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1. 发明授权

US06333615B1 Synchronization control device for servo motors 有权
标题翻译：伺服电机同步控制装置
公开(公告)号：US06333615B1
公开(公告)日：2001-12-25
申请号：US09446945
申请日：1999-12-30
申请人： Harumi Maezawa , Yoshio Shinohara
发明人： Harumi Maezawa , Yoshio Shinohara
IPC分类号： G05B1132
CPC分类号： G05B19/404 , G05B2219/49197 , G05B2219/49252 , G05B2219/50216
摘要： Position droops produced in main and auxiliary servo motors when main and auxiliary spindles are coupled to each other through a workpiece are obtained by adders, respectively, a difference between those position droops is obtained by a comparator before coupling, a divider divides the position droop difference by the speed of the auxiliary servo motor at the time of detecting the position droop to obtain a position droop difference per a unit speed. Then, after both the spindles are coupled to each other, a multiplier multiplies the position droop difference by the present speed of the auxiliary servo motor, and the adder adds that value to the position command to the auxiliary servo motor. With the above structure, even if coupling is made through the workpiece and synchronization drive is made, an excessive torque can be prevented from occurring, an influence of a change of the change gear ratio with a time is eliminated and a displacement occurring at the time of coupling is corrected.
摘要翻译：主辅助伺服电机产生的主轴和辅助伺服电机的位置下降通过加法器分别由加法器分别获得，这些位置下降之间的差异在耦合之前由比较器获得，分压器将位置下垂差通过在检测到位置下降时辅助伺服电动机的速度来获得每单位速度的位置下垂差。然后，在两个心轴彼此耦合之后，乘法器将位置下垂差乘以辅助伺服电动机的当前速度，并且加法器将该值与该辅助伺服电动机的位置指令相加。利用上述结构，即使通过工件进行联接并进行同步驱动，也可以防止发生过大的转矩，消除变速比随时间的变化的影响，此时发生位移的耦合被校正。

2. 发明授权

US5485065A Position commanding method and apparatus 失效
标题翻译：位置指令方法和装置
公开(公告)号：US5485065A
公开(公告)日：1996-01-16
申请号：US221572
申请日：1994-04-01
申请人： Akira Kaneko , Norikazu Iguchi , Takahiro Hayashida , Torao Takeshita , Yoshio Shinohara
发明人： Akira Kaneko , Norikazu Iguchi , Takahiro Hayashida , Torao Takeshita , Yoshio Shinohara
IPC分类号： G05D3/12 , G05B19/416 , H02P1/00
CPC分类号： G05B19/416 , G05B2219/43026 , G05B2219/43034 , G05B2219/43057
摘要： A position command method and apparatus for shortening the acceleration and deceleration times of a servo controlled apparatus by effectively utilizing the torque of the controlled apparatus. A value of speed per unit time is developed on the basis of speed and position data, and a constant speed or an acceleration or deceleration function processing may be selectably performed. In the position commanding method and its unit of the present invention, the deceleration stop distance of output speed is computed at all times or is held as a list data as described above and moreover is compared with a residual distance XR. Consequently, the deceleration stop distance does not have to coincide with the residual portion from the acceleration command, and the acceleration/deceleration curve alone can be realized in an independent form. Also, the speed change can be made smoother by correcting the cross point of independently formed acceleration and/or deceleration curves defining a corner section.
摘要翻译：一种通过有效地利用受控装置的转矩来缩短伺服控制装置的加减速时间的位置指令方法和装置。基于速度和位置数据开发每单位时间的速度值，并且可以可选地执行恒定速度或加速或减速功能处理。在本发明的位置指令方法及其单元中，输出速度的减速停止距离一直被计算，或者如上所述被保持为列表数据，并且还与剩余距离XR进行比较。因此，减速停止距离与加速指令的剩余部分不一致，单独的加速/减速曲线可以以独立的形式实现。此外，通过校正限定角部的独立形成的加速度和/或减速曲线的交叉点，可以使速度变化更平滑。

3. 发明授权

US4891568A Servo motor system for transportation 失效
标题翻译：伺服电机系统运输
公开(公告)号：US4891568A
公开(公告)日：1990-01-02
申请号：US239368
申请日：1988-09-01
申请人： Yoichi Shibata , Naoto Tazuke , Yoshio Shinohara , Akira Shima
发明人： Yoichi Shibata , Naoto Tazuke , Yoshio Shinohara , Akira Shima
IPC分类号： B23Q5/36 , G05B19/18 , G05B19/23 , G05D3/12
CPC分类号： G05B19/237 , G05B2219/42213 , G05B2219/50024
摘要： A servo motor system for a transportation line with the travel distance of the article predetermined and with a relatively low positioning accuracy. Basically, the system is constructed as an incremental servo motor system in which an incremental movement of the motor is detected, and the incremental movement signal is fed back to a motor driver, which also receives pulse signals from a controller corresponding to a traveling distance to a destination. Only one time after starting the operation of the servo motor system with the article not at the destination point, a stop signal is fed from an external signal generator located at the destination point to the motor driver, which stops the motor there. At this time, a coordinate system of the movable space of the article is established in the controller and the servo motor system is operated as an incremental system from the second time on, without utilizing an external signal generator.
摘要翻译：一种用于运输线的伺服电机系统，其具有预定的物品行进距离并具有相对较低的定位精度。基本上，该系统被构造为增量伺服电动机系统，其中检测到电动机的增量运动，并且增量运动信号被反馈给电动机驱动器，该电动机驱动器还从对应于行驶距离的控制器接收脉冲信号一个目的地在不在目的地的物品开始伺服电动机系统的操作之后，只有一次，停止信号从位于目的地点的外部信号发生器馈送到电动机驱动器，从而在那里停止电动机。此时，在控制器中建立物品的可移动空间的坐标系，并且伺服电动机系统从第二次起作为增量系统运行，而不使用外部信号发生器。

4. 外观设计

USD257261S Camera tripod 失效
公开(公告)号：USD257261S
公开(公告)日：1980-10-07
申请号：US919720
申请日：1978-06-27
申请人： Yoshio Shinohara
设计人： Yoshio Shinohara

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