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1. 发明申请

US20170205786A1 SERVOMOTOR CONTROLLER FOR REDUCING POWER PEAK 审中-公开
公开(公告)号：US20170205786A1
公开(公告)日：2017-07-20
申请号：US15408306
申请日：2017-01-17
申请人： FANUC CORPORATION
发明人： Satoshi IKAI , Kenichi TAKAYAMA
IPC分类号： G05B15/02
CPC分类号： G05B15/02 , G05B19/414 , G05B2219/34013 , G05B2219/34445 , G05B2219/41293 , G05B2219/41294 , H02J3/14 , H02M5/458 , H02M2001/008 , H02P3/18 , H02P5/74
摘要： A servomotor controller includes a first and a second converter circuit that perform conversion between AC power of a power supply and DC power, a first inverter circuit that performs conversion between the DC power on the DC side of the first converter circuit and AC power on the side of a first motor, a second inverter circuit that performs conversion between the DC power on the DC side of the second converter circuit and AC power on the side of a second motor, and a power calculation unit that calculates an amount of power of the first motor, wherein control is performed so that the regenerative power of the first motor is supplied to the second motor through the power supply or the regenerative power of the second motor is supplied to the first motor through the power supply, on the basis of the amount of power.

2. 发明授权

US08099193B2 Control system for an industrial robot 有权
标题翻译：工业机器人控制系统
公开(公告)号：US08099193B2
公开(公告)日：2012-01-17
申请号：US12301203
申请日：2007-03-27
申请人： Ian Bird-Radolovic , Peter Eriksson
发明人： Ian Bird-Radolovic , Peter Eriksson
IPC分类号： H02K7/10 , H02K17/32 , H02P3/04 , G05B15/00
CPC分类号： G05B19/406 , B25J9/1674 , G05B2219/41293 , G05B2219/42284
摘要： A control system for controlling an industrial robot and a method thereof. A control unit generates a control signal for controlling the motor. At least one drive unit controls the motor. The drive unit includes a switching unit adapted to convert DC current to alternating current to the motor in dependence on the control signal. A safety unit generates a stop signal for stopping the robot upon occurrence of a safety event. The drive unit disables the switching unit upon receiving the stop signal. The safety unit generates the stop signal with a time delay with respect to the safety event. The control unit generates the control signal in such a way that the motor is electrically braked during the time delay. The control system transfers the stop signal to the brake, which mechanically brakes the motor upon receiving the stop signal, and delays the stop signal to the drive unit so that the brake receives the stop signal before the drive unit to ensure that the mechanical brake is applied before the switching unit is disabled.
摘要翻译：一种用于控制工业机器人的控制系统及其方法。控制单元生成用于控制电动机的控制信号。至少有一个驱动单元控制电机。驱动单元包括适于根据控制信号将直流电流转换为电动机的交流电的开关单元。在安全事件发生时，安全单元产生用于停止机器人的停止信号。驱动单元在接收到停止信号时禁用开关单元。安全单元产生相对于安全事件延时的停止信号。控制单元以这样的方式生成控制信号，使得电机在时间延迟期间被电制动。控制系统将停止信号传送到制动器，其在接收到停止信号时机械地制动电动机，并且将停止信号延迟到驱动单元，使得制动器在驱动单元之前接收到停止信号，以确保机械制动器在切换单元被禁用之前应用。

3. 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。

4. 发明授权

US4962976A A.C. motor drive method and apparatus for precision positional control 失效
标题翻译：交流电机驱动方法及精密位置控制装置
公开(公告)号：US4962976A
公开(公告)日：1990-10-16
申请号：US445480
申请日：1989-12-04
申请人： Isao Takahashi , Makoto Iwata
发明人： Isao Takahashi , Makoto Iwata
IPC分类号： G05D3/12 , G05B19/23 , H02P3/06 , H02P27/06
CPC分类号： G05B19/232 , G05B2219/34047 , G05B2219/41293 , G05B2219/41319 , G05B2219/42171 , G05B2219/42237
摘要： A polyphase induction motor is driven from an inverter having a set of switches activated in prescribed on-off patterns to provide forward and reverse voltage vectors and a zero vector for controllably energizing the motor. Memories are provided on which there are written forward voltage vector data for forwardly energizing the motor, reverse voltage vector data for reversely energizing the motor, and zero vector data for de-energizing the motor. The voltage vector data and zero vector data are selectively read out from the memories in order to cause the inverter to generate in real time the corresponding voltage vectors and zero vectors needed for the motor to be quickly revolved to, and set out of rotation exactly in, a desired angular position. For such optimum motor speed control an ideal control curve is predefined which represents the ideal relationship between the motor speed and the difference between the actual and the desired angular position of the motor. The voltage vector data and zero vector data are read out from the memories so that an actual control curve representative of the actual relationship between the motor speed and the difference between the actual and the desired angular position may approximate the ideal control curve as closely as possible.
摘要翻译：多相感应电动机由具有以规定开关模式激活的一组开关的逆变器驱动以提供正向和反向电压矢量，以及用于可控制地给电动机供电的零矢量。提供存储有正向电压矢量数据的正向电压矢量数据，用于使电动机正向通电，反向电压矢量数据反向通电电动机，零矢量数据使电动机断电。从存储器中选择性地读出电压矢量数据和零矢量数据，以便使得逆变器实时产生电动机所需的相应的电压矢量和零矢量被快速地旋转到正好位于旋转中的旋转，期望的角度位置。对于这种最佳的电动机速度控制，预先确定理想的控制曲线，其表示电动机速度与电动机的实际和期望角度位置之间的差的理想关系。从存储器中读出电压矢量数据和零矢量数据，使得表示电动机速度与实际角度与期望角度位置之差的实际关系的实际控制曲线可以尽可能接近理想的控制曲线。

5. 发明申请

US20090187277A1 CONTROL SYSTEM FOR AN INDUSTRIAL ROBOT 有权
标题翻译：工业机器人控制系统
公开(公告)号：US20090187277A1
公开(公告)日：2009-07-23
申请号：US12301203
申请日：2007-03-27
申请人： Ian Bird-Radolovic , Peter J. Eriksson
发明人： Ian Bird-Radolovic , Peter J. Eriksson
IPC分类号： B25J9/16
CPC分类号： G05B19/406 , B25J9/1674 , G05B2219/41293 , G05B2219/42284
摘要： A control system for controlling an industrial robot and a method thereof. A control unit generates a control signal for controlling the motor. At least one drive unit controls the motor. The drive unit includes a switching unit adapted to convert DC current to alternating current to the motor in dependence on the control signal. A safety unit generates a stop signal for stopping the robot upon occurrence of a safety event. The drive unit disables the switching unit upon receiving the stop signal. The safety unit generates the stop signal with a time delay with respect to the safety event. The control unit generates the control signal in such a way that the motor is electrically braked during the time delay. The control system transfers the stop signal to the brake, which mechanically brakes the motor upon receiving the stop signal, and delays the stop signal to the drive unit so that the brake receives the stop signal before the drive unit to ensure that the mechanical brake is applied before the switching unit is disabled.
摘要翻译：一种用于控制工业机器人的控制系统及其方法。控制单元生成用于控制电动机的控制信号。至少有一个驱动单元控制电机。驱动单元包括适于根据控制信号将直流电流转换为电动机的交流电的开关单元。在安全事件发生时，安全单元产生用于停止机器人的停止信号。驱动单元在接收到停止信号时禁用开关单元。安全单元产生相对于安全事件延时的停止信号。控制单元以这样的方式生成控制信号，使得电机在时间延迟期间被电制动。控制系统将停止信号传送到制动器，其在接收到停止信号时机械地制动电动机，并且将停止信号延迟到驱动单元，使得制动器在驱动单元之前接收到停止信号，以确保机械制动器在切换单元被禁用之前应用。

6. 发明授权

US5449990A Single cycle positioning system 失效
标题翻译：单循环定位系统
公开(公告)号：US5449990A
公开(公告)日：1995-09-12
申请号：US052882
申请日：1993-04-26
申请人： Joseph M. Bowling , Michael D. Strong
发明人： Joseph M. Bowling , Michael D. Strong
IPC分类号： H02P3/24 , G05B19/416 , B66B13/14
CPC分类号： G05B19/416 , G05B2219/34217 , G05B2219/41101 , G05B2219/41285 , G05B2219/41293 , G05B2219/41319 , G05B2219/43177
摘要： A single cycle positioning system utilizing a three phase wye connected induction motor (10) includes a three phase inverter (28) and a microprocessor (20) for controlling the inverter to generate three phases of power. Pulse width modulation techniques are utilized and in response to a start signal the frequency of the power to the motor is increased up to a running frequency, and in response to a stop signal the frequency of the power applied to the motor is decreased along with a corresponding reduction of the voltage applied to the motor.
摘要翻译：利用三相二极管连接的感应电动机（10）的单周期定位系统包括用于控制逆变器产生三相功率的三相逆变器（28）和微处理器（20）。利用脉冲宽度调制技术，并且响应于启动信号，电动机的功率的频率增加到运行频率，并且响应于停止信号，施加到电动机的功率的频率随着相应地降低施加到电动机的电压。

7. 发明授权

US10052758B2 Method for controlling a manipulator system 有权
公开(公告)号：US10052758B2
公开(公告)日：2018-08-21
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： B25J5/00 , B25J9/12 , B25J9/16 , B25J11/00
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 used 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.

8. 发明申请

US20050052144A1 Motor driving apparatus 有权
标题翻译：电机驱动装置
公开(公告)号：US20050052144A1
公开(公告)日：2005-03-10
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： H02P25/06 , G05B19/414 , H02P5/74 , H02P7/00 , H02P7/06
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。电动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乘以预先设定的系数A1〜A4中的每一个，来获得逆变器单元的电动机驱动指令SxA1〜SxA4。逆变器单元分别供给电动机驱动指令SxA1〜SxA4，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。

9. 发明授权

US5250765A Apparatus for controlling elevator door 失效
标题翻译：电梯门控制装置
公开(公告)号：US5250765A
公开(公告)日：1993-10-05
申请号：US713095
申请日：1991-06-11
申请人： Masamoto Mizuno , Terumi Hirabayashi , Masanori Tawada , Toshiyuki Kodera
发明人： Masamoto Mizuno , Terumi Hirabayashi , Masanori Tawada , Toshiyuki Kodera
IPC分类号： G05D3/12 , B66B13/14
CPC分类号： G05D3/12 , G05B2219/37105 , G05B2219/37175 , G05B2219/37285 , G05B2219/37629 , G05B2219/41293 , G05B2219/41319 , G05B2219/42237 , G05B2219/43074 , G05B2219/43179 , G05B2219/45242 , G05B2219/49141
摘要： An apparatus for controlling an elevator door comprises a motor for opening and closing an elevator door, an inverter unit for controlling the driving of the motor, a door position detecting unit for detecting the position of the door, first and second sensors for respectively detecting that the door passes through a terminal reference point on the opening side and a terminal reference point on the closing side, a speed command generating unit for generating a speed command on the basis of a distance between the door position detected by the door position detecting unit to a stop target on the opening side or the closing side when the first and second sensors respectively detect the passage of the door, and a control unit for controlling the inverter unit on the basis of the speed command output from the speed command generating unit.
摘要翻译：一种用于控制电梯门的装置包括用于打开和关闭电梯门的电动机，用于控制电动机的驱动的逆变器单元，用于检测门的位置的门位置检测单元，用于分别检测电梯门的第一和第二传感器门通过开口侧的端子参考点和关闭侧的端子参考点，速度指令生成单元，用于基于由门位置检测单元检测到的门位置之间的距离产生速度指令，当第一和第二传感器分别检测到门的通过时，在开口侧或关闭侧的停止目标，以及用于基于从速度指令生成单元输出的速度指令来控制逆变器单元的控制单元。

10. 发明授权

US5170865A Apparatus for controlling an elevator door using a drive motor slip frequency signal 失效
标题翻译：用于使用驱动电机转差频率信号来控制电梯门的装置
公开(公告)号：US5170865A
公开(公告)日：1992-12-15
申请号：US615288
申请日：1990-11-19
申请人： Masamoto Mizuno , Terumi Hirabayashi , Masanori Tawada , Toshiyuki Kodera
发明人： Masamoto Mizuno , Terumi Hirabayashi , Masanori Tawada , Toshiyuki Kodera
IPC分类号： B66B13/14 , G05D3/12
CPC分类号： G05D3/12 , G05B2219/37175 , G05B2219/37285 , G05B2219/37629 , G05B2219/41293 , G05B2219/41319 , G05B2219/42237 , G05B2219/43074 , G05B2219/43179 , G05B2219/45242 , G05B2219/49141
摘要： An apparatus for controlling an elevator door comprises a motor which closes and opens the door of an elevator and applies to the door torque necessary for maintaining a closed state of the door, an inverter apparatus for controlling the driving of the motor, a polarity deciding device for deciding the polarity of a slip frequency signal output from the inverter apparatus, and a driving stop device for causing the inverter apparatus to stop the driving of the motor when the polarity deciding device detects the inversion of the polarity of the slip frequency signal during the time that a closed state of the door is maintained by the motor.
摘要翻译：一种用于控制电梯门的装置，包括：电动机，该电动机关闭并打开电梯的门并施加门保持门关闭状态所需的转矩;控制电动机驱动的逆变器装置;极性判定装置用于确定从逆变器装置输出的转差频率信号的极性;以及驱动停止装置，用于当极性判定装置检测到转向频率信号的极性的反转时，使逆变器装置停止电动机的驱动电动机保持门的关闭状态的时间。

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