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1. 发明专利

JPS6127182A Teaching method of robot for cutting or welding uo steel pipe tab plate 失效
标题翻译：用于切割或焊接UO钢管板的机器人的教学方法
公开(公告)号：JPS6127182A
公开(公告)日：1986-02-06
申请号：JP14675084
申请日：1984-07-17
申请人： Hitachi Ltd , Nippon Steel Corp
发明人： TANABE TETSUO , KAMIOKA MASAHARU , MATSUSHIMA HARUHIKO , FURUKAWA TAKASHI
IPC分类号： B23K9/127 , B23K7/00 , B23K9/025 , B23K9/12
CPC分类号： B23K9/126
摘要： PURPOSE:To move with keeping constantly the height of a torch and the torch angle by calculating the torch locus on the basis of the opposing position to the specified point in the width direction of a tab plate with a robot controlling device and by moving it along the locus. CONSTITUTION:The position opposing to the cutting starting point A of a tab plate is memorized by a robot controlling device. The torch position opposing to the points B, C is memorized by the controlling device with respect to the point F which is around the boundary between the other side part of the base end of the tab plate 6 and the pipe end, the points C and D close to both sides edges of a welding part 17, the medium point B of the points A and point C and the medium point E of the point D and point F, and then, based on the three points of the points A, B, C the circular arc shaped torch locus which is among the points A- C is calculated by the controlling device. The torch position opposing to the point G and point D of the apex of the welding part 17 is similarly memorized by the controlling device and the circular arc shaped torch locus which is among the points C-D is calculated by the controlling device based on the three points of the points C, G, D. Similarly with calculating the circular arc torch locus which is between the points D, F by the controlling device, the torch locus which is among the points A-F is set in the height (h) and at the angle theta constantly at all times.
摘要翻译：目的：通过使用机器人控制装置的翼片的宽度方向上的指定点的相对位置计算火炬轨迹并通过移动它来移动，同时保持割炬的高度和割炬角度的位置。构成：与片状板的切割起点A相对的位置由机器人控制装置存储。与点B，C相对的割炬位置由控制装置相对于位于接头板6的基端的另一侧部与管端之间的边界附近的点F存储，点C和 D接近焊接部分17的两侧边缘，点A和点C的中点B和点D和点F的中点E，然后基于点A，B的三个点 C是由控制装置计算的点A- C中的圆弧形火炬轨迹。与焊接部17的顶点G和点D相对的割炬位置也由控制装置和圆弧形割炬轨迹相对应地存储在点CD之间，由控制装置基于三点计算点C，G，D类似地，通过计算通过控制装置的点D，F之间的圆弧焊炬轨迹，将点AF之间的割炬轨迹设定在高度（h）和高度角度始终在任何时候。

2. 发明专利

JPS6120105A Positioning control circuit for industrial robot 失效
标题翻译：工业机器人定位控制电路
公开(公告)号：JPS6120105A
公开(公告)日：1986-01-28
申请号：JP13909984
申请日：1984-07-06
申请人： Dainichi Kiko Kk , Nippon Steel Corp
发明人： MATSUSHIMA HARUHIKO , NAKAMURA ATARU
IPC分类号： G05D3/12 , B25J9/16 , G05B19/416
CPC分类号： G05B19/416
摘要： PURPOSE:To control a robot highly accurately by connecting a read-only memory to the preceding stage of the plus terminal of an arithmetic circuit and outputting a compensation speed command value larger than a speed command value by a prescribed rate to the arithmetic circuit at the control of a variable speed locus. CONSTITUTION:A positioning control circuit for an industrial robot is provided with a subtractor 1, an accelerating/decelerating circuit 2 an arithmetic circuit 3, etc. and a memory circuit 8 is connected between the circuit 2 and the subtractor 3. The read-only memory 8 reads output data so that the value of input data (address) is almost equal to that of the output data at the control of a stop position and output data fixing the product of the gain of the memory 8 and that of the circuit 3 at the control of variable speed locus and outputs a compensation speed command (d) to the circuit 3. Consequently, a servo unit 4 drives an actuator 5 at a speed equal to a speed command (a).
摘要翻译：目的：通过将只读存储器连接到运算电路的正端子的前级来控制机器人，并将规定速度的速度指令值大于运算电路的速度指令值输出到运算电路控制变速轨迹。构成：工业机器人的定位控制电路设置有减法器1，加减速电路2，运算电路3等，存储电路8连接在电路2和减法器3之间。只读存储器8读取输出数据，使得输入数据（地址）的值几乎等于在控制停止位置时的输出数据的值，并且输出固定存储器8的增益与电路3的增益乘积的数据在变速轨迹的控制下，向电路3输出补偿速度指令（d）。因此，伺服单元4以等于速度指令（a）的速度驱动致动器5。

3. 发明专利

JPS60222709A SENSOR SCANNING TYPE MEASURING METHOD UTILIZING INDUSTRIAL ROBOT 失效
公开(公告)号：JPS60222709A
公开(公告)日：1985-11-07
申请号：JP7750084
申请日：1984-04-19
申请人： NIPPON STEEL CORP , DAINICHI KIKO KK
发明人： MATSUSHIMA HARUHIKO , TANABE TETSUO , NAKAMURA ATARU
IPC分类号： B23Q17/20 , G01B21/00 , G01B21/20
摘要： PURPOSE:To perform highly accurate measurement, by measuring the coordinates of an industrial robot with respect to a material to be measured, whose stopping position is different at every time, by a gap sensor, and obtaining the characteristic points of a reference plane beforehand. CONSTITUTION:UO steel pipe 5, which is a material to be measured, is positioned at the specified measuring place of a multiple-joint robot 1. A gap sensor 2 performs the scanning along the outer surface of the end of the steel pipe 5, and a bead end P is detected. One point A, which is separated from the point P by a specified distance, is detected. Then other points B, C and D, which divide the outer surface into four parts, are detected, and the four points A, B, C and D are determined as characteristic points. Based on the characteristic points, relation between the measured coordinates of the gap sensor 2 and the positioning attitude of the material to be measured is computed as the coordinate system of the robot by an operating device 4. Thus the highly accuracte measurement can be performed.

4. 发明专利

JPS60197382A Sensor scanning type measuring method utilizing multi-joint robot 失效
标题翻译：传感器扫描型测量方法利用多机器人
公开(公告)号：JPS60197382A
公开(公告)日：1985-10-05
申请号：JP5363784
申请日：1984-03-22
申请人： Nippon Steel Corp
发明人： MATSUSHIMA HARUHIKO , OSADA JIYUNICHI , TAN KENJI
IPC分类号： B25J9/16 , B25J13/08 , G05B19/18

5. 发明专利

JPS60175109A INTERPOLATION CONTROL METHOD AND ITS CIRCUIT FOR INDUSTRIAL ROBOT 失效
公开(公告)号：JPS60175109A
公开(公告)日：1985-09-09
申请号：JP2961184
申请日：1984-02-21
申请人： NIPPON STEEL CORP , DAINICHI KIKO KK
发明人： MATSUSHIMA HARUHIKO , OSADA JIYUNICHI , NAKAMURA ATARU
IPC分类号： B25J9/16 , B25J13/00 , G05B19/18 , G05B19/4103
摘要： PURPOSE:To attain the simultaneous following property of all axes by setting up a waiting point prior to an objective value changing point of each axis, and after waiting that all the axes has exceeded the waiting point, changing the succeeding virtual objective value. CONSTITUTION:An interpolation control circuit for an industrial robot is formed so as to correspond to all axes and constituted of a CPU12 for controlling all axes to execute crude interpolation operation assigning the string of crude interpolation points on a space course of a robot wrist to the string of virtual objective values of respective axes and CPUs 13-15 for controlling respective axes to execute the fine interpolation operation of the string of fine interpolation points among the vertual objective values of respective axes provided for every axis of A-C to control the wrist by the CPUs. In this case, the waiting control circuit 16 is connected between both the CPUs 12 and 13-15 and an objective value changing signal is outputted so that the objective values of respective axes are changed to the succeeding objective values after waiting that the actual values of all the axes have exceeded the waiting points set up before the change of the objective values of respective axes.

6. 发明专利

JPS59156502A Method of broadside rolling in thick plate rolling 失效
标题翻译：厚板滚动中的广泛滚动方法
公开(公告)号：JPS59156502A
公开(公告)日：1984-09-05
申请号：JP3053983
申请日：1983-02-25
申请人： Nippon Steel Corp
发明人： IMAI HARUO , USUI YOSHIFUMI , MATSUSHIMA HARUHIKO , MORI MASAHIDE
IPC分类号： B21B1/38 , B21B37/22
CPC分类号： B21B1/38
摘要： PURPOSE:To improve the dimensional accuracy of a thick plate after broadside rolling by performing a final broadside rolling basing on the target thickness of a slab after broadside rollings, in broadside rolling a thick plate by changing its directoon by 90 deg.. CONSTITUTION:In manufacturing a thick plate, by broadside rolling a slab through plural passes by changing its direction by 90 deg. after performing plural times of adjusting rollings, and rolling the slab again after changing its direction by 90 deg., the dimensions of the slab 1 is measured by a width-length meter 2 to calculate the min. width, min. length, max. width, max. length, and their mean values, etc. by a deta processor 5, and the results are inputted to a process computer 6 to prepare a pass schedule of adjusting rolling and broadside rolling by volume calculation basing on the target width and length of the slab after the final broadside rolling, and the adjusting rolling and the broadside rolling are performed by a mill 8 in accordance with the pass schedule inputted to a rolling reduction controlling device 9 to improve the accuracy of the rolled plate.
摘要翻译：目的：通过在宽边轧制后，通过对板坯的目标厚度进行最终的宽边轧制，在宽轧后提高厚板的尺寸精度，通过将其直径改为90度来宽敞地轧制厚板。构成：在制造厚板，通过将其方向改变90度通过多个道次将一块板坯横向轧制。在进行多次调整滚动之后，在将方向改变90度之后再次滚动板坯，通过宽度计2来测量板坯1的尺寸，以计算最小值。宽度，最小长度，最大宽度，最大长度及其平均值等，并将结果输入到处理计算机6，以根据板坯的目标宽度和长度根据体积计算制备调整滚动和宽边滚动的通过时间表根据输入到轧制压下控制装置9的轧制程序，通过轧机8进行最终的侧轧，轧制和轧制，以提高轧制板的精度。

7. 发明专利

JPS59116011A Measuring method of size and shape by robot 失效
标题翻译：机器人尺寸和形状的测量方法
公开(公告)号：JPS59116011A
公开(公告)日：1984-07-04
申请号：JP23337582
申请日：1982-12-22
申请人： Nippon Steel Corp
发明人： KIMURA SHINICHIROU , MATSUSHIMA HARUHIKO , INOUCHI KAZUYOSHI , HIROKAWA TOSHIO , NAGAHAMA YOSHIHISA
IPC分类号： B25J19/02 , G01B21/02 , G01B21/20
CPC分类号： G01B21/20
摘要： PURPOSE:To improve the degree of accuracy in measurement by correcting an intended locus according to the positional deviation between the intended locus and the surface of a material to be inspected, and measuring the size and shape of the surface of the object to be inspected from the corrected locus and the spacing between the corrected locus and the surface of the material to be inspected. CONSTITUTION:A gap sensor 20 is first moved at an intended locus 32 and the deviation in a measuring object is known from the result of the measurement with the sensor. More specifically, a peak part is determined from an actually measured curve 36, and a deviation l is determined in terms of the difference between the X value thereof and the X value in the intended peak part. A command is then given to a robot to shift and locus 32 by the distance l. If the gap is measured by moving the sensor along the corrected locus 33, the surface shape and size of a steel pipe are exactly measured by the measured gap and the locus 33. The correct measurement having the actual bead part 31 at the center of the locus is made possible. The accuracy in the measurement is thus improved.
摘要翻译：目的：通过根据要检查的材料的目标轨迹和表面之间的位置偏差校正预期轨迹，并测量被检查物体的表面的尺寸和形状，来提高测量精度的程度校正轨迹和校正轨迹与待检查材料表面之间的间距。构成：间隙传感器20首先在期望的轨迹32移动，并且从传感器的测量结果可以看出测量对象中的偏差。更具体地，根据实际测量曲线36确定峰值部分，并且根据其X值与预期峰值部分中的X值之间的差异来确定偏差l。然后给机器人一个命令使位移轨迹32移动距离l。如果通过沿校正轨迹33移动传感器来测量间隙，则通过测量的间隙和轨迹33精确地测量钢管的表面形状和尺寸。具有实际胎圈部31在中心的正确测量轨迹是可能的。因此提高了测量的精度。

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