公开(公告)号：US20170136623A1

公开(公告)日：2017-05-18

申请号：US15418194

申请日：2017-01-27

Applicant: CANON KABUSHIKI KAISHA

Inventor： Mahito Negishi

IPC: B25J9/16

CPC classification number: B25J9/163 ,  G05B2219/41177 ,  G05B2219/42124 ,  Y10S901/02 ,  Y10S901/28

Abstract: An evaluation value Ek on a trajectory error ek between an actual trajectory yk and a target trajectory x is calculated. In a case where the calculated evaluation value Ek is better than a best evaluation value Ebest, the best evaluation value Ebest is updated by the evaluation value Ek and is stored. A commanded trajectory uk in this situation is employed as a best commanded trajectory ubest and stored. In a case where the calculated evaluation value Ek is worse than the best evaluation value Ebest, a compensator that calculates a correction of the trajectory Δuk+1 is changed to another compensator and the correction of the trajectory Δuk+1 is calculated. A commanded trajectory in the next-time operation uk+1 is calculated from the correction of the trajectory Δuk+1 and the best commanded trajectory ubest.

公开(公告)号：US20150148956A1

公开(公告)日：2015-05-28

申请号：US14550632

申请日：2014-11-21

Applicant: CANON KABUSHIKI KAISHA

Inventor： Mahito Negishi

IPC: B25J9/16

CPC classification number: B25J9/163 ,  G05B2219/41177 ,  G05B2219/42124 ,  Y10S901/02 ,  Y10S901/28

Abstract: An evaluation value Ek on a trajectory error ek between an actual trajectory yk and a target trajectory x is calculated. In a case where the calculated evaluation value Ek is better than a best evaluation value Ebest, the best evaluation value Ebest is updated by the evaluation value Ek and is stored. A commanded trajectory uk in this situation is employed as a best commanded trajectory ubest and stored. In a case where the calculated evaluation value Ek is worse than the best evaluation value Ebest, a compensator that calculates a correction of the trajectory Δuk+1 is changed to another compensator and the correction of the trajectory Δuk+1 is calculated. A commanded trajectory in the next-time operation uk+1 is calculated from the correction of the trajectory Δuk+1 and the best commanded trajectory ubest.

Abstract translation: 计算实际轨迹yk与目标轨迹x之间的轨迹误差ek上的评价值Ek。 在计算出的评价值Ek优于最佳评价值Ebest的情况下，通过评价值Ek更新最佳评价值Ebest，并存储。 在这种情况下，一个命令轨迹uk被用作一个最好的命令轨迹ubest和存储。 在计算出的评价值Ek比最佳评价值Ebest差的情况下，将运算轨迹＆amp; uk + 1的校正的补偿器变更为另一个补偿器，计算轨迹＆Dgr uk + 1的校正 。 下一次操作中的命令轨迹uk + 1是从轨迹＆Dgr uk + 1和最佳指令轨迹ubest的校正计算的。

公开(公告)号：US5182506A

公开(公告)日：1993-01-26

申请号：US703741

申请日：1991-05-21

Applicant: Park Soon-Ho

Inventor： Park Soon-Ho

IPC: B25J9/10 ,  B25J13/00 ,  G05B19/35 ,  G05B19/414 ,  G05B21/02 ,  G05D3/12

CPC classification number: G05B19/4141 ,  G05B19/353 ,  G05B2219/34089 ,  G05B2219/41177 ,  G05B2219/42207 ,  G05B2219/42256

Abstract: A central processing unit (CPU) receives moving distance data from a main CPU to compute the objective position data corresponding to the position to which an object is to be moved. The CPU computes a first deviation value between the objectives position data and the moved distance data of an object to be controlled every sampling time, reads the actual position data and the moved distance data of an object to be controlled every sampling time, reads the actual position data of a motor and computes a second deviation value by subtracting the motor position data previous to a first sampling time from the actual position data of the motor. The CPU also computes a third deviation value by subtracting the motor position data previous to a second sampling time from the motor position data previous to the first sampling time, and subtracts or adds a fourth deviation value, calculated by subtracting the third deviation value from the second deviation value, from or to the motor position data previous to the first sampling time to control the position of the robot system.

Abstract translation: 中央处理单元（CPU）从主CPU接收移动距离数据，以计算对应于要移动对象的位置的目标位置数据。 CPU在每个采样时间计算目标位置数据和待控制对象的移动距离数据之间的第一偏差值，读取实际位置数据和每个采样时间要被控制的对象的移动距离数据，读取实际 通过从电动机的实际位置数据减去第一采样时间之前的电动机位置数据来计算第二偏差值。 CPU还通过从第一采样时间之前的电动机位置数据减去第二采样时间之前的电动机位置数据来计算第三偏差值，并且减去或增加通过从第一采样时间减去第三偏差值而计算出的第四偏差值 第二偏差值，从或先于第一采样时间的电动机位置数据，以控制机器人系统的位置。

公开(公告)号：US4873793A

公开(公告)日：1989-10-17

申请号：US92689

申请日：1987-09-03

Applicant: Hiroaki Asano ,  Toshio Tsujiuchi ,  Takao Yoneda ,  Nobuhiro Ishihara ,  Toshio Maruyama ,  Norio Ohta

Inventor： Hiroaki Asano ,  Toshio Tsujiuchi ,  Takao Yoneda ,  Nobuhiro Ishihara ,  Toshio Maruyama ,  Norio Ohta

IPC: G05B19/18 ,  G05B19/23

CPC classification number: G05B19/232 ,  G05B19/184 ,  G05B2219/41177 ,  G05B2219/41186 ,  G05B2219/50057 ,  G05B2219/50211

Abstract: A numerically controlled machine tool for machining a non-circular workpiece according to profile data. The servomotor drive unit of the machine tool includes a frequency voltage converter which outputs a velocity compensation signal proportional to the frequency of position command pulses in the servomotor drive units. A position error signal is modulated by the velocity compensation signal. The numerical controller of the machine tool can measure the position error and phase error, and can compensate for these errors. The numerical controller operates according to ideal profile data and measures the actual position change of a tool slide corresponding to the angle position change of a main spindle. Then, the numerical controller calculates the position error and phase error depending on the actual position change and ideal profile data, and produces execution profile data which are compensated for position error. During machining operation, the numerical controller offsets the rear out position of the execution profile data by the calculated phase error so as to eliminate the phase error.

公开(公告)号：US3906765A

公开(公告)日：1975-09-23

申请号：US52558474

申请日：1974-11-20

Applicant: BOEING CO

Inventor： FOSTER GENE B

IPC: B21D7/08 ,  B21D7/12 ,  G05B19/18 ,  G05B19/416 ,  B21D5/14

CPC classification number: B21D7/12 ,  B21D5/004 ,  B21D7/08 ,  G05B19/188 ,  G05B19/4163 ,  G05B2219/41177 ,  G05B2219/45143

Abstract: A piece of material (part) having a preformed cross-sectional configuration is moved through a pair of pinch rolls located in between right and left hand forming rolls. Each forming roll is position adjustable both laterally and separationwise with respect to the pinch rolls along two longitudinal axes. In addition, each forming roll is rotationally adjustable along two rotational axes. As the part moves through the machine, the right and left hand forming rolls are positioned in accordance with a numerical program. The positioning is such that the piece of material is uniplanar or multiplanar contoured in a desired manner. As the contoured part exits from the machine, it passes through a uniplanar or a multiplanar sensor, which senses the contour of the part, including any springback occurring subsequent to roll forming. The sensed information is used to adaptively modify the control signals controlling the position of the right and left hand forming rolls. The signal output(s) of the uniplanar or multiplanar sensor is (are) integrated to improve its (their) stability. The integrated signal(s) are used to develop correction signals (k) for each controllable longitudinal or rotational axis in accordance with the following algorithm

WHERE: K0 EQUALS THE PRECEDING CORRECTION FACTOR; Q0 EQUALS THE CONTOUR REFERENCE VALUE COMPUTED FROM PART GEOMETRY AND SUPPLIED BY THE NUMERICAL CONTROL SIGNAL SOURCE; AND, Q1 EQUALS THE CONTOUR MEASUREMENT SENSED BY THE SENSOR ALONG THE AXIS WHOSE CORRECTION FACTOR IS BEING COMPUTED. The axis control signals are multiplied by the thusly developed axis correction signals to provide corrected axis control signals which are utilized to control the movement of the forming rolls along their respective longitudinal and rotational axes.

Abstract translation: 具有预成型横截面构造的一块材料（部件）移动通过位于左右成型辊之间的一对夹送辊。 每个成型辊的位置可以相对于夹送辊沿着两个纵向轴向横向和间隔地调节。 此外，每个成型辊可沿着两个旋转轴线旋转地调节。 随着零件移动通过机器，左右成型辊根据数字程序进行定位。 定位是这样一种材料是以平面或多平面以期望的方式成型的。 当轮廓部分离开机器时，它通过单平面或多平面传感器，其感测部件的轮廓，包括在辊成型之后发生的任何回弹。 所感测的信息用于自适应地修改控制右手和左手成型辊的位置的控制信号。 单平面或多平面传感器的信号输出被集成以提高其（它们）的稳定性。 积分信号用于根据以下算法为每个可控纵轴或旋转轴产生校正信号（k）：k0 k = k0 + - 1 q1其中：K0等于前提校正因子; Q0等于数字控制信号源由部分几何计算并提供的轮廓参考值; 并且，Q1等于由计算校正因子的轴传感器感测到的轮廓测量。 轴控制信号乘以如此显影的轴校正信号，以提供校正的轴控制信号，其被用于控制成形辊沿其相应的纵向和旋转轴线的移动。

公开(公告)号：US3352136A

公开(公告)日：1967-11-14

申请号：US44154865

申请日：1965-03-22

Applicant: CONRAC CORP

Inventor： CLARKE KENNETH W

IPC: B21D7/12 ,  G05B19/18

CPC classification number: B21D7/12 ,  B21D5/004 ,  G05B19/188 ,  G05B2219/41177 ,  G05B2219/45143 ,  Y10S72/702

公开(公告)号：US3333445A

公开(公告)日：1967-08-01

申请号：US37733264

申请日：1964-06-23

Applicant: CASE INST OF TECHNOLOGY

Inventor： MERGLER HARRY W ,  ERIK TROSTMANN

IPC: B21D7/12 ,  G05B19/18

CPC classification number: G05B19/188 ,  B21D5/004 ,  B21D7/12 ,  G05B2219/41177 ,  G05B2219/45143 ,  Y10S72/702

公开(公告)号：US07215089B2

公开(公告)日：2007-05-08

申请号：US11043163

申请日：2005-01-27

Applicant: Yukio Toyozawa ,  Naoto Sonoda

Inventor： Yukio Toyozawa ,  Naoto Sonoda

IPC: H02P5/46

CPC classification number: G05B19/186 ,  G05B19/19 ,  G05B2219/41177 ,  G05B2219/41207 ,  G05B2219/42129 ,  G05B2219/45214 ,  G05B2219/45216

Abstract: A workpiece is rotated by a master motor and a tool is linearly moved by a slave motor to cut a thread in the workpiece. Position feedback of the master motor is multiplied by a coefficient K and the result used as the position command of the slave motor. Provision is made of an angle synchronization learning control unit for storing one pattern cycle's worth of the correction data of the threading and adding the same to the position deviation. This control unit stores one pattern cycle's worth of the correction data corresponding to the position feedback of the master motor. The position is converted to the correction data corresponding to the time at that time based on the stored correction data to find the correction data and this is added to the position deviation.

Abstract translation: 工件由主电机旋转，工具由从动电机线性移动，以切割工件中的螺纹。 将主电机的位置反馈乘以系数K，将其作为从动电机的位置指令。 提供了一种角度同步学习控制单元，用于存储一个模式周期的线程的校正数据并将其添加到位置偏差。 该控制单元存储对应于主电机的位置反馈的一个模式周期的校正数据。 基于所存储的校正数据，将位置转换为与当时的时间对应的校正数据，以找到校正数据，并将其添加到位置偏差。

公开(公告)号：US06859007B2

公开(公告)日：2005-02-22

申请号：US10758037

申请日：2004-01-16

Applicant: Yukio Toyozawa ,  Naoto Sonoda

Inventor： Yukio Toyozawa ,  Naoto Sonoda

IPC: B23Q15/00 ,  G05B19/19 ,  G05B19/404 ,  G05B19/4093 ,  G05D3/00 ,  G05D23/275

CPC classification number: G05B19/19 ,  G05B2219/41177 ,  G05B2219/41207 ,  G05B2219/41216 ,  G05B2219/42129

Abstract: Learning control is performed when carrying out processing by repeating instructions in a pattern cycle. Time/position converting means determines a positional deviation for a prescribed position with respect to a reference position, from the positional deviation determined by sampling, and the reference position output in synchronization with the drive of the servo motor. Corresponding correction data stored in the memory means is added to the positional deviation, and then the result is subjected to filtering processing to update the correction data corresponding to the position. Position/time converting means then determines correction data for the current sampling time, on the basis of the correction data corresponding to the position as stored in the memory means, and the detected reference position. This correction data is processed to compensate for dynamic properties, thereby deriving a correctional quantity, which is added to the positional deviation.

Abstract translation: 通过在模式周期中重复指令进行处理时，执行学习控制。 时间/位置转换装置根据由采样确定的位置偏差和与伺服电动机的驱动同步输出的参考位置，确定相对于参考位置的规定位置的位置偏差。 将存储在存储装置中的相应校正数据加到位置偏差上，然后对结果进行滤波处理，以更新对应于该位置的校正数据。 位置/时间转换装置然后基于对应于存储在存储装置中的位置的校正数据和检测到的参考位置来确定当前采样时间的校正数据。 处理该校正数据以补偿动态属性，由此导出校正量，其被添加到位置偏差。

公开(公告)号：US5807222A

公开(公告)日：1998-09-15

申请号：US530416

申请日：1995-09-19

Applicant: Mikio Totani

Inventor： Mikio Totani

IPC: B31B1/16 ,  B31B1/74 ,  B31B1/14 ,  B31B23/14

CPC classification number: B31B1/00 ,  B31B2201/145 ,  B31B2219/95 ,  G05B2219/41177 ,  G05B2219/45153 ,  Y10T83/0495 ,  Y10T83/533 ,  Y10T83/543

Abstract: According to the invention, there is provided a bag making machine including feeding means for feeding two or more superposed layers of plastic film longitudinally thereof and intermittently for a length, the layers of plastic film having void area means such as notch hole means, and a cutter for cutting the layers of plastic film crossly thereof along a line predetermined with respect to the void area means whenever feeding the layers of plastic film are temporarily stopped, to thereby successively make plastic bags. A detector is disposed near the cutter for recognizing the contour of the void area means as an image data immediately before or when the layers of plastic film are temporarily stopped. A computer is connected to the detector for calculating the difference between the position of the predetermined line of the layers and the position of the cutting edge means of the cutter in accordance with the image data of the detector. Drive means is connected to the computer for moving the cutter parallel to the layers feeding direction in response to the output signal from the computer to thereby compensate and eliminate the difference between the position of the predetermined line of the layers and the position of the cutting edge means of the cutter.

Abstract translation: 根据本发明，提供了一种制袋机，包括：进给装置，用于将两个或多个塑料薄膜的纵向重叠层间隔一段长度地供给，具有空隙区域装置的缺口孔装置的塑料薄膜层和 切割器用于在暂时停止塑料膜的进料时，沿相对于空隙区域预定的线交叉地切割塑料膜层，从而连续地制造塑料袋。 检测器设置在切割器附近，用于在垂直于塑料膜层暂时停止之前或之后识别空隙区域装置的轮廓作为图像数据。 计算机连接到检测器，用于根据检测器的图像数据计算层的预定线的位置与切割器的切割边缘装置的位置之间的差异。 驱动装置连接到计算机，用于响应于来自计算机的输出信号而平行于层馈送方向移动切割器，从而补偿并消除了层的预定线的位置与切削刃的位置之间的差异 刀具的手段。