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61. 发明申请

WO1996004708A1 MOTOR SPEED CONTROLLER 审中-公开
标题翻译：电机速度控制器
公开(公告)号：WO1996004708A1
公开(公告)日：1996-02-15
申请号：PCT/JP1995001534
申请日：1995-08-02
申请人： KABUSHIKI KAISHA YASKAWA DENKI , NAKAMURA, Hiroshi , TSURUTA, Kazuhiro
发明人： KABUSHIKI KAISHA YASKAWA DENKI
IPC分类号： H02P05/00
CPC分类号： H02P23/16 , H02P6/17
摘要： A motor speed controller which detects the position y(i-k) of a motor at the time K.Ts (k >/= 0, Ts; sampling period) ago from the present time (i) and feedback-controls the speed of the motor by using a motor speed feedback signal vfb calculated based on the signal representing the motor position detected is provided with a means which calculates a torque command u(i) from a speed command and the signal vfb, means which calculates the speed v(i-k) of the motor from the position y(i-k), means which stores the values of the speed v(i-m) (m = k, ..., M') from M' sampling periods before to the time i-K, a predictor which predicts the speed value v*(i+m) (m = -K+2, ..., M) of the motor at the times up to M sampling periods after from the dynamic characteristic model of the motor, the torque command u(i), and position (i-K), and means which finds the speed feedback signal from formula (1) where Wm and W'm represent weight factors.
摘要翻译：电动机速度控制器，从当前时间（i）检测在时间K.Ts（k> = 0，Ts;采样周期）的电动机的位置y（ik），并且反馈控制电动机的速度通过使用基于表示检测到的电动机位置的信号计算的电动机速度反馈信号vfb，设置有从速度指令和信号vfb计算转矩指令u（i）的装置，计算速度v（ik）从位置y（ik）的电动机的M'，存储从时间iK前的M'采样周期的速度v（im）（m = k，...，M'）的值的装置，预测器电动机的动态特性模型后的M个采样周期之后的电动机的速度值v *（i + m）（m = -K + 2，...，M），转矩指令u（ i）和位置（iK），以及找到来自公式（1）的速度反馈信号的装置，其中Wm和W'm表示权重因子。

62. 发明申请

WO1995035254A1 WINDING MACHINE STOPPING METHOD 审中-公开
标题翻译：卷绕机停止方法
公开(公告)号：WO1995035254A1
公开(公告)日：1995-12-28
申请号：PCT/JP1995001238
申请日：1995-06-21
申请人： KABUSHIKI KAISHA YASKAWA DENKI , HIRAMATSU, Kazuhiko
发明人： KABUSHIKI KAISHA YASKAWA DENKI
IPC分类号： B66D01/54
CPC分类号： B66C13/23 , B66D1/46 , B66D5/30
摘要： A method of stopping a winding machine that hoists and lowers an object prevents abrasion of an electromagnetic brake and a failure to hoist a load. Based on a speed instruction NREF generated by a speed instruction generating circuit NRC, a speed controller ASR outputs a torque instruction TREF to be inputted to an electric motor M and operates the winding machine. To stop the machine, after a brake instruction BR is outputted to an electromagnetic brake directly coupled to the electric motor M, the value of the torque instruction to the electric motor M is controlled to be zero for a predetermined length of time. When the electric motor speed NFB becomes zero, the control of the electric motor M is stopped.
摘要翻译：一种停止卷绕机的方法，该卷绕机能够提升和降低物体，防止电磁制动器的磨损和提升负载的失败。根据由速度指令生成电路NRC生成的速度指令NREF，速度控制器ASR输出要输入到电动机M的转矩指令TREF，并对绕线机进行动作。为了停止机器，在将制动指令BR输出到与电动机M直接连接的电磁制动器之后，将电动机M的转矩指令的值控制为零，持续规定的时间。当电动机速度NFB变为零时，停止对电动机M的控制。

63. 发明申请

WO1994025227A1 WRIST STRUCTURE FOR INDUSTRIAL ROBOTS 审中-公开
标题翻译：工业机器人手腕结构
公开(公告)号：WO1994025227A1
公开(公告)日：1994-11-10
申请号：PCT/JP1994000709
申请日：1994-04-27
申请人： KABUSHIKI KAISHA YASKAWA DENKI , NAKAKO, Toru , TANIMURA, Hideki , TUKUDA, Kouji
发明人： KABUSHIKI KAISHA YASKAWA DENKI
IPC分类号： B25J17/02
CPC分类号： B25J17/0258 , B25J19/0029 , Y10T74/20311 , Y10T74/20335
摘要： A wrist structure is provided with first and second reduction gears (2, 3) which have a second shaft perpendicularly crossing a first shaft extending in the lengthwise direction of an arm (1), and a third shaft perpendicularly crossing the second shaft, and which are supported on both sides of a free end portion of the arm (1), which has a hollow (11), in such a manner that the first and second reduction gears can be rotated around the second shaft; a wrist frame (4) fixed to the output shaft (24) of the first reduction gear (2) and having a hollow (42); a first bevel gear (5) which is supported so that it can be rotated around the third shaft perpendicularly crossing the second shaft provided on the wrist frame (4), and which has a hollow (51); a second bevel gear (7) which is rotatable around a shaft parallel to the second shaft, and which is meshed with the first bevel gear (5); a gear (71) combined unitarily with the second bevel gear (7); a gear (8) mounted fixedly on the output shaft (34) of the second reduction gear (3) and meshed with the gear (71); and a tool fixing member (6) fixed to the first bevel gear (5) and having a hollow (61). Accordingly, cable and hose connecting operations can be carried out easily, and the time required for such operations can be reduced.
摘要翻译：手腕结构设置有第一和第二减速齿轮（2,3），所述第一和第二减速齿轮（2,3）具有垂直于在臂（1）的长度方向上延伸的第一轴垂直的第二轴和垂直于第二轴的第三轴，被支撑在臂（1）的具有中空部（11）的自由端部的两侧，使得第一和第二减速齿轮能够围绕第二轴旋转; 固定到所述第一减速齿轮（2）的输出轴（24）并具有中空部（42）的腕架（4）; 第一锥齿轮（5），其被支撑成能够围绕设置在腕架（4）上的与第二轴垂直的第三轴旋转，并且具有中空部（51）; 第二锥齿轮（7），其可绕平行于所述第二轴的轴旋转，并与所述第一锥齿轮（5）啮合; 与所述第二锥齿轮（7）一体地组合的齿轮（71）; 齿轮（8），其固定地安装在所述第二减速齿轮（3）的输出轴（34）上并与所述齿轮（71）啮合; 以及固定到所述第一锥齿轮（5）并具有中空部（61）的工具固定部件（6）。因此，可以容易地进行电缆和软管连接操作，并且可以减少这种操作所需的时间。

64. 发明申请

WO1994014234A1 METHOD AND APPARATUS FOR DETERMINING CONSTANTS OF FUNCTIONS EXPRESSING CHARACTERISTICS OF CONTROLLED SYSTEM 审中-公开
标题翻译：用于确定表示控制系统特性的功能的常数的方法和装置
公开(公告)号：WO1994014234A1
公开(公告)日：1994-06-23
申请号：PCT/JP1993001825
申请日：1993-12-15
申请人： KABUSHIKI KAISHA YASKAWA DENKI , YAMANE, Toshiaki , NAGAE, Noriyuki , FUTAMI, Shigeru
发明人： KABUSHIKI KAISHA YASKAWA DENKI
IPC分类号： H02P05/00
CPC分类号： H02P23/16
摘要： A method and apparatus for determining exactly the characteristics of a controlled system, such as the inertia, and the coefficient of viscous friction of a mechanical device in which an electric motor is incorporated. In the same controlled system, different kinds of control systems are set up in order to measure the response time. In accordance with the differences in the results of the measurement, the characteristics of the controlled system are determined.
摘要翻译：精确确定受控系统的特性的方法和装置，例如其中结合有电动机的机械装置的惯性和粘性摩擦系数。在相同的受控系统中，设置不同种类的控制系统以测量响应时间。根据测量结果的差异，确定受控系统的特性。

65. 发明申请

WO1992001562A1 METHOD AND APPARATUS FOR CONTROLLING SYNCHRONIZED PHASES IN SYSTEM FOR DRIVING PRINTING ROLLS FOR CORRUGATED BOARD PRINTING MACHINE 审中-公开
标题翻译：用于驱动打印机打印机系统中同步相位控制的方法和装置
公开(公告)号：WO1992001562A1
公开(公告)日：1992-02-06
申请号：PCT/JP1991000963
申请日：1991-07-19
申请人： KABUSHIKI KAISHA YASKAWA DENKI SEISAKUSHO , HAMADA PRINTING PRESS CO., LTD. , IKEGUCHI, Masao
发明人： KABUSHIKI KAISHA YASKAWA DENKI SEISAKUSHO , HAMADA PRINTING PRESS CO., LTD.
IPC分类号： B41F33/08
CPC分类号： B41F13/0045 , B41F13/14 , B41P2213/734
摘要： The present invention relates to a technical field pertaining to control of synchronized phases between a plurality of printing rolls in a corrugated board printing machine. An object of the present invention is to realize the control of synchronized phases inexpensively and highly accurately by use of software. According to the present invention, speed commands inputted at regular intervals are converted into digital values and integrated, rotations of the rolls are respectively integrated, further, PI operations are conducted on the deviations of these integrated values, and corrections based on the results of the PI operations are respectively applied to rotational speed commands given to driving motors of the printing rolls. At this time, during the processes of integrations of the speed commands and the rotations of the respective printing rolls, when the upper limit values of the operations are exceeded, the values are to be returned to zero, respectively, and the operations are to be continued.

66. 发明申请

WO1991020049A1 LINE DETECTION METHOD 审中-公开
标题翻译：线检测方法
公开(公告)号：WO1991020049A1
公开(公告)日：1991-12-26
申请号：PCT/JP1991000777
申请日：1991-06-10
申请人： KABUSHIKI KAISHA YASKAWA DENKI SEISAKUSHO , OKUMURA, Shinji , NISHIKAWA, Seigo , NAKAZATO, Tatsumi , HIRAKAWA, Kiyoshi
发明人： KABUSHIKI KAISHA YASKAWA DENKI SEISAKUSHO
IPC分类号： G06F15/70
CPC分类号： G06K9/4647 , G06T7/12 , G06T7/73 , G06T2207/10016
摘要： The most appropriate lines are recognized as lines from all of the conceivable ones of two rectangular windows (12, 14) by assuming dust and scratches as part of the lines at a preparatory stage. The gradient and characterizing value of each line are determined and each rectangular window is converted to a parallelogram along this gradient. The gradient and characteristic value of the line are determined at the detection stage by utilizing this parallelogramic window. In this manner, even when image data are worse, the line can be detected and a weld line, an edge of an object of detection, etc., can be detected accurately.
摘要翻译：通过在预备阶段假设灰尘和划痕作为线的一部分，最合适的线被识别为来自两个矩形窗（12,14）中的所有可想到的线的线。确定每行的梯度和特征值，并将每个矩形窗口沿着该梯度转换为平行四边形。通过利用该平行四边形窗口在检测阶段确定线的梯度和特征值。以这种方式，即使图像数据较差，也可以检测线路，并且可以精确地检测焊接线，检测对象的边缘等。

67. 发明申请

WO1991000499A1 ENCODER 审中-公开
标题翻译：编码器
公开(公告)号：WO1991000499A1
公开(公告)日：1991-01-10
申请号：PCT/JP1990000848
申请日：1990-06-29
申请人： KABUSHIKI KAISHA YASKAWA DENKI SEISAKUSHO , HIGASHI, Kouichi
发明人： KABUSHIKI KAISHA YASKAWA DENKI SEISAKUSHO
IPC分类号： G01D05/245
CPC分类号： H03M1/1076 , G01D3/08 , G01D5/2457 , H03M1/308
摘要： An encoder comprising a circuit that detects abnormal condition of the encoder body, and a circuit which, when the encoder body is under abnormal condition, inverts and produces part of the output signals of the encoder body in response to an abnormal condition detect signal output from the abnormal condition detecting circuit, or which does not output part of the output signals of the encoder body. Therefore, any abnormal condition that occurs in the encoder body can be recognized from the external side.

68. 发明申请

WO1990007739A1 CONTROL METHOD FOR ROBOT 审中-公开
标题翻译：机器人的控制方法
公开(公告)号：WO1990007739A1
公开(公告)日：1990-07-12
申请号：PCT/JP1989001313
申请日：1989-12-27
申请人： KABUSHIKI KAISHA YASKAWA DENKI SEISAKUSHO , KUREBAYASHI, Toshiyuki; , KURANAGA, Satoshi; , FUKUNAGA, Tatsuya; , HIDAKA, Osamu;
发明人： KABUSHIKI KAISHA YASKAWA DENKI SEISAKUSHO
IPC分类号： G05B19/42
CPC分类号： G05B19/414 , G05B2219/34365 , G05B2219/34367 , G05B2219/36511 , G05B2219/36514
摘要： An execution method for a teaching program is disclosed which can execute another teaching program at an arbitrary point during the execution of one teaching program. During normal execution, an instruction stored in memory (7) is read out via a teaching data read section (12) and is sent to an analysis/execution section (11) through change-over section (9, 10) for interpretation and execution. When interrupt signals corresponding to input signals (1 ∩ i) are sent by an interrupt signal judgement task (2) to a teaching program allocation section (4), the program in execution is suspended and its address is stored in an address storing register (8) through the change-over section (9). Another teaching program corresponding to the input signals (1 ∩ i) is read out via another teaching data read section (13) from the memory (7) for interpretation and execution by the analysis execution section (11). When the execution of another teaching program is completed the address in the register (8) is sent to the read section (12) and the interrupted teaching program is resumed.

69. 发明专利

DE2114225C2 未知
公开(公告)号：DE2114225C2
公开(公告)日：1986-06-26
申请号：DE2114225
申请日：1971-03-24
申请人： KABUSHIKI KAISHA YASKAWA DENKI SEISAKUSHO, KITAKYUSHU, FUKUOKA, JP
发明人： SAITA, NOBUO , TANAKA, YOICHI, IRUMA, SAITAMA, JP
IPC分类号： G05B19/39 , G05B19/4103 , G06F7/64 , G05B19/403
摘要： A method and system for determining the advance of a curve to be created on an X-Y plane, wherein the distances X and Y between the current position of the curve and a specific point assumed in correspondence with the nature of the curve and along the x-axis and the y-axis of the plane are utilized. The large-small relationship of the pulse distribution densities to the axes is decided from the large-small relationship of X and Y. As a result of this decision, the axis of higher pulse distribution density is distributed with pulses and a decision is made whether or not to simultaneously apply pulses to the other axis according to the qualitative value (positive, negative, or zero) of the current operational result as determined by the relationships:

70. 发明专利

DE3844124C2 未知
公开(公告)号：DE3844124C2
公开(公告)日：1991-04-04
申请号：DE3844124
申请日：1988-12-28
申请人： KABUSHIKI KAISHA YASKAWA DENKI SEISAKUSHO, KITAKYUSHU, FUKUOKA, JP
发明人： NISHIKAWA, SEIGO , OKUMURA, SHINJI , AMANO, TADAYUKI , HATA, KAZUTOSHI, KITAKYUSHU, FUKUOKA, JP
IPC分类号： B23K9/127
摘要： A method is disclosed for correcting the travel path of an oscillating robotic welding torch tracing a groove line defined by an upper and lower plate. According to one aspect of the invention, a first integrated value of the welding current at the center of oscillation is compared with second and third integrated values of the welding current at opposite first and second ends of the oscillation, respectively. The travel path of the robotic welding torches adjusted towards the second end of oscillation when the second and third integrated values of the welding current are smaller than the first integrated value of the welding current. According to another aspect of the present invention, a first integrated value of the welding current at the second end of oscillation of a previous oscillation torch is compared with a second integrated value of the welding current at the second end of oscillation of a subsequent oscillation. The travel path of the robotic welding torch is adjusted towards the second end of oscillation when the difference between the first and second integrated value exceeds a predetermined allowable value. According to yet another aspect of the present invention, an integrated value of the welding current at the second end of oscillation is compared with an average integrated value of the second end of oscillation. The average integrated value at the second end of oscillation being a value resulting when the robotic vehicle correctly traverses the groove line. The travel path is adjusted towards the second end of oscillation when the difference between the first and average integrated values exceeds a predetermined allowable deviation value.

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