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1. 发明授权

US4639653A Method and apparatus for performing work in a three dimensional space 失效
标题翻译：在三维空间中进行工作的方法和装置
公开(公告)号：US4639653A
公开(公告)日：1987-01-27
申请号：US723552
申请日：1985-04-15
申请人： Robert L. Anderson , James A. Pilarski , Jerry A. Klintz
发明人： Robert L. Anderson , James A. Pilarski , Jerry A. Klintz
IPC分类号： G05B19/25 , G05B19/414 , G05B11/28
CPC分类号： G05B19/4141 , G05B19/253 , G05B2219/33204 , G05B2219/33337 , G05B2219/34367 , G05B2219/34466 , G05B2219/35438 , G05B2219/37103 , G05B2219/37313 , G05B2219/41089 , G05B2219/41285 , G05B2219/41358 , G05B2219/42231 , G05B2219/42237 , G05B2219/42326 , G05B2219/43158 , G05B2219/49289 , G05B2219/50048 , G05B2219/50198 , Y10T409/300896
摘要： Method and apparatus for moving a workpiece and/or a tool to various locations in a three-dimensional space to perform operations on the workpiece wherein a micro-computer numeric control system is used to provide a multi-axis motion control system using DC electric servo motors, each of which responds to its own control system to operate mechanisms which cooperate to perform the desired operations on the workpiece.
摘要翻译：用于将工件和/或工具移动到三维空间中的各个位置以对工件执行操作的方法和装置，其中使用微计算机数字控制系统来提供使用DC电伺服的多轴运动控制系统电动机，其中的每一个响应于其自己的控制系统来操作协调以在工件上执行所需操作的机构。

2. 发明授权

US5448144A Method and apparatus for controlling a robot 失效
标题翻译：用于控制机器人的方法和装置
公开(公告)号：US5448144A
公开(公告)日：1995-09-05
申请号：US84270
申请日：1993-07-07
申请人： Shuichi Tounai , Masanori Nishi , Kunihiro Okamura
发明人： Shuichi Tounai , Masanori Nishi , Kunihiro Okamura
IPC分类号： B25J13/00 , B25J9/06 , B25J9/16 , B25J9/18 , G05B19/18 , G05B19/19 , G05D3/12
CPC分类号： B25J9/1641 , G05B2219/39179 , G05B2219/42231 , G05B2219/45083 , G05B2219/49289
摘要： A method for controlling a robot that comprises shafts having one degree of freedom or a plurality of degrees of freedom, and where a dynamic load is applied to at least one of the above shafts, the shafts being driven by a servo motor via a speed reducer, includes the steps of stopping the robot at a point, thereafter moving the shaft to which the load is applied in a load acting direction and thereafter stopping the shaft.The efficiency (normal efficiency) from the servo motor to the arm (shaft) forms an inverse number relative to the efficiency (reverse efficiency) from the arm to the servo motor. A condition of transmitting the load from the arm is intentionally made and the load is made to establish equilibrium with the torque generated by the servo motor, thus reducing the consumption of electricity and the generation of heat.
摘要翻译： PCT No.PCT / JP92 / 01512 Sec。 371日期：1993年7月7日 102（e）日期1993年7月7日PCT 1991年11月19日PCT PCT。出版物WO93 / 09920 日期：1993年5月27日。一种用于控制机器人的方法，所述机器人包括具有一个自由度或多个自由度的轴，并且其中至少一个所述轴施加动态载荷，所述轴由通过减速器的伺服电动机包括在一点停止机器人的步骤，然后在负载作用方向上移动施加负载的轴，然后停止轴。从伺服电机到臂（轴）的效率（正常效率）相对于从臂到伺服电动机的效率（反向效率）形成倒数。有意地从臂传送负载的情况，并且负载与伺服电机产生的转矩建立平衡，从而减少电力消耗和产生热量。

3. 发明申请

WO1993009920A1 ROBOT CONTROL METHOD AND APPARATUS 审中-公开
标题翻译：机器人控制方法和装置
公开(公告)号：WO1993009920A1
公开(公告)日：1993-05-27
申请号：PCT/JP1992001512
申请日：1992-11-19
申请人： KABUSHIKI KAISHA YASKAWA DENKI , TOUNAI, Shuichi , NISHI, Masanori , OKAMURA, Kunihiro
发明人： KABUSHIKI KAISHA YASKAWA DENKI
IPC分类号： B25J13/00
CPC分类号： B25J9/1641 , G05B2219/39179 , G05B2219/42231 , G05B2219/45083 , G05B2219/49289
摘要： A method of controlling a robot having shafts of one or more degrees of freedom, wherein at least one of these shafts, on which a dynamic load works, is driven by servomotor via a speed reducer. When the robot is stopped, the shaft on which a dynamic load works is moved in the direction in which the load works, and then stopped. This invention is based on the fact that the transmission efficiency (positive efficiency) of the speed reducer from the servomotor to an arm (shaft) is the reciprocal of the transmission efficiency (inverse efficiency) of the speed reducer from the arm to the servomotor. The condition of transmission of a load from an arm to the servomotor is generated forcibly, and the load is balanced with the torque generated by the servomotor, whereby the consumption of power and heat dissipation are reduced. Consequently, a load on the servomotor during the stoppage of the arm decreases, and power consumption becomes smaller, heat dissipation also decreasing. The reduction of the capacity of the servomotor also becomes possible.
摘要翻译：一种控制具有一个或多个自由度的轴的机器人的方法，其中动态负载工作的这些轴中的至少一个由伺服电动机通过减速器驱动。当机器人停止时，动态负载工作的轴沿负载工作方向移动，然后停止。本发明是基于以下事实：减速器从伺服电动机到臂（轴）的传动效率（正效率）是减速器从臂向伺服电动机的传动效率（反效率）的倒数。强制地产生从臂向伺服电动机传递负载的状态，并且负载与由伺服电动机产生的转矩平衡，从而减少功率消耗和散热。因此，在臂停止期间伺服电动机上的负载减小，功耗变小，散热也降低。伺服电动机的容量的降低也变得可能。

4. 发明申请

WO1986006183A1 METHOD AND APPARATUS FOR PERFORMING WORK IN A THREE DIMENSIONAL SPACE 审中-公开
标题翻译：用于在三维空间中执行工作的方法和装置
公开(公告)号：WO1986006183A1
公开(公告)日：1986-10-23
申请号：PCT/US1986000770
申请日：1986-04-14
申请人： APPLIED MICROBOTICS CORPORATION
发明人： APPLIED MICROBOTICS CORPORATION , ANDERSON, Robert, L. , PILARSKI, James, A. , KLINTZ, Jerry, A.
IPC分类号： G05B11/28
CPC分类号： G05B19/4141 , G05B19/253 , G05B2219/33204 , G05B2219/33337 , G05B2219/34367 , G05B2219/34466 , G05B2219/35438 , G05B2219/37103 , G05B2219/37313 , G05B2219/41089 , G05B2219/41285 , G05B2219/41358 , G05B2219/42231 , G05B2219/42237 , G05B2219/42326 , G05B2219/43158 , G05B2219/49289 , G05B2219/50048 , G05B2219/50198 , Y10T409/300896
摘要： Method and apparatus (18), (20), (24), (30) for moving a workpiece and/or a tool to various locations in a three-dimensional space to perform operations on the workpiece wherein a micro-computer numeric control system (76) is used to provide a multi-axis motion control system using DC electric servo motors (20), (40), (48), each of which responds to its own control system to operate mechanisms (42), (44) which cooperate to perform the desired operations on the workpiece.

5. 发明公开

EP0573655A1 ROBOT CONTROL METHOD 失效
标题翻译： VERFAHREN UNDGERÄTZUM STEUERN EINES ROBOTERS。
公开(公告)号：EP0573655A1
公开(公告)日：1993-12-15
申请号：EP92923985.3
申请日：1992-11-19
申请人： KABUSHIKI KAISHA YASKAWA DENKI
发明人： TOUNAI, Shuichi, c/o K. K. Yaskawa Denki , NISHI, Masanori, c/o K.K. Yaskawa Denki , OKAMURA, Kunihiro, c/o K.K. Yaskawa Denki
IPC分类号： B25J13/00 , B25J9/16
CPC分类号： B25J9/1641 , G05B2219/39179 , G05B2219/42231 , G05B2219/45083 , G05B2219/49289
摘要： Method for controlling a robot according to this invention lies in that, in controlling a robot that comprises shafts having one degree of freedom or a plurality of degrees of freedom, and where a dynamic load is applied to at least one of the above shafts, the shafts being driven by a servo motor via a speed reducer, the improvement is characterized in that the shaft to which the load is applied is moved in a load acting direction and thereafter is stopped.
This invention is enabled by the discovery that the efficiency (normal efficiency) from the servo motor to the arm (shaft) forms an almost the same value relative to the efficiency (reverse efficiency) from the arm to the servo motor. A condition of transmitting the load from the arm is intentionally made and the load is made to establish equilibrium with the torque generated by the servo motor, thus reducing the consumption of electricity and the generation of heat.
摘要翻译：根据本发明的用于控制机器人的方法在于，在控制包括具有一个自由度或多个自由度的轴的机器人中，并且对上述轴中的至少一个施加动态载荷时，轴由伺服电动机通过减速器驱动，其特征在于，施加负载的轴在负载作用方向上移动，然后停止。通过发现从伺服电动机到臂（轴）的效率（正常效率）相对于从臂到伺服电动机的效率（反向效率）形成几乎相同的值可以实现本发明。有意地从臂传送负载的条件，并且使负载与伺服电动机产生的转矩建立平衡，从而减少电力消耗和产生热量。

6. 发明公开

EP0219547A4 METHOD AND APPARATUS FOR PERFORMING WORK IN A THREE DIMENSIONAL SPACE. 失效
标题翻译：方法和装置在三维空间中进行工作。
公开(公告)号：EP0219547A4
公开(公告)日：1989-09-11
申请号：EP86903727
申请日：1986-04-14
申请人： APPLIED MICROBOTICS CORP
发明人： ANDERSON ROBERT L , PILARSKI JAMES A , KLINTZ JERRY A
IPC分类号： G05B19/25 , G05B19/414
CPC分类号： G05B19/4141 , G05B19/253 , G05B2219/33204 , G05B2219/33337 , G05B2219/34367 , G05B2219/34466 , G05B2219/35438 , G05B2219/37103 , G05B2219/37313 , G05B2219/41089 , G05B2219/41285 , G05B2219/41358 , G05B2219/42231 , G05B2219/42237 , G05B2219/42326 , G05B2219/43158 , G05B2219/49289 , G05B2219/50048 , G05B2219/50198 , Y10T409/300896
摘要： Method and apparatus (18), (20), (24), (30) for moving a workpiece and/or a tool to various locations in a three-dimensional space to perform operations on the workpiece wherein a micro-computer numeric control system (76) is used to provide a multi-axis motion control system using DC electric servo motors (20), (40), (48), each of which responds to its own control system to operate mechanisms (42), (44) which cooperate to perform the desired operations on the workpiece.

7. 发明专利

JPS58192735A Clutch/brake unit and indexing device having control system 失效
标题翻译：离合器/制动单元和具有控制系统的引导装置
公开(公告)号：JPS58192735A
公开(公告)日：1983-11-10
申请号：JP6686583
申请日：1983-04-15
申请人： Sommer Co
发明人： GOODON MOORISU SAMAA
IPC分类号： B23Q16/02 , F16D67/04 , G05B19/23 , G05B19/416 , G05D3/00
CPC分类号： G05B19/416 , G05B19/238 , G05B2219/34215 , G05B2219/41259 , G05B2219/41266 , G05B2219/43008 , G05B2219/43115 , G05B2219/49169 , G05B2219/49289 , G05B2219/50047

8. 发明授权

EP0573655B1 ROBOT CONTROL METHOD 失效
标题翻译：一种用于控制机器人
公开(公告)号：EP0573655B1
公开(公告)日：1997-01-15
申请号：EP92923985.3
申请日：1992-11-19
申请人： KABUSHIKI KAISHA YASKAWA DENKI
发明人： TOUNAI, Shuichi, c/o K. K. Yaskawa Denki , NISHI, Masanori, c/o K.K. Yaskawa Denki , OKAMURA, Kunihiro, c/o K.K. Yaskawa Denki
IPC分类号： B25J13/00 , B25J9/16
CPC分类号： B25J9/1641 , G05B2219/39179 , G05B2219/42231 , G05B2219/45083 , G05B2219/49289
摘要： A method of controlling a robot having shafts of one or more degrees of freedom, wherein at least one of these shafts, on which a dynamic load works, is driven by servomotor via a speed reducer. When the robot is stopped, the shaft on which a dynamic load works is moved in the direction in which the load works, and then stopped. This invention is based on the fact that the transmission efficiency (positive efficiency) of the speed reducer from the servomotor to an arm (shaft) is the reciprocal of the transmission efficiency (inverse efficiency) of the speed reducer from the arm to the servomotor. The condition of transmission of a load from an arm to the servomotor is generated forcibly, and the load is balanced with the torque generated by the servomotor, whereby the consumption of power and heat dissipation are reduced. Consequently, a load on the servomotor during the stoppage of the arm decreases, and power consumption becomes smaller, heat dissipation also decreasing. The reduction of the capacity of the servomotor also becomes possible.

9. 发明公开

EP0573655A4 ROBOT CONTROL METHOD AND APPARATUS 失效
标题翻译：机器人控制方法和装置
公开(公告)号：EP0573655A4
公开(公告)日：1994-06-15
申请号：EP92923985
申请日：1992-11-19
申请人： YASKAWA DENKI SEISAKUSHO KK
发明人： TOUNAI SHUICHI , NISHI MASANORI , OKAMURA KUNIHIRO
IPC分类号： B25J13/00 , B25J9/06 , B25J9/16 , B25J9/18 , G05B19/18 , G05B19/19 , G05D3/12
CPC分类号： B25J9/1641 , G05B2219/39179 , G05B2219/42231 , G05B2219/45083 , G05B2219/49289
摘要： A method of controlling a robot having shafts of one or more degrees of freedom, wherein at least one of these shafts, on which a dynamic load works, is driven by servomotor via a speed reducer. When the robot is stopped, the shaft on which a dynamic load works is moved in the direction in which the load works, and then stopped. This invention is based on the fact that the transmission efficiency (positive efficiency) of the speed reducer from the servomotor to an arm (shaft) is the reciprocal of the transmission efficiency (inverse efficiency) of the speed reducer from the arm to the servomotor. The condition of transmission of a load from an arm to the servomotor is generated forcibly, and the load is balanced with the torque generated by the servomotor, whereby the consumption of power and heat dissipation are reduced. Consequently, a load on the servomotor during the stoppage of the arm decreases, and power consumption becomes smaller, heat dissipation also decreasing. The reduction of the capacity of the servomotor also becomes possible.

10. 发明公开

EP0219547A1 METHOD AND APPARATUS FOR PERFORMING WORK IN A THREE DIMENSIONAL SPACE 失效
标题翻译：方法和装置在三维空间中进行工作。
公开(公告)号：EP0219547A1
公开(公告)日：1987-04-29
申请号：EP86903727.0
申请日：1986-04-14
申请人： APPLIED MICROBOTICS CORPORATION
发明人： ANDERSON, Robert, L. , PILARSKI, James, A. , KLINTZ, Jerry, A.
IPC分类号： G05B19
CPC分类号： G05B19/4141 , G05B19/253 , G05B2219/33204 , G05B2219/33337 , G05B2219/34367 , G05B2219/34466 , G05B2219/35438 , G05B2219/37103 , G05B2219/37313 , G05B2219/41089 , G05B2219/41285 , G05B2219/41358 , G05B2219/42231 , G05B2219/42237 , G05B2219/42326 , G05B2219/43158 , G05B2219/49289 , G05B2219/50048 , G05B2219/50198 , Y10T409/300896
摘要： Procédé et appareil (18), (20), (24), (30) permettant de déplacer une pièce à usiner et/ou un outil dans différentes positions à l'intérieur d'un espace tri-dimensionnel dans le but d'effectuer des travaux sur la pièce à usiner, pour lesquels un système de commande numérique (76) piloté par un micro-ordinateur est utilisé afin de produire un système de commande de mouvement multi-axial utilisant des servo-moteurs électriques (20), (40) à courant continu répondant tous à leur propre système de commande afin de permettre à des mécanismes (42), (44) de coopérer et de réaliser ainsi sur la pièce à usiner les travaux désirés.

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