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1. 发明专利

JPH071366A CONTROLLER OF INDUSTRIAL MANIPULATOR 失效
公开(公告)号：JPH071366A
公开(公告)日：1995-01-06
申请号：JP11130993
申请日：1993-05-13
申请人： MEIDENSHA ELECTRIC MFG CO LTD , NISSAN MOTOR
发明人： SATO MICHIHIRO , NAKAGAWA TOSHIO
IPC分类号： B25J3/00
摘要： PURPOSE:To prevent each position of both master and slave arms from falling into inconformity by operating the slave arm into following up after its opera tion is stopped till the master arm has come to almost the same position as the slave arm with the making of a control switch additionally installed in the master arm. CONSTITUTION:In a slave arm, a swivel slide 1 is horizontally rotated to a base 3. In addition, an upper unit 7 is vertically rotated by a turning shaft 5 via a vertical arm 4 and a vertical lever 8. Likewise a wrist part 13 and a hand part 19 are vertically moved by another turning shaft via a horizontal arm 11 and a horizontal lever 15. Incidentally a master arm 22 delivering an operating command to the slave arm is at least installed in the swivel slide 1. In this case, a control switch is additionally installed in this master switch 22. With the making of this control switch, motion of the slave arm is stopped till the master arm has come to almost the same position as the slave arm, and then this slave arm is made to follow up the motion of the master arm.

2. 发明专利

JPH06335881A CONTROLLER FOR INDUSTRIAL MANIPULATOR 失效
公开(公告)号：JPH06335881A
公开(公告)日：1994-12-06
申请号：JP11130893
申请日：1993-05-13
申请人： MEIDENSHA ELECTRIC MFG CO LTD , NISSAN MOTOR
发明人： SATO MICHIHIRO , NAKAGAWA TOSHIO
IPC分类号： B25J9/10
摘要： PURPOSE:To enable a driven section to be surely stopped at a soft limit position, while the whole action range can be quickly driven. CONSTITUTION:A controller for a master slave type industrial manipulator is constituted to operate a slave arm following up the operation of a master arm. A maximum speed commanding value I having a speed property to make speed zero at soft limit positions 01a, 01b is preset. In a specific speed reduction ranges B, C having the soft limit positions 01a, 01b as the terminal ends, when an actual speed commanding value is less than the maximum speed commanding value I, the actual speed commanding value is used. Also, when the actual speed commanding value exceeds the maximum sped commanding value I, the maximum speed commanding value I is used to control motors on respective shafts so that the slave arm is surely stopped at the soft limit positions 01a, 01b.

3. 发明专利

JPH08323655A CONTROL DEVICE FOR MASTER SLAVE TYPE MANIPULATOR 失效
公开(公告)号：JPH08323655A
公开(公告)日：1996-12-10
申请号：JP13910695
申请日：1995-06-06
申请人： MEIDENSHA ELECTRIC MFG CO LTD , NISSAN MOTOR
发明人： SATO MICHIHIRO , KAWABUCHI YOSHIOMI
IPC分类号： B25J3/00 , B25J3/04
摘要： PURPOSE: To provide a control device for a master slave type manipulator which can notify an master arm operator of the overloaded condition of a slave arm driven motor easily and securely. CONSTITUTION: A load current flowing through a slave arm driven motor S1 rotated through each joint of a slave arm is detected by a servo driver 1, and compared with a set value in a control part 6. Thus, when the load current is equal to or larger than the set value, a master arm driven motor M1 is turned through a servo driver 2 so as to transmit a reactional force to an operator who holds a master arm.

4. 发明专利

JPH06262545A CONTROLLER OF INDUSTRIAL MANIPULATOR 失效
公开(公告)号：JPH06262545A
公开(公告)日：1994-09-20
申请号：JP4641393
申请日：1993-03-08
申请人： MEIDENSHA ELECTRIC MFG CO LTD
发明人： SATO MICHIHIRO
IPC分类号： B22D31/00 , B25J3/00 , B25J9/06 , B25J13/00
摘要： PURPOSE:To make a slave arm tip automatically moved in synchronization with a conveyor. CONSTITUTION:When a master arm 10 is moved, a command is emitted out of a computer 51 so as to make a slave arm 1 move in the wake of this master arm. If a synchronously operating switch 61 is made in circuit, such a command as making a tip of the slave arm 1 travel along a flow of a belt conveyor at speed set by a speed setting volume 60 is automatically outputted out of the computer 51. Therefore an operator operates the master arm 10 in no consideration of the flow of the conveyor, so that he can do operations through the slave arm 1.

5. 发明专利

JPH06262547A CONTROLLER OF INDUSTRIAL MANIPULATOR 失效
公开(公告)号：JPH06262547A
公开(公告)日：1994-09-20
申请号：JP4641293
申请日：1993-03-08
申请人： MEIDENSHA ELECTRIC MFG CO LTD
发明人： SATO MICHIHIRO
IPC分类号： B22D31/00 , B25J3/00 , B25J9/06 , B25J13/00 , B25J13/02
摘要： PURPOSE:To make operation within a constant plane at the tip of a slave arm achievable even if the handle part of a master arm is not operated within the constant plane by making the slave arm follow in the wake of the three- dimensional operations of the master arm when a plane operating switch is turned to OFF but at the time of being turned to ON, making it operate only within the constant plane. CONSTITUTION:When an on-off signal of a plane operating switch 60 is inputted into a computer 51, a signal for operating a slave arm 1 is operated and outputted on the basis of each signal of respective potentiometers PT1 to PT3, PT11 to PT13 and the on-off signal. Supposing the switch 60 is turned on, a tip of the slave arm 1 operates within a constant plane in keeping its height when the switch 60 is turned on intact in relation to operations in the three- dimensional space of a master arm 10. If the switch 60 is tuned on, it follows in the wake of the operation of the three-dimensional space of the master arm 10 as ordinal control, whereby the tip of the slave arm 1 operates within the three-dimensional space.

6. 发明专利

JPH06262546A CONTROLLER OF INDUSTRIAL MANIPULATOR 失效
公开(公告)号：JPH06262546A
公开(公告)日：1994-09-20
申请号：JP4641493
申请日：1993-03-08
申请人： MEIDENSHA ELECTRIC MFG CO LTD
发明人： SATO MICHIHIRO
IPC分类号： B22D31/00 , B25J3/00 , B25J13/00 , B25J13/08
摘要： PURPOSE:To make improvements in the turning performance of a slave arm in an industrial manipulator. CONSTITUTION:A potentiometer 54 detecting the swing motion of a master arm, an operating switch 53 and a joy stick lever 23 are all provided on a turning block of a slave arm, whereby an operator operates them after getting on this turning block. When the joy stick lever 23 is tilted to sane extent in a state that the operating switch 53 is made in circuit, a uniaxial motor M1 at the slave side is driven and the slave arm turns at a high speed by means of a command of a computer CPU. In addition, if the master arm is tuned in a state that the operating switch 53 is made in circuit, the slave arm is rotated in the wake of the master arm by the command of the computer CPU.

7. 发明专利

JPS64473A METHOD FOR MONITORING INSULATION RESISTANCE OF FIELD WINDING 失效
公开(公告)号：JPS64473A
公开(公告)日：1989-01-05
申请号：JP14047688
申请日：1988-06-09
申请人： MEIDENSHA ELECTRIC MFG CO LTD
发明人： NAKAMURA OSATERU , SATO MICHIHIRO
IPC分类号： G01R31/06 , G01R27/02 , G01R27/18
摘要： PURPOSE:To surely detect the insulation deterioration of a field winding by constituting the field winding in such a manner that the ratio of the resistance values of 1st and 2nd external resistors is changed at every specified time. CONSTITUTION:A relay Ry is interposed between an intermediate tap 5 of the 1st external resistor RA and a ground terminal 2 so that the tap 5 and the terminal 2 are shorted when the contacts of the relay Ry are closed. The ratio of the resistance values of the 1st and 2nd external resistors RA, RB of this time attains 1:2, i.e., 2RA=RB at this time. The excitation coil M of the relay Ry is repeatedly energized and de-energized at every specified time by the pulse signals transmitted by an oscillator 7, by which the closing and opening of the contacts are repeated. The resistance values of the resistors RA, RB, therefore, attain RA=RB or 2RA=RB and this relation is alternately repeated. A blind zone A which exists in the central part in the case of the former is consequently shifted downward without being superposed and a blind zone B is obtd. in the case of the latter. The deterioration of the field winding 1 is thereby surely detected even if the insulation in any part thereof is deteriorated.

9. 发明专利

JPH0118388B2 失效
公开(公告)号：JPH0118388B2
公开(公告)日：1989-04-05
申请号：JP14047688
申请日：1988-06-09
申请人： MEIDENSHA ELECTRIC MFG CO LTD
发明人： NAKAMURA OSATERU , SATO MICHIHIRO
IPC分类号： G01R31/06 , G01R27/02 , G01R27/18

10. 发明专利

JPS6154378A Automatic ascending and descending apparatus for stairs for robot 失效
标题翻译：机器人自动升级和下载设备
公开(公告)号：JPS6154378A
公开(公告)日：1986-03-18
申请号：JP17588184
申请日：1984-08-24
申请人： Chubu Electric Power Co Inc , Meidensha Electric Mfg Co Ltd
发明人： NOZAWA KATSURO , MIZUTANI TAKESHI , IGURA KOJI , SATO MICHIHIRO
IPC分类号： B62D57/024 , B25J5/00 , B25J9/16 , B25J13/08 , B62D55/075 , B62D57/02
摘要： PURPOSE: To permit the automatic ascent and descent for stairs by detecting the inclination angle by the front and rear arms of a robot when the robot starts ascent and descent for stairs or completes the movement, and by preventing the fall of the robot from the detection value for the angle.
CONSTITUTION: A fundamental posture forming means 1 for ascending stairs holds the front and rear arms 12a and 12b of a robot 12 by the inclination of 45° and 30° with respect to a floor surface. When the front arm 12a travels a flat road and contacts with a stairs 11, a posture forming means 2 for ascent operation sets the front arm nearly horizontal by the detection signal of the sensor on the arm, and the ascending operation for stairs is started. When the rear arm 12b detects the stairs, and the value is below a prescribed value, a posture control means 3 for asecnding stairs advances the robot 12. When the ascent for stairs is completed, and the front arm 12a is set at -30° or less again, a final- posture forming means 4 turns the inclination angle of the robot 12 in the direction of reduction. When the robot 12 is set horizontal, a fundamental-posture forming means 5 for the completion of ascent for stairs stops traveling, and the initial fundamental posture is restored.
COPYRIGHT: (C)1986,JPO&Japio
摘要翻译：目的：当机器人启动上升和下降楼梯或完成运动时，通过检测机器人的前臂和后臂的倾斜角度，并通过防止机器人的跌倒来检测楼梯的自动上升和下降角度值构成：用于上升楼梯的基本姿势形成装置1使机器人12的前臂12a和后臂12b以45度的倾斜度保持。和30度相对于地面。当前臂12a行驶平坦的道路并且与楼梯11接触时，用于上升操作的姿势形成装置2通过臂上的传感器的检测信号将前臂几乎水平设置，并且开始楼梯的上升操作。当后臂12b检测到楼梯并且该值低于规定值时，用于楼梯的姿态控制装置3使机器人12前进。当楼梯上升完成并且前臂12a设定在-30度。或者再次地，最终姿势形成装置4将机器人12的倾斜角度沿着减小的方向转动。当机器人12水平设置时，用于楼梯上升完成的基姿姿势形成装置5停止行驶，并恢复初始基本姿势。

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