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1. 发明专利

JPH0443217B2 失效
公开(公告)号：JPH0443217B2
公开(公告)日：1992-07-15
申请号：JP9512685
申请日：1985-05-02
申请人： KAWASAKI HEAVY IND LTD
发明人： ITO TAKASHI , WADA TAKAO
IPC分类号： G01B7/00 , G01D5/244 , G01D5/245 , G07C5/08

2. 发明专利

JPH0443216B2 失效
公开(公告)号：JPH0443216B2
公开(公告)日：1992-07-15
申请号：JP6882685
申请日：1985-04-01
申请人： KAWASAKI HEAVY IND LTD
发明人： ITO TAKASHI , UEDA SUMIHIRO
IPC分类号： G01D5/245 , G01D5/244

3. 发明专利

JPH0380926B2 失效
公开(公告)号：JPH0380926B2
公开(公告)日：1991-12-26
申请号：JP826084
申请日：1984-01-20
申请人： KAWASAKI HEAVY IND LTD
发明人： ITO TAKASHI , OOTA YOSHIHARU , NAKATSUCHI NOBUAKI , KURAMOCHI YASUTAKA
IPC分类号： E01D19/10 , E01D21/00 , E01D22/00 , E04G21/32 , E04G23/02

4. 发明专利

JPH0369042B2 失效
公开(公告)号：JPH0369042B2
公开(公告)日：1991-10-30
申请号：JP8157583
申请日：1983-05-09
申请人： KAWASAKI HEAVY IND LTD
发明人： ITO TAKASHI , UEDA SUMIHIRO , HIRAYAMA MASAAKI
IPC分类号： G01S17/02 , G01B11/00 , G01C3/06 , G01V8/12 , G01V8/20

5. 发明专利

JPS61253510A METHOD FOR CONFIRMING ROBOT CONTROL DATA 失效
公开(公告)号：JPS61253510A
公开(公告)日：1986-11-11
申请号：JP9465185
申请日：1985-05-01
申请人： KAWASAKI HEAVY IND LTD
发明人： ITO TAKASHI , NAGAO YOICHI , ISHIMI KATSUHIRO
IPC分类号： B25J9/22 , B25J9/06 , B25J13/06 , G05B19/4063 , G05B19/4068 , G05B19/4069
摘要： PURPOSE:To confirm the working possibility of a robot by supplying the information on the position and posture of a tool against a working subject for calculation of each axial value of the robot which is used to decide said position and posture of the tool and checking whether said axial value is kept within a structural working range or not. CONSTITUTION:The control data described in a work coordinate system is supplied from an input device 3. A coordinate converting device 5 converts said control data into the one described in a robot coordinate system. The output of the device 5 is given to a joint angle displacement calculating device 6 which calculates the angle displacement degree of the joint, i.e., the axial value. The output of the device 6 is given to a checking device 7 which performs a checking action by means of a working range checking device 8 and an interference checking device 9. A display device 11 decides and displays whether the robot control data given from the device 3 is proper or not.

6. 发明专利

JPS61253506A METHOD FOR CORRECTING TEACHING POINT OF INDUSTRIAL ROBOT 失效
公开(公告)号：JPS61253506A
公开(公告)日：1986-11-11
申请号：JP9512785
申请日：1985-05-02
申请人： KAWASAKI HEAVY IND LTD
发明人： ITO TAKASHI , UEDA SUMIHIRO , NAGAO YOICHI , HIRAYAMA MASAAKI
IPC分类号： B25J9/22 , B25J9/10 , B25J13/08 , G05B19/18 , G05B19/404 , G05B19/42
摘要： PURPOSE:To perform correctly the taught jobs by correcting the teaching point after knowing the set position shift and the form of a working subject from the detection value obtained by a detecting means attached to the wrist part of a robot and the present values of the position and posture of the wrist part. CONSTITUTION:A sensor 6 contains a photoelectric transducer and a distance/ posture detecting part irradiates successively the beams of >=3 spot light sources on the surface of the angle steel 5. The reflected light of the steel 5 is received by a secondary photodetecting part. Thus the distance and the posture related to the surface of the steel 5 are detected. For a ridgeline position detecting part, the slit light is irradiated from the upper oblique position of a ridgeline so that it crosses the ridgeline 8. The reflected light of the ridgeline 8 is received by a primary photodetector. In such a constitution, the position of the ridge line 8 of the steel 5 is detected. The actual form and distribution state of the steel 5 are used to give correction to the teaching data on an industrial robot. In this case, the result of detection of the position of the ridgeline 8 is also utilized. Thus the robot 1 can perform the fusing jobs, etc. at a high speed and with high accuracy.

7. 发明专利

JPS61248106A PREPARING METHOD FOR ROBOT CONTROLLING DATA 失效
公开(公告)号：JPS61248106A
公开(公告)日：1986-11-05
申请号：JP8969685
申请日：1985-04-25
申请人： KAWASAKI HEAVY IND LTD
发明人： ITO TAKASHI , NAGAO YOICHI
IPC分类号： B23P21/00 , B25J9/22 , G05B19/408 , G05B19/4093 , G05B19/42
摘要： PURPOSE:To prepare controlling data without operating a robot by calculating the faces to be worked constituting a worked form and an order of working by the designation of the worked form pattern and the setting of numerical values to a parameter, calculating an intersection line of adjacent faces to be forked and positioning the tools at the working points on the intersection line. CONSTITUTION:A worked form pattern and parameter value are inputted from an inputting device 14 to a controlling data preparing device 15. In the controlling data preparing device 15, the coordinate values of three points representing each face to be worked determined with relation to inputted data are calculated by a coordinate value calculating device 16. An equation of a plane determined by the three points is calculated by a plane equation calculating device 17, and the direction ratio of adjacent faces is calculated by an intersection line direction ratio calculating device 18. Based on the direction ratio etc. thus calculated, the position and direction of tools are calculated by a position and direction calculating device 19. The calculated controlling data are given to a robot controlling device 20, and a driving device 21 that drives the arm of the robot is operated.

8. 发明专利

JPS61226611A SIGNAL TRANSMITTING SYSTEM 失效
公开(公告)号：JPS61226611A
公开(公告)日：1986-10-08
申请号：JP6882785
申请日：1985-04-01
申请人： KAWASAKI HEAVY IND LTD
发明人： ITO TAKASHI , UEDA SUMIHIRO , HIRAMATSU ARATA , NAKANO YASUO
IPC分类号： H04B3/00 , G01D5/14 , G01D5/26 , G01D5/56 , G08C19/02
摘要： PURPOSE:To omit the line and the electric power source to supply the electric power by increasing and decreasing the external magnetic field, winding the detecting coil to a ferromagnetic substance in which the strength of magnetization is rapidly changed, and transmitting the output of the detecting coil through a photo coupler as an electric current change. CONSTITUTION:A detecting head 5 includes a ferromagnetic substance 6 in which the internal magnetic speed is rapidly changed by increasing and decreasing the external magnetic field, a detecting coil 7 wound at the ferromagnetic substance 6 and a permanent magnet for the resetting. The magnetization direction of the permanent magnet 8 is reverse in the magnetization direction of the permanent magnet 3, and the upper part is magnetized to the S pole and the lower part is magnetized to the N pole, and the permanent magnet 3 has a stronger magnetizing force than the permanent magnet 8. By rotating a rotating member 2, at an external magnetic field applied to the ferromagnetic substance 6, the jumping with the large internal magnetic flux density of the ferromagnetic substance 6 is generated by the influence of the magnetic field of the permanent magnet 3 and the magnetic field of the permanent magnet 8, and at the detecting coil 7, the comparatively high impulse-shaped electrostatic voltage is generated. To both edges of the detecting coil 7, a resistance R1 for limit the electric current and a light emitting diode D, which are the serial circuit, are connected.

9. 发明专利

JPS61217803A CIRCULAR INTERPOLATION METHOD FOR ROBOT 失效
公开(公告)号：JPS61217803A
公开(公告)日：1986-09-27
申请号：JP5911085
申请日：1985-03-23
申请人： KAWASAKI HEAVY IND LTD
发明人： ITO TAKASHI , MISUMI TAKANARI , ISHIMI KATSUHIRO
IPC分类号： B25J13/00 , G05B19/4103
摘要： PURPOSE:To obtain the titled interpolation method by securing the positions and speeds for circular arcs of every curvature with satisfactory accuracy just from the position information on the three points on a circular accurate locus. CONSTITUTION:The input signal of an input device 10 for start point Ps, end point Pe and intermediate point Pm is applied to a centralized controller 11. The controller 11 shows an angle theta formed by a straight line connecting a point P on a circular arc and the point Ps or Pe and a straight line connecting the points Ps and Pe as a function. Then the controller 11 obtains the position of an optional point P of the circular arc from the value of the angle theta. This calculated position coordinates of the point P are applied to a positioning control circuit 12. The output of the circuit 12 is applied to an axis command producing circuit 13. The drive circuits 14-16 drive a working terminal 17 by an operating amount command signal and according to the operating amount. Thus the terminal 17 moves on a desired arc locus.

10. 发明专利

JPH0614285B2 失效
公开(公告)号：JPH0614285B2
公开(公告)日：1994-02-23
申请号：JP14736783
申请日：1983-08-12
申请人： KAWASAKI HEAVY IND LTD
发明人： ITO TAKASHI , WADA TAKAO , UEDA SUMIHIRO , KANAMARU TAKAO , HIRAYAMA MASAAKI
IPC分类号： B25J9/22 , B25J13/08 , G05B19/42 , G05B19/423

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