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1. 发明专利

JPH06198445A ROBOT CONTROLLER FOR TIG WELDING 失效
公开(公告)号：JPH06198445A
公开(公告)日：1994-07-19
申请号：JP129193
申请日：1993-01-07
申请人： HITACHI LTD , HITACHI KEIYO ENG , BABCOCK HITACHI KK
发明人： SUZUKI MASAFUMI , SHIINA TSUKASA , SUMITA MAKI , SARUGAKU SHINICHI , WATANABE HIROSHI , FUJII KENJIRO
IPC分类号： B23K9/12 , B23K9/127 , B23K9/167 , B25J9/22 , G05B19/42
摘要： PURPOSE:To obtain TIG welding of high quality where teaching is easily carried out by providing an arithmetic means to prepare control data required for locating the position of a wire ahead in the welding direction for an electrode of a TIG welding torch. CONSTITUTION:The arithmetic means functions to prepare the control data required for making vector to connect the electrode of the TIG welding torch with the wire tip at the time of welding coincident with the welding direction from data to show the welding direction inputted at the time of teaching. Accordingly, even if teaching is carried out without considering the position of the wire at all, control of the wrist position of a robot is obtained so that the position of the wire is automatically located ahead in the welding direction for the electrode at the time of playback. Consequently, since teaching can be carried out only for the position, the time required for teaching can be reduced remarkably and labor of an operator can be reduced.

2. 发明专利

JPH04235610A ABNORMALITY DETECTOR FOR INDUSTRIAL ROBOT 失效
公开(公告)号：JPH04235610A
公开(公告)日：1992-08-24
申请号：JP1162891
申请日：1991-01-09
申请人： HITACHI LTD , HITACHI KEIYO ENG
发明人： SUZUKI MASAFUMI , TERAMOTO KAZUYOSHI , TAKASE MASATO , TSUCHIDA KATSUYA , JINRIKI TAKENORI
IPC分类号： B25J9/10 , B25J19/02 , B25J19/06 , G05B9/02 , G05B19/19 , G05D3/00 , G05D3/12
摘要： PURPOSE:To obtain an abnormality detector for industrial robot by detecting the abnormality of an absolute position detector means et all times and in reel time while the robot is working and suppressing surely and always the abnormality that is caused by the position control of the robot. CONSTITUTION:In a step 12 the value detected by an absolute position detector means like an absolute encoder, etc., is periodically held while an industrial robot is working. In a step 15 the held detection value is compared with the value detected by a relative position detector means like an incremental encoder, etc. Then in a step 20 the abnormality is decided based on the integrated result of the generating frequency of difference produced et a level higher then the prescribed value between both values compared with each other.

3. 发明专利

JPH0390908A INDUSTRIAL ROBOT AND ITS CONTROL METHOD 失效
公开(公告)号：JPH0390908A
公开(公告)日：1991-04-16
申请号：JP22445389
申请日：1989-09-01
申请人： HITACHI LTD , HITACHI KEIYO ENG
发明人： SUZUKI MASAFUMI , HIROBE KENJI , SUMITA MAKI
IPC分类号： B25J9/10 , B23K9/127 , G05B19/4103
摘要： PURPOSE:To obtain an industrial robot which can perform the teaching tasks with high efficiency by providing a storage means, a corner front/back point arithmetic means, a command data arithmetic means, and a servo circuit. CONSTITUTION:A CPU-A 12 performs the action control of a robot main body and the processing of a man-machine interface, etc., and also serves as a corner front/back point arithmetic means and a command data arithmetic means. A CPU-B 13 serves as a servo circuit which drives a servo motor doubling as an actuator based on the data received from the CPU-A 12. A CPU-C 14 carries out the communication with a play-back console 3 and a programming unit 4 as well as with a welding machine via a welding machine interface 17. A bubble memory 20 stores the data on the start/end points of the work, the corner points, the aiming angle, the torch speed, etc. In such a constitution, the teaching tasks are faciliated with an industrial robot.

4. 发明专利

JPH06179181A CONTROL FOR ROBOT 失效
公开(公告)号：JPH06179181A
公开(公告)日：1994-06-28
申请号：JP33308792
申请日：1992-12-14
申请人： HITACHI LTD , HITACHI KEIYO ENG
发明人： HIGASHIDA HIDEO , SUZUKI MASAFUMI , SUMITA MAKI , SARUGAKU SHINICHI , TAKARADA SHINICHI
IPC分类号： B25J3/00 , B25J13/00 , B64G1/24 , G05D1/00 , H04Q9/00
摘要： PURPOSE:To provide a control method for a robot which can operation control the robot sufficiently smoothly even in the remote operation where the distance between a control side and a controlled side is large. CONSTITUTION:The memory area of a RAM-A62 in a main CPU part 32a is used as operation instruction storage buffer, and the operation instruction data received from a control side is stored into different addresses in succession, and in parallel with this operation, the operation instruction data is read out in succession from the different addresses of the operation instruction storage buffer, and inputted into a servo CPU part 32b through a DPRAM 66, and the servomotors M1-M6 of a robot are controlled. Accordingly, the operation of the robot can be smoothly carried out through the remote operation control. Further, after abnormaly is released, the robot can be operated free from the abnormal operation.

5. 发明专利

JPH0628209A PROGRAM INSPECTING DEVICE 失效
公开(公告)号：JPH0628209A
公开(公告)日：1994-02-04
申请号：JP17843992
申请日：1992-07-06
申请人： HITACHI LTD , HITACHI KEIYO ENG
发明人： SARUGAKU SHINICHI , SUZUKI MASAFUMI , MATSUURA MIKIHIKO
IPC分类号： G06F11/22 , G06F11/28
摘要： PURPOSE:To provide the program inspecting device which automatically inspects a program including a man-machine interface. CONSTITUTION:Robots 1 and 2 which are controlled by a computer 8 through servo amplifiers 5 and 6 are used and the keyboard 11 and mouse 10 of a personal computer 9 wherein the program to be inspected is loaded are operated according to specific previously set inspection items. Consequently, an image signal to be displayed on the CRT of the personal computer 9 is inputted to an image processor 7 from a video signal output line 12 and processed, and then analyzed by the computer 8 to decide whether or not the program is normal. Therefore, even the program, including the man-machine interface such as the keyboard 11 can automatically be inspected and the efficient inspection of the program can be performed.

6. 发明专利

JPH05297920A 失效
公开(公告)号：JPH05297920A
公开(公告)日：1993-11-12
申请号：JP9977092
申请日：1992-04-20
申请人： HITACHI LTD , HITACHI KEIYO ENG
发明人： SUZUKI MASAFUMI , HIGASHIDA HIDEO , SARUGAKU SHINICHI , SUMITA MAKI , TAKARADA SHINICHI
IPC分类号： B25J3/00 , B25J19/06 , G05B19/19 , G05B19/4063 , G05B19/405
摘要： PURPOSE:To provide a robot controller for which can prevent the robot from being broken owing to misoperation. CONSTITUTION:In a step 33, an operation area table to be used to decide which operation inhibition area the operation point of the robot is in and in a step 34, the decision is made by using the area data in the selected operation area table. Consequently, an optional number of operation inhibition areas of the robot in an optional spatial shape can be provided and the area matching operation environment can be selected among them. Therefore, the best operation inhibition areas can be selected corresponding to the operation environment, so the robot is prevented from being broken owing to misoperation.

7. 发明专利

JPH06315882A WEIGHT/CENTER OF GRAVITY POSITION CORRECTING DEVICE FOR FORCE CONTROL WORKING MACHINE 失效
公开(公告)号：JPH06315882A
公开(公告)日：1994-11-15
申请号：JP13127893
申请日：1993-05-07
申请人： HITACHI CONSTRUCTION MACHINERY , HITACHI KEIYO ENG , HITACHI LTD
发明人： KURENUMA TOORU , YAGINUMA MASAHARU , SUZUKI MASAFUMI , SARUGAKU SHINICHI
IPC分类号： B24B27/00 , B23Q15/18 , B24B49/16 , B25J13/06 , B25J13/08 , G05D15/01
摘要： PURPOSE:To simplify the tool attitude setting action for a force control working machine, surely attain the necessary tool attitude, and calculate the weight and the center of gravity position of the tool with good precision. CONSTITUTION:The first Cartesian coordinate system corresponding to the installation position of a mechanism section 1 and the second Cartesian coordinate system corresponding to a force sensor 4 are set. The weight/center of gravity position correcting device for a force control working machine is provided with the means 11, 12 measuring the force data and attitude data by utilizing the first and second Cartesian coordinate systems, an attitude setting means 17 guiding and setting the mechanism section 1 to a plurality of attitudes, a weight/center of gravity position calculating means 13 calculating the weight and the center of gravity position of the working tools from the attitude data and force data, an attitude judging means 16 calculating the force data and attitude data on the working tool at individual attitudes when a plurality of attitudes are to be taken and judging whether the attitude data used in calculating the weight and the center of gravity position satisfy the condition or not, and an attitude judgment informing means 18 informing an operator of the judged result.

8. 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.

9. 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.

10. 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.

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