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1. 发明专利

JPS6476206A METHOD FOR CONTROLLING ANGULAR VELOCITY OF ARTICULATED ROBOT 失效
公开(公告)号：JPS6476206A
公开(公告)日：1989-03-22
申请号：JP23224787
申请日：1987-09-18
申请人： HITACHI LTD , HITACHI KEIYO ENG
发明人： ANDO TAKESHI
IPC分类号： B25J9/16 , G05B19/4103
摘要： PURPOSE:To keep the articulated angular velocity of respective axes in the maximum angular velocity at the time of linear interpolation or a circular arc interpolation without generating velocity fluctuation and to smooth operation control by providing an articulated angle output part composed of an angular velocity detecting part and an angular velocity comparing part. CONSTITUTION:When the linear interpolation is started, an interpolating point P' (X', Y') is computed by P(X,Y,) P''(X'', Y'',) a velocity (v) and accelerationalpha. Next, the point P'(X',Y') is sent to a coordinate converting part 12 and converted to an angle P'(theta'1, theta'2) and sent to an articulated angle output part 13. The output part 13 computes angular velocities of respective joints W1=theta'1-theta1' W2=theta'2-theta2 by the P(X, Y) and the sent P'(X',Y') in an angular velocity detecting part 14. Further, the W1 and W2 are compared with the maximum angular velocity of the respective joints in an angular velocity comparing part 15. When the W1 and W2 are equal with the maximum velocity or smaller than it, the P'(theta'1,theta'2) is outputted as it is. Thus, without generating the velocity fluctuation, the articulated angular velocity of the respective axes is kept at the maximum angular velocity at the time of the linear interpolation or the circular arc interpolation and the operation control can be smoothly executed.

2. 发明专利

JPS6243711A MEASURING METHOD OBJECT POINT TO BE CONTROLLED IN ROBOT 失效
公开(公告)号：JPS6243711A
公开(公告)日：1987-02-25
申请号：JP18171285
申请日：1985-08-21
申请人： HITACHI LTD , HITACHI KEIYO ENG
发明人： SUZUKI MASAFUMI , SUMITA MAKI , SHIMOMURA YUKIJI , ANDO TAKESHI , HASHIMOTO TAKESHI
IPC分类号： B25J9/16 , B25J9/10 , G05B19/18 , G05B19/4093 , G05B19/42
摘要： PURPOSE:To properly control a robot by calculating a vector from a reference point on the wrist of the robot from a control object point based on data on the each drive part of the robot which is positioned at plural attitudes. CONSTITUTION:The control object point P is positioned at one spot, so that the control object point 5 can form three attitudes. Drive data in respective drive parts 1-6 accompanied by said formation is stored in a memory part 8. A data read part 8 reads drive data stored in the memory part 8, while a data converting part 31 calculates a vector based on the drive data read out of the data read part 30. A vector deciding part 34 decides a finger vector V from the reference point P' on the wrist 7 of the robot to the control object point P. Thus the finger vector V from the tip joint of the robot to the control point can be calculated from the drive data on each drive part of the robot in plural attitudes. As a result, the precise drive control can be made.

3. 发明专利

JPS61272804A COORDINATE CONVERSION SYSTEM FOR INDUSTRIAL ROBOT 失效
公开(公告)号：JPS61272804A
公开(公告)日：1986-12-03
申请号：JP11409485
申请日：1985-05-29
申请人： HITACHI LTD , HITACHI KEIYO ENG
发明人： SUZUKI MASAFUMI , ANDO TAKESHI
IPC分类号： B25J9/22 , B25J9/10 , G05B19/4093
摘要： PURPOSE:To convert effectively teaching program data for the execution of operation accompanied with weaving by providing a main conversion means for coordinate conversion and an auxiliary conversion means which corrects the change of the weaving amplitude due to coordinate conversion. CONSTITUTION:A work at the teaching time is different from an actual work 100', and a main conversion means 20 uses a conversion matrix M to convert position data P0, P1, P2, P3... belonging to teaching program data to position data P'0, P'11, P'22, P'3... by coordinate conversion. Data related to weaving auxiliary points out of converted data correspond to weaving temporary auxilia ry points P11 and P22. An auxiliary conversion means 30 subjects data indicating weaving temporary auxiliary points P11 and P22 to correcting conversion for the purpose of cancelling the change of the weaving amplitude accompanied with said coordinate conversion. Data of original weaving auxiliary points P1 and P2 are referred besides original weaving temporary auxiliary points. As the result, the length of the vector indicating the weaving auxiliary point P1 or P'1 coincides with the weaving amplitude accurately.

4. 发明专利

JPH0639760A CONTROL DEVICE FOR ROBOT 失效
公开(公告)号：JPH0639760A
公开(公告)日：1994-02-15
申请号：JP19704192
申请日：1992-07-23
申请人： HITACHI LTD , HITACHI KEIYO ENG
发明人： FUJII KENJIRO , ANDO TAKESHI , HIGUCHI YOSHIKAZU , HATSUMOTO SHINTAROU
IPC分类号： B25J9/10 , B65G13/08
摘要： PURPOSE:To realize simple force control operation which effects follow-up of a robot to an external force without attaching a force sensor and a mechanical type compliance mechanism to the tip of the robot. CONSTITUTION:A force feedback group 5 which is rendered effective by means of a change-over switch 4 only when a robot is stopped is provided. The change content of a current command value Ic to a servo motor 1 forms a position change content dX, which is added to a position command value Pc. When an external force is exerted on the robot, a current command to the servo motor 1 is increased. In which case, the feedback group 5 is operated to change a position command according to the increase of a current command and as a result, the robot is moved in a direction in which an external force is decreased, whereby a current command is not changed so much from a current command available when the robot is stopped. Thus, since the robot follows an external force to provide flexibility, the arm of the robot can be operated following the external force without using a force sensor and the like.

5. 发明专利

JPH05143151A CONTROLLER FOR INDUSTRIAL ROBOT 失效
公开(公告)号：JPH05143151A
公开(公告)日：1993-06-11
申请号：JP33446791
申请日：1991-11-25
申请人： HITACHI LTD , HITACHI KEIYO ENG
发明人： KODAIRA KOJI , ANDO TAKESHI , TSUCHIDA KATSUYA , ONOO KOUJI , SHIINA TSUKASA , YOKOYAMA SHIGEYOSHI , SUZUKI MASAFUMI
IPC分类号： B25J9/22 , G05B19/42
摘要： PURPOSE:To execute teaching operation by a teaching system optionally selected from plural different teaching systems. CONSTITUTION:Plural teaching processing programs 21A, 22B, 22C, 22D having respectively different teaching contents are previously prepared and teaching operation based upon an optional teaching system specified by a user is executed. Since the teaching system sufficiently matched with working contents to be executed by a robot can be selected, working efficiency for teaching can be improved.

6. 发明专利

JPH0557642A INDUSTRIAL ROBOT CONTROL DEVICE 失效
公开(公告)号：JPH0557642A
公开(公告)日：1993-03-09
申请号：JP23687291
申请日：1991-08-26
申请人： HITACHI LTD , HITACHI KEIYO ENG
发明人： SUZUKI MASAFUMI , TERAMOTO KAZUYOSHI , SARUGAKU SHINICHI , ANDO TAKESHI , YAMAGUCHI TOSHIHIRO , YOKOYAMA SHIGEYOSHI , SESHIMO TATSUYA , HIROBE KENJI
IPC分类号： B23K9/12 , B23K9/127 , B25J9/10 , G05B19/4093
摘要： PURPOSE:To remove a re-interpolation in the case of interpolation end by correcting a weaving frequency so that a weaving superimposition amount may become zero corresponding to the moving distance and moving speed of a robot in a section between an interpolation start point and end point. CONSTITUTION:An interpolation distance L and vector IL are calculated by an interpolation start point Ps and interpolation end point Pc and a corrected frequency F' is calculated so that a weaving amount at the interpolation end point may become zero. Then, the position IPi of a work point is calculated and further, a corrected weaving frequency is calculated when the operation speed or weaving frequency of the work point is changed during interpolation operation. A weaving phase and an interpolation accumulated time in a present interpolation period are calculated and after calculating the weaving vector based on a renewed phase, a weaving vector IW is added to the position vector IPi of the work point and a position vector IPi' to be approached in the present interpolation period is calculated. The change of a joint angle corresponding to the position vector IPi' carried out so as to move respective actuators.

7. 发明专利

JPH04344505A CONTROLLER FOR INDUSTRIAL ROBOT 失效
公开(公告)号：JPH04344505A
公开(公告)日：1992-12-01
申请号：JP14403591
申请日：1991-05-21
申请人： HITACHI LTD , HITACHI CONSTRUCTION MACHINERY , HITACHI KEIYO ENG
发明人： SARUGAKU SHINICHI , KURENUMA TOORU , ANDO TAKESHI , OTOBO MASAMI , KAWASAKI KYOICHI
IPC分类号： B25J9/22 , B25J9/16 , B25J9/18 , B25J13/08 , B25J19/06 , G05B19/42 , G05B19/425
摘要： PURPOSE:To present the controller for a robot simplifying operations and safely enabling direct teach at all times. CONSTITUTION:Means 131 and 132 are provided to monitor the strength of external force applied to the fingers during the direct teach, and when the external force is made stronger than a fixed value, the motion of the robot is forcedly suppressed. When it is operated to start a teach mode, an offset correction processing 136 of the force sensor is automatically executed. By monitoring the detected force of the force sensor, it is decided whether the external force to set the robot at abnormal speed is applied or not, and when the external force is made stronger than the reference value, the malfunction of the robot caused by the misoperation can be prevented by starting a mode (position control mode) to inhibit the operation of the robot with the external force or cutting a current to flow to a servo motor.

8. 发明专利

JPS62103706A CONTROL METHOD FOR AXIS OF ROBOT 失效
公开(公告)号：JPS62103706A
公开(公告)日：1987-05-14
申请号：JP24290385
申请日：1985-10-31
申请人： HITACHI LTD , HITACHI KEIYO ENG
发明人： ANDO TAKESHI , SUMITA MAKI
IPC分类号： B25J9/16 , B25J9/10 , G05B19/18 , G05B19/4103
摘要： PURPOSE:To perform control over an operation range of >=360 deg. by calculating a command value by an articulation coordinate system based on an increased amount from a last command value. CONSTITUTION:An orthogonal coordinate system X-Y is rotated to a position O-Pn-1 to obtain a new X'-Y' coordinate system, and Pn of the X-Y coordinate system is converted into coordinates of the X'-Y' coordinate system. When Pn of the X'-Y' coordinate system is converted to Pn(X'n, Y'n), the relation shown by an equation (1) is obtained. The increased amount DELTAtheta in articulation angle from X'n and Y'n to Pn-1 Pn is found from an equation (2). Further, the articulation angle thetan at a point Pn is found from thetan=thetan-1+DELTAtheta.

9. 发明专利

JPH05150822A WEAVING CONTROLLER FOR INDUSTRIAL ROBOT 失效
公开(公告)号：JPH05150822A
公开(公告)日：1993-06-18
申请号：JP33584791
申请日：1991-11-27
申请人： HITACHI LTD , HITACHI KEIYO ENG
发明人： SUZUKI MASAFUMI , TERAMOTO KAZUYOSHI , ANDO TAKESHI , KODAIRA KOJI , JIBIKI HIROSHI , KAWASAKI KYOICHI , SESHIMO TATSUYA , HIROBE KENJI
IPC分类号： B23K9/12 , B25J9/10 , G05B19/18 , G05B19/404 , G05B19/4093
摘要： PURPOSE:To provide the weaving controller for an industrial robot by which weaving amplitude as a desired set value can always be obtained surely. CONSTITUTION:Correction weaving amplitude is calculated 34, whenever an interpolation is executed, and by using its correction weaving amplitude, the interpolations 35-38 containing weaving are executed. In such a way, since a weaving operation is executed by desired weaving amplitude, the work efficiency is improved.

10. 发明专利

JP2015035864A 編成列車および編成列車を構成する車両の増加方法审中-公开
标题翻译：组织火车和增加车辆构成组织火车的方法
公开(公告)号：JP2015035864A
公开(公告)日：2015-02-19
申请号：JP2013164674
申请日：2013-08-08
申请人：株式会社日立製作所 , Hitachi Ltd
发明人： SHIMADA MOTOMI , IWASAKI MITSUO , OKAMOTO KENJI , INARIDA SATORU , ANDO TAKESHI , MOCHIZUKI KENTO
IPC分类号： B60L9/08
CPC分类号： B60L15/007 , B60L3/003 , B60L9/14 , B60L9/28 , B60L9/32 , B60L2200/26 , B60L2210/22 , B60L2210/30 , B60L2210/40 , Y02T10/644 , Y02T10/7241 , Y02T10/725
摘要：【課題】編成列車を構成する列車の軸重を分散させ,編成列車を1両単位で増減させる。【解決手段】列車の外部から電力を得る集電手段1と,集電手段から供給される電力を変圧する変圧手段2と,変圧手段から出力される電力を可変電圧可変周波数の交流電力に変換する電力変換手段41,61と,電力変換手段によって駆動される交流電動機71とを備え,複数の車両を連結して構成された編成列車において,一端は変圧手段の二次側に接続され,他端は電力変換手段に接続され,変圧手段から出力される電力を電力変換手段へ供給する第1の電力供給ケーブルと,一端は変圧手段の二次側に接続可能で,他端は電気的に開放された第2の電力供給ケーブルとを有する。【選択図】図1
摘要翻译：要解决的问题：通过分散构成组织列车的列车的轴负载来增加和减少机动车辆的有组织的列车。解决方案：组织的列车，包括从列车外部获得动力的集电装置1 变换装置2，其从电力收集装置转换电力;功率转换装置41,61，用于将从变换装置输出的电力转换为可变电压可变频率的交流电;以及由电力转换装置驱动的交流电动机71，并且通过联接多个车辆车辆，包括：第一电源电缆，其一端连接到变换装置的次级侧，另一端连接到电力转换装置，并且提供从变换装置输出的电力进入电源转换手段; 以及第二电源电缆，其一端可连接到变换装置的次级侧，另一端电气打开。

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