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1. 发明授权

US06757583B2 Interpolated motion control over a serial network 失效
公开(公告)号：US06757583B2
公开(公告)日：2004-06-29
申请号：US10186074
申请日：2002-06-27
申请人： Joe Giamona , Larry Koler
发明人： Joe Giamona , Larry Koler
IPC分类号： G05B1941
CPC分类号： G05B19/4141 , G05B2219/33187 , G05B2219/33219 , G05B2219/33337 , G05B2219/34157 , G05B2219/34448 , G05B2219/50234
摘要： The invention provides a system for controlling motion in machine tools, industrial robots, and motion stages over a computer serial port. From a process or listing of coordinate data points which define the path of two (or more) servo axes, a computer outputs serial port data to distributed Control Modules which regulate an analog torque or velocity command signal to control each axes' servo drive in a manner that implements a precisely interpolated tool path. A digital I/O link is utilized to synchronize the initial serial port data stream and to compensate for the drift of the individual processor clocks within the separate Control Modules, thereby eliminating the need for network determinism and also reducing hardware costs.

2. 发明申请

US20180141210A1 ROBOT AND ROBOT SYSTEM 审中-公开
公开(公告)号：US20180141210A1
公开(公告)日：2018-05-24
申请号：US15788171
申请日：2017-10-19
申请人： Seiko Epson Corporation
发明人： Atsuto KITAHARA
IPC分类号： B25J9/16
CPC分类号： B25J9/161 , G05B19/4141 , G05B2219/33219
摘要： A robot includes a first control device; and one or more second control devices to be controlled by the first control device. The second control device controls a control target controlled by the second control device at a predetermined cycle. The predetermined cycle is determined based on first information received by the second control device from the first control device at a first time point and second information received by the second control device from the first control device at a second time point.

3. 发明申请

US20100036526A1 CONTROL SYSTEM FOR CONTROLLING AN INDUSTRIAL ROBOT 有权
标题翻译：控制工业机器人的控制系统
公开(公告)号：US20100036526A1
公开(公告)日：2010-02-11
申请号：US12520819
申请日：2007-11-21
申请人： Peter Eriksson
发明人： Peter Eriksson
IPC分类号： B25J9/16 , G06F19/00
CPC分类号： B25J9/161 , G05B19/4148 , G05B2219/33219 , G05B2219/33221 , G05B2219/34013 , G05B2219/34465
摘要： A control system for controlling an industrial robot including a manipulator. The control system includes a plurality of modules adapted to handle various functions. A first of the modules is a drive module adapted to control the motors driving the movements of the manipulator. A second of the modules is a main computer module adapted to execute a program with instructions for the movements of the manipulator and to plan the movements of the manipulator based on the executed instructions. The control system is adapted to communicate with one or more external devices via an external network. The control system includes an internal network. Each of the modules is arranged as a node in the internal network and includes communication elements for communicating with the other nodes in the internal network. The internal network includes a first part adapted for normal communication and a second part adapted for time critical communication. The main computer module is arranged as a node in both the first and second parts of the internal network and the drive unit is arranged as a node in the second part of the internal network.
摘要翻译：一种用于控制包括机械手的工业机器人的控制系统。控制系统包括适于处理各种功能的多个模块。模块中的第一个是适于控制驱动机械手的运动的电动机的驱动模块。第二模块是主计算机模块，其适于执行具有用于操纵器的运动的指令的程序并且基于所执行的指令来规划操纵器的运动。控制系统适于经由外部网络与一个或多个外部设备进行通信。控制系统包括内部网络。每个模块被布置为内部网络中的节点，并且包括用于与内部网络中的其他节点通信的通信元件。内部网络包括适于正常通信的第一部分和适于时间关键通信的第二部分。主计算机模块被布置为内部网络的第一和第二部分中的节点，并且驱动单元被布置为内部网络的第二部分中的节点。

4. 发明申请

US20090171489A1 INTERCHANGEABLE DRIVE ELEMENT FOR BOTTLE OR CONTAINER SUPPORTS IN A CONTAINER LABELING MACHINE OR A MACHINE CONFIGURED TO PRINT INFORMATION ON BOTTLES OR CONTAINERS, WHICH INTERCHANGEABLE DRIVE ELEMENT IS CAPABLE OF BEING USED IN DIFFERENT CONTAINER LABELING OR CONTAINER INFORMATION PRINTING MACHINES IN BOTTLE OR CONTAINER FILLING PLANTS 有权
标题翻译：用于集装箱或集装箱支架的交换驱动元件或配置为打印关于瓶子或容器的信息的机器，其中可交换驱动元件可用于不同容器标签或容器信息在瓶子或容器填充植物中印刷机器
公开(公告)号：US20090171489A1
公开(公告)日：2009-07-02
申请号：US12341175
申请日：2008-12-22
申请人： Klaus KRAMER , Winfried SCHLUTER
发明人： Klaus KRAMER , Winfried SCHLUTER
IPC分类号： G06F17/00 , G06F9/445
CPC分类号： G05B19/042 , B65C9/04 , B65C9/40 , G05B2219/2621 , G05B2219/33155 , G05B2219/33161 , G05B2219/33219
摘要： An interchangeable drive element for bottle or container supports in a container labeling machine or a machine configured to print information on bottles or containers, which interchangeable drive element is capable of being used in different container labeling or container information printing machines in bottle or container filling plants. The abstract of the disclosure is submitted herewith as required by 37 C.F.R. §1.72(b). As stated in 37 C.F.R. §1.72(b): A brief abstract of the technical disclosure in the specification must commence on a separate sheet, preferably following the claims, under the heading “Abstract of the Disclosure.” The purpose of the abstract is to enable the Patent and Trademark Office and the public generally to determine quickly from a cursory inspection the nature and gist of the technical disclosure. The abstract shall not be used for interpreting the scope of the claims. Therefore, any statements made relating to the abstract are not intended to limit the claims in any manner and should not be interpreted as limiting the claims in any manner.
摘要翻译：在容器标签机或配置成在瓶子或容器上打印信息的机器的可互换驱动元件，该可互换驱动元件能够用于瓶子或容器填充设备中的不同容器标签或容器信息印刷机。披露摘要根据37 C.F.R.的要求提交。 §1.72（b）。如37 C.F.R. §1.72（b）：说明书中技术性披露的简要摘要必须在单独的表格上开始，优选按照权利要求，在“披露摘要”标题下。摘要的目的是使专利商标局和公众一般能够从粗略检查中快速确定技术披露的性质和要点。摘要不得用于解释权利要求的范围。因此，与摘要有关的任何陈述不旨在以任何方式限制权利要求，也不应被解释为以任何方式限制权利要求。

5. 发明授权

US08751044B2 Control system for controlling an industrial robot 有权
标题翻译：控制工业机器人的控制系统
公开(公告)号：US08751044B2
公开(公告)日：2014-06-10
申请号：US12520819
申请日：2007-11-21
申请人： Peter Eriksson
发明人： Peter Eriksson
IPC分类号： G05B19/04 , G05B19/418 , G05B15/00 , G05B19/00
CPC分类号： B25J9/161 , G05B19/4148 , G05B2219/33219 , G05B2219/33221 , G05B2219/34013 , G05B2219/34465
摘要： A control system for controlling an industrial robot including a manipulator. The control system includes a plurality of modules adapted to handle various functions. A first of the modules is a drive module adapted to control the motors driving the movements of the manipulator. A second of the modules is a main computer module adapted to execute a program with instructions for the movements of the manipulator and to plan the movements of the manipulator based on the executed instructions. The control system is adapted to communicate with one or more external devices via an external network. The control system includes an internal network. Each of the modules is arranged as a node in the internal network and includes communication elements for communicating with the other nodes in the internal network. The internal network includes a first part adapted for normal communication and a second part adapted for time critical communication. The main computer module is arranged as a node in both the first and second parts of the internal network and the drive unit is arranged as a node in the second part of the internal network.
摘要翻译：一种用于控制包括机械手的工业机器人的控制系统。控制系统包括适于处理各种功能的多个模块。模块中的第一个是适于控制驱动机械手的运动的电动机的驱动模块。第二模块是主计算机模块，其适于执行具有用于操纵器的运动的指令的程序并且基于所执行的指令来规划操纵器的运动。控制系统适于经由外部网络与一个或多个外部设备进行通信。控制系统包括内部网络。每个模块被布置为内部网络中的节点，并且包括用于与内部网络中的其他节点通信的通信元件。内部网络包括适于正常通信的第一部分和适于时间关键通信的第二部分。主计算机模块被布置为内部网络的第一和第二部分中的节点，并且驱动单元被布置为内部网络的第二部分中的节点。

6. 发明授权

US06981221B2 Method and data network for automatically configuring a parameterizing surface of machine tools or production machines 有权
标题翻译：用于自动配置机床或生产机床参数化表面的方法和数据网络
公开(公告)号：US06981221B2
公开(公告)日：2005-12-27
申请号：US10713968
申请日：2003-11-14
申请人： Michael Neudeck
发明人： Michael Neudeck
IPC分类号： G05B19/042 , G05B19/414 , H04L12/24 , G06F3/00 , G06F9/00 , G06F17/00
CPC分类号： G05B19/4142 , G05B2219/25067 , G05B2219/25072 , G05B2219/25093 , G05B2219/25103 , G05B2219/25296 , G05B2219/25314 , G05B2219/33105 , G05B2219/33125 , G05B2219/33219 , G05B2219/34205 , H04L41/12 , Y02P90/185
摘要： A method and a data network for automatically configuring a parameterizing surface of at least one controller of machine tools or production machines. An actual machine topology is determined via a data network when the machine starts up and compared with stored desired machine topologies. If the actual machine topology differs from the desired machine topology, a corresponding dedicated parameterizing surface is generated from the determined actual machine topology, whereby for parameterizing the controller of the machine only the parameters and/or functions of the identified machine components are indicated to the user. In this way, a dedicated parameterizing surface matching the actual machine configuration can be easily generated.
摘要翻译：一种用于自动配置机床或生产机器的至少一个控制器的参数化表面的方法和数据网络。当机器启动时，通过数据网络确定实际机器拓扑，并与存储的所需机器拓扑结构进行比较。如果实际机器拓扑与期望的机器拓扑不同，则从所确定的实际机器拓扑生成相应的专用参数化表面，由此为了参数化机器的控制器，仅将所识别的机器部件的参数和/或功能指示到用户。以这种方式，可以容易地产生与实际机器配置相匹配的专用参数化表面。

7. 发明申请

US20040098153A1 Method and data network for automatically configuring a parameterizing surface of machine tools or production machines 有权
标题翻译：用于自动配置机床或生产机床参数化表面的方法和数据网络
公开(公告)号：US20040098153A1
公开(公告)日：2004-05-20
申请号：US10713968
申请日：2003-11-14
申请人： SIEMENS AKTIENGESELLSCHAFT
发明人： Michael Neudeck
IPC分类号： G06F019/00
CPC分类号： G05B19/4142 , G05B2219/25067 , G05B2219/25072 , G05B2219/25093 , G05B2219/25103 , G05B2219/25296 , G05B2219/25314 , G05B2219/33105 , G05B2219/33125 , G05B2219/33219 , G05B2219/34205 , H04L41/12 , Y02P90/185
摘要： A method and a data network for automatically configuring to a parameterizing surface for peace one controller of machine tools or production machines are described. An actual machine topology is determined via a data network when the machine starts up and compared with stored desired machine topologies. If the actual machine topology differs from the desired machine topology, a corresponding dedicated parameterizing surface is generated from the determined actual machine topology, whereby for parameterizing the controller of the machine only the parameters and/or functions of the identified machine components are indicated to the user. In this way, a dedicated parameterizing surface matching the actual machine configuration can be easily generated.
摘要翻译：描述了用于自动配置到机床或生产机器的一个控制器的参数化表面的方法和数据网络。当机器启动时，通过数据网络确定实际机器拓扑，并与存储的所需机器拓扑结构进行比较。如果实际机器拓扑与期望的机器拓扑不同，则从所确定的实际机器拓扑生成相应的专用参数化表面，由此为了参数化机器的控制器，仅将所识别的机器部件的参数和/或功能指示到用户。以这种方式，可以容易地产生与实际机器配置相匹配的专用参数化表面。

8. 发明申请

US20020131451A1 Applications of a switched data network for real-time and non-real time communication 有权
标题翻译：用于实时和非实时通信的交换数据网络的应用
公开(公告)号：US20020131451A1
公开(公告)日：2002-09-19
申请号：US10013140
申请日：2001-12-10
发明人： Michael Franke , Martin Kiesel , Gernot Rossi
IPC分类号： H04J001/02
CPC分类号： G05B19/4185 , G05B2219/31137 , G05B2219/31186 , G05B2219/33216 , G05B2219/33219 , H04L12/417 , Y02P90/087 , Y02P90/18 , Y02P90/86
摘要： The invention relates to a system and method for the control of a first station (2) in a switched data network (1) by a second station (9) in the switched data network (1), the communication between stations of the switched data network (1) taking place via one or more point-to-point connections in transmission cycles which are synchronous with one another; for the transmission of a reference value from a first station (2) of a switched data network (1) to a second station (9) of the switched data network (1), the communication between stations of the switched data network (1) taking place via one or more point-to-point connections in transmission cycles which are synchronous with one another; for the transmission of input values and output values between an input/output station (45) and a control unit (40) via a switched data network (1); for the transmission of a data telegram with applications data via a switched data network (1); and for the generation of a relative clock (68) in a station (58) of a switched data network (1).
摘要翻译：本发明涉及一种用于通过交换数据网络（1）中的第二站（9）在交换数据网络（1）中控制第一站（2）的系统和方法，所述切换数据的站之间的通信网络（1）通过彼此同步的传输周期中的一个或多个点到点连接进行; 为了将参考值从交换数据网络（1）的第一站（2）传输到交换数据网络（1）的第二站（9），交换数据网络（1）的站之间的通信通过彼此同步的传输周期中的一个或多个点到点连接发生; 用于经由交换数据网络（1）在输入/输出站（45）和控制单元（40）之间传输输入值和输出值; 用于通过交换数据网络（1）发送具有应用数据的数据报文; 并且用于在交换数据网络（1）的站（58）中生成相对时钟（68）。

9. 发明申请

US20180147722A1 METHOD AND SYSTEM FOR MANAGING WIRELESS NETWORKING OF UNITS INSIDE ROBOT 审中-公开
公开(公告)号：US20180147722A1
公开(公告)日：2018-05-31
申请号：US15861668
申请日：2018-01-04
申请人： Nanjing AvatarMind Robot Technology Co., Ltd.
发明人： Tingliang LI , Zhen LI
IPC分类号： B25J9/16 , G05B19/418
CPC分类号： B25J9/161 , B25J9/1633 , B25J9/1664 , G05B19/4185 , G05B2219/32021 , G05B2219/33192 , G05B2219/33219 , G05B2219/34306 , Y02P70/163
摘要： The present disclosure discloses a management method and system for wireless networking of units inside a robot. The system includes a control unit and a plurality of tributary units, wherein each tributary unit has a wireless transceiver module, and the units are in wireless communication with each other. With the management method and system for wireless networking of units inside a robot according to the present disclosure, by virtue of the short-range and low-power consumption wireless communication technology, networking is implemented for the units inside the robot to take the place of the communication manner using limited cables, electrical faults caused by wearing and bending of the cables for a long time are removed, safety and reliability of the robot are improved.

10. 发明授权

US09318895B2 Load control system and load driving system 有权
标题翻译：负载控制系统和负载驱动系统
公开(公告)号：US09318895B2
公开(公告)日：2016-04-19
申请号：US14236561
申请日：2012-07-31
申请人： Masaki Nagatsuka
发明人： Masaki Nagatsuka
IPC分类号： H02B3/00 , H02P31/00 , H02J4/00 , G05B19/414
CPC分类号： H02J4/00 , G05B19/4141 , G05B2219/33219 , G05B2219/39251 , G05B2219/39252 , H02B3/00 , H02P31/00 , Y10T307/305
摘要： A load control system has a plurality of drivers provided correspondingly to a plurality of load driving elements in order to control driving of the respective load driving elements for driving loads. Each of the plurality of drivers includes a control unit that controls the load driving element directly associated with a subject driver. The respective drivers are electrically connected to one another so that a mutual control communication state, in which the control unit of the subject driver can transmit to the control units of all or a portion of target drivers of other drivers excluding the subject driver a command signal for controlling the driving of a load driving element directly associated with the all or the portion of target drivers, is created in the load control system.
摘要翻译：负载控制系统具有相应于多个负载驱动元件设置的多个驱动器，以便控制用于驱动负载的各个负载驱动元件的驱动。多个驱动器中的每一个包括控制单元，其控制与主体驱动器直接相关联的负载驱动元件。相应的驱动器彼此电连接，使得相互控制通信状态，其中主体驱动器的控制单元可以向除了主体驱动器的其他驱动器的目标驱动器的全部或一部分的控制单元发送命令信号在负载控制系统中创建用于控制与目标驱动器的全部或部分直接相关联的负载驱动元件的驱动。

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