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21. 发明专利

JP2010004689A Positioning controller for motor 有权
标题翻译：电机定位控制器
公开(公告)号：JP2010004689A
公开(公告)日：2010-01-07
申请号：JP2008162529
申请日：2008-06-20
申请人： Mitsubishi Electric Corp , 三菱電機株式会社
发明人： MAEKAWA SEISEKI
IPC分类号： H02P29/00
摘要： PROBLEM TO BE SOLVED: To provide a positioning controller for a motor which can suppress the vibration generated from the mechanical resonance of an object to be positioned by a motor, when switching from speed control to position control. SOLUTION: A band cut-out filter 12 for eliminating vibration components by a mechanical resonance contained in an output signal of a switch 11 is provided at the input stage of a speed control section 13. In a path for feeding back the position (c) of the motor to the position control section 10, an inverse band cut-out filter 16, having characteristics, reverse to those of the band cut-out filter 12 is provided. COPYRIGHT: (C)2010,JPO&INPIT
摘要翻译：要解决的问题：提供一种用于电动机的定位控制器，当从速度控制切换到位置控制时，可以抑制由电动机定位的物体的机械共振产生的振动。解决方案：在速度控制部13的输入级设置有用于通过包含在开关11的输出信号中的机械共振消除振动分量的带截止滤波器12.在用于反馈位置的路径（c）到位置控制部分10，提供具有与带截止滤波器12相反的特性的反频带截止滤波器16。版权所有（C）2010，JPO＆INPIT

22. 发明专利

JP2009303429A Oscillation component extracting apparatus 有权
标题翻译：振动组件提取装置
公开(公告)号：JP2009303429A
公开(公告)日：2009-12-24
申请号：JP2008157235
申请日：2008-06-16
申请人： Mitsubishi Electric Corp , 三菱電機株式会社
发明人： MAEKAWA SEISEKI
IPC分类号： H02P29/00
摘要： PROBLEM TO BE SOLVED: To provide an oscillation component extracting apparatus capable of improving the precision of mechanical diagnosis, based on the size of an oscillation component extracted from the internal state quantity of a motor control unit. SOLUTION: A first signal processing unit 2 calculates the difference between inner state quantities of the motor control unit, removes a high-frequency component included in the absolute value of the calculated difference to extract only the low-frequency component, and outputs the extracted low-frequency component as a process result. A second signal processing unit 3 removes high-frequency components included in the inner state quantity of the motor control unit, to extract only the low-frequency components; calculates the difference between the extracted low-frequency components, to calculate the absolute value of the difference; and outputs the calculated absolute value as a process result. A subtractor 4 outputs a signal, given by subtracting the process result of the second signal processing unit 3, from the process result of the first signal processing unit 2 as an oscillation component extracted from the internal state quantities. COPYRIGHT: (C)2010,JPO&INPIT
摘要翻译：要解决的问题：提供一种能够基于从电动机控制单元的内部状态量提取的振动分量的尺寸来提高机械诊断的精度的振荡分量提取装置。解决方案：第一信号处理单元2计算电动机控制单元的内部状态量之间的差异，去除包含在所计算的差的绝对值中的高频分量，以仅提取低频分量，并输出提取的低频分量作为处理结果。第二信号处理单元3去除包括在电动机控制单元的内部状态量中的高频分量，以仅提取低频分量; 计算提取的低频分量之间的差值，计算差值的绝对值; 并输出计算出的绝对值作为处理结果。减法器4通过从第一信号处理单元2的处理结果中减去第二信号处理单元3的处理结果给出的信号作为从内部状态量提取的振荡分量而输出信号。版权所有（C）2010，JPO＆INPIT

23. 发明专利

JP2008169887A Base isolation device 有权
标题翻译：基座隔离装置
公开(公告)号：JP2008169887A
公开(公告)日：2008-07-24
申请号：JP2007002400
申请日：2007-01-10
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
摘要： PROBLEM TO BE SOLVED: To provide a base isolation device capable of suppressing vibration caused by the drive of a drive device even if a movable part position of the base isolation device goes over the stroke end of a movable part of the base isolation device by the repetition of movement in the same direction of the operation of the drive device used as an object of vibration suppression.
SOLUTION: A base isolation-side control part 5 controlling the base isolation device 2 is provided with: a base isolation control part driving and controlling the movable part 6 of the base isolation device in order to obtain a drive reactive force equivalent to a drive reactive force of the drive device 1 by information 13 outputted from an excitation-side control part 3 controlling the drive device 1; and a position/speed control part 102 controlling the position/speed of the movable part of the base isolation device by a position command and a base isolation-side feedback signal of the base isolation device.
COPYRIGHT: (C)2008,JPO&INPIT
摘要翻译：要解决的问题：为了提供一种能够抑制由驱动装置的驱动引起的振动的基座隔离装置，即使基部隔离装置的可动部位置越过基部隔离件的可动部的行程端装置通过在用作振动对象的驱动装置的相同操作方向上重复运动。解决方案：控制基础隔离装置2的基座隔离侧控制部5设置有：基部隔离控制部，驱动并控制基部隔离装置的可动部6，以获得与通过从控制驱动装置1的励磁侧控制部3输出的信息13驱动装置1的驱动反作用力; 以及位置/速度控制部分102，通过基础隔离装置的位置指令和基础隔离侧反馈信号来控制基础隔离装置的可移动部分的位置/速度。版权所有（C）2008，JPO＆INPIT

24. 发明专利

JP2008132595A Robot control device 审中-公开
标题翻译：机器人控制装置
公开(公告)号：JP2008132595A
公开(公告)日：2008-06-12
申请号：JP2008029595
申请日：2008-02-08
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 determine upper limits of maximum speeds of linear interpolation and circular interpolation with respect to each operation while considering an allowance of a motor or a transmission mechanism, so as to increase the speed of the operation.
SOLUTION: By using a reference speed calculating means, reference speed in each direction in each shaft or in a rectangular coordinate system of current operation is calculated. An acceleration and deceleration time/speed limit parameter determination means responds to rectangular coordinate values and joint displacement at an acceleration start point and a deceleration end point, and calculates the shortest acceleration time and deceleration time within a range satisfying constraint of an allowable maximum value of drive torque of a motor driving each shaft with respect to each operation, action torque of the transmission mechanism of each shaft and an allowable maximum value of a moment. An operation parameter correction means corrects acceleration time and deceleration time. A command curve generation means generates a command curve based on the corrected data.
COPYRIGHT: (C)2008,JPO&INPIT
摘要翻译：要解决的问题：在考虑电动机或变速机构的允许的同时，确定相对于每个操作的线性插补和圆弧插补的最大速度的上限，以便增加操作速度。解决方案：通过使用参考速度计算装置，计算每个轴中的每个方向或当前操作的直角坐标系中的参考速度。加速和减速时间/速度限制参数确定装置响应于加速度起始点和减速终点处的直角坐标值和关节位移，并且在满足最大加速时间/速度限制参数的允许最大值相对于每个操作驱动每个轴的电动机的驱动转矩，每个轴的变速机构的动作转矩和一个允许的最大值。操作参数校正装置校正加速时间和减速时间。命令曲线生成装置根据校正后的数据生成指令曲线。版权所有（C）2008，JPO＆INPIT

25. 发明专利

JP2007315878A Multi-axis force/moment sensor 审中-公开
标题翻译：多轴力/传感器
公开(公告)号：JP2007315878A
公开(公告)日：2007-12-06
申请号：JP2006144789
申请日：2006-05-25
申请人： Mitsubishi Electric Corp , 三菱電機株式会社
发明人： HARAGUCHI RINTARO , IMASHIRO AKIHIKO , MAEKAWA SEISEKI , FUKUSHIMA KAZUHIKO
IPC分类号： G01L5/16
摘要： PROBLEM TO BE SOLVED: To obtain a multi-axis force/moment sensor which does not use spherical kinetic pair structure that is difficult to be applied to linking mechanisms, between coupling members and a base part and a power receiving part, moreover, can obtain linear characteristics approximately equal to those an original Stewart platform structure as for an applied force and strain, and can obtain an appropriate amount of displacement with respect to the applied force, and thereby facilitates application to miniaturization.
SOLUTION: Each rod 6 is linked to an upper flange 1 and a lower flange 2 by fastening structures, and each rod 6 is constituted of an elastic ring 5, and an upper linking rod 3 and a lower linking rod 4 in a bar shape which are coupled to both ends of this elastic ring 5, and are arranged on the same axis as the axis of a force that is applied to the rod 6.
COPYRIGHT: (C)2008,JPO&INPIT
摘要翻译：要解决的问题：为了获得不使用难以应用于连接机构的球形动力学对结构，耦合构件与基部和受电部之间的多轴力/力传感器，此外可以获得与施加的力和应变大致相同的原始Stewart平台结构的线性特性，并且可以相对于所施加的力获得适当的位移量，从而有助于应用于小型化。解决方案：每个杆6通过紧固结构连接到上凸缘1和下凸缘2，并且每个杆6由弹性环5和上连杆3和下连接杆4构成棒状，其连接到该弹性环5的两端，并且被布置在与施加到杆6的力的轴线相同的轴线上。（C）2008，JPO和INPIT

26. 发明专利

JP2006116658A Command value generating device 有权
标题翻译：命令值生成装置
公开(公告)号：JP2006116658A
公开(公告)日：2006-05-11
申请号：JP2004307639
申请日：2004-10-22
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 , G05B19/416
摘要： PROBLEM TO BE SOLVED: To provide a command value generating device, restraining the possibility of exceeding the speed limit of each axis, eliminating excessive low speed operation and realizing high-speed smooth operation. SOLUTION: This command value generating device includes:a moving speed and travel computing means 1 for calculating the moving speed and travel satisfying the speed limit of each axis (each joint) and equal to or lower than a regulated speed; a moving speed correcting means 2 for making correction on the moving speed calculated by the moving speed and travel computing means 1 in consideration of acceleration and deceleration; an accelerating and decelerating means 3 for equalizing the output from the moving speed correcting means 2; an inverse transformation means A4 for inverse transforming the tip position command output from the accelerating and decelerating means 3 to the position command of each axis according to the flag information from a flag deciding means 11; and a correcting means 12 for correcting the output of the inverse transformation means A4 on the basis of the output from the flag deciding means 11 to output a command value of each axis. COPYRIGHT: (C)2006,JPO&NCIPI
摘要翻译：要解决的问题：为了提供一种指令值生成装置，限制超过每个轴的速度限制的可能性，消除了超低速运行并实现高速平稳运行。该指令值产生装置包括：移动速度和行进计算装置1，用于计算满足每个轴（每个关节）的速度限制并等于或低于调节速度的移动速度和行程; 考虑到加速和减速，对由移动速度计算的移动速度和行驶计算装置1进行校正的移动速度校正装置2; 用于使来自移动速度校正装置2的输出相等的加速和减速装置3; 逆变换装置A4，用于根据来自标志判定装置11的标志信息将从加速和减速装置3输出的尖端位置指令逆变换为每个轴的位置指令; 以及校正装置12，用于根据标志判定装置11的输出校正逆变换装置A4的输出，以输出每个轴的指令值。版权所有（C）2006，JPO＆NCIPI

27. 发明专利

JP2006079436A Travel controller for mobile body 有权
标题翻译：手机行车控制器
公开(公告)号：JP2006079436A
公开(公告)日：2006-03-23
申请号：JP2004264119
申请日：2004-09-10
申请人： Mitsubishi Electric Corp , 三菱電機株式会社
发明人： MAEKAWA SEISEKI , TERADA HIROSHI
IPC分类号： G05D1/02 , B65G1/04 , B66F9/07 , B66F9/24
摘要： PROBLEM TO BE SOLVED: To provide a travel controller for a mobile body, capable of shortening an operation time as much as possible in a range not allowing occurrence of a slip.
SOLUTION: This travel controller 10 for the mobile body 100 controls a travel for moving the mobile body 100 having an elevating table 101 installed such that a height position is variable, respective wheels 7, 8 respectively formed backward and forward in a movement direction, and respective motors 5, 6 respectively driving the respective wheels 7, 8 on a prescribed road surface 102 by driving the respective wheels 7, 8 by the respective motors 5, 6. The travel controller 10 has: an instruction/torque limit parameter calculation means 1 calculating an instruction curve of the mobile body, and a parameter of a torque limit of each motor by use of position information of height of the elevating table 101, torque characteristic information of each motor, frictional characteristic information of the road surface 102, and a characteristic value on a structure of the mobile body 100; and an instruction value/torque limit value generation means 2 generating torque limit values and instruction values to the respective motors 5, 6 on the basis of the calculated instruction curve and parameters of the torque limit.
COPYRIGHT: (C)2006,JPO&NCIPI
摘要翻译：要解决的问题：为了提供一种用于移动体的旅行控制器，能够在不允许出现滑动的范围内尽可能地缩短操作时间。解决方案：用于移动体100的行驶控制器10控制移动具有安装成使得高度位置可变的升降台101的移动体100的行进，各个轮7,8分别在运动中向后和向前形成方向和各个电动机5,6分别通过各个电动机5,6驱动各个车轮7,8来分别在规定路面102上驱动各车轮7,8。行驶控制器10具有：指令/转矩限制参数计算装置1通过使用升降台101的高度的位置信息，各电动机的转矩特性信息，路面102的摩擦特性信息来计算移动体的指示曲线以及各电动机的转矩极限的参数，以及移动体100的结构上的特征值; 以及指令值/转矩限制值生成装置2，根据计算出的指令曲线和转矩极限的参数，向各个电动机5,6发出转矩限制值和指令值。版权所有（C）2006，JPO＆NCIPI

28. 发明专利

JP2004020388A Lifetime evaluating device 审中-公开
公开(公告)号：JP2004020388A
公开(公告)日：2004-01-22
申请号：JP2002176150
申请日：2002-06-17
申请人： Mitsubishi Electric Corp , 三菱電機株式会社
发明人： MAEKAWA SEISEKI , HIGUCHI MINEO , MATSUYAMA JIRO
IPC分类号： G01M99/00 , B25J19/06 , G01N17/00 , H02P5/00 , H02P29/00 , G01M19/00
摘要： PROBLEM TO BE SOLVED: To solve the problem that acceleration torque or the like in a rotor consumed in a motor cannot be accurately calculated and the lifetime of a reduction gear cannot be accurately calculated when a friction coefficient varies due to a temperature change or aging. SOLUTION: Torque operating on machine elements from junction displacement converted by a junction displacement/speed/acceleration operation part 4 is calculated, and operating speed in the machine elements is calculated, thus evaluating the lifetime of the machine elements depending on actual operating conditions from the torque and the operating speed. COPYRIGHT: (C)2004,JPO

29. 发明专利

JP2003025272A Robot control device 有权
标题翻译：机器人控制装置
公开(公告)号：JP2003025272A
公开(公告)日：2003-01-29
申请号：JP2002132952
申请日：2002-05-08
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 , G05B19/19
摘要： PROBLEM TO BE SOLVED: To obtain a robot control device, reducing a calculating amount to perform accurately collision decision.
SOLUTION: A necessary drive torque command element is calculated from at least one of a position command, a speed command, and an acceleration command, necessary drive torque is calculated from at least one of a position, a speed, and acceleration of a motor driving each articulation without newly calculating again all the equations of motion, and by comparing the calculated necessary drive torque with a current of the motor driving each articulation, decision of collision is performed.
COPYRIGHT: (C)2003,JPO
摘要翻译：要解决的问题：为了获得机器人控制装置，减少计算量以准确地执行冲突判定。解决方案：根据位置指令，速度指令和加速度指令中的至少一个计算必要的驱动转矩指令元件，根据电动机驱动的位置，速度和加速度中的至少一个来计算必要的驱动转矩每个关节不再重新计算所有运动方程，并且通过将所计算的必要驱动转矩与驱动每个关节的电机的电流进行比较，执行碰撞判定。

30. 发明专利

JP2012135825A Force control device 有权
标题翻译：强制控制装置
公开(公告)号：JP2012135825A
公开(公告)日：2012-07-19
申请号：JP2010288705
申请日：2010-12-24
申请人： Mitsubishi Electric Corp , 三菱電機株式会社
发明人： MAEKAWA SEISEKI
IPC分类号： B25J13/08
摘要： PROBLEM TO BE SOLVED: To calculate external force acting on a tip of a robot at a high degree of accuracy while achieving a low-cost force sensor.SOLUTION: The force control device includes: a robot 3 driven by a motor; a robot controller 2 for generating a current command for driving the motor so that a tip end of the robot 3 is followed to a command position; a force sensor 31 for detecting external forces in three moving directions of x-axis direction, y-axis direction and z-axis direction among six moving directions of the tip end of the robot 3; and a force estimating observer 4 for identifying, based on the detection value of the force sensor 31 and the position of the motor and the current command, friction coefficients required for calculating the external forces in the rotating directions of the three axes which at least the external sensor 31 does not detect external force among the moving directions of the n number of the tip ends of the robot 3, and calculating an estimation value of moment acting in the rotating direction of the three axes based on the identified friction coefficient.
摘要翻译：要解决的问题：为了在实现低成本的力传感器的同时以高精度计算作用在机器人的尖端上的外力。解决方案：力控制装置包括：由电动机驱动的机器人3; 机器人控制器2，用于产生用于驱动马达的电流指令，使机器人3的末端跟随到指令位置; 力传感器31，用于检测机器人3的前端的六个移动方向之间的x轴方向，y轴方向和z轴方向的三个移动方向上的外力; 以及力估计观察器4，用于基于力传感器31的检测值和电动机的位置以及电流指令来识别计算至少三个轴的三个轴的旋转方向上的外力所需的摩擦系数外部传感器31不检测机器人3的n个前端的移动方向的外力，并且基于所识别的摩擦系数来计算作用在三轴的旋转方向上的力矩的估计值。版权所有（C）2012，JPO＆INPIT

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