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1. 发明授权

US07002095B2 Spot welding system and method of controlling pressing force of spot welding gun 有权
标题翻译：点焊系统及点焊枪压力方法
公开(公告)号：US07002095B2
公开(公告)日：2006-02-21
申请号：US10679318
申请日：2003-10-07
申请人： Tetsuaki Kato , Koichi Okanda , Soichi Arita
发明人： Tetsuaki Kato , Koichi Okanda , Soichi Arita
IPC分类号： B23K11/24
CPC分类号： B23K11/25 , B23K11/252 , B23K11/255 , B23K11/31 , B23K11/311 , B23K11/314
摘要： A spot welding system using a spot welding gun having a servomotor for driving welding tips capable of suppressing variation of pressing force due to influence of heat generated by welding current to obtain an uniform pressing force. A difference between the temperature T detected by a temperature sensor and an initial temperature T0 is multiplied by a coefficient A to obtain a pressing force compensation amount α. A pressing force d estimated by an observer is subtracted from the compensated command pressing force p′ and an obtained difference is multiplied by a constant K2 to obtain a torque command (current command) τ for driving the servomotor to press the objects by the welding tips. Since the commanded pressing force is compensated in accordance with the temperature, a constant and stable pressing force is produced without influence of the temperature variation.
摘要翻译：一种使用具有用于驱动焊接头的伺服电动机的点焊枪的点焊系统，其能够抑制由于焊接电流产生的热量的影响而产生的压力变化，以获得均匀的按压力。由温度传感器检测到的温度T与初始温度T 0之间的差乘以系数A以获得按压力补偿量α。从补偿指令按压力p'中减去由观察者估计的按压力d，并且将获得的差乘以常数K 2，以获得用于驱动伺服电动机通过焊接来按压物体的扭矩指令（电流指令）τ 提示。由于根据温度补偿了指令的按压力，所以在不影响温度变化的情况下产生恒定且稳定的按压力。

2. 发明授权

US06486629B2 Method for controlling force application with servo motor and appartus therewith 有权
标题翻译：用伺服电机控制力的应用方法
公开(公告)号：US06486629B2
公开(公告)日：2002-11-26
申请号：US09269070
申请日：1999-03-19
申请人： Tetsuaki Kato , Koichi Okanda
发明人： Tetsuaki Kato , Koichi Okanda
IPC分类号： H02P700
CPC分类号： G05D17/02 , G05B19/19 , G05B2219/41379 , G05B2219/42087 , G05B2219/49132 , G05D15/01
摘要： An applied force Td is estimated by an observer. A gain A is multiplied by a value obtained by subtracting the estimated applied force Td from commanded force Fe. From this multiplied value, a product of a speed feedback amount and a gain Kv is subtracted to obtain a torque command. With this torque command Tc, a servo motor is driven. Since a feedback control of the applied force is performed, response is fast, and an applied force between welding tips and an object to be welded can be accurately controlled. Feedback control of an applied force, whose vibration is prevented, can be performed by adjusting the gains A and Kv.
摘要翻译：施加力Td由观察者估计。增益A乘以通过从指令力Fe中减去估计的施加力Td而获得的值。从该相乘值中减去速度反馈量和增益Kv的乘积以获得转矩指令。利用该转矩指令Tc，驱动伺服电动机。由于执行了施加的力的反馈控制，所以响应快，并且可以精确地控制焊接尖端和被焊接物体之间的施加力。可以通过调节增益A和Kv来进行防止振动的施加力的反馈控制。

3. 发明申请

US20070045383A1 SERVO CONTROLLER FOR SPOT WELDING GUN 审中-公开
标题翻译：伺服控制器用于点焊焊枪
公开(公告)号：US20070045383A1
公开(公告)日：2007-03-01
申请号：US11458957
申请日：2006-07-20
申请人： Tetsuaki Kato , Soichi Arita , Kouta Mogami
发明人： Tetsuaki Kato , Soichi Arita , Kouta Mogami
IPC分类号： A47J36/02
CPC分类号： B23K11/255 , B23K11/314
摘要： There is provided a servo controller for a spot welding gun for controlling a pressurizing force, applied by a pair of mutually-opposing gun chips, on an object to be welded, including at least one movable gun chip, which is held between the pair of gun chips, by causing a drive source of the movable gun chip to drive the movable gun chip in a direction in order to pressurize the object to be welded. The servo controller includes a feedback control section for calculating a difference value (Fc−F) between an obtained pressurizing-force value F and a required pressurizing-force value Fc, and a feedforward control section for adding a correcting command value, obtained from a position command value or a speed command value for the drive source, to the difference value (Fc−F).
摘要翻译：提供了一种用于点焊枪的伺服控制器，用于控制由一对相互相对的枪芯施加在被焊接物体上的加压力，该加压力包括至少一个可动枪芯片，该至少一个可动枪芯片保持在一对通过使可动枪芯片的驱动源沿一个方向驱动可动枪芯片，以加压待焊接的物体，从而使枪片切割。伺服控制器包括反馈控制部分，用于计算所获得的加压力值F和所需的加压力值F C之间的差值（F < 以及前馈控制部分，用于将从驱动源的位置命令值或速度指令值获得的校正命令值添加到差值（F SUB C -F）。

4. 发明授权

US5304906A Collision detecting method using an observer 失效
标题翻译：使用观察者的碰撞检测方法
公开(公告)号：US5304906A
公开(公告)日：1994-04-19
申请号：US46896
申请日：1993-04-15
申请人： Soichi Arita , Tetsuaki Kato , Osamu Yoshida
发明人： Soichi Arita , Tetsuaki Kato , Osamu Yoshida
IPC分类号： G05B19/4061 , G05D3/00 , B25J19/06 , G05D1/02
CPC分类号： G05B19/4061
摘要： A collision detecting method for quickly securely detecting a collision between a driven body driven by a servomotor and an obstacle by using an observer, thereby preventing machine components from being damaged by the collision. An estimated distrubance torque (y) is obtained in accordance with a torque command (I) and an actual motor speed (.theta.) by means of the observer (50) formed of blocks (51 to 54) having transfer functions (Kt/J, K3, K4/S, 1/S), which depend individually on a torque constant, inertia, and parameters corresponding thereto, and a multiplier (61) having a transfer function (J.multidot.A) equivalent to the product of the inertia and a unit system conversion constant. The drive of the servomotor is stopped before any of the components of the machine is broken, in response to an alarm delivered from a comparator (62) when the estimated disturbance torque exceeds a threshold value (Ts) which is set at a value smaller than servomotor output torques corresponding to the breaking limits of the machine components.
摘要翻译：一种用于通过使用观察者快速安全地检测由伺服电动机和障碍物驱动的被驱动体之间的碰撞的碰撞检测方法，从而防止机器部件被碰撞损坏。根据具有传递函数（Kt / C）的块（51至54）形成的观察者（50），根据转矩指令（I）和实际电动机速度（（θ））获得估计的扰动扭矩（y） J，K3，K4 / S，1 / S），其分别取决于转矩常数，惯性和对应的参数，以及具有与惯性相乘的传递函数（J * A）的乘数（61）和单位系统转换常数。当估计的扰动转矩超过阈值（Ts）时，响应于从比较器（62）发出的警报，伺服电动机的驱动被停止，在机器的任何部件断开之前，伺服电机输出扭矩对应于机器部件的断裂极限。

5. 发明授权

US07181294B2 Vibration control device 失效
标题翻译：振动控制装置
公开(公告)号：US07181294B2
公开(公告)日：2007-02-20
申请号：US11101497
申请日：2005-04-08
申请人： Ryo Nihei , Tetsuaki Kato , Soichi Arita
发明人： Ryo Nihei , Tetsuaki Kato , Soichi Arita
IPC分类号： G05B13/02
CPC分类号： G05D19/02 , B60G2202/25 , B60G2400/206 , B60G2600/09 , B60G2600/124 , B60G2600/1872 , B60G2600/1873 , B60G2800/162 , F16F7/1005 , F16F15/02
摘要： A control device for controlling the motion of a movable part in a machine while suppressing vibration generated in the movable part. The control device includes a state-variable estimating section for estimating a state variable of a controlled system in the machine and outputting an estimated state variable; a reference model for outputting an ideal controlled variable for the controlled system; a compensator for calculating a compensation value for correcting a control input for the controlled system, based on a difference between the estimated state variable and the ideal controlled variable; and a feedback control section for determining the control input, based on a deviation between a desired command value and one of the estimated state variable and the ideal controlled variable. A corrected control input obtained by correcting the control input determined through the feedback control section by using the compensation value calculated through the compensator is input to the controlled system as well as to the state-variable estimating section and the reference model.
摘要翻译：一种用于在抑制可动部产生的振动的同时控制机器中的可动部的动作的控制装置。控制装置包括：状态变量估计部，用于估计机器中受控系统的状态变量并输出估计状态变量; 用于输出受控系统的理想控制变量的参考模型; 基于所述估计状态变量与所述理想受控变量之间的差来计算用于校正所述受控系统的控制输入的补偿值的补偿器; 以及反馈控制部分，用于基于期望指令值与估计状态变量和理想受控变量之一之间的偏差来确定控制输入。通过使用通过补偿器计算的补偿值来校正通过反馈控制部分确定的控制输入而获得的校正控制输入被输入到受控系统以及状态变量估计部分和参考模型。

6. 发明授权

US06236011B1 Method and apparatus for detecting an abnormal load on a servo gun shaft 有权
标题翻译：用于检测伺服枪轴上的异常负载的方法和装置
公开(公告)号：US06236011B1
公开(公告)日：2001-05-22
申请号：US09284388
申请日：1999-04-13
申请人： Tetsuaki Kato , Soichi Arita
发明人： Tetsuaki Kato , Soichi Arita
IPC分类号： B23K1125
CPC分类号： B23K11/31 , B23K11/252 , B23K11/255 , B23K11/36
摘要： A method of and apparatus for detecting an abnormal load on a servo gun axis, capable of quickly detecting sticking of a welding tip to an object of welding before movement of a robot, without adversely affecting the object. A load applied to a servomotor for driving a welding tip of a welding gun is detected by an observer. An abnormal load signal is output when the estimated disturbance load deviates from a range defined by a reference &bgr; (&bgr;>0). A determination as to whether or not the estimated disturbance load is larger than the reference value +&bgr; is not made during a period of time from the start of a closing motion of the welding gun until the estimated disturbance load becomes smaller than a set value &agr;. When the welding tip is stuck to a workpiece, a negative estimated disturbance load smaller than −&bgr; is derived and an abnormal load Signal is outputted.
摘要翻译：一种用于检测伺服枪轴上的异常负载的方法和装置，其能够在机器人移动之前快速检测焊接尖端对焊接物体的粘附，而不会不利地影响物体。由观察者检测施加到用于驱动焊枪的焊接尖端的伺服电动机的负载。当估计的扰动负载偏离由参考β（β> 0）定义的范围时，输出异常负载信号。关于估计的扰动负荷是否大于参考值+β的确定不是在从焊枪的关闭运动开始到估计的扰动负载变得小于设定值α的时间段之前进行的。当焊嘴粘贴在工件上时，导出小于-beta的负估计干扰负荷，并输出异常负载信号。

7. 发明授权

US5587638A Flexible servo control method capable of specifying flexibility on working coordinates 失效
标题翻译：灵活的伺服控制方法，能够指定工作坐标的灵活性
公开(公告)号：US5587638A
公开(公告)日：1996-12-24
申请号：US392790
申请日：1995-02-28
申请人： Tetsuaki Kato , Soichi Arita , Masaru Nakamura
发明人： Tetsuaki Kato , Soichi Arita , Masaru Nakamura
IPC分类号： B25J13/00 , G05B13/02 , G05B19/19 , G05D3/12 , G05B19/42
CPC分类号： G05B19/19 , G05B2219/35478 , G05B2219/39089 , G05B2219/41015 , Y02P90/265
摘要： A control method for a servomotor which is controlled by a control system with a position control loop and a speed control loop, such that a degree of flexibility specified on working coordinates, on which the servomotor is situated, is converted into servo gains Kp and Kv for individual axes of the servomotor, and the servomotor is driven according to the converted servo gains Kp and Kv, whereby the degree of flexibility can be set on the working coordinates, and a driven body can be moved manually.
摘要翻译： PCT No.PCT / JP94 / 01012 Sec。 371日期1995年2月28日 102（e）1995年2月28日PCT PCT 1994年6月23日PCT公布。第WO95 / 02214号公报日期1995年1月19日一种伺服电动机的控制方法，其由具有位置控制回路和速度控制回路的控制系统控制，使得在伺服电动机所在的工作坐标上规定的灵活度被转换为对伺服电动机的各个轴的伺服增益Kp和Kv，并且根据转换的伺服增益Kp和Kv驱动伺服电动机，由此可以对工作坐标设置灵活度，并且可以手动地移动从动体。

8. 发明授权

US5637969A Vibration control method 失效
标题翻译：振动控制方式
公开(公告)号：US5637969A
公开(公告)日：1997-06-10
申请号：US314268
申请日：1994-09-30
申请人： Tetsuaki Kato , Soichi Arita
发明人： Tetsuaki Kato , Soichi Arita
IPC分类号： G05B11/36 , B25J9/16 , G05D3/12 , G05D19/02 , H02P7/00
CPC分类号： B25J9/1641 , G05B2219/41251 , G05B2219/41398
摘要： A control method capable of preventing vibration of a control object and making a band sufficiently high in controlling a robot or a machine tool in semi-closed loop. A torque command u" is obtained by executing a feedback-control of the servomotor using the position and speed of a servomotor in the same manner as in the conventional method. A displacement amount d1 between the motor position and the position of the control object and a displacement speed d2 are estimated by an observer. A corrected torque command u is determined by subtracting, from the torque command u", values obtained by multiplying the displacement amount d1 and the displacement speed d2 by the adjustable gains (.alpha.-KpK1) and (.beta.-K1), respectively. The servomotor is driven based on the corrected torque command u thus obtained. There can be obtained effects equivalent to those that would be obtained when a feedback-control is performed using the position and speed of the control object. The adjustment values .alpha. and .beta. are so adjusted as to stabilize a response from the corrected torque command to the control object.
摘要翻译：一种控制方法，其能够防止控制对象的振动，并使得在半闭环中控制机器人或机床的带宽足够高。以与传统方法相同的方式，使用伺服电动机的位置和速度执行伺服电动机的反馈控制来获得转矩指令u“。通过观察者估计电动机位置与控制对象的位置之间的位移量d1和位移速度d2。通过从转矩指令u“中减去通过将位移量d1和位移速度d2乘以可调增益（α-KpK1）和（β-K1）而获得的值来确定校正转矩指令u。基于由此获得的修正转矩指令u来驱动伺服电动机。可以获得与使用控制对象的位置和速度进行反馈控制时获得的效果相当的效果。调整值α和β被调节以使从修正的转矩命令到控制对象的响应稳定。

9. 发明授权

US5581167A Flexible servo control method 失效
标题翻译：灵活的伺服控制方式
公开(公告)号：US5581167A
公开(公告)日：1996-12-03
申请号：US373225
申请日：1995-01-18
申请人： Tetsuaki Kato , Soichi Arita , Masaru Nakamura
发明人： Tetsuaki Kato , Soichi Arita , Masaru Nakamura
IPC分类号： G05B7/02 , G05B13/02 , G05B19/19 , G05D3/00 , G05D3/12
CPC分类号： G05B19/19 , G05B2219/34337 , G05B2219/39089 , G05B2219/42035
摘要： A robotic arm is driven by a servomotor which is controlled through position and speed control loops. The position and speed control loops are adaptable in response to a flexible position control. Upon receipt of a flexible control command, a position gain and a proportional gain of the speed control loop are lowered in accordance with a set degree of flexibility. The output of an integrator of the speed control loop is also limited to a set clamp value. As a result, a torque command for controlling the servomotor never achieves an expressly large value even if a position deviation increases. In case an obstacle is placed in the transfer path of the robotic arm, the arm can be moved by human power to avoid the obstacle.
摘要翻译： PCT No.PCT / JP94 / 00765 Sec。 371日期1995年1月19日 102（e）1995年1月19日PCT PCT 1994年5月12日PCT公布。 WO94 / 27200PC公报日期1994年11月24日机器臂由伺服电机驱动，伺服电机通过位置和速度控制回路控制。位置和速度控制回路适应于灵活的位置控制。在接收到柔性控制命令时，根据设定的灵活程度降低速度控制回路的位置增益和比例增益。速度控制回路的积分器的输出也限于设定的钳位值。结果，即使位置偏差增加，用于控制伺服电机的转矩指令也不会实现明显的大值。如果障碍物放置在机器臂的传送路径中，则可以通过人力来移动臂以避免障碍物。

10. 发明申请

US20050228513A1 Vibration control device 失效
标题翻译：振动控制装置
公开(公告)号：US20050228513A1
公开(公告)日：2005-10-13
申请号：US11101497
申请日：2005-04-08
申请人： Ryo Nihei , Tetsuaki Kato , Soichi Arita
发明人： Ryo Nihei , Tetsuaki Kato , Soichi Arita
IPC分类号： G05B13/02 , B23Q11/00 , F16F7/00 , F16F7/10 , F16F15/02 , G05D19/00 , G05D19/02 , G05B13/00
CPC分类号： G05D19/02 , B60G2202/25 , B60G2400/206 , B60G2600/09 , B60G2600/124 , B60G2600/1872 , B60G2600/1873 , B60G2800/162 , F16F7/1005 , F16F15/02
摘要： A control device for controlling the motion of a movable part in a machine while suppressing vibration generated in the movable part. The control device includes a state-variable estimating section for estimating a state variable of a controlled system in the machine and outputting an estimated state variable; a reference model for outputting an ideal controlled variable for the controlled system; a compensator for calculating a compensation value for correcting a control input for the controlled system, based on a difference between the estimated state variable and the ideal controlled variable; and a feedback control section for determining the control input, based on a deviation between a desired command value and one of the estimated state variable and the ideal controlled variable. A corrected control input obtained by correcting the control input determined through the feedback control section by using the compensation value calculated through the compensator is input to the controlled system as well as to the state-variable estimating section and the reference model.
摘要翻译：一种用于在抑制可动部产生的振动的同时控制机器中的可动部的动作的控制装置。控制装置包括：状态变量估计部，用于估计机器中受控系统的状态变量并输出估计状态变量; 用于输出受控系统的理想控制变量的参考模型; 基于所述估计状态变量与所述理想受控变量之间的差来计算用于校正所述受控系统的控制输入的补偿值的补偿器; 以及反馈控制部分，用于基于期望指令值与估计状态变量和理想受控变量之一之间的偏差来确定控制输入。通过使用通过补偿器计算的补偿值来校正通过反馈控制部分确定的控制输入而获得的校正控制输入被输入到受控系统以及状态变量估计部分和参考模型。

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