公开(公告)号：US5274908A

公开(公告)日：1994-01-04

申请号：US950682

申请日：1992-09-25

申请人： Hisao Suzuki ,  Kouichi Yumita ,  Kazuhiro Tokitu ,  Tadashi Munakata ,  Yoshinobu Ishikawa ,  Etuo Minamihama ,  Koji Taira ,  Yasuharu Ujiie

发明人： Hisao Suzuki ,  Kouichi Yumita ,  Kazuhiro Tokitu ,  Tadashi Munakata ,  Yoshinobu Ishikawa ,  Etuo Minamihama ,  Koji Taira ,  Yasuharu Ujiie

IPC分类号： H05K13/04 ,  B23P19/00

CPC分类号： H05K13/0408 ,  H05K13/0452 ,  Y10T29/53178 ,  Y10T29/53183 ,  Y10T29/53191

摘要： A work or component mounting apparatus according to the present invention comprises a rotating drum arranged above a workbench and divided into upper and lower drums, a head unit detachably mounted to the lower drum of the rotating drum, a circular work head (or, in other words, a component head) attached to the head unit, a suction nozzle protruding from the outer peripheral surface of the work head toward the workbench, and a controller housed in the upper drum of the rotating drum for controlling the turning motion of the work head and the supply of suction pressure to the suction nozzle. While the lower drum is rotating, the suction nozzle of the work head repeats cycloid motion along the workbench with its posture kept fixed with respect to the workbench. While repeating the cycloid motion, the nozzle receives a work from a work feeder of the workbench by suction, and mounts the work on a printed board on the workbench.

摘要翻译： 根据本发明的工件或部件安装装置包括：设置在工作台上方并分成上鼓和下鼓的旋转鼓，可拆卸地安装到旋转鼓的下滚筒的头单元，圆形工作头（或另一个） 单词，组件头）附接到头单元，从工作头的外周表面朝向工作台突出的吸嘴，以及容纳在旋转鼓的上鼓中的控制器，用于控制工作头的转动 并向吸嘴提供吸入压力。 当下滚筒旋转时，工作头的吸嘴沿着工作台重复摆线运动，其姿势相对于工作台保持固定。 当重复摆线运动时，喷嘴通过抽吸从工作台的工作进给器接收工件，并将工件安装在工作台上的印刷板上。

公开(公告)号：US5417542A

公开(公告)日：1995-05-23

申请号：US950715

申请日：1992-09-25

申请人： Hisao Suzuki ,  Kazuhiro Tokitsu ,  Makoto Kasahara ,  Kiyoe Imai ,  Kouichi Yumita ,  Tadashi Munakata ,  Yoshinobu Ishikawa ,  Etuo Minamihama ,  Takatomo Izume ,  Yasuharu Ujiie ,  Masamichi Kato

发明人： Hisao Suzuki ,  Kazuhiro Tokitsu ,  Makoto Kasahara ,  Kiyoe Imai ,  Kouichi Yumita ,  Tadashi Munakata ,  Yoshinobu Ishikawa ,  Etuo Minamihama ,  Takatomo Izume ,  Yasuharu Ujiie ,  Masamichi Kato

IPC分类号： H05K13/00 ,  H05K13/04 ,  B65G25/00

CPC分类号： H05K13/0061 ,  H05K13/0408

摘要： A method and an apparatus for carrying a workpiece for improving efficiency in a workpiece carrying operation. In the apparatus, a moving member having a workpiece holding member is driven with a linear motion in a horizontal plane along a carrier passage, and the workpiece holding member is driven with a revolutional motion in a vertical plane around a revolution axis displaced from a center of the workpiece holding member, while the workpiece holding member maintains an orientation in which a holder holding the workpiece points downwards. The holder of the workplece holding member is controlled to sequentially carry out holding of the workpiece and releasing of the workpiece at lowest positions of the workpiece holding member in the revolutional motion, so as to realize a continuous workpiece carrying operation.

摘要翻译： 一种用于承载工件以提高工件承载操作效率的方法和装置。 在该装置中，具有工件保持构件的移动构件沿着承载通道在水平面中以线性运动被驱动，并且工件保持构件以围绕从中心移动的旋转轴线的垂直平面中的旋转运动驱动 同时工件保持构件保持保持工件的保持器向下的方向。 控制工件保持构件的保持件，以便在工件保持构件的旋转运动的最下位置依次执行工件的保持和工件的释放，以实现连续的工件搬运操作。

公开(公告)号：US5248921A

公开(公告)日：1993-09-28

申请号：US949725

申请日：1992-09-23

申请人： Masamichi Kato ,  Takatomo Izume ,  Kouichi Yumita

发明人： Masamichi Kato ,  Takatomo Izume ,  Kouichi Yumita

IPC分类号： F15B9/09 ,  G05B19/19

CPC分类号： G05B19/19 ,  G05B2219/41431 ,  G05B2219/41439

摘要： In a control device for controlling a servo motor driving a robot arm, a target position command signal is input to a first operation section, which generates a speed command value for the speed feedforward. The target position command signal is also input to a delay section. A target position command signal delayed by a time period is obtained by the delay section and supplied to a second operation section. A positional deviation between the target position command signal and a position feedback signal is calculated by the second operation section. The obtained positional deviation is input to a third operation section and generated as a speed compensation command signal. A speed command signal obtained by addition of the speed feedforward signal and the speed compensation command signal is supplied to a servo driver for driving the servo motor. As a result, the time lag in the response of a system of the controlled system after the servo driver can be compensated for and an error in the positional deviation or the speed command signal can be prevented from being increased.