公开(公告)号：WO1993005916A1

公开(公告)日：1993-04-01

申请号：PCT/JP1992001170

申请日：1992-09-11

Applicant: FANUC LTD ,  MASUDA, Teruo ,  TSUBOGUCHI, Yuji

Inventor： FANUC LTD

IPC: B23H07/06

CPC classification number: B23H7/065 ,  B23H7/04 ,  B23H7/16

Abstract: A method of correcting short-circuiting of a wire-cut electrical discharge machine, wherein not only the short-circuiting in the direction of wire advancing but also the short-circuiting in the direction perpendicular to the advancing direction can be quickly and reliably corrected. When the short-circuiting is detected, a wire is retracted by a predetermined distance L0 (S1, S2). When the short-circuiting is not corrected at this time, it is determined that the short-circuiting in the direction perpendicular to the advancing direction of the wire has taken place (S3). Then, a shape of machining and a position of the wire are determined to make an optimum retracting control (S4, S5), to thereby determine a retracting direction and a retracting distance of the wire (S6). The optimum retracting control of the wire is performed on the basis of the retracting direction and the retracting distance (S7), and, when correction of the short-circuiting is detected, the wire is returned to the initial position where the short-circuit is detected (S8, S9), whereby the electrical discharge machining is continuously performed (S10).

公开(公告)号：WO1994014566A1

公开(公告)日：1994-07-07

申请号：PCT/JP1993001778

申请日：1993-12-07

Applicant: FANUC LTD ,  YAMAZAKI, Etsuo ,  MASUDA, Teruo

Inventor： FANUC LTD

IPC: B23K26/00

CPC classification number: B23K26/0853

Abstract: A method of accurately resuming laser beam machining without leaving any portions unprocessed when processing is interrupted during laser beam machining. When laser beam machining has progressed a distance L0 from a processing point P1 and abnormal processing is detected at a processing point P3, a computerized numerical control receives the detection signal of abnormal processing to go into retry processing. Namely, laser beam machining is first suspended and the position of the processing point P3 at the time of suspension is stored. Then, a processing head is retracted a distance h0 in a Z axis direction and is reversed a distance L2 along a processing path L along which processing has been executed theretofore. When reversing is completed at a point P6, a gap between the nozzle and the work piece is controlled, and laser beam machining is resumed when approaching has completed. When the computerized numerical control again receives a detection signal of abnormal processing during forward movement of the processing head from a processing point P7 to a processing point P4, the above retry processing is again performed. When the number of such repetitions exceeds a predetermined number of times n0, for example, three times, processing of the block being processed is skipped, and processing proceeds to the subsequent block.

Abstract translation: 在激光束加工期间中断处理时，准确地恢复激光束加工而不留下未处理部分的方法。 当激光束加工已经从处理点P1进行距离L0并且在处理点P3处检测到异常处理时，计算机化数字控制接收异常处理的检测信号以进行重试处理。 即，首先暂停激光束加工，并且存储处理点P3在悬挂时的位置。 然后，处理头在Z轴方向缩回距离h0，沿着已经执行了处理的处理路径L反转一段距离L2。 当在点P6处完成倒转时，控制喷嘴和工件之间的间隙，并且在接近完成时恢复激光束加工。 当计算机化数字控制在处理头从处理点P7向处理点P4向前移动期间再次接收到异常处理的检测信号时，再次执行上述重试处理。 当这种重复次数超过预定次数n0，例如三次时，跳过正在处理的块的处理，并且处理进行到随后的块。

公开(公告)号：WO1992008172A1

公开(公告)日：1992-05-14

申请号：PCT/JP1991001414

申请日：1991-10-16

Applicant: FANUC LTD ,  MASUDA, Teruo

Inventor： FANUC LTD

IPC: G05B19/403

CPC classification number: G05B19/4086

Abstract: A method of transforming coordinates of tridimensional laser for transforming the corrdinates of a processing program in a tridimensional laser processing machine. A preprocess calculating means (4) reads a processing program in memory (2) and outputs command values for respective axes. Coordinate transforming means (8, 9) transform these command values into command values on the coordinate system of an actual work in accordance with coordinate transforming matrixes. The coordinate command values thus transformed are interpolated by an interpolating means (11) to output interpolation pulses. These interpolation pulses drive servo motors (21, 22, 23, 24 and 25) to process the work.

公开(公告)号：WO1993010488A1

公开(公告)日：1993-05-27

申请号：PCT/JP1992001477

申请日：1992-11-11

Applicant: FANUC LTD ,  MASUDA, Teruo ,  FUJIWARA, Kohji

Inventor： FANUC LTD

IPC: G05B19/403

CPC classification number: G05B19/4067 ,  G05B2219/34463 ,  G05B2219/34491 ,  G05B2219/36525 ,  G05B2219/42306 ,  G05B2219/45165 ,  G05B2219/50097 ,  G05B2219/50198

Abstract: A method for resuming the machining of works, which shortens the time until the resume of the machining after an alarm is generated. When an alarm, which can be released by correcting the machining program and by changing machining conditions, is generated, machining control, copying, etc. are resumed automatically from the end point of the previous block of the program (steps S12-S16). Thereby, the machining control, copying, etc., which are conventionally interrupted until operators perform the correction of the machining program and the change of the machining conditions, can be performed continuously without any interruption. Therefore, even in the case of an unmanned operation of a long time, any unnecessary time is not wasted.

公开(公告)号：WO1991014531A1

公开(公告)日：1991-10-03

申请号：PCT/JP1991000357

申请日：1991-03-13

Applicant: FANUC LTD ,  MASUDA, Teruo

Inventor： FANUC LTD

IPC: B23K26/08

CPC classification number: G05B19/41 ,  B23K26/10 ,  G05B2219/45165 ,  G05B2219/50297 ,  G05B2219/50356

Abstract: A method of controlling attitude of a CNC laser working machine for controlling an attitude of the nozzle of the CNC laser working machine, which performs three dimensional working, with respect to the surface to be worked. Two kinds of interpolating outputs (Pα, Pβ) for the axes α and β are outputted from an interpolator (1) which interpolates values of the axes α, β, X, Y and Z, and corotation correction means (2) reads out interpolating output (Pα) for the axis α and computes a corotation correction value (Δβ) for the axis β corresponding to the gear ratio between gears which couple the horizontal axis to the vertical axis. The corotation correction value (Δβ) is added to the interpolating output for the axis β by the adding device (4), and corotation correction for the axis β for an arbitrary gear ratio between the horizontal and vertical axes is made possible.

公开(公告)号：WO1997001405A1

公开(公告)日：1997-01-16

申请号：PCT/JP1996001756

申请日：1996-06-25

Applicant: FANUC LTD ,  MIYAJIMA, Keiichiro ,  MASUDA, Teruo

Inventor： FANUC LTD

IPC: B21D28/00

CPC classification number: B21D28/002 ,  B21D28/265 ,  G05B19/4155 ,  G05B2219/34391 ,  G05B2219/45137 ,  Y10T83/0524 ,  Y10T83/162 ,  Y10T83/6566 ,  Y10T83/9423

Abstract: A table (27) holding a work (28) is controlled through servomotors (22, 23) by position control means (10a) in a CNC device (10). A predetermined time before the positioning of the table (27) is completed, press action control means (10d) in the CNC device (10) operates a servomotor (21) to allow a press tool (26) to start approaching the work (28). Thereafter, the press tool (26) is controlled on the basis of action data stored in press action storing means (10c) in the CNC device (10).

Abstract translation: 通过CNC设备（10）中的位置控制装置（10a）通过伺服电动机（22,23）来控制保持工件（28）的工作台（27）。 在桌子（27）的定位完成之前的预定时间内，CNC装置（10）中的按压动作控制装置（10d）操作伺服电动机（21）以允许压力工具（26）开始接近工作 ）。 此后，基于存储在CNC装置（10）中的按压动作存储装置（10c）中的动作数据来控制按压工具（26）。

公开(公告)号：WO1991018706A1

公开(公告)日：1991-12-12

申请号：PCT/JP1991000644

申请日：1991-05-15

Applicant: FANUC LTD ,  MASUDA, Teruo

Inventor： FANUC LTD

IPC: B23K26/08

CPC classification number: G05B19/41 ,  B23K26/08 ,  B23K26/0884 ,  G05B19/4086 ,  G05B2219/45165 ,  G05B2219/49231

Abstract: A method of moving the nozzle of a CNC laser beam machine, which performs three-dimensional working, with respect to a surface to be worked. A hand coordinates system comprising a plane extending along the nozzle axis and that perpendicular to the nozzle axis is provided and a command of movement in said system is outputted with the use of a machine operating board (31). Matrix forming means (38) generates a conversion matrix for converting the hand coordinates system to a basic coordinate system from information (39a, 39b) on rotational positions of the axes α and β indicating an attitude of the nozzle. Coordinates converting means (37), while using said conversion matrix, converts movement commands (Δxh, Δyh, and Δzh) into movement amounts (Δx, Δy, and Δz) in the basic coordinates system for moving the nozzle. Thus the nozzle can easily be moved without changing the distance between the nozzle and the surface to be worked. The distance between the nozzle and the work can be adjusted with the nozzle moved perpendicularly to the surface to be worked.

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 。