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11. 发明申请

US20150311853A1 SYSTEM FOR OPERATING A THREE-PHASE VARIABLE FREQUENCY DRIVE FROM AN UNBALANCED THREE-PHASE OR SINGLE-PHASE AC SOURCE 有权
标题翻译：用于从不平衡三相或单相交流源运行三相可变频率驱动器的系统
公开(公告)号：US20150311853A1
公开(公告)日：2015-10-29
申请号：US14259385
申请日：2014-04-23
申请人： Yaskawa America, Inc.
发明人： Mahesh M. Swamy , Anupama Balakrishnan , Joshua David Collins
IPC分类号： H02P27/08
CPC分类号： H02P27/047 , A61B17/1626 , B26B19/00 , B26B19/06 , B26B19/38 , H02M1/15 , H02M5/458 , H02M7/53875
摘要： A variable frequency motor drive comprises a converter including a rectifier having an input for connection to an AC power source and converting the AC power to DC power. A DC bus is connected to the rectifier circuit. At least one bus capacitor is across the DC bus. An inverter receives DC power from the DC bus and converts the DC power to AC power to drive a motor. A controller is operatively connected to the converter. The controller comprises a speed control controlling the inverter responsive to a speed command to maintain a desired motor speed. A speed foldback control measures DC bus ripple voltage and regulates the speed command responsive to the measured DC bus ripple voltage.
摘要翻译：变频电动机驱动器包括转换器，其包括具有用于连接到AC电源的输入并将AC电力转换为DC电力的整流器。直流总线连接到整流电路。直流总线上至少有一个总线电容。逆变器从直流总线接收直流电，并将直流电转换成交流电，驱动电动机。控制器可操作地连接到转换器。控制器包括响应于速度命令控制逆变器以维持期望的电动机速度的速度控制。速度折返控制测量DC总线纹波电压，并根据测量的直流总线纹波电压调节速度指令。

12. 发明申请

US20140313800A1 BALANCED FLUX ISOLATION TRANSFORMER BASED EIGHTEEN PULSE RECTIFICATION SCHEME FOR USE WITH VARIABLE FREQUENCY DRIVES 有权
标题翻译：基于平滑电流隔离变压器的高频脉冲整流方案，用于变频驱动
公开(公告)号：US20140313800A1
公开(公告)日：2014-10-23
申请号：US13868227
申请日：2013-04-23
申请人： YASKAWA AMERICA, INC.
发明人： Mahesh M. Swamy
IPC分类号： H02M7/06
CPC分类号： H02M7/08 , H02M5/14
摘要： An AC/DC converter system comprises an input circuit for connection to a three-phase AC source. An isolation transformer comprises a symmetrical core with a set of primary windings and first and second sets of secondary windings wound on the symmetrical core providing balanced flux in all three phases and magnetically coupling to the set of primary windings. The first and second sets of secondary windings are phase shifted by select amounts from the set of primary windings. The set of primary windings is connected to the input circuit. An AC/DC converter comprises first, second and third three-phase rectifiers, the first three-phase rectifier is powered by the first set of secondary windings, the second three-phase rectifier is powered by the second set of secondary windings, and the third three-phase rectifier is powered by the input circuit. An output circuit is connected between the AC/DC converter and a DC load.
摘要翻译： AC / DC转换器系统包括用于连接到三相AC电源的输入电路。隔离变压器包括具有一组初级绕组的对称磁芯和缠绕在对称磁芯上的第一和第二组次级绕组，在所有三相中提供平衡磁通并且磁耦合到初级绕组组。第一组和第二组次级绕组从初级绕组组中相移一定量。初级绕组组连接到输入电路。 AC / DC转换器包括第一，第二和第三三相整流器，第一三相整流器由第一组次级绕组供电，第二三相整流器由第二组次级绕组供电，第三个三相整流器由输入电路供电。输出电路连接在AC / DC转换器和直流负载之间。

13. 发明申请

US20130208515A1 AC SIDE SOFT CHARGE CIRCUIT FOR VARIABLE FREQUENCY DRIVES 失效
标题翻译：用于可变频率驱动的交流侧软充电电路
公开(公告)号：US20130208515A1
公开(公告)日：2013-08-15
申请号：US13371865
申请日：2012-02-13
申请人： Mahesh M. Swamy
发明人： Mahesh M. Swamy
IPC分类号： H02M5/458
CPC分类号： H02M1/36 , H02M5/458
摘要： A voltage source inverter comprises a rectifier having an input for connection to a multi-phase AC power source and converting the AC power to DC power at an output. An inverter receives DC power and converts the DC power to AC power. A DC bus is connected between the rectifier circuit and the inverter circuit to provide a relatively fixed DC voltage for the inverter. A bus capacitor is across the DC bus. A soft charge circuit limits inrush current to the bus capacitor. The soft charge circuit comprises an input inductor for each phase connected between the rectifier input and the AC power source and a clamping circuit across each input inductor to limit DC bus voltage.
摘要翻译：电压源逆变器包括整流器，其具有用于连接到多相AC电源的输入端，并将AC电力转换为输出端的DC电力。逆变器接收直流电，并将直流电转换为交流电。直流母线连接在整流电路和逆变电路之间，为逆变器提供相对固定的直流电压。总线电容在整个直流母线上。软充电电路限制了总线电容的浪涌电流。软充电电路包括用于连接在整流器输入和AC电源之间的每相的输入电感器和跨每个输入电感器的钳位电路以限制DC总线电压。

14. 发明授权

US11673275B2 Through-beam auto teaching 有权
公开(公告)号：US11673275B2
公开(公告)日：2023-06-13
申请号：US16784193
申请日：2020-02-06
申请人： Yaskawa America, Inc. , KABUSHIKI KAISHA YASKAWA DENKI
发明人： John Charles Rogers
IPC分类号： B25J13/08 , B25J9/16 , G05B19/18 , B25J19/02 , B25J9/04
CPC分类号： B25J13/089 , B25J9/042 , B25J9/1664 , B25J9/1692 , B25J19/021 , G05B19/18
摘要： A method of teaching a robot including providing a pin at a location within a work station, and the robot in an area adjacent to the station. The robot having an arm and an end effector that pivots. The end effector has a through-beam sensor including a light emitter and a light receiver to sense when an object is present therebetween. The robot is moved to perform sensing operations in which the sensor senses the pin, such operations are performed while a position and/or an orientation of the end effector are varied to gather sensed position and orientation data. The sensing operations are performed such that the pin is located at different distances between the emitter and the receiver as the robot moves the sensor across the pin. Calculations are performed on the data to determine the location of the pin with respect to a coordinate system of the robot.

15. 发明授权

US10737817B2 Method, apparatus, and system for robotic article handling 有权
公开(公告)号：US10737817B2
公开(公告)日：2020-08-11
申请号：US15703942
申请日：2017-09-13
申请人： YASKAWA AMERICA INC.
发明人： John Charles Rogers , Hiroyuki Handa , John D. Payne , Carl Michael Traynor
IPC分类号： B25J9/04 , B65B35/36 , B25J18/02 , B25J9/16 , B25J15/02 , B25J15/06 , B25J15/00 , B65G1/04
摘要： A robotic handling apparatus includes a vertical motion mechanism and a first arm member connected to the vertical motion mechanism. The first arm member is movable in a vertical direction by the vertical motion mechanism. The robotic handling apparatus includes a second arm member connected to the vertical motion mechanism via the first arm member, and a first drive unit configured to drive the second arm member to pivot about a first axis. An end effector is connected to the second arm to transfer an article from a first position to a second position by the motion of the vertical motion mechanism, first arm member, and second arm member, the first arm member being mounted to a side of the vertical motion mechanism relative to the vertical direction.

16. 发明授权

US10580681B2 Robotic apparatus and method for transport of a workpiece 有权
公开(公告)号：US10580681B2
公开(公告)日：2020-03-03
申请号：US15644828
申请日：2017-07-10
申请人： YASKAWA AMERICA, INC.
发明人： John Charles Rogers
IPC分类号： H01L21/67 , H01L21/687 , B25J15/06 , B25J13/08 , B25J9/04 , B25J11/00 , B25J19/02 , H01L21/677 , B25J9/16
摘要： A robotic apparatus for transporting a workpiece includes a first arm that pivots about a first axis and a second arm that is pivotably connected to the first arm. The second arm has a surface upon which the workpiece can be received. A first drive unit of the robotic apparatus drives the first arm member to pivot about the first axis. The robotic apparatus includes a controller that controls the first drive unit to move the surface of the second arm member to transport the workpiece. The control unit also controls the first drive unit such that the surface is not moved at an acceleration value that exceeds a predetermined acceleration limit during the transport of the workpiece.

17. 发明申请

US20200039082A1 ROBOT INSTRUCTING APPARATUS, TEACHING PENDANT, AND METHOD OF INSTRUCTING A ROBOT 审中-公开
公开(公告)号：US20200039082A1
公开(公告)日：2020-02-06
申请号：US16054008
申请日：2018-08-03
申请人： Yaskawa America, Inc.
发明人： Chetan KAPOOR , Changbeom PARK
IPC分类号： B25J13/06 , B25J9/16
摘要： A robot instructing apparatus includes a teaching pendant having a display and an inclination device. The inclination device outputs an inclination of the teaching pendant based on the inclination of the teaching pendant about at least one horizontal axis. The robot instructing apparatus also includes at least one processor that generates movement instructions to change a posture of the robot based on the inclination of the teaching pendant output by the inclination device during a teaching operation in which the movement instructions are generated.

18. 发明授权

US10063179B2 Energy saving method for use with active PWM rectifiers in regenerative drives 有权
公开(公告)号：US10063179B2
公开(公告)日：2018-08-28
申请号：US14953871
申请日：2015-11-30
申请人： Yaskawa America, Inc.
发明人： Mahesh M. Swamy
IPC分类号： G05B11/28 , H02P27/08 , H02P27/16 , H02P23/06 , H02P25/18 , H02P29/02
CPC分类号： H02P27/16 , H02P23/06 , H02P25/18 , H02P27/08 , H02P29/024 , H02P29/0241
摘要： As described herein, a drive circuit for a three phase AC motor comprises an AC/AC converter. The converter has an input for receiving multiphase AC power from an AC source and converting the AC power to variable voltage and variable frequency from the AC source for driving the AC motor. A filter circuit is connected to the AC/AC converter and comprises at least one inductor per phase and at least one capacitor per phase. The capacitors are connected in a broken wye configuration with one side connected to one of the inductors and an opposite side connected via a three phase diode bridge rectifier to a switch. The switch is controlled by a converter control to selectively open or short a neutral point of the broken wye capacitor configuration.

19. 发明申请

US20180086489A1 METHOD, APPARATUS, AND SYSTEM FOR ROBOTIC ARTICLE HANDLING 审中-公开
公开(公告)号：US20180086489A1
公开(公告)日：2018-03-29
申请号：US15703942
申请日：2017-09-13
申请人： YASKAWA AMERICA INC.
发明人： John Charles ROGERS , Carl Michael TRAYNOR
IPC分类号： B65B35/36 , B25J15/02 , B25J9/16 , B25J18/02
CPC分类号： B65B35/36 , B25J9/042 , B25J9/1602 , B25J15/0014 , B25J15/02 , B25J15/0616 , B25J18/02 , B65G1/0435
摘要： A robotic handling apparatus includes a vertical motion mechanism and a first arm member connected to the vertical motion mechanism. The first arm member is movable in a vertical direction by the vertical motion mechanism. The robotic handling apparatus includes a second arm member connected to the vertical motion mechanism via the first arm member, and a first drive unit configured to drive the second arm member to pivot about a first axis. An end effector is connected to the second arm to transfer an article from a first position to a second position by the motion of the vertical motion mechanism, first arm member, and second arm member, the first arm member being mounted to a side of the vertical motion mechanism relative to the vertical direction.

20. 发明申请

US20170075331A1 APPARATUS, SYSTEM, AND METHOD FOR CONFIGURING AND PROGRAMMING CONTROL OF A ROBOT 审中-公开
标题翻译：装置，系统和方法来配置和编程机器人的控制
公开(公告)号：US20170075331A1
公开(公告)日：2017-03-16
申请号：US15260347
申请日：2016-09-09
申请人： Yaskawa America, Inc.
发明人： Chetan KAPOOR , Peter S. MARCH
IPC分类号： G05B19/042 , G05B19/05
CPC分类号： G05B19/0426 , B25J9/1697 , G05B19/056 , G05B2219/40419 , G05B2219/40543 , G05B2219/40554
摘要： A programmable logic controller controls at least one robot to manipulate a plurality of workpieces. The programmable logic controller includes a sensor interface configured to receive sensor data that represents information of the workpieces. The programmable logic controller includes a scheduler configured to create a schedule that includes information representing an order in which the workpieces are to be manipulated. The schedule created by the scheduler is based on the sensor data. The programmable logic controller includes a synchronizer that is configured to receive the schedule. The synchronizer is configured to cause a robot to manipulate the workpieces based on the schedule and based on a function block. The function block is configured via the programmable logic controller.
摘要翻译：可编程逻辑控制器控制至少一个机器人来操纵多个工件。可编程逻辑控制器包括被配置为接收表示工件信息的传感器数据的传感器接口。可编程逻辑控制器包括调度器，其被配置为创建包括表示工件要被操纵的顺序的信息的调度。由调度器创建的调度基于传感器数据。可编程逻辑控制器包括被配置为接收该调度的同步器。同步器被配置为使机器人基于时间表并基于功能块来操纵工件。功能块通过可编程逻辑控制器进行配置。

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