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1. 发明专利

JPH0462446A PRESSURE PULSATION ANALYZING DEVICE 失效
公开(公告)号：JPH0462446A
公开(公告)日：1992-02-27
申请号：JP17426490
申请日：1990-06-29
申请人： KOBE STEEL LTD
发明人： FUJIKAWA TAKESHI , KATO MINORU , HIROOKA EIKO , INOUE YOSHIO , KUROHASHI MICHIYA , MURAI KENSUKE , SATO SHIGETOSHI
IPC分类号： G01L11/00 , F04B49/08 , G01L7/00 , G01L23/00
摘要： PURPOSE:To improve the accuracy by finding pressure pulsation from an excitation flow rate Qn based upon the impedance Zn of piping. CONSTITUTION:The (n)th-order complex amplitude Xn of the volume of fluid which flows in and out of a cylinder is found from the pressure pulsation P in the piping in a frequency range based upon the impedance Zn of the piping and the pressure variation Pc in the cylinder in the frequency range of a pressure source. Then the excitation flow rate Qn of the fluid in the piping is found by using Xn in consideration of the successive generation of the fluid. Then Qn is used to find the pressure pulsation P in the piping in consideration of the successive generation of fluid in the frequency range.

2. 发明专利

JPH0325261B2 失效
公开(公告)号：JPH0325261B2
公开(公告)日：1991-04-05
申请号：JP3118382
申请日：1982-02-27
申请人： KOBE STEEL LTD
发明人： KAMEI FUTOSHI , HARADA SHINICHI , ANZAI AKIRA , TAKEMURA MINORU , FUJIKAWA TAKESHI
IPC分类号： B22D11/16 , B22D11/053

3. 发明专利

JPS593506A Vibration preventing method in case of deceleration of robot 失效
标题翻译：机器人衰减情况下的振动预防方法
公开(公告)号：JPS593506A
公开(公告)日：1984-01-10
申请号：JP11268682
申请日：1982-06-29
申请人： Kobe Steel Ltd
发明人： FUJIKAWA TAKESHI , INOUE YOSHIO , MASUDA TERUO , NODA ATSUHIKO , SATOU TAKASHI
IPC分类号： B25J9/16 , G05B19/416
CPC分类号： G05B19/416
摘要： PURPOSE:To eliminate vibration in case of deceleration and to execute positioning with high accuracy, by generating a new command signal in accordance with a deviation of a response signal and a target signal in case of deceleration. CONSTITUTION:A command signal is generated so that a robot stops or attains to a steady speed by decreasing a speed by almost constant acceleration by the time being equal to a representative natural period of a driving system of the robot, after starting its deceleration, in a decelerating point on a standard track. By this command signal, the robot is regenerated, and in case when a deviation of a response signal and a target signal in that case is out of an allowable range, a new command signal is generated by adjusting suitably the acceleration immediately before attaining to a steady speed. In this way, a vibration component generated in case of deceleration of the robot is eliminated, and positioning can be executed with high accuracy.
摘要翻译：目的：为减少减速时的振动，高精度地执行定位，可以根据减速时的响应信号和目标信号的偏差产生新的指令信号。构成：生成指令信号，使得机器人停止或达到稳定的速度，通过将几乎恒定的加速度降低到等于机器人的驱动系统的代表性自然周期之后，在启动其减速之后，以标准轨道上的减速点。通过该命令信号，机器人被再生，在这种情况下，当响应信号和目标信号的偏差超出允许范围的情况下，通过适当地调整在达到某个速度稳定以这种方式消除了在机器人减速的情况下产生的振动分量，并且可以高精度地执行定位。

4. 发明专利

JPS57151840A METHOD FOR CONTROLLING DIGITAL VIBRATION OF OIL HYDRAULIC VIBRATION STAND 失效
公开(公告)号：JPS57151840A
公开(公告)日：1982-09-20
申请号：JP3680181
申请日：1981-03-13
申请人： KOBE STEEL LTD
发明人： FUJIKAWA TAKESHI , MASUDA TERUO , SHIMAMOTO AKIRA , NAKANE TOSHIO
IPC分类号： G01M7/02 , G05D19/02
摘要： PURPOSE:To improve regeration accuracy to a remarkable extent by a method wherein a vibration stand is vibrated by an oscillating signal such as the one with a random wave containing the whole frequency band constituting a target oscillating wave or a target oscillation number, so that vibration and correction are alternatively repeated. CONSTITUTION:An oscillating signal C1 is given in a digitallized form by dividing on a preset minute time basis a random wave containing the whole range of wavelengths constituting a particular seismic wave, an oscillating wave or the like as a regeneration target, or a target oscillating wave, the signal being stored in a first memory beforehand. An analog signal obtained by a D/A converter is amplified, before being sent to an oil hydrauic system to operate an actuator which vibrates a vibration stand carrying a specimen. By converting an actual oscillating signal into a digital form in order to obtain a transfer function of a vibration system as a whole containing the specimen in the form of a digital signal, and the oscillating signal is corrected using this transfer function. By repeating vibration and correction in this manner, regeneration accuracy can be improved to a remarkable extent.

5. 发明专利

JPH0561036B2 失效
公开(公告)号：JPH0561036B2
公开(公告)日：1993-09-03
申请号：JP8347887
申请日：1987-04-04
申请人： KOBE STEEL LTD
发明人： YAMAMOTO SHIGEAKI , OOTANI YOSHIO , FUJIKAWA TAKESHI
IPC分类号： B23K35/30

6. 发明专利

JPS6411092A WIRE FOR WELDING 9CR-1MO STEEL 失效
公开(公告)号：JPS6411092A
公开(公告)日：1989-01-13
申请号：JP8347887
申请日：1987-04-04
申请人： KOBE STEEL LTD
发明人： YAMAMOTO SHIGEAKI , OTANI YOSHIO , FUJIKAWA TAKESHI
IPC分类号： B23K35/30
摘要： PURPOSE:To improve age embrittle resistance, high-temp. crack resistance and creep rupture strength by positively adding N to a wire and suppressing specific impurities to a specific value or below. CONSTITUTION:This wire is constituted by incorporating 0.02-0.18 (wt.%, hereinafter the same), 0.03-0.70% Si, 0.90-2.50% Mn, 8.0-11.0% Cr, 0.80-0.95% Mo,

7. 发明专利

JPS592108A Vibration preventing method in case of acceleration of robot 失效
标题翻译：机器人加速振动预防方法
公开(公告)号：JPS592108A
公开(公告)日：1984-01-07
申请号：JP11268582
申请日：1982-06-29
申请人： Kobe Steel Ltd
发明人： FUJIKAWA TAKESHI , INOUE YOSHIO , MASUDA TERUO , NODA ATSUHIKO , SATOU TAKASHI
IPC分类号： B25J9/16 , G05B19/416
CPC分类号： G05B19/416 , G05B2219/45083
摘要： PURPOSE:To prevent vibration, by executing acceleration by the time which is equal to a natural period of a robot driving system, in an accelerating point, and adjusting it suitably to acceleration immediately before attaining to a steady speed, in case when a deviation of a response signal to an object signal is out of an allowable range. CONSTITUTION:A robot is regenerated by an object signal g(t) at a selected accelerating point on a scale track, a response signal m0(t) in that case is measured, and a deviation Z0(t) to g(t) is calculated. A representative natural period t0 of a driving system of the robot is derived from Z0(t). After acceleration, a command signal C1(t) which increases a speed by time constant acceleration of the period t0 and attains to a steady speed V0 is generated. The robot is regenerated by C1(t), and a response signal m1(t) is derived. A deviation Z1(t) of the signal m1(t) to said signal g(t) is calculated, and whether the deviation Z1(t) is within an allowable range or not is decided by time >=t0. In case of being out of the allowable range, the signal m1(t) and C1(t) are time-differentiated, a speed of the time point which passes a little through the operate-forecast natural period t0 is compared, and in accordance with its result, the command signal C1(t) is corrected and is used for regenerating the robot.
摘要翻译：目的：为了防止振动，通过以与机器人驱动系统的自然周期相同的时间在加速点中执行加速度，并且在刚好达到稳定速度之前适当地调整加速度，以防止振动对象信号的响应信号在允许范围之外。构成：通过在刻度轨道上的所选加速点处的物体信号g（t）再生机器人，测量这种情况下的响应信号m0（t），并且偏差Z0（t）至g（t）为计算。机器人的驱动系统的代表性自然周期t0从Z0（t）导出。在加速后，产生通过时间段t0的时间恒定加速度而达到稳定速度V0的速度的指令信号C1（t）。机器人由C1（t）再生，得到响应信号m1（t）。计算信号m1（t）与所述信号g（t）的偏差Z1（t），并且偏差Z1（t）是否在允许范围内是否由时间> = t0决定。在超出允许范围的情况下，信号m1（t）和C1（t）是时间微分的，比较通过运行预测自然期间t0的一点时间点的速度，并且按照结果，命令信号C1（t）被校正并且用于再生机器人。

8. 发明专利

JPS59704A Position control method of robot with high accuracy 失效
标题翻译：具有高精度的机器人的位置控制方法
公开(公告)号：JPS59704A
公开(公告)日：1984-01-05
申请号：JP11019082
申请日：1982-06-25
申请人： Kobe Steel Ltd
发明人： FUJIKAWA TAKESHI , INOUE YOSHIO , MASUDA TERUO , NODA ATSUHIKO , SATOU TAKASHI
IPC分类号： G05D3/12 , B25J9/16 , G05B19/19 , G05B19/42
CPC分类号： G05B19/19 , G05B2219/37612 , G05B2219/42162 , G05B2219/50015
摘要： PURPOSE:To attain positioning of high accuracy, by obtaining the dynamic characteristic of a robot from a transfer function of the robot driving system at each correcting section selected on a norm orbit and decreasing the deviation between a response signal caused by the dynamic characteristic and an objective signal. CONSTITUTION:The objective signal g(t) is inputted to the robot at the correcting period Pi(i=1,2...N) on the norm orbit and the response signal mO(t) is measured and stored in this case. A command signal Cj(t) with the objective signal g(t) superimposed with an external disturbance signal thereon is inputted to the robot, the response signal mj(t) is measured in this case and a transfer function Hj(t) of the robot drive system to the external disturbance signal is calculated. Then, an error signal Dj(f) on the frequency axis is obtained from the deviation between the objective signal g(t) and its response signal mO(t). A correcting signal Aj(f) is obtained from Equation I with the correcting signal Aj(f) drawn so as to cancel the error signal Dj(f) and a function aj(t) on the time axis is obtained with the inverse Fourier transformation. Further, a new command signal Cj+1(t) is obtained from Equation II to drive the robot.
摘要翻译：目的：为了获得高精度的定位，通过从在轨道上选择的每个校正部分处的机器人驱动系统的传递函数获得机器人的动态特性，并且减小由动态特性引起的响应信号与客观信号。构成：目标信号g（t）在标准轨道上以校正周期Pi（i = 1,2 ... N）输入到机器人，并且在这种情况下测量并存储响应信号mO（t）。将与其上的外部干扰信号叠加的目标信号g（t）的指令信号Cj（t）输入到机器人，在这种情况下测量响应信号mj（t），并且在这种情况下测量响应信号mj（t）和传递函数Hj（t）计算机器人驱动系统对外部干扰信号。然后，从目标信号g（t）和其响应信号mO（t）之间的偏差中获得频率轴上的误差信号Dj（f）。从等式I获得校正信号Aj（f），其中绘制了校正信号Aj（f）以消除误差信号Dj（f），并且利用傅立叶逆变换获得时间轴上的函数aj（t）。此外，从等式II获得新的指令信号Cj + 1（t）以驱动机器人。

9. 发明专利

JPS58225407A High-accuracy position controlling method of robot 失效
标题翻译：机器人的高精度位置控制方法
公开(公告)号：JPS58225407A
公开(公告)日：1983-12-27
申请号：JP10885882
申请日：1982-06-24
申请人： Kobe Steel Ltd
发明人： FUJIKAWA TAKESHI , INOUE YOSHIO , MASUDA TERUO , NODA ATSUHIKO , SATOU TAKASHI
IPC分类号： B25J9/16 , G05B19/42
CPC分类号： G05B19/42
摘要： PURPOSE:To ensure accurate positioning of a robot, by obtaining a command signal which have a response of a target signal with a function of transmission of the robot for each section of compensation on a normative track and then reducing the deviation between the response and target signals owing to the dynamic characteristics of the robot. CONSTITUTION:A robot is played back with a target signal g(t), and a response signal m0(t) of this time point is stored. A Fourier conversion is carried out to both signals g(t) and m0(t) to calculate a transmitting function Hi(f) of a robot driving system. A command signal Ci(f) which makes the signal g(t) response with the function Hi(f) in order to eliminate the effect of the dynamic characteristics of the robot driving system. Then a function Ci(t) which has undergone an adverse Fourier conversion is used to play back the robot. The deviation is obtained between a response signal mi(t) and the signal g(t). It is decided whether or not the deviation is within an allowable range. Then the signal Ci(t) is used for a primary operation when the deviation is within the allowable range. While, (i+1) is changed to (i) when the deviation is outisde the allowable range.
摘要翻译：目的：为了确保机器人的准确定位，通过获得具有目标信号的响应的命令信号，其具有在规范轨道上的每个补偿部分的机器人的传输功能，然后减小响应和目标之间的偏差由于机器人的动态特性引起的信号。构成：用目标信号g（t）播放机器人，并存储该时间点的响应信号m0（t）。对信号g（t）和m0（t）进行傅里叶变换，以计算机器人驱动系统的发送功能Hi（f）。为了消除机器人驱动系统的动态特性的影响，使得信号g（t）响应于功能Hi（f）的命令信号Ci（f）。然后使用经历不利傅立叶变换的函数Ci（t）来回放机器人。在响应信号mi（t）和信号g（t）之间获得偏差。决定偏差是否在容许范围内。然后当偏差在允许范围内时，信号Ci（t）用于初级操作。而，（i + 1）改变为（i）当偏差超出允许范围时。

10. 发明专利

JPS58223806A Preventing method of gunshot vibration of robot at starting 失效
标题翻译：机器人启动时的防护方法
公开(公告)号：JPS58223806A
公开(公告)日：1983-12-26
申请号：JP10793482
申请日：1982-06-22
申请人： Kobe Steel Ltd
发明人： FUJIKAWA TAKESHI , INOUE YOSHIO , MASUDA TERUO , NODA ATSUHIKO , SATOU TAKASHI
IPC分类号： B25J9/16 , G05B13/00 , G05B13/02 , G05B19/19 , G05B19/42
CPC分类号： G05B19/19 , G05B2219/37612
摘要： PURPOSE:To improve the positioning accuracy of a robot, by adding an arithmetic program to an existing signal storage device and therefore eliminating the oscillation component due to a sudden state change when the robot is started. CONSTITUTION:The unit impulse signal is previously applied to a robot as a time series data at a starting time point of a standard locus. Then the answer signal of the robot is measured to check the dynamic properties of the robot. The difference between the target signal to give teaching to the robot and its answer signal is calculated from the result of measurement, and an impulse signal is produced from the dynamic properties of the robot to include a proper amplitude constant and a time lag constant as well as to eliminate the difference. This impulse signal is applied to the target signal to be used as a command signal.
摘要翻译：目的：为了提高机器人的定位精度，通过向现有的信号存储装置添加算术程序，从而在机器人起动时由于突然的状态变化而消除振荡成分。构成：将单位脉冲信号作为标准轨迹的起始时间点的时间序列数据预先施加于机器人。然后测量机器人的应答信号，以检查机器人的动态特性。根据测量结果计算给出机器人教学的目标信号与其应答信号之间的差异，并且从机器人的动态特性产生脉冲信号，以包括适当的振幅常数和时滞常数以消除差异。该脉冲信号被施加到要用作命令信号的目标信号。

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