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21. 发明公开

EP3109718A1 LINEAR ACTUATOR AND METHOD FOR CONTROLLING THE SAME 有权转让
标题翻译： LINEARER AKTUATOR UND DESSEN VERFAHREN ZUR STEUERUNG
公开(公告)号：EP3109718A1
公开(公告)日：2016-12-28
申请号：EP16175608.5
申请日：2016-06-22
申请人： LG Innotek Co., Ltd.
发明人： Lee, Jin Seob
IPC分类号： G05B19/404
CPC分类号： H02P8/36 , G05B19/404 , G05B2219/37094 , G05B2219/37124 , G05B2219/37277 , G05B2219/41099 , G05B2219/41206 , G05B2219/50043 , H02K7/06
摘要： The present invention provides a linear actuator including a motor; a linear driving unit coupled to the motor and including a magnet; a sensor unit configured to sense a change amount of magnetic flux depending on a position of the magnet and convert the sensed change amount of magnetic flux into measured voltage data; a data unit in which reference voltage data corresponding to the change amount of magnetic flux depending on a position of the magnet is stored; and a judging unit configured to compare the reference voltage data with the measured voltage data at the corresponding position of the magnet. The present invention is advantageous in that, by compensation-controlling a position of the motor, feedback control may be performed in the step motor to secure performance of the product to which the present invention is applied
摘要翻译：本发明提供了一种包括马达的线性致动器; 耦合到所述电动机并且包括磁体的线性驱动单元; 传感器单元，被配置为根据磁体的位置感测磁通量的变化量，并将检测到的磁通变化量转换成测量电压数据; 数据单元，其中存储与取决于磁体位置的磁通量的变化量对应的参考电压数据; 以及判断单元，被配置为将所述参考电压数据与所述磁体的相应位置处的所测量的电压数据进行比较。本发明的优点在于，通过补偿控制电动机的位置，可以在步进电动机中进行反馈控制，以确保应用本发明的产品的性能

22. 发明授权

EP1288756B1 Verfahren und System zum Erzeugen von Referenzdaten für eine mehrachsig bewegbare Maschine 有权
标题翻译：方法和系统，用于产生基准数据的多轴向移动机
公开(公告)号：EP1288756B1
公开(公告)日：2007-01-03
申请号：EP02013514.1
申请日：2002-06-17
申请人： Dürr Systems GmbH
发明人： Hezel, Thomas , Raila, Gunther , Meissner, Alexander Dr.
IPC分类号： G05B19/416 , B25J9/16
CPC分类号： B25J9/1692 , G05B19/4015 , G05B2219/37094 , G05B2219/39027 , G05B2219/50042

23. 发明公开

EP1403556A1 Positioning controller 有权
标题翻译： Positionssteuerung
公开(公告)号：EP1403556A1
公开(公告)日：2004-03-31
申请号：EP03017408.0
申请日：2003-07-31
申请人： Keihin Corporation
发明人： Abe, Hidefumi, Keihin Corp. Tochigi Res. & Dev. Cr , Sugawara, Takaharu, Keihin Corp. Tochigi R&D Cente , Yamada, Morihiro, Keihin Corp. Tochigi R&D Cente
IPC分类号： F16H25/20
CPC分类号： G05B19/4015 , F16H25/2015 , G05B2219/37094 , G05B2219/37105 , G05B2219/37184 , G05B2219/41321 , G05B2219/43008 , H02P6/16
摘要： A positioning controller includes a gear mechanism having a rotating gear for positioning a movable member, a brushless motor to drive the rotating gear, and a motor control circuit to rotate a rotor of the brushless motor by sequentially supplying a driving pulse to a plurality of fixed coils of the brushless motor. The motor control circuit includes a present stage number detector to detect a present stage number of the movable member in accordance with an output signal from a magneto-sensitive device of the brushless motor, and a driving pulse generator to generate a driving pulse to rotate the rotor until a target stage number converted from a specified position of the movable member is equal to the present stage number. The controller in an apparatus including a motor driving unit allows positioning of the movable member without using a component for the detection of the position of the movable member.
摘要翻译：控制器具有无刷电动机驱动旋转齿轮。马达控制电路通过驱动脉冲旋转马达的转子。检测器根据来自电动机的磁感应装置的输出信号检测可移动单元的当前级数。发电机（25）产生驱动脉冲以使转子旋转，直到目标级数从指定位置转换为当前数。

24. 发明公开

EP1395887A2 TIERED CONTROL ARCHITECTURE FOR MATERIAL HANDLING 审中-公开
标题翻译： LAYERS LIKE控制体系结构处理材料，
公开(公告)号：EP1395887A2
公开(公告)日：2004-03-10
申请号：EP02743159.2
申请日：2002-06-06
申请人： SIEMENS AKTIENGESELLSCHAFT
发明人： ZEITLER, David, W. , BLACK, Andrew, R. , MIIN-ARNG KO, Clyde
IPC分类号： G05B19/418
CPC分类号： B65G47/844 , B65G47/52 , B65G2207/36 , G05B19/4182 , G05B2219/33342 , G05B2219/36371 , G05B2219/37094 , G05B2219/37555 , G05B2219/37572 , G05B2219/39102 , G05B2219/45054 , Y02P90/083
摘要： A control architecture for material handling includes multiple tiers of controllers, such as three. The lowest-level controllers interact directly with sensors and actuators used in the material handling system, such as photo-eyes and motors used with conveyors. The lowest-level controllers receive higher level commands from one or more mid-level controllers. The mid-level controllers, in turn, receive still higher level commands and information from at least one upper level controller. Each mid and low level controller is designed to include sufficient intelligence to deal with many of the signals and messages it receives without having to forward those signals or messages to the next higher level controller and await instructions from that higher level controller. The system thus distributes intelligence amongst the controllers. The system is well-adapted for application to conveyor control systems.

25. 发明公开

US20230405639A1 WASTE SORTING ROBOT WITH GRIPPER THAT RELEASES WASTE OBJECT AT A THROW POSITION 审中-公开
公开(公告)号：US20230405639A1
公开(公告)日：2023-12-21
申请号：US18250963
申请日：2021-10-26
申请人： ZENROBOTICS OY
发明人： Harri Holopainen , Tuomas Lukka
IPC分类号： B07C5/36 , B07C5/06 , B25J15/06 , B25J9/00 , B25J9/02 , B25J9/16 , B65G47/91 , G06N20/00
CPC分类号： B07C5/36 , B07C5/065 , B25J15/0616 , B25J9/0093 , B25J9/026 , B25J9/1679 , B25J9/1694 , B65G47/917 , G06N20/00 , B07C2501/0054 , B07C2501/0063 , B65G2203/0225 , B65G2203/042 , G05B2219/37094 , G05B2219/37134 , G05B2219/37431 , G05B2219/40078 , G05B2219/40586 , G05B2219/40607
摘要： It A waste sorting robot (100) comprises a manipulator (101) moveable within a working area (102). A gripper (103) is connected to the manipulator (101) and arranged to selectively grip a waste object (104, 104a, 104b, 104c) in the working area (102). A controller (108) is in communication with a sensor (107) and is configured to receive detected object parameters, and determine a throw trajectory (109) of the gripped waste object (104) towards a target position (106) based on the detected object parameters of the gripped waste object (104). The controller (108) is configured to send control instructions to the gripper (103) and/or manipulator (101) so that the gripper (103) and/or manipulator (101) accelerates the gripped waste object (104) and releases the waste object (104) at a throw position with a throw velocity and throw angle towards the target position (106) so that the waste object (104) is thrown along the determined throw trajectory (109). A related method of controlling a waste robot is also disclosed.

26. 发明授权

US09912271B2 Linear actuator and method for controlling the same 有权
公开(公告)号：US09912271B2
公开(公告)日：2018-03-06
申请号：US15189324
申请日：2016-06-22
申请人： LG Innotek Co., Ltd.
发明人： Jin Seob Lee
IPC分类号： G05B19/404 , H02P8/36 , H02K7/06
CPC分类号： H02P8/36 , G05B19/404 , G05B2219/37094 , G05B2219/37124 , G05B2219/37277 , G05B2219/41099 , G05B2219/41206 , G05B2219/50043 , H02K7/06
摘要： The present invention provides a linear actuator including a motor; a linear driving unit coupled to the motor and including a magnet; a sensor unit configured to sense a change amount of magnetic flux depending on a position of the magnet and convert the sensed change amount of magnetic flux into measured voltage data; a data unit in which reference voltage data corresponding to the change amount of magnetic flux depending on a position of the magnet is stored; and a judging unit configured to compare the reference voltage data with the measured voltage data at the corresponding position of the magnet. The present invention is advantageous in that, by compensation-controlling a position of the motor, feedback control may be performed in the step motor to secure performance of the product to which the present invention is applied.

27. 发明授权

US09647587B2 System and method for determining the position of a moving part driven by an electric motor 有权
公开(公告)号：US09647587B2
公开(公告)日：2017-05-09
申请号：US14729646
申请日：2015-06-03
申请人： Magna Closures S.p.A.
发明人： Marco Marlia , Marco Bartalucci
IPC分类号： H02P3/00 , H02P7/18 , G05B19/4061 , H02P7/03
CPC分类号： H02P7/18 , G05B19/4061 , G05B2219/37094 , G05B2219/49159 , H02P7/04
摘要： A system for determining the position of a moving part driven by an electric motor: a single position sensor, coupled to the electric motor, incrementally detects an amount of movement thereof; a direction switching arrangement controls a direction of movement of the electric motor; and a control unit, coupled to the single position sensor and the direction switching arrangement, at each incremental amount of movement detected by the single position sensor, determines a current position of the moving part based on a previous position thereof and the current direction of movement controlled by the direction switching arrangement.

28. 发明申请

US20120262156A1 Machine With Relative Rotatable Members 有权
标题翻译：机器与相对可旋转的成员
公开(公告)号：US20120262156A1
公开(公告)日：2012-10-18
申请号：US13444499
申请日：2012-04-11
申请人： Gernot Nitz , Stefan Roth , Dietmar Tscharnuter
发明人： Gernot Nitz , Stefan Roth , Dietmar Tscharnuter
IPC分类号： G01B7/14
CPC分类号： G05B19/4015 , B25J9/1692 , B25J17/025 , G01D5/145 , G01D5/2492 , G05B2219/37094
摘要： The invention relates to a machine (R) comprising a first member (1c), a rotatable second member (1c) rotatable relative to the first member (1c) relative to an axis (A), a control device (S), a drive connected with the control device (S) for moving the two members (1c, 1d) relative to one another, and a first Hall sensor (21) connected with the control device (S) and arranged on the first member (1c). On the second member (1d), a first, second and third magnet (31-33) are arranged next to each other on a common circular trajectory (14) such, that during a rotation of the two members (1c, 1d) relative to one another, the first Hall sensor (21) is located at a specific position (P) in the detection zone of the magnets (31-33). The second magnet (32) which is developed as the center magnet is facing towards the first Hall sensor (21) with another magnetic pole than the first and third magnet (31, 33).
摘要翻译：本发明涉及一种机器（R），包括第一构件（1c），相对于轴线（A）可相对于第一构件（1c）旋转的可旋转第二构件（1c），控制装置（S），驱动与用于使两个构件（1c，1d）相对移动的控制装置（S）连接，以及与控制装置（S）连接并布置在第一构件（1c）上的第一霍尔传感器（21）。在第二构件（1d）上，第一，第二和第三磁体（31-33）在共同的圆形轨迹（14）上彼此相邻布置，使得在两个构件（1c，1d）相对于第一霍尔传感器（21）位于磁体（31-33）的检测区域中的特定位置（P）处。作为中心磁体显影的第二磁体（32）面向具有比第一和第三磁体（31,33）的另一个磁极的第一霍尔传感器（21）。

29. 发明授权

US06879119B2 Positioning controller 失效
标题翻译：定位控制器
公开(公告)号：US06879119B2
公开(公告)日：2005-04-12
申请号：US10628408
申请日：2003-07-29
申请人： Hidefumi Abe , Takaharu Sugawara , Morihiro Yamada
发明人： Hidefumi Abe , Takaharu Sugawara , Morihiro Yamada
IPC分类号： G05D3/12 , F16H25/20 , G05B19/401 , H02P6/16 , H02P1/18
CPC分类号： G05B19/4015 , F16H25/2015 , G05B2219/37094 , G05B2219/37105 , G05B2219/37184 , G05B2219/41321 , G05B2219/43008 , H02P6/16
摘要： A positioning controller includes a gear mechanism having a rotating gear for positioning a movable member, a brushless motor to drive the rotating gear, and a motor control circuit to rotate a rotor of the brushless motor by sequentially supplying a driving pulse to a plurality of fixed coils of the brushless motor. The motor control circuit includes a present stage number detector to detect a present stage number of the movable member in accordance with an output signal from a magneto-sensitive device of the brushless motor, and a driving pulse generator to generate a driving pulse to rotate the rotor until a target stage number converted from a specified position of the movable member is equal to the present stage number. The controller in an apparatus including a motor driving unit allows positioning of the movable member without using a component for the detection of the position of the movable member.
摘要翻译：一种定位控制器，包括：具有用于定位可动件的旋转齿轮的齿轮机构，用于驱动旋转齿轮的无刷电动机;以及马达控制电路，通过向多个固定的驱动脉冲依次提供驱动脉冲来旋转无刷电动机的转子无刷电机的线圈。电动机控制电路包括根据来自无刷电动机的磁敏装置的输出信号检测可移动部件的当前级数的当前级数检测器和驱动脉冲发生器，以产生驱动脉冲以使直到从可动构件的指定位置转换的目标级数等于当前级数。在包括马达驱动单元的设备中的控制器允许可移动部件的定位，而不使用用于检测可移动部件的位置的部件。

30. 发明申请

US20040119428A1 Positioning apparatus using brushless motor 失效
标题翻译：无刷电机定位装置
公开(公告)号：US20040119428A1
公开(公告)日：2004-06-24
申请号：US10628455
申请日：2003-07-29
申请人： KEIHIN CORPORATION
发明人： Hidefumi Abe , Takaharu Sugawara , Morihiro Yamada
IPC分类号： H02K023/00 , H02P007/06 , H02P005/06
CPC分类号： G05B19/4015 , G05B2219/37094 , G05B2219/37105 , G05B2219/37184 , G05B2219/41321 , G05B2219/43008 , H02P6/17
摘要： A positioning apparatus according to the present invention includes a brushless motor, a positioning mechanism to position a movable member within a predetermined movable range in accordance with rotation of the brushless motor, and a motor control circuit to rotate a rotor of the brushless motor by sequentially supplying a driving pulse to a plurality of fixed coils of the brushless motor. The motor control circuit includes, a driving pulse generator to generate the driving pulse, a present stage number detector to detect a present stage number of the rotor in accordance with an output signal from a magneto-sensitive device of the brushless motor, an initializer to move the movable member to at least a forward traveling limit or a backward traveling limit within the movable range so as to set the rotor present stage number as a forward traveling limit stage number or a backward traveling stage number when the movable member reaches the forward traveling limit or the backward traveling limit, and a speed reducer to reduce a rotating speed of the brushless motor by reducing power of the driving pulse when the rotor present stage number is equal to at least the forward traveling limit stage number or the backward traveling stage number.
摘要翻译：根据本发明的定位装置包括无刷电动机，定位机构，用于根据无刷电动机的旋转将可动构件定位在预定的可移动范围内;以及电动机控制电路，用于顺序旋转无刷电动机的转子向无刷电动机的多个固定线圈提供驱动脉冲。马达控制电路包括用于产生驱动脉冲的驱动脉冲发生器，根据来自无刷电动机的磁敏装置的输出信号检测转子的当前级数的当前级数检测器，初始化器将可动构件移动到可移动范围内的至少前进行驶限制或后退行驶限制，以便当可动构件到达向前行进时，将转子存在级数设定为前进行驶极限级数或后退行驶级数极限或后退行驶限制，以及减速器，其通过在转子存在级数至少等于前进行驶极限级数或后退行驶级数时减小驱动脉冲的功率来减小无刷电动机的转速。

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