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11. 发明专利

JP2007057326A Equipment diagnostic method and device, and program 有权
标题翻译：设备诊断方法与设备及程序
公开(公告)号：JP2007057326A
公开(公告)日：2007-03-08
申请号：JP2005241547
申请日：2005-08-23
申请人： Mitsubishi Electric Corp , 三菱電機株式会社
发明人： MAEKAWA SEISEKI
IPC分类号： G01M99/00 , G01H17/00
摘要： PROBLEM TO BE SOLVED: To provide an equipment diagnostic system which can diagnose abnormalities with high precision from the status quantity of a rotating system of equipment without measuring a vibrational status signal using an additional sensor and perform equipment diagnosis even for the status quantity of a rotating system in acceleration/deceleration sections by converting it into a status quantity with a constant standard rotation rate.
SOLUTION: The equipment diagnostic system comprises a status quantity estimated value calculation section 2 for calculating the estimated value of a status quantity by the acceleration/deceleration of a motor on the basis of a motor status quantity operating a mechanical system, which is an object to be diagnosed, and an equation of motion, a vibrational status quantity calculation section 3 for calculating a vibrational status quantity by subtracting the estimated value from the motor status quantity, a vibrational status quantity conversion section 4 for converting the vibrational status quantity into a vibrational status quantity with a standard rotation rate, a frequency analysis section 5 for performing frequency analysis on the vibrational status quantity converted by the vibrational status quantity conversion section 4, and a diagnostic processing section 6 for deciding abnormalities in the mechanical system on the basis of the frequency analysis result.
COPYRIGHT: (C)2007,JPO&INPIT
摘要翻译：要解决的问题：提供一种可以从设备的旋转系统的状态量高精度地诊断异常的设备诊断系统，而不使用附加的传感器测量振动状态信号，甚至对状态量进行设备诊断通过将其转换为具有恒定标准转速的状态量的加速/减速部分中的旋转系统。
解决方案：设备诊断系统包括状态量估计值计算部分2，用于根据操作机械系统的电动机状态量计算电动机的加速/减速状态量的估计值，即，要诊断的对象和运动方程，通过从电动机状态量减去估计值来计算振动状态量的振动状态量计算部3，将振动状态量转换成振动状态量的振动状态量转换部4 具有标准旋转速度的振动状态量，用于对由振动状态量转换部分4转换的振动状态量进行频率分析的频率分析部分5，以及用于基于该机械系统判断异常的诊断处理部分6 的频率分析结果。版权所有（C）2007，JPO＆INPIT

12. 发明专利

JP2006263916A Robot control device 审中-公开
标题翻译：机器人控制装置
公开(公告)号：JP2006263916A
公开(公告)日：2006-10-05
申请号：JP2006135450
申请日：2006-05-15
申请人： Mitsubishi Electric Corp , 三菱電機株式会社
发明人： MAEKAWA SEISEKI
IPC分类号： B25J19/06 , B25J13/00
摘要： PROBLEM TO BE SOLVED: To provide a robot control device for performing high-accuracy collision judgement and excessive reverse action judgement while reducing a calculation volume. SOLUTION: A required driving torque is calculated from at least one of required driving torque command elements calculated from at least one of a position command, a speed command and an acceleration command, and the position, speed, and acceleration of a motor driving respective nodes, without newly recalculating an equation of motion of the robot, and the calculated required driving torque is compared with the current of the motor driving the respective mode, so as to judge collision. The position and speed at the time of judging collision are stored and compared with the current position and speed. When it is judged as an excessive reverse action, the robot is emergency stopped. COPYRIGHT: (C)2007,JPO&INPIT
摘要翻译：要解决的问题：提供一种用于在减小计算量的同时执行高精度的碰撞判断和过度的反向动作判断的机器人控制装置。解决方案：根据从位置命令，速度指令和加速度指令中的至少一个计算出的所需驱动转矩指令元素和电动机的位置，速度和加速度中的至少一个来计算所需的驱动转矩驱动各个节点，而不重新计算机器人的运动方程，并将所计算的所需驱动转矩与驱动相应模式的电动机的电流进行比较，以便判断碰撞。存储碰撞判断时的位置和速度，并将其与当前位置和速度进行比较。当判断为过度的反向动作时，机器人紧急停止。版权所有（C）2007，JPO＆INPIT

13. 发明专利

JP2012171071A Method of detecting failure in screw fastening operation of robot 有权
标题翻译：检测机器人疲劳运行中的故障的方法
公开(公告)号：JP2012171071A
公开(公告)日：2012-09-10
申请号：JP2011037520
申请日：2011-02-23
申请人： Toyama Prefecture , Mitsubishi Electric Corp , 三菱電機株式会社 , 富山県
发明人： MATSUNO TAKAYUKI , MAEKAWA SEISEKI , SHIRATO KOJI
IPC分类号： B23P19/06
摘要： PROBLEM TO BE SOLVED: To obtain a method of detecting failure in screw fastening operation of robot for constructing a highly functional screw fastening robot system at a low cost.SOLUTION: A screw fastening robot system 1 includes, at the tip end part of its robot 2, a force sensor 3 and a screw driver 4, wherein the force sensor 3 measures a force acting on the tip end. The method of detecting failure in screw fastening operation of the robot includes a step of determining normal or abnormal of the screw fastening operation based on an output of the force sensor 3 by using a screw fastening failure determination means 6.
摘要翻译：要解决的问题：为了获得以低成本构建高功能的螺丝紧固机器人系统的机器人的螺钉紧固操作的故障的方法。解决方案：螺钉紧固机器人系统1在其机器人2的末端部分包括力传感器3和螺丝刀4，其中力传感器3测量作用在尖端上的力。检测机器人的螺钉紧固操作失败的方法包括通过使用螺钉紧固故障确定装置6基于力传感器3的输出来确定螺钉紧固操作的正常或异常的步骤。版权所有（C） C）2012，JPO＆INPIT

14. 发明专利

JP2012052666A Base isolation apparatus 有权
标题翻译：基础隔离装置
公开(公告)号：JP2012052666A
公开(公告)日：2012-03-15
申请号：JP2011222709
申请日：2011-10-07
申请人： Mitsubishi Electric Corp , 三菱電機株式会社
发明人： HAYASAKA EMIKO , MAEKAWA SEISEKI , TERADA HIROSHI , NAGANO TETSUAKI
IPC分类号： F16F15/02 , H01L21/027
摘要： PROBLEM TO BE SOLVED: To provide a base isolation apparatus that prevents vibration caused by an operation of a driving device, even when a position where a movable part of the base isolation apparatus repeatedly moves in one direction crosses a stroke end of the movable part of the base isolation apparatus in an operation of the driving device being an object of vibration prevention.SOLUTION: A base-isolation-side control unit 5 for controlling the base isolation apparatus 2 includes: a base isolation control unit that drives and controls the movable part 6 of the base isolation apparatus, using information 13 output from an excitation-side control unit 3 for controlling the driving device 1, in order to obtain drive reaction force corresponding to drive reaction force of the driving device 1; and a position/speed control unit 102 which controls a position/speed of the movable part of the base isolation apparatus, using a position command of the base isolation apparatus and a base-isolation-side feedback signal.
摘要翻译：要解决的问题：为了提供防止由驱动装置的操作引起的振动的基座隔离装置，即使当基座隔离装置的可动部分在一个方向上重复移动的位置跨过驱动装置的行程端作为防振对象的驱动装置的动作中的基座隔离装置的可动部。解决方案：用于控制基座隔离装置2的基座隔离侧控制单元5包括：基座隔离控制单元，其使用从激励开关输出的信号13来驱动和控制基座隔离装置的可动部分6; 用于控制驱动装置1的侧面控制单元3，以获得与驱动装置1的驱动反作用力相对应的驱动反作用力; 以及位置/速度控制单元102，其使用基础隔离装置的位置命令和基础隔离侧反馈信号来控制基座隔离装置的可移动部分的位置/速度。版权所有（C）2012，JPO＆INPIT

15. 发明专利

JP2009098786A Control device for mechanical system 有权
标题翻译：机械系统控制装置
公开(公告)号：JP2009098786A
公开(公告)日：2009-05-07
申请号：JP2007267921
申请日：2007-10-15
申请人： Mitsubishi Electric Corp , 三菱電機株式会社
发明人： MAEKAWA SEISEKI
IPC分类号： G05B19/416 , H02P29/00
摘要： PROBLEM TO BE SOLVED: To provide a control device for a mechanical system for shortening an operation time since it can operate at high acceleration/deceleration as far as possible within a range satisfying the restriction of a motor and a transmission mechanism independently in a low speed range and a high speed range. SOLUTION: This control device for the mechanical system is provided with a low speed range acceleration/deceleration time calculation means 3 for calculating the minimum acceleration time t1 and deceleration time t2 in a range satisfying the restriction of the output of a motor and a transmission mechanism based on equation of motion representing the dynamic characteristics of a mechanical system at the representative point of a low speed range on time/speed coordinates; a high speed range acceleration/deceleration time calculation means 5 for calculating the minimum acceleration time t3 and deceleration time t4 in a range satisfying the restriction of the output of the motor and the transmission mechanism based on equation of motion representing the dynamical characteristics of the mechanical system at the representative point of a high speed range on the time/speed coordinates; and a command generation means 6 for generating the speed command pattern of acceleration/deceleration different in a low speed range and a high speed range based on the acceleration time t1 and the deceleration time t2 of the low speed range and the acceleration time t3 and the deceleration time t4 of the high speed range. COPYRIGHT: (C)2009,JPO&INPIT
摘要翻译：解决的问题：提供一种用于缩短操作时间的机械系统的控制装置，因为它可以在满足电动机和变速机构的限制的范围内尽可能地以高加速/减速运行低速范围和高速范围。解决方案：该机械系统的控制装置设置有低速范围加减速时间计算装置3，用于在满足电动机的输出限制的范围内计算最小加速时间t1和减速时间t2;以及基于时间/速度坐标的低速范围的代表点处的机械系统的动态特性的基于运动方程的传动机构; 用于计算满足电动机和变速机构的输出限制的范围内的最小加速时间t3和减速时间t4的高速范围加减速时间计算装置5，其基于表示机械的动力特性的运动方程系统在时间/速度坐标上的高速范围的代表点; 以及用于基于低速范围和加速时间t3的加速时间t1和减速时间t2生成低速范围和高速范围不同的加减速速度指令模式的指令生成单元6以及高速范围的减速时间t4。版权所有（C）2009，JPO＆INPIT

16. 发明专利

JP2009006460A Robot hand 审中-公开
标题翻译：机器人手
公开(公告)号：JP2009006460A
公开(公告)日：2009-01-15
申请号：JP2007172047
申请日：2007-06-29
申请人： Mitsubishi Electric Corp , 三菱電機株式会社
发明人： MAEKAWA SEISEKI , HIGUCHI MINEO , FUKUSHIMA KAZUHIKO
IPC分类号： B25J15/08
摘要： PROBLEM TO BE SOLVED: To provide a robot hand capable of gripping a plurality of gripping objects with an identical hand, and preventing interference with a periphery even when a small object is gripped at the time of gripping a plurality of kinds of gripping objects with different sizes.
SOLUTION: This robot hand comprises gripping mechanisms 1, 2 capable of opening and closing a pair of fingers 3, 4 and 6, 7 and gripping a gripping object with fingers, and a relative position changing drive mechanism 9 for changing a relative position between the gripping mechanism 1, 2. The gripping mechanisms 1, 2 are constituted so that a plane face PB formed by a pair of fingers and a supporting part supporting the pair of fingers intersects with a face PA along each opening and closing direction A of the gripping mechanisms 1, 2 and a moving direction C of the gripping mechanisms 1, 2 by the relative position changing drive mechanism 9.
COPYRIGHT: (C)2009,JPO&INPIT
摘要翻译：要解决的问题：提供一种能够用相同的手抓住多个夹持物体的机器人手，并且即使在夹持多种夹持时抓住小物体时也防止与周边的干涉不同尺寸的物件解决方案：该机器人手包括能够打开和关闭一对手指3,4和6,7以及用手指抓握夹持物体的夹持机构1,2和用于改变相对位置的相对位置改变驱动机构9 位置在夹持机构1,2之间。夹持机构1,2构造成使得由一对手指形成的平面PB和支撑一对手指的支撑部分沿着每个打开和关闭方向A与面部PA相交通过相对位置改变驱动机构9，夹持机构1,2和夹持机构1,2的移动方向C。（C）2009，JPO＆INPIT

17. 发明专利

JP2007033244A Crack detection method of driving mechanism 有权
标题翻译：驱动机构的检测方法
公开(公告)号：JP2007033244A
公开(公告)日：2007-02-08
申请号：JP2005217217
申请日：2005-07-27
申请人： Mitsubishi Electric Corp , 三菱電機株式会社
发明人： IMAMURA NAOKI , IMASHIRO AKIHIKO , MAEKAWA SEISEKI
IPC分类号： G01M99/00
摘要： PROBLEM TO BE SOLVED: To detect early a crack having an influence on positioning accuracy without having a detection means by an external sensor, to thereby urge a user to exchange a component, in a driving mechanism of a machine tool or the like having a direct drive shaft such as a mechanical system, especially a mounter, a machining center or an electric discharge machine. SOLUTION: This method has a motor state quantity measuring step 121 for measuring an instantaneous value of a motor torque when a servomotor drives a movable part with the motor torque changing following a sine wave function having a prescribed cycle, and using it as time series data; an FFT operation step for performing Fourier transform to the time series data of the instantaneous value of the motor torque; a 2f-component determination step for determining existence of increase of the 2f-component which is a double frequency component of the cycle of the sine wave function relative to the result of the Fourier transform; and a crack determination step for determining that the movable part has a crack, when determined existence of the 2f-component by a condition branching means. COPYRIGHT: (C)2007,JPO&INPIT
摘要翻译：要解决的问题：为了早期检测对定位精度产生影响的裂纹，而不需要外部传感器的检测装置，从而促使用户更换部件，在机床等的驱动机构中具有诸如机械系统的直接驱动轴，特别是安装器，加工中心或放电机。解决方案：该方法具有电动机状态量测量步骤121，用于当伺服电动机驱动可动部分时，通过电动机转矩随着具有规定周期的正弦波函数变化，测量电动机转矩的瞬时值，并将其用作时间序列数据; FFT运算步骤，用于对电动机转矩的瞬时值的时间序列数据执行傅里叶变换; 2f分量确定步骤，用于确定作为所述正弦波函数的周期的双频分量相对于所述傅立叶变换的结果的2f分量的增加的存在; 以及当通过条件分支装置确定2f分量的存在时，确定可移动部分具有裂纹的裂纹确定步骤。版权所有（C）2007，JPO＆INPIT

18. 发明专利

JP2006079526A Position control unit 审中-公开
标题翻译：位置控制单元
公开(公告)号：JP2006079526A
公开(公告)日：2006-03-23
申请号：JP2004265479
申请日：2004-09-13
申请人： Mitsubishi Electric Corp , 三菱電機株式会社
发明人： TERADA HIROSHI , MAEKAWA SEISEKI , IMAIZUMI TAKEO , TAKAHASHI AKIRA
IPC分类号： G05D3/12
摘要： PROBLEM TO BE SOLVED: To provide a position control unit capable of reducing time for positioning while suppressing speed excess and overshoot at the time of position control and of obtaining stable control when control response is low.
SOLUTION: The unit comprises: a model arithmetic part 1 for outputting a model torque, model speed, and model position ideal for servo control; a position proportional compensation means 3a for multiplying a position deviation between the model position and an actual position by a position control gain to operate a speed command; speed proportional integral compensation means 5, 6, and 7 for outputting speed commands and feedback torque commands with respect to the speed command and the deviation between the model speed and the actual speed; and a torque limiting means 9 for limiting an addition value obtained by adding the model torque to the feedback torque command with a preset torque limiting value and outputting it as a torque command for driving a motor. The position proportional compensation means 3a continually changes the position control gains on the basis of a polynomial of the model speed while operation.
COPYRIGHT: (C)2006,JPO&NCIPI
摘要翻译：要解决的问题：提供一种位置控制单元，其能够在位置控制时抑制速度过大和过冲时减少定位时间，并且在控制响应低时获得稳定控制。解决方案：该单元包括：用于输出理想用于伺服控制的模型转矩，模型速度和模型位置的模型运算部分1; 位置比例补偿装置3a，用于将模型位置和实际位置之间的位置偏差乘以位置控制增益以操作速度命令; 速度比例积分补偿装置5,6和7，用于输出关于速度指令的速度指令和反馈转矩指令以及模型速度与实际速度之间的偏差; 以及转矩限制装置9，用于限制通过将模型转矩加到具有预设转矩限制值的反馈转矩指令而获得的相加值，并将其作为用于驱动电动机的转矩指令输出。位置比例补偿装置3a在操作时基于模型速度的多项式连续地改变位置控制增益。版权所有（C）2006，JPO＆NCIPI

19. 发明专利

JP2005069907A Service life evaluating device 有权
标题翻译：服务生命评估设备
公开(公告)号：JP2005069907A
公开(公告)日：2005-03-17
申请号：JP2003300848
申请日：2003-08-26
申请人： Mitsubishi Electric Corp , 三菱電機株式会社
发明人： SAKAI TAKAHITO , MAEKAWA SEISEKI
IPC分类号： G01M99/00 , G01M19/00
摘要： PROBLEM TO BE SOLVED: To provide a service life evaluating device for calculating torque operating on a machine element from a position command of a motor and for evaluating a service life of the machine element.
SOLUTION: This device is provided with: a torque calculating part 11 generating a torque signal by determining a position, speed and acceleration of the machine element 11 based on the position command of the motor 9 and calculating the torque operating on the machine element 11 based on an equation of motion; a speed calculating part 19 generating a speed signal by determining the speed of the machine element 11 based on the position command of the motor 9; an operating time detecting part 17 generating an operating time signal by detecting operating time of the service life evaluating device; a service life calculating means 21 determining shortened service life amount of the machine element 11 from a predetermined basic service life based on the torque signal, the speed signal and the operating time signal; and a service life judging part 23 judging whether the service life of the machine element 11 has expired by comparing a cumulative value of the shortened service life amount with the predetermined service life value, and generating a service life expiry signal by judging that the service life has expired.
COPYRIGHT: (C)2005,JPO&NCIPI
摘要翻译：要解决的问题：提供一种从电机的位置指令计算在机械元件上运行的扭矩并用于评估机械元件的使用寿命的使用寿命评估装置。解决方案：该装置设置有：转矩计算部分11，通过基于电动机9的位置指令确定机构元件11的位置，速度和加速度并计算在机器上运行的转矩来产生转矩信号基于运动方程的元素11; 速度计算部分19，通过基于马达9的位置指令确定机器元件11的速度来产生速度信号; 操作时间检测部分17，通过检测使用寿命评估装置的操作时间来产生操作时间信号; 使用寿命计算装置21基于转矩信号，速度信号和操作时间信号，从预定的基本使用寿命确定机器元件11的使用寿命的缩短量; 以及使用寿命判断部23，通过将所述缩短的使用寿命的累积值与所述预定的使用寿命值进行比较来判断所述机器元件11的使用寿命是否到期，并且通过判断所述使用寿命期限来生成使用寿命期满信号已过期。版权所有（C）2005，JPO＆NCIPI

20. 发明专利

JP2005044230A Robot control device 审中-公开
标题翻译：机器人控制装置
公开(公告)号：JP2005044230A
公开(公告)日：2005-02-17
申请号：JP2003279304
申请日：2003-07-24
申请人： Mitsubishi Electric Corp , 三菱電機株式会社
发明人： MAEKAWA SEISEKI
IPC分类号： B25J9/10 , G05B19/18 , G05B19/416
摘要： PROBLEM TO BE SOLVED: To decide a highest speed upper limit value of linear/circular interpolation for each motion with consideration given to an allowance of a motor or a transmission mechanism for speed-up of the motion.
SOLUTION: A reference speed computing means 2 computes a reference speed in each shaft or each direction of an orthogonal coordinate system of a current motion. In response to orthogonal coordinate values of an acceleration starting point and a deceleration ending point and joint displacement, an acceleration time/speed upper limit parameter decision means 7 computes an allowable maximum value of driving torque of the motor driving the respective shafts, the shortest acceleration time and the shortest deceleration time within a range satisfying restriction of action torque and moment allowable maximum values for the transmission mechanism of the respective shafts, and the highest speed upper limit parameter, and creates an instruction curve on the basis of the computed data.
COPYRIGHT: (C)2005,JPO&NCIPI
摘要翻译：要解决的问题：考虑到用于运动的加速的电动机或传动机构的允许，为每个运动确定线性/圆弧插补的最高速度上限值。解决方案：参考速度计算装置2计算每个轴中的参考速度或当前运动的正交坐标系的每个方向。响应于加速度起点和减速终点以及关节位移的正交坐标值，加速时间/速度上限参数判定装置7计算驱动各个轴的马达的驱动转矩的允许最大值，最短加速度时间和最小减速时间在满足各轴的传动机构的动作扭矩和力矩允许最大值的限制范围内，以及最高速度上限参数，并根据计算出的数据生成指令曲线。版权所有（C）2005，JPO＆NCIPI

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