公开(公告)号：US09874865B2

公开(公告)日：2018-01-23

申请号：US14342337

申请日：2012-08-02

申请人： Takashi Wada ,  Yoshiharu Nishida ,  Shuichi Inada ,  Yoshihide Inoue

发明人： Takashi Wada ,  Yoshiharu Nishida ,  Shuichi Inada ,  Yoshihide Inoue

IPC分类号： G05B19/402 ,  B25J9/16 ,  G05B19/404

CPC分类号： G05B19/402 ,  B25J9/1641 ,  G05B19/404 ,  G05B2219/2609 ,  G05B2219/41041 ,  Y10S901/08

摘要： Provided are a control method and a control device that can make the range of periodic activity (amplitude of reciprocal movement) of an object of control, such as an industrial robot, the same as a case in which the reduction device has no backlash or the same as the amplitude of a position instruction signal. A control device (3) that carries out position control for an arm (5), which carries out periodic movement, while compensating for backlash in the arm (5) is provided with a control unit (15) that adds to a position instruction signal, which gives instructions for the position of the arm (5), a backlash quantity signal after the backlash quantity signal has been shifted so as to be delayed by a delay time, generates a final position instruction signal, and carries out position control of the arm (5) on the basis of the final position instruction signal that has been generated, said backlash quantity signal compensating for backlash.

公开(公告)号：US20140222186A1

公开(公告)日：2014-08-07

申请号：US14342337

申请日：2012-08-02

申请人： Takashi Wada ,  Yoshiharu Nishida ,  Shuichi Inada ,  Yoshihide Inoue

发明人： Takashi Wada ,  Yoshiharu Nishida ,  Shuichi Inada ,  Yoshihide Inoue

IPC分类号： G05B19/402

CPC分类号： G05B19/402 ,  B25J9/1641 ,  G05B19/404 ,  G05B2219/2609 ,  G05B2219/41041 ,  Y10S901/08

摘要： Provided are a control method and a control device that can make the range of periodic activity (amplitude of reciprocal movement) of an object of control, such as an industrial robot, the same as a case in which the reduction device has no backlash or the same as the amplitude of a position instruction signal. A control device (3) that carries out position control for an arm (5), which carries out periodic movement, while compensating for backlash in the arm (5) is provided with a control unit (15) that adds to a position instruction signal, which gives instructions for the position of the arm (5), a backlash quantity signal after the backlash quantity signal has been shifted so as to be delayed by a delay time, generates a final position instruction signal, and carries out position control of the arm (5) on the basis of the final position instruction signal that has been generated, said backlash quantity signal compensating for backlash.

摘要翻译： 提供了一种控制方法和控制装置，其可以使诸如工业机器人之类的控制对象的周期性活动（往复运动的幅度）与缩小装置没有间隙的情况相同，或者 与位置指令信号的幅度相同。 在对臂（5）的间隙进行补偿的同时进行周期性移动的臂（5）的位置控制的控制装置（3）具有控制单元（15），该控制单元添加位置指示信号 ，其给出了臂（5）的位置的指令，在间隙量信号已被移位以便延迟延迟时间之后的间隙量信号，产生最终位置指令信号，并且执行位置控制 基于已经产生的最终位置指令信号，所述间隙量信号补偿齿隙（5）。

公开(公告)号：US08653412B2

公开(公告)日：2014-02-18

申请号：US12911362

申请日：2010-10-25

申请人： Shuichi Inada ,  Yoshihide Inoue

发明人： Shuichi Inada ,  Yoshihide Inoue

IPC分类号： B23K9/10

CPC分类号： B23K9/127 ,  B23K9/0953 ,  B23K9/0956 ,  B23K9/1735

摘要： An arc welding system according to the present invention includes a welding power supply for supplying welding power to a welding wire, a welding robot including a welding torch mounted to an arm fore end thereof, and a controller for controlling the welding power supply and the welding robot. The welding power supply and the controller perform communication using digital signals, and the welding power supply outputs, to the controller, a welding power-supply feedback signal obtained at the time of inputting of a welding power-supply sync signal. With that configuration, accurate arc tracking can be realized by using the digital signals.

摘要翻译： 根据本发明的电弧焊接系统包括用于向焊丝提供焊接电力的焊接电源，包括安装在其臂前端的焊炬的焊接机器人，以及用于控制焊接电源和焊接的控制器 机器人。 焊接电源和控制器使用数字信号进行通信，焊接电源向控制器输出在输入焊接电源同步信号时获得的焊接电源反馈信号。 利用该配置，可以通过使用数字信号来实现精确的电弧跟踪。

公开(公告)号：US20110108536A1

公开(公告)日：2011-05-12

申请号：US12911362

申请日：2010-10-25

申请人： Shuichi INADA ,  Yoshihide Inoue

发明人： Shuichi INADA ,  Yoshihide Inoue

IPC分类号： B23K9/10

CPC分类号： B23K9/127 ,  B23K9/0953 ,  B23K9/0956 ,  B23K9/1735

摘要： An arc welding system according to the present invention includes a welding power supply for supplying welding power to a welding wire, a welding robot including a welding torch mounted to an arm fore end thereof, and a controller for controlling the welding power supply and the welding robot. The welding power supply and the controller perform communication using digital signals, and the welding power supply outputs, to the controller, a welding power-supply feedback signal obtained at the time of inputting of a welding power-supply sync signal. With that configuration, accurate arc tracking can be realized by using the digital signals.

摘要翻译： 根据本发明的电弧焊接系统包括用于向焊丝提供焊接电力的焊接电源，包括安装在其臂前端的焊炬的焊接机器人，以及用于控制焊接电源和焊接的控制器 机器人。 焊接电源和控制器使用数字信号进行通信，焊接电源向控制器输出在输入焊接电源同步信号时获得的焊接电源反馈信号。 利用该配置，可以通过使用数字信号来实现精确的电弧跟踪。