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公开(公告)号：US5691615A
公开(公告)日：1997-11-25
申请号：US204313
申请日：1994-03-14
申请人： Tetsuaki Kato , Osamu Yoshida , Masaru Nakamura , Soichi Arita
发明人： Tetsuaki Kato , Osamu Yoshida , Masaru Nakamura , Soichi Arita
CPC分类号： B25J9/163 , G05B2219/34448 , G05B2219/39178 , G05B2219/39181 , G05B2219/39194 , G05B2219/41123 , G05B2219/41425 , G05B2219/42037
摘要： A method of obtaining a very robust adaptive PI control method irrespective of fluctuation of parameters of a control object, wherein (speed command r-actual speed y) is used as a state variable Suf. Estimated values J*, A*, Gr*, and C* of inertia, coefficient of dynamic friction, gravitational disturbance depending on a robot angle, and Coulomb's friction, respectively, are obtained and a torque command .tau. is obtained in accordance with the following equation so as to cancel an error between each of the estimated values and its actual value to zero. .tau.=K2.multidot.Suf+(K1/s).multidot.Suf+J*.multidot.r'+A*.multidot.y+Gr*.multidot.sin .theta.+Cf*+.tau.1. The first and second terms of the right side of the above equation are identical with a torque command obtained by the PI control. Furthermore, r' represents an acceleration of command; .theta. represents a rotational angle of a robot arm; and .tau.1 represents a switching input corresponding to miscellaneous disturbance. As an error between each of the estimated values and its actual value becomes zero, a relationship of speed command r=actual speed y is obtained and therefore an adaptive PI control of a transfer function "1" is obtained.
摘要翻译： PCT No.PCT / JP93 / 00995 Sec。 371日期：1994年3月14日 102（e）1994年3月14日PCT PCT 1993年7月16日PCT公布。 公开号WO94 / 02989 日期1994年2月3日无论控制对象的参数波动如何，都获得非常鲁棒的自适应PI控制方法，其中（速度指令r-实际速度y）被用作状态变量Suf。 获得惯性惯量的估计值J *，A *，Gr *和C *，动摩擦系数，取决于机器人角度的重力扰动和库仑摩擦，并且根据以下方式获得转矩指令τ 以便将每个估计值和其实际值之间的误差消除为零。 tau = K2xSuf +（K1 / s）xSuf + J * xr'+ A * xy + Gr *xsinθ+ Cf * + tau 1.上述方程右侧的第一项和第二项与获得的转矩指令相同 由PI控制。 此外，r'表示指令的加速度; theta表示机器人手臂的旋转角度; 并且τ1表示对应于杂项干扰的开关输入。 由于每个估计值与其实际值之间的误差为零，所以获得速度指令r =实际速度y的关系，因此获得传递函数“1”的自适应PI控制。
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公开(公告)号：US5304906A
公开(公告)日：1994-04-19
申请号：US46896
申请日：1993-04-15
申请人： Soichi Arita , Tetsuaki Kato , Osamu Yoshida
发明人： Soichi Arita , Tetsuaki Kato , Osamu Yoshida
IPC分类号： G05B19/4061 , G05D3/00 , B25J19/06 , G05D1/02
CPC分类号： G05B19/4061
摘要： A collision detecting method for quickly securely detecting a collision between a driven body driven by a servomotor and an obstacle by using an observer, thereby preventing machine components from being damaged by the collision. An estimated distrubance torque (y) is obtained in accordance with a torque command (I) and an actual motor speed (.theta.) by means of the observer (50) formed of blocks (51 to 54) having transfer functions (Kt/J, K3, K4/S, 1/S), which depend individually on a torque constant, inertia, and parameters corresponding thereto, and a multiplier (61) having a transfer function (J.multidot.A) equivalent to the product of the inertia and a unit system conversion constant. The drive of the servomotor is stopped before any of the components of the machine is broken, in response to an alarm delivered from a comparator (62) when the estimated disturbance torque exceeds a threshold value (Ts) which is set at a value smaller than servomotor output torques corresponding to the breaking limits of the machine components.
摘要翻译： 一种用于通过使用观察者快速安全地检测由伺服电动机和障碍物驱动的被驱动体之间的碰撞的碰撞检测方法，从而防止机器部件被碰撞损坏。 根据具有传递函数（Kt / C）的块（51至54）形成的观察者（50），根据转矩指令（I）和实际电动机速度（（θ））获得估计的扰动扭矩（y） J，K3，K4 / S，1 / S），其分别取决于转矩常数，惯性和对应的参数，以及具有与惯性相乘的传递函数（J * A）的乘数（61） 和单位系统转换常数。 当估计的扰动转矩超过阈值（Ts）时，响应于从比较器（62）发出的警报，伺服电动机的驱动被停止，在机器的任何部件断开之前， 伺服电机输出扭矩对应于机器部件的断裂极限。
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公开(公告)号：US5440213A
公开(公告)日：1995-08-08
申请号：US177342
申请日：1994-01-04
申请人： Soichi Arita , Tetsuaki Kato , Osamu Yoshida
发明人： Soichi Arita , Tetsuaki Kato , Osamu Yoshida
IPC分类号： G05B19/4061 , G05B5/00
CPC分类号： G05B19/4061
摘要： A collision detecting method for quickly securely detecting a collision between a driven body driven by a servomotor and an obstacle by using an observer, thereby preventing machine components from be damaged by the collision. An estimated disturbance torque (y) is obtained in accordance with a torque command (I) and an actual motor speed (.theta.) by means of the observer (50) formed of blocks (S1 to 54) having transfer functions (Kt/J, K3, K4/S, 1/S), which depend individually on a torque constant, inertia, and parameters corresponding thereto, and a multiplier (61) having a transfer function (J.multidot.A) equivalent to the product of the inertia and a unit system conversion constant. The drive of the servomotor is stopped before any of the components of the machine is broken, in response to an alarm delivered from a comparator (62) when the estimated disturbance torque exceeds a threshold value (Ts) which is set at a value smaller than servomotor output torques corresponding to the breaking limits of the machine components.
摘要翻译： 一种用于通过使用观察者快速安全地检测由伺服电动机和障碍物驱动的被驱动体之间的碰撞的碰撞检测方法，从而防止机器部件被碰撞损坏。 根据具有传递函数（Kt / J，S）的块（S1〜54）形成的观察者（50），根据转矩指令（I）和实际电动机速度（θ），求出估计的扰动转矩（y） K3，K4 / S，1 / S），其分别取决于转矩常数，惯性和对应的参数，以及具有与惯量和单位系统的乘积相当的传递函数（JxA）的乘法器 转换常数。 当估计的扰动转矩超过阈值（Ts）时，响应于从比较器（62）发出的警报，伺服电动机的驱动被停止，在机器的任何部件断开之前， 伺服电机输出扭矩对应于机器部件的断裂极限。
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公开(公告)号：US09674900B2
公开(公告)日：2017-06-06
申请号：US14116561
申请日：2011-05-10
申请人： Taichi Ijuin , Tetsuya Takatomi , Norihiko Ozaku , Osamu Yoshida
发明人： Taichi Ijuin , Tetsuya Takatomi , Norihiko Ozaku , Osamu Yoshida
CPC分类号： H05B6/108 , A47J36/2433 , G07F9/105 , G07F11/70 , G07F17/0078 , H05B6/105
摘要： An induction heating apparatus heats content efficiently while measuring a temperature of the heated content accurately. The induction heating apparatus includes a can holder, a heating coil disposed around the can holder, and a temperature measuring unit. A resealable metal beverage can having a thread formed on a neck portion and a cap screwed onto the neck portion is held by the can holder. The can holder holds the metal beverage can in a manner such that the cap of the can inserted thereto is exposed on an axially upper side. The temperature measuring unit measures a surface temperature of the cap of the metal beverage can held in the can holder.
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公开(公告)号：US08821326B2
公开(公告)日：2014-09-02
申请号：US13474792
申请日：2012-05-18
申请人： Osamu Yoshida , Yuji Kurematsu , Munehiro Maeda , Akira Ishii
发明人： Osamu Yoshida , Yuji Kurematsu , Munehiro Maeda , Akira Ishii
IPC分类号： F16H7/08
CPC分类号： F16H7/0848 , F16H2007/0806 , F16H2007/0812 , F16H2007/0853 , F16H2007/0859
摘要： In a ratchet-type tensioner having a plunger with rack teeth formed thereon and a piston with ratchet teeth that engage the rack teeth, the ratchet teeth can be disengaged from the rack teeth by insertion of a tool through a tool insertion hole in the tensioner housing and exerting a prying action on the toothed end of the piston to move the piston away from the plunger. Alternatively if an oblique camming surface is formed on the toothed end of the piston, the ratchet teeth can be disengaged from the rack teeth by pushing the tool inward against the oblique camming surface. The piston and the hole in which it slides are shaped to prevent rotation of the piston. The ratchet teeth on the piston and the rack teeth on the plunger can be oblique to allow setback of the plunger when excessive force is exerted on the plunger.
摘要翻译： 在具有形成有齿条齿的柱塞的棘轮式张紧器和具有与齿条齿接合的棘轮齿的活塞的棘轮式张紧器中，通过将工具插入到张紧器壳体中的工具插入孔中，棘轮齿可以与齿条齿脱离 并且在活塞的齿端上施加撬动作用以将活塞移离柱塞。 或者，如果在活塞的齿端上形成倾斜的凸轮表面，则可以通过将工具向内推靠在倾斜凸轮表面上而将棘轮齿与齿条齿脱离。 活塞及其滑动的孔被成形以防止活塞旋转。 活塞上的棘齿和柱塞上的齿条齿可以倾斜，以便在柱塞上施加过大的力时允许柱塞的遏制。
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公开(公告)号：US08740736B2
公开(公告)日：2014-06-03
申请号：US13477345
申请日：2012-05-22
申请人： Yuji Kurematsu , Osamu Yoshida , Munehiro Maeda , Akira Ishii
发明人： Yuji Kurematsu , Osamu Yoshida , Munehiro Maeda , Akira Ishii
CPC分类号： F16H7/0848 , F16H2007/0806 , F16H2007/0855 , F16H2007/0859 , F16H2007/0893
摘要： In a ring-type tensioner, an expansible elastic ring disposed in a groove formed in the wall of a plunger-accommodating hole cooperates with teeth formed on the plunger to restrict axial movement of the plunger. The ring and the groove in the wall of the plunger-accommodating hole have flat radial surfaces for mutual engagement. However the ring also has oblique plunger-tooth engaging surfaces. The ring has manipulable end parts that can be locked in fixed relation to each other by a tool to secure the plunger against axial movement. The tool can also be inserted into a gap between the manipulable end parts to expand the ring and thereby release the plunger.
摘要翻译： 在环形张紧器中，设置在形成在柱塞容纳孔的壁中的槽中的可膨胀弹性环与形成在柱塞上的齿配合以限制柱塞的轴向运动。 柱塞容纳孔的壁中的环和槽具有相互接合的平坦的径向表面。 然而，该环也具有倾斜的柱塞 - 齿啮合表面。 环具有可操纵的端部，其可以通过工具彼此固定地相互锁定，以将柱塞固定在轴向运动上。 工具也可以插入到可操纵的端部之间的间隙中以使环膨胀，从而释放柱塞。
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公开(公告)号：US08740296B2
公开(公告)日：2014-06-03
申请号：US13991381
申请日：2011-12-06
申请人： Kozo Ohdoi , Osamu Yoshida
发明人： Kozo Ohdoi , Osamu Yoshida
CPC分类号： B60J7/043 , B60J7/024 , B60J7/0435 , B60J7/053
摘要： To provide a sunroof apparatus including a front panel and a rear panel closing a roof opening formed in a roof of a vehicle, capable of keeping a large distance in a back-and-forth direction between the supporting portions supporting the front and rear portions of the rear panel in a fully closed state of closing the roof opening by the front panel and the rear panel.In a fully closed state of panels, a rear forward supporting portion supporting the front portion of the rear panel is provided in a rear portion of a front slider and a rear backward supporting portion supporting the rear portion of the rear panel is provided in a rear slider.
摘要翻译： 为了提供一种天窗装置，其包括前面板和后面板，其封闭形成在车辆顶部中的屋顶开口，能够在支撑前后部分的支撑部分之间沿前后方向保持大的距离 后面板处于完全关闭状态，通过前面板和后面板关闭屋顶开口。 在完全关闭状态的面板中，在前滑块的后部设有支撑后面板前部的后向前支撑部分，并且后支撑部分后支撑部分设置在后面板的后部 滑块
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公开(公告)号：US08727432B2
公开(公告)日：2014-05-20
申请号：US13698245
申请日：2011-12-06
申请人： Osamu Yoshida
发明人： Osamu Yoshida
CPC分类号： B60J7/043 , B60J7/024 , B60J7/0435
摘要： A sunroof apparatus including a front panel and a rear panel closing a roof opening, having a slider coupling mechanism interlocking between a front slider actuating the front panel and a rear slider actuating the rear panel while achieving a simplified structure and compacted size thereof with its number of parts reduced. The coupling arm is swingably pivotally supported by the rear slider, and the coupling arm is provided with a stopper for regulating the back-and-forth movement of the rear slider by fitting to a locking hole formed in the guide rail, and the front slider is provided with a coupling pin and the coupling arm is provided with a coupling cam groove, and the front slider is moved backward so that the coupling pin and the coupling cam groove are engaged with each other to thereby swing the coupling arm so that the stopper is disengaged from the locking hole and the rear slider being interlocked with the front slider is rendered to be moved back and forth.
摘要翻译： 一种天窗装置，包括前面板和后面板，其关闭屋顶开口，具有滑块联接机构，该滑动器联接机构在致动前面板的前滑动件和致动后面板的后滑块之间联锁，同时实现简化的结构和压实尺寸，其数量 的零件减少。 联动臂由后滑动件可摆动地支撑，并且联接臂设置有用于通过装配到形成在导轨中的锁定孔来调节后滑块的往复运动的止动件，并且前滑块 设置有联接销，并且联接臂设置有联接凸轮槽，并且前滑块向后移动，使得联接销和联接凸轮槽彼此接合，从而使联接臂摆动，使得止动件 与锁定孔分离，并且与前滑块互锁的后滑块被使得能够前后移动。
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公开(公告)号：US20130310206A1
公开(公告)日：2013-11-21
申请号：US13474792
申请日：2012-05-18
申请人： Osamu Yoshida , Yuji Kurematsu , Munehiro Maeda , Akira Ishii
发明人： Osamu Yoshida , Yuji Kurematsu , Munehiro Maeda , Akira Ishii
IPC分类号： F16H7/08
CPC分类号： F16H7/0848 , F16H2007/0806 , F16H2007/0812 , F16H2007/0853 , F16H2007/0859
摘要： In a ratchet-type tensioner having a plunger with rack teeth formed thereon and a piston with ratchet teeth that engage the rack teeth, the ratchet teeth can be disengaged from the rack teeth by insertion of a tool through a tool insertion hole in the tensioner housing and exerting a prying action on the toothed end of the piston to move the piston away from the plunger. Alternatively if an oblique camming surface is formed on the toothed end of the piston, the ratchet teeth can be disengaged from the rack teeth by pushing the tool inward against the oblique camming surface. The piston and the hole in which it slides are shaped to prevent rotation of the piston. The ratchet teeth on the piston and the rack teeth on the plunger can be oblique to allow setback of the plunger when excessive force is exerted on the plunger.
摘要翻译： 在具有形成有齿条齿的柱塞的棘轮式张紧器和具有与齿条齿接合的棘轮齿的活塞的棘轮式张紧器中，通过将工具插入到张紧器壳体中的工具插入孔中，棘轮齿可以与齿条齿脱离 并且在活塞的齿端上施加撬动作用以将活塞移离柱塞。 或者，如果在活塞的齿端上形成倾斜的凸轮表面，则可以通过将工具向内推靠在倾斜凸轮表面上而将棘轮齿与齿条齿脱离。 活塞及其滑动的孔被成形以防止活塞旋转。 活塞上的棘齿和柱塞上的齿条齿可以倾斜，以便在柱塞上施加过大的力时允许柱塞的遏制。
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公开(公告)号：US20130288836A1
公开(公告)日：2013-10-31
申请号：US13456943
申请日：2012-04-26
申请人： Yuji Kurematsu , Osamu Yoshida , Munehiro Maeda , Akira Ishii
发明人： Yuji Kurematsu , Osamu Yoshida , Munehiro Maeda , Akira Ishii
IPC分类号： F16H7/08
CPC分类号： F16H7/0836 , F16H2007/0806 , F16H2007/0817 , F16H2007/0853 , F16H2007/0859 , F16H2007/0893
摘要： Deaeration of the high pressure oil chamber of a hydraulic tensioner takes place though a helical orifice formed by opposed flanks of the threads of a threaded hole in the tensioner housing and the threads of a screw inserted into the hole. The opposed flanks are maintained in spaced relationship by a force exerted by a spring washer disposed between the head of the screw and a surface of the tensioner housing surrounding the opening of the threaded hole. The flank of the thread of the hole that forms part of the boundary of the helical orifice can have a concave curvature in order to increase the aperture of the air flow path. A groove in the surface surrounding the opening of the threaded hole prevents the washer from sealing off the flow of air. This groove is disposed with its exit end at a level above its entry end.
摘要翻译： 液压张紧器的高压油室的脱气通过由张紧器壳体中的螺纹孔的螺纹的相对侧面和插入孔中的螺钉的螺纹形成的螺旋孔而发生。 相对的侧面通过由设置在螺钉的头部和围绕螺纹孔的开口的张紧器壳体的表面之间的弹簧垫圈施加的力保持间隔的关系。 形成螺旋孔边界部分的孔的螺纹的侧面可以具有凹曲率，以便增加空气流路的孔径。 在围绕螺纹孔的开口的表面中的凹槽防止垫圈密封空气流。 该凹槽设置成其出口端处于其入口端上方的高度。
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