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    • 61. 发明授权
    • Positioning control device for an electric motor
    • 电动机定位控制装置
    • US4651073A
    • 1987-03-17
    • US774396
    • 1985-09-10
    • Wataru ShimizuYasuhiro Yuasa
    • Wataru ShimizuYasuhiro Yuasa
    • H02P3/04G05B19/35G05B19/416G05D3/00G05D23/275
    • G05B19/358G05B19/416G05B2219/34387G05B2219/37313G05B2219/37486G05B2219/41105G05B2219/41279G05B2219/41288G05B2219/43019G05B2219/43115G05B2219/50187
    • A rotational position, velocity and acceleration of an electrical motor are detected and an amount of overrun produced when the motor has stopped is estimated from the detected velocity and acceleration, and at least one of motor position detection data and a positioning target value is changed in accordance with the estimated amount of overrun. The position detection data and the positioning target value after the change are compared with each other and a command for stopping the motor is generated in accordance with a result of this comparison. A brake is applied to the motor in advance by the amount of the estimated overrun so that the motor is stopped at a desired target position after making overrun. Further, velocity setting signals are generated in accordance with desired acceleration and deceleration characteristics and the velocity control of the motor is effected in an open loop in response to the velocity setting signals. By the stop and velocity controls of an open loop system, positioning control of the motor of the open loop system can be accurately performed.
    • 检测电动机的旋转位置,速度和加速度,并且根据检测到的速度和加速度来估计电动机停止时产生的超限量,并且电动机位置检测数据和定位目标值中的至少一个被改变 按照估计的超限量。 将位置检测数据和变更后的定位目标值进行比较,根据该比较的结果生成停止电动机的指令。 预先向电动机施加制动以推定超限量,使得在超速运行之后电动机停止在期望的目标位置。 此外,根据期望的加速和减速特性产生速度设定信号,并且马达的速度控制响应于速度设定信号在开环中进行。 通过开环系统的停止和速度控制,可以准确地执行开环系统的电动机的定位控制。
    • 63. 发明授权
    • Tube bending machine and carriage therefor
    • 弯管机及其托架
    • US3974676A
    • 1976-08-17
    • US567288
    • 1975-04-11
    • Homer L. Eaton
    • Homer L. Eaton
    • B21D7/12G05B19/23G06F15/46F16H21/16
    • G05B19/232B21D5/004B21D7/12G05B2219/41279G05B2219/42104G05B2219/45143Y10T74/18072
    • A tube bending machine includes a carriage mounted rotatable chuck for grasping and positioning a length of tube with respect to the bending head of the machine. Motion of the carriage along the bed of the machine toward the bending head and rotation of the chuck relative to the carriage are both powered by a single remotely mounted motor driving an endless chain. The chain engages a drive sprocket rotatable on the carriage and gear connected to rotate the chuck. A chuck brake and a carriage distance brake are selectively energized so that when chuck rotation is prevented, the sprocket is locked to the chain and the carriage will be driven by the chain, and when carriage travel is prevented, the chuck is rotated by the chain driven sprocket. The remote motor is connected in a primary servo system to provide a closed loop drive of either the chuck rotation or the carriage travel. A closed loop brake control system is provided for each of the chuck rotation and carriage travel. The position error signal of the motor servo system is compared with a signal representing actual velocity of the chuck or carriage and a second error signal proportional to the difference between the position error and the actual velocity is employed to proportionally energize the corresponding brake.
    • 管弯曲机包括一个滑架安装的旋转卡盘,用于相对于机器的弯头掌握和定位一段管。 滑架沿着机器床朝向弯头的运动以及卡盘相对于托架的旋转都由单个远程安装的马达驱动环形链来驱动。 链条与驱动链轮相啮合,驱动链轮可在滑架和可转动的齿轮上连接以旋转卡盘。 卡盘制动器和滑架距离制动器被选择性地通电,使得当卡盘旋转被阻止时,链轮被锁定到链条上,滑架将被链条驱动,并且当滑架行进被阻止时,卡盘由链条旋转 从动链轮。 远程电机连接在主伺服系统中,以提供卡盘旋转或滑架行程的闭环驱动。 为卡盘旋转和滑架行程中的每一个提供闭环制动控制系统。 将电动机伺服系统的位置误差信号与表示卡盘或滑架的实际速度的信号进行比较,并且采用与位置误差和实际速度之间的差成比例的第二误差信号来对相应的制动器成比例地通电。
    • 65. 发明公开
    • Evaluation of dynamic brake torque in a robot
    • 在einem机器人的Auswertung des dynamischen Bremsdrehmoments
    • EP2993000A1
    • 2016-03-09
    • EP14183490.3
    • 2014-09-04
    • ABB Technology Ltd
    • Moberg, Stig
    • B25J9/16G01L5/28G05B19/406
    • B25J9/1674G01L3/245G01L5/28G05B19/406G05B2219/41279
    • The invention concerns a method, device, and computer program product for evaluating a dynamic brake torque of a robot joint as well as to a robot arrangement comprising such a device. The device (32) comprises a brake torque evaluating unit (36) configured to provide a robot controller (34) with a speed command (vr); upon a motor (22) of the robot reaching a stable speed level set by the speed command, ensure that no integrating action is performed by the controller; activate a brake (20) of the motor and determine if the dynamic brake torque (Tbrake) of the brake fulfils a dynamic brake torque requirement using the speed command (vr), a proportional control factor (Kv) and the speed (v) of the motor after brake activation.
    • 本发明涉及用于评估机器人关节的动态制动扭矩以及包括这种装置的机器人装置的方法,装置和计算机程序产品。 设备(32)包括制动转矩评估单元(36),其被配置为向机器人控制器(34)提供速度指令(vr); 在机器人的电机(22)达到由速度指令设定的稳定速度水平时,确保控制器不进行积分动作; 启动电动机的制动器(20),并确定制动器的动态制动转矩(Tbrake)是否使用速度指令(vr),比例控制系数(Kv)和速度(v)达到动态制动转矩要求 电机后制动器启动。
    • 68. 发明公开
    • DELAYED SAFETY BRAKING APPARATUS FOR A SERVOMOTOR CONTROL SYSTEM
    • 用于伺服电机控制系统的延迟安全制动装置
    • EP0809822A1
    • 1997-12-03
    • EP95933773.0
    • 1995-09-11
    • Tetra Laval Holdings & Finance SA
    • EK, AndersHEGARDT, Johan
    • H02H7G05B19G05F1G06F15H02P3
    • G05B19/406G05B2219/41279G05B2219/50188G05B2219/50192G05B2219/50198
    • A servomotor control system (100) assists in overcoming the problem of servomotor shut down during failure of a programmable control system (110) or of a servo amplifier (170). The servomotor control system (100) includes the programmable control system (110) which has one or more output signals (180) connected to the servo amplifier (170). A safety switch (140) is connected for detection by the programmable control system (110) where the programmable control system (110) controls the servo amplifier (170) to brake the servomotor (190) upon detection of actuation of the safety switch (140). A delayed braking circuit (200) is disposed between the servo amplifier (170) and the servomotor (190). The delayed braking circuit (200) is also connected to detect the actuation of the safety switch (140), and acts to brake the servomotor (190) after a predetermined time period, from the detection of such actuation, has lapsed.
    • 伺服电机控制系统(100)有助于克服可编程控制系统(110)或伺服放大器(170)故障期间伺服电机关闭的问题。 伺服电机控制系统(100)包括具有连接到伺服放大器(170)的一个或多个输出信号(180)的可编程控制系统(110)。 安全开关(140)被连接用于可编程控制系统(110)的检测,其中可编程控制系统(110)在检测到安全开关(140)的致动时控制伺服放大器(170)以制动伺服电动机 )。 在伺服放大器(170)与伺服电动机(190)之间配置延迟制动电路(200)。 延时制动回路(200)还连接成检测安全开关(140)的动作,并且在检测到这种致动之后的预定时间段过去之后用于制动伺服马达(190)。
    • 70. 发明公开
    • ROBOT CONTROL SYSTEM
    • STEUERUNGSSYSTEMFÜRROBOTER。
    • EP0072866A1
    • 1983-03-02
    • EP82900260.9
    • 1982-01-18
    • FANUC LTD.
    • INABA, HajimuSAKAKIBARA, ShinsukeNIHEI, Ryo
    • G05D3/12
    • G05B19/238G05B2219/41279G05B2219/41309G05B2219/42308G05B2219/43194G05B2219/45083
    • A robot control system for positioning the movable unit of a robot at an instructed position by driving a fluid driving mechanism (1) comprising: a fluid drive control mechanism having a deceleration valve (41) for decelerating the speed of the fluid driving mechanism by reducing the quantity of exhaust gas, and normal and reverse direction solenoid valves (21) and (31) for driving the fluid driving mechanism (1) in normal and reverse directions respectively, detecting means (101, 105) for detecting the position of the movable unit, and a control unit (108) for calculating the difference between the instructed position (α c ) and the present position (a,) of the detected movable unit, decelerating the fluid driving mechanism (1) by operating the deceleration valve (41) when the difference becomes equal to a first preset value n i , operating both the normal and reverse direction solenoid valves (21, 31) for a prescribed period of time when the difference becomes equal to a second preset value n 2 ( 1 ) and operating a brake (6) to stop the fluid driving mechanism (1).
    • 一种用于通过驱动流体驱动机构(1)将机器人的可移动单元定位在指示位置的机器人控制系统,包括:具有减速阀(41)的流体驱动控制机构,该减速阀用于通过减少流体驱动机构的速度来减速 排气量,以及用于分别在正反方向驱动流体驱动机构(1)的排气量和正向和反向电磁阀(21)和(31),检测装置(101,105),用于检测可移动的位置 单元,以及用于计算指示位置(αc)与检测到的可移动单元的当前位置(α)之间的差异的控制单元(108),通过操作减速阀(41)使流体驱动机构(1)减速, 当差值等于第一预设值n1时,当正常和反向电磁阀(21,31)的差变为等于第二个时,操作规定的时间段 预设值n2(