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1. 发明专利

JPS60252902A ROBOT CONTROLLER 失效
公开(公告)号：JPS60252902A
公开(公告)日：1985-12-13
申请号：JP10865784
申请日：1984-05-30
申请人： MITSUBISHI ELECTRIC CORP
发明人： ITOU YOSHIYUKI , MORITA HIROCHIKA
IPC分类号： G05B9/02 , B25J9/22 , B25J13/06
摘要： PURPOSE:To prevent the misoperations of switches and to secure safety of an operator by providing a switch that decides the validity or the invalidity of the input signals of switches having direct relations to the movements of a robot. CONSTITUTION:A servo input switch 9, a switch 11 that sets a robot into a teaching mode, an automatic mode switch 12 which is used for reproduction of a program that is previously taught and a start switch 13 that produces the program in an automatic mode are not valid by themselves among those switches on a robot operation board 3. The inputs given from said switches are effective only when a key validity switch 15 is pushed at a time. These effective inputs are supplied to a signal reception part 17. While the inputs of other switches such as a control input switch 7, a servo changeover switch 10, etc. are applied directly to the part 17.

2. 发明专利

JPS59201775A Controller for robot 失效
公开(公告)号：JPS59201775A
公开(公告)日：1984-11-15
申请号：JP7445183
申请日：1983-04-27
申请人： Mitsubishi Electric Corp
发明人： ITOU MASANOBU , ITOU YOSHIYUKI
IPC分类号： B25J9/16 , B25J13/00

3. 发明专利

JPS59140504A Controller for robot 失效
标题翻译：机器人控制器
公开(公告)号：JPS59140504A
公开(公告)日：1984-08-11
申请号：JP1481183
申请日：1983-02-01
申请人： Mitsubishi Electric Corp
发明人： ITOU YOSHIYUKI , KOGA HIDETOSHI
IPC分类号： G05B9/02 , B25J9/16 , G05B19/416
CPC分类号： G05B19/416 , G05B2219/43008
摘要： PURPOSE:To make a safe and smooth motion possible by setting two limit points, where a stop command and a decelerating command are given respectively, in a maximum operating range. CONSTITUTION:Current positions of moving arms 1a and 1b are operated in a controller at intervals of a minute time by a current positioln operating part 5, and results are transferred to a comparing part 9 and a moving command operating part 7. The operating part 7 calculates extents of the next movement on a basis of data of the operating part and data from a movement objective position storage part 8 and outputs them to gates (c) and (d). Simultaneously, data from a limit position storage part 6 of an operating range 4 is compared with data of the operating part 5 to discriminate whether current positions of arms 1a and 1b are within the range 4 or at limit points. In accordance with this discrimination result, one gate is opened and the other is closed, and deceleration is operated in a deceleration operating part 11 to start deceleration, and arms are stopped quickly without getting out of the operating range when they reach stop points 2a.
摘要翻译：目的：通过设置两个极限点，即在最大工作范围内分别给出停止指令和减速指令，使安全平稳运动。构成：移动臂1a和1b的当前位置通过当前的位置操作部分5在一分钟的时间间隔内在控制器中操作，结果被传送到比较部分9和移动指令操作部分7.操作部分7 基于来自移动目标位置存储部分8的操作部分的数据和数据，计算下一个移动的范围并将其输出到门（c）和（d）。同时，将来自操作范围4的极限位置存储部分6的数据与操作部分5的数据进行比较，以鉴别臂1a和1b的当前位置是否在范围4内或限制点。根据该鉴别结果，一个门打开，另一个关闭，减速操作部11中进行减速以开始减速，并且臂在到达停止点2a时没有超出工作范围而快速停止。

4. 发明专利

JPS57194986A GRIPPER 失效
公开(公告)号：JPS57194986A
公开(公告)日：1982-11-30
申请号：JP7056481
申请日：1981-05-11
申请人： MITSUBISHI ELECTRIC CORP
发明人： TERAUCHI TSUNEO , ITOU YOSHIYUKI
IPC分类号： B08B9/42 , B25J15/00

5. 发明专利

JPS59153207A Control device of robot 失效
标题翻译：机器人控制装置
公开(公告)号：JPS59153207A
公开(公告)日：1984-09-01
申请号：JP2726683
申请日：1983-02-21
申请人： Mitsubishi Electric Corp
发明人： ITOU YOSHIYUKI
IPC分类号： B25J9/16 , B25J9/18 , G05B19/18 , G05B19/19 , G05B19/404 , G05B19/425
CPC分类号： G05B19/425 , G05B19/19 , G05B2219/41177 , G05B2219/45083
摘要： PURPOSE: To execute position control precisely by detecting a deviation between a read position and a stored position stored as the real position and correcting the stored positional data on the basis of the deviation.
CONSTITUTION: A storage part 11 storing the working procedure or the like of a robot, a current point storage part 12 storing the current position data of each arm and a reference point storage part 13 storing the positional data at the restore to the reference point are incorporated in a control device 10 and a central processing unit (CPU) 14 controls the movement of each arm up to a working point or the like through an output command part 15. The control device 10 is provided with a correcting command part 16 and a correcting instruction box 17 to correct the position of each arm and the CPU14 calculates the deviation between real position and the stored positional data. The correction command part 16 corrects the stored contents in the current point storage part 12 and the reference point storage part 13 is accordance with the deviation.
COPYRIGHT: (C)1984,JPO&Japio
摘要翻译：目的：通过检测作为实际位置存储的读取位置和存储位置之间的偏差来精确地执行位置控制，并且基于偏差校正存储的位置数据。构成：存储机器人的工作程序等的存储部11，存储每个臂的当前位置数据的当前点存储部12以及将恢复时的位置数据存储到基准点的基准点存储部13，结合在控制装置10中，中央处理单元（CPU）14通过输出指令部15控制各臂的运动到工作点等。控制装置10具有校正指令部16和校正指示框17以校正每个臂的位置，并且CPU14计算实际位置与存储的位置数据之间的偏差。校正命令部16对当前点存储部12中存储的内容进行校正，并且基准点存储部13与偏差一致。

6. 发明专利

JPS59140515A Controller for robot 失效
标题翻译：机器人控制器
公开(公告)号：JPS59140515A
公开(公告)日：1984-08-11
申请号：JP1480983
申请日：1983-02-01
申请人： Mitsubishi Electric Corp
发明人： ITOU YOSHIYUKI , MORI SHIYUNJI
IPC分类号： B25J9/16 , G05B19/05 , G05B19/18 , G05B19/404 , G05B19/4063 , G05B19/418
CPC分类号： G05B19/058 , G05B2219/1162
摘要： PURPOSE:To improve the safety of operation and the operation efficiency, by displaying the input/output state of an external device on a CRT in real time and monitoring the state of the external device in real time with an operator and making it possible to change the state of the external device in real time. CONSTITUTION:A robot controller 100 is provided with a CPU2, a data storage part 3, an input/output device 20, an input port 22, and an output port 23 connected to an external device 25. A CRT21 and a keyboard 5 are connected to the device 20, and a teaching box 19 is connected to an input/output device 24 connected to ports 22 and 23. Contents of the port 23 connected to the device 25 are displayed on the screen of the CRT21 by the control of the CPU2 of the controller 100, and an optional command is outputted to the device 25 by the operation of a keyboard 5, and the control of the device 25 is changed in real time. Contents of the input port 22 of the device 25 are displayed on the screen of the CRT21 in an actual time to make it possible to monitor the state of the device 25, thus improving the operation efficiency and the safety.
摘要翻译：目的：通过在CRT上实时显示外部设备的输入/输出状态，通过操作员实时监控外部设备的状态，提高操作的安全性和操作效率，并可以改变外部设备的状态实时。构成：机器人控制器100设置有连接到外部设备25的CPU2，数据存储部3，输入/输出设备20，输入端口22和输出端口23. CRT21和键盘5被连接连接到设备20的教学盒19连接到连接到端口22和23的输入/输出设备24.连接到设备25的端口23的内容通过CPU2的控制显示在CRT21的屏幕上并且通过键盘5的操作向设备25输出可选命令，并且实时地改变设备25的控制。实时地在CRT21的屏幕上显示设备25的输入端口22的内容，以便监视设备25的状态，从而提高操作效率和安全性。

7. 发明专利

JPS59140511A Controller for robot 失效
标题翻译：机器人控制器
公开(公告)号：JPS59140511A
公开(公告)日：1984-08-11
申请号：JP1481083
申请日：1983-02-01
申请人： Mitsubishi Electric Corp
发明人： IMAIZUMI TAKEO , ITOU YOSHIYUKI
IPC分类号： G05B9/02 , B25J9/16 , G05B19/18 , G05B19/4063
CPC分类号： G05B19/4063
摘要： PURPOSE:To enter into the next step after a certain time to continue the processing, by providing a maximum time limit check processing part, which discriminates whether an executing instruction is effective or not to prevent rush to an infinite loop, in an instruction executing part which waits for the inout signal from an external device operated in cooperation with a robot. CONSTITUTION:A program generated with a user language is stored in an instructuon file 2 of a robot controller 9, and its instructions are decoded in an instruction decoding part 5 by the control of a step control part 4 and are executed in instruction executing parts 6a, 6b.... An instruction executing part 10, which waits for the input signal from an external device 7 such as a parts supply device or the like operated in cooperation with the robot, in the controller 9 is provided with a maximum time limit check processing part 10a which discriminates whether the executing instruction is effective or not in accordance with the presence or the absence of the input signal within a prescribed time. Rush to an infinite loop is prevented by checking in the processing part 10a, and the control is transferred to the next step after a certain time.
摘要翻译：目的：在指定执行部分之后，通过提供鉴别执行指令是否有效的最大时限检查处理部分，在一定时间后进入下一步骤以继续处理，其等待来自与机器人协作操作的外部设备的输入信号。构成：用用户语言生成的程序存储在机器人控制器9的指示文件2中，并且通过步进控制部分4的控制在指令解码部分5中解码其指令，并在指令执行部分6a 6b。在控制器9中等待来自与机器人协作操作的诸如零件供应装置等的外部装置7的输入信号的指令执行部分10具有最大时限检查处理部分10a，其根据在规定时间内的输入信号的存在或不存在来判别执行指令是否有效。通过检查处理部分10a来防止冲到无限循环，并且在一定时间之后将控制转移到下一步骤。

8. 发明专利

JPS5829578A CONTROLLER FOR ARC WELDING ROBOT 失效
公开(公告)号：JPS5829578A
公开(公告)日：1983-02-21
申请号：JP12649481
申请日：1981-08-12
申请人： MITSUBISHI ELECTRIC CORP
发明人： ITOU YOSHIYUKI , MORI SHIYUNJI
IPC分类号： B25J9/16 , B23K9/10 , B23K9/12
摘要： PURPOSE:To prevent the deflection of a conduit, an electric cable, etc. connected to a welding torch and to improve reliability in resetting a welding robot to its origin by correcting the turning of the other driving shaft owing to resetting of either of the driving shafts. CONSTITUTION:In the case of resetting a link 24 in an arrow C direction to an origin, an operator pushes a direction instructing button for link of a switch box 34 for teaching. Then, a direction instructing signal 100 is outputted from the box 34 through an input-output interface 38 to a central processing unit 40. Said signal is converted to the rotating angle of a motor for driving the link 24 by the unit 40 and is outputted to a control program 42 which calculates the correcting angle of the motor for driving a welding torch 14 in accordance with the rotating angle of said motor and outputs the same to a control part 44 for positioning. As a result, the link 24 is reset accurately to the origin, and since the torch 14 is held in a static state, unnecessary deflection of the conduit 18, electric cable, etc. connected to the torch 14 is prevented.

9. 发明专利

JPS595309A Control device of robot 失效
标题翻译：机器人控制装置
公开(公告)号：JPS595309A
公开(公告)日：1984-01-12
申请号：JP11490582
申请日：1982-07-02
申请人： Mitsubishi Electric Corp
发明人： MORI SHIYUNJI , TAJIMA HITOSHI , ITOU YOSHIYUKI
IPC分类号： B25J9/16 , B25J9/18 , B25J13/00 , G05B19/408 , G05B19/4093
CPC分类号： G05B19/408 , G05B2219/33263 , G05B2219/36016 , G05B2219/45083
摘要： PURPOSE: To control plural robots whose structure is different from each other, by one system, by constituting a control system of the robot of a general purpose coordinate system, and executing a transformation from the general purpose coordinate system to a coordinate system peculiar to a robot to be controlled, by use of plural parameter groups prepared in advance.
CONSTITUTION: An output from a moving position setting device 23 is inputted to a coordinate transformer 24. By this transformer 24, an output of an orthogonal coordinate system is transformed to information of a general purpose coordinate system, and an angle of an arm of a robot is calculated. An output of the coordinate transformer 24 selects a type of a robot which becomes a controlled system, and it is supplied to a coordinate transformer 26 through a selector 25 for drawing out a parameter group corresponding to a coordinate system peculiar to said robot. An output of the coordinate transformer 26 is transformed to a driving pulse number of the robot by a pulse transformer 27, is distributed, and is supplied to each driving motor 33 of the robot through servo-amplifiers 28W32.
COPYRIGHT: (C)1984,JPO&Japio
摘要翻译：目的：通过一个系统来控制结构彼此不同的多个机器人，通过构成通用坐标系的机器人的控制系统，并且执行从通用坐标系向特定的坐标系的变换通过使用预先准备的多个参数组来控制机器人。构成：来自移动位置设定装置23的输出被输入到坐标变换器24.通过该变压器24，将正交坐标系的输出变换为通用坐标系的信息，并且将臂的角度计算机器人。坐标变换器24的输出选择成为受控系统的机器人的类型，并且通过选择器25提供给坐标变换器26，用于绘出与所述机器人特有的坐标系对应的参数组。坐标变换器26的输出通过脉冲变压器27变换为机器人的驱动脉冲数，被分配，并通过伺服放大器28-32提供给机器人的每个驱动电动机33。

10. 发明专利

JPS59194209A Controller of robot 失效
标题翻译：机器人控制器
公开(公告)号：JPS59194209A
公开(公告)日：1984-11-05
申请号：JP6867383
申请日：1983-04-19
申请人： Mitsubishi Electric Corp
发明人： ITOU YOSHIYUKI , MORI SHIYUNJI , TAJIMA HITOSHI
IPC分类号： B25J9/16 , G05B19/18 , G05B19/4155
CPC分类号： G05B19/18
摘要： PURPOSE:To improve the operation efficiency of a robot by controlling the start and stop of operation by a temporary stop signal inputted from the outside of the controller of the robot. CONSTITUTION:An instruction to be executed is selected from a program storage part 3 by a program sequence control part 4 and stored in an instruction buffer 13. This is decoded by an instruction decoder 5, and a signal is sent out to the robot main body 8 and an external device 9 through an instruction execution part 6 and an output part 7. For this purpose, a temporary stop button 22 for sending the temporary stop signal to the controller and an output signal transmission control switch 24 for stopping and restarting the transmission of an output signal are provided. The temporary stop signal from this button 22 is outputted to an operation control part 10 through an input part 12 and an input signal decoding part 11, and an output signal transmission control switch 24 is opened automatically by the temporary stop command 23 passed through the operation control part 10 to stop the transmission of the output signal.
摘要翻译：目的：通过从机器人的控制器的外部输入的临时停止信号控制起动和停止操作来提高机器人的操作效率。构成：由程序序列控制部4从程序存储部3中选择要执行的指令，存储在指令缓冲器13中，由指令译码器5解码，并将信号发送到机器人主体 8和通过指令执行部分6和输出部分7的外部装置9.为此，将用于将暂时停止信号发送到控制器的暂停停止按钮22和用于停止和重新启动传输的输出信号传输控制开关24 提供输出信号。来自该按钮22的暂时停止信号通过输入部分12和输入信号解码部分11被输出到操作控制部分10，并且输出信号传输控制开关24通过通过操作的临时停止命令23自动打开控制部分10停止输出信号的传输。

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