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1. 发明授权

US08436565B2 Motor controller for tandem control 有权
标题翻译：电机控制器串联控制
公开(公告)号：US08436565B2
公开(公告)日：2013-05-07
申请号：US12566827
申请日：2009-09-25
申请人： Kazuomi Maeda , Yukio Toyozawa , Yasusuke Iwashita
发明人： Kazuomi Maeda , Yukio Toyozawa , Yasusuke Iwashita
IPC分类号： H02P7/00
CPC分类号： G05B19/404 , G05B2219/41059 , G05B2219/41138 , G05B2219/41264 , G05B2219/41265 , G05B2219/42063
摘要： In position tandem control in which one movable member is driven by two motors, an output of the integral element of the velocity control unit in the control system for one motor is copied to the integral element of the velocity control unit in the control system for the other motor. A preload is added to a torque command output from each of the velocity control units in the motor control systems for two motors so that torques in mutually opposite directions are generated to suppress backlash between gears.
摘要翻译：在其中一个可动构件由两个电动机驱动的位置串联控制中，用于一个电动机的控制系统中的速度控制单元的积分元件的输出被复制到控制系统中的速度控制单元的积分元件其他电机。从用于两个电动机的电动机控制系统中的每个速度控制单元输出的转矩指令加载预加载，从而产生相反方向的转矩，以抑制齿轮之间的间隙。

2. 发明授权

US08247695B2 High frequency leakage current return wire-contained motor drive cable, low inductance return wire-contained unshielded cable, and motor drive control system using the cables 有权
标题翻译：高频漏电流返回有线电机驱动电缆，低电感返回有线非屏蔽电缆，以及使用电缆的电机驱动控制系统
公开(公告)号：US08247695B2
公开(公告)日：2012-08-21
申请号：US12443743
申请日：2007-10-02
申请人： Masanobu Nakamura , Keiji Munezuka
发明人： Masanobu Nakamura , Keiji Munezuka
IPC分类号： H01B7/00
CPC分类号： H01B7/30 , H01B9/026
摘要： A high frequency (HF) leakage current return wire-contained motor drive cable configured in a manner that one or multiple drive dielectric core wires and one or multiple HF leakage current return wires are arranged adjacent to and in close contact. Concurrently, the drive dielectric core wires and the HF leakage current return wires are arranged substantially parallel to the longitudinal direction and are stranded; and a sheath is provided without a shield being provided outside of the strand wires.
摘要翻译：一种高频（HF）漏电流返回有线电动机驱动电缆，其配置为使一个或多个驱动介质芯线和一个或多个HF泄漏电流返回导线相邻并紧密接触。同时，驱动介质芯线和HF漏电流返回线基本上平行于纵向方向布置并且被绞合; 并且提供护套而没有在绞线的外侧设置屏蔽。

3. 发明授权

US08224486B2 Method of evaluating and correcting robot program and device for evaluating and correcting robot program 有权
标题翻译：机器人程序评估与校正方法及机器人程序评估与校正装置
公开(公告)号：US08224486B2
公开(公告)日：2012-07-17
申请号：US12970014
申请日：2010-12-16
申请人： Yoshiharu Nagatsuka , Toshiya Takeda
发明人： Yoshiharu Nagatsuka , Toshiya Takeda
IPC分类号： G05B19/416
CPC分类号： B25J9/1674 , G05B19/416 , G05B2219/40387 , G05B2219/43057 , Y10S706/92 , Y10S706/922
摘要： There is provided a device for evaluating and correcting a robot operation program for evaluating an appropriateness for the robot operation program and correcting the robot operation program, comprising a computer including a simulation function for confirming a robot operation. The computer includes a load calculation section for calculating a load given to a motor for driving an operating portion of the robot by a simulation conducted by a computer; and an evaluation section for evaluating, by an evaluation function, whether or not the load exceeds a predetermined allowed value.
摘要翻译：提供了一种用于评估和校正机器人操作程序的装置，用于评估机器人操作程序的适当性并修正机器人操作程序，包括具有用于确认机器人操作的模拟功能的计算机。计算机包括：负载计算部分，用于通过计算机进行的模拟来计算给予用于驱动机器人的操作部分的电动机的负载; 以及评价部，其通过评价功能来评价所述负荷是否超过预定的允许值。

4. 发明授权

US08190287B2 Tool vector display apparatus for a machine tool with rotational axes 有权
标题翻译：具有旋转轴的机床的刀具矢量显示装置
公开(公告)号：US08190287B2
公开(公告)日：2012-05-29
申请号：US12793337
申请日：2010-06-03
申请人： Yasusuke Iwashita , Tadashi Okita , Junichi Tezuka , Kazuyuki Sugiyama
发明人： Yasusuke Iwashita , Tadashi Okita , Junichi Tezuka , Kazuyuki Sugiyama
IPC分类号： G06F19/00 , G05B11/01 , G05B23/02 , G05B19/25
CPC分类号： G05B19/4097
摘要： Time information t and positional information about each axis are obtained, and the three-dimensional coordinates of tool center point Pe at time t are calculated to display the path of the tool center point Pe at time t. Then, whether a fixed time has elapsed or not is decided. If the fixed time has elapsed, the coordinates of the tool vector start point Ps at time t are calculated to display a line segment connecting between tool vector start point Ps and tool center point Pe, which is the end point of the tool vector. This display enables the orientation of the tool at each tool center point to be grasped at a glance.
摘要翻译：时间信息t和关于每个轴的位置信息被获得，并且计算在时间t的工具中心点Pe的三维坐标，以在时间t显示工具中心点Pe的路径。然后，确定是否经过固定时间。如果经过固定时间，则计算时刻t的刀具矢量开始点Ps的坐标，以显示连接刀具矢量开始点Ps和作为刀具矢量的终点的刀具中心点Pe之间的线段。该显示使得能够一目了然地掌握各工具中心点处的工具的取向。

5. 发明授权

US08145356B2 Robot controller for halting a robot based on the speed of a robot hand portion 有权
标题翻译：基于机器人手部的速度来停止机器人的机器人控制器
公开(公告)号：US08145356B2
公开(公告)日：2012-03-27
申请号：US12191486
申请日：2008-08-14
申请人： Ryo Nihei , Tetsuaki Kato , Takeaki Aramaki , Tomoyuki Yamamoto
发明人： Ryo Nihei , Tetsuaki Kato , Takeaki Aramaki , Tomoyuki Yamamoto
IPC分类号： G05B19/18
CPC分类号： B25J9/1674 , B25J5/02 , G05B2219/40248 , G05B2219/40252 , G05B2219/40272 , G05B2219/43201 , G05B2219/43203
摘要： A robot includes a traveling rail supported by struts, and a robot body attached to a slider that slides on the traveling rail. A robot controller includes a speed calculation device for calculating moving speeds of the robot hand portion on the coordinate axes of a rectangular coordinate system set for the robot controller; a comparator device for comparing the moving speeds on the coordinate axes calculated by the speed calculation device with threshold values on the coordinate axes of the rectangular coordinate system, respectively; and a halting device for halting the robot in case at least any one of the moving speeds is higher than the corresponding threshold value.
摘要翻译：机器人包括由支柱支撑的行进轨道，以及附接到在行进轨道上滑动的滑块的机器人主体。机器人控制器包括：速度计算装置，用于计算机器人手部在对于机器人控制器设定的直角坐标系的坐标轴上的移动速度; 比较装置，用于将由速度计算装置计算出的坐标轴上的移动速度分别与直角坐标系的坐标轴上的阈值进行比较; 以及用于在移动速度中的至少任一个高于相应的阈值的情况下停止所述机器人的停止装置。

6. 发明授权

US08143836B2 Motor controller 有权
标题翻译：电机控制器
公开(公告)号：US08143836B2
公开(公告)日：2012-03-27
申请号：US12364563
申请日：2009-02-03
申请人： Yasusuke Iwashita , Yuuichi Yamada , Mamoru Yaeshima , Masatomo Shirouzu , Koujirou Sakai
发明人： Yasusuke Iwashita , Yuuichi Yamada , Mamoru Yaeshima , Masatomo Shirouzu , Koujirou Sakai
IPC分类号： H02P27/04 , H02P1/00 , H02P3/14 , H02P27/00
CPC分类号： H02J7/345 , H02M3/1582 , H02M5/458 , H02P27/06 , Y02P80/116
摘要： A motor controller capable of effectively utilizing electrical energy accumulated in a capacitor and achieving a reduction in capacitance of the capacitor. The motor controller includes a converter that receives an input AC voltage and performs AC-to-DC power conversion thereon, an inverter that receives DC power and performs DC-to-AC conversion thereon, and a capacitor and a charging/discharging control circuit connected in parallel with a DC link between the converter and the inverter. Electrical energy is supplied from the capacitor to the DC link via the charging/discharging control circuit. The charging/discharging control circuit has a circuit for discharging electrical energy accumulated in the capacitor and for stepping up a voltage of the capacitor when discharging the electrical energy.
摘要翻译：一种电动机控制器，其能够有效地利用积聚在电容器中的电能并实现电容器的电容减小。马达控制器包括接收输入AC电压并对其进行AC-DC电源转换的转换器，接收DC电力并对其进行DC-AC转换的逆变器，以及连接有电容器和充放电控制电路与转换器和逆变器之间的直流链路并联。电能通过充电/放电控制电路从电容器提供给直流母线。充放电控制电路具有用于放电电容器中蓄积的电能的电路，并且用于在放电时提高电容器的电压。

7. 发明授权

US08109173B2 Parallel robot provided with wrist section having three degrees of freedom 有权
标题翻译：平行机器人具有三个自由度的手腕部分
公开(公告)号：US08109173B2
公开(公告)日：2012-02-07
申请号：US12704027
申请日：2010-02-11
申请人： Satoshi Kinoshita , Hikaru Yamashiro
发明人： Satoshi Kinoshita , Hikaru Yamashiro
IPC分类号： B25J18/04
CPC分类号： B25J17/0266 , B25J9/0051 , B25J17/0283 , Y10T74/20305 , Y10T74/20335
摘要： A parallel robot including a movable-section drive mechanism having a parallel mechanism configuration and operating to allow a movable section to perform a three-axis translational motion with respect to a base section, and a wrist-section drive mechanism operating to allow a wrist section to perform a three-axis orientation-changing motion with respect to the movable section. The wrist section includes a first rotary member supported on the movable section and rotatable about a fourth rotation axis different from axes of the three-axis translational motion of the movable section, a second rotary member connected to the first rotary member and rotatable about a fifth rotation axis orthogonal to the fourth rotation axis, and a third rotary member connected to the second rotary member and rotatable about a sixth rotation axis orthogonal to the fifth rotation axis. The third rotary member is provided with an attachment surface to which a tool is attached. The attachment surface is inclined with respect to the sixth rotation axis at a predetermined angle.
摘要翻译：一种并联机器人，包括具有平行机构构造并可操作以允许可动部分相对于基部执行三轴平移运动的可移动部分驱动机构，以及手腕部分驱动机构，其操作以允许手腕部分以相对于可移动部分执行三轴取向改变运动。手腕部分包括支撑在可移动部分上的第一旋转部件，其可绕与可移动部件的三轴平移运动的轴线不同的第四旋转轴线旋转;第二旋转部件，连接到第一旋转部件，与第四旋转轴正交的旋转轴，以及连接到第二旋转构件并可绕与第五旋转轴正交的第六旋转轴旋转的第三旋转构件。第三旋转构件设置有附接工具附接的附接表面。安装面相对于第六旋转轴以预定的角度倾斜。

8. 发明授权

US08058827B2 Motor control apparatus having a function to calculate amount of cogging torque compensation 有权
标题翻译：具有计算齿槽转矩补偿量的功能的马达控制装置
公开(公告)号：US08058827B2
公开(公告)日：2011-11-15
申请号：US12880108
申请日：2010-09-12
申请人： Yasusuke Iwashita , Tadashi Okita , Junichi Tezuka , Kazuyuki Sugiyama
发明人： Yasusuke Iwashita , Tadashi Okita , Junichi Tezuka , Kazuyuki Sugiyama
IPC分类号： B23Q5/04
CPC分类号： H02P6/10 , G05B19/404 , G05B2219/41138 , H02P23/14
摘要： A motor control apparatus that can calculate a proper amount of cogging torque compensation even in cases where components due to other factors than cogging torque (for example, components due to gravitational torque, etc.) are superimposed on a torque command being output during constant slow-speed feed operation. The motor control apparatus includes: a torque command monitoring unit which monitors a torque command when the motor is caused to operate at a constant speed; an approximation calculation unit which calculates a torque command approximation component by approximation from the torque command monitored over an interval equal to an integral multiple of the cogging torque period of the motor; a second torque command calculation unit which calculates a second torque command by subtracting the torque command approximation component from the torque command; a second torque command frequency analyzing unit which extracts frequency components, each at an integral multiple of the fundamental frequency of the cogging torque, by performing frequency analysis on the thus calculated second torque command; and a cogging compensation amount calculation unit which calculates the amount of cogging compensation from the amplitude and phase of the extracted frequency components.
摘要翻译：即使在由于比齿槽转矩（例如由于重力转矩等构成的其他因素）的分量叠加在恒定速度下输出的转矩指令的情况下，也能够计算恰当量的齿槽转矩补偿量的电动机控制装置速度进料操作。电动机控制装置包括：转矩指令监视单元，其在电动机以恒定速度运行时监视转矩指令; 近似计算单元，其通过在等于电机的齿槽转矩周期的整数倍的间隔上监视的转矩指令近似计算转矩指令近似分量; 第二转矩指令计算单元，通过从所述转矩指令中减去所述转矩指令近似分量来计算第二转矩指令; 第二转矩指令频率分析单元，通过对所计算出的第二转矩指令进行频率分析，提取频率分量，每个频率成分以齿槽转矩的基频的整数倍; 以及齿槽补偿量计算单元，根据所提取的频率分量的振幅和相位来计算齿槽补偿量。

9. 发明授权

US08054028B2 Servo motor control system 有权
标题翻译：伺服电机控制系统
公开(公告)号：US08054028B2
公开(公告)日：2011-11-08
申请号：US12269928
申请日：2008-11-13
申请人： Kazunari Aoyama , Kunitaka Komaki , Yasuharu Aizawa
发明人： Kazunari Aoyama , Kunitaka Komaki , Yasuharu Aizawa
IPC分类号： G05B19/18 , G05B19/414 , G06F19/00
CPC分类号： G05B19/414 , G05B2219/34221 , G05B2219/34434 , G05B2219/35563 , G05B2219/36502 , G05B2219/41002 , G05B2219/41003 , G05B2219/41206 , G05B2219/41213 , G05B2219/41214 , G05B2219/43097
摘要： A table containing correspondence between “n” and “m” is set in a control circuit of a servo control system so that the current command data in the m-th (m=1, 2, 3 . . . ) current command register is assigned to the n-th (n=1, 2, 3 . . . ) servo amplifier. When data is specified in this table to satisfy “n=m”, the current command data in the n-th current command register is passed to the n-th servo amplifier. When “m=1” is set for “n=1” and “m=1” is set for “n=2” in this table, the current command data stored in the first current command register is passed to the first and second servo amplifiers.
摘要翻译：在伺服控制系统的控制电路中设置包含“n”和“m”之间的对应关系的表，使得第m（m = 1,2,3等）电流指令寄存器中的当前指令数据为分配给第n（n = 1,2,3，...）伺服放大器。当在该表中指定满足“n = m”的数据时，将第n电流指令寄存器中的电流指令数据传递给第n个伺服放大器。在该表中为“n = 1”设定“m = 1”，将“n = 2”设定为“m = 1”时，将存储在第一电流指令寄存器中的电流指令数据传递给第一和第二伺服放大器。

10. 发明授权

US08054027B2 Robot operating range setting device 有权
标题翻译：机器人操作范围设定装置
公开(公告)号：US08054027B2
公开(公告)日：2011-11-08
申请号：US12230853
申请日：2008-09-05
申请人： Ryo Nihei , Tetsuaki Kato , Takeaki Aramaki , Tomoyuki Yamamoto
发明人： Ryo Nihei , Tetsuaki Kato , Takeaki Aramaki , Tomoyuki Yamamoto
IPC分类号： B25J9/18
CPC分类号： B25J9/1666 , B25J9/1676 , G05B2219/39098 , G05B2219/40478
摘要： A robot control unit (30) comprises: a setting means (40) for setting operating ranges of each shaft and a working tool of the robot (20); a storage means (33) for storing an inertial running distance of the robot decided by at least one of the operating speed of the robot and the weight of the working tool; and an arriving range calculation means (36) for calculating an arriving range to which the robot arrives according to the operating range, which has been set by the setting means, and the inertial running distance stored by the storage means. Due to the foregoing, while consideration is being given to the inertial running distance of a robot, the arriving range of the robot is made. Further, a display means (41) for displaying the arriving range may be provided. In the case where each shaft of the robot and the working tool deviate from the operating range, a stopping means (34) for stopping the robot may be provided.
摘要翻译：机器人控制单元（30）包括：设置机构（20）的各轴的工作范围和工作工具的设定装置（40）。存储装置，用于存储由所述机器人的操作速度和所述作业工具的重量中的至少一个所决定的所述机器人的惯性行驶距离; 以及到达范围计算装置（36），用于根据由设置装置设置的操作范围和存储装置存储的惯性行驶距离来计算机器人到达的到达范围。由于上述原因，在考虑机器人的惯性行驶距离的情况下，进行机器人的到达范围。此外，可以提供用于显示到达范围的显示装置（41）。在机器人和工作工具的各轴偏离工作范围的情况下，可以设置用于停止机器人的停止装置（34）。

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