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1. 发明专利

JP2012171071A Method of detecting failure in screw fastening operation of robot 有权
标题翻译：检测机器人疲劳运行中的故障的方法
公开(公告)号：JP2012171071A
公开(公告)日：2012-09-10
申请号：JP2011037520
申请日：2011-02-23
申请人： Toyama Prefecture , Mitsubishi Electric Corp , 三菱電機株式会社 , 富山県
发明人： MATSUNO TAKAYUKI , MAEKAWA SEISEKI , SHIRATO KOJI
IPC分类号： B23P19/06
摘要： PROBLEM TO BE SOLVED: To obtain a method of detecting failure in screw fastening operation of robot for constructing a highly functional screw fastening robot system at a low cost.SOLUTION: A screw fastening robot system 1 includes, at the tip end part of its robot 2, a force sensor 3 and a screw driver 4, wherein the force sensor 3 measures a force acting on the tip end. The method of detecting failure in screw fastening operation of the robot includes a step of determining normal or abnormal of the screw fastening operation based on an output of the force sensor 3 by using a screw fastening failure determination means 6.
摘要翻译：要解决的问题：为了获得以低成本构建高功能的螺丝紧固机器人系统的机器人的螺钉紧固操作的故障的方法。解决方案：螺钉紧固机器人系统1在其机器人2的末端部分包括力传感器3和螺丝刀4，其中力传感器3测量作用在尖端上的力。检测机器人的螺钉紧固操作失败的方法包括通过使用螺钉紧固故障确定装置6基于力传感器3的输出来确定螺钉紧固操作的正常或异常的步骤。版权所有（C） C）2012，JPO＆INPIT

2. 发明专利

JP2014090566A Automatic train control system 有权
标题翻译：自动火车控制系统
公开(公告)号：JP2014090566A
公开(公告)日：2014-05-15
申请号：JP2012238830
申请日：2012-10-30
申请人： Mitsubishi Electric Corp , 三菱電機株式会社
发明人： SHIRATO KOJI
IPC分类号： B60L15/40
摘要： PROBLEM TO BE SOLVED: To provide an automatic train control system capable of producing an operating velocity pattern according to which a contact surface between a rail and electric rolling stock is not damaged to the greatest possible extent, superb energy saving is achieved, a desired acceleration is attained, and an acceleration/deceleration time meets a designated value.SOLUTION: A permissible velocity error range within which a velocity error is permitted as a state to be attained the instant a traveling state enters a deceleration state, and a permissible passage time error range are defined with velocity values and passage times specified in a velocity pattern, which is optimized in advance, as references. If either of the conditions is not met, a traveling plan 112 is re-produced. Accordingly, an attempt to strictly follow the velocity pattern is avoided. This prevents an increase in energy consumption due to hunting derived from velocity follow, an increase in the number of times of switching notches, or excessive acceleration.
摘要翻译：要解决的问题：为了提供能够产生运行速度模式的自动列车控制系统，根据该自动列车控制系统，轨道和电动车辆之间的接触表面不会被最大程度地损坏，实现了极好的节能，期望的加速度并且加速/减速时间满足指定值。解决方案：允许速度误差允许的允许速度误差范围，作为行驶状态进入减速状态时的状态，以及允许的通过时间误差范围用速度值和速度模式指定的通过时间进行定义，速度模式是预先优化的，作为参考。如果不符合任一条件，则重新生产旅行计划112。因此，避免了严格遵循速度模式的尝试。这防止了由于速度跟随引起的振荡的增加，切换切口次数增加或过大的加速度导致的能量消耗的增加。

3. 发明专利

JP2017093014A 自動列車運転装置有权
公开(公告)号：JP2017093014A
公开(公告)日：2017-05-25
申请号：JP2015215728
申请日：2015-11-02
申请人：三菱電機株式会社 , Mitsubishi Electric Corp
发明人： AOYAMA TAKEO , SHIRATO KOJI , OKAHARA TAKUYA , TAKAGI MASAMICHI
IPC分类号： B60L15/40
摘要：【課題】列車の定時性を確保しつつ乗り心地の悪化を抑制可能な自動列車運転装置を得ること。【解決手段】自動列車運転装置2が、走行状態検出部21と、ブレーキ特性保持部23と、走行環境データ保持部22と、列車の目標地点、目標速度及び目標ノッチを保持してこの目標ノッチに応じた加減速度によって走行到達目標である目標地点に到達することが可能な目標ランカーブを自動で計算して設定する目標ランカーブ設定部24と、現在の走行状態情報、ブレーキ特性データ、走行環境データ、目標ランカーブ及び現在のノッチ指令値が入力されて、目標ノッチに切り換える前に、現在の走行状態から目標ランカーブに近づくように補正ノッチ及び補正時間を出力する補正ノッチ演算部25と、補正ノッチ及び補正時間が入力されて、補正時間だけ補正ノッチを出力した後に目標ノッチにノッチ指令値を変更して出力するノッチ出力部26とを備える。【選択図】図1

4. 发明专利

JP2012232384A Inspection device and inspection method 有权
标题翻译：检查装置和检查方法
公开(公告)号：JP2012232384A
公开(公告)日：2012-11-29
申请号：JP2011102888
申请日：2011-05-02
申请人： Mitsubishi Electric Corp , 三菱電機株式会社
发明人： RYU MASAISA , SHIRATO KOJI
IPC分类号： B25J13/08 , B23P19/00 , B23P19/02
摘要： PROBLEM TO BE SOLVED: To provide an inspection device capable of correctly inspecting the success and failure of component assembling work.SOLUTION: The inspection device includes: a force acquisition means for acquiring a force acted on a robot end effector; a position acquisition means for acquiring the position of the robot end effector; a segmenting means for segmenting a partial waveform of an inspection range from a waveform indicating a relationship between the acquired force and the acquired position; an inspection range specification means for specifying an inspection range to be segmented by the segmenting means; an extreme value recognition means for recognizing a plurality of extreme values of the partial waveform segmented by the segmenting means; a determination means for selecting a maximum value and a minimum value to be inspected from the plurality of recognized extreme values according to a basis of selection to determine whether a difference between the maximum value and the minimum value satisfies a criterion; an inspection parameter specification means for specifying the basis of selection and the criterion to be used by the determination means; and an inspection output means for outputting a signal indicating the success or failure of the work according to the determination result of the determination means.
摘要翻译：要解决的问题：提供能够正确检查部件组装工作的成败的检查装置。解决方案：检查装置包括：力获取装置，用于获取作用在机器人末端执行器上的力; 位置获取装置，用于获取所述机器人末端执行器的位置; 分割装置，用于从表示所获取的力与获取位置之间的关系的波形中分割检查范围的部分波形; 用于指定由分割装置分割的检查范围的检查范围指定装置; 用于识别由分割装置分割的部分波形的多个极值的极值识别装置; 确定装置，用于根据选择的基础从多个识别的极值中选择要检查的最大值和最小值，以确定最大值和最小值之间的差是否满足标准; 用于指定选择的基础和由确定装置使用的标准的检查参数指定装置; 以及检查输出装置，用于根据确定装置的确定结果输出指示作品成功或失败的信号。版权所有（C）2013，JPO＆INPIT

5. 发明专利

JP2010052116A Device and method for controlling interference check 有权
标题翻译：用于控制干扰检查的装置和方法
公开(公告)号：JP2010052116A
公开(公告)日：2010-03-11
申请号：JP2008222111
申请日：2008-08-29
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： B25J19/06
摘要： PROBLEM TO BE SOLVED: To determine presence/absence of mutual interference between robot constitution parts in braking operation with high accuracy.
SOLUTION: The device for controlling interference check between robots having an overlapped part in an operation region includes a speed/position memory means 910, an interference determination threshold memory means 918 previously storing the threshold of the interference determination region, a braking time calculation means 911 calculating time required from start braking to stop braking based on the speed/position data, an inter-robot distance estimation means 916 estimating history of the closest distance between the respective constitution parts from start braking to stop braking based on the speed of the respective approximating constitution parts, an interference determination means 917 determining presence/absence of interference during braking by comparing the history of the closest distance between the respective constitution parts with the threshold of the interference determination region, and a command value generation means 919 generating a movement command value to each robot corresponding to the interference determination result, and making the speed/position memory means store the speed/position data of the robot.
COPYRIGHT: (C)2010,JPO&INPIT
摘要翻译：要解决的问题：准确地确定制动操作中的机器人构成部件之间的相互干涉的存在/不存在。解决方案：用于控制在操作区域中具有重叠部分的机器人之间的干扰检查的装置包括速度/位置存储装置910，预先存储干扰确定区域的阈值的干扰确定阈值存储装置918，制动时间计算装置911基于速度/位置数据计算从开始制动到停止制动所需的时间，机器人间距离估计装置916基于从起动制动到停止制动的各个构成部件之间的最近距离的历史，基于相应的近似构成部分，通过将各个构成部分之间的最近距离的历史与干扰确定区域的阈值进行比较来确定在制动期间是否存在干扰的干扰确定装置917，以及指令值生成装置919，移动指令值为e ach机器人对应于干扰确定结果，并且使速度/位置存储装置存储机器人的速度/位置数据。版权所有（C）2010，JPO＆INPIT

6. 发明专利

JP2010052114A Device and method for controlling interference check 有权
标题翻译：用于控制干扰检查的装置和方法
公开(公告)号：JP2010052114A
公开(公告)日：2010-03-11
申请号：JP2008222105
申请日：2008-08-29
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： B25J19/06
摘要： PROBLEM TO BE SOLVED: To provide a device and a method for controlling interference check for improving work efficiency of a plurality of robots.
SOLUTION: The interference check controlling device for avoiding interference between robots having an overlapped part in an operation region includes a speed/position memory means 111, an inter-robot distance calculation means 112 calculating the distance between robot constitution parts based on the speed/position data, an interference determination region calculation means 113 finding the interference determination region of the robot constitution parts based on the speed/position data, and an interference determination means 114 comparing the interference determination distance defined by the interference determination region to the distance between the robot constitution parts to determine presence/absence of interference. The interference determination region calculation means 113 expands the interference determination region corresponding to the movement speed and movement direction based on speed data with directivity to determine the expanded interference determination region, and the interference determination means 114 compares the interference determination distance defined by the expanded interference determination region with the mutual distance between the robot constitution parts, thus determining presence/absence of interference.
COPYRIGHT: (C)2010,JPO&INPIT
摘要翻译：要解决的问题：提供一种用于控制干涉检查以提高多个机器人的工作效率的装置和方法。解决方案：用于避免在操作区域中具有重叠部分的机器人之间的干扰的干扰检查控制装置包括速度/位置存储装置111，机器人间距离计算装置112，其基于所述机器人结构部件之间的距离来计算速度/位置数据，干扰判定区域计算装置113，根据速度/位置数据求出机器人构成部分的干扰判定区域;以及干扰判定装置114，将由干扰判定区域确定的干扰判定距离与距离在机器人构成部分之间确定有无干扰。干扰判定区域计算装置113基于具有指向性的速度数据扩大与移动速度和移动方向对应的干扰判定区域，以确定扩大的干扰判定区域，并且干扰确定装置114将由扩展的干扰限定的干扰确定距离确定区域与机器人构成部分之间的相互距离，从而确定有无干扰。版权所有（C）2010，JPO＆INPIT

7. 发明专利

JP2014156176A Underwater elevator 有权
标题翻译：水下电梯
公开(公告)号：JP2014156176A
公开(公告)日：2014-08-28
申请号：JP2013027644
申请日：2013-02-15
申请人： Mitsubishi Electric Corp , 三菱電機株式会社
发明人： NODA TETSUO , SEKI MAKITO , SHIRATO KOJI , DOMAE YUKIYASU , NAGATANI TATSUYA , NAGAOKA RINTARO , HIRAI TAKASHI
IPC分类号： B63G8/00 , B63C7/06 , B63C11/00 , B63G8/14
摘要： PROBLEM TO BE SOLVED: To provide an underwater elevator which efficiently transfers a large quantity of cargoes from the seabed to a target position on the sea.SOLUTION: A plurality of floating/sinking bodies 10a to 10i float or sink in procession under the sea. The respective plurality of floating/sinking bodies set first guide beacon transmission means 201 on the seabed as a target position when sinking by receiving guide beacons therefrom and second beacon transmission means 102 on the sea as the target position when floating by receiving the guide beacons therefrom. Subsequent floating/sinking bodies in floating or sinking processions receive tracking beacons transmitted from tracking beacon transmission means of the previous floating/sinking bodies and float or sink by tracking the same. First transfer means 200 which is installed on the seabed to transfer cargoes transfers the same on the seabed onto cargo loading sections of the plurality of floating/sinking bodies.
摘要翻译：要解决的问题：提供一种水下电梯，其将大量货物从海床有效地转移到海上的目标位置。解决方案：多个浮潜/下沉体10a至10i在海下游泳或沉没。相应的多个浮置/下沉体在第一引导信标发送装置201上作为目标位置，当通过从其接收引导信标而将其作为目标位置时，将作为目标位置的第二信标发送装置102作为目标位置，通过从其接收引导信标而浮起来作为目标位置。随后的漂浮/下沉体中的浮动/下沉体接收跟踪信号，该跟踪信标通过跟踪前一个浮动/下沉体的跟踪信标发送装置和浮点或汇点而发送。安装在海床上以转运货物的第一转运装置200将其在海床上转运到多个浮动/下沉体的货物装载部分。

8. 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

9. 发明专利

JP2011059801A Program creation/instruction device and method 审中-公开
标题翻译：程序创建/指导设备和方法
公开(公告)号：JP2011059801A
公开(公告)日：2011-03-24
申请号：JP2009206277
申请日：2009-09-07
申请人： Mitsubishi Electric Corp , 三菱電機株式会社
发明人： MAKITA HIROYUKI , YOSHIKAWA TSUTOMU , SHIRATO KOJI
IPC分类号： G05B19/42 , B25J9/22 , G05B19/4069
摘要： PROBLEM TO BE SOLVED: To provide a program creation/instruction device allowing an instruction of position data in a short time even if a program is a robot program having a complicated flow.
SOLUTION: This program creation/instruction device includes: a process (step S11) of analyzing the created robot program, and extracting a position variable used thereinside; a process (step S12) of selecting the position variable necessary to be instructed with a value as an instruction target variable from the extracted position variables; a process (step S13) of arranging the instruction target variables with a graph structure corresponding to order wherein an instruction using the instruction target variable is executed; and a process (step S14) of sequentially displaying the instruction target variables according to the arrangement in the graph structure when receiving the instruction of the instruction target variable.
COPYRIGHT: (C)2011,JPO&INPIT
摘要翻译：要解决的问题：即使程序是具有复杂流程的机器人程序，也可以在短时间内提供允许位置数据指令的程序创建/指令装置。该程序创建/指示装置包括：分析所创建的机器人程序并提取其中使用的位置变量的处理（步骤S11）从提取的位置变量中选择需要指示的位置变量作为指示目标变量的处理（步骤S12）使用与执行使用了指示目标变量的指令对应的顺序的图形结构排列指示目标变量的处理（步骤S13）以及当接收到指令目标变量的指令时，根据图形结构中的布置顺序地显示指令目标变量的处理（步骤S14）。版权所有（C）2011，JPO＆INPIT

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