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1. 发明专利

JPS6386036A TIME DIVISION CONTROL SYSTEM 失效
公开(公告)号：JPS6386036A
公开(公告)日：1988-04-16
申请号：JP23226286
申请日：1986-09-30
申请人： FUJITSU LTD , NIPPON TELEGRAPH & TELEPHONE
发明人： HANAOKA YASUHIKO , MOROTO KIYOO , NAGAYAMA AKIRA
IPC分类号： G06F3/06 , G05B19/18 , G05B19/4155 , G06F9/46 , G06F9/48 , G11B15/02
摘要： PURPOSE:To process plural action elements with high efficiency based on a control program by giving the time division control to plural control programs just with a single processor for control of those action elements. CONSTITUTION:Each of tasks 1-n is divided into plural sequences 1-N with a shift action of a prescribed range defined as a single sequence. Each of these sequences 1-N includes a task drive time band decision step, a sequence counter replacement step and a control program step. The final sequence N has a task end processing step in addition to those said steps. The interruptions are applied every fixed time from a timer generating part 85 for replacement of the task pointer areas in a data memory 83. When the present task pointer indicates the task 1, the tasks 2, 3... are replaced at every timer interruption.

2. 发明专利

JPS61173317A HOME POSITION INITIALIZING SYSTEM OF CARRIAGE 失效
公开(公告)号：JPS61173317A
公开(公告)日：1986-08-05
申请号：JP1480785
申请日：1985-01-29
申请人： FUJITSU LTD , NIPPON TELEGRAPH & TELEPHONE
发明人： HANAOKA YASUHIKO , OI TAKEO , NAGAYAMA AKIRA , HIRONO TADASHI , TAKAYANAGI SHIN
IPC分类号： G05D3/12 , G05B19/18 , G05B19/401
摘要： PURPOSE:To make home positioning of a carriage easily and in a short time by detecting a home pattern provided at the position of the home position and positioning the carriage on the home position. CONSTITUTION:A timing track TT is provided along the shifting path of a carriage 10, and a sensor 6 is provided in the carriage 10 to detect a timing pattern. A controlling device makes positioning of the carriage 10 by an output of the sensor 6. The sensor 6 is provided with two home positions. When the sensor 6 detects a home pattern HPP, the controlling device positions the carriage 10 to another home position by using a self pattern TP of one home position. When the sensor 6 does not detect the home pattern HPP, positioning is made on the home position by using the self pattern TP of other self pattern TP.

3. 发明专利

JPH0596488A ROBOT DEVICE WITH SELF-DIAGNOSTIC FUNCTION 失效
公开(公告)号：JPH0596488A
公开(公告)日：1993-04-20
申请号：JP25792491
申请日：1991-10-04
申请人： FUJITSU LTD , NIPPON TELEGRAPH & TELEPHONE , OKI ELECTRIC IND CO LTD
发明人： UNE JUNZO , KITAHATA SHIGERU , NAGAYAMA AKIRA , SUNAGA HIDEKAZU
IPC分类号： B25J9/16 , B25J19/06 , G05B19/18 , H04Q1/14
摘要： PURPOSE:To perform the unmanned operation of a robot by providing a testing unit in the working area of the robot for the function confirmation of the robot, and forming such structure that the robot moves autonomously into this place periodically or at the time of detecting some abnormality during work to perform self-diagnosis and to judge whether to start or continue its work or not. CONSTITUTION:A visual controller 8 is connected to a visual sensor 5, and a force controller 9 is connected to a force sensor 4. A hand controller 10 and an arm controller 11 are connected to a robot 1, and a testing controller 12 is connected to a testing unit 6. At the time of installing the robot 1, the testing unit 6 is fitted into an optional place in an action area, and the teaching of this position is performed. The robot 1 moves into this position periodically or at the time of detecting some abnormality during work and performs specified action to confirm the function of the hands and sensors. In the case of being normal, the robot 1 resumes its work by its own judgment.

4. 发明专利

JPH04193494A ROBOT HAND DEVICE 失效
公开(公告)号：JPH04193494A
公开(公告)日：1992-07-13
申请号：JP32717490
申请日：1990-11-28
申请人： FUJITSU LTD , NIPPON TELEGRAPH & TELEPHONE , OKI ELECTRIC IND CO LTD
发明人： NISHIOKA TERUAKI , UNE JUNZO , HIRONO TADASHI , TAKAHASHI MASANAO , NAGAYAMA AKIRA , WADA SHIGETO
IPC分类号： B25J13/00 , B25J17/02
摘要： PURPOSE:To cease the damage at an abnormal time at a minimum, by providing a 1st and 2nd displacement quantity sensors which are opposed to a light intercepting piece and motioned by the light intercepting piece with the specified distance being owned in the fore and aft direction on a hand part. CONSTITUTION:A control part has a positioning mechanism position input circuit, compliance displacement quantity sensor signal input circuit, positioning mechanism driving circuit, displacement quantity/force corresponding table and a main control part. Moreover a sensor has a 1st displacement quantity sensor A and 2nd displacement quantity sensor B actuated by a light intercepting piece 1a with its being opposed to the light intercepting piece 1a moved in the 1 fore and aft direction integrally with a finger part 1 and the light intercepting piece 1a at a hand part 3 dand being provided with its having the specified distance in the fore and aft direction. The position of this hand 3 is monitored via a positioning mechanism 4, the relative position of the hand 3 and finger 1 is monitored via the 1st and 2nd displacement quantity sensors A and B, and the suitability of an insertion/extraction works is decided with the feeding quantity of the positioning mechanism 4 being collated with a displacement quantity/force corresponding table.

5. 发明专利

JPS63106017A VELOCITY CONTROL SYSTEM 失效
公开(公告)号：JPS63106017A
公开(公告)日：1988-05-11
申请号：JP25149086
申请日：1986-10-22
申请人： FUJITSU LTD , NIPPON TELEGRAPH & TELEPHONE
发明人： OI TAKEO , NAGAYAMA AKIRA
IPC分类号： G05B11/32 , G05B13/02 , G05D3/12 , G05D13/62
摘要： PURPOSE:To prevent vibration due to the oscillation of a mechanical system from occurring, by measuring an accelerating time with which an object to be controlled arrive at a reference velocity by adding a constant force on the object to be controlled, and setting a feedforward quantity at an optimum value. CONSTITUTION:At time of accelerating, constant acceleration is given on the object 1 to be controlled by adding the constant force, and the velocity at that time of the object 1 is compared with a reference velocity,and the accelerating time until it arrives at the reference velocity is measured by a measuring time 3. An arithmetic means 4 performs the calculation of a time difference between the accelerating time and the reference time,and calculates the friction force value of the mechanical system from the time difference, and following that, the feedforward quantity is decided by the friction force value, and uses it for feedforward control at time of deceleration, etc. Since a correction operation is performed in the feedforward control assuming control disturbance (friction force) is estimated to generate in advance, it is possible to remarkably reduce the influence of disturbance in target control, therefore, the feedback gain of feedback control for the disturbance can be reduced, and the vibration of the mechanical system liable to generate in deceleration control can be prevented from occurring, and also, stop control can be performed easily.

6. 发明专利

JPS6331905A POSITIONING CONTROL SYSTEM FOR MATERIAL STORAGE DEVICE 失效
公开(公告)号：JPS6331905A
公开(公告)日：1988-02-10
申请号：JP17508186
申请日：1986-07-25
申请人： FUJITSU LTD , NIPPON TELEGRAPH & TELEPHONE
发明人： OI TAKEO , KIMURA HISASHI , NAGAYAMA AKIRA
IPC分类号： B65G1/04 , G11B15/68
摘要： PURPOSE:To aim at vibration control at the time of positioning a hand mechanism as well as rigidity maintenance at the time of operating this hand mechanism, by installing a control part which controls a mobile mechanism at smallness in servo rigidity in positioning the hand mechanism by the mobile mechanism but at largeness in the servo rigidity after the positioning is all over. CONSTITUTION:In this control system, there are provided with plural storage racks 1 for housing materials and a hand mechanism 2 for taking out these materials and performing housing operations. Also, there are provided with a mobile mechanism 3 for positioning the hand mechanism 2 to a desired storage rack 1a of the storage rack 1 and a control part 4 servo-controlling this mobile mechanism 3. And, when the hand mechanism 2 is positioned to the desired storage rack 1a, this control part 4 controls the mobile mechanism 3 at smallness in servo rigidity, but after positioning completion, it controls the mobile mechanism 3 at largeness in the servo rigidity. Thus, taking out and housing these materials are stably performable.

7. 发明专利

JPS62288575A SPEED DETECTOR FOR ARTICLE TRANSFER APPARATUS 失效
公开(公告)号：JPS62288575A
公开(公告)日：1987-12-15
申请号：JP13159686
申请日：1986-06-06
申请人： NIPPON TELEGRAPH & TELEPHONE , FUJITSU LTD
发明人： NAGAYAMA AKIRA , TAKAYANAGI SHIN , OI TAKEO , YOSHISOE TERUHIDE
IPC分类号： G05D13/62 , G01P3/44
摘要： PURPOSE:To enhance detection accuracy in a slow speed region without using expensive ADC, by calculating an estimated error from the estimated value and actually measured value of a position and correcting the estimated value on the basis of said estimated error. CONSTITUTION:A drive signal I(k-1) is added to the output V(k-1) of a speed accumulator 5, in which a speed estimated value is accumulated, by a first adder 4 and a speed estimated value at time (k) is calculated to be subsequently accumulated in the speed accumulator 5. At the same time, the position estimated value at the time (k) is calculated by a second adder 7 and subsequently accumulated in a position accumulator 8. At the time (k) after elapse of one sampling time, the estimated error of a position is calculated from the actually measured value and estimated value of the position by a position comparator 10. As a result, each estimated value calculated at the time (k) is corrected and calculated on the basis of the estimated error of the position by the adders 4, 7.

8. 发明专利

JPS62251601A POSITION SHIFT MEASURING JIG FOR CARTRIDGE CONVEYANCE MECHANISM 失效
公开(公告)号：JPS62251601A
公开(公告)日：1987-11-02
申请号：JP9596786
申请日：1986-04-25
申请人： FUJITSU LTD , NIPPON TELEGRAPH & TELEPHONE
发明人： KAGAWA SEIJI , SATO YOSHITAKA , NAGAYAMA AKIRA , MURATA YUKITSUGU
IPC分类号： G01B21/00 , B65G1/04 , G01B5/00
摘要： PURPOSE:To position the center line of a cartridge in the center of the opening of a storage rack by providing a 2nd jig cartridge with a position adjusting mechanism and projecting screws to right and left equally. CONSTITUTION:The 2nd jig cartridge 60 is put on the storage rack and the knob 70 of a position adjusting mechanism is turned with the hand to move projection screws 75 and 76 outward against the wall surface of the rack. The quantities of movement of the screws 75 and 76 are made equal by a screw mechanism, so the cartridge 60 is positioned in the center of the rack. The center line CM of the front surface 63 of the cartridge 60 indicates the center position of the opening. Then, the 1st jig cartridge is positioned by the conveyance mechanism relatively to the cartridge 60 and the center positioning pin of the 1st cartridge is made to contact a surface 63, thereby giving a mark on carbon paper stuck on the surface 63. Then the position relation between the center line CM and mark position is checked to measure the position shift of the cartridge conveyance mechanism.

9. 发明专利

JPS6292265A STORAGE CELL FOR MAGNETIC TAPE CARTRIDGE 失效
公开(公告)号：JPS6292265A
公开(公告)日：1987-04-27
申请号：JP23245285
申请日：1985-10-18
申请人： FUJITSU LTD , NIPPON TELEGRAPH & TELEPHONE
发明人： SAITO SHIGEO , KIMURA HISASHI , KAGAWA SEIJI , HOSOKAWA SHIGEFUMI , NAGAYAMA AKIRA
IPC分类号： G11B15/68 , G11B23/02 , G11B33/04 , G11B33/12
摘要： PURPOSE:To prevent crack or damage by providing a projection inscribed with a hole of an opposite frame to a boss being a reference of a storage cell to avoid force delivered to the root of the boss due to temperature changes. CONSTITUTION:The projection 15 circumscribed with a hole 11 of a frame 9 is provided to a boss 10A being a reference of a storage cell 8. Bosses 10B, 10C of other storage cell 8 have a projection 12 horizontally and the boss 10B is formed to be escaped vertically so that the boss 10B is fitted even when the boss pitch of the storage cell 8 and the hole pitch of the opposite frame 9 are deviated and the boss 10C is used simply for mounting. The projection 15 is provided to the boss 10A being the reference of the storage cell 8 in this way to make the positioning accuracy accurate. Further, even when there is a change in size depending on the difference from materials used for the frame 9 and the storage cell 8, only the projection 15 receives force and the entire boss does not receive force. Thus, no crack damage is given to the boss 10A.

10. 发明专利

JPS61192605A CARTRIDGE SELECTIVE DEVICE 失效
公开(公告)号：JPS61192605A
公开(公告)日：1986-08-27
申请号：JP3114285
申请日：1985-02-19
申请人： NIPPON TELEGRAPH & TELEPHONE , FUJITSU LTD
发明人： NAGAYAMA AKIRA , NISHIDA YASUHIDE , OI TAKEO , KIMURA HISASHI
IPC分类号： B65G1/00 , B65G1/04
摘要： PURPOSE:To make improvements in aseismatic reliability ever so better, by installing two types of large and small picker driving mechanism in terms of driving force, and constituting the driving mechanism so as to be selected to the large driving force on the basis of earthquake occurring detection. CONSTITUTION:When an earthquake occurs while an operating mode indicator 25 indicates a transfer operating mode, an output line of a gap photocell 23b varies from ON to OFF and transmitted to an AND circuit 32. Since an AND circuit 31 is OFF because it is in the transfer operating mode, the AND circuit 32 and an OR circuit 30 both are turned off. On the other hand, a select switch 33 selects a drive circuit of a picker motor 19 from a first drive circuit 34 to a second drive circuit 35. Even at the time of picker excitation by a maximum earthquake to the second drive circuit 35, this picker is drawn in a carriage mechanism, making it take ability to generate driving force whereby a collision or the like of the cell, etc., is preventable. With this constitution, aseismatic reliability is improvable.

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