公开(公告)号：US06943522B2

公开(公告)日：2005-09-13

申请号：US10775253

申请日：2004-02-11

申请人： Kotaro Nagaoka ,  Tomonori Sato ,  Hidetoshi Ikeda ,  Teiji Takahashi

发明人： Kotaro Nagaoka ,  Tomonori Sato ,  Hidetoshi Ikeda ,  Teiji Takahashi

IPC分类号： G05B11/36 ,  G05B19/19 ,  G05D3/12 ,  H02P29/00

CPC分类号： G05B19/19 ,  G05B2219/41151 ,  G05B2219/41426 ,  G05B2219/41428

摘要： A servo controller includes a mechanical characteristic compensation unit for attenuating components having predetermined frequencies and corresponding to characteristics of a machine, which are included in a position instruction signal corrected by a finite impulse response (FIR) filter, and computing feed-forward signals respectively associated with position, speed, and torque of the machine, and a feedback compensation unit for driving the machine according to the feed-forward signals. Therefore, the servo controller can reduce vibrations that originate from the characteristics of the machine. In addition, because the FIR filter can easily make the response path with respect to a symmetrical instructed path, become symmetrical, when the machine is made to travel between two positions along the same path, the two response paths of the round trip match each other, so machined surfaces having no irregularities can be provided when performing reciprocating machining.

摘要翻译： 伺服控制器包括用于衰减具有预定频率并对应于机器特性的分量的机械特征补偿单元，其包括在由有限脉冲响应（FIR）滤波器校正的位置指令信号中，并且计算分别相关联的前馈信号 具有机器的位置，速度和扭矩，以及用于根据前馈信号驱动机器的反馈补偿单元。 因此，伺服控制器可以减少源自机器特性的振动。 另外，由于FIR滤波器能够容易地使相对于对称指令路径的响应路径成为对称的，所以当机器沿同一路径在两个位置之间行进时，往返的两个响应路径彼此匹配 因此，进行往复加工时，可以提供没有凹凸的加工面。

公开(公告)号：US09144869B2

公开(公告)日：2015-09-29

申请号：US13133770

申请日：2009-09-10

申请人： Ryuta Sato ,  Kotaro Nagaoka ,  Tomonori Sato

发明人： Ryuta Sato ,  Kotaro Nagaoka ,  Tomonori Sato

IPC分类号： B23Q5/40 ,  B23Q5/28 ,  B23Q17/22 ,  G05B19/19

CPC分类号： B23Q5/40 ,  B23Q5/28 ,  B23Q17/22 ,  G05B19/19 ,  G05B2219/41233 ,  G05B2219/43072

摘要： A machine motion trajectory measuring device for measuring the motion trajectory of a machine used in an apparatus which controls the position of the machine by feeding back a detected position obtained by converting the rotation angles of motors for a plurality of movable axes and then driving the motors such that the detected position follows a commanded position is provided. The machine motion trajectory measuring device includes accelerometers for measuring the acceleration of the machine; and a motion trajectory measuring unit that measures the motion trajectory of the machine by obtaining the position of the machine by integrating the acceleration twice and correcting the position of the machine such that the profile of the position of the machine coincides with the profile of the detected position or the profile of an estimated position estimated using a model for simulating the response of the position of the machine to the commanded position.

摘要翻译： 一种机器运动轨迹测量装置，用于测量用于控制机器位置的装置的运动轨迹，该装置通过反馈通过转换多个可移动轴的电动机的旋转角而获得的检测位置，然后驱动电动机 使得检测到的位置跟随指令位置。 机器运动轨迹测量装置包括用于测量机器加速度的加速度计; 以及运动轨迹测量单元，其通过将加速度积分为两倍并通过校正机器的位置来获得机器的位置来测量机器的运动轨迹，使得机器位置的轮廓与检测到的机器的轮廓一致 位置或使用用于模拟机器的位置对指令位置的响应的模型估计的估计位置的轮廓。

公开(公告)号：US08831768B2

公开(公告)日：2014-09-09

申请号：US13133443

申请日：2009-02-17

申请人： Shunro Ono ,  Kotaro Nagaoka ,  Tomonori Sato ,  Daisuke Fujino

发明人： Shunro Ono ,  Kotaro Nagaoka ,  Tomonori Sato ,  Daisuke Fujino

IPC分类号： G06F19/00 ,  G05B19/04 ,  G05B19/18 ,  G05B19/41 ,  G05B19/25 ,  G05B19/4093 ,  G05B19/4103

CPC分类号： G05B19/4093 ,  G05B19/4103 ,  G05B2219/33269 ,  Y02P90/265

摘要： A CPU 41 reads a next block (S1), and then determines whether the read block is a TCP (tool center point) control finish command “G49” or not (S2). If it is determined to be the TCP control finish command “G49”, the TCP control is finished. If it is determined not to be the TCP control finish command “G49”, whether the read block is a coordinate-system transformation command “P1” or not is determined (S3). Next, if it is determined not to be the coordinate-system transformation command “P1”, the TCP control is performed, without transforming the coordinate system, in accordance with a command of the block (S11). Next, the process returns to S1, and then the process after S1 is executed. If it is determined to be the coordinate-system transformation command “P1”, a start point (xs, ys, zs, bs, cs) and an end point (xe, ye, ze, be, ce) in a non-machine coordinate system, of the block are transformed into a start point (Xs, Ys, Zs, Bs, Cs) and an end point (Xe, Ye, Ze, Be, Ce) in a machine coordinate system, respectively (S4).

摘要翻译： CPU41读取下一个块（S1），然后确定读取块是否是TCP（工具中心点）控制完成命令“G49”（S2）。 如果确定为TCP控制完成命令“G49”，则TCP控制完成。 如果确定不是TCP控制完成命令“G49”，则确定读块是否是坐标系变换命令“P1”（S3）。 接下来，如果确定不是坐标系变换命令“P1”，则根据块的命令（S11）不进行坐标系变换，执行TCP控制。 接下来，处理返回到S1，然后执行S1之后的处理。 如果确定为坐标系变换命令“P1”，则在非机器中的起始点（xs，ys，zs，bs，cs）和终点（xe，ye，ze，be，ce） （Xs，Ys，Zs，Bs，Cs）和机器坐标系中的终点（Xe，Ye，Ze，Be，Ce）（S4）。

公开(公告)号：US20110238204A1

公开(公告)日：2011-09-29

申请号：US13133443

申请日：2009-02-17

申请人： Shunro Ono ,  Kotaro Nagaoka ,  Tomonori Sato ,  Daisuke Fujino

发明人： Shunro Ono ,  Kotaro Nagaoka ,  Tomonori Sato ,  Daisuke Fujino

IPC分类号： G06F19/00

CPC分类号： G05B19/4093 ,  G05B19/4103 ,  G05B2219/33269 ,  Y02P90/265

摘要： A CPU 41 reads a next block (S1), and then determines whether the read block is a TCP (tool center point) control finish command “G49” or not (S2). If it is determined to be the TCP control finish command “G49”, the TCP control is finished. If it is determined not to be the TCP control finish command “G49”, whether the read block is a coordinate-system transformation command “P1” or not is determined (S3). Next, if it is determined not to be the coordinate-system transformation command “P1”, the TCP control is performed, without transforming the coordinate system, in accordance with a command of the block (S11). Next, the process returns to S1, and then the process after S1 is executed. If it is determined to be the coordinate-system transformation command “P1”, a start point (xs, ys, zs, bs, cs) and an end point (xe, ye, ze, be, ce) in a non-machine coordinate system, of the block are transformed into a start point (Xs, Ys, Zs, Bs, Cs) and an end point (Xe, Ye, Ze, Be, Ce) in a machine coordinate system, respectively (S4).

摘要翻译： CPU41读取下一个块（S1），然后确定读取块是否是TCP（工具中心点）控制完成命令“G49”（S2）。 如果确定为TCP控制完成命令“G49”，则TCP控制完成。 如果确定不是TCP控制完成命令“G49”，则确定读块是否是坐标系变换命令“P1”（S3）。 接下来，如果确定不是坐标系变换命令“P1”，则根据块的命令（S11）不进行坐标系变换，执行TCP控制。 接下来，处理返回到S1，然后执行S1之后的处理。 如果确定为坐标系变换命令“P1”，则在非机器中的起始点（xs，ys，zs，bs，cs）和终点（xe，ye，ze，be，ce） （Xs，Ys，Zs，Bs，Cs）和机器坐标系中的终点（Xe，Ye，Ze，Be，Ce）（S4）。

公开(公告)号：US20110246132A1

公开(公告)日：2011-10-06

申请号：US13133770

申请日：2009-09-10

申请人： Ryuta Sato ,  Kotaro Nagaoka ,  Tomonori Sato

发明人： Ryuta Sato ,  Kotaro Nagaoka ,  Tomonori Sato

IPC分类号： G06F15/00

CPC分类号： B23Q5/40 ,  B23Q5/28 ,  B23Q17/22 ,  G05B19/19 ,  G05B2219/41233 ,  G05B2219/43072

摘要： A machine motion trajectory measuring device for measuring the motion trajectory of a machine used in an apparatus which controls the position of the machine by feeding back a detected position obtained by converting the rotation angles of motors for a plurality of movable axes and then driving the motors such that the detected position follows a commanded position is provided. The machine motion trajectory measuring device includes accelerometers for measuring the acceleration of the machine; and a motion trajectory measuring unit that measures the motion trajectory of the machine by obtaining the position of the machine by integrating the acceleration twice and correcting the position of the machine such that the profile of the position of the machine coincides with the profile of the detected position or the profile of an estimated position estimated using a model for simulating the response of the position of the machine to the commanded position.

摘要翻译： 一种机器运动轨迹测量装置，用于测量用于控制机器位置的装置的运动轨迹，该装置通过反馈通过转换多个可移动轴的电动机的旋转角而获得的检测位置，然后驱动电动机 使得检测到的位置跟随指令位置。 机器运动轨迹测量装置包括用于测量机器加速度的加速度计; 以及运动轨迹测量单元，其通过将加速度积分为两倍并通过校正机器的位置来获得机器的位置来测量机器的运动轨迹，使得机器位置的轮廓与检测到的机器的轮廓一致 位置或使用用于模拟机器的位置对指令位置的响应的模型估计的估计位置的轮廓。

公开(公告)号：US5955856A

公开(公告)日：1999-09-21

申请号：US80961

申请日：1998-05-19

申请人： Tomonori Sato ,  Takashi Iwasaki ,  Teiji Takahashi

发明人： Tomonori Sato ,  Takashi Iwasaki ,  Teiji Takahashi

IPC分类号： G05B19/4093 ,  G05B19/4105 ,  G05B11/01

CPC分类号： G05B19/4105 ,  G05B2219/34098 ,  G05B2219/34175 ,  G05B2219/35121

摘要： A numerical control apparatus and a numerical control method is provided which permit high-accuracy and high-velocity travel at a joint between paths as well as simple and rapid calculations for this purpose. A path is inserted at the joint between the paths so as to achieve a continuous curvature.

摘要翻译： 提供了一种数字控制装置和数值控制方法，其允许在路径之间的接合处进行高精度和高速行进，以及为此目的的简单和快速的计算。 在路径之间的接合处插入路径，以实现连续的曲率。

公开(公告)号：US09798312B2

公开(公告)日：2017-10-24

申请号：US14401392

申请日：2012-05-15

申请人： Yukihiro Iuchi ,  Tomonori Sato

发明人： Yukihiro Iuchi ,  Tomonori Sato

IPC分类号： G05B19/18 ,  G05B19/4155

CPC分类号： G05B19/182 ,  G05B19/4155 ,  G05B2219/36056 ,  G05B2219/43041 ,  G05B2219/49108

摘要： A numerical control device (1) of a machine tool capable of controlling its spindle rotating speed includes: a program analyzing unit (2) that reads ahead a machining program (6) by one block or more and analyzes a command for the machine tool; and a command determining unit (3) that determines, based on a result analyzed by the program analyzing unit (2), whether a command posterior to a spindle control command causes any machining problem when the command is executed during a spindle rotating speed change, outputs a first command, in which some problem occurs in the machining, after the spindle rotating speed reaches the commanded rotating speed, and output a second command, which is other than the first command, before the spindle rotating speed reaches the commanded rotating speed.

公开(公告)号：US09152143B2

公开(公告)日：2015-10-06

申请号：US13377292

申请日：2010-07-06

申请人： Kenji Iriguchi ,  Yuka Mitani ,  Akira Miyata ,  Tomonori Sato ,  Susumu Matsubara ,  Takashi Iwasaki

发明人： Kenji Iriguchi ,  Yuka Mitani ,  Akira Miyata ,  Tomonori Sato ,  Susumu Matsubara ,  Takashi Iwasaki

IPC分类号： G05B19/4097 ,  G05B19/4093

CPC分类号： G05B19/40931 ,  G05B2219/36327 ,  Y02P90/265

摘要： Automatic programming apparatus includes: a material shape data input unit that receives input of data of material shape; a processing program storage unit that stores therein data of material shape and processed unit data; a processed unit data input part that receives an input of other-processed-unit-reference-type processed unit data referencing processed region shape data contained in the processed unit data; a processed region shape generating unit that generates processed region shape data in the processed unit data for partial processing, based on data of material shape and processed region shape data referenced by other-processed-unit-reference-type processed unit data; and a control command generating unit that generates control command data, based on processed unit data for partial processing containing processed region shape data.

摘要翻译： 自动编程设备包括：材料形状数据输入单元，其接收材料形状数据的输入; 处理程序存储单元，其存储材料形状和处理单元数据的数据; 处理单元数据输入部分，其接收参考处理单元数据中包含的处理区域形状数据的其他处理单元参考类型处理单元数据的输入; 处理区域形状生成单元，其基于由其他处理单位基准型处理单位数据参照的材料形状和处理区域形状数据的数据，生成处理后的部分处理单位数据中的处理区域形状数据; 以及控制指令生成单元，其基于用于包含处理区域形状数据的部分处理的处理单位数据生成控制命令数据。

公开(公告)号：US08725020B2

公开(公告)日：2014-05-13

申请号：US13301182

申请日：2011-11-21

申请人： Daizo Fukuzawa ,  Munehito Kurata ,  Noriaki Sato ,  Kuniaki Kasuga ,  Tomonori Sato ,  Mahito Yoshioka

发明人： Daizo Fukuzawa ,  Munehito Kurata ,  Noriaki Sato ,  Kuniaki Kasuga ,  Tomonori Sato ,  Mahito Yoshioka

IPC分类号： G03G15/20

CPC分类号： G03G15/2046 ,  G03G2215/2035

摘要： Corrected power for compensating for a reduction in the temperature of an endless belt that accompanies the entry of a recording material into a fixing nip portion is adjusted by correcting the power supplied to a fixing unit when the recording material enters the fixing unit with a correction power based on the difference between the update time of a power updating period and the time of the entry of the recording material.

摘要翻译： 通过校正当记录材料以校正功率进入定影单元时提供给定影单元的电力，来调节用于补偿伴随记录材料进入定影夹持部分的环形带的温度降低的校正功率 基于电源更新周期的更新时间与记录材料的输入时间之间的差异。

公开(公告)号：US08608394B2

公开(公告)日：2013-12-17

申请号：US12790458

申请日：2010-05-28

申请人： Hiroki Ando ,  Toshiyuki Matsui ,  Satoshi Honobe ,  Tsuneo Fukuzawa ,  Tomonori Sato ,  Fumiaki Maekawa ,  Toshihiro Maruta

发明人： Hiroki Ando ,  Toshiyuki Matsui ,  Satoshi Honobe ,  Tsuneo Fukuzawa ,  Tomonori Sato ,  Fumiaki Maekawa ,  Toshihiro Maruta

IPC分类号： B41J29/02

CPC分类号： G03G21/1619 ,  G03G21/1633 ,  G03G2221/169

摘要： An image-forming apparatus includes: a plural image-holding members, each image-holding member holding an image and being rotatable around a rotation shaft; a frame member that at least partially defines a space for accommodating the plural image-holding members therein; a cover provided to the frame member to open and close the space with respect to an outside, an inner side of the cover being formed with rotation shaft insertion holes each for receiving an end portion of the rotation shaft of a corresponding one of the image-holding members accommodated in the space; a supporting shaft that supports the cover such that the cover is pivotable with respect to the frame member, the supporting shaft being inserted into a supporting shaft insertion hole provided to the frame member or to the cover, the supporting shaft insertion hole being elongated in a direction having a vertical component when the cover closes the space; and a positioning mechanism that positions the cover with respect to the frame member when the cover closes the space, the positioning mechanism including at least two projections that project from one of the frame member and the cover, and that are spaced apart from each other in a direction of an axis of the supporting shaft, and projection insertion holes provided to the other one of the frame member and the cover to receive corresponding projections when the cover closes the space.

摘要翻译： 图像形成装置包括：多个图像保持部件，每个图像保持部件保持图像并能够围绕旋转轴旋转; 框架构件，其至少部分地限定用于容纳多个图像保持构件的空间; 设置在所述框架构件上以相对于外部打开和关闭所述空间的盖，所述盖的内侧形成有旋转轴插入孔，每个所述旋转轴插入孔用于接收所述图像形成装置中的相应一个的旋转轴的端部， 持有成员收容在该空间内; 支撑轴，其支撑所述盖，使得所述盖相对于所述框架构件可枢转，所述支撑轴插入到设置在所述框架构件或所述盖的支撑轴插入孔中，所述支撑轴插入孔在 当盖关闭空间时具有垂直分量的方向; 以及定位机构，当所述盖关闭所述空间时，所述定位机构将所述盖相对于所述框架构件定位，所述定位机构包括从所述框架构件和所述盖中的一个突出并且彼此间隔开的至少两个突起， 支撑轴的轴线方向和设置在框架构件和盖子中的另一个的突起插入孔，以在盖子关闭空间时接收相应的突起。