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1. 发明授权

US3757095A Numerical control system 失效
标题翻译：数控系统
公开(公告)号：US3757095A
公开(公告)日：1973-09-04
申请号：US3757095D
申请日：1970-08-26
申请人： TEKTRONIX INC
发明人： KIWIET W
IPC分类号： G05B19/25 , G05B19/24
CPC分类号： G05B19/253 , G05B2219/41029 , G05B2219/41243
摘要： A numerical control system for operating a machine tool or the like receives successive coordinate movement instructions for controlling a device such as a cutting tool. The system employs a digital differential analyzer in each coordinate axis for generating a servo rate command, while providing linear interpolation for each movement. Feedrate is digitally controlled, with acceleration and deceleration being digitally directed for adapting the numerical control system to the particular device operated thereby. A cathode ray storage tube display provides high speed verification of input information as well as monitoring of subsequent machine operation.

2. 发明授权

US4724371A Apparatus for detecting the degree of rotation of a rotational axis 失效
标题翻译：用于检测旋转轴线的旋转程度的装置
公开(公告)号：US4724371A
公开(公告)日：1988-02-09
申请号：US910223
申请日：1986-08-18
申请人： Yoshizumi Ito , Yasuo Ishiguro , Osamu Shiroshita
发明人： Yoshizumi Ito , Yasuo Ishiguro , Osamu Shiroshita
IPC分类号： G01B7/30 , G01B7/00 , G01B11/26 , G01B21/22 , G01D5/36 , G05B19/21 , B01D13/00
CPC分类号： G05B19/21 , G01D5/36 , G05B2219/37145 , G05B2219/41243
摘要： The present invention provides a rotation detection apparatus of a rotational axis connected to an output axis system of a reduction gear to count the rotation of a rotational axis driven rotationally, including a reduction gear, with an integer reduction ratio, whose rotational axis of a driving source is connected to an input axis. The apparatus provides a position signal once every rotation of the output axis, and a rotation angle signal in response to the rotation angle of said input axis is output to correlate said output position signal with one of said rotation angle signals to count the rotation of the rotational axis by these position and rotation angle signals. An accurate rotation can be detected even at one-way high-speed rotation.
摘要翻译： PCT No.PCT / JP86 / 00081 Sec。 371日期1986年8月18日 102（e）日期1986年8月18日PCT提交1986年2月20日PCT公布。出版物WO86 / 05011 日本1986年8月28日。本发明提供了一种旋转轴线的旋转检测装置，该旋转轴线连接到减速齿轮的输出轴系统，以对包括减速齿轮的旋转轴线的旋转进行计数，整数减速比，其驱动源的旋转轴线连接到输入轴。该装置每输出轴旋转一次提供位置信号，并输出响应于所述输入轴的旋转角度的旋转角度信号，以将所述输出位置信号与所述旋转角度信号之一相关联，以对所述旋转角度信号的旋转进行计数旋转轴由这些位置和旋转角度信号。即使在单向高速旋转时也可以检测到精确的旋转。

3. 发明授权

US5744926A Servo motor positioning control and position recording chip device 失效
标题翻译：伺服电机定位控制和位置记录芯片装置
公开(公告)号：US5744926A
公开(公告)日：1998-04-28
申请号：US743285
申请日：1996-11-04
申请人： Chen-Kuo Lai , Chang-Yu Ho , Jia-Cheng Ke
发明人： Chen-Kuo Lai , Chang-Yu Ho , Jia-Cheng Ke
IPC分类号： G05B11/26 , G05B19/414
CPC分类号： G05B19/4142 , G05B11/26 , G05B2219/34013 , G05B2219/34041 , G05B2219/34042 , G05B2219/34053 , G05B2219/34058 , G05B2219/41243 , G05B2219/50047
摘要： A chip device for positioning control and position recording of a servo motor. The chip device can be operated in two modes: a first mode, and a second mode. In the first mode, the chip device can perform step command conversion, position loop control, multiple shaft synchronization, and recording of the position of the motor shaft. The step command conversion utilizes a digital-differential analysis (DDA) method to convert the step waveform in the command signal into ramp waveform for smoothed control of the servo motor. The position loop control circuit compute for the error in position and then compensates the error to generate a 12-bit 2's complement output which is subsequently converted to analog signal used to drive the servo motor. The purpose of multiple shaft synchronization is to allow a plurality of servo motor to rotate in synchronization and accurately with the same increments. The recording of the position of the motor shaft is achieved by counting the number of pulses from a position encoder coupled to the servo motor. The chip device is fast in processing speed, small in size, and reliable in operation, and allows synchronization among a plurality of servo motors. Moreover, the chip device can be built with fewer components so that production cost can be reduced.
摘要翻译：一种用于定位伺服电机的控制和位置记录的芯片装置。芯片器件可以以两种模式操作：第一模式和第二模式。在第一种模式下，芯片装置可以执行步进命令转换，位置环控制，多轴同步和电机轴位置的记录。步进命令转换利用数字差分分析（DDA）方法将命令信号中的阶跃波形转换成斜坡波形，以平滑控制伺服电机。位置环控制电路计算位置误差，然后补偿误差，产生12位2的补码输出，随后将其转换为用于驱动伺服电机的模拟信号。多轴同步的目的是允许多个伺服电动机以相同的增量同步且准确地旋转。电动机轴的位置的记录是通过对与伺服电动机相连的位置编码器的脉冲数进行计数来实现的。芯片装置的处理速度快，体积小，操作可靠，并且允许多个伺服电机之间的同步。此外，芯片装置可以构造成较少的部件，从而可以降低生产成本。

4. 发明授权

US5210776A Counter circuit for controlling an absolute position of a robot system 失效
标题翻译：用于控制机器人系统的绝对位置的计数器电路
公开(公告)号：US5210776A
公开(公告)日：1993-05-11
申请号：US774305
申请日：1991-10-10
申请人： Sung-Kwon Kim , Hak-Seo Oh
发明人： Sung-Kwon Kim , Hak-Seo Oh
IPC分类号： B25J9/10 , G05B15/02 , G05B19/21 , G05B19/414 , H03K23/56
CPC分类号： H03K23/56 , G05B19/21 , G05B19/4142 , G05B2219/31137 , G05B2219/33187 , G05B2219/34215 , G05B2219/37154 , G05B2219/41243 , G05B2219/50042
摘要： The present invention relates to a counter circuit for counting the rotated position of the motor and controlling absolute position of the same to control an absolute position of a robot system, which comprises, a RS-422 receiver for receiving encode signals from a motor driver, a 16-bit counter device for receiving rotated-number data of the motor supplied from the receiver and counting the data to output the counted value to a CPU via a bus line, a plurality of 4-bit counters for counting the signals when overflow or underflow is produced at the 16-bit counter portion, a first 8-bit latch circuit for receiving the counted values from the 4-bit counters and outputting the counted values to the CPU, and, a second 8-bit latch circuit for controlling the output state of the receiver on the basis of a control signal supplied through the bus line when a zero pulse control signal is inputted for searching an origin of the robot system thereby preventing erroneous counting operations due to a program and reducing the program porforming time.
摘要翻译：本发明涉及一种计数电路，用于对电动机的旋转位置进行计数，并控制其绝对位置以控制机器人系统的绝对位置，其包括：用于接收来自电机驱动器的编码信号的RS-422接收器， 16位计数器装置，用于接收从接收器提供的电动机的旋转数字数据，并对数据进行计数，以便通过总线将计数值输出到CPU;多个4位计数器，用于在溢出时对信号进行计数; 在16位计数器部分产生下溢，第一8位锁存电路用于接收来自4位计数器的计数值并将计数值输出到CPU，以及第二8位锁存电路，用于控制当输入零脉冲控制信号以搜索机器人系统的原点时，基于通过总线提供的控制信号的接收器的输出状态，从而防止由于一个程序，减少程序的成型时间。

5. 发明授权

US5222198A Control method and apparatus for a robot having multi-rotating axes 失效
标题翻译：具有多旋转轴的机器人的控制方法和装置
公开(公告)号：US5222198A
公开(公告)日：1993-06-22
申请号：US871609
申请日：1992-04-20
申请人： Minoru Yamamoto , Satoshi Gosho
发明人： Minoru Yamamoto , Satoshi Gosho
IPC分类号： B25J9/04 , G05B19/19 , G05B19/23 , G05B19/41 , G05B19/418 , G05B19/425
CPC分类号： G05B19/41 , B25J9/046 , G05B19/19 , G05B19/231 , G05B19/4182 , G05B19/425 , G05B2219/37145 , G05B2219/41243 , G05B2219/45083 , Y02P90/083
摘要： The operating range of the conventional multi-axis joint type robot has been restricted, from its structural reason, with .+-.180.degree. for all axes provided. However, recently, expansion of the operating range of robots has been required and improvement in structure and control method of robots has realized expansion of the operating range to under .+-.360.degree.. But, in the case of the robot providing the axis rotating .+-.360.degree. or more, it is sometimes difficult to apply such control methods, resulting in disabling operations. In the present invention, therefore, the signal obtained by adding or subtracting the signal corresponding to the integer number of rotations of the axis to or from the rotating position signal after rotation of the axis depending on the positive or negative sign of the rotating position signal is applied as the rotating position at the time of starting the posture control operation. Since the corrected link angle has a value under .+-.360.degree., the smooth interpolating operation can be realized by applying the control method described above. Accordingly, the operating range of multiple axes joint type robot can be expanded.
摘要翻译： PCT No.PCT / JP89 / 00457 Sec。 371 1990年1月2日第 102（e）日期1990年1月2日PCT提交1989年5月1日PCT公布。出版物WO89 / 10822 日期为1989年11月16日。传统的多轴关节型机器人的操作范围受到限制，从其结构原因，提供的所有轴线为+/- 180度。然而，近来，机器人的操作范围扩大，机器人的结构和控制方法的改进已将操作范围扩大到+/- 360度以下。但是，在机器人提供旋转+/- 360°以上的情况下，有时难以应用这种控制方法，导致禁用操作。因此，在本发明中，通过根据旋转位置信号的正或负符号，在轴旋转之后将与轴的整数相对应的信号相加或相对于旋转位置信号获得的信号作为开始姿势控制动作时的旋转位置。由于校正后的链接角度的值在+/- 360°以下，所以可以通过应用上述的控制方法来实现平滑内插操作。因此，可以扩大多轴关节型机器人的操作范围。

6. 发明授权

US3835360A Numerical control system 失效
标题翻译：数控系统
公开(公告)号：US3835360A
公开(公告)日：1974-09-10
申请号：US23635272
申请日：1972-03-20
申请人： TEKTRONIX INC
发明人： KIWIET W
IPC分类号： G05B19/25 , G05B19/28
CPC分类号： G05B19/253 , G05B2219/41029 , G05B2219/41243
摘要： In a point-to-point control system of a modified, optimum, nonlinear type, a digital servomechanism employs an error counter receiving an input from a position-error-to-frequency-converter. The counter has a limited range, which, when exceeded, applies additional input to the servomechanism for producing rapid traverse. The error-to-frequency-converter normally receives a maximum input greater than the actual position error, until a deceleration range is detected, at which point the error-tofrequency-converter directs the servomechanism''s error counter for bringing about rapid deceleration. The normal counter limits are also exceeded during deceleration for bringing about increased servomechanism gain and braking toward final position. As soon as substantial deceleration has taken place, such that the counter limits are no longer exceeded, the counter directs a deceleration which is linear with respect to the distance-to-go, for final, accurate servomechanism positioning.
摘要翻译：在改进的最优非线性类型的点对点控制系统中，数字伺服机构采用错误计数器接收来自位置 - 误差 - 频率转换器的输入。计数器的范围有限，当超出时，对伺服机构施加额外的输入以产生快速移动。误差 - 频率转换器通常接收到大于实际位置误差的最大输入，直到检测到减速范围为止，此时，误差 - 频率转换器指示伺服机构的误差计数器，以实现快速减速。在减速期间也会超过正常的反作用力限制，从而使伺服机构增益和制动增加到最终位置。一旦发生了显着的减速，使得不再超过对数限制，则计数器指示相对于待去距离线性的减速度，用于最终精确的伺服机构定位。

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