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81. 发明专利

JPH10324000A NOZZLE CLEANER FOR INK JET RECORDER 失效
公开(公告)号：JPH10324000A
公开(公告)日：1998-12-08
申请号：JP13642197
申请日：1997-05-27
申请人： HITACHI LTD
发明人： INOUE TOMOHIRO , OGISO TOSHIO , MINEGISHI TAKATOSHI , FUJIKURA SEIJI , KANEKO AKINORI
IPC分类号： B41J2/18 , B41J2/185
摘要： PROBLEM TO BE SOLVED: To jet ink without stain the periphery of a nozzle head by providing a control means for supplying an ink solvent to a nozzle in response to actuation of an ink jet recorder and supplying ink to the nozzle in response to interruption of the ink solvent supply. SOLUTION: An ink supply passage 21 comprises an ink container 1, an ink pump 2, a pressure regulation valve 3, a solenoid valve 4 and a filter 5 and a nozzle cleaning passage 23 comprises a solvent container 16, an ink solvent pump 15 and a check valve 20. A collection pump 14 and the solvent pump 15 are started by delivering a starting instruction from an input unit 19 to a controller 17 and an ink solvent is supplied through the nozzle cleaning passage 23 to a nozzle 6. Since the solenoid valve 4 is closed, the ink solvent is jetted from the nozzle 6 and since the jetted ink is not charged, it is collected in the ink container 1 through an ink collection passage 22. After stopping the solvent pump 15, the ink pump 2 is started and the solenoid valve 4 is opened in order to supply ink to the nozzle 6 through the pressure regulation valve 3 and a filter 5.

82. 发明专利

JPH0636673B2 失效
公开(公告)号：JPH0636673B2
公开(公告)日：1994-05-11
申请号：JP5428284
申请日：1984-03-23
申请人： HITACHI LTD
发明人： MORI KENJI , OGISO TOSHIO
IPC分类号： H02N2/00 , H01L41/09

83. 发明专利

JPH05119823A TRACK PLANNING METHOD FOR ROBOT AND ITS CONTROLLER 失效
公开(公告)号：JPH05119823A
公开(公告)日：1993-05-18
申请号：JP27746491
申请日：1991-10-24
申请人： HITACHI LTD
发明人： OGISO TOSHIO , KURISUTOFUAA KOZAKIEEBUICHI
IPC分类号： B25J5/00 , B25J9/10 , B25J13/08 , G05B19/18 , G05B19/4155
摘要： PURPOSE:To allow a robot to cope with a position variation of an obstacle, as well, and also, to allow it to reach an operation end point with a small srithmetic amount by detecting a local image of a work part by installing an image detecting means in the robot, and relating a relative position of the obstacle and the operating direction by a neural network. CONSTITUTION:A worker 12 inputs an operation start point, an operation end point and the number of local image picture elements to an input/output arithmetic unit 11. Subsequently, the whole image of a work part 8 by an image detecting means 7 is detected, and a local image is extracted. Next, a relative position of the operation end point and the local image is calculated, and each picture element of the local image is binarized to an obstacle part and a non- obstacle part. Thereafter, this binarized output is inputted to an artificial potential extreme value picture element detecting part, the next operation target point position is derived, converted to each joint position command of a robot 1 by a joint position arithmetic part, and the robot 1 is operated by applying power to motors 2, 4 through an amplifying part. In such a way, the robot can be moved between obstacles 9a-9d without being interferred by an obstacle.

84. 发明专利

JPH04324507A METHOD FOR CONTROLLING ACCELERATION/DECELERATION OF DRIVE DEVICE AND ROBOT SYSTEM 失效
公开(公告)号：JPH04324507A
公开(公告)日：1992-11-13
申请号：JP9514991
申请日：1991-04-25
申请人： HITACHI LTD
发明人： OGISO TOSHIO , TAJIMA FUJIO
IPC分类号： G05B19/18 , G05B19/416 , G05D3/12
摘要： PURPOSE:To realize shortest-time positioning operation which are less in residual vibrations by driving a drive device by means of a speed pattern which uses curves for a power of since curve in its accelerating/decelerating section. CONSTITUTION:After the speed pattern theta of a drive shaft at the time of moving operations is selected as shown in equation 1 by using curves for a power of since curve and a speed pattern plan is prepared by using an acceleration index m1, deceleration index m2, maximum speed thetam, specific accelerating distance alpha (ratio of an accelerating distance to an operating distance), and specific decelerating distance beta (ratio of a decelerating distance to the operating distance) as (variable) acceleration/ deceleration parameters, the prepared plan is given to a drive device controller as a speed command. At the time of preparing the speed pattern plan, all of the acceleration/deceleration parameters are decided to the optimum values so that the driving force margin can become the minimum by selecting the index m1 to >=1 for the accelerating section so as to reduce the operating time and the index m2 to >1 for the decelerating section so as to make the acceleration zero at the stopping time and reduce the operating time and paying attention to the driving force versus speed characteristic of a drive device and dynamic characteristic of a traveling object.

85. 发明专利

JPH0457689A CONTROL DEVICE FOR DRIVING DEVICE, AND MULTI-SHAFT MECHANISM 失效
公开(公告)号：JPH0457689A
公开(公告)日：1992-02-25
申请号：JP16412390
申请日：1990-06-25
申请人： HITACHI LTD
发明人： OGISO TOSHIO , TAJIMA FUJIO , TAKEMOTO AKINOBU , KEZUKA NOBUMOTO , KOBAYASHI MASARU
IPC分类号： B25J13/00 , G05B11/36 , G05B19/19
摘要： PURPOSE:To make possible the establishment of high speed proportion control gain even in the case of driving a load having mechanical resonance characteristics by interposing a phase advancing circuit to advance a phase with a constant gain beyond the threshold frequency in a driving force command generating section of a control device for a driving device to interpose the mechanical resonance characteristics. CONSTITUTION:A speed control section is formed of an analog circuit, and judges the size relation of an input signal frequency (f) to the threshold value (fo) in a driving force command generating section, and interposes a phase advancing circuit 8 shown by Gc involved in the formula of f =fo:Gc=S/2pif in a frequency region (S-region). Thus the frequency in which the phase of a control system open loop transmission characteristics becomes -18 deg. is increased to improve a proportional control gain.

86. 发明专利

JPH0433006A CONTROL METHOD FOR ROBOT SYSTEM 失效
公开(公告)号：JPH0433006A
公开(公告)日：1992-02-04
申请号：JP13376990
申请日：1990-05-25
申请人： HITACHI LTD
发明人： OGISO TOSHIO , KURISUTOFUAA KOZAKIEEBUICHI , MIYAKE NORIHISA
IPC分类号： B25J9/10 , G05B19/18 , G05B19/404
摘要： PURPOSE:To improve accuracy for absolutely positioning of the hand of a robot by separately handling the warp error and geometrical error of the robot. CONSTITUTION:The warp error of the hand is calculated on the conditions of respective operational postures and hand operating loads by using a static rigidity diffraction model which can exactly express a relative warp characteristic when changing the hand operating load in each operational posture of a robot 1, and the error is converted to joint positional error. Next, the operational posture/operating load condition is made relative to the joint positional error by approximating a minimum binary polynomial or the like. Then, the warp error is corrected by applying the joint positional error after subtracting it from a joint positional command based on the ideal robot model of infinite static rigidity. Namely, the warp error is handled separately from the geometrical error, and accuracy is improved for identifying the geometrical error. Thus, the accuracy can be improved for absolutely positioning of the hand of the robot.

87. 发明专利

JPH03257602A METHOD AND DEVICE FOR GENERATING OPERATION COMMAND OF MULTI-SHAFT MECHANISM 失效
公开(公告)号：JPH03257602A
公开(公告)日：1991-11-18
申请号：JP5707590
申请日：1990-03-08
申请人： HITACHI LTD
发明人： OGISO TOSHIO , TAJIMA FUJIO , OTSUKI HARUAKI , TAKEMOTO AKINOBU , KOBAYASHI MASARU
IPC分类号： G05B19/18 , G05D3/12
摘要： PURPOSE:To improve tracing accuracy by calculating an inter-shaft inference removing gain as the product of an inertia ration, which is calculated from the operational load of each driving shaft related to a control object shaft and an inter-shaft angle between the control object shaft and each driving shaft, and the ratio between the driving force command and driving transform constant of an angle driving shaft to be decided from the size of the driving force command according to a non-linear relation. CONSTITUTION:The relation of an expression I is established among a driving force command gammaj of driving shafts j [(j)=1-(n)], driving force command/generated driving force transform constant KTj driving shaft position thetaj, velocity thetaj and acceleration thetaj. In such a case, since a low-speed operation to require the operation tracing accuracy is handled, the second item of the right side can be ignored and since an assembly robot is normally a horizontal multi- joint type and gravity is not operated onto an arm driving shaft, the third item of the right side can be ignored as well. Therefore, a (j) axial angular velocity can be reloaded like an expression II. Then, when the expression II is reloaded like an expression III, inter-shaft inference is removed. When the expressions II and III are made equal, the inter-shaft inference is removed by applying the (j) shaft driving force command as shown in an expression IV. In such a case, the operation is executed under the condition of alphaji=KTj AjiA*ji KTi.

88. 发明专利

JPH03166083A WRIST DEVICE FOR ROBOT AND INDUSTRIAL ROBOT 失效
公开(公告)号：JPH03166083A
公开(公告)日：1991-07-18
申请号：JP30216689
申请日：1989-11-22
申请人： HITACHI LTD
发明人： OGISO TOSHIO , TAJIMA FUJIO , HISATOMI RYOICHI
IPC分类号： B25J9/06 , B25J17/02
摘要： PURPOSE:To remarkably increase a wrist rotating rigidity, to shorten a positioning time and to improve a wrist axis motion accuracy by arranging a wrist rotating axis speed reducer at a wrist part. CONSTITUTION:A wrist axis 12 is made integral with a ball screw shaft and ball spline shaft, power transmission is performed via a belt 3 from a rotation driving motor 1 to the wrist part and the rotation power decelerated by the rotation speed reducer 6 provided at the wrist part is transmitted to an integral axis 12 via the spline bearing 8 subjected to spline fitting to the integral axis. In this case, a rotation type direction action driving motor is bound with the integral axis 12 coaxially to the rotation speed reducer output shaft, a direction driving motor rotor 9a is bound with the ball nut which screws with the integral axis 12 to drive the integral axis 12 via the ball and a direct action motion is performed.

89. 发明专利

JPH0375906A METHOD AND DEVICE FOR CONTROLLING MULTIAXIS MECHANISM 失效
公开(公告)号：JPH0375906A
公开(公告)日：1991-03-29
申请号：JP21265889
申请日：1989-08-18
申请人： HITACHI LTD
发明人： OGISO TOSHIO , TAJIMA FUJIO , OTSUKI HARUAKI , TAKEMOTO AKINOBU , KOBAYASHI MASARU
IPC分类号： B25J13/00 , G05B11/32 , G05B19/18 , G05D3/12
摘要： PURPOSE:To form an operation locus of high precision by multiplying the driving force command of each axis by the inter-axis interference removing gain for a control object axis and using the sum of multiplication results as a corrected driving command of the object axis and multiplying the speed or position command of the object axis by its inverse transfer function to obtain a corrected speed or position command. CONSTITUTION:In the case of removal of inter-axis interference related to driving force command generation, various driving force commands gammaj are multiplied by inter- axis interference removing gains alphaji for the control object axis, and the total sum of multiplicating results is obtained and is used as the corrected driving force command of the object. Thus, the transfer function of a driving control part is simplified, and inter-axis interference components due to nonlinear acting force are not removed but linear interference components are removed. The inverse transfer function of the speed or position control system simplified in this manner is obtained, and the sped or position command is multiplied by the inverse transfer function to perform the correction processing. As the result, inter-axix interference and non-linear action are effectively removed, and the inverse transfer function is simplified to shorten the arithmetic processing time, and the operation locus of high precision from a low speed to a high speed is obtained.

90. 发明专利

JPH0310786A GRAVITY BALANCING DEVICE 失效
公开(公告)号：JPH0310786A
公开(公告)日：1991-01-18
申请号：JP14535489
申请日：1989-06-09
申请人： HITACHI LTD
发明人： OGISO TOSHIO , TAJIMA FUJIO , HISATOMI RYOICHI
IPC分类号： B25J9/06 , B25J19/00 , B28D1/14
摘要： PURPOSE:To sharply reduce motor given torque by providing a second rotational and direct acting conversion element to perform direct acting conversion of rotation in a gravity exerting direction in which rotation of a motor is movable in a reverse direction to a direct acting element in a higher reduction ratio and a weight mounted to the direct acting element so as to effect press in the antigravity exerting direction of the moving body. CONSTITUTION:When the direct acting element moving direction of a first direct acting shaft is a gravity exerting direction, when a drive motor does not generate hold torque, a moving body is slipped off in a gravity exerting direction, and a second ball screw nut part 11 is about to move in a reaction direction. In this case, a weight 13 is mounted to the second ball screw part 11, and a balance force is generated in the antigravity exerting direction of the moving body. The generation of the balance force prevents slip off of the moving body and reduces hold torque of a drive motor to a microvalue. By applying a press force on the reduction action of direct acting movement of the moving body, the increase of the load inertia of a direct acting shaft drive motor can be reduced, and motor given torque can be reduced sharply.

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