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1. 发明授权

US06486629B2 Method for controlling force application with servo motor and appartus therewith 有权
标题翻译：用伺服电机控制力的应用方法
公开(公告)号：US06486629B2
公开(公告)日：2002-11-26
申请号：US09269070
申请日：1999-03-19
申请人： Tetsuaki Kato , Koichi Okanda
发明人： Tetsuaki Kato , Koichi Okanda
IPC分类号： H02P700
CPC分类号： G05D17/02 , G05B19/19 , G05B2219/41379 , G05B2219/42087 , G05B2219/49132 , G05D15/01
摘要： An applied force Td is estimated by an observer. A gain A is multiplied by a value obtained by subtracting the estimated applied force Td from commanded force Fe. From this multiplied value, a product of a speed feedback amount and a gain Kv is subtracted to obtain a torque command. With this torque command Tc, a servo motor is driven. Since a feedback control of the applied force is performed, response is fast, and an applied force between welding tips and an object to be welded can be accurately controlled. Feedback control of an applied force, whose vibration is prevented, can be performed by adjusting the gains A and Kv.
摘要翻译：施加力Td由观察者估计。增益A乘以通过从指令力Fe中减去估计的施加力Td而获得的值。从该相乘值中减去速度反馈量和增益Kv的乘积以获得转矩指令。利用该转矩指令Tc，驱动伺服电动机。由于执行了施加的力的反馈控制，所以响应快，并且可以精确地控制焊接尖端和被焊接物体之间的施加力。可以通过调节增益A和Kv来进行防止振动的施加力的反馈控制。

2. 发明申请

US20010040439A1 METHOD FOR CONTROLLING FORCE APPLICATION WITH SERVO MOTOR AND APPARTUS THEREWITH 有权
标题翻译：用伺服电动机控制力应用的方法
公开(公告)号：US20010040439A1
公开(公告)日：2001-11-15
申请号：US09269070
申请日：1999-03-19
发明人： TETSUAKI KATO , KOICHI OKANDA
IPC分类号： H02P007/00
CPC分类号： G05D17/02 , G05B19/19 , G05B2219/41379 , G05B2219/42087 , G05B2219/49132 , G05D15/01
摘要： An applied force Td is estimated by an observer. A gain A is multiplied by a value obtained by subtracting the estimated applied force Td from commanded force Fc. From this multiplied value, product of a speed feedback amount and a gain Kv is subtracted to obtain a torque command. With this torque command Tc, servo motor (2) is driven. Since feedback control of applied force is performed, response is fast, and applied force can be accurately controlled. Feedback control of an applied force whose vibration is prevented can be performed by adjusting the gains A and Kv.
摘要翻译：施加力Td由观察者估计。增益A乘以通过从指令力Fc减去估计的施加力Td而获得的值。从该相乘值中减去速度反馈量和增益Kv的乘积以获得转矩指令。利用该转矩指令Tc，驱动伺服电动机（2）。由于施加了力的反馈控制，响应快，可以精确地控制施加力。可以通过调节增益A和Kv来执行防止振动的施加力的反馈控制。

3. 发明授权

US5602347A Tool life control method based on disturbance load torque of motor 失效
标题翻译：基于电机扰动负载转矩的刀具寿命控制方法
公开(公告)号：US5602347A
公开(公告)日：1997-02-11
申请号：US335879
申请日：1994-11-15
申请人： Shunsuke Matsubara , Yasusuke Iwashita , Tadashi Okita
发明人： Shunsuke Matsubara , Yasusuke Iwashita , Tadashi Okita
IPC分类号： B23Q17/09 , G05B19/4065 , G06F15/00
CPC分类号： G05B19/4065 , G05B2219/37252 , G05B2219/37285 , G05B2219/41368 , G05B2219/41376 , G05B2219/41379
摘要： A method for estimating a load acting on a machine tool and controlling a life of the machine tool based on the estimated load. When predetermined machining is effected on a predetermined workpiece, a disturbance load torque acting on a motor for a spindle or a motor for a feed shaft is estimated by a disturbance estimating observer. When the estimated disturbance load becomes not lower than a set reference value, a timer is reset and started. If the estimated disturbance load torque is kept not smaller than the set reference value until the timer reaches a predetermined set time, a tool change command is issued to stop the machining. Since the tool life is determined in accordance with the magnitude of the load acting on the tool, the tool life is controlled objectively and accurately.
摘要翻译： PCT No.PCT / JP94 / 00336 Sec。 371日期：1994年11月15日 102（e）1994年11月15日日期PCT 1994年3月2日PCT公布。公开号WO94 / 21425 日期1994年9月29日一种用于估计作用在机床上的负载并基于估计的负载来控制机床的寿命的方法。当在预定的工件上进行预定的加工时，通过扰动估计观察器来估计作用于用于主轴的马达或用于进给轴的马达的扰动载荷转矩。当估计的扰动负载变得不低于设定的参考值时，定时器被复位并启动。如果估计的扰动负载转矩保持在设定的基准值以上，直到定时器达到预定的设定时间，则发出刀具更换指令以停止加工。由于刀具寿命根据作用在刀具上的负载的大小来确定，因此客观准确地控制刀具寿命。

4. 发明授权

US5659131A Cutter fracture detecting system 失效
$Cutter fracture detecting system$
标题翻译：刀具断裂检测系统
公开(公告)号：US5659131A
公开(公告)日：1997-08-19
申请号：US397113
申请日：1995-03-07
申请人： Shinichi Kono , Junichi Tezuka
发明人： Shinichi Kono , Junichi Tezuka
IPC分类号： B23Q17/09 , G05B19/4065 , G05B23/02 , G01N3/58
CPC分类号： G05B19/4065 , B23Q17/0957 , G05B2219/37233 , G05B2219/41379 , G05B2219/50062 , Y10T408/21
摘要： A cutter fracture detecting system capable of easily detecting a fracture of a cutter having a plurality of cutting edges even when one of the cutting edges is broken. The cutter fracture detecting system has an observer for calculating a disturbance load torque of a spindle motor from a torque command value and a velocity feedback value, a band rejection filter for removing a given frequency component of the disturbance load torque which is determined by the number of cutting edges of the cutter and the rotational speed of the cutter, and a comparator for comparing an output signal from the band rejection filter with a predetermined reference value, and outputting a signal indicative of a fracture of the cutter when the output signal exceeds the predetermined reference value. In the event of a fracture of the cutter with plural cutting edges, a signal is generated that cannot be removed by the band rejection filter, and such a signal is monitored by the comparator.
摘要翻译： PCT No.PCT / JP94 / 01205 Sec。 371日期：1995年3月7日 102（e）1995年3月7日PCT PCT 1994年7月21日PCT公布。出版物WO95 / 04631 日期：1995年2月16日即使在其中一个切削刃破裂的情况下，也能够容易地检测具有多个切削刃的切削刃的断裂的刀具断裂检测系统。刀具断裂检测系统具有用于根据转矩指令值和速度反馈值计算主轴电动机的扰动负载转矩的观测器，用于去除由数量确定的扰动负载转矩的给定频率分量的带阻滤波器切割器的切割刃和切割器的转速;以及用于将来自带阻滤波器的输出信号与预定参考值进行比较的比较器，并且当输出信号超过该值时输出指示切割器断裂的信号预定参考值。在具有多个切削刃的刀具断裂的情况下，产生不能被带阻滤波器去除的信号，并且这种信号由比较器监视。

5. 发明授权

US5587915A Tool damage prevention system 失效
标题翻译：刀具损坏预防系统
公开(公告)号：US5587915A
公开(公告)日：1996-12-24
申请号：US360780
申请日：1994-12-29
申请人： Takashi Nagatomi
发明人： Takashi Nagatomi
IPC分类号： B23Q15/013 , B23Q17/09 , G05B19/18 , G05B19/19 , G05B19/4065
CPC分类号： G05B19/4065 , G05B2219/37245 , G05B2219/41371 , G05B2219/41379 , G05B2219/50276
摘要： A tool damage prevention system is provided which can easily detect an abnormal load with high accuracy to reliably prevent damage to a tool, and which also can appropriately cope with abnormality even if tool damage or the like has already occurred. A first disturbance torque estimating device estimates a disturbance torque Ys acting on a spindle motor, based on a velocity signal X1s from the spindle motor (spindle) and a torque command value U1s for the spindle motor. A second disturbance torque estimating device estimates a disturbance torque Yz acting on a servomotor, based on a velocity signal X1z from the servomotor (feed shaft) and a torque command value U1z for the servomotor. A comparing device obtains a composite disturbance torque Y by combining the estimated disturbance torques Ys and Yz, and compares the composite disturbance torque Y with a preset reference torque Ye. A deceleration/stop command device outputs a command signal to decelerate or stop the tool feed or to change the tool in accordance with the result of the comparison.
摘要翻译： PCT No.PCT / JP94 / 00668 Sec。 371日期1994年12月29日第 102（e）日期1994年12月29日PCT 1994年4月21日PCT PCT。公开号WO94 / 26465 PCT 日期1994年11月24日提供了一种能够高精度地容易地检测异常负荷，可靠地防止对工具的损坏的刀具损坏防止系统，并且即使已经发生刀具损坏等也能适当地应对异常。第一干扰转矩估计装置基于来自主轴电动机（主轴）的速度信号X1s和主轴电动机的转矩指令值U1s来估计作用在主轴电动机上的干扰转矩Ys。第二扰动转矩估计装置基于来自伺服电机（进给轴）的速度信号X1z和用于伺服电动机的转矩指令值U1z来估计作用在伺服电动机上的扰动转矩Yz。比较装置通过组合估计的扰动转矩Ys和Yz来获得复合扰动转矩Y，并将复合扰动转矩Y与预设的参考转矩Ye进行比较。减速/停止指令装置根据比较结果输出指令信号以减速或停止刀具进给或更换刀具。

6. 发明申请

US20180088553A1 CONTROL DEVICE, CONTROL PROGRAM AND CONTROL METHOD 审中-公开
公开(公告)号：US20180088553A1
公开(公告)日：2018-03-29
申请号：US15438653
申请日：2017-02-21
申请人： OMRON Corporation
发明人： Tatsuya KOGA , Masahiro MURAI
IPC分类号： G05B19/402
CPC分类号： G05B19/404 , B23Q17/0961 , G05B2219/37256 , G05B2219/39355 , G05B2219/41161 , G05B2219/41371 , G05B2219/41376 , G05B2219/41379 , G05B2219/42025 , G05B2219/42338 , Y02P90/265
摘要： The invention provides a control device comprising: an actual value obtaining part, obtaining a torque actual value and a velocity actual value, wherein the torque actual value represents a torque generated by the driving source and the velocity actual value represents a velocity of the motion body; an inferring part, which calculates an external force inferred value and a velocity inferred value every other operation period based on the torque actual value by using an operation formula of a predetermined model representing driving of the motion body, wherein the external force inferring value represents an external force generated by the control system; and an output part, evaluating a reliability of the external force inferred value based on the velocity inferred value calculated together if the inferring part calculates the external inferred value, and effectively outputting the external force inferred value when it is judged that there is a designated reliability.

7. 发明授权

US08393264B2 Press machine 有权
标题翻译：压机
公开(公告)号：US08393264B2
公开(公告)日：2013-03-12
申请号：US12726354
申请日：2010-03-18
申请人： Takeki Inoue , Yuji Shiozaki
发明人： Takeki Inoue , Yuji Shiozaki
IPC分类号： B30B15/14 , B30B15/28
CPC分类号： B30B1/266 , B30B15/148 , B30B15/285 , G05B19/4061 , G05B2219/37624 , G05B2219/41379 , G05B2219/42295
摘要： A press machine includes a cushion shaft, a press shaft, a motor, and a motor control device. The cushion shaft is connected to a lower die. The press shaft is connected to an upper die and configured to press a workpiece between the upper die and the lower die in cooperation with the cushion shaft. The motor is configured to drive the upper die. The motor control device is configured to control the motor and includes a disturbance observer and an intrusion detector. The disturbance observer is configured to calculate an estimated disturbance value with respect to the motor based on a torque command and a motor velocity of the motor. The intrusion detector is configured to detect, based on the estimated disturbance value, a state of a foreign object between the press shaft and the cushion shaft.
摘要翻译：压机包括缓冲轴，压轴，马达和马达控制装置。缓冲轴连接到下模。压力轴连接到上模，并且构造成与缓冲轴协作地在上模与下模之间挤压工件。电动机配置为驱动上模。电动机控制装置被配置为控制电动机并且包括干扰观测器和入侵检测器。扰动观测器被配置为基于电动机的转矩指令和电动机速度来计算相对于电动机的估计干扰值。入侵检测器被配置为基于估计的干扰值来检测压轴和缓冲轴之间的异物的状态。

8. 发明申请

US20100242748A1 PRESS MACHINE 有权
标题翻译：压机
公开(公告)号：US20100242748A1
公开(公告)日：2010-09-30
申请号：US12726354
申请日：2010-03-18
申请人： Takeki INOUE , Yuji Shiozaki
发明人： Takeki INOUE , Yuji Shiozaki
IPC分类号： B30B15/14
CPC分类号： B30B1/266 , B30B15/148 , B30B15/285 , G05B19/4061 , G05B2219/37624 , G05B2219/41379 , G05B2219/42295
摘要： A press machine includes a cushion shaft, a press shaft, a motor, and a motor control device. The cushion shaft is connected to a lower die. The press shaft is connected to an upper die and configured to press a workpiece between the upper die and the lower die in cooperation with the cushion shaft. The motor is configured to drive the upper die. The motor control device is configured to control the motor and includes a disturbance observer and an intrusion detector. The disturbance observer is configured to calculate an estimated disturbance value with respect to the motor based on a torque command and a motor velocity of the motor. The intrusion detector is configured to detect, based on the estimated disturbance value, a state of a foreign object between the press shaft and the cushion shaft.
摘要翻译：压机包括缓冲轴，压轴，马达和马达控制装置。缓冲轴连接到下模。压力轴连接到上模，并且构造成与缓冲轴协作地在上模与下模之间挤压工件。电动机配置为驱动上模。电动机控制装置被配置为控制电动机并且包括干扰观测器和入侵检测器。扰动观测器被配置为基于电动机的转矩指令和电动机速度来计算相对于电动机的估计干扰值。入侵检测器被配置为基于估计的干扰值来检测压轴和缓冲轴之间的异物的状态。

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