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31. 发明专利

JPS61138313A Servo mechanism 失效
标题翻译：伺服机构
公开(公告)号：JPS61138313A
公开(公告)日：1986-06-25
申请号：JP25906984
申请日：1984-12-10
申请人： Fujitsu Ltd
发明人： SUGIYAMA KENICHI , KOMORIYA HITOSHI , ARAKI MAKOTO , NAKAMURA YOSHITERU , IIDA YOSHITAKA
IPC分类号： G05D3/12 , G05B19/23 , G05B19/416
CPC分类号： G05B19/231 , G05B2219/41243 , G05B2219/42104
摘要： PURPOSE:To prevent overflow of the first and the second counters by clearing the first and the second counters at a prescribed timing responding to impression of a speed command when the control operation is performed in response to the speed command. CONSTITUTION:The speed command is given to a D/A converter 1 at certain intervals and is converted to a voltage, and this voltage is converted to pulses by a V/F converter 2, and these are counted by a counter 3 to output a position command. An encoder 7 connected directly to a motor outputs pulses corresponding to the movement of the motor on a basis of this position command, and the extent of movement is counted by a counter 8. A reset pulse RST is impressed to counters 3 and 8 at every interval. The counter 3 counts pulses at a counting rate corresponding to the magnitude of the speed command, and counters 3 and 8 are cleared by the pulse RST just before the speed command at the next interval is given, and they start counting again. Thus, overflow does not occur in counters.
摘要翻译：目的：通过响应于速度指令执行控制操作，在响应于速度指令的印象的规定时间清零第一和第二计数器来防止第一和第二计数器的溢出。构成：速度指令以一定的间隔被提供给D / A转换器1并被转换成电压，并且该电压被V / F转换器2转换成脉冲，并且由计数器3计数以输出位置命令。直接与电动机连接的编码器7基于该位置指令输出与电动机的移动相对应的脉冲，并通过计数器8对移动范围进行计数。复位脉冲RST每次向计数器3和8施加压力间隔。计数器3以对应于速度指令的大小的计数速率对脉冲进行计数，并且计数器3和8在下一个间隔的速度命令给出之前由脉冲RST清除，并且它们再次开始计数。因此，在计数器中不会发生溢出。

32. 发明专利

JPS6177906A Controller of manipulator 失效
标题翻译：操纵器控制器
公开(公告)号：JPS6177906A
公开(公告)日：1986-04-21
申请号：JP19939784
申请日：1984-09-26
申请人： Nissan Motor Co Ltd
发明人： TAKAHASHI TORU
IPC分类号： G05D3/12 , G05B11/36 , G05B19/23 , G05B21/02
CPC分类号： G05B19/231
摘要： PURPOSE:To reduce greatly the arithmetic load in a positioning mode by discontinuing the nonlinear compensation and applying the feedback control only at a point close to the final target position or speed where the nonlinearity can be ignored. CONSTITUTION:A DC motor 4 of each joint shaft of a manipulator is driven by the output of a microcomputer 1 via a D/A converter 2 and a current amplifier 3. Then a tachogenerator 5 detects a joint angle speed d/dt(theta) and at the same time a counter 6 detects a joint angle theta respectively. Here the final target joint angle of the manipulator is compared with an actual angle theta. When the actual angle theta is set within a prescribed range, the final target joint angle speed is compared with the actual speed. Then it is regarded that the angle speed is slowed satisfactorily down to the final target value when the actual speed is kept within the prescribed range. Then the feedback control degree U is calculated from the deviation between the target angle and angle speed and these actual values. Thus a command torque T is calculated and delivered.
摘要翻译：目的：通过停止非线性补偿并仅在靠近可忽略非线性的最终目标位置或速度的点施加反馈控制，大大减少了定位模式下的运算负载。构成：通过D / A转换器2和电流放大器3，由微型计算机1的输出驱动机械手的每个关节轴的直流电动机4.然后，测速发电机5检测关节角速度d / dt（θ）并且同时计数器6分别检测关节角度θ。这里将机械手的最终目标关节角度与实际角度θ进行比较。当实际角度θ设定在规定范围内时，将最终目标关节角度速度与实际速度进行比较。然后认为当实际速度保持在规定范围内时，角速度令人满意地减慢到最终目标值。然后根据目标角度和角速度与这些实际值之间的偏差计算反馈控制度U。因此，计算并传送指令扭矩T.

33. 发明专利

JPS6159510A Positioning controller 失效
标题翻译：定位控制器
公开(公告)号：JPS6159510A
公开(公告)日：1986-03-27
申请号：JP18132684
申请日：1984-08-30
申请人： Matsushita Electric Ind Co Ltd
发明人： KITAYAMA HIROYASU
IPC分类号： G05D3/12 , G05B19/23
CPC分类号： G05B19/231 , G05B2219/41123 , G05B2219/41243 , G05B2219/43139
摘要： PURPOSE:To attain control always optimum to prevention of generation of an overflow of a deviation counter even for a positioning control system whose load is changed largely by controlling a pulse rate of an oscillator depending on the content of the deviation counter. CONSTITUTION:A pulse train is inputted to one end of a deviation counter 9 from an oscillator 8 and a feedback pulse of a rotary encoder 14 directly coupled to a DC servo motor 12 is inputted to the other input and a difference in pulse number is inputted to a D/A converter 10. Then a signal outputted from the converter 10 drives the motor 12 via an amplifier 11. In this case, an output of the counter 9 is fed back to the oscillator 8 via an oscillator control circuit 15 to control the pulse rate of the oscillator 8. Then even in the positioning control system where the load is changed largely, the motor is driven with an optimum acceleration/deceleration profile in response to the load at all times and optimum control such as prevention of generation of overflow of the counter 9 is applied at all times.
摘要翻译：目的：即使对于通过根据偏差计数器的内容控制振荡器的脉冲速率来大大改变负载的定位控制系统，也可以始终保持最佳的防止偏差计数器溢出的产生的控制。构成：将脉冲串从振荡器8输入到偏差计数器9的一端，直接连接到直流伺服电动机12的旋转编码器14的反馈脉冲输入到另一个输入端，输入脉冲数差然后，从转换器10输出的信号经由放大器11驱动电动机12.在这种情况下，计数器9的输出经由振荡器控制电路15反馈到振荡器8，以控制振荡器8的脉冲速率。然后即使在负载发生很大变化的定位控制系统中，电动机一直响应于负载而以最佳的加速/减速曲线被驱动，并且最佳控制如防止产生总是应用计数器9的溢出。

34. 发明专利

JPS6158484A Controller for motor 失效
标题翻译：电机控制器
公开(公告)号：JPS6158484A
公开(公告)日：1986-03-25
申请号：JP18124284
申请日：1984-08-30
申请人： Brother Ind Ltd
发明人： SAKAKIBARA KENJI , ASAI KOICHI
IPC分类号： H02P3/06 , G05B19/23 , H02P29/00
CPC分类号： G05B19/231
摘要： PURPOSE:To enhance the accuracy of controlling the speed of a motor and the stopping position by forming a digital signal for instructing a rotating speed and an analog signal for stopping the motor, and converting the digital signal into the analog signal before the prescribed amount of the position to be stopped. CONSTITUTION:Rotating position instructing means 18 is provided, and an encoder 11 is mounted on a motor 10 to detect the actual position signal. A CPU 15 inputs the outputs of the means 18 and the encoder 11 and outputs a digital signal for instructing the prescribed rotating speed so that the position signal of the motor coincides with the command value. The position signal of the encoder 11 is also input to a calculator 27, which outputs an analog signal for stopping the motor. A driver 26 is normally controlled by the digital signal of the CPU 15, but it is converted to the analog signal of the calculator 27 before 1/4 period at the maximum from the position to be stopped at the stopping time to control stopping of the motor.
摘要翻译：目的：通过形成用于指示旋转速度的数字信号和用于停止电机的模拟信号来提高控制电机速度和停止位置的精度，并将数字信号转换为模拟信号，要停止的位置构成：提供旋转位置指示装置18，并且编码器11安装在电动机10上以检测实际位置信号。 CPU15输入装置18和编码器11的输出，并输出用于指示规定转速的数字信号，使得电动机的位置信号与指令值一致。编码器11的位置信号也被输入到计算器27，计算器27输出用于停止电动机的模拟信号。驱动器26通常由CPU 15的数字信号控制，但是在停止时刻从停止的位置起最大值的1/4周期之前将其转换为计算器27的模拟信号，以控制停止发动机。

35. 发明专利

JPS6126484A Controller of industrial machine 失效
标题翻译：工业机械控制器
公开(公告)号：JPS6126484A
公开(公告)日：1986-02-05
申请号：JP14720584
申请日：1984-07-16
申请人： Mitsubishi Electric Corp
发明人： KONDO MAKOTO
IPC分类号： H02P29/00 , B25J9/04 , B25J9/16 , B25J13/00 , G05B19/23
CPC分类号： G05B19/231 , B25J9/042
摘要： PURPOSE:To suppress the temperature rise of a motor by controlling the motor by the compared result of the difference value between the measured value of the rotating speed of the motor and the command value with the value added with the command value and the threshold value. CONSTITUTION:A counter 22 adds the difference between the pulse number of a pulse generator 20 and the pulse number of a directional discriminator 21, and the counted result of the counter 22 is converted by a D/A converter 23 to a voltage signal Vd. A servo amplifier 26 compares a voltage signal Vd with the speed signal of a speed detector 8b to control a motor 8. On the other hand, a pulse signal PC from a pulse generator 20 is converted by a f/V converter 30 to a voltage signal Vc, an adder 31 adds a reference voltage signal VR2 and the voltage signal Vc, and outputs a voltage signal VR3. When the voltage signal Vd becomes equal to the signal VR3, a comparator 25 outputs a significant signal to abruptly stop the motor 8.
摘要翻译：目的：通过将电动机的转速的测量值与指令值之间的差值与加上指令值和阈值的值的差值进行比较来控制电动机来抑制电动机的温升。构成：计数器22将脉冲发生器20的脉冲数与方向鉴别器21的脉冲数之间的差加上，计数器22的计数结果由D / A转换器23转换为电压信号Vd。伺服放大器26将电压信号Vd与速度检测器8b的速度信号进行比较，以控制电动机8.另一方面，来自脉冲发生器20的脉冲信号PC由af / V转换器30转换成电压信号 Vc，加法器31将参考电压信号VR2和电压信号Vc相加，并输出电压信号VR3。当电压信号Vd变得等于信号VR3时，比较器25输出有效信号以突然停止电动机8。

36. 发明专利

JPS59170902A Control device 失效
标题翻译：控制装置
公开(公告)号：JPS59170902A
公开(公告)日：1984-09-27
申请号：JP4495183
申请日：1983-03-17
申请人： Matsushita Electric Ind Co Ltd
发明人： IWATANI MASAHIRO , MATSUMOTO KENZOU , KONISHI CHIKA
IPC分类号： G05B9/02 , B25J9/16 , G05B19/23
CPC分类号： G05B19/231 , G05B2219/37313
摘要： PURPOSE:To change the movable range of a movable part in a machine easily and precisely only by replacing data in an RAM without using a limit switch or the like by limiting the movable range by software. CONSTITUTION:The operation of the machine in the X axis direction is executed in accordance with the procedure of a program previously inputted in the RAM of a microcomputer (MC) 9 by an input operation part 10. The MC 9 sends data corresponding to the moving distance and moving speed of the X axis direction to a command pulse generating circuit 11. On the other hand, a pulse generator 16 detects the number of revolutions of a DC servo motor 15. A deviation counter 12 outputs an deviation of two inputs to a servo amplifier 14 through a D/A converter 13. A frequency/voltage converter 17 converts the frequency of an input pulse into a voltage. A current position counter 18 counts up input pulses and measures the moving distance and the MC9 discriminate whether the moving distance in the movable range or not to control the movable part of the machine.
摘要翻译：目的：通过用软件限制可移动范围，只需通过更换RAM中的数据，即可方便，精确地更改机器中可移动部件的可移动范围，而无需使用限位开关等。构成：根据由输入操作部10在微机（MC）9的RAM中预先输入的程序的程序，执行X轴方向的机器的动作.MC9发送对应于移动的数据的数据 X轴方向的距离和移动速度相对于指令脉冲发生电路11.另一方面，脉冲发生器16检测DC伺服电动机15的转数。偏差计数器12将两个输入的偏差输出到伺服放大器14通过D / A转换器13.频率/电压转换器17将输入脉冲的频率转换为电压。当前位置计数器18对输入脉冲进行计数并测量移动距离，并且MC9判别移动范围内的移动距离是否控制机器的可移动部分。

37. 发明专利

JPS58223818A Method and device for measuring motor driving quantity 失效
标题翻译：用于测量电机驱动量的方法和装置
公开(公告)号：JPS58223818A
公开(公告)日：1983-12-26
申请号：JP10814682
申请日：1982-06-23
申请人： Toyota Central Res & Dev Lab Inc
发明人： KUNO TOSHITAKA , KAMIYA ATSUSHI
IPC分类号： G05D3/12 , G05B19/23
CPC分类号： G05B19/231 , G05B2219/34072 , G05B2219/37183 , G05B2219/37261 , G05B2219/37462 , G05B2219/41092
摘要： PURPOSE:To improve the operability of a titled device, by storing previously a constant of a linear approximate equation showing the relationship between the relative and absolute driving quantities into a nonvolatile memory and then teaching the present position from the stored contents of the nonvolatile memory when a motor is started. CONSTITUTION:An arithmetic circuit 48 reads out a sampling relative driving quantity 124 and a sampling absolute driving quantity 126 and obtains a constant 130 of a linear approximate equation 128 which shows the relationship between a relative driving quantity 102 and an absolute driving quantity 118 to store it into a nonvolatile memory 50. A motor 14 is driven with a position command 100 of a position command generating circuit 16 when a robot is restarted and reset. Thus a reference pulse 108 is delivered from an encoder 24. When the driving of the motor 14 is stopped, a present driving quantity setting circuit 52 samples the quantity 118 at the corresponding position with a sampling command 120 and then reads the constant 130 out of the memory 50. The constant 130 is then substituted for the equation 128 to obtain a relative driving quantity 132 at the sampling position when the robot is started.
摘要翻译：目的：为了提高标题设备的可操作性，先前将一个表示相对驱动量和绝对驱动量之间的关系的线性近似方程常数存储到非易失性存储器中，然后从非易失性存储器的存储内容中引用当前位置，电机启动。构成：算术电路48读出采样相对驱动量124和采样绝对驱动量126，并获得示出相对驱动量102和绝对驱动量118之间的关系的线性近似式128的常数130，以存储它变成非易失性存储器50.当机器人重启和复位时，电机14由位置指令产生电路16的位置指令100驱动。因此，参考脉冲108从编码器24传送。当马达14的驱动停止时，当前的驱动量设定电路52用取样指令120对相应位置的数量118进行采样，然后读出常数130 存储器50.然后，常数130被代入公式128，以在机器人启动时在采样位置获得相对驱动量132。

38. 发明专利

JPS58197508A Programmable control system of work unit in mass-producing machine 失效
标题翻译：生产机械工程单位可编程控制系统
公开(公告)号：JPS58197508A
公开(公告)日：1983-11-17
申请号：JP8012882
申请日：1982-05-14
申请人： Toshiba Mach Co Ltd
发明人： YAMANAKA KUNIHIRO , IDE TSUNEO , SERIZAWA YUUJI
IPC分类号： B23Q15/00 , G05B19/18 , G05B19/23
CPC分类号： G05B19/231 , G05B2219/36153
摘要： PURPOSE:To perform general control and individual control over a work unit and other units and to control a mass-producing machine smoothly by providing the work unit with a unit control board for commanding programmable work control. CONSTITUTION:A programmable sequence controller 40 in the main control board 26 supplies prescribed sequence commands to the sequence control part 32 of the unit control board 22. The sequence control part 32 receives the commands to control the main shaft motor 16 of the work unit 10 through a main shaft motor control part 36 and also to control an AC servomotor 14 through an AC servomotor control part 34. The main control board 26 is provided with a main operation box 28 for its general operation and the unit control board 22 is provided with a suboperation box for its operation; and a pulse encoder 18 for detecting the position and speed of the AC servomotor 14 and an origin position detector 20 for a work tool are provided.
摘要翻译：目的：通过为工作单元提供控制可编程工作控制的单元控制板，对工作单元和其他单元进行一般控制和单独控制，并平稳地控制批量生产机床。构成：主控制板26中的可编程顺序控制器40向单元控制板22的顺序控制部32提供规定的顺序指令。序列控制部32接收控制作业单元10的主轴电动机16的命令通过主轴电动机控制部36，并且还通过AC伺服电动机控制部34来控制AC伺服电动机14.主控制板26具有用于其一般操作的主操作箱28，并且单元控制板22设置有一个操作盒子; 并且提供用于检测AC伺服电机14的位置和速度的脉冲编码器18以及用于作业工具的原点位置检测器20。

39. 发明专利

JPS5752915A Position controlling method for operating cylinder driving device 失效
标题翻译：用于操作气缸驱动装置的位置控制方法
公开(公告)号：JPS5752915A
公开(公告)日：1982-03-29
申请号：JP11544081
申请日：1981-07-24
申请人： Maag Zahnraeder & Maschinen Ag
发明人： GAIIFURANSOWA BURAN
IPC分类号： G05D3/12 , G05B19/23
CPC分类号： G05B19/231 , G05B2219/41176 , G05B2219/41309 , G05B2219/43115

40. 发明专利

JP2018103329A 水平多関節型ロボット用の校正治具および校正方法审中-公开
公开(公告)号：JP2018103329A
公开(公告)日：2018-07-05
申请号：JP2016254317
申请日：2016-12-27
申请人：トヨタ自動車株式会社
发明人：萩野智生 , 各務直人 , 成瀬洋一 , 松原海人
IPC分类号： B25J9/10
CPC分类号： B25J9/1656 , B25J9/101 , B25J9/103 , B25J9/126 , B25J9/1692 , G01B1/00 , G05B19/231 , G05B19/42 , G05B2219/50132
摘要：【課題】水平多関節型ロボットを効率良く校正すること【解決手段】校正領域40aは、矩形領域50と、外周領域51とを有する。矩形領域50は、中心部に設けられたセンター領域50eと、4つ角部に周方向において順に設定された第1角領域50aと、第2角領域50bと、第3角領域50cと、第4角領域50dとを有している。センター領域50eは、矩形領域50の中心c0を通る直交する2軸に対してそれぞれ線対称な形状に設定されている。各領域の高さは、それぞれ異なる。【選択図】図4

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