公开(公告)号：WO1992013669A1

公开(公告)日：1992-08-20

申请号：PCT/JP1992000093

申请日：1992-01-30

Applicant: FANUC LTD ,  TORII, Nobutoshi ,  TERADA, Akihiro ,  SASAKI, Yasuo

Inventor： FANUC LTD

IPC: B23K26/08

CPC classification number: B23K26/0884

Abstract: Annular chambers (84-90) utilizing a plurality of seal means (70-78) are provided on the outer sheath pipe (42) of a wrist (18) of a laser robot, annular chambers (86, 90) are formed to be assist gas transfer chambers and a cooling liquid transfer chamber, such a piping arrangement as to be able to supply and recover the assist gas and the cooling liquid through these annular chambers is adopted, pipings (22, 24, 26, 28) are formed of metal pipe free from damage and provided in close contact with the periphery of the forearm (16) and the wrist (18), other annular chambers (84, 88) are formed to be operating chambers for supplying dust-proof pressure air fed from the side of an inner pipe (44) of the wrist (18) and seal means (70-78) are provided therebetween, so that the annular gas chambers and the annular liquid chambers can be formed to be the annular chambers free from the leakage of gas and liquid.

公开(公告)号：WO1991018332A1

公开(公告)日：1991-11-28

申请号：PCT/JP1991000583

申请日：1991-04-26

Applicant: FANUC LTD ,  TORII, Nobutoshi ,  NIHEI, Ryo ,  KATO, Tetsuaki

Inventor： FANUC LTD

IPC: G05B13/02

CPC classification number: B25J9/163 ,  G05B13/023 ,  G05B13/04 ,  G05B19/232 ,  G05B2219/41367

Abstract: An observer control system which monitors a machine system, estimates state variables and controls the machine system. The system comprises a main observer (7) for estimating the state variables relating to linear elements of the machine system (4a), a disturbance estimation observer (8) for estimating the state variables relating to non-linear elements of the machine system, and an adder (6) for removing the non-linear elements from the input of the main observer (7). The disturbance estimation observer (8) estimates the non-linear state variables and deletes the non-linear terms from the main observer (8). Since the main observer (7) can estimate the state variables by only the linear term, the estimated state variables free from the influences of the non-linear term can be obtained. When the machine system is controlled by this estimated state variable, the state feedback gain of the machine system can be increased.

公开(公告)号：WO1991014544A1

公开(公告)日：1991-10-03

申请号：PCT/JP1991000358

申请日：1991-03-13

Applicant: FANUC LTD ,  TORII, Nobutoshi ,  ITO, Susumu ,  HAMURA, Masayuki ,  SAKAI, Tamotsu

Inventor： FANUC LTD

IPC: B25J19/06

CPC classification number: B25J19/06 ,  B25J9/1674 ,  B25J9/1676 ,  G05B2219/45083 ,  G05B2219/49142

Abstract: A method of controlling stop of an industrial robot having a plurality of axes driven by servomotors in which the robot is stopped after sensing of colliding with a foreign object. The monitoring of a positional deviation value (S11) of the servomotor with respect to which a collision is sensed is stopped and a command to make the speed of the servomotor zero is issued (S12). Thereby, reverse torque is generated (S13) and the speed of the servomotor begins to decrease. After the predetermined lapse of time (S14), the monitoring of the positional deviation value is restarted (S15). When the positional deviation value exceeds a predetermined value (S31) an alarm is issued (S32). Then, the currents of all the servomotors are cut off (S33) and the operation of the robot is stopped in a short time.

公开(公告)号：WO1991013731A1

公开(公告)日：1991-09-19

申请号：PCT/JP1991000309

申请日：1991-03-07

Applicant: FANUC LTD ,  TORII, Nobutoshi ,  ITO, Susumu ,  TERADA, Akihiro ,  INOUE, Toshihiko

Inventor： FANUC LTD

IPC: B25J19/00

CPC classification number: B23K26/0884 ,  B25J19/0029 ,  B25J19/0037

Abstract: An industrial robot provided with a cabling mechanism in which a hollow shaft (3) is set upright along a revolving axis from the bottom of a robot base (1) to the inside of a revolving body (2) and further, a plurality of cables (7) are fastened on the outer periphery of the hollow shaft (3) distributedly with cable clamps (4) each of which has a plurality of grooves (41) which receive the cables and is provided on the outer periphery of the hollow shaft (3).

Abstract translation: 一种具有布线机构的工业机器人，其中空心轴（3）沿着从机器人基座（1）的底部到旋转体（2）的内部的旋转轴线竖立设置，并且还具有多根电缆 （7）分别用电缆夹（4）紧固在中空轴（3）的外周上，电缆夹（4）具有多个容纳电缆的槽（41），并设置在中空轴的外周 3）。

公开(公告)号：WO1991008858A1

公开(公告)日：1991-06-27

申请号：PCT/JP1990001627

申请日：1990-12-12

Applicant: FANUC LTD ,  TORII, Nobutoshi ,  ITO, Susumu ,  TERADA, Akihiro ,  SASAKI, Yasuo

Inventor： FANUC LTD

IPC: B23K26/08

CPC classification number: B23K26/0884 ,  B23K26/703 ,  B25J19/00 ,  B25J19/0054

Abstract: A laser robot is equipped with a swing arm (16) mounted to a swivel post (14) implanted to a robot foundation portion (12), a laser emission device (20) provided on the tip of the robot arm (16), and a driving motor (Mv) for driving the swing operation of the robot arm (16) through a precision transmission device (30, 32, 34) placed between the swivel post and the robot arm. The robot comprises a heat removing device which includes a bracket member (26) and an annularly recessed fluid circuit (50) formed in the bracket. The bracket has one end in contact with the end surface of the driving motor on its output shaft side and the other end in contact with the precision transmission mechanism. The heat removing device is located at the joint portion between the precision transmission mechanism (30, 32, 34) and the driving motor (Mv). Cooling water is supplied to the recessed fluid circuit (50) from a cooling water supply source (70) for supplying cooling water to a laser beam conduit of the robot arm (16) so as to cool the bracket member (26). The bracket member (26) thus cooled absorbs and removes the heat of the driving motor (Mv) and prevents heat transfer to the precision transmission mechanism (30, 32, 34).

公开(公告)号：WO1991001194A1

公开(公告)日：1991-02-07

申请号：PCT/JP1990000920

申请日：1990-07-17

Applicant: FANUC LTD ,  TORII, Nobutoshi ,  ITO, Susumu ,  TERADA, Akihiro

Inventor： FANUC LTD

IPC: B23K26/08

CPC classification number: B23K26/0884 ,  B25J19/0037

Abstract: An articulated arm type industrial laser robot utilizing laser robot beam passage means for bypassing a beam around a robot body, which is provided with a plurality of rotary joints having a plurality of axes of rotation which are disposed orthogonally to one another and one contractile joint on the laser beam source side, a first laser beam path changing system with a built-in laser beam reflection mirror, a plurality of rotary joints having a plurality of axes of rotation disposed orthogonally on the end side of the second arm, and a second laser beam path changing system with a built-in beam reflection mirror, for coupling and introducing the laser beam emitted from the first laser beam path changing system with and into the end portion of the robot arm on the first arm side. Accordingly, machining and assembling can be made with a desired accuracy of the beam path system as the laser beam path means. Furthermore, even during the robot operation process, the robot operation can be followed up without being affected by various errors inherent in movable portions such as the robot arm, and the laser beam can be introduced accurately into a laser beam emission portion of the wrist.

公开(公告)号：WO1990016020A1

公开(公告)日：1990-12-27

申请号：PCT/JP1990000721

申请日：1990-06-04

Applicant: FANUC LTD ,  TORII, Nobutoshi ,  NIHEI, Ryo ,  KATO, Tetsuaki ,  ARITA, Soichi

Inventor： FANUC LTD

IPC: G05B13/04

CPC classification number: G05B13/045 ,  G05B13/04

Abstract: A zeroing method which prevents transient characteristics of a control system from being deteriorated by the provision of the observer while exhibiting the effect of removing disturbance caused by the disturbance estimating observer. Based on a practical current instruction (I-y') and a practical motor speed (v), the disturbance (x) is estimated by the disturbance estimating observer (5) equipped with four transfer elements (51 to 54) that have transfer functions (Kt/Jm, K1, K2/S, 1/S) determined by those corresponding to a torque constant (Kt) of the motor, an inertia (Jm) of the system, and parameters (K1, K2). When the positional deviation is small, an estimated disturbance is adjusted by multiplying the estimated disturbance by a feedback gain of a value ''1'' by a gain adjusting means (4), and the adjusted quantity (y') is subtracted from the current instruction (I) to remove static frictional disturbance. When the positional deviation is great, the estimated disturbance is multiplied by a feedback gain of a value ''0'' to inhibit operation of the observer, and therefore transient characteristics of the control system are prevented from being deteriorated by the operation of the observer.

公开(公告)号：WO1990013857A1

公开(公告)日：1990-11-15

申请号：PCT/JP1990000601

申请日：1990-05-11

Applicant: FANUC LTD ,  TORII, Nobutoshi ,  NIHEI, Ryo ,  KATO, Tetsuaki

Inventor： FANUC LTD

IPC: G05D03/12

CPC classification number: G05B13/0255 ,  G05B19/19 ,  G05B2219/33337 ,  G05B2219/34069 ,  G05B2219/41112 ,  G05B2219/42034 ,  G05B2219/42035 ,  G05B2219/42062 ,  G05B2219/42067 ,  G05B2219/42352 ,  H01L2924/01013

Abstract: A method of sliding mode control which decreases the steady deviation from the control target and which improves control stability by adapting the control system to a change in the system parameter. The processor in a digital servo circuit of the servo control system calculates position deviation (ε), speed deviation (ε), a value of the switch-over plane (s) and a value of an integration element (∫)((ε + C.ε)) on the switch-over plane (100 to 102, 107, 113) based on an instructed position (Υr) and an actual position (Υ). The processor further calculates a first term and a second term of switch-over quantity (T1) according to a calculation formula determined depending upon the switch-over plane, position deviation and positive or negative sign to which the value of the integration element is corresponded (103 to 115). Then, based on a calculated value of switch-over quantity (T1) that is equal to the sum of the first and second terms and that satisfies the Liapunov stabilization condition, a torque instruction (T) is calculated that is sufficient to converge the characteristics of the control system to the switch-over plane (s = 0). As a result, the control system does not lose stability even when the system parameters undergo a change.

公开(公告)号：WO1990010260A1

公开(公告)日：1990-09-07

申请号：PCT/JP1990000224

申请日：1990-02-23

Applicant: FANUC LTD ,  TORII, Nobutoshi ,  NIHEI, Ryo

Inventor： FANUC LTD

IPC: G05B13/00

CPC classification number: G05B19/19 ,  G05B13/0255 ,  G05B2219/41112 ,  G05B2219/42008 ,  G05B2219/42009 ,  G05B2219/42011 ,  G05B2219/42062 ,  G05B2219/42352

Abstract: A method of sliding mode control for realizing a control system which exhibits strong robustness and excellent control stability. A processor of a digital servo circuit of a servo control system includes a position loop that effects proportional control, a speed loop that effects proportional-plus-integral control to calculate a torque instruction, and a current loop that responds to the torque instruction. The processor calculates a position deviation (x1), the differential (x2) of the position deviation, the integral (x3) of the differential of position deviation, and the integral (x4) of the position deviation (100 to 103) based upon an instructed position (Υr), the actual position (Υ) and actual speed (Υ), and further calculates a switching surface (s = x2 + C.x1 + K.x3 + K.Kp.x4) in the sliding mode control and a discrimination reference value (Kp.x1 + x2). The processor further calculates switching quantities ((τ', τ') that enable the characteristics of the control system to be converged on the switching surface depending on the switching surface, position deviation and discrimination reference value of positive or negative sign, and the motor is operated according to a torque instruction (τ = τ' + τ') obtained by adding them up together. The robust control system controlled by the sliding mode does not permit the characteristics to change even when the motor inertia undergoes a change.

Abstract translation: 可调模式控制方法提供了一个非常强大和稳定的控制系统。 伺服控制系统数字伺服处理器包括用于比例控制的定位回路，用于比例和积分转矩指令计算的速度回路以及电流敏感回路。 夫妇的指示。 处理器计算的偏差的位置偏差的差分的位置，积分（×3）的偏差的位置（X1），所述差速器（×2）的偏差，积分（X4） 从指令位置$ g（（U）r）的位置（100到103），实际位置和实际速度。 它还计算可调模式控制中的切换表面（S = x2 + C.x1 + K.x3 + K.Kp.x4）和参考识别值（Kp.x1 + x2）。 它还根据切换表面，位置偏差和判别值计算将切换表面上的控制系统的特性收敛的切换量（tau'，tau'）。 参考正号或负号，根据通过添加这些值获得的转矩指令（tau = tau'+ tau）来启动电机。 这种鲁棒控制系统由可调模式控制，即使发动机的惯性发生变化，特性也不会改变。

公开(公告)号：WO1990001732A1

公开(公告)日：1990-02-22

申请号：PCT/JP1989000821

申请日：1989-08-11

Applicant: FANUC LTD ,  TORII, Nobutoshi ,  NAITO, Yasuo ,  HAMURA, Masayuki ,  OTSUKA, Kazuhisa

Inventor： FANUC LTD

IPC: G05B09/02

CPC classification number: G05B19/4061 ,  G05B2219/34047 ,  G05B2219/36399 ,  G05B2219/37624 ,  G05B2219/49162 ,  G05B2219/50179

Abstract: This invention relates to an impingement detection/driving stop method which can quickly detect the impingement of a machine operation portion driven by a servo motor against foreign matters, can quickly stop driving of the machine operation portion when the impingement is detected and can prevent or reduce damage to the machine due to the impingement. A digital signal processor of a shaft controller constituting a software servo calculates (S2) periodically a speed difference (εv) on the basis of a command speed (Vc) calculated on the basis of the instruction from a main computer and an actual motor speed (V) from a pulse coder of a servo motor, judges (S3) whether or not the absolute value (|εv - εV'|) of the difference between the speed difference in the current servo control period and the speed difference in the preceding period is smaller than the impingement judgement reference value (ERR), displays an alarm, delivers a torque command of a value of 0 and stops the rotation of the servo motor when the absolute value is greater than the judgement reference value (S8, S9).