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1. 发明申请

US20160291572A1 SERVO CONTROLLER 审中-公开
标题翻译：伺服控制器
公开(公告)号：US20160291572A1
公开(公告)日：2016-10-06
申请号：US15035406
申请日：2013-11-14
申请人： FUJI MACHINE MFG. CO., LTD.
发明人： Naohiro KATO , Michinaga ONISHI
IPC分类号： G05B19/402
CPC分类号： G05B19/402 , G05B11/01 , G05B19/05 , G05B19/18 , G05B19/416 , G05B2219/2609 , G05B2219/34013 , G05B2219/34027 , G05B2219/41173 , G05B2219/41431 , G05B2219/42019
摘要： A controller capable of transmitting and receiving an input signal from a drive circuit corresponding to a moving device, a mounting head, or the like of an electronic component mounting machine or an output signal to the drive circuit for each predetermined period (A/2), in which the controller computes an output signal based on an input signal which is received before the predetermined period, stores the output signal for a time greater than or equal to the predetermined period, and subsequently transmits the output signal to the drive circuit. It becomes possible to set a time (a delay time) from when an input signal is output until an output signal reaches a drive circuit to an arbitrary length by adjusting the storage time.
摘要翻译：（A / 2）的控制器能够从对应于电子部件安装机的移动装置，安装头等的驱动电路或者输出信号向驱动电路发送和接收输入信号，，其中控制器基于在预定时段之前接收的输入信号来计算输出信号，将输出信号存储大于或等于预定周期的时间，并且随后将该输出信号发送到驱动电路。通过调整存储时间，可以设定从输入信号输出到输出信号到达驱动电路到任意长度的时间（延迟时间）。

2. 发明申请

US20130026964A1 CONTROL DEVICE THAT DRIVES ONE DRIVEN OBJECT BY TWO MOTORS 有权
标题翻译：由两台电机驱动一个驱动对象的控制设备
公开(公告)号：US20130026964A1
公开(公告)日：2013-01-31
申请号：US13495181
申请日：2012-06-13
申请人： Naoto SONODA , Yasusuke IWASHITA
发明人： Naoto SONODA , Yasusuke IWASHITA
IPC分类号： G05B11/32
CPC分类号： G05B19/416 , G05B2219/34027 , G05B2219/41034 , G05B2219/41264 , H02P5/50 , H02P5/74
摘要： A control device that drives one driven object by a first motor and a second motor. A first processor has a first correction amount calculation unit configured to calculate an amount of correction for a torque command to the first motor based on a speed value difference between a speed value of the first motor and a speed value of the second motor in order to suppress vibrations. A second processor has a second correction amount calculation unit configured to calculate an amount of correction for a torque command to the second motor based on a speed value difference between a speed value of the first motor and a speed value of the second motor in order to suppress vibrations.
摘要翻译：一种由第一电动机和第二电动机驱动一个被驱动物体的控制装置。第一处理器具有第一校正量计算单元，其被配置为基于第一电动机的速度值和第二电动机的速度值之间的速度值差来计算针对第一电动机的转矩指令的校正量，以便抑制振动。第二处理器具有第二校正量计算单元，其被配置为基于第一电动机的速度值和第二电动机的速度值之间的速度值差来计算针对第二电动机的转矩指令的校正量，以便抑制振动。

3. 发明申请

US20180004190A1 SERVO ACTUATOR DEFAULT DISCONNECTED ID SETTING METHOD FOR SERVO CONTROLLING SYSTEM 有权
公开(公告)号：US20180004190A1
公开(公告)日：2018-01-04
申请号：US15342143
申请日：2016-11-03
申请人： UBTECH Robotics Corp.
发明人： TINGSHUANG HUANG , Youjun Xiong
IPC分类号： G05B19/4093
CPC分类号： H02P31/00 , G05B19/102 , G05B19/4093 , G05B19/4142 , G05B19/4144 , G05B2219/21053 , G05B2219/32127 , G05B2219/34013 , G05B2219/34027 , G05B2219/34236 , G05B2219/34244 , G05B2219/34245 , H01H9/54 , H02K11/35
摘要： A servo actuator default disconnected ID setting method is performed by a servo actuator controlling system, which includes a plurality of servo actuators. A first message is broadcasted which indicates that an original ID is replaced with a non-default-disconnected to the plurality of servo actuators. The original ID of each actuator is replaced with the non-default-disconnected according to the first message. A second message is broadcasted which indicates that the non-default-disconnected ID is replaced with a default disconnected ID. And the non-default-disconnected ID of each servo actuator is replaced with the default disconnected ID according to the second message.

4. 发明申请

US20170001305A1 METHOD FOR CONTROLLING A MANIPULATOR SYSTEM 审中-公开
标题翻译：控制系统的方法
公开(公告)号：US20170001305A1
公开(公告)日：2017-01-05
申请号：US15175330
申请日：2016-06-07
申请人： KUKA Roboter GmbH
发明人： Yevgen KOGAN
IPC分类号： B25J9/12 , B25J11/00 , B25J5/00
CPC分类号： B25J9/12 , B25J5/007 , B25J9/161 , B25J9/162 , B25J11/008 , G05B2219/34027 , G05B2219/40298 , G05B2219/41293 , G05B2219/45108
摘要： A method for controlling a manipulator system including a manipulator, several drives and a mobile platform. A first converter for actuating at least two of the several drives is associated with the manipulator system. The method includes the steps of: a) identifying one of the drives of the manipulator system that is associated with the first converter and that must be used to travel over a current planned movement path of the manipulator system, and (b) actuating the one identified associated drive by means of the first converter, where the actuated drive is for the manipulator system to travel over the planned movement path. One of the at least two drives that is not being actuated is stationary preferably fixed or secured by a mechanical brake.
摘要翻译：一种用于控制包括操纵器，多个驱动器和移动平台的机械手系统的方法。用于致动多个驱动器中的至少两个的第一转换器与操纵器系统相关联。该方法包括以下步骤：a）识别与第一转换器相关联并且必须用于在机械手系统的当前计划移动路径上行进的机械手系统的驱动器中的一个，以及（b）致动一个通过第一转换器识别相关联的驱动器，其中致动驱动器用于机械手系统在计划的移动路径上行进。未被致动的至少两个驱动器中的一个是固定的，优选地通过机械制动器固定或固定。

5. 发明授权

US08587247B2 Synchronous control apparatus 有权
标题翻译：同步控制装置
公开(公告)号：US08587247B2
公开(公告)日：2013-11-19
申请号：US13005119
申请日：2011-01-12
申请人： Yasufumi Yoshiura , Yasuhiko Kaku
发明人： Yasufumi Yoshiura , Yasuhiko Kaku
IPC分类号： G05B11/32 , G05B19/19
CPC分类号： G05B19/19 , G05B19/4141 , G05B2219/34027 , G05B2219/41258 , H02P6/10 , H02P21/0003
摘要： A synchronous control apparatus to synchronously control a plurality of motors with respect to a control subject includes a command device and a plurality of motor control devices. The control subject includes the motors, a plurality of position detectors configured to detect a plurality of position information of the motors respectively, and at least one coupler connecting movable axes of the motors. The command device includes a first position controller which is configured to compute a work position based on the position information detected by the position detectors and which is configured to compute, based on a difference between a position command and the work position, a new position command. Each of the motor control devices includes a second position controller configured to compute commands to drive the plurality of motors based on a difference between the new position command and the position information.
摘要翻译：相对于控制对象同步控制多个电动机的同步控制装置包括指令装置和多个电动机控制装置。控制对象包括电动机，多个位置检测器，被配置为分别检测电动机的多个位置信息，以及至少一个耦合器，其连接电动机的可动轴。命令装置包括第一位置控制器，其被配置为基于由位置检测器检测到的位置信息计算工作位置，并且被配置为基于位置命令和工作位置之间的差来计算新的位置命令。每个电动机控制装置包括第二位置控制器，其被配置为基于新位置命令和位置信息之间的差异来计算用于驱动多个电动机的命令。

6. 发明授权

US09998063B2 Master controller, servo actuator and servo controlling system 有权
公开(公告)号：US09998063B2
公开(公告)日：2018-06-12
申请号：US15342119
申请日：2016-11-03
申请人： UBTECH Robotics Corp.
发明人： Tingshuang Huang , Youjun Xiong
IPC分类号： B25J9/16 , H02P31/00 , H01H9/54 , H02K11/35
CPC分类号： H02P31/00 , G05B19/102 , G05B19/4093 , G05B19/4142 , G05B19/4144 , G05B2219/21053 , G05B2219/32127 , G05B2219/34013 , G05B2219/34027 , G05B2219/34236 , G05B2219/34244 , G05B2219/34245 , H01H9/54 , H02K11/35
摘要： A servo actuator controlling system includes a master controller and a number of servo actuators coupled to at least one interface of the master controller. The master controller includes a master MCU and a number of interfaces connected to the master MCU via a first bus. Each servo actuator includes a servo MCU, a first interface coupled to the servo MCU via a second bus, a second interface coupled the first interface and the serve MCU, a first servo switch connected between the first interface and the servo MCU, and a second servo switch connected between the second interface and the servo MCU. The first servo switch is set to turn on or off the first interface and the second servo switch is set to turn on or off the second interface.

7. 发明申请

US20110169441A1 SYNCHRONOUS CONTROL APPARATUS 有权
标题翻译：同步控制装置
公开(公告)号：US20110169441A1
公开(公告)日：2011-07-14
申请号：US13005119
申请日：2011-01-12
申请人： Yasufumi YOSHIURA , Yasuhiko Kaku
发明人： Yasufumi YOSHIURA , Yasuhiko Kaku
IPC分类号： G05B11/32
CPC分类号： G05B19/19 , G05B19/4141 , G05B2219/34027 , G05B2219/41258 , H02P6/10 , H02P21/0003
摘要： A synchronous control apparatus to synchronously control a plurality of motors with respect to a control subject includes a command device and a plurality of motor control devices. The control subject includes the motors, a plurality of position detectors configured to detect a plurality of position information of the motors respectively, and at least one coupler connecting movable axes of the motors. The command device includes a first position controller which is configured to compute a work position based on the position information detected by the position detectors and which is configured to compute, based on a difference between a position command and the work position, a new position command. Each of the motor control devices includes a second position controller configured to compute commands to drive the plurality of motors based on a difference between the new position command and the position information.
摘要翻译：相对于控制对象同步控制多个电动机的同步控制装置包括指令装置和多个电动机控制装置。控制对象包括电动机，多个位置检测器，被配置为分别检测电动机的多个位置信息，以及至少一个耦合器，其连接电动机的可动轴。命令装置包括第一位置控制器，其被配置为基于由位置检测器检测到的位置信息计算工作位置，并且被配置为基于位置命令和工作位置之间的差来计算新的位置命令。每个电动机控制装置包括第二位置控制器，其被配置为基于新位置命令和位置信息之间的差异来计算用于驱动多个电动机的命令。

8. 发明申请

US20090276093A1 MULTI-INPUT CONTROL OF AN INDUSTRIAL ROBOT SYSTEM 审中-公开
标题翻译：工业机器人系统的多输入控制
公开(公告)号：US20090276093A1
公开(公告)日：2009-11-05
申请号：US12297108
申请日：2007-03-30
申请人： Ian Bird-Radolovic
发明人： Ian Bird-Radolovic
IPC分类号： G06F19/00
CPC分类号： B25J9/1602 , G05B2219/31145 , G05B2219/33218 , G05B2219/33338 , G05B2219/34027 , Y02P90/185
摘要： An industrial robot system with increased flexibility and control accuracy. The industrial robot system uses a common data bus connecting a master controller, different drive devices, and sensors. The sensors forward sensor data to the drive devices via the common data bus. A controller unit in the drive devices processes sensor data received via the common data bus for control of at least one electric motor being connected to the drive devices.
摘要翻译：工业机器人系统具有更高的灵活性和控制精度。工业机器人系统使用连接主控制器，不同驱动装置和传感器的公共数据总线。传感器通过公共数据总线将传感器数据转发到驱动设备。驱动装置中的控制器单元处理经由公共数据总线接收的传感器数据，用于控制连接到驱动装置的至少一个电动机。

9. 发明授权

US06969025B1 Servo actuation systems 失效
标题翻译：伺服驱动系统
公开(公告)号：US06969025B1
公开(公告)日：2005-11-29
申请号：US07421629
申请日：1989-10-06
申请人： John F. Bugge , Kenneth C. Goulding , Anthony Machell
发明人： John F. Bugge , Kenneth C. Goulding , Anthony Machell
IPC分类号： G05D3/12 , F41G7/00
CPC分类号： G05D3/12 , G05B2219/34013 , G05B2219/34027 , G05B2219/42097
摘要： A dual servo system for a seeker actuator comprises a seeker head gimballed on a platform and driven in the pitch and yaw senses by respective fast, i.e. high bandwidth low ambit, servo sub-systems, the platform being pivotally mounted with respect to a base and driven in the pitch and yaw senses by respective slow, i.e. low bandwidth high ambit, servo systems. The pivotal mounting between the platform and the base is configured to provide a spherical bearing of relatively large area (typically about 85° solid angle) to provide good resistance to high acceleration loads.
摘要翻译：一种用于探测器致动器的双伺服系统包括一个探针头，该探测器头部平台放置在平台上，并以相应的快速，即高带宽低范围的伺服子系统以俯仰和偏航感驱动，平台相对于基座枢转地安装，通过相应的慢速，即低带宽高动量的伺服系统在俯仰和偏航感测中驱动。平台和底座之间的枢轴安装被配置成提供一个相对较大面积（通常约为85°立体角）的球面轴承，以提供良好的抵抗高加速度载荷。

10. 发明申请

US20040180606A1 Synchronous control device 有权
标题翻译：同步控制装置
公开(公告)号：US20040180606A1
公开(公告)日：2004-09-16
申请号：US10790697
申请日：2004-03-03
申请人： FANUC LTD
发明人： Yasusuke Iwashita , Hiroyuki Kawamura , Zhiwei Tang
IPC分类号： B24B049/00 , B24B051/00
CPC分类号： H02P5/52 , G05B2219/34027
摘要： There is provided a synchronous control device for driving the same control object with two servomotors. The synchronous control device detects the physical quantity that represents the difference between the forces on the two servomotors, and, on the basis of the detected value, reduces the force that acts between the two servomotors.
摘要翻译：提供了一种用于使用两个伺服电机驱动相同控制对象的同步控制装置。同步控制装置检测表示两个伺服电动机之间的力之差的物理量，并且基于检测值减小在两个伺服电动机之间作用的力。

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