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1. 发明专利

JPS63200967A GRINDING WHEEL POSTURE CONTROLLER 失效
公开(公告)号：JPS63200967A
公开(公告)日：1988-08-19
申请号：JP3106387
申请日：1987-02-13
申请人： TOSHIBA CORP
发明人： HIROSE SHIGEO , TAI HAJIME , MATSUURA HIROBUMI
IPC分类号： B24B49/12
摘要： PURPOSE:To grind a work uniformly as well as to aim at improvement in the extent of grinding accuracy, by installing a photosensor in a support plate supporting a grinding wheel in addition so as to detect a spark of the grinding wheel, while detecting a generated state of the grinding spark with the photosensor, and constituting it to control a posture of the grinding wheel on the basis of this detection. CONSTITUTION:If a work W is curved, a grinding wheel 13 comes into a state of being deflected to this work W, whereby an (a) part of the wheel 13 comes into one-sided contact with the work W, and a grinding spark generated state occurs in this (a) part alone. When this spark is received by a first photosensor 15a, it is operated at a comparator of a control circuit 16 and then an output signal of this control circuit 16 is transmitted to actuators 2 and 3, whereby the (a) part and a (b) part of the grinding wheel 13 comes into uniformly contact with the work W by both these actuators 2 and 3, thus the work is ground. In consequence, two photosensors 15a and 15b are made so as to receive almost the same spark.

2. 发明专利

JPS62228905A DISTANCE MEASURING INSTRUMENT 失效
公开(公告)号：JPS62228905A
公开(公告)日：1987-10-07
申请号：JP7270486
申请日：1986-03-31
申请人： TOSHIBA CORP
发明人： KOBASHIRI TOSHIO , SUYAMA TOSHIMITSU , MATSUURA HIROBUMI
IPC分类号： G01B11/00 , G01C3/00 , G01C3/06 , G01S17/08 , G02B7/32
摘要： PURPOSE:To measure the distance of an object to be measured with high accuracy by providing an observation part to photodetect reflected light at peripheral plural places of a projection part to irradiate the projection light and photodetecting the reflected light with the intense reflected light. CONSTITUTION:The projection light 15 is irradiated on the object 13 to be measured from the projection part 25 and at the same time, a motor 35 is driven to turn a measuring header 23. The photodetected position of the reflected light 17 on the photodetection surface of an optical detecting element 31 and the intensity of the reflected light 17 at the photodetected position are made electrical signals and inputted to a measurement controller 39. This measurement controller 39 drives the motor 35 and turns the measuring header 23 and stops the measuring header 23 at the position where the intensity of the reflected light of the reflected light incident on the observation part 27 is made maximum. In this way, the reflected light with the intense reflected light is photodetected and the photodetected position of the reflected light can be accurately detected by the optical detecting element 31.

3. 发明专利

JPS62203757A GRINDER 失效
公开(公告)号：JPS62203757A
公开(公告)日：1987-09-08
申请号：JP4437086
申请日：1986-03-01
申请人： TOSHIBA CORP
发明人： HIROSE SHIGEO , UMETANI YOJI , MORIYAMA YOSHIHIRO , MATSUURA HIROBUMI
IPC分类号： B24B49/16 , B24B27/00
摘要： PURPOSE:To enable automatic grinding under constant pressure, by engaging a driving gear fitted on the drive shaft of a motor, with a driven gear fitted on a rotary shaft, and by coupling the rotary shaft and the drive shaft to each other through a link, and providing a spring between the link and a case at the side of the drive shaft. CONSTITUTION:When a ground surface 24 has a projection 25, a grindstone 15 comes into contact with the projection so as to ascend to compress a spring 19. As a result, pushing torque Ts increases so that the rotation of the grindstone 15 is retarded. For that reason, a link 16 is turned counterclockwise so that the spring 19 is compressed further. Consequently, the grindstone 15 goes up from the ground surface 24 so that a pushing force Fp decreases. Because of the decrease in the pushing force Fp, the spring 19 acts to turn the link 16 clockwise to increase the pushing force. In other words, if the height of the projection 25 is large, the increase in the pushing torque Ts is absorbed by a differential mechanism including the link 16, so that the grindstone 15 comes into contact with the ground surface 24 under constant pressure, regardless of the height of the projection 25.

4. 发明专利

JPS62189505A FEEDBACK CONTROLLER 失效
公开(公告)号：JPS62189505A
公开(公告)日：1987-08-19
申请号：JP3045986
申请日：1986-02-14
申请人： TOSHIBA CORP
发明人： MATSUURA HIROBUMI , HIROSE SHIGEO , UMETANI YOJI
IPC分类号： G05B19/18 , G05B19/404
摘要： PURPOSE:To minimize a control error due to a steady deviation so as to approximate to the minimum detection level of a controlled variable detector by correcting a target value based on the deviation of a current value from the target one after a control action according to an original target value is terminated and again executing the control action based on the target value after it is corrected. CONSTITUTION:When a release command B is stopped, a returning device 17 stores a position deviation (e) at that time, that is a positioning error e1, and then outputs its storage value M to an adder 18 (a time t2). Thus a corrected target value Y1+e1 obtained by adding the positioning error e1 to the target value Y1 is given to a control part I, which again starts positioning control based on the corrected target value Y1+e1. The positioning control based on the corrected target value Y1+e1 roughly ends, and the absolute value ¦e¦ of the position error (e) continues more than a reference time T to keep at a value smaller than a termination reference E (a time t3). Then a level comparator 15 starts outputting the 2nd end signal A, and a counter 12 receives the signal and switches its count value (n) to '2'.

5. 发明专利

JPS62180271A POSITION AND SPEED DETECTING DEVICE 失效
公开(公告)号：JPS62180271A
公开(公告)日：1987-08-07
申请号：JP2275286
申请日：1986-02-04
申请人： TOSHIBA CORP
发明人： MATSUURA HIROBUMI , HIROSE SHIGEO
IPC分类号： G01P1/04
摘要： PURPOSE:To detect the position and speed of an articulation of a robot, etc., by one detector with high accuracy by providing a speed increasing gear mechanism, a driving motor, a detector, etc. CONSTITUTION:The driving motor 2 drives a load 4 as the articulation of the robot, etc., thruogh a speed reducing gear mechanism 3. Further, the rotating speed between the mechanism 3 and load 4 is increased to the same speed as the rotating speed of the motor by the speed increasing gear mechanism 7 which has a high speed increase ratio. The output rotating speed of this mechanism 7 is detected by the detector 1 through a small-sized motor 8. Therefore, only one detector is required, the S/N is increased, and the stability is improved. Then, the high-accuracy detection is performed.

6. 发明专利

JPS6244391A ARM FIXING DEVICE FOR ROBOT 失效
公开(公告)号：JPS6244391A
公开(公告)日：1987-02-26
申请号：JP18253385
申请日：1985-08-20
申请人： TOSHIBA CORP
发明人： HIROSE SHIGEO , UMETANI YOJI , MORIYAMA YOSHIHIRO , MATSUURA HIROBUMI
IPC分类号： B25J19/00 , B25J18/00

7. 发明专利

JPS61230879A MULTI-JOINT MANIPULATOR 失效
公开(公告)号：JPS61230879A
公开(公告)日：1986-10-15
申请号：JP7143885
申请日：1985-04-04
申请人： TOSHIBA CORP
发明人： HIROSE SHIGEO , UMETANI YOJI , MATSUURA HIROBUMI
IPC分类号： B25J17/00 , B25J9/06

8. 发明专利

JPH0197558A GRINDING DEVICE 失效
公开(公告)号：JPH0197558A
公开(公告)日：1989-04-17
申请号：JP25219987
申请日：1987-10-06
申请人： TOSHIBA CORP
发明人： MATSUURA HIROBUMI , YAMADA MAMORU , HAMAOKA MASARU
IPC分类号： B24B27/00
摘要： PURPOSE:To prevent overcut of end parts of machining even during partial machining in a work surface, by providing a grinder which is laterally reciprocative and vertically movable at both ends of reciprocating movement. CONSTITUTION:A moving mechanism 37 is provided for moving the one mounting plate 4 toward the other mounting plate 6, mounted to the tip of a robot arm 11, in a direction extending at right angles with a direction in which the mounting plate is separated from the robot arm 11. A vertical rocking mechanism 22 having press surface profiling function is situated to the one mounting plate 4 of the moving mechanism 37. A grinder 2 is mounted to the one mounting plate 4 rockably supported to the rock shaft of the vertical rocking mechanism 22. and a grinder 1 mounted to the tip of the grinder 2 is forced to excellently follow a work surface 13. Simultaneously, the grinder 2 is horizontally reciprocated by the moving mechanism 37, the grinder 2 is upwardly moved at both end parts of the reciprocating movement by means of the vertical rocking mechanism 22, overcut at both ends is prevented from occurring, and the work surface 13 is uniformly ground without forming an uneven surface.

9. 发明专利

JPS61230015A MEASURING INSTRUMENT FOR THREE-DIMENSIONAL SHAPE 失效
公开(公告)号：JPS61230015A
公开(公告)日：1986-10-14
申请号：JP7143785
申请日：1985-04-04
申请人： TOSHIBA CORP
发明人： HIROSE SHIGEO , UMETANI YOJI , TAI HAJIME , MATSUURA HIROBUMI , MORIYAMA YOSHIHIRO
IPC分类号： G01B11/24
摘要： PURPOSE:To detect easily a distance up to a subject to be measured by forming the image of a reflected light beam available from irradiating the subject to be measured by a light source fitted on a case on the light receiving element of a case bottom by means of a reflecting mirror and a movable lens and obtaining the position where the lens moves. CONSTITUTION:The laser beam source 2 is fitted outside the bottom plate 1a of the case 1 to irradiate the subject to be measured 3. A motor 4 is fitted inside the case 1, and a threaded-rod 7 turning through an output spindle 4a and gears 5 and 6 is fitted on the case 1 in the longitudinal direction. A moving frame 8, which advances and retreats due to the turn of the threaded-rod 7, is fitted on a moving frame 8. The reflecting mirror 8c fitted obliquely on the opening of the frame 8 projects the irregularly reflected light beam from the subject to be measured 3 on the light receiving element 9 at the bottom of the frame 8 through a lens 11. A controller 16 detects the output of the light receiving element 9, drives motors 4 and 14 and condenses light beams. It obtains a distance from an interface between the lens 11 at that time and the light receiving element 9 and the subject to be measured 3. Thus optical axis matching and focusing are executed simultaneously, and measurement can be easily carried out at high accuracy.

10. 发明专利

JPS61159366A GRINDING ROBOT 失效
公开(公告)号：JPS61159366A
公开(公告)日：1986-07-19
申请号：JP28033984
申请日：1984-12-27
申请人： TOSHIBA CORP
发明人： MATSUURA HIROBUMI
IPC分类号： B24B27/00 , G05B19/18
摘要： PURPOSE:To have automated grinding over a wide range by feeding back the output amount from a torque sensor to a grinder element drive device and a grinder element pressing device as well as the output amount from a grinder element wear sensor to the grinder element drive device, and thereby controlling the grinding force and peripheral circumferential speed of the grinder element certainly. CONSTITUTION:The number of revolutions of a grinder element 10 is sensed by a chargable revolving speed meter 33 always to be used as speed feedback amount of a DC motor 36 so as to eliminate deviation of the revolving speed caused by resilience of a flexible shaft 31. Rotation of a DC motor 21 is transmitted to a supporting member 25, where it is applied to a grinder element 10 as a pressure. The output amount from a torque sensor 12 for eliminating deviation of torque because of a shaft 31 is used as a servo driver torque limitation command value for the motors 36, 21, and the output amount from the sensor 12 can be used directly to grinder element performance control while grinder element pressure control is being performed. The condition of the peripheral surface of a grinder element 10 is photographed by a camera 34 at all times to sense the changing diameter, which is sent to a controller 15 to serve for making the peripheral speed of grinder element constant.

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