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公开(公告)号：EP1124244A3
公开(公告)日：2001-12-19
申请号：EP01102773.7
申请日：2001-02-08
发明人： Yamazaki, Toshiharu , Tokumasu, Tadashi , Ishikawa, Yoshinobu , Murakami, Shin , Koshiyama, Tetsushi
CPC分类号： H01H33/6662 , H01H51/2263
摘要： A rotary mechanism for operating switchgear has a fixed core (51), a rotary core (52) rotatable within a rotation range limited by end positions corresponding to switchgear open and closed positions, a spring unit for accumulating resilience when the rotary core (52) is rotated to any one of the end positions, a permanent magnet (5) for generating attraction greater than the resilience of the spring unit, to hold the rotary core (52) at any one of the end positions, and an electromagnetic coil (4A,4B) for forming, when the rotary core is at one of the end positions, a magnetic path to weaken the attraction of the permanent magnet lower than the resilience of the spring unit so that the rotary core (52) may be rotated to the other end position where the permanent magnet (5) and electromagnetic coil form magnetic paths oriented in the same direction. This rotary operating mechanism has a wide application range, a bistable characteristics, a permanent magnet attraction switching function, and a long switching stroke.
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公开(公告)号：EP0402764A3
公开(公告)日：1991-10-23
申请号：EP90110758.1
申请日：1990-06-07
CPC分类号： G05D1/024 , A47L2201/04 , B08B3/024 , G05D1/0219 , G05D1/0244 , G05D1/0255 , G05D1/027 , G05D1/0272 , G05D2201/0203
摘要： There is disclosed a control apparatus for controlling a plane working robot (1, 1A) comprising a running unit (14) for running on a plane surface, a steering unit for steering the running unit (15) in a predetermined direction, a working unit (13) for performing a predetermined plane working such as cleaning, and a detecting unit (16) for detecting various and actual informations about running direction and distance of the robot and an obstacle on the plane surface, thus permitting the working robot (1, 1A) to take an optimum running path while avoiding an obstacle on the basis of sense outputs from the detecting unit (16) to conduct a work. This control apparatus comprises a working information setting element (21) for setting a working area where the plane working is conducted, and for setting an optimum working running path within the set working area in accordance with a predetermined algorithm, and a working control element (11, 11a) for controlling the running unit and the steering unit (15) so that the running unit (14) allows the robot (1, 1A) to run along the working running path set by the working information setting element (21), and for controlling the working unit (13) so that the robot (1, 1A) conducts a predetermined work during running.
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公开(公告)号：EP1124244B1
公开(公告)日：2008-11-19
申请号：EP01102773.7
申请日：2001-02-08
发明人： Yamazaki, Toshiharu , Tokumasu, Tadashi , Ishikawa, Yoshinobu , Murakami, Shin , Koshiyama, Tetsushi
CPC分类号： H01H33/6662 , H01H51/2263
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公开(公告)号：EP0402764B1
公开(公告)日：1996-01-10
申请号：EP90110758.1
申请日：1990-06-07
IPC分类号： G05D1/02
CPC分类号： G05D1/024 , A47L2201/04 , B08B3/024 , G05D1/0219 , G05D1/0244 , G05D1/0255 , G05D1/027 , G05D1/0272 , G05D2201/0203
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公开(公告)号：EP1124244A2
公开(公告)日：2001-08-16
申请号：EP01102773.7
申请日：2001-02-08
发明人： Yamazaki, Toshiharu , Tokumasu, Tadashi , Ishikawa, Yoshinobu , Murakami, Shin , Koshiyama, Tetsushi
CPC分类号： H01H33/6662 , H01H51/2263
摘要： A rotary mechanism for operating switchgear has a fixed core, a rotary core rotatable within a rotation range limited by end positions corresponding to switchgear open and closed positions, a spring unit for accumulating resilience when the rotary core is rotated to any one of the end positions, a permanent magnet for generating attraction greater than the resilience of the spring unit, to hold the rotary core at any one of the end positions, and an electromagnetic coil for forming, when the rotary core is at one of the end positions, a magnetic path to weaken the attraction of the permanent magnet lower than the resilience of the spring unit so that the rotary core may be rotated to the other end position where the permanent magnet and electromagnetic coil form magnetic paths oriented in the same direction. This rotary operating mechanism has a wide application range, a bistable characteristics, a permanent magnet attraction switching function, and a long switching stroke.
摘要翻译： 用于操作开关装置的旋转机构具有固定铁芯，在对应于开关装置打开和闭合位置的端部位置所限定的旋转范围内可旋转的旋转铁芯，用于在旋转铁芯旋转到任何一个端部位置时累积弹性的弹簧单元 ，用于产生大于弹簧单元的弹性的吸引力的永磁体，用于将旋转芯体保持在任何一个端部位置，以及电磁线圈，用于当旋转芯体位于其中一个端部位置时形成磁体 以减弱永磁体的吸引力低于弹簧单元的弹性，使得旋转芯可以旋转到永磁体和电磁线圈形成沿相同方向定向的磁路的另一端位置。 该旋转操作机构具有广泛的应用范围，双稳态特性，永磁吸引切换功能和长切换行程。
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6.发明公开Control apparatus for plane working robot 失效Steuervorrichtungfüreinen ebeneFlächenbearbeitenden Roboter。
公开(公告)号：EP0402764A2
公开(公告)日：1990-12-19
申请号：EP90110758.1
申请日：1990-06-07
CPC分类号： G05D1/024 , A47L2201/04 , B08B3/024 , G05D1/0219 , G05D1/0244 , G05D1/0255 , G05D1/027 , G05D1/0272 , G05D2201/0203
摘要： There is disclosed a control apparatus for controlling a plane working robot (1, 1A) comprising a running unit (14) for running on a plane surface, a steering unit for steering the running unit (15) in a predetermined direction, a working unit (13) for performing a predetermined plane working such as cleaning, and a detecting unit (16) for detecting various and actual informations about running direction and distance of the robot and an obstacle on the plane surface, thus permitting the working robot (1, 1A) to take an optimum running path while avoiding an obstacle on the basis of sense outputs from the detecting unit (16) to conduct a work. This control apparatus comprises a working information setting element (21) for setting a working area where the plane working is conducted, and for setting an optimum working running path within the set working area in accordance with a predetermined algorithm, and a working control element (11, 11a) for controlling the running unit and the steering unit (15) so that the running unit (14) allows the robot (1, 1A) to run along the working running path set by the working information setting element (21), and for controlling the working unit (13) so that the robot (1, 1A) conducts a predetermined work during running.
摘要翻译： 公开了一种用于控制平面加工机器人（1,1A）的控制装置，其包括用于在平面上行进的行进单元（14），用于沿预定方向转向运行单元（15）的转向单元，工作单元 （13），用于执行诸如清洁的预定平面工作;以及检测单元（16），用于检测关于机器人的行进方向和距离以及平面上的障碍物的各种实际信息，从而允许工作机器人（1， 1A）基于来自检测单元（16）的感测输出来避免障碍物进行最佳行进路径进行作业。 该控制装置包括：工作信息设定元件（21），用于设定进行平面加工的工作区域，并根据规定的算法在设定的工作区域内设定最佳的工作运行路径;工作控制元件 用于控制运行单元和转向单元（15）的运动单元（14）允许机器人（1,1A）沿着由工作信息设置元件（21）设置的工作运行路径运行， 并且用于控制所述工作单元（13），使得所述机器人（1,1A）在行驶期间进行预定的工作。
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