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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。
    • 66. 发明专利
    • Electromagnetic brake controller of robot and method of determining abnormality of electromagnetic brake of robot
    • 机器人电磁制动器控制器及机器人电磁制动异常的方法
    • JP2009196031A
    • 2009-09-03
    • JP2008040020
    • 2008-02-21
    • Denso Wave Inc株式会社デンソーウェーブ
    • WATANABE KAZUNORIINAGAKI TAKAMITSU
    • B25J19/06F16D65/14F16D65/28
    • B25J19/0004B25J9/1674G05B2219/41279
    • PROBLEM TO BE SOLVED: To provide an electromagnetic brake controller of a robot, determining abnormality of an electromagnetic brake for braking a motor installed on the robot while suppressing the careless operation of the robot. SOLUTION: The state of electrification of the exciting coils B1a-B4a of non-excitation operating electromagnetic brakes B1-B4 is switched by an opening/closing operation in two steps between a main contact 8a and sub contacts 9a-12a. A relay control circuit 3 first determines the abnormality of a main relay 8 when the robot is started. Only when the main relay 8 is not abnormal, a first abnormality determination control is performed to determine the abnormality of the sub relays 9-12. When the abnormality of the sub relays 9-12 is determined, the main contact 8a is closed for a time required for confirming the state of the electrification of the sub contacts 9a-12a. COPYRIGHT: (C)2009,JPO&INPIT
    • 要解决的问题:为了提供机器人的电磁制动控制器,确定用于制动安装在机器人上的电动机的电磁制动器的异常,同时抑制机器人的粗心操作。 解决方案:通过在主触点8a和次触点9a-12a之间的两个步骤中的打开/关闭操作来切换非激励工作电磁制动器B1-B4的励磁线圈B1a-B4a的通电状态。 继电器控制电路3首先确定机器人起动时的主继电器8的异常。 只有当主继电器8不是异常时,才执行第一异常判定控制来确定副继电器9-12的异常。 当确定副继电器9-12的异常时,主接点8a关闭确认副接点9a-12a的通电状态所需的时间。 版权所有(C)2009,JPO&INPIT
    • 67. 发明专利
    • Feeding device
    • 送料装置
    • JP2012093822A
    • 2012-05-17
    • JP2010238313
    • 2010-10-25
    • Mori Seiki Co Ltd株式会社森精機製作所
    • FUJISHIMA MAKOTOYABUTA MASAMI
    • G05D3/12B23Q5/34B23Q15/00G05B19/19
    • G05B19/402G05B2219/41279G05B2219/42231Y10T74/1418Y10T74/1447Y10T74/1488Y10T74/18704Y10T409/306776
    • PROBLEM TO BE SOLVED: To provide a feeding device capable of reducing electric power consumption in a servo locking time.SOLUTION: A feeding device 1 includes a ball screw 21, a nut 23, a drive motor 24, a brake mechanism 25, and a control device 50, and moves a moving body 13 in a vertical direction. When recognizing a move command of rapid feed relative to the moving body 13, in work of moving the moving body 13 upward from a current position, the feeding device 1 moves the moving body 13 over a target movement position relative to the move command of rapid feed and thereafter reverses the moving direction to move the moving body 13 to the target movement position and stop the moving body 13 at the target movement position, and on the other hand, in work of the moving body 13 downward from a current position, the feeding device 1 moves the moving body 13 directly to a target movement position and stops the moving body 13 at the target movement position, and thereafter maintains the position of the moving body 13 at a stop position by the drive motor 24 and brakes the movement of the moving body 13 by the brake mechanism 25.
    • 要解决的问题:提供一种能够在伺服锁定时间内减少电力消耗的进给装置。

      解决方案:进给装置1包括滚珠丝杠21,螺母23,驱动马达24,制动机构25和控制装置50,并且使移动体13沿垂直方向移动。 当识别到相对于移动体13的快速进给的移动命令时,在从当前位置向上移动移动体13的工作中,进给装置1使移动体13相对于快速移动指令移动目标移动位置 进给,然后反转移动方向,将移动体13移动到目标移动位置,并将移动体13停止在目标移动位置,另一方面,在从当前位置向下移动的主体13的工作中, 进给装置1将移动体13直接移动到目标移动位置,并将移动体13停止在目标移动位置,然后通过驱动马达24将移动体13的位置维持在停止位置,并且使运动体13的运动 移动体13由制动机构25构成。版权所有(C)2012,JPO&INPIT

    • 70. 发明专利
    • ブレーキの異常を検出する機能を備えたモータ制御システムおよびブレーキ異常検出方法
    • 电机控制系统和具有检测制动的异常的功能的制动异常检测方法
    • JP2016226150A
    • 2016-12-28
    • JP2015110114
    • 2015-05-29
    • ファナック株式会社
    • 猪飼 聡史相澤 智之
    • G05B19/18H02P29/00
    • B23Q5/52B23Q5/326G05B19/182H02P3/26G05B2219/34429G05B2219/41279G05B2219/45145
    • 【課題】サーボモータまたはこれにより駆動される軸を制動するメカブレーキの異常を早期に検出できるようにする。 【解決手段】本発明のモータ制御システムは、メカブレーキ13を作動させる信号を受信する信号受信部27と、位置検出器19を用いて、前記信号を受信してからサーボモータ12の回転が止まるまでのサーボモータ12の回転位置の履歴を取得する位置監視部28と、前記信号を受信してからサーボモータ12の回転が止まるまでのサーボモータ12の回転変位量を前記履歴から算出する変位量算出部29と、算出された回転変位量が所定の第一閾値を超えている場合にメカブレーキ13に異常が在ると判断する異常判断部30と、を備える。 【選択図】図1
    • A至能够检测机械制动器的异常用于制动其通过这个或伺服电机在早期阶段驱动的轴。 本发明的电动机控制系统包括信号接收单元27,用于接收信号以激活所述机械制动器13,利用位置检测器19,所述伺服马达的从信号的接收12停止旋转 位置监视单元28,用于获取所述伺服电机12的位移量的旋转位置的历史,用于计算从所述信号的接收的伺服电动机12的旋转位移量,直至所述伺服马达的从历史12停止旋转 包括计算单元29,计算出的旋转位移量是异常判断的异常判断部30是在机械制动器13当它超过预定的第一阈值,一个。 点域1