Patents by Inventor Yoshiharu Nishida

Yoshiharu Nishida has filed for patents to protect the following inventions. This listing includes patent applications that are pending as well as patents that have already been granted by the United States Patent and Trademark Office (USPTO).

  • Publication number: 20210268657
    Abstract: A robot control device according to the present invention is configured to: detect a collision of a robot with an object at a predetermined collision detection sensitivity; perform control of operating the robot, and stopping the robot when a detection part detects the collision; and decrease, when a predetermined circumstance causing the robot to have a low temperature is satisfied, the collision detection sensitivity compared to when the predetermined circumstance is unsatisfied.
    Type: Application
    Filed: July 30, 2019
    Publication date: September 2, 2021
    Applicant: KABUSHIKI KAISHA KOBE SEIKO SHO (KOBE STEEL, LTD.)
    Inventors: Mami YOMODA, Yoshiharu NISHIDA, Naoki KIDA, Atsushi FUKUNAGA, Kenichiro KANAO
  • Patent number: 11065704
    Abstract: An arc-tracking welding method according to the present invention is an arc-tracking welding method in a consumable-electrode-type welding apparatus provided with a weaving function for swinging a torch in the welding direction, wherein a welding current and a welding voltage to be supplied to a consumable electrode include high-frequency components. A change in resistance value resulting from a fluctuation in electrode height is detected from the welding current and the welding voltage during welding. Then, a shift of a weld line is detected from information about the detected resistance value and both end positions of a weaving amplitude.
    Type: Grant
    Filed: March 10, 2017
    Date of Patent: July 20, 2021
    Assignee: Kobe Steel, Ltd.
    Inventors: Yoshiharu Nishida, Tsutomu One, Toshihiko Nishimura
  • Publication number: 20210216048
    Abstract: A vibration suppression device that suppresses vibration of an operation unit in a mechanical system having a natural vibration mode including the operation unit, an actuator unit that operates the operation unit, and an elastic body that couples the operation unit and the actuator unit, the vibration suppression device including a generation means for generating a drive signal for driving the actuator unit, an estimation means for estimating a measurement amount related to the mechanical system, a correction means for correcting the drive signal generated by the generation means on the basis of the measurement amount estimated by the estimation means, and a change means for changing a gain used by the estimation means so that an influence of an increase in a modeling error becomes small in a period in which the modeling error of the mechanical system increases.
    Type: Application
    Filed: August 19, 2019
    Publication date: July 15, 2021
    Applicant: KABUSHIKI KAISHA KOBE SEIKO SHO (KOBE STEEL, LTD.)
    Inventors: Yoshiharu NISHIDA, Mami YOMODA, Naoki KIDA
  • Publication number: 20200198041
    Abstract: An arc-tracking welding method according to the present invention is an arc-tracking welding method in a consumable-electrode-type welding apparatus provided with a weaving function for swinging a torch in the welding direction, wherein a welding current and a welding voltage to be supplied to a consumable electrode include high-frequency components. A change in resistance value resulting from a fluctuation in electrode height is detected from the welding current and the welding voltage during welding. Then, a shift of a weld line is detected from information about the detected resistance value and both end positions of a weaving amplitude.
    Type: Application
    Filed: March 10, 2017
    Publication date: June 25, 2020
    Applicant: KABUSHIKI KAISHA KOBE SEIKO SHO (KOBE STEEL, LTD.)
    Inventors: Yoshiharu NISHIDA, Tsutomu ONE, Toshihiko NISHIMURA
  • Patent number: 10520396
    Abstract: A tire uniformity testing apparatus (1) measures uniformity of a tire (T) by measuring a load generated on the tire (T) pressed against a rotating rotary drum (2). A load model used to control a pressing position of the rotary drum (2) and express a relation between the pressing position of the tire (T) against the rotary drum (2) and a tire load generated in the tire (T) is configured to successively measure the tire load, while changing the pressing position of the tire (T) against the rotary drum (2), and to estimate the tire load using the measured value of the measured tire load.
    Type: Grant
    Filed: September 29, 2015
    Date of Patent: December 31, 2019
    Assignee: Kobe Steel, Ltd.
    Inventors: Toru Eguchi, Yoshiharu Nishida, Yoshiaki Matsubara, Yasuhiro Matsushita
  • Patent number: 10495118
    Abstract: Provided is a hydraulic drive device, wherein the hydraulic drive device is provided with: a cylinder (101); a rod (103); a piston (102); a hydraulic pump (107); a tank (113); a valve (106) that can be switched between a positive state of connecting the hydraulic pump (107) and a head chamber (101h) and connecting a rod chamber (101r) and the tank (113), and a negative state of connecting the hydraulic pump (107) and the rod chamber (101r) and connecting the head chamber (101h) and the tank (113); and a confluence channel (114) at which, when the valve (106) is in the positive state, at least a portion of hydraulic oil going from the rod chamber (101r) to the tank (113) is merged into hydraulic oil going from the hydraulic pump (107) to the head chamber (101h).
    Type: Grant
    Filed: May 30, 2016
    Date of Patent: December 3, 2019
    Assignee: Kobe Steel, Ltd.
    Inventors: Toru Eguchi, Yoshiharu Nishida, Naofumi Kanei, Hideto Fujiwara
  • Patent number: 10473556
    Abstract: In a tire uniformity testing apparatus which measures uniformity of a tire by measuring a load applied to the tire pressed against a rotary drum, a load estimation model is generated which is used to control a pressing position of the rotary drum, and generates a load estimation model indicating a relation between the pressing position of the tire with respect to the rotary drum and the load applied to the tire. The load estimation model is generated by: holding the tire in which uniformity has already been measured for each characteristic value; acquiring a nominal model depending on the characteristic value of the tire; and generating based on the acquired nominal model.
    Type: Grant
    Filed: September 29, 2015
    Date of Patent: November 12, 2019
    Assignee: Kobe Steel, Ltd.
    Inventors: Toru Eguchi, Yoshiharu Nishida, Yoshiaki Matsubara, Yasuhiro Matsushita
  • Publication number: 20190283167
    Abstract: In a method for detecting a deviation in arc-tracking welding, a deviation between a welding line and an actual welding position is detected in arc-tracking welding for performing welding tracking the welding line while performing a weaving operation of swinging a welding torch with respect to a welding direction. The method includes fitting a waveform expressed by a function repeated periodically in a period equal to a weaving period to a waveform of a welding current or a welding voltage and detecting a deviation in arc-tracking welding based on a fitted waveform.
    Type: Application
    Filed: October 20, 2017
    Publication date: September 19, 2019
    Applicant: KABUSHIKI KAISHA KOBE SEIKO SHO (KOBE STEEL, LTD.)
    Inventors: Tsutomu ONE, Yoshiharu NISHIDA, Atsushi FUKUNAGA
  • Publication number: 20190270158
    Abstract: An arc welding display device is included in a welding apparatus having a weaving function of swinging a torch with respect to a welding direction. The arc welding display device displays, on a screen, at least one of a welding current and a welding voltage during the arc welding with a range sectioned by each fixed period including at least one weaving period.
    Type: Application
    Filed: November 6, 2017
    Publication date: September 5, 2019
    Applicant: KABUSHIKI KAISHA KOBE SEIKO SHO (KOBE STEEL, LTD.)
    Inventors: Tsutomu ONE, Yoshiharu NISHIDA, Atsushi FUKUNAGA
  • Publication number: 20180202467
    Abstract: Provided is a hydraulic drive device, wherein the hydraulic drive device is provided with: a cylinder (101); a rod (103); a piston (102); a hydraulic pump (107); a tank (113); a valve (106) that can be switched between a positive state of connecting the hydraulic pump (107) and a head chamber (101h) and connecting a rod chamber (101r) and the tank (113), and a negative state of connecting the hydraulic pump (107) and the rod chamber (101r) and connecting the head chamber (101h) and the tank (113); and a confluence channel (114) at which, when the valve (106) is in the positive state, at least a portion of hydraulic oil going from the rod chamber (101r) to the tank (113) is merged into hydraulic oil going from the hydraulic pump (107) to the head chamber (101h).
    Type: Application
    Filed: May 30, 2016
    Publication date: July 19, 2018
    Applicant: Kabushiki Kaisha Kobe Seiko Sho (Kobe Steel, Ltd.)
    Inventors: Toru EGUCHI, Yoshiharu NISHIDA, Naofumi KANEI, Hideto FUJIWARA
  • Patent number: 10007237
    Abstract: Provided is a control device (1) for controlling a control target that comprises an inverse response system (2) having inverse response characteristics, i.e., in which the initial response rocks in the inverse direction from the input change direction. The control device (1) comprises an inverse response compensation system (5) that compensates for the inverse response characteristics in the control target. This inverse response compensation system (5) is configured to calculate a comparison value for the output of the control target and the output of a control target from which a portion or all of the unstable zeros have been removed and feed the calculated comparison value back to the input side of the control target.
    Type: Grant
    Filed: October 15, 2013
    Date of Patent: June 26, 2018
    Assignee: Kobe Steel, Ltd.
    Inventor: Yoshiharu Nishida
  • Patent number: 9874865
    Abstract: Provided are a control method and a control device that can make the range of periodic activity (amplitude of reciprocal movement) of an object of control, such as an industrial robot, the same as a case in which the reduction device has no backlash or the same as the amplitude of a position instruction signal. A control device (3) that carries out position control for an arm (5), which carries out periodic movement, while compensating for backlash in the arm (5) is provided with a control unit (15) that adds to a position instruction signal, which gives instructions for the position of the arm (5), a backlash quantity signal after the backlash quantity signal has been shifted so as to be delayed by a delay time, generates a final position instruction signal, and carries out position control of the arm (5) on the basis of the final position instruction signal that has been generated, said backlash quantity signal compensating for backlash.
    Type: Grant
    Filed: August 2, 2012
    Date of Patent: January 23, 2018
    Assignee: Kobe Steel, Ltd.
    Inventors: Takashi Wada, Yoshiharu Nishida, Shuichi Inada, Yoshihide Inoue
  • Patent number: 9798297
    Abstract: A control device (1) for controlling a control target comprising an astatic system (2) that has dead time is provided with: a dead time compensation system (5) that compensates for dead time at the control target based on the dynamic characteristics of the control target; and an integration error compensation system (6) that compensates for integration errors originating in the dead time compensation system (5). The integration error compensation system (6) comprises: an ideal response unit (7) in which the dynamic characteristics of the control target while in a state in which interference is not input are used as a model; and a correction unit (8) that is configured to correct a comparative value for the output of the ideal response unit (7) and the output of the control target and subsequently input the result to the control target.
    Type: Grant
    Filed: October 15, 2013
    Date of Patent: October 24, 2017
    Assignee: Kobe Steel, Ltd.
    Inventor: Yoshiharu Nishida
  • Publication number: 20170299471
    Abstract: In a tire uniformity testing apparatus which measures uniformity of a tire by measuring a load applied to the tire pressed against a rotary drum, a load estimation model is generated which is used to control a pressing position of the rotary drum, and generates a load estimation model indicating a relation between the pressing position of the tire with respect to the rotary drum and the load applied to the tire. The load estimation model is generated by: holding the tire in which uniformity has already been measured for each characteristic value; acquiring a nominal model depending on the characteristic value of the tire; and generating based on the acquired nominal model.
    Type: Application
    Filed: September 29, 2015
    Publication date: October 19, 2017
    Applicant: KABUSHIKI KAISHA KOBE SEIKO SHO (KOBE STEEL, LTD.)
    Inventors: Toru EGUCHI, Yoshiharu NISHIDA, Yoshiaki MATSUBARA, Yasuhiro MATSUSHITA
  • Publication number: 20170284900
    Abstract: A tire uniformity testing apparatus (1) measures uniformity of a tire (T) by measuring a load generated on the tire (T) pressed against a rotating rotary drum (2). A load model used to control a pressing position of the rotary drum (2) and express a relation between the pressing position of the tire (T) against the rotary drum (2) and a tire load generated in the tire (T) is configured to successively measure the tire load, while changing the pressing position of the tire (T) against the rotary drum (2), and to estimate the tire load using the measured value of the measured tire load.
    Type: Application
    Filed: September 29, 2015
    Publication date: October 5, 2017
    Applicant: KABUSHIKI KAISHA KOBE SEIKO SHO (KOBE STEEL, LTD.)
    Inventors: Toru EGUCHI, Yoshiharu NISHIDA, Yoshiaki MATSUBARA, Yasuhiro MATSUSHITA
  • Patent number: 9597800
    Abstract: This control device (10) for compensating for the elastic deformation of an articulated robot is configured from a joint angle command value calculation unit (100), an axial force torque calculation unit (200), a first dynamic characteristic computing unit (300), a feedback control unit (500), and a motor angle command value calculation unit (600). The first dynamic characteristic computing unit (300) is configured from an interpolation unit configured from an N-ary curve interpolation, and a filter unit configured from an M-ary filter, with N+M being at least 4.
    Type: Grant
    Filed: February 14, 2014
    Date of Patent: March 21, 2017
    Assignee: Kobe Steel, Ltd.
    Inventors: Yoshiharu Nishida, Takashi Wada, Yoshihide Inoue, Shuichi Inada
  • Patent number: 9505074
    Abstract: A weaving control device of a multi-joint robot, which achieves high-precision weaving, and suppresses occurrence of weaving movement error stemming from the movement of another joint axis and the dynamic characteristics of the motor driving the joint axis. The weaving control device contains: a signal computation unit that computes the target position signal for each axis; a filter computation unit that computes a target command signal resulting from low-pass filter processing of the target position signal; and a motor control unit that drives each axis with the target command signal as an input. The frequency characteristics of the gain of the motor control unit are configured in an approximately flat manner, and the dynamic characteristics from the target position to the motor output angle are similar to the filter. A weaving signal correction unit computes a target position signal having a corrected gain on the basis of filter characteristics.
    Type: Grant
    Filed: October 15, 2013
    Date of Patent: November 29, 2016
    Assignee: Kobe Steel, Ltd.
    Inventors: Takashi Wada, Yoshiharu Nishida, Yoshihide Inoue, Shuichi Inada
  • Patent number: 9505131
    Abstract: In an elastic-deformation-compensation control device (10), a first dynamic characteristic calculation unit (300) performs filtering processing with respect to a motor-angle command value (?mc) outputted from a motor-angle-command-value calculation unit (600), and outputs a processed motor-angle target value (?md). A second dynamic characteristic calculation unit (400) is provided with a high-frequency cutoff characteristic having a cutoff frequency which is lower than that of the first dynamic characteristic calculation unit (300), performs filtering processing with respect to the output from an axial force torque calculation unit (200), and outputs a processed axial force torque compensation value (fd).
    Type: Grant
    Filed: May 30, 2013
    Date of Patent: November 29, 2016
    Assignee: Kobe Steel, Ltd.
    Inventors: Yoshiharu Nishida, Takashi Wada, Yoshihide Inoue, Shuichi Inada
  • Patent number: 9254569
    Abstract: In a trajectory control device (10) for an articulated robot, a first dynamic characteristic calculation unit (300) is provided with a high-frequency cutoff characteristic having a cutoff frequency which is lower than the natural oscillation frequency of the robot, performs filtering processing with respect to a joint-angle command value (?c), and outputs a processed joint-angle target value (?d). A second dynamic characteristic calculation unit (400) is provided with a high-frequency cutoff characteristic having a cutoff frequency which is lower than that of the first dynamic characteristic calculation unit (300), performs filtering processing with respect to the output from a coupling-torque compensation command value calculation unit (200), and outputs a processed coupling-torque compensation value (cd).
    Type: Grant
    Filed: May 30, 2013
    Date of Patent: February 9, 2016
    Assignee: Kobe Steel, Ltd.
    Inventors: Yoshiharu Nishida, Takashi Wada, Yoshihide Inoue, Shuichi Inada
  • Publication number: 20150367511
    Abstract: This control device (10) for compensating for the elastic deformation of an articulated robot is configured from a joint angle command value calculation unit (100), an axial force torque calculation unit (200), a first dynamic characteristic computing unit (300), a feedback control unit (500), and a motor angle command value calculation unit (600). The first dynamic characteristic computing unit (300) is configured from an interpolation unit configured from an N-ary curve interpolation, and a filter unit configured from an M-ary filter, with N+M being at least 4.
    Type: Application
    Filed: February 14, 2014
    Publication date: December 24, 2015
    Applicant: Kabushiki Kaisha Kobe Seiko Sho (Kobe Steel, Ltd.)
    Inventors: Yoshiharu NISHIDA, Takashi WADA, Yoshihide INOUE, Shuichi INADA