公开(公告)号：EP3249531A4

公开(公告)日：2018-01-31

申请号：EP15878901

申请日：2015-11-10

申请人： KOBELCO CONSTR MACH CO LTD ,  KK KOBE SEIKO SHO (KOBE STEEL LTD )

发明人： IWASAKI KAZUHIRO ,  NISHIMURA TOSHIHIKO

IPC分类号： G06F9/445 ,  G06F11/08

CPC分类号： G06F8/65 ,  G06F8/665 ,  G06F11/00 ,  G06F11/08 ,  G06F11/1433 ,  G06F2201/805 ,  H04L67/12 ,  H04L67/34

摘要： A program is reliably rewritten within a short period of time to improve work efficiency. A controller includes a communication controller (2) having a communication area and a normal control controller (3) having a normal control area, and is provided in a vehicle. The controller stores an update program, which is transferred via an external communication means (N) from an external server (1) to a vehicle, in the communication controller (2). If it is determined, based on manipulation of a key switch (13) to a stop position, that updating can be performed, the controller transfers the update program stored in the communication controller (2) to the normal control controller (3) and performs rewriting.

公开(公告)号：EP2684649A4

公开(公告)日：2016-05-18

申请号：EP12755662

申请日：2012-03-02

申请人： KOBE STEEL LTD

发明人： OONE TSUTOMU ,  NISHIMURA TOSHIHIKO

IPC分类号： B23K9/12 ,  B25J9/16 ,  G05B19/4103

CPC分类号： B25J9/10 ,  B25J9/1664 ,  G05B19/4103 ,  G05B19/423 ,  G05B2219/34083 ,  G05B2219/40333 ,  G05B2219/45104 ,  Y10S901/41

摘要： In order to suppress fluctuations in specific components of posture angle in a target coordinate system while maintaining the position of the leading edge of the wrist, the velocity of movement of the leading edge of the wrist, and the permissible velocity of the shaft during velocity suppression, an articulated robot which moves while calculating the position in interpolated points on a teaching path, the posture and the angles in each axis is provided, wherein a judgment is made as to whether the velocity of the wrist shaft exceeds a permissible limit, and if the permissible limit is exceeded, a plurality of candidates for angle of the wrist shaft that maintain the velocity within permissible limits are calculated, and the candidate with the minimum fluctuation in the specific component of the posture angle of the weld line coordinate system is selected from said plurality of candidates and made to serve as the angle of the wrist shaft, the angles of other shafts that correspond to this angle are recalculated and made to serve as the subsequent interpolation point, and the articulated robot is driven.

公开(公告)号：EP2684648A4

公开(公告)日：2016-09-07

申请号：EP12755280

申请日：2012-03-02

申请人： KOBE STEEL LTD

发明人： OONE TSUTOMU ,  NISHIMURA TOSHIHIKO ,  SHIGEYOSHI MASAYUKI ,  KOIKE TAKESHI

IPC分类号： B25J9/10 ,  B23K9/12 ,  B25J9/16 ,  G05B19/4103

CPC分类号： B25J9/1628 ,  B23K9/095 ,  B23K9/12 ,  B25J9/1664 ,  G05B19/4103 ,  G05B2219/39527 ,  G05B2219/40333 ,  G05B2219/40354 ,  G05B2219/42207