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21. 发明专利

JPS5476179A METHOD OF OPTICALLY DETECTING ANGLE 失效
公开(公告)号：JPS5476179A
公开(公告)日：1979-06-18
申请号：JP14300877
申请日：1977-11-29
申请人： KAWASAKI HEAVY IND LTD
发明人： ITOU TAKASHI , WADA TAKAO , MANABE TAKAO
IPC分类号： G01B11/26

22. 发明专利

JPS59136606A Detector for weld line 失效
标题翻译：焊接线探测器
公开(公告)号：JPS59136606A
公开(公告)日：1984-08-06
申请号：JP1191983
申请日：1983-01-26
申请人： Kawasaki Heavy Ind Ltd
发明人： ITOU TAKASHI , KANAMARU TAKAO , UNO TOMOYUKI
IPC分类号： G01B11/00 , B23K9/127 , G01B11/02
CPC分类号： G01B11/028
摘要： PURPOSE:To perform automatically a welding operation with high quality by providing a detector with a spot light source means which irradiates successively the light from three spot light sources to the surface near the weld line of materials to be welded and a detector for the position of two-dimensional light spot which receives the light reflected from the spot light source means, etc. CONSTITUTION:A spot light source means 3a of a detector includes three spot light sources 16, 17, 18 realized by light emitting diodes, etc. The light sources 16, 17, 18 are lighted successively by each piece and are so arranged that when one light source, for example, 16 is lighted, the remaining sources 17, 18 are put out. When one light source, for example, 16 is lighted, the beam light 16a thereof is reflected irregularly by the surface of materials 6 to be welded near the weld line 7 and the reflected light arrives at the photodetecting surface of a detector 13 for the position of two-dimensional light spot via a condenser lens 14. The position of the weld line is thus detected with high accuracy and the welding operation is accomplished automatically with high quality.
摘要翻译：目的：通过为检测器提供一个点光源装置来自动执行焊接操作，该点光源装置将来自三个点光源的光照射到待焊接材料的焊接线附近的表面，接收从点光源装置反射的光的二维光点等。构成：检测器的点光源装置3a包括由发光二极管等实现的三个光源16,17,18。光源16,17,18由各个部件连续点亮，并且被布置为当一个光源例如16点亮时，剩余的源17,18被放出。当一个光源（例如16）点亮时，其光束光16a被待焊接的材料6的表面不规则地反射到焊接线7附近，并且反射光到达位于检测器13的光检测表面通过聚光透镜14形成二维光点。因此，以高精度检测焊接线的位置，焊接操作以高质量自动完成。

23. 发明专利

JPS55163302A ESTIMATION OF PHYSICAL QUANTITY IN HYDRAULIC SERVOOSYSTEM 失效
公开(公告)号：JPS55163302A
公开(公告)日：1980-12-19
申请号：JP7073279
申请日：1979-06-06
申请人： KAWASAKI HEAVY IND LTD
发明人： ITOU TAKASHI , MIHASHI KANJI , NAKAGAWA MASASHI , UEDA SUMIHIRO , NISHI YOSHIKAZU , KANAMARU TAKAO
IPC分类号： F15B9/09 , F15B9/00 , G01P3/42 , G01P7/00 , G01P15/00 , G01P15/16
摘要： PURPOSE:To disuse detectors for speed and acceleration by detecting pressures in an oil cylinder on both sides of a piston by pressure detectors and the position of the piston by a position detector respectively to estimate the speed, acceleration, and other fators of the piston. CONSTITUTION:Pressures P1 and P2 on both sides of a piston 2 in an oil cylinder 1 are detected by pressure detectors 5 and 6, and respectively conducted through coefficient factors 11 and 12 representing cross-sectional areas of the cylinder for obtaining forces F1' and F2' given on the both ends of the piston. Forces thereof are brought into a subtraction at an addition point (a) for obtaning a driving force F'. This force F', after the subtraction of the output of a function generating factor 16 into which the estimated speed of the piston is input at an addition point (b), is sent to an addition point (c) via a coefficient factor 13 representing the reciprocal number of the equivalent mass of the piston 2 and a load 4. Meanwhile, the position of a piston 2 is detected by a position detector 7, and a signal X' thereof is added to an addition point (e). After being compared with an estimated value, its deviation is added to addition points (c) and (d) via coefficient factors 17 and 18 for modifying estimated values of acceleration and speed.

24. 发明专利

JPS55147708A CONTROL SYSTEM FOR INDUSTRIAL ROBOT 失效
公开(公告)号：JPS55147708A
公开(公告)日：1980-11-17
申请号：JP5589679
申请日：1979-05-08
申请人： KAWASAKI HEAVY IND LTD
发明人： ITOU TAKASHI , MANABE TAKAO , NISHI YOSHIKAZU
IPC分类号： B25J9/16 , B25J9/00 , G05B19/18 , G05B19/41
摘要： PURPOSE:To perform the continuous locus control with high accuracy, by detecting the locus error of working tool due to the operation of the operation axis deficient in response characteristics, feeding back the amount of correction calculated from this error to the operation axis of good response to correct the locus error by operation axis. CONSTITUTION:The operation axes 1-6 have different response, and position control systems 101-106 are provided corresponding to each axis. Further, the operation axes 1-6 corresponding to this position control system are independently followed to the position indication values indicated in a given time interval, and the working tool 7 fitted at the finger tip of the robot is in continuous locus control. In this case, the locus error of the working tool 7 deficient in the response, for example, caused by the operation of the operation axis, is detected, and the amount of correction calculated from this error is fed back to the operation axes 4-6 having good response, and the locus error by the operation axes 1-3 is corrected 11. Thus, high speed corrective operation is enabled and the continuous locus control with high accuracy can be made.

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