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41. 发明专利

JPH0454605A CONTROL METHOD FOR ROBOT WITH MULTIPLE DEGREES OF FREEDOM 失效
公开(公告)号：JPH0454605A
公开(公告)日：1992-02-21
申请号：JP16412290
申请日：1990-06-25
申请人： HITACHI LTD
发明人： TAJIMA FUJIO , OGISO TOSHIO , OTSUKI HARUAKI
IPC分类号： B25J9/10 , G05B19/18 , G05B19/404
摘要： PURPOSE:To compensate the delay of a servo-system and to realize the satisfactory locus control by correcting a position variation pulse number inputted to a driver on a software by using a parameter corresponding to the attitude of a robot. CONSTITUTION:By using a table of a set of time constants derived in advance at every shaft in accordance with the attitude of a robot and stored by a store means, the number of pulses inputted to a driver 23 is corrected at every prescribed period, generation of pulses only the number of corrected pulses is set to a pulse generating means 22 and the pre-compensation using a phase lead element is realized. As a result, a transfer characteristic of a servo-system in the driver 23 which can be approximated as a phase lag element having a set of time constants varied by the attitude of a robot 24 is negated, and a transfer function as a whole becomes unity approximately, so that, a response delay caused by the transfer characteristic of the servo-system of the driver 23 can be negated.

42. 发明专利

JPH0446792A DRIVING DEVICE AND ELASTIC LOAD COMBINED MEMBER AND INDUSTRIAL ROBOT 失效
公开(公告)号：JPH0446792A
公开(公告)日：1992-02-17
申请号：JP15517790
申请日：1990-06-15
申请人： HITACHI LTD
发明人： OGISO TOSHIO , TAJIMA FUJIO , TAKEMOTO AKINOBU , KEZUKA NOBUMOTO , KOBAYASHI MASARU
IPC分类号： B25J19/00
摘要： PURPOSE:To restrict increase of the load inertia moment of a driving device at minimum, and eliminate hindrance of the high adjustable operation of a driving device and elastic load combined member by locating a vibration absorbing device of a driving device and elastic load combined member in a moving part and/or a part near a fixed part of the driving device. CONSTITUTION:A vibration absorbing device 5, which can restrict low order natural vibration of a driving device and elastic load combined member in the movement direction of the driving device, in a moving part 2 or a part near a fixed part of each driving device 1. Next, in the case that interference exists between multiple driving devices, each vibration absorbing device 5 is formed so as to have the intermediate characteristic of the optimum characteristic of each vibration absorbing device 5 which can get the highest control gain of each driving device.

43. 发明专利

JPH03245208A ACCELERATION/DECELERATION CONTROL METHOD FOR DRIVER 失效
公开(公告)号：JPH03245208A
公开(公告)日：1991-10-31
申请号：JP4101890
申请日：1990-02-23
申请人： HITACHI LTD
发明人： OGISO TOSHIO , TAJIMA FUJIO , TAKEMOTO AKINOBU
IPC分类号： G05D3/12 , G05B19/416 , H02P25/098 , H02P29/00 , H02P29/10
摘要： PURPOSE:To drive a load in a short acceleration/deceleration time without causing any deficiency in the driving force by driving a driving device with use of a velocity pattern which turns an exponent, the maximum velocity, and the acceleration/deceleration time into the variable parameters via a specific exponent power sine wave velocity pattern. CONSTITUTION:An exponent power sine wave velocity pattern shown in an equation I is used as an axial velocity pattern of a driver. In this velocity pattern, m = 1 shows a single chord curve that secures the maximum acceleration with t = 0 and m = 2 shows a cycloid curve that secures the acceleration 0 with t = 0 and the maximum acceleration with t = th/8 respectively. Thus it is possible to generate a velocity pattern having the intermediate characteristic defined between the single chord curve and the cycloid curve with optional selection of an exponent. As a result, a load can be driven in a short acceleration/deceleration time without causing any deficiency in the driving force.

44. 发明专利

JPH03164808A CONTROL METHOD FOR ROBOT WITH MULTI-DEGREE OF FREEDOM 失效
公开(公告)号：JPH03164808A
公开(公告)日：1991-07-16
申请号：JP30216489
申请日：1989-11-22
申请人： HITACHI LTD
发明人： TAJIMA FUJIO , OGISO TOSHIO , OTSUKI HARUAKI
IPC分类号： B25J9/10 , G05B19/18 , G05B19/404 , G05B19/4103
摘要： PURPOSE:To improve the follow-up capability of the position and the speed of a robot by cancelling the response delay due to the transfer characteristic of a driver. CONSTITUTION:The number pulse inputted to the driver in each certain period is corrected with a time constant table, which is preliminarily obtained for each shaft in accordance with the attitude of a robot 24 and is stored in a storage means, and the generation of the corrected number pulses is set to a pulse generating means 22, and this method realizes precompensation using a primary leading element. Consequently, the transfer characteristic of a servo system in the driver 23 which can be approximated as a primary delay element having the time constant which is changed by the attitude of the robot is cancelled, and the transfer function goes to approximately '1' as the whole. Thus, the response delay due to the transfer characteristic of the servo system in the driver 23 is cancelled.

45. 发明专利

JPH02218568A WRIST DEVICE FOR ROBOT AND HORIZONTAL ARTICULATED ROBOT 失效
公开(公告)号：JPH02218568A
公开(公告)日：1990-08-31
申请号：JP3617489
申请日：1989-02-17
申请人： HITACHI LTD
发明人： OGISO TOSHIO , SASAKI TAKESHI , TAJIMA FUJIO , OTSUKI HARUAKI
IPC分类号： B25J9/06
摘要： PURPOSE:To prolong the life of a ball screw by applying no moment load on a ball screw net part, through coaxial arrangement of a vertically moving ball screw shaft and rotation operating spline shaft. CONSTITUTION:A ball screw shaft 6, 1st and 2nd spline shafts 9, 12 are coaxially arranged to a robot arm 1. Even in the case of a moment load being acted on the tool fitted to the 2nd spline shaft 12, no moment load is thus acted on the ball screw nut part 7 screwed to the ball screw shaft 6. Moreover, the shapes of the covers 4, 5 of the wrist device provided on the robot arm 1 are formed in the column shape having almost circular section and the fluid resistance of the arm revolving time is reduced.

46. 发明专利

JPS63214979A MAGNETIC TAPE CARTRIDGE 失效
公开(公告)号：JPS63214979A
公开(公告)日：1988-09-07
申请号：JP4754287
申请日：1987-03-04
申请人： HITACHI LTD
发明人： TAJIMA FUJIO , OKUYAMA HIROYOSHI , ICHIKAWA KOJI , ITO MASAMICHI
IPC分类号： G11B23/107 , G11B23/027
摘要： PURPOSE:To prevent damages such as folding, pliability and transformation of a tape caused by contacting the end part of the tape and a flange above a reel hub by setting the level difference between the holding height of a reel and the height of the aperture window of a cartridge at the time of keeping the cartridge as a value obtained by subtracting the width of the tape from a distance between the flanges of the reel. CONSTITUTION:A cylindrical rib 14 is provided below the reel hub 1. At the time of using the cartridge, the reel hub 1 is maintained in the central position in order not to contact with a casing 2. Meanwhile, the reel hub 1 is maintained below the casing 2 since the cartridge must be tightly enclosed at the time of keeping, but by means of the rib 14 added below the reel hub 1 the alteration of the height of the reel hub 1 between at the time of using and at the time of keeping can be reduced. Since the tape does not contact with the reel hub 1 even at the time of keeping, the damages to the tapes can be prevented.

47. 发明专利

JPS62195747A TAPE CARRYING CONTROLLER 失效
公开(公告)号：JPS62195747A
公开(公告)日：1987-08-28
申请号：JP3519086
申请日：1986-02-21
申请人： HITACHI LTD
发明人： TAJIMA FUJIO , KANNA MUNETAKE
IPC分类号： G05D15/00 , B65H23/18 , G11B15/43
摘要： PURPOSE:To obtain a tape carrying controller keeping tightly a tape tension at a constant force even in the rapid operating state such as start/stop of a tape by adopting the constitution that the gain constant in a compensator is correctable in response to the gain change of the mechanism. CONSTITUTION:In the constitution of the speed control system, a speed error detector 34 compares a speed command 23 and a signal 17 representing a real tape speed are compared and an obtained speed error is outputted to speed controllers 26, 27. The control constant required for the motion control of the tape is calculated at each torque of reel by a reel load sensor 33 and the result is set to the speed controllers 26, 27. In the constitution of the tension control system, a tension error detector 28 compares a tension command 24 and a signal 18 representing a real tape tension and the obtained tension error is outputted to tension controllers 29, 30. The tension controller 29 decides a correction current outputted to a winding reel motor 1 to keep the tape tension to the object value and the tension controller 30 decides the correction current outputted to a supply reel motor 2 similarly.

48. 发明专利

JPS6288768A TAPE FEED CONTROL METHOD AND ITS DEVICE 失效
公开(公告)号：JPS6288768A
公开(公告)日：1987-04-23
申请号：JP22638485
申请日：1985-10-11
申请人： HITACHI LTD
发明人： TAJIMA FUJIO , ICHIKAWA KOJI , MAEJIMA HIROSHI
IPC分类号： B65H23/18 , B65H23/185 , B65H23/198 , G11B15/43
摘要： PURPOSE:To eliminate fluctuations of tape tension and shift a tape at high precision by feeding power to the drive motor of each reel at a rate in response to the tape radium wound on each reel. CONSTITUTION:A magnetic tape 5 is shifted from one reel 4 to the other reel 3 via a tension sensor 9, magnetic head 6, and a speed tachometer roller 8 by the drive of motors 1, 2. Rotation quantities of reels 3, 4 are detected by tachometers 11, 12, and the minute rotation of the speed tachometer 8 is detected by a fine tachometer 10. The tape length wound on the reel 3 is equal to the tape length having passed the speed tachometer 8, therefore the radius of the reel 3 can be determined by comparing both rotation quantities. It is the same for the reel 4. A control unit 16 calculates drive currents of motors 1, 2 by using reel radii via a control algorism and can control the movement of motors 1, 2 via a power amplifiers 14, 15 thus tension fluctuations can be eliminated.

49. 发明专利

JPS6194268A Lamination type flexible disk device 失效
标题翻译：层压型柔性盘装置
公开(公告)号：JPS6194268A
公开(公告)日：1986-05-13
申请号：JP21411484
申请日：1984-10-15
申请人： Hitachi Ltd
发明人： TAJIMA FUJIO , YONEDA FUKUO , SHIMIZU ISAO , TANAKA KATSUYUKI , ISOZAKI JUN
IPC分类号： G11B17/28 , G11B17/02
CPC分类号： G11B17/021
摘要： PURPOSE:To detect accurately the shift amount of a disk separating mechanism by applying the inner diameter surface of a disk which has no dynamic displacement during revolution of the disk as a detection surface and using a detection circuit including a position detecting member which detects the difference of permeability between a flexible disk and a spacer to convert the change of the resistance value of said position detecting member into the change of the electrical value. CONSTITUTION:A position detector 20 attached at the tip of a nozzle 5 consists of an MR element applying a magneto-resistance effect. A lead wire 22 connected to the detector 20 includes three wires for voltage 22a, output 22b and ground 22c respectively. The wire 22 is led to the outside through the center hole 23 of a hollow shaft 7. If the shaft 7 moves under such conditions, the detector 20 is made opposite to a disk 2 and a spacer 21 alternately to produce the magnetic flux changes accordant with each correspondence among the detector 20, the disk 2 and the spacer 21 respectively. These magnetic flux changes are detected by the detector 20 and sent to the outside via a lead 22b to undergo waveform processing for exact detection of the number of disks. Thus the shift amount of a disk separating mechanism can be obtained with high accuracy.
摘要翻译：目的：通过将盘旋转期间没有动态位移的盘的内径表面作为检测表面来准确地检测盘分离机构的移动量，并使用包括检测差异的位置检测构件的检测电路的柔性盘和间隔件之间的磁导率，以将所述位置检测构件的电阻值的变化转换成电气值的变化。构成：安装在喷嘴5的尖端处的位置检测器20由施加磁阻效应的MR元件构成。连接到检测器20的引线22分别包括用于电压22a，输出22b和接地22c的三根线。线22通过中空轴7的中心孔23被引导到外部。如果轴7在这样的条件下移动，则检测器20被交替地与盘2和间隔件21相对地产生，以产生相应的磁通量分别在检测器20，盘2和间隔件21之间分别对应。这些磁通量变化由检测器20检测，并通过引线22b发送到外部，进行波形处理，以精确检测盘数。因此，可以高精度地获得盘分离机构的移动量。

50. 发明专利

JPS59212904A Speed controller of electric servo device 失效
标题翻译：电动伺服装置的速度控制器
公开(公告)号：JPS59212904A
公开(公告)日：1984-12-01
申请号：JP8573183
申请日：1983-05-18
申请人： Hitachi Ltd
发明人： HIRAI HIROTAKE , TAJIMA FUJIO
IPC分类号： G05B11/36 , G05D3/14
CPC分类号： G05D3/1445
摘要： PURPOSE:To avoid giving an effect due to the variation of a constant forming a servo device to the speed control characteristics, by combining an integrating amplifier and a speed controller. CONSTITUTION:A controller 5 is provided with an error detector 10 which compares a target speed 7 and motor speed 20 and produces a speed error, an integrating amplifier 11 which integrates the error signal and a speed controller. A converter 12 converts the pulse signal detected by a speed detector 3 into a speed signal 20. Then the output of the amplifier 11, the current signal 6 of a motor 1 and the signal 20 are supplied to the controller 13. Thus the controller 13 delivers a control signal to avoid the effect of variation of a time constant forming a servo device to the speed control characteristics.
摘要翻译：目的：通过组合积分放大器和速度控制器，避免由于通过形成伺服装置的常数变化到速度控制特性而产生影响。构成：控制器5设置有误差检测器10，其将目标速度7和电机速度20进行比较，并产生速度误差，积分放大器11将误差信号和速度控制器进行积分。 A转换器12将由速度检测器3检测的脉冲信号转换为速度信号20.然后，放大器11的输出，电动机1的电流信号6和信号20被提供给控制器13.因此，控制器13 提供控制信号以避免形成伺服装置的时间常数的变化对速度控制特性的影响。

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