corrected when the change in the speed deviation is large, and a control quantity is varied by control quantity adjusting means (16) to decrease the speed deviation at an early time. The controller is designed to cope with the hysteresis in cable distribution and the variation in the operation quantity of the actuator, and exhibits excellent converging performance.

公开(公告)号：WO1992000166A1

公开(公告)日：1992-01-09

申请号：PCT/JP1991000839

申请日：1991-06-21

Applicant: FANUC LTD ,  TORII, Nobutoshi ,  NAITO, Yasuo ,  OKADA, Takeshi

Inventor： FANUC LTD

IPC: B25J09/06

CPC classification number: B25J9/1065 ,  B25J9/047

Abstract: Arm driving mechanism in an industrial articulated robot, wherein the rear end of a first arm (12) is controllably rotatably supported by a fixing member (10, 33, 35) nonrotatably fixed on a swinging base (11b) swingable about a longitudinal axis through a W-axis driving motor (M2), a support member (30, 34, 36) is rotatably supported on the forward end of the first arm (12), the proximal end of a second arm (13) is controllably rotatably supported on the support member (30, 34, 36) through a U-axis driving motor (M3), the fixing member (10, 33, 35) and the support member (30, 34, 36) are connected to each other so as to form two link elements of a parallel link mechanism, the first arm is driven by the W-axis driving motor (M2) having a low output, and the second arm is driven by the U-axis driving motor (M3) in such a manner that the second arm has a high degree of freedom in swinging operations.

公开(公告)号：WO1991012117A1

公开(公告)日：1991-08-22

申请号：PCT/JP1991000186

申请日：1991-02-15

Applicant: FANUC LTD ,  TORII, Nobutoshi ,  NAITO, Yasuo ,  KINOSHITA, Satoshi

Inventor： FANUC LTD

IPC: B25J17/00

CPC classification number: B25J9/046 ,  B25J9/1065 ,  Y10S414/13 ,  Y10T74/20207

Abstract: A driving link mechanism for transmitting torque to driven elements of a robot from a driving source, which is constituted of two link mechanisms spaced apart and different in motion phase from each other, wherein the torque is constantly transmitted from the driving source to the driven elements of the robot through at least one of these two link mechanisms, whereby, even when a state of a dead center occurs in one of the link mechanisms, the other link mechanism transmits the torque, so that work regions of the driven elements of the robot can be expanded.

公开(公告)号：WO1990011160A1

公开(公告)日：1990-10-04

申请号：PCT/JP1990000366

申请日：1990-03-19

Applicant: FANUC LTD ,  TORII, Nobutoshi ,  NAITO, Yasuo ,  UEDA, Kunio

Inventor： FANUC LTD

IPC: B23K11/11

CPC classification number: B23K11/312 ,  B23K11/314

Abstract: This invention relates to a variable pitch spot welding gun device for a welding robot provided with load dispatching transformers (24, 26) that are locked on a mount (16) directly attached to the wrist (12) of an industrial robot used for welding, a stationary spot welding gun (22) formed separately from the transformers (24, 26), and a movable spot welding gun (20) made capable of adjusting the pitch distance relative to the stationary gun (22), wherein the stationary and movable spot welding guns (22, 20) are connected to the transformers (24, 26) through secondary conductors (44a-44e).

Abstract translation: 本发明涉及一种用于焊接机器人的可变节点点焊枪装置，其具有锁定在直接附接到用于焊接的工业机器人的手腕（12）的安装件（16）上的负载调度变压器（24,26） 与变压器（24,26）分开形成的固定点焊枪（22）和能够相对于固定枪（22）调节间距距离的可动点焊枪（20），其中固定点和可移动点 焊枪（22,20）通过次级导体（44a-44e）连接到变压器（24,26）。

公开(公告)号：WO1990007439A1

公开(公告)日：1990-07-12

申请号：PCT/JP1987000515

申请日：1987-07-15

Applicant: NAITO, Yasuo;

IPC: B60K31/00

CPC classification number: B60K31/107 ,  B60K31/047 ,  B60W2550/142

Abstract: The present invention relates to a controller for running a vehicle at a constant speed, according to which a control gain is increased for a predetermined period of time from a moment when a constant-speed running control is initiated and, then, the control gain is returned to the initial value in response to a speed deviation ( epsilon ). Therefore, there is no probability in which the speed deviation ( epsilon ) greatly increases immediately after the constant-speed running control is begun, that will be caused by the uphill and downhill of the road and a variation in the play for the opening control of a throttle valve (9). In particular, the running speed does not exceed a target speed when running the downhill gradient or the play is small.

Abstract translation: 本发明涉及一种用于以恒定速度行驶车辆的控制器，根据该控制器，控制增益从启动恒速运行控制的时刻起增加预定时间段，然后控制增益为 响应于速度偏差（ε），返回到初始值。 因此，在开始恒速行驶控制之后，速度偏差（ε）不会很大地上升，这是由道路的上坡和下坡引起的，以及开启控制的游隙的变化 节流阀（9）。 特别地，当运行下坡坡度或游戏较小时，运行速度不超过目标速度。

公开(公告)号：WO1989008538A1

公开(公告)日：1989-09-21

申请号：PCT/JP1989000245

申请日：1989-03-07

Applicant: FANUC LTD ,  TORII, Nobutoshi ,  NAITO, Yasuo ,  HAMURA, Masayuki ,  KATO, Tetsuaki

Inventor： FANUC LTD

IPC: B25J19/06

CPC classification number: B25J19/06 ,  B25J9/1676 ,  B25J19/063

Abstract: A method of quickly detecting collision of a robot's moving portion, such as an arm driven by a servo motor with an external object in order to prevent or reduce damage of the machine caused by collision. A digital signal processor of an axis controller (2) which constitutes a software servo calculates a speed instruction and a torque instruction based on a movement instruction from a main computer (1) to periodically execute servo control for the axis of the robot, and further determines whether the torque instruction or a speed deviation between the speed instruction and the actual speed of the servo motor (13b) is greater than a predetermined value or not. When the torque instruction or the speed deviation is greater than the predetermined value, it is determined that the robot's moving portion (13a) has come into collision with an external object, and the servo motor is stopped.

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.