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    INTERFERENCE PREVENTING METHOD FOR INDUSTRIAL ROBOTS
    1.
    发明申请
    INTERFERENCE PREVENTING METHOD FOR INDUSTRIAL ROBOTS 审中-公开
    工业机器人干扰预防方法

    公开(公告)号：WO1996041705A1

    公开(公告)日：1996-12-27

    申请号：PCT/JP1996001583

    申请日：1996-06-12

    Applicant: TOYO KOHAN CO., LTD. ,  TAKAHASHI, Toshiyuki ,  NAKAJIMA, Atsushi ,  SHIOMICHI, Yukimasa

    Inventor： TOYO KOHAN CO., LTD.

    IPC: B25J13/00

    CPC classification number: G05B19/4061 ,  B25J9/1674 ,  B25J9/1679 ,  G05B2219/39082 ,  G05B2219/39105 ,  G05B2219/40054 ,  G05B2219/42097 ,  G05B2219/43155 ,  G05B2219/43202 ,  G05B2219/45143 ,  G05B2219/49141 ,  G05B2219/50103 ,  Y02P90/087

    Abstract: An interference preventing method for industrial robots, comprising a step (II) of reading the actual position of a hand, a step (III) of computing the difference between a taught target position and the actual position of the hand, a step (IV) of judging whether this difference is within a predetermined range or not, a step (V) of setting a moving speed of the hand to a predetermined normal level when the difference is within the predetermined range, a step (VI) of setting the moving speed of the hand to a predetermined low level when the difference is out of the predetermined range, and a step (VII) of moving the hand automatically to the target position at the present speed. When the hand is moved over a long distance in the case of which interference is liable to occur, the moving speed thereof is low; when the hand is moved over a short distance, the moving speed thereof is normal. Therefore, the hand can be stopped easily just before interference occurs, and the overall operation efficiency can be improved.

    Abstract translation: 一种用于工业机器人的防干扰方法，包括读取手的实际位置的步骤（II），计算教导目标位置与手的实际位置之间的差的步骤（III），步骤（IV） 判断该差异是否在预定范围内的步骤（V），当差异在预定范围内时将手的移动速度设定为预定正常水平的步骤（V），设定移动速度的步骤（VI） 当所述差超出所述预定范围时，将所述手移动到预定的低水平;以及步骤（VII），以当前速度将所述手自动移动到所述目标位置。 在易于发生干涉的情况下手长移动时，其移动速度较慢; 当手在短距离上移动时，其移动速度正常。 因此，能够在发生干扰之前容易地停止手，能够提高整体的运转效率。

    CACHE MEMORY DEVICE AND INFORMATION PROCESSING SYSTEM
    3.
    发明申请
    CACHE MEMORY DEVICE AND INFORMATION PROCESSING SYSTEM 审中-公开
    高速缓存存储器和信息处理系统

    公开(公告)号：WO1998003918A1

    公开(公告)日：1998-01-29

    申请号：PCT/JP1996002020

    申请日：1996-07-19

    Applicant: HITACHI, LTD. ,  NAKAJIMA, Atsushi ,  SHIBATA, Masabumi

    Inventor： HITACHI, LTD.

    IPC: G06F12/08

    CPC classification number: G06F12/0864 ,  G06F12/128

    Abstract: In a highly associative cache memory device, a memory such as an SRAM, which is accessed through row access and column access is used as a data memory and the data of all ways of the same set number are arranged in the same row. A cache control circuit (5) executes the row access to the data memory before a cache hit is judged. When a cache hit is judged to have occurred, column access is executed by using a hit way number. When a cache miss is judged to have occurred and write back is performed, column access is executed by using a replace way number. When a cache miss is judged to have occurred and no write back is performed, column access is suspended. Therefore, when an SDRAM chip is used as a data memory externally installed, the access latency and the memory bank busy time are shortened and the number of pins of an LSI which receives data is decreased. Since the row access becomes effective for reading out write back data even when a cache miss occurs, the efficiency of use of the data memory bank does not drop.

    Abstract translation: 在高度关联的高速缓冲存储器件中，使用通过行存取和列访问访问的诸如SRAM的存储器作为数据存储器，并且将相同组编号的所有方式的数据排列在同一行中。 高速缓存控制电路（5）在判断高速缓存命中之前执行对数据存储器的行访问。 当判断出缓存命中已经发生时，使用命中方式号执行列访问。 当判断出缓存未命中已经发生并执行回写时，使用替换号码执行列访问。 当判断出缓存未命中已经发生并且不执行回写时，列访问被暂停。 因此，当使用SDRAM芯片作为外部安装的数据存储器时，存取延迟和存储体积占空比被缩短，并且接收数据的LSI的引脚数量减少。 由于即使发生高速缓存未命中，行访问对于读出写回数据也是有效的，所以数据存储体的使用效率不会下降。

    HANDLING METHOD AND ROBOT USED FOR THE SAME
    5.
    发明申请
    HANDLING METHOD AND ROBOT USED FOR THE SAME 审中-公开
    处理方法和使用的机器人

    公开(公告)号：WO1996030169A1

    公开(公告)日：1996-10-03

    申请号：PCT/JP1996000566

    申请日：1996-03-08

    Applicant: TOYO KOHAN CO., LTD. ,  TAKAHASHI, Toshiyuki ,  NAKAJIMA, Atsushi ,  SHIOMICHI, Yukimasa

    Inventor： TOYO KOHAN CO., LTD.

    IPC: B25J13/00

    CPC classification number: B25J9/1612 ,  G05B2219/39105 ,  G05B2219/39474 ,  G05B2219/43152 ,  G05B2219/43155 ,  Y02P90/087

    Abstract: A method of handling a robot, comprising a work search step of allowing an arm to approach a stack base at high speed and then at low speed until a work is detected; a step of stopping the arm when the work is detected, storing the position of the work as the work height, and gripping the work; a step of allowing the arm at high speed to approach a deceleration starting position defined by adding a predetermined value to the stored work height when the arm again approaches the stack base, allowing the arm to approach the work to the stored work height at low speed, detecting the work, and allowing the arm to grip the work; and a step of correcting the value of the work height when the work is not detected and again allowing the arm to approach the work at low speed. Since the range in which the arm moves at low speed is reduced, the cycle time is shortened.

    Abstract translation: 一种处理机器人的方法，包括：工作搜索步骤，允许臂以高速然后以低速直接接近堆叠基座，直到检测到工件; 检测到工件时停止臂的步骤，将工件的位置存储为工件高度，并且夹紧工件; 当臂再次接近堆叠底座时，允许臂高速接近减速开始位置所限定的步骤，允许臂以低速接近工作到存储的工作高度 检测工作，并允许手臂抓住工作; 以及在没有检测到作业时校正工作高度的值的步骤，并且再次允许手臂以低速接近作业。 由于手臂以低速移动的范围减小，所以循环时间缩短。

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