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. 发明授权

US4724371A Apparatus for detecting the degree of rotation of a rotational axis 失效
标题翻译：用于检测旋转轴线的旋转程度的装置
公开(公告)号：US4724371A
公开(公告)日：1988-02-09
申请号：US910223
申请日：1986-08-18
申请人： Yoshizumi Ito , Yasuo Ishiguro , Osamu Shiroshita
发明人： Yoshizumi Ito , Yasuo Ishiguro , Osamu Shiroshita
IPC分类号： G01B7/30 , G01B7/00 , G01B11/26 , G01B21/22 , G01D5/36 , G05B19/21 , B01D13/00
CPC分类号： G05B19/21 , G01D5/36 , G05B2219/37145 , G05B2219/41243
摘要： The present invention provides a rotation detection apparatus of a rotational axis connected to an output axis system of a reduction gear to count the rotation of a rotational axis driven rotationally, including a reduction gear, with an integer reduction ratio, whose rotational axis of a driving source is connected to an input axis. The apparatus provides a position signal once every rotation of the output axis, and a rotation angle signal in response to the rotation angle of said input axis is output to correlate said output position signal with one of said rotation angle signals to count the rotation of the rotational axis by these position and rotation angle signals. An accurate rotation can be detected even at one-way high-speed rotation.
摘要翻译： PCT No.PCT / JP86 / 00081 Sec。 371日期1986年8月18日 102（e）日期1986年8月18日PCT提交1986年2月20日PCT公布。出版物WO86 / 05011 日本1986年8月28日。本发明提供了一种旋转轴线的旋转检测装置，该旋转轴线连接到减速齿轮的输出轴系统，以对包括减速齿轮的旋转轴线的旋转进行计数，整数减速比，其驱动源的旋转轴线连接到输入轴。该装置每输出轴旋转一次提供位置信号，并输出响应于所述输入轴的旋转角度的旋转角度信号，以将所述输出位置信号与所述旋转角度信号之一相关联，以对所述旋转角度信号的旋转进行计数旋转轴由这些位置和旋转角度信号。即使在单向高速旋转时也可以检测到精确的旋转。

2. 发明授权

US5222198A Control method and apparatus for a robot having multi-rotating axes 失效
标题翻译：具有多旋转轴的机器人的控制方法和装置
公开(公告)号：US5222198A
公开(公告)日：1993-06-22
申请号：US871609
申请日：1992-04-20
申请人： Minoru Yamamoto , Satoshi Gosho
发明人： Minoru Yamamoto , Satoshi Gosho
IPC分类号： B25J9/04 , G05B19/19 , G05B19/23 , G05B19/41 , G05B19/418 , G05B19/425
CPC分类号： G05B19/41 , B25J9/046 , G05B19/19 , G05B19/231 , G05B19/4182 , G05B19/425 , G05B2219/37145 , G05B2219/41243 , G05B2219/45083 , Y02P90/083
摘要： The operating range of the conventional multi-axis joint type robot has been restricted, from its structural reason, with .+-.180.degree. for all axes provided. However, recently, expansion of the operating range of robots has been required and improvement in structure and control method of robots has realized expansion of the operating range to under .+-.360.degree.. But, in the case of the robot providing the axis rotating .+-.360.degree. or more, it is sometimes difficult to apply such control methods, resulting in disabling operations. In the present invention, therefore, the signal obtained by adding or subtracting the signal corresponding to the integer number of rotations of the axis to or from the rotating position signal after rotation of the axis depending on the positive or negative sign of the rotating position signal is applied as the rotating position at the time of starting the posture control operation. Since the corrected link angle has a value under .+-.360.degree., the smooth interpolating operation can be realized by applying the control method described above. Accordingly, the operating range of multiple axes joint type robot can be expanded.
摘要翻译： PCT No.PCT / JP89 / 00457 Sec。 371 1990年1月2日第 102（e）日期1990年1月2日PCT提交1989年5月1日PCT公布。出版物WO89 / 10822 日期为1989年11月16日。传统的多轴关节型机器人的操作范围受到限制，从其结构原因，提供的所有轴线为+/- 180度。然而，近来，机器人的操作范围扩大，机器人的结构和控制方法的改进已将操作范围扩大到+/- 360度以下。但是，在机器人提供旋转+/- 360°以上的情况下，有时难以应用这种控制方法，导致禁用操作。因此，在本发明中，通过根据旋转位置信号的正或负符号，在轴旋转之后将与轴的整数相对应的信号相加或相对于旋转位置信号获得的信号作为开始姿势控制动作时的旋转位置。由于校正后的链接角度的值在+/- 360°以下，所以可以通过应用上述的控制方法来实现平滑内插操作。因此，可以扩大多轴关节型机器人的操作范围。

3. 发明公开

EP0369028A1 METHOD OF AND APPARATUS FOR CONTROLLING ROBOT HAVING MULTIPLE ROTARY SHAFTS 失效
标题翻译：方法和系统控制机器人与几种回转轴。
公开(公告)号：EP0369028A1
公开(公告)日：1990-05-23
申请号：EP89905178.3
申请日：1989-05-01
申请人： KABUSHIKI KAISHA YASKAWA DENKI SEISAKUSHO
发明人： YAMAMOTO, Minoru, c/o K.K Yaskawa Denki Seisakusho , GOSHO, Satoshi, c/o K.K. Yaskawa Denki Seisakusho
IPC分类号： B25J9/04 , G05B19/23 , G05B19/41
CPC分类号： G05B19/425 , B25J9/046 , G05B19/19 , G05B19/231 , G05B19/41 , G05B19/4182 , G05B2219/37145 , G05B2219/41243 , G05B2219/45083 , Y02P90/083
摘要： The work-space envelope of a conventional articulate multiple-shaft robot is limited to within ±180° with respect to all shafts due to the construction of the robot. The expansion of the work-space envelope of a robot has come to be demanded recently, and the construction of and a control method for a robot has been improved accordingly, so that this envelope has been expanded to up to ±360° . However, it is difficult in some cases to apply such a control method to a robot having a shaft which is turned not less than ±360 °, and the robot cannot be operated in some cases. Therefore, according to the present invention, in order that a signal representative of a position to which a shaft has been turned is indicative of an angle within the range of ±360° with respect to a reference position of the same shaft, a signal representative of the number of revolutions which is obtained by multiplying the number of revolutions of the mentioned shaft by an integer is added to or subtracted from the above actual position signal in accordance with a plus or minus sign thereof, and a signal representative of the result of this addition or subtraction is used as a signal representative of a position of rotation of the shaft at the time of starting of a posture control operation. This corrected link angle becomes less than ±360 °. Therefore, if this control method is employed, a smooth interpolation operation can be carried out. Accordingly, the workspace envelope of an articulate multiple-shaft robot can be expanded.
摘要翻译：一个常规的工作空间包络阐明多轴机器人被限制为+/- 180°相对于所有的轴内由于机器人的结构。机器人的工作空间包络的扩展已经到了被要求recenlty，和的构造和用于机器人的控制方法已相应地提高，因此thatthis信封已经扩展到高达+/- 360°。但是，它是在某些情况下难以应用寻求控制方法具有轴的所有被接通不超过+/- 360度以下的机器人，机器人不能在某些情况下进行操作。因此，gemäß在本发明中，为了确实代表其中A位置的信号的轴已经接通指示+/- 360°的范围内的角度相对于同一轴的基准位置，一个代表转数的信号的所有其是通过在整数乘以所提到的轴的转数而得到被添加到或从雅舞蹈与它们的加号或减号上述实际位置信号中减去，和代表性的一个信号这个加法或减法的结果被用作代表在姿势控制操作开始时的所述轴的旋转位置的信号。此校正的链路角度变得小于+/- 360°。因此，如果采用该控制方法，平滑插值手术可以进行。因此，一个铰接多轴机器人的工作区中的包络可以扩大。

4. 发明申请

WO1989010822A1 METHOD OF AND APPARATUS FOR CONTROLLING ROBOT HAVING MULTIPLE ROTARY SHAFTS 审中-公开
标题翻译：用于控制具有多个旋转轴的机器人的方法和装置
公开(公告)号：WO1989010822A1
公开(公告)日：1989-11-16
申请号：PCT/JP1989000457
申请日：1989-05-01
申请人： KABUSHIKI KAISHA YASKAWA DENKI SEISAKUSHO , YAMAMOTO, Minoru; , GOSHO, Satoshi;
发明人： KABUSHIKI KAISHA YASKAWA DENKI SEISAKUSHO
IPC分类号： B25J09/10
CPC分类号： G05B19/425 , B25J9/046 , G05B19/19 , G05B19/231 , G05B19/41 , G05B19/4182 , G05B2219/37145 , G05B2219/41243 , G05B2219/45083 , Y02P90/083
摘要： The work-space envelope of a conventional articulate multiple-shaft robot is limited to within U180° with respect to all shafts due to the construction of the robot. The expansion of the work-space envelope of a robot has come to be demanded recenlty, and the construction of and a control method for a robot has been improved accordingly, so that this envelope has been expanded to up to U360°. However, it is difficult in some cases to apply such a control method to a robot having a shaft which is turned not less than U360°, and the robot cannot be operated in some cases. Therefore, according to the present invention, in order that a signal representative of a position to which a shaft has been turned is indicative of an angle within the range of U360° with respect to a reference position of the same shaft, a signal representative of the number of revolutions which is obtained by multiplying the number of revolutions of the mentioned shaft by an integer is added to or subtracted from the above actual position signal in accordance with a plus or minus sign thereof, and a signal representative of the result of this addition or subtraction is used as a signal representative of a position of rotation of the shaft at the time of starting of a posture control operation. This corrected link angle becomes less than U360°. Therefore, if this control method is employed, a smooth interpolation operation can be carried out. Accordingly, the workspace envelope of an articulate multiple-shaft robot can be expanded.

5. 发明申请

WO1986005011A1 APPARATUS FOR DETECTING QUANTITY OF ROTATION OF ROTARY SHAFT 审中-公开
标题翻译：用于检测旋转轴旋转数量的装置
公开(公告)号：WO1986005011A1
公开(公告)日：1986-08-28
申请号：PCT/JP1986000081
申请日：1986-02-20
申请人： TOYOTA JIDOSHA KABUSHIKI KAISHA , KABUSHIKI KAISHA TOYOTA CHUO KENKYUSHO , ITO, Yoshizumi , ISHIGURO, Yasuo , SHIROSHITA, Osamu
发明人： TOYOTA JIDOSHA KABUSHIKI KAISHA , KABUSHIKI KAISHA TOYOTA CHUO KENKYUSHO
IPC分类号： G05D03/12
CPC分类号： G05B19/21 , G01D5/36 , G05B2219/37145 , G05B2219/41243
摘要： Apparatus for detecting the quantity of rotation of a rotatably driven rotary shaft, and has the following characteristics. A reduction gear having a reduction ratio of an integer is provided with its input shaft connected to the rotary shaft of a rotational power source. The apparatus is provided in an output shaft system of the reduction gear, and adapted to output a signal of position every time the output shaft has rotated at 360o, and signals of angles of rotation, the levels of which are in accordance with an angle of rotation of the input shaft. One of the signals of angles of rotation and the signal of position are outputted simultaneously to count the quantity of rotation of the rotary shaft on the basis of these signals. Therefore, even if the rotary shaft is rotated a plurality of times in one direction, the quantity of rotation thereof can be accurately detected.

6. 发明授权

EP0213210B1 APPARATUS FOR DETECTING QUANTITY OF ROTATION OF ROTARY SHAFT 失效
标题翻译： DEVICE一个轴的旋转含量的检测。
公开(公告)号：EP0213210B1
公开(公告)日：1994-10-19
申请号：EP86901498.5
申请日：1986-02-20
申请人： TOYOTA JIDOSHA KABUSHIKI KAISHA , KABUSHIKI KAISHA TOYOTA CHUO KENKYUSHO
发明人： ITO, Yoshizumi , ISHIGURO, Yasuo , SHIROSHITA, Osamu K. K. Toyota Chuo Kenkyusho
IPC分类号： G05B19/21
CPC分类号： G05B19/21 , G01D5/36 , G05B2219/37145 , G05B2219/41243
摘要： Apparatus for detecting the quantity of rotation of a rotatably driven rotary shaft, and has the following characteristics. A reduction gear having a reduction ratio of an integer is provided with its input shaft connected to the rotary shaft of a rotational power source. The apparatus is provided in an output shaft system of the reduction gear, and adapted to output a signal of position every time the output shaft has rotated at 360o, and signals of angles of rotation, the levels of which are in accordance with an angle of rotation of the input shaft. One of the signals of angles of rotation and the signal of position are outputted simultaneously to count the quantity of rotation of the rotary shaft on the basis of these signals. Therefore, even if the rotary shaft is rotated a plurality of times in one direction, the quantity of rotation thereof can be accurately detected.

7. 发明公开

EP0213210A1 APPARATUS FOR DETECTING QUANTITY OF ROTATION OF ROTARY SHAFT 失效
标题翻译： DEVICE一个轴的旋转含量的检测。
公开(公告)号：EP0213210A1
公开(公告)日：1987-03-11
申请号：EP86901498.5
申请日：1986-02-20
申请人： TOYOTA JIDOSHA KABUSHIKI KAISHA , KABUSHIKI KAISHA TOYOTA CHUO KENKYUSHO
发明人： ITO, Yoshizumi , ISHIGURO, Yasuo , SHIROSHITA, Osamu K. K. Toyota Chuo Kenkyusho
IPC分类号： G05B19/21
CPC分类号： G05B19/21 , G01D5/36 , G05B2219/37145 , G05B2219/41243
摘要： Apparatus for detecting the quantity of rotation of a rotatably driven rotary shaft, and has the following characteristics. A reduction gear having a reduction ratio of an integer is provided with its input shaft connected to the rotary shaft of a rotational power source. The apparatus is provided in an output shaft system of the reduction gear, and adapted to output a signal of position every time the output shaft has rotated at 360°, and signals of angles of rotation, the levels of which are in accordance with an angle of rotation of the input shaft. One of the signals of angles of rotation and the signal of position are outputted simultaneouslyto countthe quantity of rotation of the rotary shaft on the basis ofthese signals. Therefore, even if the rotary shaft is rotated a plurality of times in one direction, the quantity of rotation thereof can be accurately detected.

8. 发明公开

EP0369028A4 METHOD OF AND APPARATUS FOR CONTROLLING ROBOT HAVING MULTIPLE ROTARY SHAFTS 失效
标题翻译：用于控制具有多个旋转轴的机器人的方法和装置
公开(公告)号：EP0369028A4
公开(公告)日：1993-05-12
申请号：EP89905178
申请日：1989-05-01
申请人： KABUSHIKI KAISHA YASKAWA DENKI SEISAKUSHO
发明人： YAMAMOTO, MINORU , GOSHO, SATOSHI
IPC分类号： B25J9/10 , B25J9/04 , B25J9/18 , B25J13/00 , G05B19/19 , G05B19/23 , G05B19/41 , G05B19/4103 , G05B19/418 , G05B19/425 , B25J9/16 , G05D3/00
CPC分类号： G05B19/425 , B25J9/046 , G05B19/19 , G05B19/231 , G05B19/41 , G05B19/4182 , G05B2219/37145 , G05B2219/41243 , G05B2219/45083 , Y02P90/083
摘要： The work-space envelope of a conventional articulate multiple-shaft robot is limited to within U180° with respect to all shafts due to the construction of the robot. The expansion of the work-space envelope of a robot has come to be demanded recenlty, and the construction of and a control method for a robot has been improved accordingly, so that this envelope has been expanded to up to U360°. However, it is difficult in some cases to apply such a control method to a robot having a shaft which is turned not less than U360°, and the robot cannot be operated in some cases. Therefore, according to the present invention, in order that a signal representative of a position to which a shaft has been turned is indicative of an angle within the range of U360° with respect to a reference position of the same shaft, a signal representative of the number of revolutions which is obtained by multiplying the number of revolutions of the mentioned shaft by an integer is added to or subtracted from the above actual position signal in accordance with a plus or minus sign thereof, and a signal representative of the result of this addition or subtraction is used as a signal representative of a position of rotation of the shaft at the time of starting of a posture control operation. This corrected link angle becomes less than U360°. Therefore, if this control method is employed, a smooth interpolation operation can be carried out. Accordingly, the workspace envelope of an articulate multiple-shaft robot can be expanded.

9. 发明公开

EP0213210A4 APPARATUS FOR DETECTING QUANTITY OF ROTATION OF ROTARY SHAFT. 失效
标题翻译： DEVICE一个轴的旋转含量的检测。
公开(公告)号：EP0213210A4
公开(公告)日：1989-06-27
申请号：EP86901498
申请日：1986-02-20
申请人： TOYOTA MOTOR CO LTD , TOYODA CHUO KENKYUSHO KK
发明人： ITO YOSHIZUMI , ISHIGURO YASUO , SHIROSHITA OSAMU K K TOYOTA CH
IPC分类号： G01B7/30 , G01B7/00 , G01B11/26 , G01B21/22 , G01D5/36 , G05B19/21
CPC分类号： G05B19/21 , G01D5/36 , G05B2219/37145 , G05B2219/41243
摘要： Apparatus for detecting the quantity of rotation of a rotatably driven rotary shaft, and has the following characteristics. A reduction gear having a reduction ratio of an integer is provided with its input shaft connected to the rotary shaft of a rotational power source. The apparatus is provided in an output shaft system of the reduction gear, and adapted to output a signal of position every time the output shaft has rotated at 360o, and signals of angles of rotation, the levels of which are in accordance with an angle of rotation of the input shaft. One of the signals of angles of rotation and the signal of position are outputted simultaneously to count the quantity of rotation of the rotary shaft on the basis of these signals. Therefore, even if the rotary shaft is rotated a plurality of times in one direction, the quantity of rotation thereof can be accurately detected.

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