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1. 发明专利

JPS60121909A DEVICE FOR MOUNTING CABLE 失效
公开(公告)号：JPS60121909A
公开(公告)日：1985-06-29
申请号：JP22898283
申请日：1983-12-02
申请人： KAWASAKI HEAVY IND LTD
发明人： ITOU TAKASHI , WADA TAKAO
IPC分类号： B65H54/10 , B25J19/00 , H02G11/02

2. 发明专利

JPS59204785A Optical detection 失效
标题翻译：光学检测
公开(公告)号：JPS59204785A
公开(公告)日：1984-11-20
申请号：JP8157583
申请日：1983-05-09
申请人： Kawasaki Heavy Ind Ltd
发明人： ITOU TAKASHI , UEDA SUMIHIRO , HIRAYAMA MASAAKI
IPC分类号： G01S17/02 , G01B11/00 , G01C3/06 , G01V8/12 , G01V8/20
CPC分类号： G01V8/20
摘要： PURPOSE:To prevent adverse effect of a disturbing light while reducing required detection time by determining a difference between a detection value of a light receiving means immediately before and after the lighting of a light emitting means and that thereof during the lighting of the light emitting means to perform a computation. CONSTITUTION:Outputs from electrodes 2, 3, 4 and 5 of a light receiving means 1 are converted into voltage values with current-voltage conversion circuits 6, 7, 8 and 9 and applied to sample holding circuits 51, 52, 53 and 54 to hold samples. Outputs from the sample holding circuits 51, 52, 53 and 54 are converted into digital values with an analog-digital converter 56 while being switched selectively and sequentially with a multiplexer 55 and then, applied to a processing circuit 50 to be realized using microcomputer or the like. The processing circuit 50 controls the sample holding circuits 51, 52, 53 and 54, the action of the multiplexer 55 and the analog-digital converter 56 as well. A driving circuit 57 drives a light emitting means 15 intermittently in response to the output from the processing circuit 50.
摘要翻译：目的：为了防止干扰光的不良影响，同时通过确定在发光装置点亮之前和之后的光接收装置的检测值与发光装置点亮期间的光接收装置的检测值之间的差而减少所需的检测时间执行计算。构成：将光接收装置1的电极2,3,4和5的输出转换为具有电流 - 电压转换电路6,7,8和9的电压值，并将其施加到采样保持电路51,52,53和54至持有样品来自采样保持电路51,52,53和54的输出在与多路复用器55选择性地和顺序地切换的同时，用模拟数字转换器56转换成数字值，然后施加到处理电路50以使用微机或类似。处理电路50也控制采样保持电路51,52,53和54，复用器55和模拟数字转换器56的动作。驱动电路57响应于处理电路50的输出而间歇地驱动发光装置15。

3. 发明专利

JPS59182305A Position detector 失效
标题翻译：位置检测器
公开(公告)号：JPS59182305A
公开(公告)日：1984-10-17
申请号：JP5742683
申请日：1983-03-31
申请人： Kawasaki Heavy Ind Ltd
发明人： ITOU TAKASHI , MISUMI TAKANARI
IPC分类号： G01B21/00 , G01D5/245
CPC分类号： G01D5/2451
摘要： PURPOSE:To perform accurate detection through simple constitution by detecting the position of a deceleration output shaft by the output of an incremental encoder which detects a driving output shaft and the output of an absolute encoder which detects the deceleration output shaft. CONSTITUTION:The output of a computer 11 is supplied to a prime mover 13 through an interface circuit 12. The driving output shaft 13a connected to the incremental encoder 14 is reduced in speed by a speed reducer 16, whose deceleration output shaft 16a is connected to the absolute encoder 21. The output of the absolute encoder 21 is converted into serial bits by a parallel/series converting circuit 22 and they are supplied from a line 23 to a series/parallel converting circuit 24 and converted into a parallel signal. The output of this series/parallel converting circuit 24 is converted by a pure binary converting circuit 25 into a pure binary number, which is read in the computer 11. The output of the incremental encoder 14 is supplied to a pulse counting circuit 26, which counts its pulses.
摘要翻译：目的：通过检测驱动输出轴的增量式编码器的输出和检测减速输出轴的绝对值编码器的输出，通过检测减速输出轴的位置，通过简单的结构进行精确的检测。构成：计算机11的输出通过接口电路12提供给原动机13.连接到增量编码器14的驱动输出轴13a由减速器16减速，减速器16的减速输出轴16a连接到绝对编码器21.绝对式编码器21的输出由并行/串联转换电路22转换为串行位，并将它们从线23提供给串/并转换电路24并转换成并行信号。该串联/并行转换电路24的输出由纯二进制转换电路25转换为在计算机11中读取的纯二进制数。增量编码器14的输出被提供给脉冲计数电路26，脉冲计数电路26 计数其脉冲。

4. 发明专利

JPS55119705A SET METHOD OF INSTRUCTION VALUE FOR INDUSTRIAL ROBOT 失效
公开(公告)号：JPS55119705A
公开(公告)日：1980-09-13
申请号：JP2801679
申请日：1979-03-09
申请人： KAWASAKI HEAVY IND LTD
发明人： ITOU TAKASHI , MIHASHI KANJI , NAKAGAWA MASASHI , UEDA SUMIHIRO , NISHI YOSHIKAZU , KANAMARU TAKAO
IPC分类号： B25J9/16 , B25J9/00 , G05B19/18 , G05B19/4093 , G05B19/4155 , G05D3/12
摘要： PURPOSE:To increase the control performance, by obtaining the accuracy for high locus even at the part where the objective locus is suddenly changed at high speed, through the use of objective value at future time as well as the objective value at present time as the instruction value of operation section. CONSTITUTION:In forming the instruction value r'(t0) at present by adopting the objective from the present from time t0 to the future time (t0+tf), the objective values r0(t), r(t0+tDELTAt), r(t0+2DELTAt),...,r(t0+nDELTAt) at the times of (n+1) dividing the time t0-tf by n(where;n is a positive integer), that is, at t0, t0+DELTAt, t0+2DELTAt,... t0+ nDELTAt, (where DELTAt=tf/n) are multiplied by the specific coefficients W0, W1, W2...Wn in response to the dynamic peformance of industrial robbots (5-10). Thus, the value calculated in equation (1) is set (11-16) as the instruction value r'(t0) at the present time t0. By performing the operation of equation timingly together with the shift of time, the sudden change of the objective locus can be predicted and the tracking ability to the objective lucus can be increased.

5. 发明专利

JPS5256291A MANDREL ROTATIONAL VELOCITY SWITCHOVER SYSTEM 失效
公开(公告)号：JPS5256291A
公开(公告)日：1977-05-09
申请号：JP13185475
申请日：1975-11-01
申请人： KAWASAKI HEAVY IND LTD , YASKAWA DENKI SEISAKUSHO KK
发明人： ITOU TAKASHI , WADA TAKAO , MAENAMI TAKESHI , OOYAMA TATSUO
IPC分类号： B23Q5/10 , B23Q5/04 , B23Q5/22 , B23Q15/00 , G05B19/40 , G05B19/4103
摘要： PURPOSE:Mapping out the enhancement of working velocity as the whole of the working system varying the rotational velocity of mandrel at the spherical surface part and the cylindrical part.

6. 发明专利

JPS5991308A METHOD FOR DETECTING SURFACE CONFIGURATION 失效
公开(公告)号：JPS5991308A
公开(公告)日：1984-05-26
申请号：JP20161182
申请日：1982-11-16
申请人： KAWASAKI HEAVY IND LTD
发明人： ITOU TAKASHI , UEDA SUMIHIRO , HIRAYAMA MASAAKI
IPC分类号： B23Q35/128 , B23K9/127 , G01B11/24 , G01B11/25 , G01B11/26
摘要： PURPOSE:To obtain a compact and durable device, by projecting light beams sequentially on the surface of an object body by using three or more light sources, receiving the reflected light beams from the object body by a two dimensional light point detector, and detecting the three dimensional positions of the reflecting points based on the outputs. CONSTITUTION:A plurality of at least 3 or more point light source 21 such as highly directive infrared ray light emitting diodes are arranged on an imaginary single circumference with, e.g., an inverval being provided in the circumferential direction, in a sensor 3 of a robot, which is used in an arc welding and the like. Said light sources 21 are sequentially lighted one by one. The light beams 24 undergo scatterred reflection on the surface of a work 6. The images of the reflecing points 25 are formed on a light receiving surface of a light receiving element 20 by a lens 23. The currents from electrodes 52-55 of the element 20 are imparted to a processor 57, the required values are obtained, and the three dimensional positions of the reflecting points are obtained by a specified computation. Thus the constitution becomes compact, faults do not occur by mechanical shocks, and excellent durability is obtained.

7. 发明专利

JPS5256290A HIGH PRECISION TRAJECTORY CONTROL SYSTEM 失效
公开(公告)号：JPS5256290A
公开(公告)日：1977-05-09
申请号：JP13185375
申请日：1975-11-01
申请人： KAWASAKI HEAVY IND LTD , YASKAWA DENKI SEISAKUSHO KK
发明人： ITOU TAKASHI , WADA TAKAO , MAENAMI TAKESHI , OOYAMA TATSUO
IPC分类号： B65H54/22 , B23K9/127 , B23K37/00 , B23Q5/22 , B23Q15/00 , G05B19/40 , G05B19/4103
摘要： PURPOSE:Mapping out the prevention of dropping control precision in the design that when the working instruments operating along the objecg repeat to pass through the same trajectory, with the DDA arithmetic register prestored every repeating unit, to diminish the operational error.

8. 发明专利

JPS51136081A ABNORMAL WINDING CONTROL METHOD OF WINDING MACHINE 失效
公开(公告)号：JPS51136081A
公开(公告)日：1976-11-25
申请号：JP5900175
申请日：1975-05-17
申请人： KAWASAKI HEAVY IND LTD
发明人： ITOU TAKASHI , WADA TAKAO
IPC分类号： B22D19/00 , B65H54/28 , B65H81/00
摘要： PURPOSE:An abnormal winding control method of a winding machine, that enables to provide precise winding set by keeping winding line pitch at constant after two(2) layers while making correction of winding line pitch by adding proper increment value predetermined with a mandril radius, helical angle every one(1) layer.

9. 发明专利

JPS6039207A AUTOMATIC TEACHING METHOD OF INDUSTRIAL ROBOT 失效
公开(公告)号：JPS6039207A
公开(公告)日：1985-03-01
申请号：JP14736783
申请日：1983-08-12
申请人： KAWASAKI HEAVY IND LTD
发明人： ITOU TAKASHI , WADA TAKAO , UEDA SUMIHIRO , KANAMARU TAKAO , HIRAYAMA MASAAKI
IPC分类号： B25J9/22 , B25J13/08 , G05B19/42 , G05B19/423
摘要： PURPOSE:To attain teaching work with high accuracy, safety and in a short time by outputting a command value of each operating axis of a robot from a detected value of a sensor and a present value of a position of a hand of the robot and attitude and inducing automatically the hand of the robot. CONSTITUTION:An industrial robot 1 grips a tool 8 by its hand 6 at the reproducing operation, controls the position and the attitude of the hand 6 according to the indication of a controller 10 and conducts a prescribed work to a processing object 2. In case of the teaching work, a sensor 7 is gripped by the hand 6. The sensor 7 consists of a distance/attitude detecting section and a ridge line position detecting section so as to detect the distance to the surface of the processing object 2, the attitude and the position of a ridge line 5 of the object 2. Then the command value of each operating axis of the robot is outputted depending on the detected value of the sensor 7 and the present value of the position and attitude of the hand 6 of the robot 1 so as to guide automatically the hand 6 of the robot 1 thereby obtaining a teaching data.

10. 发明专利

JPS59163509A Starting method of gyrocompass for vessel 失效
标题翻译：船舶起动方法
公开(公告)号：JPS59163509A
公开(公告)日：1984-09-14
申请号：JP3869183
申请日：1983-03-08
申请人： Kawasaki Heavy Ind Ltd
发明人： ITOU TAKASHI , NAKAGAWA MASASHI , KITAJIMA AKINORI , SURIDEJI TOMIO
IPC分类号： G01C19/38
CPC分类号： G01C19/38
摘要： PURPOSE:To shorten the time required before a gyro spin shaft direct to the north and is statically determined, and to shorten a necessary time for sailing after preparations for sailing by rotating a follow-up servomotor in accordance with an inclined angle of the gyro spin shaft detected by an inclined angle detector when starting a gyrocompass, and giving a torque in the horizontal surface, to the gyro. CONSTITUTION:A gyro is rotated. An inclined angle control system 19 is operated in a state that the gyro is rotated at a high speed, and when a gyro spin shaft 10 is inclined from a horizontal surface 10a of the earth, this inclined angle beta is detected an electric signal by an inclined angle detector 16. This inclined angle signal is feeble, therefore, it is amplified by an inclined angle controlling circuit 20, brought to proportional and differential operations, and inputted to a follow-up servomotor 12. A torque being proportional to voltage inputted to this follow-up servomotor 12 rotates a follow-up frame 9 through a follow-up gear 13, and gives a torque in the horizontal surface, to the gyro through a supporting mechanism 15. Accordingly, the gyro makes the gyro spin shaft 10 coincide with the horizontal surface, executing a precession. In this way, the gyro spin shaft is made to coincide temporarily and forcibly to the horizontal surface, therefore, it is possible to shorten the time required before the gyro spin shaft direct to the north and is statically determined after the gyro is started.
摘要翻译：目的：缩短陀螺旋转轴直接向北并静止确定所需的时间，并根据陀螺旋转的倾斜角度旋转随动伺服电机，缩短准备航行后的航行所需的时间当陀螺仪起动陀螺仪时由倾斜角检测器检测到轴，并在水平面上给予扭矩。构成：旋转陀螺仪。倾斜角度控制系统19在陀螺仪高速旋转的状态下操作，当陀螺旋转轴10从地球的水平面10a倾斜时，该倾斜角度β被检测到电信号倾斜角度检测器16.这种倾斜角度信号是微弱的，因此它被倾斜角度控制电路20放大，进行比例和微分操作，并输入到后续伺服电动机12.一个与输入到该后续伺服电动机12通过后续齿轮13旋转后续框架9，并通过支撑机构15在水平表面上提供扭矩到陀螺仪。因此，陀螺仪使陀螺旋转轴10重合与水平面，执行进动。以这种方式，陀螺旋转轴被临时地强制地与水平面重合，因此，可以缩短陀螺旋转轴直接向北所需的时间，并且在陀螺仪启动之后静止地确定。

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