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1. 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.

2. 发明申请

US20150323909A1 SERVO MOTOR DRIVE 有权
标题翻译：伺服电机驱动
公开(公告)号：US20150323909A1
公开(公告)日：2015-11-12
申请号：US14275875
申请日：2014-05-12
申请人： Yu-Chuan Chiu , Yu-Yuan Lin
发明人： Yu-Chuan Chiu , Yu-Yuan Lin
IPC分类号： G05B6/02 , G05B15/02
CPC分类号： G05B19/4144 , G05B6/02 , G05B15/02 , G05B19/19 , G05B2219/34236 , G05B2219/34311
摘要： A servo motor drive is connected with at least two servo motors and contains: a main control unit, a power unit, and at least one servo drive module. Each servo drive module includes a communication interface unit, an input/output unit, a microprocessing unit, a field-programmable gate array, a current control unit, and a switching unit. The communication interface unit is electrically connected between the main control unit and the microprocessing unit. The input/output unit is electrically connected between the main control unit and the field-programmable gate array. The field-programmable gate array converts data of the at least two servo motors into digital data.
摘要翻译：伺服电机驱动器与至少两台伺服电机连接，包括：主控制单元，动力单元和至少一个伺服驱动模块。每个伺服驱动器模块包括通信接口单元，输入/输出单元，微处理单元，现场可编程门阵列，电流控制单元和切换单元。通信接口单元电连接在主控单元和微处理单元之间。输入/输出单元电连接在主控制单元和现场可编程门阵列之间。现场可编程门阵列将至少两个伺服电动机的数据转换为数字数据。

3. 发明申请

US20020093303A1 Motor control system 有权
标题翻译：电机控制系统
公开(公告)号：US20020093303A1
公开(公告)日：2002-07-18
申请号：US09759741
申请日：2001-01-12
发明人： Clement C. Lo
IPC分类号： G05B019/18
CPC分类号： G05B19/18 , G05B2219/34236 , G05B2219/34245 , G05B2219/43164
摘要： A motor controller circuit for controlling an electric motor in response to motor commands from a host controller. The controller circuit includes a motor driver circuit for providing motor driver signals to the motor in response to motor driver commands. A control logic circuit is responsive to command words from the host controller for generating motor drive control signals, the controller has an associated motor identification, each command word having associated therewith a motor identification portion and a motor command portion. The control logic compares the motor identification portion of the command word to the motor identification, and converting the motor command portion into motor driver control signals if the motor identification portion corresponds to the motor identification. Multiple motors can be interfaced to a host controller, either in parallel or in a cascaded manner. Each motor has an unique address, and can interpret a command word and execute a command addressed to the motor. Each motor can also report its status and completion of a command.
摘要翻译：一种用于响应于来自主机控制器的电动机命令来控制电动机的电动机控制器电路。控制器电路包括电动机驱动器电路，用于响应于电动机驱动器命令向电动机提供电动机驱动器信号。控制逻辑电路响应于来自主机控制器的命令字用于产生电动机驱动控制信号，控制器具有相关联的电动机标识，每个命令字与其相关联地具有电动机识别部分和电动机命令部分。控制逻辑将命令字的电动机识别部分与电动机识别进行比较，并且如果电动机识别部分对应于电动机识别，则将电动机指令部分转换为电动机驱动器控制信号。多个电机可以并联或以级联方式连接到主机控制器。每个电机都有一个唯一的地址，可以解释一个命令字，并执行一个指向电机的命令。每个电机也可以报告其状态和完成一个命令。

4. 发明授权

US5248922A Multi-DSP, multi-functional motion controller 失效
标题翻译：多DSP，多功能运动控制器
公开(公告)号：US5248922A
公开(公告)日：1993-09-28
申请号：US874799
申请日：1992-04-27
申请人： Saeid Meshkat
发明人： Saeid Meshkat
IPC分类号： G05B19/414
CPC分类号： G05B19/4142 , G05B19/4148 , G05B2219/14007 , G05B2219/33113 , G05B2219/33114 , G05B2219/33336 , G05B2219/34047 , G05B2219/34076 , G05B2219/34236 , G05B2219/41322 , G05B2219/41367 , G05B2219/42034 , G05B2219/42062
摘要： A motion controller, which is adaptable to a variety of different motors, provides motor control signals to the motors of a multi-axis coordinated system as a function of position and velocity commands from a host computer. The motion controller configures the motor control signals to be compatible to the particular motors being driven based upon motor identification instructions from the host computer.
摘要翻译：运动控制器适用于各种不同的电动机，根据来自主机的位置和速度命令的功能，向多轴协调系统的电机提供电动机控制信号。运动控制器基于来自主计算机的电动机识别指令，将电动机控制信号配置为与正被驱动的特定电动机兼容。

5. 发明授权

US4412161A Digital control of servo circuit 失效
标题翻译：伺服电路数字控制
公开(公告)号：US4412161A
公开(公告)日：1983-10-25
申请号：US257489
申请日：1981-04-24
申请人： David T. Cornaby
发明人： David T. Cornaby
IPC分类号： G05B19/19 , G05B13/00
CPC分类号： G05B19/19 , G05B2219/34236 , G05B2219/42182
摘要： Digital signal processing means useful in control of servo loops is disclosed. The servo loop is designed to interface with a microprocessor controlling the loop. In a preferred embodiment, in which the servo loop controls the motion of a read/write head with respect to a magnetic disk, plural previous control signals and output response signals are recursively summed to generate each next position signal. Coefficients for weighting the previous control and response signals are stored in a read only memory accessed by portions of the control and response signals.
摘要翻译：公开了用于控制伺服环路的数字信号处理装置。伺服回路设计为与控制回路的微处理器相连。在其中伺服环路控制读/写磁头相对于磁盘的运动的优选实施例中，多个先前控制信号和输出响应信号被递归相加以产生每个下一个位置信号。用于加权先前控制和响应信号的系数存储在由控制和响应信号的部分访问的只读存储器中。

6. 发明授权

US4092719A Autoadaptive working center for programmable automation 失效
标题翻译：可编程自动化的自动化工作中心
公开(公告)号：US4092719A
公开(公告)日：1978-05-30
申请号：US717945
申请日：1976-08-26
申请人： Mario Salmon
发明人： Mario Salmon
IPC分类号： B23P19/00 , B23P19/06 , B23Q3/155 , B23Q3/157 , B23Q7/04 , G01B21/00 , G05B15/02 , G05B19/02 , G05B19/408 , G05B19/4155 , G05B19/416 , G05B19/418 , G05B19/425 , B23P19/04
CPC分类号： B23P19/102 , B23P19/12 , B23Q3/15506 , B23Q3/15706 , B23Q7/046 , G05B19/4083 , G05B19/4163 , G05B19/4181 , G05B19/425 , G05B2219/34236 , G05B2219/36043 , G05B2219/36417 , G05B2219/36513 , G05B2219/36514 , G05B2219/40087 , G05B2219/41249 , G05B2219/45213 , Y02P90/04 , Y02P90/06 , Y02P90/265 , Y10T29/5107 , Y10T29/53048 , Y10T29/53052 , Y10T483/1738 , Y10T483/1793
摘要： An autoadaptive working center for programmable automation comprises sensing means adapted to recognize a set of different situations of the working process, and program means for storing a program constituted by a set of subroutines corresponding to the said situations. The said sensing means are adapted to address, in response to the recognition of a given situation of the working process, the corresponding subroutine of the program. The working center comprises at least a pair of autoadaptive operating devices programmable separately and controllable by separate control units, under coordination made by a central unit as a function of the duration of the respective operations, the working positions of the various tools and the overall dimensions of the said heads. Each operating head is movable along at least two coordinates by numerical control units, each unit commanding a corresponding stepping motor. The working center includes a recording unit for recording a set of instructions corresponding to a set of operations of the working center which are manually controlled by the operator.
摘要翻译：自动工业机器人设置有连接到工具的自动适应触觉装置，用于对工件执行至少一个操作。该工具由包括工具夹的工作头和用于在工件支撑装置和工作头之间进行相对运动的控制装置承载，以便使工具夹中的工具相对于工件受到一定公差的预定位置。刀架通过联接器连接到工作头，该联接器可以选择性地释放，以允许刀架相对于工作头的有限位移并被夹紧以便相对于工作头夹紧刀夹。

7. 发明授权

US3987282A Shaft position controlling system 失效
标题翻译：轴位置控制系统
公开(公告)号：US3987282A
公开(公告)日：1976-10-19
申请号：US570507
申请日：1975-04-22
申请人： Edward H. Lau , John F. Tweedy, Jr.
发明人： Edward H. Lau , John F. Tweedy, Jr.
IPC分类号： B41J7/50 , G05B19/23 , B41J23/04
CPC分类号： B41J7/50 , G05B19/232 , G05B2219/34236 , G05B2219/42182
摘要： There is disclosed a typewriter using a single element print head wherein the tilt and rotate positions for character selection are obtained by servo systems driving tilt and rotate shafts. The system utilizes a digital multiplexing system whereby common elements in the servo channels are time shared. One common element is a binary arithmetic unit which compares binarily represented actual and desired position values of the shafts to fetch from a memory desired velocity information. The fetched velocity information in binary form is compared with the binarily represented actual velocity of the shafts to generate signals for energizing the servo motors which drive the shafts.
摘要翻译：公开了一种使用单元件打印头的打字机，其中通过驱动倾斜和旋转轴的伺服系统获得用于字符选择的倾斜和旋转位置。该系统利用数字多路复用系统，由此伺服通道中的共同元件是时间共享的。一个常见的元件是二进制运算单元，其将二进制表示的实际和期望的位置值与存储器所需的速度信息进行比较。将二进制形式的获取的速度信息与两轴的实际速度进行比较，以产生用于激励驱动轴的伺服电动机的信号。

8. 发明授权

US3744032A Stationary base programmed manipulator arrangement for continuously moving workpiece 失效
标题翻译：用于连续移动工作站的基站编程操纵装置
公开(公告)号：US3744032A
公开(公告)日：1973-07-03
申请号：US3744032D
申请日：1971-07-15
申请人： UNIMOTION INC
发明人： ENGELBERGER J , DUNNE M
IPC分类号： B25J9/00 , B25J9/18 , G05B19/418 , G05B19/425 , G06F15/46
CPC分类号： B25J9/0093 , G05B19/4182 , G05B19/425 , G05B2219/34236 , G05B2219/34388 , G05B2219/35238 , G05B2219/35373 , G05B2219/35545 , G05B2219/39472 , G05B2219/41156 , G05B2219/41309 , G05B2219/41474 , G05B2219/42186 , G05B2219/42268 , G05B2219/45083 , G05B2219/45135 , Y02P90/04 , Y02P90/083
摘要： A stationary base programmed manipulator arrangement is provided for cooperation with workpieces on a continuously moving conveyor. The manipulator arm is mounted for movement about a vertical axis to follow a workpiece on the conveyor and execute a predetermined pattern of operations on each workpiece as it moves past the manipulator station. The manipulator may be programmed by successively stopping the workpiece at different closely spaced locations along the conveyor path, successively moving the manipulator arm to positions corresponding to different points on a representative workpiece when said workpiece is positioned at said different locations, and recording said corresponding positions to which said arm is successively moved. In the alternative, the manipulator arm may be programmed in a so-called ''''limp hand'''' mode of control, wherein the manipulator arm is programmed to move rapidly to each new point on the workpiece at which an operation such as a spot weld, is to be performed. While the spot weld is being made and the welding jaws are clamped to the moving workpiece the actuators of the manipulator are disabled so that the arm is permitted to move in synchronism with the workpiece by virtue of the connection of the welding jaws to the moving workpiece. As soon as the spot weld is completed, control is restored to the manipulator arm actuators and the manipulator arm is moved ahead to the next programmed spot weld point. A compensating arrangement may also be provided to overcome the frictional drag of the manipulator arm actuators so that the limp arm may be moved by engagement with the moving workpiece without damaging the workpiece. A disabling arrangement may also be provided for the manipulator arm actuators whenever the manipulator arm deviates from a desired work path by a predetermined amount. With either type of programming, the recorded program may be shifted from one program step to the next under the control of a conveyor synchronizing signal derived from and representative of the movement of the conveyor even though the manipulator arm has not completed the movements called for in each axis by the previous program step.
摘要翻译：提供了一种用于与连续移动的输送机上的工件配合的固定的基本编程的机械手装置。操纵臂被安装成围绕垂直轴线移动以跟随输送机上的工件，并且当其移动经过操纵器台时，在每个工件上执行预定的操作模式。可以通过沿着传送路径在不同的紧密间隔的位置连续地停止工件来对机械手进行编程，当所述工件位于所述不同位置时，连续地将操纵臂移动到与代表性工件上的不同点对应的位置，并且记录所述对应的位置所述臂连续移动到所述臂。

9. 发明授权

US3416053A Switching circuit for a plurality of motors having locking means 失效
标题翻译：具有锁定装置的多个电动机的开关电路
公开(公告)号：US3416053A
公开(公告)日：1968-12-10
申请号：US53550066
申请日：1966-03-18
申请人： FUJITSU LTD
发明人： SEIUEMON INABA , NORITO YOSHITAKE , KENGO KOBAYASHI
IPC分类号： F15B9/14 , G05B19/40
CPC分类号： F15B9/14 , G05B19/40 , G05B2219/34236

10. 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。

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