公开(公告)号：US4795954A

公开(公告)日：1989-01-03

申请号：US944070

申请日：1986-12-22

申请人： Shigeru Sakurai ,  Akiho Hasuo ,  Kazuo Tanabe

发明人： Shigeru Sakurai ,  Akiho Hasuo ,  Kazuo Tanabe

IPC分类号： G01B7/00 ,  G05B19/33 ,  G08C19/38 ,  G05B1/06

CPC分类号： G05B19/33

摘要： A method and apparatus for controlling a resolver of two-phase excitation and one-phase detection type wherein an erroneous component in the output of the resolver is eliminated by periodically reversing the rotational direction of a rotating magnetic field generated in the resolver.

摘要翻译： 一种用于控制二相激励和单相检测类型的分解器的方法和装置，其中通过周期性地反转在旋转变压器中产生的旋转磁场的旋转方向，消除了旋转变压器的输出中的错误分量。

公开(公告)号：US4590398A

公开(公告)日：1986-05-20

申请号：US657400

申请日：1984-10-03

申请人： Toshio Nagamatsu

发明人： Toshio Nagamatsu

IPC分类号： H01R39/40 ,  H02K13/00

CPC分类号： H01R39/40 ,  Y10T29/49011

摘要： A brush holder comprising a brush box and a brush terminal. The brush box includes a brush sliding tube which is mounted at opposite upper sides thereof with a pair of side plates. Each of the side plates forms a clearance and has an upper opening and a lower opening. The brush terminal has a pair of bent pieces and a central portion therebetween for connecting a pigtail. An engaging projection is formed on the bent pieces. The engagement and fixation between the brush box and the brush terminal are performed outside of the brush box, with the engaging projection coupling to the lower opening, and the bent pieces inserted into the clearance.

摘要翻译： 一种刷架，包括刷盒和刷子端子。 刷盒包括刷滑动管，其在相对的上侧安装有一对侧板。 每个侧板形成间隙，并具有上开口和下开口。 电刷端子具有一对弯曲件和用于连接尾纤的中心部分。 在弯曲的片上形成接合突起。 刷子盒和刷子端子之间的接合和固定在刷盒外部进行，其中接合突起联接到下部开口，并且弯曲片插入间隙中。

公开(公告)号：US4495588A

公开(公告)日：1985-01-22

申请号：US359548

申请日：1982-03-18

申请人： Satoru Nio ,  Shinobu Sato ,  Hajime Fujii ,  Toyoji Hamashima

发明人： Satoru Nio ,  Shinobu Sato ,  Hajime Fujii ,  Toyoji Hamashima

IPC分类号： B25J9/16 ,  B25J9/18 ,  B25J13/00 ,  G05B19/18 ,  G05B19/404 ,  G05B19/408 ,  G05B19/4093 ,  G05B19/42 ,  G05B13/00

CPC分类号： B25J9/161 ,  G05B19/4083 ,  G05B19/42 ,  G05B2219/36503 ,  G05B2219/45135

摘要： In a robot locus control metod, the coordinates of first three representative points and first work points of an object to be handled by a robot are taught to the robot, when the relative position of the robot and the object is changed, the coordinates of second three representative points corresponding to the first three representative points are taught, and the coordinates of second work points are calculated from the relative position of the first three representative points and the first work points and the second three representative points, thereby to command the robot working locus.

摘要翻译： 在机器人轨迹控制机构中，向机器人教导要由机器人处理的物体的前三个代表点和第一工作点的坐标，当机器人和物体的相对位置改变时，第二 教导与前三个代表点对应的三个代表点，根据前三个代表点与第一工作点和第二三个代表点的相对位置计算第二工作点的坐标，从而命令机器人工作 轨迹。

公开(公告)号：US5173592A

公开(公告)日：1992-12-22

申请号：US598704

申请日：1990-10-17

申请人： Shinji Okumura ,  Keiichi Takaoka ,  Tatsumi Nakazato

发明人： Shinji Okumura ,  Keiichi Takaoka ,  Tatsumi Nakazato

IPC分类号： B23K9/02 ,  B23K9/04 ,  G05B19/4103 ,  G05B19/425

CPC分类号： B23K9/0216 ,  B23K9/04 ,  G05B19/4103 ,  G05B19/425 ,  G05B2219/45104 ,  G05B2219/45238

摘要： Approximate straight lines or approximate curves at the instructed points are obtained on the basis of coordinates actually passed by a welding torch at the instructed points in the welding of the first layer, points on the approximate straight lines or approximate curves are calculated on the basis of distance at the instructed points, and actual welding path is defined at the points. In the locus of the second and succeeding layers, a shift direction and a shift amount are obtained by calculation on the basis of two points instructed as a welding start point and a termination point in the teaching of the first layer and two reference points designated to define the shift direction, and the locus of operation after the second layer is calculated to effect multi-layer welding. For controlling the torch attitude in the welding of the second layer and succeeding layers, a locus of operation of a torch in the welding of the first layer and a locus of operation of the second and succeeding layers are obtained on the basis of a torch rotational angle given from the outside, after which the torch is rotated by a portion of a torch rotational angle about the traveling vector obtained at the instructed point, and the attitude data is obtained by calculation. Welding of the second and succeeding layers is carried out on the basis of the obtained attitude data.

摘要翻译： PCT No.PCT / JP90 / 00212 Sec。 371 1990年10月17日第 102（e）1990年10月17日日期PCT提交1990年2月21日PCT公布。 公开号WO90 / 09859 1990年9月7日。指示点的近似直线或近似曲线是根据焊枪实际通过的焊接点在第一层焊接指示点获得的，大致直线或近似点 根据指示点的距离计算曲线，并在点上定义实际焊接路径。 在第二层和后续层的轨迹中，通过基于指定为第一层的教导中的焊接起始点和终止点的两个点和指定为第一层的两个参考点的两个点进行计算来获得移动方向和移动量 定义换档方向，计算第二层后的运行轨迹，实现多层焊接。 为了控制第二层和后续层的焊接中的割炬姿态，在第一层的焊接中的焊炬的操作轨迹和第二层和后一层的操作轨迹基于割炬旋转获得 角度由外部给出，在此之后，割炬围绕指示点获得的行进矢量旋转割炬旋转角度的一部分，并且通过计算获得姿态数据。 基于获得的姿态数据进行第二层和后层的焊接。

公开(公告)号：US5134354A

公开(公告)日：1992-07-28

申请号：US623410

申请日：1990-12-03

申请人： Yoichi Yamamoto ,  Takayuki Tohya ,  Yoshiji Hiraga

发明人： Yoichi Yamamoto ,  Takayuki Tohya ,  Yoshiji Hiraga

IPC分类号： G05B19/23

CPC分类号： G05B19/237 ,  G05B19/231 ,  G05B2219/37313 ,  G05B2219/41084 ,  G05B2219/41421 ,  G05B2219/42034 ,  G05B2219/42035 ,  G05B2219/42062 ,  G05B2219/42096

摘要： When a workpiece is cut or otherwise machined by a machine using a servo motor control apparatus having a position feedback loop, a velocity feedback loop, and a current feedback loop, it is the common practice to preset the instructed current value to a voltage corresponding to friction torque when rotation of the motor is started or reversed. This is to compensate for the response delay of the motor introduced by the friction torque. The present invention relates to improvements in this technique. After the instructed motor velocity changes from a positive value, to a negative value or vice versa, or after the detected motor velocity changes from a positive value to a nonpositive value or from a negative value to a nonnegative value, the value of the integration element of a velocity control portion is reversed according to a function. The obtained output value is added to the instructed current value or to the integration term to compensate for the response delay, thus reducing machining error.

摘要翻译： PCT No.PCT / JP90 / 00472 Sec。 371日期1990年12月3日第 102（e）日期1990年12月3日PCT 1990年4月6日提交PCT公布。 出版物WO90 / 12448 1990年10月18日，当使用具有位置反馈回路，速度反馈回路和电流反馈回路的伺服电机控制装置切割或以机械加工工件时，通常的做法是预设指示 电流值与电动机旋转开始或反转时对应于摩擦转矩的电压。 这是为了补偿由摩擦转矩引入的电动机的响应延迟。 本发明涉及该技术的改进。 在指示的电动机速度从正值变为负值或反之亦然之后，或者在检测到的电动机速度从正值变为非正值或从负值变为非负值之后，积分元件的值 的速度控制部分根据功能反转。 将获得的输出值加到指定的当前值或积分项，以补偿响应延迟，从而减少加工误差。

公开(公告)号：US5124620A

公开(公告)日：1992-06-23

申请号：US571546

申请日：1990-08-21

申请人： Toshiyuki Kurebayashi ,  Satoshi Kuranaga ,  Tatsuya Fukunaga ,  Osamu Hidaka

发明人： Toshiyuki Kurebayashi ,  Satoshi Kuranaga ,  Tatsuya Fukunaga ,  Osamu Hidaka

IPC分类号： B25J9/16 ,  B25J9/18 ,  G05B19/4067 ,  G05B19/414 ,  G05B19/42

CPC分类号： G05B19/414 ,  G05B2219/34365 ,  G05B2219/34367 ,  G05B2219/36511 ,  G05B2219/36514

摘要： When a welding teaching program employing a plurality of robots is completed, if a robot does not operate properly it may be preferably to make the robot retreat and operate in accordance with a different teaching program, urgently and at an optional timing. In the invention, when the operation of a program being executed is suspended, the program addresses are memorized and a different prestored teaching program is executed. Upon the termination of the different teaching program, the execution of the suspended program is resumed, referring to the memorized addresses.

公开(公告)号：US5119287A

公开(公告)日：1992-06-02

申请号：US363906

申请日：1989-04-28

申请人： Hiroshi Nakamura ,  Shigeru Futami

发明人： Hiroshi Nakamura ,  Shigeru Futami

IPC分类号： G05B13/02 ,  G05B21/02

CPC分类号： G05B13/026 ,  G05B13/022 ,  G05B13/0225 ,  G05B21/02

摘要： A conventional design method intended for repetitive target values utilizes a tracking error of one period before or such a error at the time t' at the preceding trial corresponding to the present time t. The error from the time of one period before up to the present or what is the time t' after has not been utilized, though it is very useful when the present invention uses an algorithm for making the output of a controlled system follow up a periodic target value in an optimum determined manner with only four fundamental arithmetic operations, using an incremental amount of modification at individual sampling time, tracking errors of one period before and thereafter, the present tracking error, the past incremental amounts of modification, the control input of one period before and preset constants. The control method according to the present invention is characterized by minimizes the weighting square sum of estimated values of a future tracking error, using a control input at individual sampling time, tracking errors of one period before and thereafter, the amounts of past modification, data (indicial response) pertaining to the dynamic characteristics of a controlled object, and the control input of one period before or its equivalent for the controlled object having target a value repeating the same pattern.

摘要翻译： PCT No.PCT / JP88 / 00897 Sec。 371日期1989年4月28日第 102（e）日期1989年4月28日PCT提交1988年9月6日PCT公布。 出版物WO89 / 02617 日期为1989年3月23日。用于重复目标值的常规设计方法利用与当前时间t相对应的在前一个试验的时间t'之前一个周期的跟踪误差或这样的误差。 虽然在本发明使用用于使受控系统的输出跟随周期性的算法是非常有用的，但是从前一段到现在的时间段或时间t'之后的误差尚未被使用， 目标值以最佳确定方式仅使用四个基本算术运算，使用在各个采样时间的增量修正量，跟踪前一个周期的跟踪误差，当前跟踪误差，过去增量修改量，控制输入 前一个时期和预设常数。 根据本发明的控制方法的特征在于，使用在各个采样时间的控制输入，在之前和之后的一个周期的跟踪误差来最小化未来跟踪误差的估计值的加权平方和，过去修改量，数据 （指示响应），以及对于具有重复相同模式的值的受控对象的一个​​周期或其等价物的控制输入。

公开(公告)号：US5117105A

公开(公告)日：1992-05-26

申请号：US651387

申请日：1991-03-07

申请人： Takashi Nagase ,  Kouichi Higashi

发明人： Takashi Nagase ,  Kouichi Higashi

IPC分类号： G01D5/249 ,  G01D5/347 ,  H03M1/28

CPC分类号： H03M1/282 ,  G01D5/2495 ,  G01D5/34792

摘要： A sequence of random numbers of a desired length is produced using an algorithm for shifting a binary code M bits and adding 0 or 1 so that all produced codes are different from each other. An absolute encoder of a desired resolution is provided using such a sequence of random numbers. Where a slit pattern of M-series random number codes is employed, a circuit for generating a pattern comprising a combination of the M-series random number codes and 0s is employed to provide an absolute encoder having a resolution of 2.sup.k.

公开(公告)号：US4988945A

公开(公告)日：1991-01-29

申请号：US165843

申请日：1988-03-09

申请人： Takashi Nagase

发明人： Takashi Nagase

IPC分类号： G01D5/14 ,  G01D5/16 ,  G01D5/244 ,  G01D5/245 ,  G01D5/249 ,  G05B19/39 ,  G06F1/30 ,  H03M1/06 ,  H03M1/10 ,  H03M1/14 ,  H03M1/24 ,  H03M1/28 ,  H03M1/30

CPC分类号： H03M1/143 ,  G01D5/145 ,  G01D5/2455 ,  G01D5/2497 ,  G05B19/39 ,  G06F1/30 ,  H03M1/1076 ,  G05B2219/37104 ,  G05B2219/37175 ,  G05B2219/50083 ,  H03M1/285 ,  H03M1/308

摘要： The rotation type absolute encoder of the present invention is constituted by a magnetic type one-pulse encoder for detecting one or more rotations, and an optical type absolute encoder comprising a plural number of aspheric LED lens as a light source, a group of detecting elements corresponding to the area of the light source, a slit disc beginning from the track of two slits, and a differential input type current-to-voltage convertor. This absolute encoder is also so constructed as to back up the circuit voltage by an external battery and an internal large capacitance capacitor when a current is cut, and has a circuit for serially transmitting a signal indicating the number of rotations and the absolute angle to an external controller, and a circuit for synthesizing and outputting one reference pulse per rotation from the signals of the magnetic type one-pulse encoder and the optical type absolute encoder.

公开(公告)号：US4948091A

公开(公告)日：1990-08-14

申请号：US481049

申请日：1990-02-16

申请人： Ikumi Satoh ,  Jun Nakano ,  Riichiroh Harada ,  Tatsuhiko Koba ,  Yuichi Fujita ,  Kazumi Shima

发明人： Ikumi Satoh ,  Jun Nakano ,  Riichiroh Harada ,  Tatsuhiko Koba ,  Yuichi Fujita ,  Kazumi Shima

IPC分类号： F16K1/12 ,  F16K31/04 ,  F16K31/08 ,  H02K7/06

CPC分类号： F16K31/04 ,  F16K1/12 ,  F16K31/082 ,  H02K7/06

摘要： A motor-operated valve is constructed such that a stator is provided outside of a nonmagnetic tubular member allowing flow of a fluid, with stator coils wound around a plurality of magnetic poles, and a plurality of permanent magnets are secured to an operating surface of each magnetic pole. The permanent magnets are magnetized into a number of pole-pairs arranged at a constant pitch. A rotor is rotatably supported inside of the tubular member. A number of induction teeth are formed along the circumference of the rotor at a pitch equal to the pitch of the pole-pairs of the permanent magnets, and the total number of the induction teeth is so selected that it is different from the total number of the pole-pairs of the permenant magnets by an amount equal to an even number. A mechanism including a rotation-preventing means is also provided in the rotor for converting the rotating movement of the rotor into a linear movement of a valve member.