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1. 发明授权

EP0528047B1 METHOD OF CONTROLLING FLOWRATE OF SEALING MATERIAL IN SEALING BY INDUSTRIAL ROBOT 失效
标题翻译：用于控制该密封剂的流内的密封剂排出INDUSTRIEROBOTER
公开(公告)号：EP0528047B1
公开(公告)日：1997-11-12
申请号：EP92905784.2
申请日：1992-03-06
申请人： FANUC LTD.
发明人： TORII, Nobutoshi, Room 308, Fuyohaitsu , KARAKAMA, Tatsuo, Fanuc Dai-3 Vira-karamatsu , MIZUNO, Hitoshi, Rm. 8-310, Fanuc Manshonharimomi
IPC分类号： G05B19/42 , B05B12/12 , B05C11/10
CPC分类号： G05B19/42 , B05B12/126 , B05C11/1013 , B05C11/1023 , G05B2219/25405 , G05B2219/34387 , G05B2219/45065 , G05B2219/49056
摘要： A sealing gun (31) of a sealing application device for controlling a flowrate of a sealing material in accordance with a magnitude of an input signal is secured to the forward end of an arm of a robot. The strength of a signal being input to the sealing application device (30) is increasingly or decreasingly controlled in conformity with the increasing or decreasing control of a moving speed of the sealing gun. The moving speed (TSA) of the sealing gun is proportional to the flowrate of the sealing material from the sealing gun, so that a width of bead becomes uniform regardless of the moving speed (TSA) of the sealing gun.

2. 发明公开

EP0528047A4 METHOD OF CONTROLLING FLOWRATE OF SEALING MATERIAL IN SEALING BY INDUSTRIAL ROBOT 失效
标题翻译：控制工业机器人密封材料流动的方法
公开(公告)号：EP0528047A4
公开(公告)日：1994-06-22
申请号：EP92905784
申请日：1992-03-06
申请人： FANUC LTD
发明人： TORII NOBUTOSHI ROOM FUYOHAITS , KARAKAMA TATSUO FANUC DAI- VIR , MIZUNO HITOSHI RM - FANUC MANS
IPC分类号： F16J15/02 , B05B12/12 , B05C11/10 , G05B19/42
CPC分类号： G05B19/42 , B05B12/126 , B05C11/1013 , B05C11/1023 , G05B2219/25405 , G05B2219/34387 , G05B2219/45065 , G05B2219/49056
摘要： A sealing gun (31) of a sealing application device for controlling a flowrate of a sealing material in accordance with a magnitude of an input signal is secured to the forward end of an arm of a robot. The strength of a signal being input to the sealing application device (30) is increasingly or decreasingly controlled in conformity with the increasing or decreasing control of a moving speed of the sealing gun. The moving speed (TSA) of the sealing gun is proportional to the flowrate of the sealing material from the sealing gun, so that a width of bead becomes uniform regardless of the moving speed (TSA) of the sealing gun.

3. 发明授权

EP0815500B1 VORRICHTUNG ZUR BERÜCKSICHTIGUNG DER REAKTIONSZEIT EINES BETRIEBSMITTELS BEI EINER VON EINEM VERFAHRWEG ABHÄNGIGEN ANSTEUERUNG DESSELBEN 失效
标题翻译： DEVICE FOR的装置的响应的光中1从属横动控制该
公开(公告)号：EP0815500B1
公开(公告)日：2000-12-20
申请号：EP96907255.2
申请日：1996-03-22
申请人： SIEMENS AKTIENGESELLSCHAFT
发明人： STREICHERT, Gerhard
IPC分类号： G05B19/416
CPC分类号： G05B19/416 , G05B2219/34387 , G05B2219/34388 , G05B2219/34391
摘要： The invention is designed to take account of the reaction time of a device to be controlled which is to be activated or deactivated when a device of a technical installation reaches a reference travel serving as a way-mark on a stretch where the stretch can be covered at different speeds. The invention comprises: a position detector to detect the actual travel, means for storing the reaction time of the device to be controlled, means for storing an initial actual value of the travel ('starting actual value'), means for storing a second actual value of the travel at the end of a period corresponding to the reaction time of the device to be controlled ('final actual value'), means for determining a current value of a lead travel (VW) by subtracting the first stored actual value from the second and means to reduce the travel reference ('corrected travel reference') or to increase the actual value of the travel ('dynamised actual value') by the current value of the lead travel (VW).

4. 发明公开

EP0815500A1 VORRICHTUNG ZUR BERÜCKSICHTIGUNG DER REAKTIONSZEIT EINES BETRIEBSMITTELS BEI EINER VON EINEM VERFAHRWEG ABHÄNGIGEN ANSTEUERUNG DESSELBEN 失效
标题翻译： DEVICE FOR的装置的响应的光中1从属横动控制该
公开(公告)号：EP0815500A1
公开(公告)日：1998-01-07
申请号：EP96907255.0
申请日：1996-03-22
申请人： SIEMENS AKTIENGESELLSCHAFT
发明人： STREICHERT, Gerhard
IPC分类号： G05B19
CPC分类号： G05B19/416 , G05B2219/34387 , G05B2219/34388 , G05B2219/34391
摘要： The invention is designed to take account of the reaction time of a device to be controlled which is to be activated or deactivated when a device of a technical installation reaches a reference travel serving as a way-mark on a stretch where the stretch can be covered at different speeds. The invention comprises: a position detector to detect the actual travel, means for storing the reaction time of the device to be controlled, means for storing an initial actual value of the travel ('starting actual value'), means for storing a second actual value of the travel at the end of a period corresponding to the reaction time of the device to be controlled ('final actual value'), means for determining a current value of a lead travel (VW) by subtracting the first stored actual value from the second and means to reduce the travel reference ('corrected travel reference') or to increase the actual value of the travel ('dynamised actual value') by the current value of the lead travel (VW).

5. 发明公开

EP0135754A3 Positioning control device for an electric motor 有权
标题翻译：电动马达定位控制装置
公开(公告)号：EP0135754A3
公开(公告)日：1986-02-26
申请号：EP84109421
申请日：1984-08-08
申请人： Kabushiki Kaisha S.G.
发明人： Shimizu, Wataru , Yuasa, Yasuhiro
IPC分类号： H02P03/04
CPC分类号： G05B19/358 , G05B19/416 , G05B2219/34387 , G05B2219/37313 , G05B2219/37486 , G05B2219/41105 , G05B2219/41279 , G05B2219/41288 , G05B2219/43019 , G05B2219/43115 , G05B2219/50187
摘要： A rotational position, velocity and acceleration of an electrical motor (1) are detected and an amount of overrun produced when the motor has stopped is estimated from the detected velocity and acceleration, and at least one of motor position detection data (Do) and a positioning target value So is changed in accordance with the estimated amount of overrun. The position detection data and the positioning target value after the change are compared with each other and a command for stopping the motor is generated in accordance with a result of this comparison. A brake (2) is applied to the motor in advance by the amount of the estimated overrun so that the motor is stopped at a desired target position after making overrun. Further, velocity setting signals are generated in accordance with desired acceleration and decelaration characteristics and the velocity control of the motor is effected in an open loop in response to the velocity setting signals. By the stop and velocity controls of an open loop system, positioning control of the motor of the open loop system can be accurately performed.

6. 发明公开

EP2733562A1 TRIGGER EMISSION DEVICE 有权转让
标题翻译： TRIGGEREMISSIONSVORRICHTUNG
公开(公告)号：EP2733562A1
公开(公告)日：2014-05-21
申请号：EP12811034.3
申请日：2012-05-16
申请人： Fuji Machine Mfg. Co., Ltd.
发明人： KATO Naohiro
IPC分类号： G05D3/12 , H05K13/04
CPC分类号： G05B19/402 , G05B19/401 , G05B2219/25405 , G05B2219/34387 , G05B2219/34391 , G05B2219/41192
摘要： A trigger signal generating device 6 is proposed which can output the trigger signal with high accuracy that gives instructions on operation to the external device 5 operated in synchronization with the servo motor 1. The trigger signal generating device 6 includes a timer setting time calculating portion 63 for calculating a timer setting time by subtracting a servo side delay time and an external device side delay time from a time required until the external device 5 arrives at an operation starting position calculated by a position information of the servo motor and a trigger signal outputting portion 64 for outputting a trigger signal based on the timer setting time, wherein the servo side delay time is defined to be a time period from a time when sampling by the position detecting device starts to a time when the calculation of the timer setting time for generating the trigger signal is completed and the external device side delay time is defined to be a time period from a time when the trigger signal is outputted to a time when the external device starts operation.
摘要翻译：提出了一种触发信号发生装置6，其能够以与伺服电动机1同步地操作的对外部装置5进行操作的指令的高精度输出触发信号。触发信号生成装置6包括定时器设定时间计算部63 用于通过从外部设备5到达通过伺服电动机的位置信息计算的操作开始位置所需的时间和触发信号输出部分中减去伺服侧延迟时间和外部设备侧延迟时间来计算定时器设置时间 64，用于基于定时器设置时间输出触发信号，其中伺服侧延迟时间被定义为从位置检测装置的采样开始到计算用于产生的定时器设置时间的时间段触发信号完成，外部设备侧的延迟时间被定义为从时间开始的时间段在触发信号输出到外部设备开始运行的时间。

7. 发明公开

EP0491303A2 Einrichtung zum Abschalten eines Vorschubs bei einer konventionellen Drehmaschine oder Fräse 失效
标题翻译：装置，用于在传统的车床或机关闭的馈电。
公开(公告)号：EP0491303A2
公开(公告)日：1992-06-24
申请号：EP91121437.7
申请日：1991-12-13
申请人： Weiler Werkzeugmaschinen GmbH & Co. KG
发明人： Rösch, Friedrich, Dipl.-Ing. (FH)
IPC分类号： G05B19/416
CPC分类号： G05B19/416 , G05B2219/34387 , G05B2219/41259 , G05B2219/42308 , G05B2219/42318 , G05B2219/43115 , G05B2219/50187 , G05B2219/50188 , G05B2219/50198
摘要： Es sind konventionelle Drehmaschinen oder Fräsen bekannt, bei denen der Antriebsmotor über eine steuerbare Kupplung (9), insbesondere eine Fallschnecke (12/13) mit einer Spindel (15) koppelbar ist, die einen Werkzeugschlitten (16) bewegt. Hierbei sind Meßeinrichtungen (17, 18) vorgesehen, die den vom Werkzeugschlitten (16) zurückgelegten Istweg messen und mit einem eingegebenen Sollweg vergleichen. Die Kupplung (9) wird dann ausgerückt, wenn der Istweg dem Sollweg entspricht. Um ein Hinausfahren über den Sollweg wirksam zu verhindern, andererseits aber diesen Sollweg möglichst exakt zu erreichen, wird eine Abschaltsteuerung (20) vorgeschlagen, die einen Geschwindigkeitsdetektor zum Feststellen der Vorschubgeschwindigkeit des Werkzeugschlittens und eine Vorgabeeinrichtung umfaßt, welche derart ausgebildet ist, daß die Kupplung eine durch einen Vorgabeumwandler (22) in Abhängigkeit von der Vorschubgeschwindigkeit festgelegte Nachlaufstrecke vor Erreichen des Sollwegs ausgerückt wird.
摘要翻译：常规车削或铣削机是已知的，其中，驱动马达可以经由离合器连接（9），特别是蠕虫跳闸（12/13），以哪个移动的刀架滑台（16）的主轴（15）。这里提供测量装置（17，18），通过测量工具片（16）覆盖的实际行进，并与输入所需的行驶进行比较。离合器（9）被脱开。当实际行进对应于期望行驶。为了有效地防止移动超过期望行驶，但在另一方面，以实现该期望行程尽可能精确地，一个停止控制装置（20），提出了包括一个速度检测器，用于确定采矿工具滑动件的进料速率和一个预设装置的所有其被设计在寻求一种方式做了离合器断开一慢化距离，由一个换能器预置（22）作为进料速率的函数确定，达到所需的行程之前。

8. 发明授权

EP0135754B1 Positioning control device for an electric motor 有权
标题翻译：电动马达定位控制装置
公开(公告)号：EP0135754B1
公开(公告)日：1990-10-24
申请号：EP84109421.2
申请日：1984-08-08
申请人： Kabushiki Kaisha S.G.
发明人： Shimizu, Wataru , Yuasa, Yasuhiro
IPC分类号： G05B19/407 , H02P3/04
CPC分类号： G05B19/358 , G05B19/416 , G05B2219/34387 , G05B2219/37313 , G05B2219/37486 , G05B2219/41105 , G05B2219/41279 , G05B2219/41288 , G05B2219/43019 , G05B2219/43115 , G05B2219/50187

9. 发明公开

EP0135754A2 Positioning control device for an electric motor 有权
标题翻译：一种用于电子马达的定位控制装置。
公开(公告)号：EP0135754A2
公开(公告)日：1985-04-03
申请号：EP84109421.2
申请日：1984-08-08
申请人： Kabushiki Kaisha S.G.
发明人： Shimizu, Wataru , Yuasa, Yasuhiro
IPC分类号： G05B19/407 , H02P3/04
CPC分类号： G05B19/358 , G05B19/416 , G05B2219/34387 , G05B2219/37313 , G05B2219/37486 , G05B2219/41105 , G05B2219/41279 , G05B2219/41288 , G05B2219/43019 , G05B2219/43115 , G05B2219/50187
摘要： A rotational position, velocity and acceleration of an electrical motor (1) are detected and an amount of overrun produced when the motor has stopped is estimated from the detected velocity and acceleration, and at least one of motor position detection data (Do) and a positioning target value So is changed in accordance with the estimated amount of overrun. The position detection data and the positioning target value after the change are compared with each other and a command for stopping the motor is generated in accordance with a result of this comparison. A brake (2) is applied to the motor in advance by the amount of the estimated overrun so that the motor is stopped at a desired target position after making overrun. Further, velocity setting signals are generated in accordance with desired acceleration and decelaration characteristics and the velocity control of the motor is effected in an open loop in response to the velocity setting signals. By the stop and velocity controls of an open loop system, positioning control of the motor of the open loop system can be accurately performed.

10. 发明公开

EP2733562A4 TRIGGER EMISSION DEVICE 有权转让
标题翻译： TRIGGEREMISSIONSVORRICHTUNG
公开(公告)号：EP2733562A4
公开(公告)日：2016-07-20
申请号：EP12811034
申请日：2012-05-16
申请人： FUJI MACHINE MFG
发明人： KATO NAOHIRO
IPC分类号： G05D3/12 , G05B19/401 , G05B19/402 , H05K13/04
CPC分类号： G05B19/402 , G05B19/401 , G05B2219/25405 , G05B2219/34387 , G05B2219/34391 , G05B2219/41192

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