公开(公告)号：US06741055B2

公开(公告)日：2004-05-25

申请号：US10025890

申请日：2001-12-26

申请人： Takahiro Kurokawa ,  Yoichi Tanaka ,  Seiichi Matsuo ,  Seishiro Yanachi

发明人： Takahiro Kurokawa ,  Yoichi Tanaka ,  Seiichi Matsuo ,  Seishiro Yanachi

IPC分类号： G05B1101

CPC分类号： G05B19/19 ,  G05B19/4015

摘要： There are provided a positioning-controlling apparatus and a positioning-controlling method in which a rotary encoder (2) detects the Z phase before the subject (4) is return to the origin which is the position of the Z phase detected by the linear encoder (5). The driving mode of the servo motor (1) is switched from rectangular waveform pulse driving to sine waveform pulse driving upon the detection of the Z phase by the rotary encoder (2). The subject's moving direction for returning to the origin may be previously specified, and in which the detection of the ON state of the origin sensor (11), the detection of the Z phase by the rotary encoder (2), and the detection of the Z phase by the linear encoder (5) are done in this order, while the subject (4) is being moved in the above specified direction. Alternatively, the rotary encoder (2) may detect the CS phase instead of the Z phase.

摘要翻译： 提供了一种定位控制装置和定位控制方法，其中旋转编码器（2）在主体（4）返回到由线性编码器检测到的Z相位置的原点之前检测Z相位 （5）。 伺服电动机（1）的驱动模式由旋转编码器（2）检测Z相时从矩形波形脉冲驱动切换到正弦波形脉冲驱动。 可以预先指定被摄体返回原点的移动方向，并且其中检测原点传感器（11）的ON状态，通过旋转编码器（2）检测Z相，并且检测 通过线性编码器（5）的Z相以此顺序完成，而被摄体（4）在上述指定方向上移动。 或者，旋转编码器（2）可以检测CS相而不是Z相。

公开(公告)号：US07062334B2

公开(公告)日：2006-06-13

申请号：US10181198

申请日：2001-01-16

申请人： Yoichi Tanaka ,  Takahiro Kurokawa ,  Seiichi Matsuo

发明人： Yoichi Tanaka ,  Takahiro Kurokawa ,  Seiichi Matsuo

IPC分类号： G05B11/32

CPC分类号： G05B19/19 ,  B25J9/1651 ,  B25J9/1666 ,  G05B19/4061 ,  G05B19/416 ,  G05B2219/40293 ,  G05B2219/43056 ,  G05B2219/43093 ,  G05B2219/45029 ,  H05K13/08

摘要： There are provided a positioning control method and a positioning control device, which enables high speed positioning with low power consumption without repeating two or more acceleration and deceleration operations during travel from an original position to a target position. There is also provided an electronic component mounting apparatus, which enables high speed positioning with low power consumption and enables mounting of electronic components in a short period of time. When a movable body is moved from the original position to the target position, there is set an operational passing position for avoiding a passing avoidance region, and driving of a drive unit having a smaller travel distance from the original position to a coordinate of the operational passing position is started later than driving start timing of a drive unit having a longer travel distance, from the original position to another coordinate of the operational passing position, by a specified period of time.

摘要翻译： 提供了一种定位控制方法和定位控制装置，其能够在低功耗的情况下进行高速定位，而不会在从原始位置行进到目标位置期间重复进行两次以上的加速和减速操作。 还提供了一种电子部件安装装置，其能够以低功耗进行高速定位，并且能够在短时间内安装电子部件。 当可移动体从原始位置移动到目标位置时，设置用于避免通过避免区域的操作通过位置，并且驱动具有从原始位置到操作的坐标的较小行进距离的驱动单元 从具有较长行程距离的驱动单元的行驶开始时刻开始到通过位置，该行驶距离从原来位置到操作通过位置的另一个坐标一定时间。

公开(公告)号：US06943521B2

公开(公告)日：2005-09-13

申请号：US10381214

申请日：2001-10-11

申请人： Takahiro Kurokawa ,  Yoichi Tanaka ,  Seiichi Matsuo

发明人： Takahiro Kurokawa ,  Yoichi Tanaka ,  Seiichi Matsuo

IPC分类号： G05B19/414 ,  H02P5/00 ,  G05B11/32

CPC分类号： G05B19/4141 ,  G05B2219/31174 ,  G05B2219/31181 ,  H02P5/00

摘要： In a motor drive device having a plurality of driver units for driving motors and a command generator for giving a command to the driver units which are connected in serial communication, there is a communication section for setting up the communication formats corresponding to each of the driver units having different communication formats including data transmission speed from one another. Communication among the plurality of driver units with the respective communication formats and the command generator is carried out on a single serial bus.

摘要翻译： 在具有用于驱动电动机的多个驱动单元的电动机驱动装置和用于向串行通信连接的驱动单元发出命令的指令发生器的情况下，存在用于设定与各驱动器对应的通信格式的通信部 具有不同通信格式的单元，包括彼此的数据传输速度。 在单个串行总线上执行具有各种通信格式的多个驱动器单元和命令发生器之间的通信。

公开(公告)号：US06615110B2

公开(公告)日：2003-09-02

申请号：US10149400

申请日：2002-06-11

申请人： Seiichi Matsuo ,  Youichi Tanaka ,  Takahiro Kurokawa ,  Seishiro Yanachi

发明人： Seiichi Matsuo ,  Youichi Tanaka ,  Takahiro Kurokawa ,  Seishiro Yanachi

IPC分类号： G06F1900

CPC分类号： B25J9/1641 ,  G05B19/00 ,  G05B19/19 ,  G05B2219/39357 ,  G05B2219/40466

摘要： A controlling method and apparatus for positioning a robot that can output an optimal speed instruction for controlling residual vibration after completion of a moving operation, achieve reduction in tact time for the moving operation, and shorten the length of setting time. The method is a controlling method for positioning a robot (1) for performing a point-to-point moving operation comprising: performing a test operation to measure a frequency of a residual vibration that is stopped at a target position; measuring a magnitude of the residual vibration based on the frequency during each of different lengths of moving time for a predetermined moving distance to find a relationship between the length of moving time and the magnitude of the vibration; calculating a shortest moving time at which vibration magnitude is minimized; and performing the point-to-point operation for the calculated shortest moving time, thereby to position the robot (1) at the target position.

摘要翻译： 一种用于定位机器人的控制方法和装置，其可以在完成移动操作之后输出用于控制残余振动的最佳速度指令，从而实现了移动操作的节拍时间的减少，并缩短了设定时间。 该方法是用于定位用于执行点对点移动操作的机器人（1）的控制方法，包括：执行测试操作以测量在目标位置停止的残余振动的频率; 在预定移动距离的不同长度的移动时间期间，基于频率测量残余振动的大小，以找到移动时间长度与振动幅度之间的关系; 计算振动幅度最小的最短移动时间; 并对所计算的最短移动时间进行点对点操作，从而将机器人（1）定位在目标位置。

公开(公告)号：US06948232B1

公开(公告)日：2005-09-27

申请号：US10069988

申请日：2000-08-31

申请人： Takashi Yazawa ,  Hiroshi Uchiyama ,  Atsushi Tanabe ,  Yoichi Tanaka ,  Takahiro Kurokawa ,  Naoto Mimura ,  Nobuyuki Kakita ,  Osamu Okuda

发明人： Takashi Yazawa ,  Hiroshi Uchiyama ,  Atsushi Tanabe ,  Yoichi Tanaka ,  Takahiro Kurokawa ,  Naoto Mimura ,  Nobuyuki Kakita ,  Osamu Okuda

IPC分类号： H05K13/04 ,  H05K13/08 ,  B23P19/00

CPC分类号： H05K13/0452 ,  H05K13/041 ,  H05K13/0812 ,  Y10T29/49131 ,  Y10T29/53174 ,  Y10T29/53178

摘要： Disclosed are a component recognizing method and apparatus, and a component mounting method and apparatus, by which components with various heights held by a plurality of nozzles can be recognized continuously. The drive of a head is transmitted to nozzles, with surfaces to be recognized of components being controlled so as to be positioned in a recognizable range during respective recognizing operations of the components, and a continuous recognition is thereby made possible. The adjustment of heights of the surfaces to be recognized during the recognizing operations of the components is achieved by one drive unit and a plurality of drive transmitting units.

摘要翻译： 公开了能够连续识别由多个喷嘴保持的各种高度的部件的部件识别方法和装置以及部件安装方法和装置。 头部的驱动传递到喷嘴，其中被识别的部件的表面被控制以便在部件的相应识别操作期间被定位在可识别的范围内，从而使得可以进行连续的识别。 通过一个驱动单元和多个驱动传递单元来实现在部件的识别操作期间要识别的表面的高度的调节。

公开(公告)号：US08696953B2

公开(公告)日：2014-04-15

申请号：US13821723

申请日：2011-09-07

申请人： Hiroto Sumida ,  Takahiro Kurokawa ,  Hiroyuki Tsuji ,  Kazunori Ishikawa

发明人： Hiroto Sumida ,  Takahiro Kurokawa ,  Hiroyuki Tsuji ,  Kazunori Ishikawa

IPC分类号： D01D5/00

CPC分类号： B29D99/0078 ,  D01D5/0061 ,  D01D5/0069 ,  D01D13/02

摘要： A nanofiber manufacturing apparatus for fabricating nanofibers from a raw material liquid by electrostatic explosions includes a housing internally having an electrospinning space in which nanofibers are fabricated, and a support structure for supporting an electrospinning head including nozzles for ejecting the raw material liquid into the electrospinning space. The support structure is fittable to and removable from the housing and is enabled to self-stand in a state of having been removed from the housing.

摘要翻译： 用于通过静电爆炸从原料液体制造纳米纤维的纳米纤维制造装置包括内部具有制造纳米纤维的静电纺丝空间的壳体，以及用于支撑静电纺丝头的支撑结构，所述静电纺丝头包括用于将原料液喷射到静电纺丝空间 。 支撑结构可以安装到壳体上并且可从壳体移除，并且能够在已经从壳体移除的状态下自支撑。

公开(公告)号：US08425810B2

公开(公告)日：2013-04-23

申请号：US13146702

申请日：2010-01-19

申请人： Kazunori Ishikawa ,  Takahiro Kurokawa ,  Hiroto Sumida ,  Masahide Yokoyama

发明人： Kazunori Ishikawa ,  Takahiro Kurokawa ,  Hiroto Sumida ,  Masahide Yokoyama

IPC分类号： D04H1/72

CPC分类号： D01D5/18 ,  D01D5/0061 ,  D01D5/0069 ,  D04H1/4291 ,  D04H1/4382 ,  D04H1/728

摘要： A nanofiber production device produces nanofibers by stretching, in a space, a solution. The nanofiber production device includes: an effusing body which effuses the solution into the space by centrifugal force; a driving source which rotates the effusing body; a supplying electrode which is placed at a predetermined distance from the effusing body and supplies charge to the solution via the effusing body; a charging electrode to which a potential of reverse polarity to a polarity of the effusing body is applied, with the charging electrode being placed at a predetermined distance from the effusing body; and a charging power source which applies a predetermined voltage between the supplying electrode and the charging electrode.

摘要翻译： 纳米纤维生产设备通过在空间中拉伸溶液来生产纳米纤维。 纳米纤维生产装置包括：通过离心力将溶液喷射到空间中的流出体; 使排出体旋转的驱动源; 供给电极，其设置在与所述排出体相距预定距离处，并且经由所述排出体向所述溶液供给电荷; 充电电极，其中施加与所述汲取体的极性相反极性的电位，所述充电电极被放置在距所述汲取体的预定距离处; 以及在供电电极和充电电极之间施加预定电压的充电电源。

公开(公告)号：US20120098150A1

公开(公告)日：2012-04-26

申请号：US13379428

申请日：2010-06-21

申请人： Takahiro Kurokawa ,  Hiroto Sumida ,  Masahide Yokoyama ,  Kazunori Ishikawa

发明人： Takahiro Kurokawa ,  Hiroto Sumida ,  Masahide Yokoyama ,  Kazunori Ishikawa

IPC分类号： B29B9/06 ,  B82Y40/00

CPC分类号： D01D5/0069 ,  D01D5/003 ,  D04H1/728

摘要： In a nanofiber manufacturing apparatus (1) which produces nanofibers by electrically stretching a solution in space, a hollow supporting unit (32) which is rotated around an axial line AL by a motor (41) supports a cartridge (33) which supplies a solution (20) stored therein, a pressurizing member (38) is pressurized by air introduced through a rotary joint (43) so that the solution (20) flows into an interior space (34a) of an effusing body (34) which is rotated together with the supporting body (32), and the solution (20) is radially effused from effusing holes (34c) by the pressure of the air and centrifugal force due to the rotation of the effusing body (34).

摘要翻译： 在通过电解拉伸空间溶液制造纳米纤维的纳米纤维制造装置（1）中，通过马达（41）围绕轴线AL旋转的中空支撑单元（32）支撑提供溶液的盒（33） （20），通过旋转接头（43）引入的空气对加压构件（38）进行加压，使得溶液（20）流入一起旋转的排放体（34）的内部空间（34a） 与所述支撑体（32）接触，并且所述溶液（20）由于所述空气的压力和由于所述汲取体（34）的旋转引起的离心力而从排出孔（34c）径向地排出。

公开(公告)号：US20120091606A1

公开(公告)日：2012-04-19

申请号：US13337609

申请日：2011-12-27

申请人： Mitsuhiro TAKAHASHI ,  Mikio Takezawa ,  Yoshiaki Tominaga ,  Takahiro Kurokawa ,  Hiroto Sumida ,  Kazunori Ishikawa

发明人： Mitsuhiro TAKAHASHI ,  Mikio Takezawa ,  Yoshiaki Tominaga ,  Takahiro Kurokawa ,  Hiroto Sumida ,  Kazunori Ishikawa

IPC分类号： B29B9/12

CPC分类号： D01D5/0061 ,  D01D5/0069 ,  D01D5/0985 ,  D01D5/14

摘要： A method for manufacturing a fine polymer including: generating superheated steam by a superheated steam generating unit (101); adjusting the pressure of the generated superheated steam by a pressure adjusting unit (102); receiving a polymer by a reception unit (103); heating the received polymer to a predetermined temperature by a heating unit (104); discharging the heated polymer through a first discharge port (111); and discharging the superheated steam through a second discharge port (121) at the same time as the time when the heated polymer is discharged. Here, the second discharge port (121) surrounds the first discharge port (111), and the first discharge port (111) and the second discharge port (121) face the same direction.

摘要翻译： 一种制造精细聚合物的方法，包括：通过过热蒸汽发生单元（101）产生过热蒸汽; 通过压力调节单元（102）调节产生的过热蒸汽的压力; 由接收单元（103）接收聚合物; 通过加热单元（104）将接收到的聚合物加热到预定温度; 通过第一排出口（111）排出加热的聚合物; 并且在与被加热的聚合物排出的时间同时，通过第二排出口（121）排出过热蒸汽。 这里，第二排出口121包围第一排出口111，第一排出口111和第二排出口121朝向同一方向。

公开(公告)号：US20120025429A1

公开(公告)日：2012-02-02

申请号：US13260824

申请日：2010-10-27

申请人： Kazunori Ishikawa ,  Takahiro Kurokawa ,  Hiroto Sumida

发明人： Kazunori Ishikawa ,  Takahiro Kurokawa ,  Hiroto Sumida

IPC分类号： D01D5/12

CPC分类号： D04H1/728 ,  D01D5/0069 ,  D01D5/0092

摘要： Provided is a nanofiber manufacturing apparatus including an effusing body (115) having an effusing hole (118) which allows the solution (300) to effuse in a given direction, a charging electrode (128) which is conductive and is disposed at a given distance from the effusing body (115), a charging power supply (122) configured to apply a given voltage between the effusing body (115) and the charging electrode (128), and a determining unit (102) configured to determine a flight path of the solution (300) and the nanofibers such that a length of the flight path C is longer than a shortest path length B which is a length of a shortest imaginary path connecting an end opening (119) of the effusing hole (118) and an accumulation part A on which the nanofibers (301) are accumulated.

摘要翻译： 本发明提供一种纳米纤维制造装置，其具备：具有排出孔（118）的排出体（115），该排出孔允许溶液（300）沿给定方向喷射，充电电极（128）为导电性， 从所述流出体（115），配置成在所述汲取体（115）与所述充电电极（128）之间施加给定电压的充电电源（122），以及确定单元（102），其被配置为确定 所述溶液（300）和所述纳米纤维使得所述飞行路径C的长度长于作为连接所述排出孔（118）的端部开口（119）的最短假想路径的长度的最短路径长度B和 累积部分A，纳米纤维（301）在其上聚集。