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1. 发明专利

JP2011062793A Control device for robot 有权
标题翻译：机器人控制装置
公开(公告)号：JP2011062793A
公开(公告)日：2011-03-31
申请号：JP2009217253
申请日：2009-09-18
申请人： Denso Wave Inc , 株式会社デンソーウェーブ
发明人： MIZUNO HITOTSUGU , UEYAMA TAKESHI
IPC分类号： B25J9/10 , G05B19/404 , G05B19/42
摘要： PROBLEM TO BE SOLVED: To generate a moving locus that passes a teaching point without calculating the position and posture on robot coordinates when actually operating a robot, and to eliminate posture check of the robot for preventing a situation as an arm reversal from occurring.
SOLUTION: The position and posture of the end of the robot is unambiguously determined when the axis value (rotational angle) of each arm is decided. This allows a continuous moving locus to be searched in advance when actually operating the robot. By comparing the rotational angle of the arms at each point on the searched continuous moving locus with the rotational angle of the arm at the teaching point, a closest nearby point to the teaching point is searched. When the closest point is outside of the teaching point, the teaching point is compensated and the continuous moving locus is searched again by using the compensated teaching point. When actually operating the robot, the motion of the robot is controlled by the continuous moving locus searched from the axis value.
COPYRIGHT: (C)2011,JPO&INPIT
摘要翻译：要解决的问题：为了在实际操作机器人时产生通过教导点而不计算机器人坐标上的位置和姿势的移动轨迹，并且消除机器人的姿势检查以防止作为手臂反转的情况发生。解决方案：当确定每个臂的轴值（旋转角度）时，明确地确定机器人端部的位置和姿势。这允许在实际操作机器人时预先搜索连续的移动轨迹。通过将搜索到的连续移动轨迹上的每个点处的臂的旋转角与在教导点处的臂的旋转角度进行比较，搜索与教导点最近的附近点。当最接近的点在教学点之外时，对教学点进行补偿，并通过使用补偿教学点再次搜索连续的运动轨迹。当实际操作机器人时，机器人的运动由从轴值搜索的连续移动轨迹控制。版权所有（C）2011，JPO＆INPIT

2. 发明专利

JP2012152008A Robot controller 有权
标题翻译：机器人控制器
公开(公告)号：JP2012152008A
公开(公告)日：2012-08-09
申请号：JP2011008587
申请日：2011-01-19
申请人： Denso Wave Inc , 株式会社デンソーウェーブ
发明人： MIZUNO HITOTSUGU
IPC分类号： H02P27/06 , B25J13/06
摘要： PROBLEM TO BE SOLVED: To provide a robot controller capable of inhibiting heat evolution rapidly in motor regenerative operation for driving the motor in an optimum condition.SOLUTION: In a robot controller, during a motor deceleration period, a control part 13 allows a charging of a capacitor 28 to collect a regenerative electric power, and allows a regenerative resistor 32 to collect the regenerative electric power by closing a second switch 33, when the charging voltage of the capacitor 28 reaches the prescribed upper limit. The control part 13 allows the capacitor to reduce the charge voltage by repeatedly opening and closing a first switch 31 in a constant speed period immediately before the motor deceleration. In the voltage drop period, based on the motor deceleration width in the motor deceleration period, the controller specifies a deceleration start voltage which is the capacitor charge voltage at the start of the deceleration, specifies a switching time width of a first switch 31, and reduces the capacitor 28 charge voltage to the voltage of starting the deceleration by controlling the opening/closing of the first switch 31.
摘要翻译：要解决的问题：提供一种能够在电动机再生操作中快速抑制放热的机器人控制器，以在最佳状态下驱动电动机。解决方案：在机器人控制器中，在电机减速期间，控制部分13允许电容器28的充电以收集再生电力，并且允许再生电阻器32通过闭合第二个电力来收集再生电力开关33，当电容器28的充电电压达到规定的上限时。控制部分13允许电容器通过在马达减速之前的恒定速度周期内重复地打开和关闭第一开关31来降低充电电压。在电压下降期间，基于电动机减速期间的电动机减速宽度，控制器指定作为减速开始时的电容器充电电压的减速开始电压，指定第一开关31的开关时间宽度，通过控制第一开关31的打开/关闭，将电容器28的充电电压减小到开始减速的电压。（C）2012，JPO＆INPIT

3. 发明专利

JP2012061563A Robot system 有权
标题翻译：机器人系统
公开(公告)号：JP2012061563A
公开(公告)日：2012-03-29
申请号：JP2010207928
申请日：2010-09-16
申请人： Denso Wave Inc , 株式会社デンソーウェーブ
发明人： MIZUNO HITOTSUGU
IPC分类号： B25J13/06 , H02P6/24
摘要： PROBLEM TO BE SOLVED: To reduce heat generated in consuming regenerative energy generated from a motor in deceleration operation while reducing a series of operation times of a robot without changing the control content of a drive control means to control the drive of the motor.SOLUTION: A step-up/down circuit 29 executes either of a step-up operation of stepping up an input voltage to a step-up value to be output and a step-down operation of stepping down the input voltage to be output. When a motor M is driven based on an operation pattern in which a deceleration operation is executed without passing through a constant-speed operation after an acceleration operation, a control part 27 controls the operation of the step-up/down circuit 29 to execute a step-up operation in a step-up period from the starting point of the acceleration operation to changeover timing of the ending stage of the acceleration operation, and to execute a step-down operation in a step-down period from the changeover timing to the starting point of the next acceleration operation. The control part 27 determines the length of the step-up period by obtaining the changeover timing by calculation.
摘要翻译：要解决的问题：为了减少在减速操作中消耗从电动机产生的再生能量中产生的热量，同时减少机器人的一系列操作时间而不改变驱动控制装置的控制内容以控制电动机的驱动。解决方案：升压/降压电路29执行将输入电压升压到要输出的升压值的升压动作和降压输入电压的降压运算输出。当在加速操作之后，基于执行减速操作而不经过恒速操作的操作模式来驱动电动机M时，控制部分27控制升压/降压电路29的操作以执行在从加速操作的起始点到加速操作的结束阶段的切换定时的升压期间的升压操作，并且在从切换定时到停止时刻的降压期间执行降压动作下一个加速操作的起点。控制部27通过计算得到切换时刻来确定升压时间的长度。版权所有（C）2012，JPO＆INPIT

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