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81. 发明申请

US20070282557A1 Device for observing internal data of control device 审中-公开
标题翻译：用于观察控制装置的内部数据的装置
公开(公告)号：US20070282557A1
公开(公告)日：2007-12-06
申请号：US11806920
申请日：2007-06-05
申请人： Hiroyuki Uchida , Yasusuke Iwashita , Tadashi Okita , Kazuyuki Sugiyama
发明人： Hiroyuki Uchida , Yasusuke Iwashita , Tadashi Okita , Kazuyuki Sugiyama
IPC分类号： G06F19/00 , G06F17/40
CPC分类号： G05B19/406
摘要： A data observation device for observing internal data of a control device for controlling a machine tool, an industrial machine, an industrial robot, or the like which has at least one drive shaft driven by one selected from a servo motor, a spindle motor. The device includes: means which specifies observational data targeted for observation; means which specifies trigger data used to determine a timing of a trigger for starting and/or terminating acquisition of the observational data; means which sets a trigger condition for applying the trigger based on a value of the trigger data; and means which judges whether or not the trigger condition is satisfied in the control device, selectively starts and terminates acquisition of a value of the observational data, and displays the acquired observational data.
摘要翻译：一种用于观察用于控制机床，工业机器，工业机器人等的控制装置的内部数据的数据观察装置，其具有由伺服电动机，主轴电动机中选择的一个驱动的至少一个驱动轴。该装置包括：指定用于观察的观察数据的手段; 指定用于确定用于启动和/或终止观测数据采集的触发的定时的触发数据的装置; 基于触发数据的值设置用于应用触发的触发条件的装置; 以及判断在控制装置中是否满足触发条件的装置，选择性地开始并终止获取观测数据的值，并显示所获取的观测数据。

82. 发明申请

US20070188123A1 Controller for servomotor 有权
标题翻译：伺服电机控制器
公开(公告)号：US20070188123A1
公开(公告)日：2007-08-16
申请号：US11703797
申请日：2007-02-08
申请人： Yasusuke Iwashita , Tadashi Okita , Hiroyuki Kawamura , Kenichi Takayama
发明人： Yasusuke Iwashita , Tadashi Okita , Hiroyuki Kawamura , Kenichi Takayama
IPC分类号： G05B11/32
CPC分类号： G05B19/404
摘要： A controller for a servomotor capable of improving accuracy of positioning and quality of a machined surface by switching modes of correction of a position command or the like, and reducing a shock at the time of switching. A correction amount generating section obtains a correction amount based on a value of a correction factor such as machine temperature. When the external signal is in ON state, a position command or the like is corrected by the correction amount obtained by the correction amount generating section and sent via switches. A correction amount holding section holds the correction amount obtained by the correction amount generating section. When the external signal turns to OFF state, the connection of the switches is changed so that correction is performed by the correction amount held in the correction amount holding section. When the connection of the switches is changed, the correction amount does not change rapidly, so that the machine does not suffer a shock. In positioning, the external signal is turns to ON state, so that the positioning is carried out accurately by performing correction by the correction amount sent from the correction amount generating section. When a high-quality machined surface is required, the external signal is turned to OFF state so that the correction amount does not change to achieve improvement in the quality of a machined surface.
摘要翻译：一种伺服电动机的控制器，其能够通过切换位置指令等的切换模式来提高加工面的定位精度和质量，并减少切换时的冲击。校正量生成部根据机器温度等校正因子的值来求出校正量。当外部信号处于接通状态时，通过由校正量产生部分获得的校正量来校正位置指令等并通过开关发送。校正量保持部保持由校正量生成部获得的校正量。当外部信号变为OFF状态时，改变开关的连接，从而通过校正量保持部中保持的校正量进行校正。当开关的连接发生变化时，校正量不会迅速变化，因此机器不会受到冲击。在定位中，外部信号变为接通状态，从而通过从校正量产生部分发送的校正量执行校正来精确地执行定位。当需要高质量的加工表面时，外部信号变为断开状态，使得校正量不变，以实现加工表面的质量的提高。

83. 发明申请

US20070132421A1 Time constant automatic estimation method, time constant automatic estimation apparatus and servo motor control system 审中-公开
标题翻译：时间常数自动估算方法，时间常数自动估算装置和伺服电机控制系统
公开(公告)号：US20070132421A1
公开(公告)日：2007-06-14
申请号：US11636508
申请日：2006-12-11
申请人： Yasusuke Iwashita , Tadashi Okita , Kazuyuki Sugiyama
发明人： Yasusuke Iwashita , Tadashi Okita , Kazuyuki Sugiyama
IPC分类号： G05F1/10
CPC分类号： G05B19/404 , G05B2219/43098 , G05B2219/43101 , H02P21/16
摘要： A time constant automatic estimation apparatus for automatically estimating a time constant at a time of acceleration of a servo motor including: an electric current value detection section for detecting a peak electric current value when the servo motor is operated in acceleration using a provisional time constant provided in advance for a test operation; and a time constant estimation section for estimating a actual time constant when the servo motor is actually driven at a desired target electric current value at a time of an actual operation, from a relation between the peak electric current value and the provisional time constant.
摘要翻译：一种用于自动估计伺服电动机加速时的时间常数的时间常数自动估计装置，包括：电流值检测部分，用于当使用提供的临时时间常数来检测伺服电动机在加速时的峰值电流值提前进行测试操作; 以及时间常数估计部，用于根据峰值电流值和临时时间常数之间的关系来估计在实际操作时以期望的目标电流值实际驱动伺服电动机的实际时间常数。

84. 发明申请

US20070012083A1 Device for judging collision of a die cushion mechanism and system for judging collision 审中-公开
标题翻译：用于判断模具缓冲机构和用于判断碰撞的系统的碰撞的装置
公开(公告)号：US20070012083A1
公开(公告)日：2007-01-18
申请号：US11477804
申请日：2006-06-30
申请人： Yasusuke Iwashita , Tadashi Okita , Hiroyuki Kawamura , Satoshi Ikai
发明人： Yasusuke Iwashita , Tadashi Okita , Hiroyuki Kawamura , Satoshi Ikai
IPC分类号： B21D22/21
CPC分类号： B21D24/10 , G05B19/19 , G05B2219/37411 , G05B2219/37622 , G05B2219/37624 , G05B2219/42123 , G05B2219/45131
摘要： A device (110) for judging the collision of a slide (24) with a die cushion in a die cushion mechanism (20) which produces a force against the slide in a press machine using a servo motor (18) as a drive source, comprising force detection means (21) for detecting a force produced between the die cushion and the slide; and comparator means (95) for comparing a force detection value (Fd) detected by the force detection means with a predetermined threshold value (L1); wherein, when the force detection value becomes greater than the threshold value, it is so judged that the slide has come into collision with the die cushion. Thus, the collision is judged within a short period of time and reliably. The collision may be judged by comparing differentiated values (Fd′, Fd″) of the force detection value, slide position detection value (Y1d) or slide position instruction value (Y1c) or other related threshold values. There can be further used a system for judging a collision which executes a plurality of methods for judging the collision.
摘要翻译：一种用于判断滑块（24）与模具缓冲机构（20）中的冲模垫的碰撞的装置（110），其在使用伺服电动机（18）作为驱动源的冲压机中产生对滑块的力，包括用于检测模座和滑块之间产生的力的力检测装置（21）以及比较装置，用于将由力检测装置检测的力检测值（Fd）与预定阈值（L 1）进行比较; 其中，当所述力检测值变得大于所述阈值时，判断为所述滑块与所述模具座碰撞。因此，在短时间内可靠地判断碰撞。可以通过比较力检测值，滑动位置检测值（Y 1 d）或滑动位置指示值（Y 1 c）或其他相关阈值的微分值（Fd'，Fd“）来判断碰撞。可以进一步使用用于判断碰撞的系统，该系统执行用于判断碰撞的多种方法。

85. 发明申请

US20060288755A1 Control device for servo die cushion 有权
标题翻译：伺服模具坐垫控制装置
公开(公告)号：US20060288755A1
公开(公告)日：2006-12-28
申请号：US11472296
申请日：2006-06-22
申请人： Yasusuke Iwashita , Tadashi Okita , Hiroyuki Kawamura , Satoshi Ikai
发明人： Yasusuke Iwashita , Tadashi Okita , Hiroyuki Kawamura , Satoshi Ikai
IPC分类号： B21D22/21
CPC分类号： G05B19/404 , G05B2219/37323 , G05B2219/49135 , G05B2219/49176
摘要： A control device of a die cushion mechanism, by which a force between a slide and a die cushion may follow a commanded value even in the rapid acceleration or deceleration of the slide and, moreover, a problem such as vibration of the mechanism may be prevented in the gradual acceleration or deceleration of the slide. The control device includes a slide position detecting part, such as a position sensor, for detecting the position of the slide and a correcting part for correcting a current commanded value using an acceleration of the slide, obtained by second-order differentiation of the position of the slide detected by the position sensor.
摘要翻译：模具缓冲机构的控制装置，即使在滑块的快速加速或减速中，滑块和模具座之间的力也可以遵循指令值，此外，可以防止机构的振动等问题在幻灯片的逐渐加速或减速。控制装置包括用于检测滑块的位置的滑动位置检测部分，例如位置传感器，以及用于通过滑块的加速度来校正当前指令值的校正部件，该校正部件通过二阶微分由位置传感器检测到的滑块。

86. 发明申请

US20060184257A1 Controller 审中-公开
标题翻译：控制器
公开(公告)号：US20060184257A1
公开(公告)日：2006-08-17
申请号：US11294461
申请日：2005-12-06
申请人： Yasusuke Iwashita , Tadashi Okita , Hiroyuki Kawamura , Satoshi Ikai
发明人： Yasusuke Iwashita , Tadashi Okita , Hiroyuki Kawamura , Satoshi Ikai
IPC分类号： G05B13/02
CPC分类号： G05B19/404 , G05B2219/37434 , G05B2219/41117 , G05B2219/42077
摘要： In a controller, V axis and W axis for driving a driven body are tilting, not orthogonal to each other. An acceleration detector capable of detecting accelerations in a plurality of directions orthogonal to the driven body is arranged so that W-axis direction may meet Y-axis direction of an acceleration detected by the acceleration detector. An acceleration in the V-axis direction is determined by making calculations from accelerations in X-axis and Y-axis directions detected by acceleration detectors. Based on the determined accelerations in the V-axis and W-axis directions, a position command, a speed command or a current command to servo motors driving the V axis and W axis is corrected. Such correction suppresses the driven body from generation of vibrations.
摘要翻译：在控制器中，用于驱动从动体的V轴和W轴倾斜，彼此不正交。布置能够检测与被驱动体正交的多个方向上的加速度的加速度检测器，使得W轴方向可以满足由加速度检测器检测到的加速度的Y轴方向。通过从由加速度检测器检测的X轴和Y轴方向的加速度进行计算来确定V轴方向的加速度。基于所确定的V轴和W轴方向的加速度，校正对驱动V轴和W轴的伺服电动机的位置指令，速度指令或电流指令。这种校正抑制被驱动体产生振动。

87. 发明授权

US07049775B2 Servo motor control unit for press-forming machine 有权
标题翻译：伺服电机控制单元，用于压力成型机
公开(公告)号：US07049775B2
公开(公告)日：2006-05-23
申请号：US11167203
申请日：2005-06-28
申请人： Yasusuke Iwashita , Tadashi Okita , Hiroyuki Kawamura
发明人： Yasusuke Iwashita , Tadashi Okita , Hiroyuki Kawamura
IPC分类号： G05B6/02 , B21J5/00
CPC分类号： G05B19/416 , B30B15/0094 , B30B15/148 , G05B2219/41202 , G05B2219/42087 , G05B2219/42092
摘要： A servo motor for driving a die is provided with position and speed detectors. Further, a pressure sensor for detecting the pressure applied to a workpiece is provided. In the servo motor control unit, the smaller one of the speed command obtained by feedback control of the position and the speed command obtained by the pressure feedback control is selected as an output of a comparator. Based on the speed command output from the comparator, feedback control of the speed is performed and the servo motor is driven. In the state where the die does not press against the workpiece, a pressure error is large, the speed command by pressure control becomes large, and the speed command by position control becomes small. Therefore, position control is performed. When the workpiece is pressed, the position error increases, and the pressure error decreases, a speed command by pressure control is employed and pressure control is performed.
摘要翻译：用于驱动模具的伺服电机设置有位置和速度检测器。此外，提供了用于检测施加到工件的压力的压力传感器。在伺服电机控制单元中，选择通过反馈控制获得的速度命令中的较小的一个，并且通过压力反馈控制获得的速度指令作为比较器的输出。根据比较器的速度指令输出，进行速度反馈控制，驱动伺服电机。在模具不压靠工件的状态下，压力误差大，压力控制的速度指令变大，位置控制的速度指令变小。因此，执行位置控制。当工件被按压时，位置误差增加，压力误差降低，采用压力控制的速度指令，进行压力控制。

88. 发明授权

US5986422A Control mode changing over method for servo control system 失效
标题翻译：伺服控制系统控制方式切换方式
公开(公告)号：US5986422A
公开(公告)日：1999-11-16
申请号：US836427
申请日：1997-04-29
申请人： Yasusuke Iwashita , Tadashi Okita
发明人： Yasusuke Iwashita , Tadashi Okita
IPC分类号： G05B11/36 , G05B19/39 , G05D3/12 , G05B19/10
CPC分类号： G05B19/39 , G05B2219/42008 , G05B2219/42011 , G05B2219/42123 , G05B2219/42126
摘要： A control mode changing over method for a servo control system, which is capable of reducing a shock occurring in changing over a control mode from a torque control mode to a position/velocity control mode. In the torque control mode, a value of an integrator in a velocity loop for the position/velocity control mode is rewritten into a torque command value for torque control so that the value of the integrator is always set to the same value as the torque command. When a control mode is changed over from the torque control mode to the position/velocity control mode, a torque command value for a servo motor is obtained based on the value of the integrator rewritten in the torque control mode. Thus, a continuous torque command value is given to the servo motor in changing over the control mode.
摘要翻译： PCT No.PCT / JP96 / 02471 Sec。 371日期1997年04月29日 102（e）日期1997年4月29日PCT 1996年9月2日PCT公布。第WO97 / 08599号公报日期1997年3月6日用于伺服控制系统的控制模式切换方法，其能够减少在将转矩控制模式切换到位置/速度控制模式时发生的冲击。在转矩控制模式中，用于位置/速度控制模式的速度环中的积分器的值被重写为用于转矩控制的转矩指令值，使得积分器的值总是被设置为与转矩指令相同的值。当控制模式从转矩控制模式转换到位置/速度控制模式时，基于在转矩控制模式中重写的积分器的值来获得用于伺服电动机的转矩指令值。因此，在切换控制模式时，向伺服电动机提供连续的转矩指令值。

89. 发明授权

US5656906A Automatic adjusting method of servo parameters and automatic adjusting apparatus of the same 失效
标题翻译：伺服参数自动调节方法及其自动调节装置
公开(公告)号：US5656906A
公开(公告)日：1997-08-12
申请号：US597960
申请日：1996-02-07
申请人： Yasusuke Iwashita , Kaname Matsumoto , Tadashi Okita
发明人： Yasusuke Iwashita , Kaname Matsumoto , Tadashi Okita
IPC分类号： G05B13/02 , G05B19/19 , G05D3/12 , G05B19/00
CPC分类号： G05B19/19 , G05B2219/33119
摘要： A servo parameter adjusting program is sent out from a servo parameter automatic adjusting apparatus to a servo controller of a servo control system, to cause the servo control system to perform an operation in accordance with this adjusting program and servo parameters presently stored in the servo controller. Then, the servo parameter automatic adjusting apparatus receives servo information obtained when the servo control system performs the adjusting program. A judgement is made as to whether or not the servo parameters set for the execution of the adjusting program is adequate. When the servo parameters set for the execution of the adjusting program are inappropriate, the servo parameter automatic adjusting apparatus performs a renewal adjustment of the servo parameter, thereby renewing the servo parameters stored in the servo controller.
摘要翻译：伺服参数调整程序从伺服参数自动调整装置发送到伺服控制系统的伺服控制器，使伺服控制系统根据该调整程序进行操作，伺服参数当前存储在伺服控制器。然后，伺服参数自动调整装置接收伺服控制系统进行调整程序时获得的伺服信息。判断为执行调整程序设定的伺服参数是否足够。当为执行调整程序而设定的伺服参数不合适时，伺服参数自动调整装置进行伺服参数的更新调整，从而更新伺服控制器中存储的伺服参数。

90. 发明授权

US5517100A Method of controlling a servo motor 失效
标题翻译：控制伺服电机的方法
公开(公告)号：US5517100A
公开(公告)日：1996-05-14
申请号：US356301
申请日：1994-12-20
申请人： Shunsuke Matsubara , Yasusuke Iwashita , Tadashi Okita
发明人： Shunsuke Matsubara , Yasusuke Iwashita , Tadashi Okita
IPC分类号： B23Q15/24 , G05B19/19 , G05D3/12 , H02P29/00 , G05B11/32
CPC分类号： G05B19/19 , G05B2219/41084
摘要： To control a servo motor, after the sign of a shift command is inverted, a first offset amount Vmo is added to a speed command during a period the motor rotates by the amount of "a" so that inversion of sign of an integral value of the speed loop is made to occur earlier, thereby accelerating the reversal of the direction of the motor. Then, after the motor has rotated by an amount "b", a second offset amount Vto is added to the speed command, thereby causing the motor to generate a torque that is large enough for an object connected to the motor to start moving to overcome the frictional force. The first offset amount is determined based on a value of an integrator in the speed loop at the time the direction of the shift command is inverted so that the servo motor is reversed by the correct amount. The second offset value is reversed determined based on the acceleration at the moment of inversion, so that its value is optimized corresponding to the frictional force. As a result, the delay of motion at the time of reversion is small, and it becomes possible to reduce a protrusion occurring on a cut surface in the transition of machining from one quadrant to another quadrant.
摘要翻译： PCT No.PCT / JP94 / 00695 Sec。 371日期1994年12月20日第 102（e）1994年12月20日PCT PCT 1994年4月26日PCT公布。 WO94 / 25910 PCT出版物日期为1994年11月10日。为了控制伺服电动机，在变速指令的符号反转之后，在电动机旋转量“a”的期间，向速度指令添加第一偏移量Vmo，使得反转使得速度环的积分值的符号更早地发生，从而加速电动机的方向的反转。然后，在马达旋转了量“b”之后，向速度指令添加第二偏移量Vto，由此使马达产生足够大的扭矩，使连接到马达的物体开始移动克服摩擦力。第一偏移量根据换档指令的方向反转时的速度回路中的积分器的值来确定，使伺服马达反转正确的量。基于反转时的加速度，第二偏移值反转，根据摩擦力对其值进行优化。其结果是，回复时的运动延迟小，能够将加工过渡时的切断面上的突起从一个象限减少到另一个象限。

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