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1. 发明专利

JPH01289687A INDUSTRIAL ROBOT 失效
公开(公告)号：JPH01289687A
公开(公告)日：1989-11-21
申请号：JP11418888
申请日：1988-05-11
申请人： TOSHIBA CORP , TOSHIBA F A SYSTEM ENG
发明人： KISHIMOTO SHUNICHI , TAKAI MIYAKO
IPC分类号： B25J13/06
摘要： PURPOSE:To save labor for handing works in small quantity and many types by furnishing a central processing unit with a floppy disc read device which is equipped with a working function for working programs. CONSTITUTION:When palletizing or depalletizing operation for works W on/from pallet 15 is automated, starting of a control panel 13 displays a parameter setting image on a display of a location informing and program entering device 12. The operator sets parameters in a master floppy disc 14b according to the contents of operation with this input device 12. These set parameters are put into the program stored in a memory 10, and a necessary operating program is completed automatically. Even in the case with a variety of types and sizes of works W and with abundant patterns for loading and unloading, alike, the operator only sets the parameters and information in the master floppy disc 14b using the input device 12, and thus preparation and input of the operating program are completed at the same time.

2. 发明专利

JPH06126662A INDUSTRIAL ROBOT 失效
公开(公告)号：JPH06126662A
公开(公告)日：1994-05-10
申请号：JP28427392
申请日：1992-10-22
申请人： TOSHIBA CORP
发明人： KISHIMOTO SHUNICHI
IPC分类号： B25J9/02
摘要： PURPOSE:To secure such a robot as capable of short-circuiting a tact time for conveyance and assemblage by installing two symmetrical end effectors being connected to a belt and driven by this belt in the reverse direction with each other along an arm. CONSTITUTION:When a work 14 held by an end effector 7 at the right is fed to a work 17 so far fed, as shown in an arrow D, from the right direction in a state of being mounted on a belt 16a, by a belt conveyor 16, another end effector 6 at tone left driven rearward by a timing-belt 10 and a slider 3B attracts a platelike work 18 mounted on top of a pallet 13B at the left. Conversely, when the work mounted on top of a pallet 13A at the right is held by the end effector 7 at the right, the work 18 attracted by the end effector 6 at the left driven frontward by the timing belt 10 and a slider 3A likewise is fed to the work 17.

3. 发明专利

JPH0438502A CONTROLLER FOR INDUSTRIAL ROBOT 失效
公开(公告)号：JPH0438502A
公开(公告)日：1992-02-07
申请号：JP14441090
申请日：1990-06-04
申请人： TOSHIBA CORP
发明人： KISHIMOTO SHUNICHI
IPC分类号： B25J13/00 , G05B19/416
摘要： PURPOSE:To save the labor of an operator when confirming the operation of a robot and to shorten operation time by providing a flip-flop (FF) in a central processing unit so as to output a trigger signal to read an operation program to the central processing unit in an ON state while being connected in parallell to a pulse generator, turning ON by the start of a mamipulation part and turning OFF by the output of a speed pattern controller. CONSTITUTION:In an operation step mode (MOTION), an FF 15 is turned to the ON state by operating a start button 11 connected through a mode switcher 10 so as to output the signal for reading out the operation program to a central processing unit 1. When the read program includes an operation instruction, a position command is outputted from a speed pattern controller 3 to a position deviation counter 7 and according to this command, the FF 15 is reset and turned to the OFF state. Then, the signal for reading out the operation program to the central processing unit 1 is turned off and the execution of the operation program is stopped. Therefore, each time the start button 11 is pushed, the execution of the operation program is advanced to a step where the operation instruction is described.

4. 发明专利

JPS62190505A CONTROLLER FOR INDUSTRIAL ROBOT 失效
公开(公告)号：JPS62190505A
公开(公告)日：1987-08-20
申请号：JP3181686
申请日：1986-02-18
申请人： TOSHIBA CORP
发明人： KISHIMOTO SHUNICHI
IPC分类号： B25J9/16 , B25J9/10 , G05B19/4103
摘要： PURPOSE:To improve the route precision and reduce the load of a central processing circuit by providing a route processing unit which calculates a route before automatic operation and providing the central processing unit which stores the output of said processor to control the operation of a robot. CONSTITUTION:A converter 11 converts position information of each operating axis to that of individual coordinate axes and converts position information of each coordinate axis to that of individual operating axes. A route processing unit 12 calculates a route, and position information of interpolated points which are output information of the processor 12 are stored in a storage device 13. A central processing unit 1 reads out a program from a storage device 2 and executes it successively; but if an instruction requiring the route control appears, position information stored in the device 13 is read out to output a position command to a servo driving device 7. A route check device 13 checks whether the route calculated by the processor 12 is deviated from the operation range of the robot or not and whether the speed of each joint of the robot exceeds a maximum speed or not. A route correcting device 14 corrects the route.

5. 发明专利

JPS6246305A POSITIONING DEVICE 失效
公开(公告)号：JPS6246305A
公开(公告)日：1987-02-28
申请号：JP18584685
申请日：1985-08-26
申请人： TOSHIBA CORP
发明人： KISHIMOTO SHUNICHI
IPC分类号： B25J9/22 , B25J9/10 , B25J13/08 , G05B19/18 , G05B19/404
摘要： PURPOSE:To form the positioning device to be able to correct the error of the position data to occur following the thermal expansion by being equipped with the measuring part to measure the temperature of the composite member, the arithmetic part to count the thermal expansion of the composite member and the correcting part to correct the position information data inputted to the storage device from the counted thermal expansion value. CONSTITUTION:By measuring temperatures t0 and t1 of both edges of a ball screw 14 with temperature sensors 16a and 16b, temperature distribution f (x, t0 and t1) is obtained. Here, since the friction heat between a ball screw 14 and an X shaft head 12 can be neglected, the temperature distribution of the ball screw 14 is influenced by an air temperature T and the heating value only of the motor. A temperature distribution arithmetic unit 17 counts the temperature distribution of the measuring object member from the output of temperature sensors 16a and 16b. A position data correcting device 18 corrects the position information taken from a storage device 2 by the obtained temperature distribution and outputs the position information corrected to a central processing unit 1.

6. 发明专利

JPH04217479A INDUSTRIAL ROBOT 失效
公开(公告)号：JPH04217479A
公开(公告)日：1992-08-07
申请号：JP40326090
申请日：1990-12-18
申请人： TOSHIBA CORP
发明人： KISHIMOTO SHUNICHI
IPC分类号： B25J9/06
摘要： PURPOSE:To reduce the inertia and external shape of a wrist and to enable the work of a high speed and high accuracy with the interference with a peripheral equipment being prevented, by providing the driving part of a wrist axis coaxially with the axial center line of a Z-axis. CONSTITUTION:A pipe like tool shaft 4B is engaged with the internal part of the nut 4A at the front end of a driving part 3, a motor 8 for V shaft is fixed to the upper face of the annular flange 4b of the lower end thereof. On one hand, a speed reducer 5A is fitted to the lower face of the flange 4b, and the input side of a harmonic speed reducer 10 is connected to the output shaft 8a of the motor 8 which penetrated the flange 4b. And, the output side of the harmonic speed reducer 10 is connected to the shaft of the bevel gear 14A which axially penetratesin a bearing 5c. This bevel gear 14 is meshed with a bevel gear 14B, and a flange 7 is fixed to the shaft end projected to the front face side of the case 5b thereof.

7. 发明专利

JPH0380307A INDUSTRIAL ROBOT CONTROLLER 失效
公开(公告)号：JPH0380307A
公开(公告)日：1991-04-05
申请号：JP21599189
申请日：1989-08-24
申请人： TOSHIBA CORP
发明人： KISHIMOTO SHUNICHI
IPC分类号： B25J13/00 , G05B19/4093 , G05B19/416
摘要： PURPOSE:To minimize the robot working time by selecting a joint position where the robot moving time is minimized to a target position and switching the connection between a speed pattern controller and a position deviation counter. CONSTITUTION:A comparator 25 compares the length of the speed pattern (working time) among the speed pattern controllers 21 - 24 and chooses the longest speed pattern. If the longest speed pattern is produced by the attitude of an arm of a right hand system, a contact 27 is switched to L via a switch 26. On the contrary, the contact 27 is switched to R if the longest speed pattern is produced by the arm attitude of a left hand system. Furthermore the contact 27 is switched by the switch 26 in accordance with each designated arm attitude when the arm attitude is included in the position information outputted previously from a storage 2. Thus it is possible to select an arm attitude in a shortest working time.

8. 发明专利

JPH04365580A INDUSTRIAL ROBOT 失效
公开(公告)号：JPH04365580A
公开(公告)日：1992-12-17
申请号：JP13879691
申请日：1991-06-11
申请人： TOSHIBA CORP
发明人： KISHIMOTO SHUNICHI
IPC分类号： B25J9/06 , B25J9/10 , B25J17/02 , B25J18/04
摘要： PURPOSE:To provide an industrial robot which increases positioning repetition precision of an end effector mounted in a state to offset from a tool shaft at the other end of a revolving arm being a horizontal operation mechanism. CONSTITUTION:A tool shaft 16 located to the tip of a second revolving arm 3 performs only elevating operation. A shaft 17 is coupled in the second revolving arm 3 to the tool shaft 16 and performs rotational operation simultaneously with vertical operation. Rotational movement is transmitted to an end effector 21 through a drive pulley 18 attached to the tip of the shaft 17, a timing belt 19, and a pulley 20. Thus, by changing the length of the timing belt 19 according to an offset amount 1, the end effector 21 is constantly rotated around its central axis regardless of the offset amount 1.

9. 发明专利

JPH0819974A HORIZONTAL MULTI-ARTICULATED ROBOT 失效
公开(公告)号：JPH0819974A
公开(公告)日：1996-01-23
申请号：JP15139694
申请日：1994-07-04
申请人： TOSHIBA CORP
发明人： KISHIMOTO SHUNICHI
IPC分类号： B25J9/06
摘要： PURPOSE:To provide a horizontal multi-articulated robot by which teaching work is facilitated and interference with a device to be worked or a peripheral device can be prevented. CONSTITUTION:The base end of the first swing arm 3 is connected to a column which is vertically arranged from a base and is driven upward/downward. At the tip of the first swing arm 3, the central part, of the second swing arm 4 is connected freely rotationally. In the central part of the second swing arm 4, a servomotor 11 is stored, and in an output shaft 11b of the servomotor 11, pulleys 8A, 8B are inserted and fitted. In both ends of the second swing arm 4, flanges 5A, 5B are stored in symmetrical positions via bearings 9. A pulley 8A is inserted into a shaft 5a of the flange 5A, and a timing belt 6A is wound between this pulley 8A and the pulley 8A inserted into the output shaft 11b of the servomotor 11. In a shaft 5b of the flange 5B, a pulley 8B is inserted, and a timing belt 6B is wound between this pulley 8B and the pulley 8B inserted into the shaft 11b of the servomotor 11.

10. 发明专利

JPS63304305A POSITION CONTROLLER 失效
公开(公告)号：JPS63304305A
公开(公告)日：1988-12-12
申请号：JP13982687
申请日：1987-06-05
申请人： TOSHIBA CORP
发明人： WAJIMA HIROKI , KISHIMOTO SHUNICHI
IPC分类号： G05D3/12
摘要： PURPOSE:To avoid the shift of position due to the variance of the working position of a limit switch and to perform the position control with high accuracy in a simple way, by switching automatically the position which is shifted by an extent equal to a half cycle of a zero marker signal to an original point confirming position in case the position where the limit switch is turned on is set close to the original point confirming position of the zero marker signal. CONSTITUTION:The position pulse signals (c) are counted by a computing element 1 of a position controller for a period during which a zero marker control signal (b) is set at '1' after a limit switch 7 is turned on and also calculates a distance (d) moved in said period. At the same time, a setting device 2 sets an optional distance A that can cover the variance range of the working position of the switch 7 in a distance shorter than that moved in a single cycle of the signal (b). Both distance A and (d) are compared with each other by a comparator 3. Then an FF 5 is set with d A respectively. The signal valid and invalid states are switched by a switch 4 between the set and reset modes.

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