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111. 发明专利

JPH09501111A 失效
公开(公告)号：JPH09501111A
公开(公告)日：1997-02-04
申请号：JP50656495
申请日：1994-08-08
IPC分类号： B25J13/02 , B25J9/16

112. 发明专利

JP2567198B2 失效
公开(公告)号：JP2567198B2
公开(公告)日：1996-12-25
申请号：JP27144893
申请日：1993-10-29
申请人： MEIDENSHA KK , NITSUSAN JIDOSHA KK
发明人： IZAWA TSUTOMU , KAWABUCHI YOSHIOMI
IPC分类号： B25J3/00 , B25J13/02 , B25J19/04

113. 发明专利

JPH08323664A ROBOT CONTROLLER 失效
公开(公告)号：JPH08323664A
公开(公告)日：1996-12-10
申请号：JP13305795
申请日：1995-05-31
申请人： NIPPON STEEL CORP
发明人： ITO KUNIHARU , NISHIMURA FUTOSHI , YOSHITANI NAOHARU
IPC分类号： B25J9/10 , B25J13/02 , G05D3/00
摘要： PURPOSE: To improve hand tip drive speed and positioning accuracy of a robot by calculating a target position for a controller of the robot based on a calculated controlled variable and a target value of a feedback operation means allocated to a model which corresponds to a judged region. CONSTITUTION: Even if a positional space of a hand tip H of a robot RBT + RBC is divided into a plurality of regions, the movement of the hand tip H in each region is represented by a simple linear model, and a feedback operation means adapted to it is a means which facilitates the design and adjustment comparatively, the hand tip H can be driven and positioned comparatively at a high speed with high accuracy in each region. Consequently, the whole operation region of the hand tip H is a collection of each region, and comparatively high speed and high accuracy drive and positioning are realized over the whole region. Since it is possible to cope with non-linear characteristics of a multi-axis arm simply and a comparatively inexpensive general-purpose robot (RBT + RBC) can be used as it is, the robot can be installed easily.

114. 发明专利

JP2557735B2 失效
公开(公告)号：JP2557735B2
公开(公告)日：1996-11-27
申请号：JP24979290
申请日：1990-09-19
申请人： MITSUI SHIPBUILDING ENG
发明人： HARA KENJI
IPC分类号： B25J3/00 , B25J13/02 , G05G9/047

115. 发明专利

JPH08108385A INSTRUCTING DEVICE FOR INDUSTRIAL ROBOT 失效
公开(公告)号：JPH08108385A
公开(公告)日：1996-04-30
申请号：JP24502594
申请日：1994-10-11
申请人： TOSHIBA MACHINE CO LTD
发明人： MORIYAMA SHOJI
IPC分类号： B25J9/22 , B25J13/02
摘要： PURPOSE: To provide an instructing device for an industrial robot by which cost is reduced by reducing the number of switches and an operation panel surface can be downsized and which is excellent in operability. CONSTITUTION: An instruction device of an industrial robot is provided with a robot moving command output part 1 to output a robot moving command signal according to input of a robot moving demand signal and a cursor moving command output part 3 for a display image screen to output a cursor operation command signal according to input of a cursor operation signal, and is provided with a joy stick 5, an always opening type manual operation switch 7 and signal input switching control parts 11a to 11d, 17a to 17d and 19 which input an output signal of the joy stick 5 to the robot moving command output part 1 as the robot moving demand signal when the manual operation switch 7 is put in an ON condition and, on the other hand, input the output signal of the joy stick 5 to the cursor moving command output part 3 as the cursor operation signal when the manual operation switch 7 is put in an OFF condition.

116. 发明专利

JPH0866884A CONTROL LEVER 失效
公开(公告)号：JPH0866884A
公开(公告)日：1996-03-12
申请号：JP22562794
申请日：1994-08-26
申请人： KOMATSU MFG CO LTD
发明人： YOSHINADA YUTAKA , OKAMURA KENJI , YANAGI KUNIKAZU
IPC分类号： B25J13/02 , G05D3/12 , G05G9/04
摘要： PURPOSE: To hold the amount of horizontal displacement of a grip constant for easy control regardless of the position of the grip by providing a grip part about a horizontal rotating shaft. CONSTITUTION: The longitudinal and vertical movements of a grip 10a are achieved, respectively, as the rotation of a second arm 12 about a pin 11 and the rotation of a first arm 4 about a pin 2. The horizontal movement of the grip 10a is achieved as the rotation of a lever 10 about a rotating member 12a. Even if the grip 10a is pushed forward and moved horizontally, the horizontal rotating member 12a itself is also pushed forward, and the amount of horizontal displacement of the grip 10a is held constant; i.e., the amount of horizontal displacement can be held constant regardless of the position of the grip 10a.

117. 发明专利

JPH07276266A MASTER ARM OF MULTIAXIS MASTER/SLAVE TYPE SERVO MANIPULATOR 失效
公开(公告)号：JPH07276266A
公开(公告)日：1995-10-24
申请号：JP855295
申请日：1995-01-24
申请人： MEIDENSHA ELECTRIC MFG CO LTD
发明人： TOKUSHIGE MASAFUMI , MORIMOTO AKIRA
IPC分类号： B25J3/00 , B25J13/02
摘要： PURPOSE:To operate the grip of a master arm smoothly and lightly at starting the master arm by compensating static friction torque due to a motor actuator of each axis provided on the master arm of a multiaxis master/slave type servo manipulator. CONSTITUTION:Respective axes 3 of a master arm 1 are respectively provided with speed detectors 8, the grip 2 of the master arm 1 is provided with a switch actuating by gripping, and by operating the switch, static friction compensating torque is supplied to each axis of the master arm 1 so as to be able to improve operability of the master arm.

118. 发明专利

JPH07195279A MASTER ARM 失效
公开(公告)号：JPH07195279A
公开(公告)日：1995-08-01
申请号：JP35233093
申请日：1993-12-29
申请人： BRIDGESTONE CORP
发明人： ITO TAIZO
IPC分类号： B25J3/00 , B25J13/02
摘要： PURPOSE:To secure a master arm equipped with a wrist operating member that is excellent in operability and, what is more, there is no erroneous motion in a manipulator. CONSTITUTION:Since a knob 80 is of spherical form, an operator is simply holdable from every direction, conductive to an improvement in operability. In addition, a turning angle and a turning direction around an axis L1 of a second arm 78 of this knob 80 are judged by both symmetrical reversible two- way turning patterns and also a turning angle and a turning direction around an axis L2 orthogonal with the axis of the second arm 78 by two-way turning patterns to the same direction of two potensiometers 98 and 100, respectively. Likewise, since only two axial movements of a wrist of the operator are outputted to a controller as an operating signal, such a possibility that a manipulator might do its erroneous motion and thereby its upper arm part is shifted will in no case occur.

119. 发明专利

JPH06348405A NON-CONTACT JOY STICK 失效
公开(公告)号：JPH06348405A
公开(公告)日：1994-12-22
申请号：JP10538594
申请日：1994-05-19
申请人： CATERPILLAR INC
发明人： TOOMASU EMU BEIKAA , JIYOOJI KOODEINA , RARII EICHI FURANZEN , JIYON EFU SENTESU
IPC分类号： B25J13/02 , B66C13/40 , G05D3/12 , G05G9/047 , G06F3/033 , H01H9/16
摘要： PURPOSE: To provide an improved non-contact joy stick provided with a control shaft freely movable around a Z axis. CONSTITUTION: This non-contact joy stick 100 is provided with the control shaft 105 freely movable around the Z axis. A spherical conductive body 115 is attached to the end part of the control shaft 105 and plural conductive plates 120 are arranged around the spherical body 115. A power source supplies the electric energy of a first polarity to the spherical body 115 and supplies the electric energy of a second polarity to the plural conductive plates 120. The respective conductive plates 120 form variable capacitors 130 along with the spherical body 115. The electric capacity value of the respective variable capacitors 130 is the function of the displacement to the Z axis of the spherical body 115. A circuit generates plural position signals and the respective position signals correspond to the electric capacity values of the respective variable capacitors 130. The position signals indicate the relative position of the spherical body 115.

120. 发明专利

JPH06344279A REMOTE OPERATION DEVICE AND METHOD 失效
公开(公告)号：JPH06344279A
公开(公告)日：1994-12-20
申请号：JP13601893
申请日：1993-06-07
申请人： HITACHI LTD
发明人： AONO TOSHIHIRO , KAMESHIMA KOJI , HAMADA TOMOYUKI
IPC分类号： B25J3/04 , B25J9/16 , B25J9/18 , B25J13/02 , B25J13/06
摘要： PURPOSE:To alter the operation plan while the operation of a robot is executed and to surely execute a remote operation such as construction repairing or the like. CONSTITUTION:A remote operation device comprises an input device 11 for creating an operation plan, a control instruction creating device 12 for expanding the operation plan to creat a robot control instruction, guidance control equipment 2 for controlling robots 41-4n according to a control instruction and monitoring their operation, operation simulation equipment 13 for confirming the validity of the operation plan, and a display device 14 for displaying the operation status or the operation simulation status. The input device 11 and the control instruction creating device 12 are operated in dispersion and parallel, the created operation plan is temporarily retained in the input device 11, and when the control instruction creating device 12 creates no instruction, the operation plan is transferred.

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