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1. 发明专利

JPH0335899A SYNCHRONIZATION CONTROLLER FOR HYDRAULIC PRESS CYLINDER 失效
公开(公告)号：JPH0335899A
公开(公告)日：1991-02-15
申请号：JP17041589
申请日：1989-06-30
申请人： KOMATSU MFG CO LTD
发明人： ABE RIICHI
IPC分类号： B30B15/24
摘要： PURPOSE:To accurately pursuit the position of hydraulic cylinder to the target value by obtaining difference between the measured value near the target value in a position detecting instrument provided on plural hydraulic cylinders and the measured value from the other position detecting instrument and controlling amplification degree in the hydraulic cylinder with the difference. CONSTITUTION:In control circuits (a) - (d) of hydraulic press ascending an upper die 2 by allowing plural hydraulic cylinder 4 to be synchronized, the target value 21 for the target position of plural hydraulic cylinders 4 are inputted. A substracting circuit 22 obtains difference between the target value 21 and the measured value in a liner scale in the position detecting instrument for cylinder. Successively, the difference signal is inputted from digital/analog converter 23 to the amplification circuits 24, 25. On the other hand, the output of each substracting circuit 22 in the circuits (a) - (d) is inputted to an amplification degree correcting signal generating circuit 29 to generate the amplification degree correcting signal in each cylinder control circuits (a) - (d), and by the correcting signal, the amplification degree in the amplification circuit 25 is controlled. Then, the amplificated signal is inputted to a hydraulic oil servo valve 26 to control the flow rate of hydraulic oil in each cylinder 27.

2. 发明专利

JPH0153156B2 失效
公开(公告)号：JPH0153156B2
公开(公告)日：1989-11-13
申请号：JP464981
申请日：1981-01-16
申请人： KOMATSU MFG CO LTD
发明人： ABE RIICHI , TSURUTA KATSUJI , TSUJIKADO SEIJI
IPC分类号： B23K9/12 , B23K9/30 , G05B19/4093

3. 发明专利

JPS57121488A Method of memorizing teaching and positional data of robot 失效
标题翻译：记录机器人的教学和位置数据的方法
公开(公告)号：JPS57121488A
公开(公告)日：1982-07-28
申请号：JP465081
申请日：1981-01-16
申请人： Komatsu Mfg Co Ltd
发明人： ABE RIICHI , TSUJIKADO SEIJI , TSURUTA KATSUJI
IPC分类号： B25J9/22 , B25J13/00 , G05B19/42

4. 发明专利

JPS53133860A ROBBOT CONTROL SYSTEM 失效
公开(公告)号：JPS53133860A
公开(公告)日：1978-11-22
申请号：JP4704977
申请日：1977-04-22
申请人： KOMATSU MFG CO LTD
发明人： ABE RIICHI , ITABASHI YOSHITAKE , INATOMI TAKAO
IPC分类号： B25J9/22 , B25J9/16 , G05B19/4103 , G05B19/42
摘要： PURPOSE:To provide robbot control system which control locus of robbot with sufficient accuracy by minimum teaching points.

5. 发明专利

JPH0245804B2 失效
公开(公告)号：JPH0245804B2
公开(公告)日：1990-10-11
申请号：JP20885081
申请日：1981-12-23
申请人： KOMATSU MFG CO LTD
发明人： TSURUTA KATSUJI , ABE RIICHI , TSUJIKADO SEIJI
IPC分类号： G01D5/244 , G01D5/245 , G01D5/249 , G01D5/36 , G05B19/23

6. 发明专利

JPH0127831B2 失效
公开(公告)号：JPH0127831B2
公开(公告)日：1989-05-31
申请号：JP12574580
申请日：1980-09-10
申请人： KOMATSU MFG CO LTD
发明人： TSURUTA KATSUJI , ABE RIICHI , TSUJIKADO SEIJI
IPC分类号： B23K9/127 , B23K9/02 , G05B19/423

7. 发明专利

JPS63300908A WIRE BREAKING DETECTING CIRCUIT FOR ENCODER 失效
公开(公告)号：JPS63300908A
公开(公告)日：1988-12-08
申请号：JP13584287
申请日：1987-05-30
申请人： KOMATSU MFG CO LTD
发明人： ABE RIICHI
IPC分类号： G01D5/12 , G01R31/02
摘要： PURPOSE:To lead out a continuous wire breaking detection signal by holding a terminal of a signal line at an intermediate potential if the signal line is broken, and detecting that by an intermediate potential detecting circuit. CONSTITUTION:The resistance values of resistances 23-26 are so selected that if the signal line for a signal (a) or (a') is broken, a terminal 21 or 22 is held at a specified potential cV. Then the intermediate potential detecting circuit 28 detects that and outputs a wire breaking detection signal Da. Further, even if the signal line for the signal a' is broken, an intermediate potential detecting circuit 29 outputs a wire breaking detection signal Da'. Thus, whether or not a signal line are broken by signals of the different polarities in one phase can be detected. In this case, the terminals 21 and 22 are held at the intermediate potential cV while the wire breaking is caused, so the wire breaking detection signals Da and Da' never intermit.

8. 发明专利

JPS62192614A POSITION DETECTOR 失效
公开(公告)号：JPS62192614A
公开(公告)日：1987-08-24
申请号：JP3487186
申请日：1986-02-19
申请人： KOMATSU MFG CO LTD
发明人： ABE RIICHI
IPC分类号： G01B21/02 , G01D5/245
摘要： PURPOSE:To prolong the parts service life of a detector and to shorten time to return to the origin by counting the number of pulses while a pulse Z and a pulse PZ are produced. CONSTITUTION:An incremental encoder 1 is turned in accordance with movement of a base and the pulse PZ is sent to a CPU 49 at a point X2. The CPU 49 clears a counter 13 at this point of time and thereafter, a pulse A or a pulse B is counted by the counter 13. Next, the base is further moved and the pulse Z is sent to the CPU 49 at a point X3 and the CPU 49 reads the count of the counter 13 at this point of time. In this case, a gear ratio of gears 41 and 47 is 10 to 11, for instance, and a counted value is made 200. In other words, since the number of pulses A or the number of pulses B is 200 while the pulse Z from the pulse PZ are detected and the pulse PZ is detected earlier than the pulse Z, the CPU 49 presets the counter 13 to -2,000 at the point X3 of time when the pulse Z id produced. Then, thereafter, the actual working can be started from this position.

9. 发明专利

JPS6029127B2 失效
公开(公告)号：JPS6029127B2
公开(公告)日：1985-07-09
申请号：JP10033874
申请日：1974-08-30
申请人： KOMATSU MFG CO LTD
发明人： ABE RIICHI
IPC分类号： G06F11/00 , G05B9/02

10. 发明专利

JPS58149516A DIGITIZED SERVO-AMPLIFIER 失效
公开(公告)号：JPS58149516A
公开(公告)日：1983-09-05
申请号：JP3140382
申请日：1982-02-26
申请人： KOMATSU MFG CO LTD
发明人： ABE RIICHI , TSURUTA KATSUJI , TSUJIKADO SEIJI
IPC分类号： G05D3/12 , G05B19/23
摘要： PURPOSE:To make a device small-sized and light-weight and prevent the phase shift, by constituting the device with a microcomputer and its peripheral circuits and inputting the current position deviation, the current position, and the driving current of a control object to the computer to control the driving current. CONSTITUTION:A digitized servo-amplifier 100 consists of the microcomputer and its peripheral circuits, and a positional deviation DELTAS between a target position value and the current position value of the control object from a positional deviation counter 3 and a position pulse P corresponding to the current position value outputted from a shift encoder 6 are inputted to the servo-amplifier 100 to generate the driving signal of a DC servomotor 2. Since the input/output of data is synchronized with the generation timing of an interrupt signal to the microcomputer, the occurrence of the phase shift or the like is prevented.

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