公开(公告)号：WO1988007916A1

公开(公告)日：1988-10-20

申请号：PCT/JP1988000362

申请日：1988-04-09

Applicant: FANUC LTD ,  MIZUNO, Tohru ,  ITO, Takayuki

Inventor： FANUC LTD

IPC: B25J09/16

CPC classification number: G05B19/414 ,  G05B19/40936 ,  G05B2219/34346 ,  G05B2219/45083 ,  Y02P90/265

Abstract: This invention relates to a robot controller in which control conditions of a robot are set by a monitor program described in robot language. Usually, a system program is designed exclusively for a particular robot controller and cannot be freely modified by a user. However, part of the system program for always monitoring the operation of the robot is stored in a user region USER, and is opened to the user, so that functions can be deleted, altered or added.

Abstract translation: 机器人控制器，其中机器人的控制条件由机器人语言中描述的监控程序确定。 通常，系统程​​序专为特定的机器人控制器设计，不能由用户自由修改。 在该实施例中，允许对机器人的操作进行持续监视的系统程序的一部分被存储在用户区域“用户”中并且可供用户访问，使得后者可以擦除，修改或添加功能 。

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：WO1987004536A1

公开(公告)日：1987-07-30

申请号：PCT/JP1987000048

申请日：1987-01-26

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

Inventor： FANUC LTD

IPC: G05B19/403

CPC classification number: G05B19/40936 ,  G05B2219/35511 ,  G05B2219/36011 ,  G05B2219/36019 ,  G05B2219/36128 ,  G05B2219/36131 ,  Y02P90/265

Abstract: An apparatus for controlling robot which controls a robot according to a program language and is provided with keys and a display unit which displays the data of at least one block. In the data of one block that is displayed, a language to be changed is cyclically selected to arrange desired blocks and the data are directly stored. Therefore, even an unskilled user can easily arrange desired blocks within a short period of time without involving error such as syntax error.

公开(公告)号：WO1988008158A1

公开(公告)日：1988-10-20

申请号：PCT/JP1988000374

申请日：1988-04-15

Applicant: FANUC LTD ,  MIZUNO, Tohru ,  KOSAKA, Tetsuya

Inventor： FANUC LTD

IPC: G05B19/403

CPC classification number: G05B19/408

Abstract: A robot controller for programmed control of a robot of the teach reproduction system. The robot controller has an operation control means (CPU) which converts a group of position data included in a plurality of robot instruction data input from a teach operation board into integrated instruction data including other robot instruction data for storage into a data memory (RAM). The controller also compiles the instruction data to prepare an operation program of the robot.

Abstract translation: 机器人控制单元，用于再现学习动作类型的机器人的程序控制。 该机器人控制单元具有转换使用任务学习控制台引入的一组机器人指令数据中包括的一组位置数据的任务控制器（CPU）。 ，包括机器人的其他指令数据的综合指令数据，用于存储在数据存储器（RAM）中。 控制单元还负责编译指令数据以准备机器人的运行程序。

公开(公告)号：WO1992011590A1

公开(公告)日：1992-07-09

申请号：PCT/JP1991001718

申请日：1991-12-16

Applicant: FANUC LTD ,  MIZUNO, Tohru ,  KARAKAMA, Tatsuo ,  NIHEI, Ryo ,  MIURA, Takenobu

Inventor： FANUC LTD

IPC: G05B19/42

CPC classification number: B25J9/1658 ,  G05B19/40936 ,  Y02P90/265

Abstract: An instruction method for a robot operation program capable of easily making a program. Required one of the standard operation programs (61 ~ 6n) for operating a robot in a typical operation pattern is read out from a memory (31c) of a robot controller (30) and is displayed on the screen of an instruction operation board (57). An operator operates the instruction operation board, adds position and speed data, etc, into the standard operation program on the display screen or corrects the data described in advance in the standard operation program. Therefore, operation programs (71, 72) for operating the robot in the typical operation pattern or similar patterns can be generated easily.

公开(公告)号：WO1988005186A1

公开(公告)日：1988-07-14

申请号：PCT/JP1988000010

申请日：1988-01-07

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

Inventor： FANUC LTD

IPC: G05B19/403

CPC classification number: G05B19/237 ,  B25J9/1664 ,  B25J9/1679 ,  G05B2219/40006 ,  G05B2219/50109

Abstract: A robot controller enables the robot to hold a work by a robot hand and to stack it on a predetermined place or take it down. The robot controller has memory means (3) for storing a plurality of approaching patterns in relation to the movement of the hand. This controller can arbitrarily set a path pattern from stacking the work from a position where the robot hand starts to move to a poistion where the work is taken down, as well as a path from the point of operation to the position where the robot hand ceases to move, depending upon the kind of work and the position of operation. The controller can also change the attitude of the robot hand at a position of operation.

Abstract translation: 机器人控制器允许机器人用机械手握住工件，将其堆放在预定位置，或将其从堆叠中移出。 机器人控制器具有用于存储与手的移动有关的多个接近模式的存储器构件（3）。 控制器可以任意地设定从机械手开始移动的位置到工件从堆叠移除的位置的工件堆叠的路径，以及 从活动点到手停止位置的路径，取决于工件类型和活动位置。 控制器还可以改变机械手在活动位置的姿态。

公开(公告)号：WO1994015747A1

公开(公告)日：1994-07-21

申请号：PCT/JP1994000012

申请日：1994-01-07

Applicant: FANUC LTD ,  ITO, Takayuki ,  TAKAHASHI, Hiromitsu

Inventor： FANUC LTD

IPC: B23K26/00

CPC classification number: B23K26/16

Abstract: When a laser beam machining command is detected in a pre-processing step for preparing execution data used to make a laser beam machining by analyzing a machining program, a rotation-driving command is outputted to a vane wheel driving means. When it has been detected within a predetermined period of time that the rotational speed of the vane wheel has reached a predetermined level, laser beam machining is started. If the rotational speed of the vane wheel does not reach a predetermined level even when a predetermined period of time has elapsed, an alarm is given. Owing to such construction, the rotation of a vane wheel required to protect optical parts can be controlled accurately even when each command concerning the rotation of the vane wheel is not specified in a machining program.

Abstract translation: 当通过分析加工程序在用于准备用于制作激光束加工的执行数据的预处理步骤中检测到激光束加工指令时，旋转驱动命令被输出到叶轮驱动装置。 当在预定时间段内已经检测到叶轮的旋转速度达到预定水平时，开始进行激光束加工。 即使经过了规定的时间，也能够使叶轮的旋转速度达到规定的水平，进行报警。 由于这样的结构，即使在加工程序中没有规定关于叶轮的旋转的各个指令的情况下，也能够精确地控制保护光学部件所需的叶轮的旋转。

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：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。