专利快速检索-快速检索全球专利，免费商用专利数据库-IPRDB

1. 发明申请

WO1993009920A1 ROBOT CONTROL METHOD AND APPARATUS 审中-公开
标题翻译：机器人控制方法和装置
公开(公告)号：WO1993009920A1
公开(公告)日：1993-05-27
申请号：PCT/JP1992001512
申请日：1992-11-19
申请人： KABUSHIKI KAISHA YASKAWA DENKI , TOUNAI, Shuichi , NISHI, Masanori , OKAMURA, Kunihiro
发明人： KABUSHIKI KAISHA YASKAWA DENKI
IPC分类号： B25J13/00
CPC分类号： B25J9/1641 , G05B2219/39179 , G05B2219/42231 , G05B2219/45083 , G05B2219/49289
摘要： A method of controlling a robot having shafts of one or more degrees of freedom, wherein at least one of these shafts, on which a dynamic load works, is driven by servomotor via a speed reducer. When the robot is stopped, the shaft on which a dynamic load works is moved in the direction in which the load works, and then stopped. This invention is based on the fact that the transmission efficiency (positive efficiency) of the speed reducer from the servomotor to an arm (shaft) is the reciprocal of the transmission efficiency (inverse efficiency) of the speed reducer from the arm to the servomotor. The condition of transmission of a load from an arm to the servomotor is generated forcibly, and the load is balanced with the torque generated by the servomotor, whereby the consumption of power and heat dissipation are reduced. Consequently, a load on the servomotor during the stoppage of the arm decreases, and power consumption becomes smaller, heat dissipation also decreasing. The reduction of the capacity of the servomotor also becomes possible.
摘要翻译：一种控制具有一个或多个自由度的轴的机器人的方法，其中动态负载工作的这些轴中的至少一个由伺服电动机通过减速器驱动。当机器人停止时，动态负载工作的轴沿负载工作方向移动，然后停止。本发明是基于以下事实：减速器从伺服电动机到臂（轴）的传动效率（正效率）是减速器从臂向伺服电动机的传动效率（反效率）的倒数。强制地产生从臂向伺服电动机传递负载的状态，并且负载与由伺服电动机产生的转矩平衡，从而减少功率消耗和散热。因此，在臂停止期间伺服电动机上的负载减小，功耗变小，散热也降低。伺服电动机的容量的降低也变得可能。

2. 发明申请

WO1992018294A1 CALIBRATION SYSTEM FOR INDUSTRIAL ROBOT 审中-公开
标题翻译：工业机器人校准系统
公开(公告)号：WO1992018294A1
公开(公告)日：1992-10-29
申请号：PCT/JP1992000418
申请日：1992-04-03
申请人： KABUSHIKI KAISHA YASKAWA DENKI , TOUNAI, Shuichi , YAMAMOTO, Minoru
发明人： KABUSHIKI KAISHA YASKAWA DENKI
IPC分类号： B25J09/10
CPC分类号： B25J9/1692 , G05B2219/39026 , G05B2219/39028 , G05B2219/39048
摘要： A calibration system for an industrial robot capable of carrying out calibration in a short time. A calibration device (3) having a six-axis degree-of-freedom-of-motion and also having displacement detecting devices provided for respective degrees of freedom is mounted on a reference surface (1p) provided on a robot (1) itself or a reference surface where a positional relationship with the robot is already known, and the leading end portion of the calibration device (3) is mechanically coupled to the leading end portion of the wrist of the robot, whereby the position data/attitude data obtained from the displacement detecting devices of the calibration device (3) are calculated back to the position data/attitude data of the robot for calibration of the robot.

3. 发明申请

WO1991004835A1 MANIPULATOR USING FLAT PULSE MOTOR 审中-公开
标题翻译：使用平面脉冲电机的操纵器
公开(公告)号：WO1991004835A1
公开(公告)日：1991-04-18
申请号：PCT/JP1990001276
申请日：1990-10-03
申请人： KABUSHIKI KAISHA YASKAWA DENKI SEISAKUSHO , KIMURA, Kaoru , TOUNAI, Shuichi , OMATA, Toshio
发明人： KABUSHIKI KAISHA YASKAWA DENKI SEISAKUSHO
IPC分类号： B25J19/00
CPC分类号： H02K41/033 , B25J5/00 , B25J9/123 , H02K2201/18 , Y10T74/20317
摘要： A manipulator wherein, even if a moment in the falling direction is applied to the manipulator using a flat pulse motor, the moment resistance capacity due to the magnetic attraction of rotors of a motor can prevent the manipulator from falling, the manipulator is light in weight and compact in size and has a high degree of freedom, a plurality of the rotors are provided on a stator of the flat pulse motor in order to dispense with a swinging mechanism of a tool itself, the manipulator is provided with rotary shafts disposed in a direction vertical to the rotors and a member for connecting the rotary shafts to each other, a required tool is mounted on this connecting member, and the manipulator uses the flat pulse motor with such an arrangement that the rotors are movably controlled in association with each other. This manipulator is suitably applied to the industrial robots and the like.

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