专利快速检索-快速检索全球专利，免费商用专利数据库-IPRDB

31. 发明专利

JP2011235423A Force control device 有权
标题翻译：强制控制装置
公开(公告)号：JP2011235423A
公开(公告)日：2011-11-24
申请号：JP2010110917
申请日：2010-05-13
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 shorten the operating time, and to shorten the startup adjusting time in a range to satisfy the constraint in which the acting force is equal to or smaller than the permissible value even when a robot is stopped when the acting force exceeds the constraint value.SOLUTION: A force control device includes a command generation means (10) for generating the target position command of a robot for an object, a robot control means (20) for performing the follow-up control according to the target position command, a force limit excess discriminating means (30) for generating the stop command when the acting force on the robot from an object exceeds the predetermined force limit value, and a speed optimization means (40) for calculating the optimum speed for maximizing the operating speed in a range for satisfying the constraint that the acting force is equal to or smaller than the predetermined permissible value during the deceleration stop based on the characteristic of the object and the predetermined force limit value taking into consideration the case that the robot is subjected to the deceleration stop. The command generation means (10) generates the target position command according to the optimum speed, and generates the command for executing the deceleration stop if the stop command is received.
摘要翻译：要解决的问题：为了缩短操作时间，并且在一定范围内缩短启动调整时间，以满足即使当机器人停止时的作用力等于或小于允许值的约束作用力超过约束值。解决方案：一种力控制装置，包括用于产生对象的机器人的目标位置命令的命令生成装置（10），用于根据目标位置命令执行跟踪控制的机器人控制装置（20）用于当从物体上的机器人上的作用力超过预定的力极限值时产生停止命令的力限制过剩识别装置（30），以及用于计算用于最大化操作速度的最佳速度的速度优化装置（40）在满足在减速停止期间作用力等于或小于预定容许值的约束的范围，其基于物体的特性和预定的力极限值，考虑到机器人受到的情况减速停止。命令生成装置（10）根据最佳速度生成目标位置指令，并且如果接收到停止命令，则生成用于执行减速停止的命令。版权所有（C）2012，JPO＆INPIT

32. 发明专利

JP2011104740A Force control device 有权
标题翻译：强制控制装置
公开(公告)号：JP2011104740A
公开(公告)日：2011-06-02
申请号：JP2009263975
申请日：2009-11-19
申请人： Mitsubishi Electric Corp , 三菱電機株式会社
发明人： MAEKAWA SEISEKI
IPC分类号： B25J13/00 , B23P19/02
摘要： PROBLEM TO BE SOLVED: To provide a force control device that prevents an excess force from exerting at the time of occurrence of a positional shift by changing force limit value and a compliance control parameter during operation while achieving high speed for the operation. SOLUTION: Based on a command indicating parameter conditions including at least one of the force limit value of force exerting to a tip of a robot according to a work operation performed by the robot from a changing point designation means 5 and a force control parameter of the compliance control, and the changing point for changing into the parameter conditions, the force control device inputs a stop command outputting a position command to decelerate and stop the robot by a command generation means 1 that outputs the position command showing a target position of the robot according to the work operation performed by the robot when the parameter changing means 6 changes at least one of the force limit value and the force control parameter, and a determination means 4 for an excess force limit value determines that force exceeding the force limit value is exerted. COPYRIGHT: (C)2011,JPO&INPIT
摘要翻译：要解决的问题：提供一种力控制装置，其通过在操作期间通过改变力极限值和顺应性控制参数来实现位置偏移发生时施加过大的力而实现操作的高速度。解决方案：根据指示参数条件的指令，包括根据机器人从变更点指定装置5执行的作业操作和力控制中施加到机器人的尖端的力的力极限值中的至少一个合格控制的参数以及变更为参数条件的变更点，力控制装置输入通过命令生成单元1输出位置指令来减速停止机器人的停止指令，该指令生成单元1输出表示目标位置的位置指令根据由机器人进行的作业操作，当参数改变装置6改变力限制值和力控制参数中的至少一个时，机器人的动作极限值和力控制参数的确定装置4确定超过力的力施加极限值。版权所有（C）2011，JPO＆INPIT

33. 发明专利

JP2010052116A Device and method for controlling interference check 有权
标题翻译：用于控制干扰检查的装置和方法
公开(公告)号：JP2010052116A
公开(公告)日：2010-03-11
申请号：JP2008222111
申请日：2008-08-29
申请人： Mitsubishi Electric Corp , 三菱電機株式会社
发明人： SHIRATO KOJI , MAEKAWA SEISEKI
IPC分类号： B25J19/06
摘要： PROBLEM TO BE SOLVED: To determine presence/absence of mutual interference between robot constitution parts in braking operation with high accuracy.
SOLUTION: The device for controlling interference check between robots having an overlapped part in an operation region includes a speed/position memory means 910, an interference determination threshold memory means 918 previously storing the threshold of the interference determination region, a braking time calculation means 911 calculating time required from start braking to stop braking based on the speed/position data, an inter-robot distance estimation means 916 estimating history of the closest distance between the respective constitution parts from start braking to stop braking based on the speed of the respective approximating constitution parts, an interference determination means 917 determining presence/absence of interference during braking by comparing the history of the closest distance between the respective constitution parts with the threshold of the interference determination region, and a command value generation means 919 generating a movement command value to each robot corresponding to the interference determination result, and making the speed/position memory means store the speed/position data of the robot.
COPYRIGHT: (C)2010,JPO&INPIT
摘要翻译：要解决的问题：准确地确定制动操作中的机器人构成部件之间的相互干涉的存在/不存在。解决方案：用于控制在操作区域中具有重叠部分的机器人之间的干扰检查的装置包括速度/位置存储装置910，预先存储干扰确定区域的阈值的干扰确定阈值存储装置918，制动时间计算装置911基于速度/位置数据计算从开始制动到停止制动所需的时间，机器人间距离估计装置916基于从起动制动到停止制动的各个构成部件之间的最近距离的历史，基于相应的近似构成部分，通过将各个构成部分之间的最近距离的历史与干扰确定区域的阈值进行比较来确定在制动期间是否存在干扰的干扰确定装置917，以及指令值生成装置919，移动指令值为e ach机器人对应于干扰确定结果，并且使速度/位置存储装置存储机器人的速度/位置数据。版权所有（C）2010，JPO＆INPIT

34. 发明专利

JP2010052114A Device and method for controlling interference check 有权
标题翻译：用于控制干扰检查的装置和方法
公开(公告)号：JP2010052114A
公开(公告)日：2010-03-11
申请号：JP2008222105
申请日：2008-08-29
申请人： Mitsubishi Electric Corp , 三菱電機株式会社
发明人： SHIRATO KOJI , MAEKAWA SEISEKI
IPC分类号： B25J19/06
摘要： PROBLEM TO BE SOLVED: To provide a device and a method for controlling interference check for improving work efficiency of a plurality of robots.
SOLUTION: The interference check controlling device for avoiding interference between robots having an overlapped part in an operation region includes a speed/position memory means 111, an inter-robot distance calculation means 112 calculating the distance between robot constitution parts based on the speed/position data, an interference determination region calculation means 113 finding the interference determination region of the robot constitution parts based on the speed/position data, and an interference determination means 114 comparing the interference determination distance defined by the interference determination region to the distance between the robot constitution parts to determine presence/absence of interference. The interference determination region calculation means 113 expands the interference determination region corresponding to the movement speed and movement direction based on speed data with directivity to determine the expanded interference determination region, and the interference determination means 114 compares the interference determination distance defined by the expanded interference determination region with the mutual distance between the robot constitution parts, thus determining presence/absence of interference.
COPYRIGHT: (C)2010,JPO&INPIT
摘要翻译：要解决的问题：提供一种用于控制干涉检查以提高多个机器人的工作效率的装置和方法。解决方案：用于避免在操作区域中具有重叠部分的机器人之间的干扰的干扰检查控制装置包括速度/位置存储装置111，机器人间距离计算装置112，其基于所述机器人结构部件之间的距离来计算速度/位置数据，干扰判定区域计算装置113，根据速度/位置数据求出机器人构成部分的干扰判定区域;以及干扰判定装置114，将由干扰判定区域确定的干扰判定距离与距离在机器人构成部分之间确定有无干扰。干扰判定区域计算装置113基于具有指向性的速度数据扩大与移动速度和移动方向对应的干扰判定区域，以确定扩大的干扰判定区域，并且干扰确定装置114将由扩展的干扰限定的干扰确定距离确定区域与机器人构成部分之间的相互距离，从而确定有无干扰。版权所有（C）2010，JPO＆INPIT

35. 发明专利

JP2009118684A Vibration suppression controller 审中-公开
标题翻译：振动抑制控制器
公开(公告)号：JP2009118684A
公开(公告)日：2009-05-28
申请号：JP2007290824
申请日：2007-11-08
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 , G05D19/02
摘要： PROBLEM TO BE SOLVED: To provide a vibration suppression controller capable of suppressing vibration caused by torque ripple of a reduction gear by estimating and correcting amplitude and phase of fluctuating vibration caused by torque ripple of the reduction gear that is contained in the state value of a motor during operation even if they fluctuates during operation. SOLUTION: The vibration suppression controller comprises a vibration component calculating means 2 which calculates vibration component contained in a motor state value from a difference between the state value of a motor which drives axes of a mechanical system and a predicted value of the state value, an amplitude phase estimating means 3 which sequentially estimates amplitude and phase of the ripple generated at a motor 15 due to a reduction gear 16 based on the output of the vibration component calculating means 2 and motor displacement, and a corrective value calculating means 4 which calculates a corrective value of the motor state value from the estimated amplitude and phase and the motor displacement. Thus, the motor state value which is feedback-controlled is corrected based on the corrective value. COPYRIGHT: (C)2009,JPO&INPIT
摘要翻译：要解决的问题：提供一种能够通过估计和校正由该状态包含的减速齿轮的转矩波动引起的波动振动的振幅和相位来抑制由减速齿轮的转矩波动引起的振动的振动抑制控制器即使在运行期间它们波动，电动机的运行中的值也是如此。解决方案：振动抑制控制器包括：振动分量计算装置2，其根据驱动机械系统的轴的马达的状态值与状态的预测值之间的差计算马达状态值中包含的振动分量值，幅度相位推定装置3，其基于振动分量计算装置2的输出和电动机位移顺序地估计由于减速齿轮16在电动机15处产生的脉动的振幅和相位;以及校正值计算装置4 其根据估计的振幅和相位和电动机位移来计算电动机状态值的校正值。因此，基于校正值来校正反馈控制的电动机状态值。版权所有（C）2009，JPO＆INPIT

36. 发明专利

JP2009113172A Command value generating device 审中-公开
标题翻译：命令值生成装置
公开(公告)号：JP2009113172A
公开(公告)日：2009-05-28
申请号：JP2007290831
申请日：2007-11-08
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
摘要： PROBLEM TO BE SOLVED: To obtain a command value generating device capable of preventing a plurality of joints from being greatly moved when passing through a singular point nearby region and capable of shortening an operation time by suppressing decrease of a tip end speed.
SOLUTION: The command value generating device includes a singular point nearby region entry determining means 8 for determining entry into a previously set singular point nearby region or pass therethrough; and a nearby region calculating means 9 for calculating a start point of the singular point nearby region and an end point of the singular point nearby region on a tip end track of a robot in an operation when the entry into the singular point nearby region or pass therethrough is determined by the singular point nearby region entry determining means 8, wherein a joint position command is calculated based on a joint displacement at the start point and the end point, in a section between the start point of the singular point nearby region and the end point of the singular point nearby region on the tip end track of the robot.
COPYRIGHT: (C)2009,JPO&INPIT
摘要翻译：解决的问题：获得能够防止多个关节在通过奇点附近区域时大大移动并且能够通过抑制前端速度的降低来缩短操作时间的指令值生成装置。解决方案：命令值生成装置包括用于确定进入预先设定的奇异点附近区域或通过其中的奇点附近区域条目确定装置8; 以及附近区域计算装置9，用于在进入奇异点附近区域或通过的操作中计算机器人的尖端轨迹上的奇异点附近区域的起始点和奇点附近区域的终点通过奇数点附近区域进入确定装置8确定其中，在单点附近区域的开始点和起点之间的部分中，基于起点和终点处的关节位移计算关节位置命令，机器人末端轨迹上奇点附近区域的终点。版权所有（C）2009，JPO＆INPIT

37. 发明专利

JP2006293622A Command generating device 有权
标题翻译：命令生成设备
公开(公告)号：JP2006293622A
公开(公告)日：2006-10-26
申请号：JP2005112344
申请日：2005-04-08
申请人： Mitsubishi Electric Corp , 三菱電機株式会社
发明人： UEDA KOICHIRO , IKEDA HIDETOSHI , MAEKAWA SEISEKI
IPC分类号： G05D3/12 , H02P29/00
CPC分类号： G05B19/416
摘要： PROBLEM TO BE SOLVED: To provide a command generating device for giving a command to allow even a machine with low rigidity to perform a positioning operation without exciting a vibration with no delay with respect to a desired positioning time. SOLUTION: The command generating device comprises a command form calculating means 5 for calculating the n-times differential command form signal of a position command, which is the same as the n-times differential command of the position command excluding constant times, so as to allow a convolution arithmetic value to be zero which is obtained after the positioning time, based on a speed command which is the one-time differential command of the position command for moving the machine 4 to a target position D at the positioning time 2t 0 , and on the impulse response of a transmission function, which is determined by a vibration frequency ω generated in the machine 4; and a correspondence processing means 6 for calculating the position command by integrating the n-times differential command form signal of the position command n-times, which is calculated by the command form calculating means 5, and multiplying it by a constant for allowing the position command at the positioning time 2t 0 to correspond to the target position. COPYRIGHT: (C)2007,JPO&INPIT
摘要翻译：要解决的问题：提供一种命令生成装置，用于给予即使是具有低刚性的机器的命令来执行定位操作，而不会相对于期望的定位时间没有延迟地激发振动。解决方案：命令生成装置包括命令形式计算装置5，用于计算位置命令的n次差分命令形式信号，该位置命令与除了常数时间的位置指令的n次差分命令相同，基于作为在定位时刻将机器4移动到目标位置D的位置指令的一次差分指令的速度指令，使得在定位时间之后获得的卷积算术值为零 2t 0 ，以及由机器4中产生的振动频率ω确定的传输函数的脉冲响应; 以及对应处理装置6，用于通过对由命令形式计算装置5计算的位置指令n次的n次差分命令形式信号进行积分来计算位置指令，并将其乘以一个常数，以允许位置指令在定位时间2t 0 对应目标位置。版权所有（C）2007，JPO＆INPIT

38. 发明专利

JP2001216008A ROBOT CONTROL METHOD 失效
公开(公告)号：JP2001216008A
公开(公告)日：2001-08-10
申请号：JP2000027768
申请日：2000-02-04
申请人： MITSUBISHI ELECTRIC CORP
发明人： MAEKAWA SEISEKI , MAKITA HIROYUKI
IPC分类号： B25J9/10 , G05B19/19 , G05B19/404 , G05B19/416 , G05D3/12
摘要： PROBLEM TO BE SOLVED: To provide a robot control method for simplifying the teaching of a robot by generating the same target locus at the time of over-ride change as that at the time of over-ride 100% even at the time of connecting locus. SOLUTION: A virtual time is introduced, and the virtual time is updated in each position command generation cycle. Then, the change rate of the virtual time is changed according to the over-ride value, and the generation of the position command is operated based on not a real time but the virtual time.

39. 发明专利

JP2001306118A CONTROL DEVICE AND CONTROL METHOD FOR MECHANICAL SYSTEM 失效
公开(公告)号：JP2001306118A
公开(公告)日：2001-11-02
申请号：JP2000121389
申请日：2000-04-21
申请人： MITSUBISHI ELECTRIC CORP
发明人： MAEKAWA SEISEKI
IPC分类号： G05B19/416
摘要： PROBLEM TO BE SOLVED: To provide a control device and control method for a mechanical system capable of calculating the most proper accelerating and decelerating time even when a moving average filter is used. SOLUTION: The most proper accelerating and decelerating time is calculated by an accelerating and decelerating time deciding means 3, calculating most proper accelerating and decelerating parameters considering moving characteristics for each movement, a considering/correcting means for the moving average filter 8 considering the characteristics of the moving average filter and correcting the calculated accelerating and decelerating parameters, and an instruction curve generating means 5 generating the instruction curve for control by use of the moving average filter on the basis of the corrected accelerating and decelerating parameters are provided. Even when the average moving filter is used, the proper accelerating and decelerating time is calculated.

40. 发明专利

JPH09323877A CONTROL DEVICE FOR ELEVATOR DOOR 失效
公开(公告)号：JPH09323877A
公开(公告)日：1997-12-16
申请号：JP14633196
申请日：1996-06-07
申请人： MITSUBISHI ELECTRIC CORP
发明人： MAEKAWA SEISEKI , IWASAKI TAKASHI
IPC分类号： B66B13/14 , B66B13/26
摘要： PROBLEM TO BE SOLVED: To prevent an injury caused when a passenger is drawn in a door or caught in the door by reversing or stopping an elevator door when abnormality is detected according to a comparison value obtained by comparing an operation value calculated when the elevator door is driven with a change value changed with the progress of operation. SOLUTION: When the motor driving torque τ at the time of operation calculated when the normal operation is determined in an elevator door model 22 and a torque command 51 output from a speed controller 11 are input, the calculated motor driving torque and the scale of the torque command 51 output from the speed controller 11 are adjusted. If a difference between them continuously exceeds a deviation allowable value for prescribed time, a speed command reverse request 50 is output to a speed command generating part 10. According to the speed command reverse request 50, an elevator door is reversed or stopped. Thus, the accuracy of load abnormality detection is improved to prevent an injury when a passenger is drawn in the door or caught in the door, and improve the safety.

你已经成功收藏专利！

检索式保存成功!

IPRDB

热门服务

关于我们

友情链接

联系方式