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公开(公告)号：EP0841128A1
公开(公告)日：1998-05-13
申请号：EP97906868.1
申请日：1997-03-10
IPC分类号： B25J17/02
CPC分类号： B25J17/0258 , B25J9/102 , Y10T74/20305 , Y10T74/20335
摘要： A wrist mechanism of an industrial robot comprises: spline teeth (2A) formed in the outer circumference of the end portion of a bending drive shaft (2) which is provided inside of an arm (1); spline grooves (2B) which are formed in the inner circumference of a first bevel gar (21) and are engaged with the spline teeth (2A); spline teeth (3A) formed in the outer circumference of the end portion of a revolving drive shaft (3); a hollow cylindrical intermediate shaft (30) having one end portion in the inner circumference of which spline grooves (3B), which are engaged with the spline teeth (3A), are formed, and the other end portion to the outer circumference of which a second bevel gear (31) is secured; a bearing (301) through which the one end portion of the intermediate shaft (30) is supported on the first bevel gear (21); and bearings (22 and 24) through which the other end portion of the intermediate shaft (30) is supported on a stationary gear box (45).
摘要翻译： 工业机器人的手腕机构包括：形成在设置在臂（1）内部的弯曲驱动轴（2）的端部的外周的花键齿（2A）; 花键槽（2B），其形成在第一斜面花纹（21）的内圆周中并与花键齿（2A）接合; 形成在旋转驱动轴（3）的端部的外周的花键齿（3A）; 在其内周上形成有花键槽（3B）的与花键齿（3A）接合的一端部的中空圆柱形中间轴（30），并且其外周的另一端部 第二锥齿轮（31）被固定; 轴承（301），中间轴（30）的一个端部支撑在第一锥齿轮（21）上; 和轴承（22和24），中间轴（30）的另一端部支撑在固定齿轮箱（45）上。
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2.发明授权METHOD AND APPARATUS FOR CONTROLLING SYNCHRONIZED PHASES IN SYSTEM FOR DRIVING PRINTING ROLLS FOR CORRUGATED BOARD PRINTING MACHINE 失效装置和用于在瓦楞纸板印刷机的加压辊的驱动系统控制相位的方法。
公开(公告)号：EP0495987B1
公开(公告)日：1995-10-18
申请号：EP91913077.3
申请日：1991-07-19
IPC分类号： B41F13/14
CPC分类号： B41F13/0045 , B41F13/14 , B41P2213/734
摘要： The present invention relates to a technical field pertaining to control of synchronized phases between a plurality of printing rolls in a corrugated board printing machine. An object of the present invention is to realize the control of synchronized phases inexpensively and highly accurately by use of software. According to the present invention, speed commands inputted at regular intervals are converted into digital values and integrated, rotations of the rolls are respectively integrated, further, PI operations are conducted on the deviations of these integrated values, and corrections based on the results of the PI operations are respectively applied to rotational speed commands given to driving motors of the printing rolls. At this time, during the processes of integrations of the speed commands and the rotations of the respective printing rolls, when the upper limit values of the operations are exceeded, the values are to be returned to zero, respectively, and the operations are to be continued.
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公开(公告)号：EP0431195B1
公开(公告)日：1995-10-11
申请号：EP90909836.0
申请日：1990-06-29
CPC分类号： H03M1/1076 , G01D3/08 , G01D5/2457 , H03M1/308
摘要： An encoder comprising a circuit that detects abnormal condition of the encoder body, and a circuit which, when the encoder body is under abnormal condition, inverts and produces part of the output signals of the encoder body in response to an abnormal condition detect signal output from the abnormal condition detecting circuit, or which does not output part of the output signals of the encoder body. Therefore, any abnormal condition that occurs in the encoder body can be recognized from the external side.
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4.发明授权
公开(公告)号：EP0445294B1
公开(公告)日：1994-12-21
申请号：EP90912472.9
申请日：1990-08-23
摘要： A magnetic levitation carrier apparatus of the type wherein a plate-like moving element (SFT) is moved by a linear motor disposed inside a fixing element (STT), wherein when the moving element is supported in a vertical direction by first to fourth electromagnet devices (MGV10 ∩ MGV41) and force is allowed to act on the moving element in a horizontal direction perpendicular to the moving direction by fifth and sixth electromagnet devices (MGH10 ∩ MGH21), the gap between the moving element and each electromagnet device is detected by a gap sensor so as to output gap data. As to the vertical direction, for example, an attraction command (fv1 ∩ fv2) is obtained from the output value of a feedback quantity calculation circuit (10) to which the gap data (Xv1 ∩ Xv4) are inputted and the output value of a variable gain gv (l) generation circuit (60) to which the position (l) of the centroid of the moving element is inputted and is linearized by a linearilization circuit (71 ∩ 74) and then outputted to each electromagnet. In this manner, the variable gain can be accomplished easily by an analog circuit and the control gain in each control direction can be given independently.
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公开(公告)号：EP0275322B1
公开(公告)日：1993-07-07
申请号：EP87904730.6
申请日：1987-07-15
发明人： OKUMURA, Shinji Kokura Plant K. K. , ITO, Hiroaki Kokura Plant K. K. , NISHIKAWA, Seigo Kokura Plant K. K. , NAKAZATO, Tatsumi Kokura Plant K. K.
IPC分类号： B23K9/12
CPC分类号： B23Q35/128 , B23K9/0956 , B23K9/1274 , B25J9/1684
摘要： A method of detecting position data in arc welding by monitoring the shape of light of welding arc and/or the position thereof. That is, in effecting the arc welding along the position of the beveling while detecting the position of the beveling, the shape of the arc light is imaged by an imaging device from above the joints of the members that are to be welded together, and the shape of the arc light thus imaged is converted into binary values. The shape and/or the position of the arc light converted into binary values are monitored, thus making it possible to detect the position of beveling, height of welding torch, starting point of welding, ending point of welding, corner point of the outer track, corner point of the inner track, work contact point of the welding wire and the gap of the beveling.
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公开(公告)号：EP0465661A4
公开(公告)日：1993-03-17
申请号：EP91902755
申请日：1991-01-21
发明人： MINAMI, YOSHIKATSU, YAHATA PLANT, KK YASKAWA DENKI , TANAKA, MASATO, YAHATA PLANT, K.K. YASKAWA DENKI
IPC分类号： B25J9/10 , B25J9/16 , B25J9/18 , G05B19/18 , G05B19/4103 , G05B19/415
CPC分类号： B25J9/1643 , G05B2219/40353
摘要： A method of controlling an articulated robot having more than six axes and less than twelve axes, comprising: a first step in which the axes are divided into two groups each having six axes or less, and, with respect to the dividing point (P), redundant axes (11) are disposed on the side of a reference point and basic axes (12) are disposed on the side of fingers (Q); and a second step in which the dividing point (P) is regarded as a first control point and the fingers (Q) are regarded as a second control point, whereby the first control point is interpolation-controlled, and the first control point thus interpolation-controlled is regarded as a new reference point, whereby the second control point is further interpolation-controlled, so that all of the axes of the articulated robot are interpolation-controlled.
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公开(公告)号：EP0451986A3
公开(公告)日：1992-09-30
申请号：EP91302615.9
申请日：1991-03-26
发明人： Kyura, Nobuhiro, c/o Tokyo Plant, K.K. Yaskawa , Hiraga, Yoshiji, c/o Tokyo Plant, K.K. Yaskawa
IPC分类号： G05B19/25 , G05B19/416
CPC分类号： G05B19/416 , G05B19/25
摘要： First, second and third compensation signals are generated from the information on the position and speed of the first servo system having a speed control loop as a minor loop. The speed error of the speed control loop of the second servo system which has the speed control loop as a minor loop and uses a signal obtained by sampling the position detection signal, executing a digital calculation process on the sampled signal to obtain a speed signal and integrating the speed signal as a position command signal or a signal obtained by sampling the position detection signal of the first servo system and executing a digital calculation process on the sampled signal as a position command signal is compensated by the first, second and third compensation signals. Thus, even in cases where the acceleration and deceleration of the first servo system are executed even at constant power, positional synchronizing error is not generated. The accurate positional synchronizing control between two servo systems having different response characteristics can be achieved.
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8.发明公开METHOD AND APPARATUS FOR CONTROLLING SYNCHRONIZED PHASES IN SYSTEM FOR DRIVING PRINTING ROLLS FOR CORRUGATED BOARD PRINTING MACHINE 失效装置和用于在瓦楞纸板印刷机的加压辊的驱动系统控制相位的方法。
公开(公告)号：EP0495987A1
公开(公告)日：1992-07-29
申请号：EP91913077.3
申请日：1991-07-19
IPC分类号： B41F13/14
CPC分类号： B41F13/0045 , B41F13/14 , B41P2213/734
摘要： The present invention relates to a technical field pertaining to control of synchronized phases between a plurality of printing rolls in a corrugated board printing machine. An object of the present invention is to realize the control of synchronized phases inexpensively and highly accurately by use of software. According to the present invention, speed commands inputted at regular intervals are converted into digital values and integrated, rotations of the rolls are respectively integrated, further, PI operations are conducted on the deviations of these integrated values, and corrections based on the results of the PI operations are respectively applied to rotational speed commands given to driving motors of the printing rolls. At this time, during the processes of integrations of the speed commands and the rotations of the respective printing rolls, when the upper limit values of the operations are exceeded, the values are to be returned to zero, respectively, and the operations are to be continued.
摘要翻译： 本发明涉及到关于印刷辊在波纹板印刷机之间的多个同步相的控制的技术领域。 本发明的一个目的是实现低成本且高精度地通过使用软件来设置同步相位的控制。 。根据本发明，以一定间隔输入的速度指令被转换成数字值，并综合，轧辊的旋转被分别地结合，进一步，PI操作进行了合成的累计值的偏差，并且基于所述结果修正 PI操作被分别施加到给定的印刷辊的驱动马达的旋转速度的命令。 此时，速度指令的集成和respectivement印刷辊，当操作的上限值被超过的旋转的过程中，这些值分别是被返回到零，并且操作是要 继续。
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公开(公告)号：EP0441963A4
公开(公告)日：1991-11-21
申请号：EP90901883
申请日：1990-01-23
发明人： NAGASE, TAKASHI , HIGASHI, KOUICHI
CPC分类号： H03M1/282 , G01D5/2495 , G01D5/34792
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公开(公告)号：EP0333870A4
公开(公告)日：1991-04-17
申请号：EP88907821
申请日：1988-09-06
发明人： NAKAMURA, HIROSHI K.K. YASKAWA DENKI SEISAKUSHO , FUTAMI, SHIGERU K.K. YASKAWA DENKI SEISAKUSHO
CPC分类号： G05B13/026 , G05B13/022 , G05B13/0225 , G05B21/02
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