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1. 发明授权

US10737346B2 Welding robot mechanism 有权
公开(公告)号：US10737346B2
公开(公告)日：2020-08-11
申请号：US16075180
申请日：2017-02-08
申请人： Kabushiki Kaisha Kobe Seiko Sho (Kobe Steel, Ltd.)
发明人： Tsutomu One , Takashi Wada , Shuichi Inada , Atsushi Fukunaga , Naoki Kida
IPC分类号： B23K9/00 , B23K9/095 , B23K9/10 , B23K9/127 , B23K9/12 , B25J19/00 , B25J19/02
摘要： Provided is a welding robot mechanism that has: a welding robot having a touch sensing function; a welding power source for supplying welding power to the welding robot; and a control unit for controlling the welding robot, wherein the welding power source has a welding power source communication unit that receives detection signals with regard to control of the welding robot and the touch sensing, and transmits the detection signals outward. The control unit is linked to the welding power source communication unit via a serial bus communication wire. The detection signals comprise a mass of data including a detection data group designated as a first group and a detection data group designated as a second group, and is configured to read the detection data group designated as the first group in a shorter cycle than that for the detection data group designated as the second group. The detection data group designated as the first group includes a detection signal obtained by the touch sensing.

2. 发明申请

US20150112484A1 TRAJECTORY CONTROL DEVICE AND CONTROL METHOD FOR ARTICULATED ROBOT 有权
标题翻译：轨道机器人控制装置及控制方法
公开(公告)号：US20150112484A1
公开(公告)日：2015-04-23
申请号：US14403311
申请日：2013-05-30
申请人： Kabushiki Kaisha Kobe Seiko Sho (Kobe Steel, Ltd.)
发明人： Yoshiharu Nishida , Takashi Wada , Yoshihide Inoue , Shuichi Inada
IPC分类号： B25J9/16 , B25J9/06
CPC分类号： B25J9/163 , B23K9/0216 , B23K9/173 , B25J9/06 , B25J9/1633 , B25J9/1664 , G05B19/4093 , G05B2219/41124 , G05B2219/41166 , G05B2219/41426 , G05B2219/42065 , G05B2219/45104 , G05B2219/49384 , Y10S901/02
摘要： In a trajectory control device (10) for an articulated robot, a first dynamic characteristic calculation unit (300) is provided with a high-frequency cutoff characteristic having a cutoff frequency which is lower than the natural oscillation frequency of the robot, performs filtering processing with respect to a joint-angle command value (θc), and outputs a processed joint-angle target value (θd). A second dynamic characteristic calculation unit (400) is provided with a high-frequency cutoff characteristic having a cutoff frequency which is lower than that of the first dynamic characteristic calculation unit (300), performs filtering processing with respect to the output from a coupling-torque compensation command value calculation unit (200), and outputs a processed coupling-torque compensation value (cd).
摘要翻译：在关节式机器人的轨迹控制装置（10）中，第一动力特性计算单元（300）具有截止频率低于机器人的固有振动频率的高频截止特性，进行滤波处理相对于关节角度指令值（＆amp; t; c），并且输出处理的关节角度目标值（＆amp; t; d）。第二动态特性计算单元（400）具有截止频率低于第一动态特性计算单元（300）的截止频率的高频截止特性，相对于来自耦合的计算单元的输出进行滤波处理，转矩补偿指令值计算部（200），输出处理后的合成扭矩补偿值（cd）。

3. 发明申请

US20150290804A1 WEAVING CONTROL DEVICE FOR ARTICULATED ROBOT 有权
标题翻译：用于制作机器人的装配控制装置
公开(公告)号：US20150290804A1
公开(公告)日：2015-10-15
申请号：US14434083
申请日：2013-10-15
申请人： KABUSHIKI KAISHA KOBE SEIKO SHO (KOBE STEEL, LTD.)
发明人： Takashi Wada , Yoshiharu Nishida , Yoshihide Inoue , Shuichi Inada
IPC分类号： B25J9/16 , B23K9/02
CPC分类号： B23K9/0216 , B23K9/0953 , B23K9/173 , B25J9/10 , B25J9/1641 , Y10S901/42
摘要： A weaving control device of a multi-joint robot, which achieves high-precision weaving, and suppresses occurrence of weaving movement error stemming from the movement of another joint axis and the dynamic characteristics of the motor driving the joint axis. The weaving control device contains: a signal computation unit that computes the target position signal for each axis; a filter computation unit that computes a target command signal resulting from low-pass filter processing of the target position signal; and a motor control unit that drives each axis with the target command signal as an input. The frequency characteristics of the gain of the motor control unit are configured in an approximately flat manner, and the dynamic characteristics from the target position to the motor output angle are similar to the filter. A weaving signal correction unit computes a target position signal having a corrected gain on the basis of filter characteristics.
摘要翻译：一种多关节机器人的织造控制装置，其实现了高精度织造，并抑制了由另一关节轴线运动引起的织造运动误差的发生和驱动关节轴的电动机的动态特性。编织控制装置包括：信号计算单元，其计算各轴的目标位置信号; 滤波器计算单元，计算由目标位置信号的低通滤波处理得到的目标指令信号; 以及以目标指令信号作为输入驱动各轴的马达控制单元。马达控制单元的增益的频率特性被构造成大致平坦的方式，并且从目标位置到马达输出角度的动态特性类似于滤波器。编织信号校正单元基于滤波器特性来计算具有校正增益的目标位置信号。

4. 发明申请

US20150105905A1 ELASTIC-DEFORMATION-COMPENSATION CONTROL DEVICE AND CONTROL METHOD FOR ARTICULATED ROBOT 有权
标题翻译：弹性变形补偿控制装置及其机器人控制方法
公开(公告)号：US20150105905A1
公开(公告)日：2015-04-16
申请号：US14403320
申请日：2013-05-30
申请人： Kabushiki Kaisha Kobe Seiko Sho (Kobe Steel, Ltd.)
发明人： Yoshiharu Nishida , Takashi Wada , Yoshihide Inoue , Shuichi Inada
IPC分类号： B25J9/16 , B25J9/06
CPC分类号： B25J9/1692 , B23K9/0216 , B25J9/06 , B25J9/1641 , G05B2219/39186 , G05B2219/39201 , G05B2219/41166 , G05B2219/45104 , G05B2219/49384 , Y10S901/02
摘要： In an elastic-deformation-compensation control device (10), a first dynamic characteristic calculation unit (300) performs filtering processing with respect to a motor-angle command value (θmc) outputted from a motor-angle-command-value calculation unit (600), and outputs a processed motor-angle target value (θmd). A second dynamic characteristic calculation unit (400) is provided with a high-frequency cutoff characteristic having a cutoff frequency which is lower than that of the first dynamic characteristic calculation unit (300), performs filtering processing with respect to the output from an axial force torque calculation unit (200), and outputs a processed axial force torque compensation value (fd).
摘要翻译：在弹性变形补偿控制装置（10）中，第一动力特性计算部（300）对从电动机角度指令值计算出的电动机角度指令值（＆amp; mc）进行滤波处理单元（600），并输出经处理的电动机角度目标值（“thetas; md”）。第二动态特性计算单元（400）具有截止频率低于第一动力特性计算单元（300）的截止频率的高频截止特性，对轴向力的输出进行滤波处理扭矩计算单元（200），并输出经处理的轴向力转矩补偿值（fd）。

5. 发明授权

US09505131B2 Elastic-deformation-compensation control device and control method for articulated robot 有权
标题翻译：铰接式机器人弹性变形补偿控制装置及控制方法
公开(公告)号：US09505131B2
公开(公告)日：2016-11-29
申请号：US14403320
申请日：2013-05-30
申请人： Kabushiki Kaisha Kobe Seiko Sho (Kobe Steel, Ltd.)
发明人： Yoshiharu Nishida , Takashi Wada , Yoshihide Inoue , Shuichi Inada
IPC分类号： B25J9/16 , B23K9/02 , B25J9/06
CPC分类号： B25J9/1692 , B23K9/0216 , B25J9/06 , B25J9/1641 , G05B2219/39186 , G05B2219/39201 , G05B2219/41166 , G05B2219/45104 , G05B2219/49384 , Y10S901/02
摘要： In an elastic-deformation-compensation control device (10), a first dynamic characteristic calculation unit (300) performs filtering processing with respect to a motor-angle command value (θmc) outputted from a motor-angle-command-value calculation unit (600), and outputs a processed motor-angle target value (θmd). A second dynamic characteristic calculation unit (400) is provided with a high-frequency cutoff characteristic having a cutoff frequency which is lower than that of the first dynamic characteristic calculation unit (300), performs filtering processing with respect to the output from an axial force torque calculation unit (200), and outputs a processed axial force torque compensation value (fd).
摘要翻译：在弹性变形补偿控制装置（10）中，第一动力特性计算部（300）对从电动机角度指令值运算部（1）输出的电动机角度指令值（θmc）进行滤波处理 600），并输出经处理的电动机角度目标值（θmd）。第二动态特性计算单元（400）具有截止频率低于第一动力特性计算单元（300）的截止频率的高频截止特性，对轴向力的输出进行滤波处理扭矩计算单元（200），并输出经处理的轴向力转矩补偿值（fd）。

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