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1. 发明专利

JP2012216151A Interference avoidance controller 审中-公开
标题翻译：干扰避免控制器
公开(公告)号：JP2012216151A
公开(公告)日：2012-11-08
申请号：JP2011082270
申请日：2011-04-01
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： G05B19/18 , B25J9/18 , B25J19/06 , G05D1/02
摘要： PROBLEM TO BE SOLVED: To provide an interference avoidance controller capable of more reliably preventing an interference between devices caused by overlooking the interference in a check.SOLUTION: An interference avoidance controller comprises: first determination means 11 for determining whether an interference may be overlooked in an interference check, based on a predetermined stop position in an interpolation control period; first calculation means 1 for calculating a predetermined stop position in an overlooked zone where it is determined that an overlooking interference may occur, when a stop command is issued with a period of one interpolation control period divided by an integer; second calculation means 2 for calculating a distance between an operation device and another device based on the predetermined stop position; third calculation means 3 for calculating an approximate curve based on three or more distances between the devices; first minimum value calculation means 4 for calculating a minimum value of a distance between the devices in the overlooked zone based on the approximate curve; and second determination means 5 for determining existence of an interference by comparing a proximity distance where the operation device approaches another device with the minimum value.
摘要翻译：要解决的问题：提供一种能够更可靠地防止由于忽视检查中的干扰而导致的设备之间的干扰的干扰避免控制器。解决方案：干扰避免控制器包括：第一确定装置11，用于基于插值控制周期中的预定停止位置确定在干扰检查中是否可能忽略干扰; 第一计算装置1，用于在以一个插值控制周期被一个整数除以周期的情况下发出停止命令时，计算在可以发生俯瞰干扰的被忽视区域中的预定停止位置; 第二计算装置2，用于基于预定的停止位置计算操作装置与另一装置之间的距离; 第三计算装置3，用于基于装置之间的三个或更多个距离计算近似曲线; 第一最小值计算装置4，用于基于近似曲线计算被忽视区域中的装置之间的距离的最小值; 以及第二确定装置5，用于通过将操作装置接近另一装置的接近距离与最小值进行比较来确定干扰的存在。版权所有（C）2013，JPO＆INPIT

2. 发明专利

JP2009291859A Robot hand system 有权
标题翻译：机器手系统
公开(公告)号：JP2009291859A
公开(公告)日：2009-12-17
申请号：JP2008145836
申请日：2008-06-03
申请人： Mitsubishi Electric Corp , 三菱電機株式会社
发明人： HIGUCHI MINEO , MAEKAWA SEISEKI , NAOKAWA HIDEO , MIYAHARA HIDEKI
IPC分类号： B25J15/08 , B23P19/02
摘要： PROBLEM TO BE SOLVED: To provide a robot hand system having an O-ring mounting hand attached to the hand of a robot.
SOLUTION: This robot hand system includes an outer tube having an annular end section and an inner tube which is staggered/offset by a spring in the outer tube, which can hold an O-ring at the end, and which has a cylindrical section axially slidable relative to the end of the outer tube, and which is slidable between the projecting position to which the cylindrical section projects from the end of the outer tube and the retreated position to which the cylindrical section retreats in the end. An O-ring supply tool can be used together with this system. Consequently, power for driving is not required.
COPYRIGHT: (C)2010,JPO&INPIT
摘要翻译：要解决的问题：提供一种具有安装在机器人手上的O形环安装手的机器人手系统。解决方案：该机器人手系统包括具有环形端部的外管和由外管中的弹簧交错/偏移的内管，其可以在端部容纳O形环，并且具有圆柱形部分相对于外管的端部可轴向滑动，并且可在从外管的端部伸出的突出位置与圆柱形部分最后退缩的退回位置之间滑动。 O型圈供应工具可与该系统一起使用。因此，不需要驾驶电力。版权所有（C）2010，JPO＆INPIT

3. 发明专利

JP2007309951A Service life evaluating device 有权
标题翻译：服务生命评估设备
公开(公告)号：JP2007309951A
公开(公告)日：2007-11-29
申请号：JP2007197798
申请日：2007-07-30
申请人： Mitsubishi Electric Corp , 三菱電機株式会社
发明人： MAEKAWA SEISEKI
IPC分类号： G01M99/00 , G01M13/00
摘要： PROBLEM TO BE SOLVED: To provide a service life evaluating device capable of accurately evaluating the lifetime of a bearing even when the temperature condition is not known.
SOLUTION: The service life evaluating device evaluates the lifetime of the bearing based on the state quantity of a reducer calculated by a state quantity arithmetic section 4 in consideration of the temperature of the reducer estimated by a temperature estimation section 5. The friction coefficient of the reducer is identified, based on the state quantity of a motor, and the temperature is estimated, based on the friction coefficient. Thus, even when a temperature sensor or the like is not added and the temperature condition is not known or vary, the lifetime of the bearing can be accurately evaluated.
COPYRIGHT: (C)2008,JPO&INPIT
摘要翻译：要解决的问题：提供即使在温度条件未知时也能够精确地评价轴承的寿命的使用寿命评估装置。解决方案：考虑到由温度估计部分5估计的减速器的温度，使用寿命评估装置基于由状态量运算部分4计算的减速器的状态量来评估轴承的寿命。摩擦基于电动机的状态量来确定减速器的系数，并且基于摩擦系数来估计温度。因此，即使不添加温度传感器等，温度条件不知道或者变化，也能够精确地评价轴承的寿命。版权所有（C）2008，JPO＆INPIT

4. 发明专利

JP2007290128A Robot controller 审中-公开
标题翻译：机器人控制器
公开(公告)号：JP2007290128A
公开(公告)日：2007-11-08
申请号：JP2007193120
申请日：2007-07-25
申请人： Mitsubishi Electric Corp , 三菱電機株式会社
发明人： MAKITA HIROYUKI , MAEKAWA SEISEKI
IPC分类号： B25J13/00 , G05B13/04 , G05B19/18
摘要： PROBLEM TO BE SOLVED: To provide a robot controller capable of executing a followup operation at a high speed and with high precision even with a large change in the moving amount of an object to be handled by a robot in a transport device such as a conveyor or the like.
SOLUTION: The robot controller is equipped with a transport device position sensing part, a transport device position producing part, a transport device moving amount producing part to produce a command value to the robot acquired by the transport device position producing part, a followup error memory part to store the robot followup error with respect to the transport device, a followup delay correction part to determine the followup delay correction amount to correct the followup delay of the robot and produce the followup target moving amount from the followup delay correction amount and the followup error stored in the followup error memory part, and an in-followup movement amount producing part to produce the followup moving amount in the next control period from the followup target moving amount produced by the followup delay correction part.
COPYRIGHT: (C)2008,JPO&INPIT
摘要翻译：要解决的问题：提供一种机器人控制器，其能够即使在机器人在运输装置中要处理的物体的移动量的大的变化，也能够以高速和高精度执行跟进操作，例如作为输送机等。解决方案：机器人控制装置配备有运送装置位置检测部，输送装置位置产生部，输送装置移动量产生部，向运送装置位置产生部所取得的机器人产生指示值，跟踪误差存储器部分，用于存储关于传送装置的机器人跟随误差;跟随延迟校正部分，用于确定跟踪延迟校正量，以校正机器人的后续延迟，并从后续延迟校正量产生跟随目标移动量以及存储在跟随误差存储部分中的跟随误差，以及随动移动量产生部分，用于在跟随延迟校正部分产生的跟随目标移动量中产生下一个控制周期中的跟随移动量。版权所有（C）2008，JPO＆INPIT

5. 发明专利

JP2004309221A Service life evaluation device 有权
公开(公告)号：JP2004309221A
公开(公告)日：2004-11-04
申请号：JP2003100574
申请日：2003-04-03
申请人： Mitsubishi Electric Corp , 三菱電機株式会社
发明人： MAEKAWA SEISEKI
IPC分类号： G01M13/02
摘要： PROBLEM TO BE SOLVED: To provide a service life evaluation device capable of evaluating accurately the service life of a reduction gear or grease, even if a temperature condition is unknown.
SOLUTION: This device is constituted to evaluate the service life of the grease from the state quantity of the reduction gear operated by a state quantity operation part 4 in consideration of the grease temperature estimated by a temperature estimation part 5. The device is also constituted so as to identify the friction coefficient of the reduction gear from the state quantity of a motor, and to estimate the temperature from the friction coefficient. Hereby, the service life of the grease can be evaluated accurately without adding a temperature sensor or the like, even if the temperature condition is unknown or the temperature condition is changed.
COPYRIGHT: (C)2005,JPO&NCIPI

6. 发明专利

JP2004276125A Load parameter identification method 有权
标题翻译：负载参数识别方法
公开(公告)号：JP2004276125A
公开(公告)日：2004-10-07
申请号：JP2003066727
申请日：2003-03-12
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 , G05B13/02
摘要： PROBLEM TO BE SOLVED: To provide a load parameter identification method for identifying parameters with high accuracy. SOLUTION: According to the method, when a robot is operated at a low speed under application of a load (ST3), a friction and parameters concerning the gravity are identified from operating data of the robot obtained during low-speed operation (ST4), and when the robot is operated at a high speed under application of the load (ST5), the friction and the remaining parameters that are not identified at the time of the low-speed operation, are identified from operating data obtained during high-speed operation (ST6). In this method the parameters concerning the gravity are identified from the operating data obtained during the low-speed operation, and the remaining parameters that are not identified at the time of the low-speed operation, are identified from the operating data obtained during the high-speed operation, which leads to identification of all the parameters with high accuracy. Further the friction is identified simultaneously with the identification of the parameters at the time of the low-speed operation and at the time of the high-speed operation, the friction need not be canceled, leading to reduction in restrictions of operating patterns for use in identification, and reduction in operations for use in identification of the parameters. COPYRIGHT: (C)2005,JPO&NCIPI
摘要翻译：要解决的问题：提供用于以高精度识别参数的负载参数识别方法。解决方案：根据该方法，当机器人在施加负载（ST3）下以低速操作时，从低速操作期间获得的机器人的操作数据识别摩擦和关于重力的参数（ ST4），并且当在施加负载（ST5）下机器人以高速运行时，在低速操作时未识别的摩擦力和剩余参数由在高位期间获得的操作数据识别速度运行（ST6）。在该方法中，根据低速运转时获得的运转数据，识别与重力有关的参数，低速运转时未识别的剩余参数由高频时获得的运转数据速度操作，可以高精度地识别所有参数。此外，与低速操作时的参数的识别同时确定摩擦，并且在高速操作时摩擦不需要被取消，导致减少用于识别和减少用于识别参数的操作。版权所有（C）2005，JPO＆NCIPI

7. 发明专利

JP2012137961A Positioning control device and positioning device equipped with the same 有权
标题翻译：定位控制装置及其装置的定位装置
公开(公告)号：JP2012137961A
公开(公告)日：2012-07-19
申请号：JP2010290234
申请日：2010-12-27
申请人： Mitsubishi Electric Corp , 三菱電機株式会社
发明人： IGARASHI YUJI , MAEKAWA SEISEKI , MAKITA HIROYUKI , ANDO TOMONORI
IPC分类号： G05B19/19 , H05K13/08
摘要： PROBLEM TO BE SOLVED: To provide a positioning control device which captures an object to be positioned by a camera and allows highly accurate positioning operation to be performed.SOLUTION: A positioning control device comprises: an image processing system 30 which outputs an imaging time specification signal capable of specifying the time at which an object to be positioned is imaged and a detection position; and a drive control device 40 which calculates a rotation position before a prescribed time from rotation positions of motors 53, 56 for making the object to be positioned move at the time at which the imaging time specification signal is acquired, and controls the motors 53, 56 based on the calculated value, the detection position, and a target position, such that the object to be positioned becomes the target position. A first rotation position when imaging the object to be positioned at its rest and controlling such that the object to be positioned becomes the target position and a second rotation position when imaging the object to be positioned during its moving and controlling such that the object to be positioned becomes the target position are acquired in advance, and the prescribed time is determined based on the first and second rotation positions.
摘要翻译：要解决的问题：提供一种定位控制装置，其捕获由相机定位的物体，并允许执行高精度的定位操作。一种定位控制装置，包括：图像处理系统30，其输出能够指定待定位对象的时间成像的成像时间指定信号和检测位置; 以及驱动控制装置40，其在获取成像时间指定信号时，计算用于使要定位的物体的电动机53,56的旋转位置的规定时间之前的旋转位置，并且控制电动机53，基于计算值，检测位置和目标位置，使得要定位的对象成为目标位置。第一旋转位置，当对待被定位在其静止位置的物体进行成像并且控制使得待定位的物体成为目标位置时，以及第二旋转位置，当在其移动和控制期间对待定位的物体进行成像时，使得物体为预先获取定位成为目标位置，并且基于第一和第二旋转位置确定规定时间。版权所有（C）2012，JPO＆INPIT

8. 发明专利

JP2010271190A Recording device 有权
标题翻译：录音设备
公开(公告)号：JP2010271190A
公开(公告)日：2010-12-02
申请号：JP2009123405
申请日：2009-05-21
申请人： Mitsubishi Electric Corp , 三菱電機株式会社
发明人： MAEKAWA SEISEKI
IPC分类号： G01D9/00 , G01D1/02
摘要： PROBLEM TO BE SOLVED: To provide a storage device for efficiently storing data, over a maximally long period. SOLUTION: The device includes a plurality of stages of ring buffers for storing a prescribed number of recording data respectively, and a plurality of mean value calculation means for calculating respectively a mean value of a plurality of recording data stored in the ring buffer on each stage, and each mean value calculation means calculates a mean value, each time a prescribed number of recording data are written in each ring buffer and writes the calculated mean value in the next-stage ring buffer. COPYRIGHT: (C)2011,JPO&INPIT
摘要翻译：要解决的问题：提供一种用于在最长时间内有效地存储数据的存储装置。解决方案：该装置包括分别存储规定数量的记录数据的多级环形缓冲器和分别计算存储在环形缓冲器中的多个记录数据的平均值的多个平均值计算装置并且每个平均值计算装置计算每次在每个环形缓冲器中写入规定数量的记录数据的平均值，并将所计算的平均值写入下一级环形缓冲器。版权所有（C）2011，JPO＆INPIT

9. 发明专利

JP2010271185A Device for monitoring abnormal condition 审中-公开
标题翻译：用于监测异常条件的装置
公开(公告)号：JP2010271185A
公开(公告)日：2010-12-02
申请号：JP2009123298
申请日：2009-05-21
申请人： Mitsubishi Electric Corp , 三菱電機株式会社
发明人： MAEKAWA SEISEKI
IPC分类号： G01M99/00
摘要： PROBLEM TO BE SOLVED: To extract a vibration excited by abnormal conditions in the rotation system of a motor or the like, without using any dedicated instrument for measuring the excited vibration when the abnormal conditions arise.
SOLUTION: A disturbance component calculation unit 3 calculates a torque disturbance τd included in a motor current command si on the basis of the motor current instruction si and a motor velocity vm. A rotation-synchronous disturbance component extraction unit 4 extracts a magnitude of the torque disturbance τd whose period is synchronized with a rotation frequency of the motor 2 on the basis of the torque disturbance τd calculated by the disturbance component calculation unit 3. A rotation-frequency synchronous vibration increase decision unit 8 determines an increase of a rotation-frequency synchronous vibration when an output value from the rotation-synchronous disturbance component extraction unit 4 becomes equal to or more than a threshold.
COPYRIGHT: (C)2011,JPO&INPIT
摘要翻译：要解决的问题：为了提取在电动机等的旋转系统中由异常情况激发的振动，不使用任何专门的仪器来测量异常情况下的激发振动。解决方案：扰动分量计算单元3基于电动机电流指令si和电动机速度vm计算包括在电动机电流指令si中的转矩干扰τd。旋转同步扰动成分提取部4基于由干扰成分计算部3计算出的转矩扰动τd，提取周期与电动机2的旋转频率同步的转矩扰动τd的大小。旋转频率当来自旋转同步干扰成分提取单元4的输出值变为等于或大于阈值时，同步振动增加判定单元8确定旋转频率同步振动的增加。版权所有（C）2011，JPO＆INPIT

10. 发明专利

JP2009291871A Gripping hand for robot 审中-公开
标题翻译：手提机器人
公开(公告)号：JP2009291871A
公开(公告)日：2009-12-17
申请号：JP2008146934
申请日：2008-06-04
申请人： Mitsubishi Electric Corp , 三菱電機株式会社
发明人： HIGUCHI MINEO , MAEKAWA SEISEKI
IPC分类号： B25J15/08
摘要： PROBLEM TO BE SOLVED: To provide a gripping hand for a robot can stably grip articles of various shapes and dimensions.
SOLUTION: This gripping hand for a robot includes a base having an opening for accepting an article, three rotating shafts which extend along the center axis, disposed on a pitch circle concentric to the center axis at equal angular intervals, and rotatingly driven, and gripping fingers attached to the rotating shafts and movable to the released position or the gripping position where the article is gripped therebetween. The rotating shaft and a drive device are disposed at positions where the rotating shaft and the drive device are not interfered with the article accepted into the opening. Consequently, the articles of various shapes and dimensions can be stably gripped.
COPYRIGHT: (C)2010,JPO&INPIT
摘要翻译：要解决的问题：为了提供用于机器人的抓握手可以稳定地夹持各种形状和尺寸的物品。解决方案：用于机器人的夹持手包括具有用于接收物品的开口的基座，沿着中心轴线延伸的三个旋转轴，其设置在与中心轴线同等的等间距的节圆上，并以旋转方式驱动并且夹持附接到旋转轴并且可移动到释放位置的夹持指状物或夹在其间的物品夹持位置。旋转轴和驱动装置设置在旋转轴和驱动装置不干扰接受到开口中的物品的位置。因此，可以稳定地夹持各种形状和尺寸的物品。版权所有（C）2010，JPO＆INPIT

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