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1. 发明专利

JP2011093047A Control method for manipulator, and in-nozzle stub working method 有权
标题翻译：操纵器控制方法和喷射式工作方式
公开(公告)号：JP2011093047A
公开(公告)日：2011-05-12
申请号：JP2009249807
申请日：2009-10-30
申请人： Mitsubishi Heavy Ind Ltd , 三菱重工業株式会社
发明人： ISHII MASAAKI , ONISHI NORIKO , OGURA KAZUMI , AKAHA TAKASHI , HINAMI KAZUYUKI , HAYASHI YOSHIHIRO , MORII KYOKO
IPC分类号： B25J13/08 , G21C13/00 , G21C19/02
CPC分类号： Y02E30/40
摘要： PROBLEM TO BE SOLVED: To provide a control method for a manipulator and an in-nozzle stub working method, reducing time and labor required for a work in the nozzle stub using the manipulator.
SOLUTION: A laser sensor 121 is installed on the manipulator 100, and first correction measurement for measuring distances at four points with an interval of 90° in the order of the points of 1a-4a while rotating it in a first position. From the result of the first correction measurement, first correction for correcting a central position making difference of the distances of the point of 1a and the point of 3a and difference of the distances of the point of 2a and the point of 4a as deviation of the central position with the nozzle stub 16 is performed, and second correction measurement for measuring distances at the four points with an interval of 90° in the order of the points of 1b-4b while rotating the laser sensor 121 at a second position is performed. From the result of the second correction measurement, second correction for correcting inclination making difference of the distances of the point of 1b and the point of 3b and difference of the distances of the point of 2b and the point of 4b, as deviation of inclination with the nozzle stub 16, is made.
COPYRIGHT: (C)2011,JPO&INPIT
摘要翻译：要解决的问题：为了提供机械手的控制方法和喷嘴内短路加工方法，可以减少使用机械手的喷嘴短截线工作所需的时间和人力。解决方案：激光传感器121安装在操纵器100上，并且第一校正测量用于在1a-4a点的顺序上以90°的间隔测量四点的距离，同时在第一位置旋转。根据第一校正测量的结果，第一校正用于校正中心位置，使得点1a和点3a之间的距离与点2a和点4a的距离的差异作为执行具有喷嘴短截线16的中心位置，并且执行第二校正测量，用于在激光传感器121处于第二位置的同时，以1b-4b的点的顺序测量在90°的间隔处的四个点处的距离。根据第二校正测量的结果，第二校正用于校正倾斜的点，其中点1b和点3b的距离与点2b和点4b之间的距离的差异作为与第喷嘴短管16。版权所有（C）2011，JPO＆INPIT

2. 发明专利

JP2003275473A Plotting system using mobile robot 有权
标题翻译：使用移动机器人的绘图系统
公开(公告)号：JP2003275473A
公开(公告)日：2003-09-30
申请号：JP2002079710
申请日：2002-03-20
申请人： Mitsubishi Heavy Ind Ltd , 三菱重工業株式会社
发明人： ASANO SHIN , KAWAUCHI NAOTO , SASANO YUICHI , NAKAYAMA JUNJI , ISOZAKI YOSHIJI , MORIMOTO SEIICHI , MORII KYOKO , SOGO MASAAKI , KAMIMURA HIDEKAZU
IPC分类号： A63H11/18 , A63H11/00 , A63H13/15 , B25J19/04 , G06T1/00
摘要： PROBLEM TO BE SOLVED: To provide a plotting system capable of drawing a portrait of high quality while giving a spectator recognition of actually drawing the portrait using a mobile robot.
SOLUTION: This plotting system using the mobile robot is provided with a CCD camera 10 for photographing the face of a customer M to obtain face image data; a portrait controller 11 for processing the face image data to originate line drawing data; the robot 50 movable in a specific display area 1 and plotting on a liquid crystal display 6 with a pen tablet; a plotting operation data originating means for originating plotting operation data for allowing the robot to carry out plotting on the basis of the line drawing data; a robot control means for controlling the movement of the robot and allowing the robot to draw on a plotting medium; and a positioning device 30 for positioning the mobile robot 50 to the plotting medium.
COPYRIGHT: (C)2003,JPO
摘要翻译：要解决的问题：提供一种能够绘制高质量肖像的绘图系统，同时使用移动机器人实际绘制人像的观众识别。
解决方案：使用移动机器人的绘图系统设置有用于拍摄顾客M的脸部以获得面部图像数据的CCD照相机10; 肖像控制器11，用于处理面部图像数据以产生线条图数据; 机器人50可以在特定显示区域1中移动，并用笔式图形输入液晶显示器6; 绘制操作数据发起装置，用于发起绘制操作数据，用于允许机器人基于线条图数据执行绘图; 机器人控制装置，用于控制机器人的移动并允许机器人在绘图介质上绘图; 以及用于将移动机器人50定位到绘图介质的定位装置30。版权所有（C）2003，JPO

3. 发明专利

JP2012045702A Polishing apparatus 有权
标题翻译：抛光装置
公开(公告)号：JP2012045702A
公开(公告)日：2012-03-08
申请号：JP2011005886
申请日：2011-01-14
申请人： Mitsubishi Heavy Ind Ltd , 三菱重工業株式会社
发明人： MURATA TADASHI , ONISHI KEN , MORII KYOKO
IPC分类号： B24B49/16 , B23Q15/12 , G05B19/404
摘要： PROBLEM TO BE SOLVED: To allow the size and cost of a polishing apparatus to be reduced, and to prevent a shock caused by control switching from occurring.SOLUTION: A rotation speed deviation calculating part 230 calculates a rotation speed deviation by subtracting the rotation speed of a polishing tool 11 from a target rotation speed. A control correction amount calculating part 240 calculates a control correction amount for integral control of force application onto the polishing tool 11 of a travel driving part 15 on the basis of the rotation speed deviation. A general target position calculating part 320 calculates a general target position by subtracting a control correction amount from a target position. A general position deviation calculating part 330 calculates a general position deviation by subtracting an actual position from the general target position. A position control part 340 calculates a control command value for PID control on the basis of the general position deviation, and outputs it to the travel driving part 15.
摘要翻译：要解决的问题：为了减少抛光装置的尺寸和成本，并且防止由控制切换引起的冲击。解决方案：转速偏差计算部件230通过从目标转速减去抛光工具11的转速来计算转速偏差。控制校正量计算部240基于旋转速度偏差来计算用于对行进驱动部15的研磨工具11施加的力的一体控制的控制校正量。一般目标位置计算部320通过从目标位置减去控制校正量来计算一般目标位置。一般位置偏差计算部分330通过从一般目标位置减去实际位置来计算一般位置偏差。位置控制部分340基于一般位置偏差来计算用于PID控制的控制命令值，并将其输出到行驶驱动部分15.版权所有：（C）2012，JPO＆INPIT

4. 发明专利

JPH0716937A FILAMENT WINDING MACHINE 失效
公开(公告)号：JPH0716937A
公开(公告)日：1995-01-20
申请号：JP16355793
申请日：1993-07-01
申请人： MITSUBISHI HEAVY IND LTD
发明人： TERAO KATSUMI , NISHIOKA YOSHIO , MATSUYAMA TAKEHIKO , TAKADA KATSUTO , MORII KYOKO
IPC分类号： B29C70/16
摘要： PURPOSE:To obtain a filament winding (F/W) machine molding a fiber reinforced plastic product by a filament winding method and enabling the conservation of space and desired tension control. CONSTITUTION:A creel stand (roving bobbin attaching device) 5 being a roving (elongated fiber bundled yarn) supply device, a resin bath (resin tank) 7 and a winding part 8 are constituted as an integrated structure setting a roving sending-out angle to the min. angle and a lever type tension control mechanism 6 is provided to constitute a filament winding (F/W) machine.

5. 发明专利

JPH08101712A ON-LINE TEACHING DEVICE FOR UNMANNED CARRIAGE PASSING PATH 失效
公开(公告)号：JPH08101712A
公开(公告)日：1996-04-16
申请号：JP23619994
申请日：1994-09-30
申请人： MITSUBISHI HEAVY IND LTD
发明人： MORII KYOKO
IPC分类号： G05B19/42 , G05D1/02
摘要： PURPOSE: To provide the on-line teaching device for the unmanned carriage passing path which greatly shorten the time required to set the passing path of an unmanned carriage, can securely set the path, and eliminates the need for a test run. CONSTITUTION: This is a passing path teaching device for setting the passing path of the unmanned carriage; and the carriage itself is used to perform the on-line teaching of paths a1-a5, b1, b2, (c), and (d) where the carriage travels avoiding obstacles, etc. A path on which the carriage travels in a simple part such as a linear part is taught by using a map generated by a host computer and data of both the teaching processes are merged and corrected.

6. 发明专利

JPH07248819A TRACK CONTROL METHOD FOR AUTOMATIC RUNNING VEHICLE 失效
公开(公告)号：JPH07248819A
公开(公告)日：1995-09-26
申请号：JP3715794
申请日：1994-03-08
申请人： MITSUBISHI HEAVY IND LTD
发明人： MORII KYOKO
IPC分类号： G05D1/02
摘要： PURPOSE:To provide the track control method for automatic running vehicle which stabilizes track control and easily generates a track. CONSTITUTION:The segment connecting a preceding target point t1 on a track 2 and a next target point t2 is defined as a target track 20 of a vehicle 10, and a circle 21 which has a certain radius with the vehicle 10 as the center is drawn, and the intersection between this circle and the target track 20 is denoted as a temporary target point ta. If there are two intersections between the circle and the target track, one nearer intersection to the next target point is denoted as the temporary target point ta. An angle theta formed between a segment 16 connecting the temporary target point ta and a vehicle reference point 15 of the vehicle 10 and a vehicle reference line 13 is taken as a steering angle theta' of a steering driving wheel 12 to run the vehicle 10. After the temporary target point ta coincides with the next target point t2, a segment connecting this point and the next target point is defined as the target track 20. This control is repeatedly executed till the vehicle no arrives at the final target.

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