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1. 发明专利

JP2012234452A Control parameter adjustment method and control parameter adjustment system for position control device 有权
标题翻译：控制参数调整方法和位置控制装置的控制参数调整系统
公开(公告)号：JP2012234452A
公开(公告)日：2012-11-29
申请号：JP2011103959
申请日：2011-05-09
申请人： Fuji Mach Mfg Co Ltd , 富士機械製造株式会社
发明人： NAGIRI KEISUKE , NAGATA MAKOTO , FUJITA MASATOSHI
IPC分类号： G05D3/12 , G05B11/32 , G05B13/02 , G05D3/00
摘要： PROBLEM TO BE SOLVED: To simplify a work to adjust a control parameter of a position control device having a plurality of drive systems in a relation where friction force of respective drive systems influences each other when the drive systems are driven.SOLUTION: A control parameter adjustment method: collects a positioning data of each drive system by concurrently driving two motors 16 and 24 of drive systems through a position control device 28; evaluates feature amounts of the positioning data of each drive system using genetic algorithm; and adjusts a control parameter of the position control device 28 so that an evaluation value satisfies a required performance (a design specification). Preferably, a position instruction waveform, an actual position waveform and a torque waveform are collected as the positioning data of each drive system and the positioning waveform is evaluated as the feature amount of the positioning data of each drive system. Control parameters to be adjustment objects are, for example, a position instruction parameter, a feedback gain parameter and a feedforward gain parameter.
摘要翻译：要解决的问题：为了简化在驱动系统被驱动时，具有多个驱动系统的位置控制装置的控制参数的工作，其中各个驱动系统的摩擦力相互影响。控制参数调整方法：通过位置控制装置28同时驱动驱动系统的两个电动机16和24来收集每个驱动系统的定位数据; 使用遗传算法评估每个驱动系统的定位数据的特征量; 调整位置控制装置28的控制参数，使得评价值满足要求的性能（设计规范）。优选地，作为每个驱动系统的定位数据收集位置指令波形，实际位置波形和转矩波形，并且将定位波形评估为每个驱动系统的定位数据的特征量。作为调整对象的控制参数例如是位置指令参数，反馈增益参数和前馈增益参数。版权所有（C）2013，JPO＆INPIT

2. 发明专利

JP2013062444A Electronic component mounting machine 有权
标题翻译：电子元件安装机
公开(公告)号：JP2013062444A
公开(公告)日：2013-04-04
申请号：JP2011201145
申请日：2011-09-14
申请人： Fuji Mach Mfg Co Ltd , 富士機械製造株式会社
发明人： NAGIRI KEISUKE
IPC分类号： H05K13/00
摘要： PROBLEM TO BE SOLVED: To provide an electronic component mounting machine which enables easy device exchange and achieves high attachment accuracy of electronic components.SOLUTION: An electronic component mounting machine 1 includes: a base 2 having a lower stage housing part 20, an upper stage housing part 21 disposed above the lower stage housing part 20, and a middle stage reinforcement part 22 disposed between the lower stage housing part 20 and the upper stage housing part 21; a lower stage module 3 housed in and fixed to the lower stage housing part 20 so as to be exchangeable; an upper stage module 4 which is housed in and fixed to the upper stage housing part 21 so as to be exchangeable, and has a robot part 40, actuators for the robot part 41, 42, and an attachment head 43.
摘要翻译：要解决的问题：提供一种能够容易地进行装置交换并实现电子部件的高附着精度的电子部件安装机。电子部件安装机1包括：底座2，具有下级壳体部20，设置在下侧壳体部20上方的上侧壳体部21，以及设置在下侧壳体部20之间的中间阶段加强部22 平台壳体部20和上侧壳体部21; 下部模块3容纳在下部容纳部20中并固定到下部容纳部20以便可更换; 上部模块4，其容纳在上部容纳部21中并被固定到可更换的上部容纳部21，并且具有机器人部40，用于机器人部41,42和附接头43的致动器。（C）2013，JPO＆INPIT

3. 发明专利

JP2013004638A Multi-robot system and electronic component mounting machine 有权
标题翻译：多机器人系统和电子元件安装机
公开(公告)号：JP2013004638A
公开(公告)日：2013-01-07
申请号：JP2011132804
申请日：2011-06-15
申请人： Fuji Mach Mfg Co Ltd , 富士機械製造株式会社
发明人： NAGIRI KEISUKE
IPC分类号： H05K13/04 , B25J19/06
摘要： PROBLEM TO BE SOLVED: To provide a multi-robot system in which interference on multiple robot units is suppressed depending on the type of an exchange member, and to provide an electronic component mounting machine.SOLUTION: The multi-robot system comprises a controller 61, and multiple robot units 9f, 9r each having an exchange member 70 being driven by the controller 61 and exchanged. The orbits of the multiple robot units 9f, 9r overlap at least partially. The controller 61 can recognize the positions of the multiple robot units 9f, 9r, and monitors interference of the multiple robot units 9f, 9r based on the relative distances Lx, Ly between the multiple robot units 9f, 9r, and the brake distances Sx1, Sx2, Sy1, Sy2 of the robot units 9f, 9r dependent on the type of the exchange member 70.
摘要翻译：要解决的问题：提供一种多机器人系统，其中根据交换构件的类型来抑制对多个机器人单元的干扰，并提供电子部件安装机。解决方案：多机器人系统包括控制器61和多个机器人单元9f，9r，每个机器人单元9f，9r具有由控制器61驱动并交换的交换构件70。多个机器人单元9f，9r的轨道至少部分重叠。控制器61可以识别多个机器人单元9f，9r的位置，并且基于多个机器人单元9f，9r与制动距离Sx1之间的相对距离Lx，Ly监视多个机器人单元9f，9r的干扰，机器人单元9f，9r的Sx2，Sy1，Sy2，取决于交换构件70的类型。版权所有（C）2013，JPO＆INPIT

4. 发明专利

JP2009217329A Operating device 有权
标题翻译：操作装置
公开(公告)号：JP2009217329A
公开(公告)日：2009-09-24
申请号：JP2008057635
申请日：2008-03-07
申请人： Fuji Mach Mfg Co Ltd , Nagoya Institute Of Technology , 国立大学法人名古屋工業大学 , 富士機械製造株式会社
发明人： SAWARAGI HIROSHI , NAGIRI KEISUKE , KAWAI TAKAMASA , MATSUI NOBUYUKI , IWASAKI MAKOTO
IPC分类号： G05D3/00 , G05D3/12
CPC分类号： G05B5/01
摘要： PROBLEM TO BE SOLVED: To strike a balance between the high-speed positioning of a movable member in an operating device, wherein the movable member is moved to a device body by a drive device, and the vibration suppression of the device body. SOLUTION: The operating device has a position instruction part 200, a feedforward compensator 202, a feedforward compensator 204, and a feedforward compensator 208. For example, in the operating device, an accelerator control system 192 having an acceleration sensor detecting acceleration of the device body, a feedforward compensator 216, and a feedforward compensator 218 is added to a position control system 190 controlling positioning of an installation head in an installation module installing an electronic circuit component to a circuit board. The vibration of the device body is actively suppressed, thereby striking a balance between the high-speed positioning of the installation head and the vibration suppression of the device. When setting both the feedforward compensators 208, 218 as variable compensators and when smoothly changing a roll near a target position, the purpose is more excellently achieved. COPYRIGHT: (C)2009,JPO&INPIT
摘要翻译：要解决的问题：为了在操作装置中的可移动部件的高速定位之间取得平衡，其中可动部件通过驱动装置移动到装置主体，并且装置主体的振动抑制。
解决方案：操作装置具有位置指令部分200，前馈补偿器202，前馈补偿器204和前馈补偿器208.例如，在操作装置中，加速器控制系统192具有加速度传感器检测加速度将前馈补偿器216和前馈补偿器218添加到位置控制系统190，该位置控制系统190控制将安装头安装到电路板的安装模块中的安装头的位置。积极地抑制装置主体的振动，从而在安装头的高速定位与装置的振动抑制之间达到平衡。当将前馈补偿器208,218同时设置为可变补偿器时，并且当平滑地改变靠近目标位置的滚动时，更有意地实现目的。版权所有（C）2009，JPO＆INPIT

5. 发明专利

JP2008243176A Position controller 有权
标题翻译：位置控制器
公开(公告)号：JP2008243176A
公开(公告)日：2008-10-09
申请号：JP2007211953
申请日：2007-08-15
申请人： Fuji Mach Mfg Co Ltd , Nagoya Institute Of Technology , 国立大学法人名古屋工業大学 , 富士機械製造株式会社
发明人： SAWARAGI HIROSHI , NAGIRI KEISUKE , KAWAI TAKAMASA , MATSUI NOBUYUKI , IWASAKI MAKOTO
IPC分类号： G05D3/12 , G05B11/32 , G05B11/36
摘要： PROBLEM TO BE SOLVED: To properly compensate frictional disturbance in a position controller.
SOLUTION: A moving direction signal output part 27 determines a moving direction of a moving object, and outputs a signal according to the moving direction. The position controller is provided with a first filter circuit 25 for filtering the signal according to one moving direction of the moving direction signal output part 27, and a second filter circuit 26 for filtering the signal according to the other moving direction of the moving direction signal output part 27, to constitute a disturbance offset feedforward compensator (FFC). The first filter circuit 25 is constituted of a dead time circuit part 21 and a positive directional filter 23, and the second filter circuit 26 is constituted of a dead time circuit part 22 and a negative directional filter 24. The positive directional filter 23 obtains an FFC command by summing up outputs Yp, Ym passing through the negative directional filter 24, and adds the FFC command to a position command to a motor (driving source) to compensate the position command.
COPYRIGHT: (C)2009,JPO&INPIT
摘要翻译：要解决的问题：适当补偿位置控制器中的摩擦扰动。解决方案：移动方向信号输出部分27确定移动物体的移动方向，并根据移动方向输出信号。位置控制器设置有用于根据移动方向信号输出部分27的一个移动方向对信号进行滤波的第一滤波器电路25和用于根据移动方向信号的另一个移动方向对信号进行滤波的第二滤波器电路26 输出部分27构成干扰偏移前馈补偿器（FFC）。第一滤波电路25由死区时间电路部分21和正方向滤波器23构成，第二滤波电路26由死区时间电路部分22和负方向滤波器24构成。正方向滤波器23获得 FFC命令，通过对通过负方向滤波器24的输出Yp，Ym进行求和，并将FFC命令添加到电动机（驱动源）的位置指令以补偿位置指令。版权所有（C）2009，JPO＆INPIT

6. 发明专利

JP2013149778A Component mounting device 有权
标题翻译：组件安装设备
公开(公告)号：JP2013149778A
公开(公告)日：2013-08-01
申请号：JP2012008918
申请日：2012-01-19
申请人： Fuji Mach Mfg Co Ltd , 富士機械製造株式会社
发明人： SATO TAKESHI , NAGIRI KEISUKE
IPC分类号： H05K13/04 , H05K13/02
摘要： PROBLEM TO BE SOLVED: To provide a component mounting apparatus capable of making components to be mounted in the next mounting cycle stand by without fail.SOLUTION: A component mounting device 1 includes: a dedicated component transfer device 4 which transfers components to be used in the current mounting cycle and mounts them on a substrate PB; and a dedicated standby component arrangement device 6 which makes components to be used in the next mounting cycle stand by. Thus, even if the component transfer device 4 is in mounting operation of the component, the standby component arrangement device 6 can perform component standby operation. Therefore, the operation ratio of the component transfer device 4 and the standby component arrangement device 6 can be improved and the mounting tact time can be shortened.
摘要翻译：要解决的问题：提供一种能够使下一个安装循环中的部件安装在一起的部件安装装置，而不会失败。解决方案：部件安装装置1包括：专用部件传送装置4，其将要使用的部件当前安装周期并将其安装在基板PB上; 以及使得在下一个安装循环中使用的部件待机的专用备用部件布置装置6。因此，即使部件传送装置4处于部件的安装动作，备用部件安装装置6也可以进行部件待机动作。因此，能够提高部件搬送装置4和备用部件配置装置6的动作比，缩短安装时间。

7. 发明专利

JP2013073351A Servo drive system 有权
标题翻译：伺服驱动系统
公开(公告)号：JP2013073351A
公开(公告)日：2013-04-22
申请号：JP2011210923
申请日：2011-09-27
申请人： Fuji Mach Mfg Co Ltd , 富士機械製造株式会社
发明人： NAGIRI KEISUKE , KATO NAOHIRO
IPC分类号： G05D3/12 , H02P5/46
CPC分类号： Y02P90/02
摘要： PROBLEM TO BE SOLVED: To provide a servo drive system capable of distributing a controlling/calculating part to a servo amplifier or a servo controller according to characteristics of each shaft of a control device by enhancing control responsiveness of servo control.SOLUTION: In a servo drive system, a servo control part for controlling a servo motor for every shaft includes; a profile generation part which generates command of the servo motor; a position control part which controls a position of the servo motor; a speed control part which controls speed of the servo motor; and a current control part which controls a motor current of the servo motor. The profile generation part, the position control part, the speed control part and the current control part are distributed to a servo amplifier or a servo controller, respectively.
摘要翻译：要解决的问题：提供一种能够通过提高伺服控制的控制响应性，根据控制装置的每个轴的特性向伺服放大器或伺服控制器分配控制/计算部件的伺服驱动系统。解决方案：在伺服驱动系统中，用于控制每个轴的伺服电机的伺服控制部件包括：轮廓生成部，生成伺服电动机的指令; 位置控制部，其控制所述伺服电动机的位置; 速度控制部，其控制伺服电动机的速度; 以及控制伺服电动机的电机电流的电流控制部。轮廓产生部分，位置控制部分，速度控制部分和电流控制部分别被分配到伺服放大器或伺服控制器。版权所有（C）2013，JPO＆INPIT

8. 发明专利

JP2013021103A Production machine 有权
标题翻译：生产机
公开(公告)号：JP2013021103A
公开(公告)日：2013-01-31
申请号：JP2011152673
申请日：2011-07-11
申请人： Fuji Mach Mfg Co Ltd , 富士機械製造株式会社
发明人： NAGIRI KEISUKE , FUJITA MASATOSHI , NAGATA MAKOTO
IPC分类号： H05K13/04
CPC分类号： B23P19/02 , G01L5/0038 , G05B19/19 , G05B2219/42092 , G05B2219/45143
摘要： PROBLEM TO BE SOLVED: To buffer impact force when a movable body collides with a pressurization object with good response and to stabilize pressurization force of the movable body to the pressurization object in a production machine.SOLUTION: A signal component in a low frequency band is extracted by a low frequency band signal extraction filter 16 from an output signal (detection signal of impact force) of a piezoelectric element 15 at the time when a tip 11a of a movable body 11 collides with the pressurization object 14. Thus, the magnitude of the impact force applied to the tip 11a of the movable body 11 is extracted and a feedback control section 17 performs feedback control so that driving force (pressurization force of the movable body 11 to the pressurization object 14) of an actuator 13 is matched with a pressurization force command. A impact buffering control section 19 controls a drive voltage of a piezoelectric element 15 so that the impact force at the time when the tip 11a of the movable body 11 collides with the pressurization object 14 is buffered on the basis of the signal component of a high frequency band extracted by a high frequency band signal extraction filter 18 from the output signal (detection signal of the impact force) of the piezoelectric element 15.
摘要翻译：要解决的问题：缓冲冲击力，当可移动体与加压物体碰撞时具有良好的响应并使生产机器中可移动体对加压物体的加压力稳定。解决方案：当可移动的压电元件15的尖端11a处于压电元件15的输出信号（冲击力的检测信号）时，由低频带信号提取滤波器16提取低频带中的信号分量主体11与加压对象物14碰撞。因此，施加到可移动体11的尖端11a的冲击力的大小被提取，并且反馈控制部17执行反馈控制，使得驱动力（可移动体11的加压力致动器13的加压对象14）与加压力指令相匹配。冲击缓冲控制部分19控制压电元件15的驱动电压，使得当可移动体11的尖端11a与加压对象14碰撞时的冲击力基于高的信号分量被缓冲由压电元件15的输出信号（冲击力的检测信号）由高频带信号提取滤波器18提取的频带。（C）2013，JPO＆INPIT

9. 发明专利

JP2012185603A Interference force compensation control device 有权
标题翻译：干扰力补偿控制装置
公开(公告)号：JP2012185603A
公开(公告)日：2012-09-27
申请号：JP2011047263
申请日：2011-03-04
申请人： Fuji Mach Mfg Co Ltd , Nagoya Institute Of Technology , 国立大学法人名古屋工業大学 , 富士機械製造株式会社
发明人： KAINUMA MAKOTO , FUJITA MASATOSHI , NAGIRI KEISUKE , NAGATA MAKOTO , KIDO TAKASHI , IWASAKI MAKOTO
IPC分类号： G05B11/32 , F16H1/28
摘要： PROBLEM TO BE SOLVED: To provide an interference force compensation control device for performing highly accurate positioning by highly accurately estimating disturbance by highly accurately calculating an interference force caused by a frictional force generated between movable sections.SOLUTION: This interference force compensation control device is configured to: set an interference force model on the basis of an inter-movable section frictional force generated between the sliding surfaces of a first movable section and a second movable section which are connected to each other; calculate a first reference thrust command value on the basis of a first target position command value 110 with respect to a first actuator for driving the first movable section; calculate a first interference force acting on the operation of the first movable section due to the operation of the second movable section according to the influence of the inter-movable section frictional force on the basis of a second target position command value 210 with respect to a second actuator for driving the second movable section and the interference force model; calculate a first compensation thrust command value by adding the first reference thrust command value and the first interference force; and control the first actuator on the basis of the first compensation thrust command value.
摘要翻译：要解决的问题：提供一种干涉力补偿控制装置，用于通过高度准确地计算由可动部分之间产生的摩擦力引起的干涉力，高精度地估计干扰来执行高精度的定位。解决方案：该干涉力补偿控制装置被构造成：基于在第一可移动部分和第二可移动部分的滑动表面之间产生的可互动部分摩擦力来设置干涉力模型，彼此; 基于第一目标位置指令值110相对于用于驱动第一可移动部分的第一致动器计算第一参考推力指令值; 基于相对于第二可动部摩擦力的第二目标位置指令值210的影响，计算由于第二可动部的动作而作用于第一可动部的动作的第一干涉力用于驱动第二可移动部分的第二致动器和干涉力模型; 通过加上第一基准推力指令值和第一干涉力来计算第一补偿推力指令值; 并且基于第一补偿推力指令值来控制第一致动器。版权所有（C）2012，JPO＆INPIT

10. 发明专利

JP2010204878A Disturbance non-interference compensation device of positioning control system 有权
标题翻译：定位控制系统的干扰非干扰补偿装置
公开(公告)号：JP2010204878A
公开(公告)日：2010-09-16
申请号：JP2009048740
申请日：2009-03-03
申请人： Fuji Mach Mfg Co Ltd , Nagoya Institute Of Technology , 国立大学法人名古屋工業大学 , 富士機械製造株式会社
发明人： SAWARAGI HIROSHI , NAGIRI KEISUKE , MATSUI NOBUYUKI , IWASAKI MAKOTO
IPC分类号： G05D3/12 , G05B11/32 , G05B19/18 , G05B19/404 , G05D3/00
摘要： PROBLEM TO BE SOLVED: To solve a problem of deterioration of positioning accuracy of a driving body by disturbance transmitted from an adjacent driving body by only a change or addition of software, in a device wherein the disturbance generated by acceleration/deceleration drive of one driving body is transmitted to the other adjacent driving body through a machine base. SOLUTION: A disturbance non-interference compensation device performing non-interference compensation of the disturbance to an observation amount of the driving body on a side receiving influence of the disturbance includes: a first feedforward compensator F n1 (s) outputting a feedforward compensation amount u c for performing the non-interference compensation of the disturbance to the observation amount x lm of the driving body on the side receiving the influence of the disturbance with an operation amount u b of the driving body on a disturbance generation side as input; and a first arithmetic unit 11 correcting an output of an operation amount C l (s) of the driving body on the side receiving the influence of the disturbance with an output of the feedforward compensator F n1 (s). COPYRIGHT: (C)2010,JPO&INPIT
摘要翻译：要解决的问题：为了通过仅通过软件的改变或添加来解决来自相邻的驱动体的干扰的驱动体的定位精度的劣化的问题，在其中由加速/减速驱动产生的干扰一个驱动体通过机座传递到另一个相邻的驱动体。解决方案：在受到干扰影响的一侧对扰动对驱动体的观察量进行干扰补偿的干扰非干扰补偿装置包括：第一前馈补偿器F n1 c 输入到所述驱动体的接收侧的驱动体的观察量x 1m 干扰发生侧的驱动体的操作量u b 的干扰的影响作为输入; 以及第一运算单元11，用前馈补偿器F n1的输出校正驱动体的运行量C 1 / S（s）的输出，（S）。版权所有（C）2010，JPO＆INPIT

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