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1. 发明授权

US07898196B2 Motor driving apparatus for driving and braking brake-equipped motor 有权
标题翻译：用于驱动和制动制动器马达的马达驱动装置
公开(公告)号：US07898196B2
公开(公告)日：2011-03-01
申请号：US11872019
申请日：2007-10-14
申请人： Shinichi Horikoshi , Naoyuki Suzuki , Tsutomu Shikagawa
发明人： Shinichi Horikoshi , Naoyuki Suzuki , Tsutomu Shikagawa
IPC分类号： H02K17/32
CPC分类号： H02P3/04 , H02P3/16 , H02P3/26 , H02P15/00 , H02P29/04
摘要： A motor driving apparatus for driving and braking a motor equipped with a brake comprises a motor/brake driving DC power supply which is used both as a motor driving power supply and as a brake driving power supply, wherein when the motor/brake driving DC power supply is being used as the motor driving power supply, a voltage conversion circuit via which a voltage supplied from the motor/brake driving DC power supply is applied to the brake feedback-controls the voltage applied to the brake. This configuration serves to reduce the loss (due to temperature rise) in the brake coil of the motor being driven to move a robot arm.
摘要翻译：用于驱动和制动配备有制动器的电动机的电动机驱动装置包括用作电动机驱动电源和制动驱动电源的电动机/制动器驱动DC电源，其中当电动机/制动器驱动DC电力电源被用作电动机驱动电源，通过该电压转换电路将从电动机/制动器驱动DC电源供给的电压施加到制动器反馈控制施加到制动器的电压。该构造用于减少被驱动以移动机器人手臂的马达的制动线圈中的损失（由于温度升高）。

2. 发明申请

US20090230898A1 SERVO AMPLIFIER WITH REGENERATIVE FUNCTION 审中-公开
标题翻译：具有再生功能的伺服放大器
公开(公告)号：US20090230898A1
公开(公告)日：2009-09-17
申请号：US12356928
申请日：2009-01-21
申请人： Shunsuke Matsubara , Yasusuke Iwashita , Shinichi Horikoshi , Naoyuki Suzuki
发明人： Shunsuke Matsubara , Yasusuke Iwashita , Shinichi Horikoshi , Naoyuki Suzuki
IPC分类号： H02P3/14
CPC分类号： H02P3/18
摘要： A servo amplifier for a robot capable of avoiding an excessive capacity for dealing with a regenerative power to achieve downsizing, cost reduction and energy saving of the device. A servo amplifier for driving servomotors of a robot to perform an operation using an electric power from a power source. The servo amplifier comprises a changeable converter connected with the power source and a plurality of inverters electrically connected with the converter and the servomotors. The changeable converter is selectively provided as a converter having a regenerative function of returning a regenerative power generated in the servomotors to the power source, or a converter having a regenerative function of discharging the regenerative power through a resistor, depending on conditions of the operation by the robot.
摘要翻译：一种用于机器人的伺服放大器，其能够避免用于处理再生电力的过剩能力，以实现装置的小型化，降低成本和节能。一种伺服放大器，用于驱动机器人的伺服电动机，以使用来自电源的电力进行操作。伺服放大器包括与电源连接的可变换器和与转换器和伺服电机电连接的多个逆变器。可选择地提供可变转换器作为转换器，其具有将在伺服电动机中产生的再生电力返回到电源的再生功能，或者具有通过电阻器再生功率放电的再生功能的转换器，这取决于根据操作的条件机器人。

3. 发明授权

US5814954A Method of and an apparatus for protecting a regenerative resistor in an inverter for driving a servomotor 失效
标题翻译：用于保护用于驱动伺服电动机的逆变器中的再生电阻器的方法和装置
公开(公告)号：US5814954A
公开(公告)日：1998-09-29
申请号：US765855
申请日：1996-12-23
申请人： Naoyuki Suzuki , Shinichi Horikoshi
发明人： Naoyuki Suzuki , Shinichi Horikoshi
IPC分类号： H02H5/04 , H02H6/00 , H02H7/122 , H02P3/18 , H02P3/22 , H02P3/14
CPC分类号： H02H6/00 , H02H5/047 , H02P3/18 , H02P3/22 , H02H7/1222 , Y10T307/636
摘要： A protecting method and apparatus for a regenerative resistor in which a regenerative resistor is satisfactorily protected from a thermal breakage caused by an over-regeneration by combining a projection of the regenerative resistor by a thermostat and a protection of the regenerative resistor by an analog simulation circuit and by coordinating protective regions of these two protections. The heat-responsive switch (2) stops power supply to a DC link (10) when the temperature of the regenerative resistor is increased to a predetermined value or greater value. The analog simulation circuit (1) is provided with a charge-discharge circuit to be charged and discharged in response to a regenerative pulse signal from a level detector (7), estimates the quantity of heat accumulated in the regenerative resistor (5) by means of the charge-discharge circuit, and stops power supply to the DC link (10) when a predetermined threshold value is exceeded by the estimated value. A fusing region of the regenerative resistor (5) is covered by at least one of the protective regions based on the heat-responsive switch (2) and the analog simulation circuit (1).
摘要翻译： PCT No.PCT / JP96 / 01185 Sec。 371日期：1996年12月23日 102（e）1996年12月23日PCT PCT 1996年4月30日PCT公布。 WO96 / 34450 PCT公开日期：1996年10月31日一种用于再生电阻器的保护方法和装置，其中再生电阻器通过将恒温器的再生电阻器的投影与再生电阻器的保护组合而令人满意地防止由过度再生造成的热断裂通过模拟仿真电路和通过协调这两个保护的保护区域。当再生电阻器的温度升高到预定值或更大值时，热响应开关（2）停止向DC链路（10）供电。模拟仿真电路（1）具有响应于来自电平检测器（7）的再生脉冲信号而被充放电的充放电电路，通过装置估计再生电阻器（5）中累积的热量并且当预定阈值超过估计值时停止对DC链路（10）的电力供应。基于热响应开关（2）和模拟仿真电路（1），再生电阻器（5）的熔融区域由至少一个保护区域覆盖。

4. 发明授权

US08649130B2 Motor driving apparatus having fault diagnostic function 有权
标题翻译：具有故障诊断功能的电机驱动装置
公开(公告)号：US08649130B2
公开(公告)日：2014-02-11
申请号：US13025210
申请日：2011-02-11
申请人： Shinichi Horikoshi , Takashi Harada , Masatomo Shirouzu , Yasusuke Iwashita
发明人： Shinichi Horikoshi , Takashi Harada , Masatomo Shirouzu , Yasusuke Iwashita
IPC分类号： H02H3/00 , H02H7/08 , G01R31/02 , G01R31/34
CPC分类号： H02H7/0838 , G01R19/10 , H02H1/0038 , H02H3/105 , H02P29/0241 , H02P29/027
摘要： A motor driving apparatus capable of detecting during operation a ground fault and a phase-to-phase short circuit by distinguishing one from the other is provided while minimizing an increase in cost. The sum of three-phase AC currents supplied from a three-phase AC power supply to an AC/DC converter is detected by a current sensor. When overcurrent is detected by an overcurrent detector, if the sum of the currents detected by the current sensor is zero, it is determined that the fault is a phase-to-phase short circuit, but if the sum is not zero, it is determined that the fault is a ground fault.
摘要翻译：提供一种电动机驱动装置，其能够在操作期间通过将接地故障和相间短路彼此区分来检测，同时最小化成本增加。通过电流传感器检测从三相AC电源向AC / DC转换器提供的三相AC电流的总和。当由过电流检测器检测到过电流时，如果由电流传感器检测到的电流之和为零，则确定故障是相间短路，但是如果并非零，则确定故障是接地故障。

5. 发明申请

US20120068637A1 MOTOR DRIVING APPARATUS 有权
标题翻译：电机驱动装置
公开(公告)号：US20120068637A1
公开(公告)日：2012-03-22
申请号：US13215563
申请日：2011-08-23
申请人： Yasusuke Iwashita , Shinichi Horikoshi , Takashi Harada , Masakazu Niwa , Koujirou Sakai
发明人： Yasusuke Iwashita , Shinichi Horikoshi , Takashi Harada , Masakazu Niwa , Koujirou Sakai
IPC分类号： H02P3/14
CPC分类号： H02P3/18 , H02P3/14 , H02P23/20
摘要： During motor acceleration control period that starts at time T1, if power supply output or supply current exceeds a predetermined level at time T2, PWM control in a PWM converter is turned off until a deceleration control period of T3 to T4 ends. As a result, DC link voltage (voltage of a power storage device) at the start of the deceleration control at time T3 drops to provide space for storing regenerative power; since the PWM control in the PWM converter is off during the deceleration control period, the regenerative power can be stored into the power storage device and reused in the next control cycle.
摘要翻译：在时刻T1开始的电动机加速控制期间，如果电力供应输出或电源电流在时间T2超过预定电平，则PWM转换器中的PWM控制被截止，直到T3至T4的减速控制周期结束。结果，在时刻T3的减速控制开始时的直流链路电压（蓄电装置的电压）下降，提供存储再生电力的空间; 由于PWM转换器中的PWM控制在减速控制期间关闭，所以再生功率可以存储到蓄电装置中并在下一个控制周期中重新使用。

6. 发明申请

US20110238338A1 MOTOR DRIVING APPARATUS EASILY ANALYZABLE FOR CAUSE OF FAULT 审中-公开
标题翻译：电机驱动装置易于因故障原因分析
公开(公告)号：US20110238338A1
公开(公告)日：2011-09-29
申请号：US13029496
申请日：2011-02-17
申请人： Yasusuke IWASHITA , Shinichi Horikoshi , Takashi Harada , Koujirou Sakai
发明人： Yasusuke IWASHITA , Shinichi Horikoshi , Takashi Harada , Koujirou Sakai
IPC分类号： G06F19/00 , G01R31/00
CPC分类号： H02P29/025 , G01R31/42 , H02M1/32 , H02M7/53875
摘要： Disclosed is a motor driving apparatus in which provisions are made so as to easily isolate the cause of a fault in the event of the occurrence thereof. The voltage and current in each phase of the AC power being supplied to a converter are detected, and the most recently detected data are stored in a power supply monitoring unit for a predetermined period of time. If an alarm occurs in the converter, inverter, or controller, the data currently held in the power supply monitoring unit are recorded in a recording unit. By displaying the thus recorded data, one can easily identify whether the cause of the alarm is due to the power supply or the motor driving apparatus itself.
摘要翻译：公开了一种电动机驱动装置，其中进行了设置，以便在发生故障的情况下容易地隔离故障原因。检测提供给转换器的交流电力的每相中的电压和电流，并且将最近检测到的数据存储在电源监视单元中预定的时间段。如果转换器，变频器或控制器发生报警，则电源监控单元中当前保存的数据将记录在记录单元中。通过显示如此记录的数据，可以容易地识别报警的原因是由于电源还是由于电机驱动装置本身。

7. 发明申请

US20080150549A1 Insulation deterioration detection device for motor 审中-公开
标题翻译：电机绝缘劣化检测装置
公开(公告)号：US20080150549A1
公开(公告)日：2008-06-26
申请号：US12003203
申请日：2007-12-20
申请人： Shinichi Horikoshi , Hiroyasu Sato , Akira Hirai , Satoshi Tanabe , Mamoru Yaeshima
发明人： Shinichi Horikoshi , Hiroyasu Sato , Akira Hirai , Satoshi Tanabe , Mamoru Yaeshima
IPC分类号： G01R31/00
CPC分类号： G01R31/343 , G01R31/12
摘要： A motor insulation deterioration detection device wherein a capacitor provided in a power supply section is utilized as a power supply for motor insulation deterioration detection, with provisions made to be able to detect insulation resistance regardless of the value of the voltage developed across the capacitor. The motor insulation deterioration detection device includes: a first contact which connects one end of the capacitor to ground; a second contact which connects the other end of the capacitor to a motor coil via a detection resistor; a unit which, using the detection resistor, detects a current flowing through a closed circuit formed by the first contact, capacitor, second contact, detection resistor, motor coil, and ground; a unit which detects the voltage developed across the capacitor; and a unit which calculates the insulation resistance value based on the current detection value and the voltage detection value.
摘要翻译：电动机绝缘劣化检测装置，其中设置在电源部分中的电容器用作用于电动机绝缘劣化检测的电源，其规定能够检测绝缘电阻，而不管电容器两端产生的电压值如何。电机绝缘劣化检测装置包括：将电容器的一端连接到地的第一触点; 第二触点，其经由检测电阻器将电容器的另一端连接到电动机线圈; 使用检测电阻检测流过由第一接触，电容器，第二接触，检测电阻，电机线圈和接地形成的闭合电路的电流的单元; 检测电容器两端产生的电压的单元; 以及基于电流检测值和电压检测值来计算绝缘电阻值的单元。

8. 发明授权

US07196488B2 Motor driving apparatus 有权
标题翻译：电机驱动装置
公开(公告)号：US07196488B2
公开(公告)日：2007-03-27
申请号：US10936543
申请日：2004-09-09
申请人： Shunsuke Matsubara , Shinichi Horikoshi , Hiroyasu Sato
发明人： Shunsuke Matsubara , Shinichi Horikoshi , Hiroyasu Sato
IPC分类号： G05B11/28
CPC分类号： G05B19/414 , G05B2219/34236 , G05B2219/34445 , G05B2219/41293
摘要： A motor driving apparatus capable of drivingly controlling a plurality of inverter units with a single motor driving command from a motor control unit, and thereby control a large-capacity motor or the like. The motor control unit sends out a single motor driving command (torque command) S. An intermediary unit obtains motor driving commands S×A1 to S×A4 for the inverter units by multiplying the motor driving command S by each of coefficients A1 to A4 set in advance. The inverter units are fed with the motor driving commands S×A1 to S×A4 individually and drive a single motor. Since the motor is driven by the total current supplied by the inverter units, the motor can generate a large torque. The motor control unit only needs to generate a single motor driving command S, and hence only needs to operate a single processing part. Hence, the motor control unit can generate and send out motor driving commands for other motors to drive them.
摘要翻译：一种电动机驱动装置，其能够通过来自电动机控制单元的单个电动机驱动指令来驱动地控制多个逆变器单元，从而控制大容量电动机等。电机控制单元发出单个电动机驱动指令（转矩指令）S.中间单元通过将电动机驱动指令S乘以系数A 1至A 4中的每一个来获得用于逆变器单元的电动机驱动指令SxA 1至SxA 4 提前。逆变器单元分别供给电动机驱动指令SxA 1〜SxA 4，驱动单个电动机。由于电动机由逆变器单元提供的总电流驱动，电动机可以产生大的转矩。电机控制单元仅需要生成单个电机驱动指令S，因此仅需要操作单个处理部件。因此，电动机控制单元可以生成并发送用于其他电动机的电机驱动命令来驱动它们。

9. 发明授权

US08624538B2 Motor driving apparatus having function of dynamically switching converter operation mode of AC/DC converter 有权
标题翻译：具有动态切换AC / DC转换器转换器工作模式功能的电机驱动装置
公开(公告)号：US08624538B2
公开(公告)日：2014-01-07
申请号：US13052563
申请日：2011-03-21
申请人： Tomokazu Yoshida , Takashi Harada , Shinichi Horikoshi , Yasusuke Iwashita
发明人： Tomokazu Yoshida , Takashi Harada , Shinichi Horikoshi , Yasusuke Iwashita
IPC分类号： G05B11/28
CPC分类号： H02M7/5387 , H02M1/32 , H02M5/4585 , H02M2001/327 , H02P27/08
摘要： A motor driving apparatus is provided that performs AC/DC conversion by suppressing harmonics of the input at the time of normal operation, while on the other hand, allowing system operation to continue in the event of an overload by avoiding system stoppage. The motor driving apparatus, which drives a motor by supplying power from an AC power supply, includes: an AC/DC converter having a converter operation mode which is switched between a PWM converter operation mode in which an AC input voltage is converted into a DC voltage by applying PWM control to a plurality of power switching devices connected in serial and parallel fashion and a diode rectifier operation mode in which an AC input voltage is converted into a DC voltage by using a plurality of diodes each connected in reverse parallel with an associated one of the plurality of power switching devices; and a converter control unit which dynamically switches the converter operation mode of the AC/DC converter according to a load during powering of the motor.
摘要翻译：提供一种电动机驱动装置，其通过抑制正常操作时的输入的谐波来执行AC / DC转换，而另一方面，通过避免系统停止，允许系统操作在过载的情况下继续。通过从AC电源供电来驱动电动机的电动机驱动装置包括：AC / DC转换器，其具有转换器操作模式，该转换器操作模式在将AC输入电压转换为DC的PWM转换器工作模式之间切换通过对串联和并联连接的多个功率开关器件施加PWM控制，以及二极管整流器操作模式，其中通过使用多个二极管将AC输入电压转换成DC电压，所述多个二极管与相关联的反向并联连接多个电源开关装置中的一个; 以及转换器控制单元，其在电动机供电期间根据负载来动态地切换AC / DC转换器的转换器操作模式。

10. 发明申请

US20080094022A1 Insulation-resistance degradation detecting device for motors 审中-公开
标题翻译：电机绝缘电阻劣化检测装置
公开(公告)号：US20080094022A1
公开(公告)日：2008-04-24
申请号：US11905132
申请日：2007-09-27
申请人： Shinichi Horikoshi , Hiroyasu Sato , Akira Hirai , Satoshi Tanabe , Mamoru Yaeshima
发明人： Shinichi Horikoshi , Hiroyasu Sato , Akira Hirai , Satoshi Tanabe , Mamoru Yaeshima
IPC分类号： G01R31/02 , G01R31/12 , G01R31/34 , H02K11/00 , H02P27/06
CPC分类号： G01R31/343 , G01R31/1227 , H02P29/00
摘要： An insulation-resistance degradation detecting device capable of selecting one of a plurality of motors and detecting its insulation-resistance degradation. A power source unit is connected with a plurality of motor drive amplifiers which drive two motors, individually. The motor is selected by selecting means, and a contactor S1 or S2 is turned on. When a smoothing capacitor C of the power source unit reaches a predetermined voltage after an electromagnetic contactor is turned off, contactors SW1 and SW2 are turned on, whereupon one end of the smoothing capacitor C, contactor SW2, resistors R1 and R2, contactor S1 or S2, coil of the motor, insulation resistor Rx of the motor, grounds G2 and G1, contactor SW1, and the other end of the smoothing capacitor C form a closed circuit. The voltage of the smoothing capacitor C is applied to this closed circuit. A potential difference across the detection resistor R1 is obtained and compared with a reference voltage to detect insulation-resistance degradation. The single insulation-resistance degradation detecting device can detect insulation degradation of the plurality of motors, so that a space-saving configuration can be obtained at low cost.
摘要翻译：一种绝缘电阻劣化检测装置，其能够选择多个电动机中的一个并检测其绝缘电阻劣化。电源单元与分别驱动两个电动机的多个电动机驱动放大器连接。通过选择装置选择电动机，接通器S1或S2接通。当电磁接触器关闭后，当电源单元的平滑电容器C达到预定电压时，接触器SW1和SW2导通，平滑电容器C，接触器SW2，电阻器R1和R2的一端，接触器S1或 S2，马达的线圈，马达的绝缘电阻Rx，接地端G2，G1，接触器SW1，平滑电容器C的另一端形成闭路。平滑电容器C的电压被施加到该闭合电路。获得检测电阻器R1两端的电位差，并将其与参考电压进行比较以检测绝缘电阻劣化。单个绝缘电阻劣化检测装置可以检测多个电动机的绝缘劣化，从而可以以低成本获得节省空间的结构。

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