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21. 发明专利

JPS6149210A Notch signal generating system 失效
标题翻译： NOTCH信号发生系统
公开(公告)号：JPS6149210A
公开(公告)日：1986-03-11
申请号：JP17230184
申请日：1984-08-17
申请人： Yaskawa Electric Mfg Co Ltd
发明人： HARA KENJI
IPC分类号： G05B19/18 , G05B19/414 , G05B19/418
CPC分类号： G05B19/4181 , Y02P90/06
摘要： PURPOSE:To obtain an accurate notch signal without using any exclusive signal line by estimating a generating time point of the notch signal from the present value sent from each NC (numerical controller) every transmission cycle. CONSTITUTION:Numerical controllers NC2a and 2b are provided to each shaft, and an upper controller 1 controls these NC2a and 2b. These three controllers are connected via a transmission line 3 to form a decentralized numerical control system. A notch signal estimating/generating part 6 is provided into the controller 1 to omit the notch signal generating parts of both controllers NC2a and 2b. The part 6 stores previously the position data Px to produce notch signals, and the data Px is compared with the present value P which is accepted every transmission period Ts. Then the notch signal is produced when the time T elapses from acceptance of the value P. The time T is obtained from Ts(Px-Pn)/(Pn-Pn-1), where Ts means a transmission period and Pn and Pn-1 show the present values of each sampling mode.
摘要翻译：目的：通过从每个发送周期从每个NC（数字控制器）发送的当前值估计缺口信号的生成时间点，从而不使用任何专用信号线来获得准确的陷波信号。构成：数控NC2a和2b设在每个轴上，上控制器1控制这些NC2a和2b。这三个控制器通过传输线3连接，形成一个分散的数字控制系统。陷波信号估计/产生部分6被提供到控制器1中以省略两个控制器NC2a和2b的陷波信号产生部分。部分6预先存储位置数据Px以产生陷波信号，并且将数据Px与每个传输周期Ts接受的当前值P进行比较。然后，当从接受值P经过时间T时产生陷波信号。时间T从Ts（Px-Pn）/（Pn-Pn-1）获得，其中Ts表示传输周期，Pn和Pn- 1显示每个采样模式的当前值。

22. 发明专利

JPS6142008A Robot course controller 失效
标题翻译：机器人课程控制器
公开(公告)号：JPS6142008A
公开(公告)日：1986-02-28
申请号：JP16413384
申请日：1984-08-03
申请人： Sankyo Seiki Mfg Co Ltd
发明人： TOKIDA HARUHIRO
IPC分类号： G05D3/12 , B25J9/10 , B25J9/16 , B25J13/00 , G05B19/19 , G05B19/416 , G05B19/418
CPC分类号： G05B19/4181 , G05B19/416 , G05B2219/34042 , G05B2219/43048 , Y02P90/06
摘要： PURPOSE:To attain a smoothly curved locus as a course of operating points of a robot by interposing a digital filter for the component of each coordinate system between a motion command part of the robot and a robot driving part and using delay characteristics of rise and fall of this filter. CONSTITUTION:A robot course controller 1 is provided with digital filters 3 and 4 especially between a motion command part 2 and a coordinate converter 5, and the output terminal of an adder 10 is connected to a subtractor 8 and the other input terminal of the adder 10. These filters 3, and 4 function as delay elements and have characteristics approximating a transmission function 1/(1+ST) of an analog filter of an integration circuit, and therefore, the locus of operating points of the robot becomes an exponential-functionally smooth curve. The value of a coefficient 1/a of a multiplier 9 and a sampling period (a certain unit time) are changed to adjust freely delay times (time constants) of filters 3 and 4. Thus, since the operation command position of the robot is changed continuously, an excessive current is not flowed to the robot driving part (servomotor), and a smooth motion characteristic is obtained.
摘要翻译：目的：通过在机器人的运动指令部和机器人驱动部之间插入用于每个坐标系的部件的数字滤波器并使用上升和下降的延迟特性来获得作为机器人的操作点的平滑弯曲轨迹的这个过滤器。构成：机器人路线控制器1具有特别是运动指令部分2和坐标转换器5之间的数字滤波器3和4，加法器10的输出端连接到减法器8，加法器的另一个输入端这些滤波器3和4用作延迟元件并且具有接近积分电路的模拟滤波器的传输函数1 /（1 + ST）的特性，因此机器人的操作点的轨迹变为指数 - 功能平滑曲线。改变乘法器9的系数1 / a的值和采样周期（一定的单位时间），以自由调整滤波器3和4的延迟时间（时间常数）。因此，由于机器人的操作指令位置连续地变化，过量的电流不流向机器人驱动部（伺服电机），得到平滑的运动特性。

23. 发明专利

JPS58211210A Program control device of numerical control transfer machine 失效
标题翻译：数控机床编程控制装置
公开(公告)号：JPS58211210A
公开(公告)日：1983-12-08
申请号：JP9548482
申请日：1982-06-03
申请人： Seiko Seiki Co Ltd
发明人： MOTOKI TAKASHI , KAWASHIMA TOSHIAKI
IPC分类号： B23Q41/00 , G05B19/418
CPC分类号： G05B19/4181 , Y02P90/06 , Y02P90/12
摘要： PURPOSE:To improve the operation efficiency, by feeding continuously an object to be worked without discontinuing its feed, and changing a working program of each working station in accordance with feed of the object to be worked, when changing consecutive working contents to the object to be worked. CONSTITUTION:A transfer machine is provided with N-number of working stations, and is provided with control units 21, 22...2N in accordance with each station. Each unit stores a numerical control NC program which is executed in a corresponding working station, and decides an execution program in accordance with a program selecting data inputted through AND circuits 31, 32-3N in accordance with each unit. A program selecting data D from a program selecting signal generator 9 is inputted to one input of each circuit 31-3N, and any one of the AND circuits is opened, by which the data is applied to its corresponding control unit, and the working program is changed.
摘要翻译：目的：为了提高运行效率，通过不间断进给来连续输送待加工物体，并根据被加工物的进给改变每个加工站的工作程序，当将连续的工作内容改为对象时工作。构成：转印机具有N个加工台，并且根据各台设置有控制单元21,22 ... 2N。每个单元存储在对应的工作站中执行的数控NC程序，并且根据每个单元根据通过AND电路31,32-3N输入的程序选择数据来决定执行程序。将来自节目选择信号发生器9的节目选择数据D输入到每个电路31-3N的一个输入端，并且任何一个“与”电路被打开，数据被应用于其对应的控制单元，工作程序改变了

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