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1. 发明授权

US6054830A Pulse control method and system using multiplier 失效
标题翻译：脉冲控制方法和系统使用乘法器
公开(公告)号：US6054830A
公开(公告)日：2000-04-25
申请号：US249486
申请日：1999-02-12
申请人： Seiji Tsujikado , Masanori Kamiya
发明人： Seiji Tsujikado , Masanori Kamiya
IPC分类号： G05B19/18 , B25J9/18 , G05B19/25 , G05B19/4103
CPC分类号： G05B19/4103 , Y02P90/265
摘要： A method and system for controlling pulse-driven actuators on multidimensional coordinates includes a cutting tool connected to the actuators of a machine tool. The cutting tool is controlled with a specified path and a specified velocity by controlling the output pulses of a multiplier. Data on the coordinates of a plurality of points including points A and B on the specified path and on the specified velocity F is received along with a command indicating an interpolation type. A linear interpolation is performed by a straight line between the point A and the point B, and the interpolated straight line is divided into minute lengths .DELTA.L and a minute length .DELTA.La correspondingly to a minute time .DELTA.T. .DELTA.T is changed by sending either a first control signal for keeping the specified velocity F corresponding to the minute length .DELTA.L or a second control signal for keeping the specified velocity F corresponding to the minute length .DELTA.La to a pulse oscillator for supplying pulses to the multiplier. If the selection of the control signals is appropriate, the cutting tool can keep the specified velocity F when it moves on either portion of .DELTA.L or .DELTA.La.
摘要翻译：用于控制多维坐标上的脉冲驱动致动器的方法和系统包括连接到机床的致动器的切割工具。通过控制乘法器的输出脉冲，切割工具通过指定的路径和指定的速度进行控制。与指定内插类型的命令一起接收包括指定路径上的点A和B以及指定速度F的多个点的坐标数据。通过点A和点B之间的直线进行线性内插，并且插入的直线被分为对应于微小时间DELTA T的微小长度DELTA L和分钟长度DELTA La。DELTA T通过发送用于保持与微小长度DELTA L对应的规定速度F的第一控制信号或用于将与微小长度DELTA La对应的规定速度F保持到用于向乘法器提供脉冲的脉冲振荡器的第二控制信号。如果控制信号的选择合适，切割工具可以在DELTA L或DELTA La的任一部分上移动时保持指定的速度F.

2. 发明授权

US4491266A Multi-layer padding welding method 失效
标题翻译：多层衬垫焊接方法
公开(公告)号：US4491266A
公开(公告)日：1985-01-01
申请号：US318951
申请日：1981-11-06
申请人： Riichi Abe , Katsuji Tsuruta , Seiji Tsujikado
发明人： Riichi Abe , Katsuji Tsuruta , Seiji Tsujikado
IPC分类号： B23K9/127 , B23K9/02 , G05B19/423 , B23K31/02
CPC分类号： G05B19/423 , B23K9/0216 , G05B2219/45083 , G05B2219/45135 , G05B2219/50336
摘要： A method for performing multi-layer welding using a welding robot, in which welding on the second and subsequent layers is carried out by backwardly displacing the position of a torch tip by a preset value.
摘要翻译：一种使用焊接机器人执行多层焊接的方法，其中通过使焊炬尖端的位置向后移位预定值来执行第二层和后续层上的焊接。

3. 发明授权

US06597074B2 Backup power-source module, backup power-source apparatus, and computer 失效
标题翻译：备用电源模块，备用电源设备和电脑
公开(公告)号：US06597074B2
公开(公告)日：2003-07-22
申请号：US09681506
申请日：2001-04-18
申请人： Seiji Tsujikado , Takuya Kubo , Hisato Matsuo
发明人： Seiji Tsujikado , Takuya Kubo , Hisato Matsuo
IPC分类号： H02J900
CPC分类号： G06F1/30 , G06F1/263 , H02J9/062 , Y10T307/50 , Y10T307/615 , Y10T307/625 , Y10T307/696 , Y10T307/724 , Y10T307/729
摘要： A backup power-source module that controls a backup power source for supplying power from a battery charged by an AC input to an electronic device when the AC input is cut off. The backup power-source module includes a selection which generates a selection signal for selecting power supplied by a battery when the electronic device is kept in an electrified state until the electronic device is shifted to a power cutoff state and there is no AC input. I.E., the selection signal causes the power supplied by the battery to be selected only when the electronic device is kept in a power cutoff state and there is no AC input.
摘要翻译：备用电源模块，用于控制备用电源，以便在交流输入被切断时从AC输入充电的电池向电子设备供电。备用电源模块包括当电子设备保持在通电状态直到电子设备转换到电力切断状态并且没有AC输入时，产生用于选择由电池提供的电力的选择信号的选择。如图I.E所示，选择信号使得只有当电子设备保持在电源切断状态且没有AC输入时，才能选择由电池提供的电力。

4. 发明授权

US4578748A Positioning control system 失效
标题翻译：定位控制系统
公开(公告)号：US4578748A
公开(公告)日：1986-03-25
申请号：US427926
申请日：1982-09-29
申请人： Riichi Abe , Katsuji Tsuruta , Seiji Tsujikado
发明人： Riichi Abe , Katsuji Tsuruta , Seiji Tsujikado
IPC分类号： G05B19/23 , G05B11/18
CPC分类号： G05B19/232 , G05B2219/33083 , G05B2219/42213 , G05B2219/42215 , G05B2219/43194 , G05B2219/50025
摘要： A positioning control system wherein variations in the robot coasting distance are substantially eliminated by stopping the command pulse signals simultaneously with a generation of the origin pulse signal from the incremental encoder. The deviation between the final robot position and the origin is minimized by driving the motor in its backward direction to back up the robot by an amount approximately equal to the coasting distance. The robot moving distance during the time period from the beginning of origin return operation (i.e., backup) to a generation of the first spike in the origin pulse signal after beginning backup to the above first stoppage of the robot is found. If the found distance is different from the coasting distance then this difference is handled as an error.In one aspect of the present invention, the number of spikes appearing in the output pulse signal from the incremental encoder can be easily increased as necessary to thereby improve the resolution power of the incremental encoder. Further, much more precise positioning control can be realized by synchronizing the output pulse signal of the incremental encoder with the clock signal of the microcomputer.
摘要翻译：一种定位控制系统，其中通过与来自增量式编码器的原始脉冲信号的产生同时停止指令脉冲信号，基本上消除了机器人惯性距离的变化。最后的机器人位置和原点之间的偏差通过驱动马达向后的方向来使机器人的后退大约等于滑行距离的最小化。发现在从原点开始返回操作（即，备份）到开始备份到机器人的上述第一停止之后的原点脉冲信号中的第一尖峰的生成的机器人移动距离。如果找到的距离与惯性距离不同，则该差异被作为误差来处理。在本发明的一个方面，可以根据需要容易地增加出现在来自增量编码器的输出脉冲信号中的尖峰数，从而提高增量编码器的分辨率。此外，通过将增量编码器的输出脉冲信号与微计算机的时钟信号同步，可以实现更精确的定位控制。

5. 发明授权

US4448342A Method and device for tracer correction in a welding robot 失效
标题翻译：焊接机器人跟踪校正的方法和装置
公开(公告)号：US4448342A
公开(公告)日：1984-05-15
申请号：US318952
申请日：1981-11-06
申请人： Riichi Abe , Katsuji Tsuruta , Seiji Tsujikado
发明人： Riichi Abe , Katsuji Tsuruta , Seiji Tsujikado
IPC分类号： B23Q35/04 , B23K9/127 , B25J9/00 , B25J9/16 , G05B19/41 , B23K37/02
CPC分类号： B23K9/127 , B25J9/1684 , G05B19/41 , G05B2219/36417 , G05B2219/37327 , G05B2219/39176 , G05B2219/41206
摘要： A method for performing multi-layer welding using a welding robot is disclosed, in which welding on the second and subsequent layers is carried out by backwardly displacing the position of a torch tip by the amount of a preset value. This displacement is made possible through making a constant determined by a torch shape increase by the preset value.
摘要翻译：公开了一种使用焊接机器人进行多层焊接的方法，其中通过使焊枪尖的位置向后移动预定值的量来进行第二层和后层的焊接。通过使由割炬形状确定的常数增加预定值，使得该位移成为可能。

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