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1. 发明申请

US20180088553A1 CONTROL DEVICE, CONTROL PROGRAM AND CONTROL METHOD 审中-公开
公开(公告)号：US20180088553A1
公开(公告)日：2018-03-29
申请号：US15438653
申请日：2017-02-21
申请人： OMRON Corporation
发明人： Tatsuya KOGA , Masahiro MURAI
IPC分类号： G05B19/402
CPC分类号： G05B19/404 , B23Q17/0961 , G05B2219/37256 , G05B2219/39355 , G05B2219/41161 , G05B2219/41371 , G05B2219/41376 , G05B2219/41379 , G05B2219/42025 , G05B2219/42338 , Y02P90/265
摘要： The invention provides a control device comprising: an actual value obtaining part, obtaining a torque actual value and a velocity actual value, wherein the torque actual value represents a torque generated by the driving source and the velocity actual value represents a velocity of the motion body; an inferring part, which calculates an external force inferred value and a velocity inferred value every other operation period based on the torque actual value by using an operation formula of a predetermined model representing driving of the motion body, wherein the external force inferring value represents an external force generated by the control system; and an output part, evaluating a reliability of the external force inferred value based on the velocity inferred value calculated together if the inferring part calculates the external inferred value, and effectively outputting the external force inferred value when it is judged that there is a designated reliability.

2. 发明授权

US5587915A Tool damage prevention system 失效
标题翻译：刀具损坏预防系统
公开(公告)号：US5587915A
公开(公告)日：1996-12-24
申请号：US360780
申请日：1994-12-29
申请人： Takashi Nagatomi
发明人： Takashi Nagatomi
IPC分类号： B23Q15/013 , B23Q17/09 , G05B19/18 , G05B19/19 , G05B19/4065
CPC分类号： G05B19/4065 , G05B2219/37245 , G05B2219/41371 , G05B2219/41379 , G05B2219/50276
摘要： A tool damage prevention system is provided which can easily detect an abnormal load with high accuracy to reliably prevent damage to a tool, and which also can appropriately cope with abnormality even if tool damage or the like has already occurred. A first disturbance torque estimating device estimates a disturbance torque Ys acting on a spindle motor, based on a velocity signal X1s from the spindle motor (spindle) and a torque command value U1s for the spindle motor. A second disturbance torque estimating device estimates a disturbance torque Yz acting on a servomotor, based on a velocity signal X1z from the servomotor (feed shaft) and a torque command value U1z for the servomotor. A comparing device obtains a composite disturbance torque Y by combining the estimated disturbance torques Ys and Yz, and compares the composite disturbance torque Y with a preset reference torque Ye. A deceleration/stop command device outputs a command signal to decelerate or stop the tool feed or to change the tool in accordance with the result of the comparison.
摘要翻译： PCT No.PCT / JP94 / 00668 Sec。 371日期1994年12月29日第 102（e）日期1994年12月29日PCT 1994年4月21日PCT PCT。公开号WO94 / 26465 PCT 日期1994年11月24日提供了一种能够高精度地容易地检测异常负荷，可靠地防止对工具的损坏的刀具损坏防止系统，并且即使已经发生刀具损坏等也能适当地应对异常。第一干扰转矩估计装置基于来自主轴电动机（主轴）的速度信号X1s和主轴电动机的转矩指令值U1s来估计作用在主轴电动机上的干扰转矩Ys。第二扰动转矩估计装置基于来自伺服电机（进给轴）的速度信号X1z和用于伺服电动机的转矩指令值U1z来估计作用在伺服电动机上的扰动转矩Yz。比较装置通过组合估计的扰动转矩Ys和Yz来获得复合扰动转矩Y，并将复合扰动转矩Y与预设的参考转矩Ye进行比较。减速/停止指令装置根据比较结果输出指令信号以减速或停止刀具进给或更换刀具。

3. 发明授权

US08380352B2 Robot system 有权
标题翻译：机器人系统
公开(公告)号：US08380352B2
公开(公告)日：2013-02-19
申请号：US12722535
申请日：2010-03-12
申请人： Shingo Ando , Yasuyuki Inoue
发明人： Shingo Ando , Yasuyuki Inoue
IPC分类号： B25J9/02
CPC分类号： B25J9/1687 , B25J9/1633 , G05B2219/39318 , G05B2219/40032 , G05B2219/41371
摘要： First calculation means calculates a TCP velocity error vector Verr when wrist axes performs rotational following movement, second calculation means selects a component, including the sign, of the TCP velocity error vector Verr, third calculation means decomposes the selected velocity error vector into a joint velocity vector ωerr, fourth calculation means integrates the joint velocity ωerr and calculates a position correction amount vector θadd, and the position correction amount vector θadd is fed back to position control means with torque limits.
摘要翻译：第一计算装置在腕轴执行旋转跟随移动时计算TCP速度误差向量Verr，第二计算装置选择TCP速度误差矢量Verr的包括符号的分量，第三计算装置将所选择的速度误差向量分解为关节速度向量ωerr，第四计算装置对联合速度ωerr进行积分，并计算位置校正量向量和加法和位置校正量向量和加法，反馈到具有转矩限制的位置控制装置。

4. 发明授权

US5599142A Drilling control apparatus 失效
标题翻译：钻孔控制装置
公开(公告)号：US5599142A
公开(公告)日：1997-02-04
申请号：US374798
申请日：1995-02-15
申请人： Akihiko Fujimoto , Takashi Nagatomi , Naoki Sato
发明人： Akihiko Fujimoto , Takashi Nagatomi , Naoki Sato
IPC分类号： B23B47/18 , B23Q15/12 , B23Q17/09 , G05B19/18 , G05B19/404 , G05B19/416 , B23B39/08 , B23B49/00
CPC分类号： B23Q15/12 , B23Q17/0957 , B23Q17/0961 , G05B2219/41371 , G05B2219/45129 , G05B2219/49079 , Y10T408/08 , Y10T408/14 , Y10T408/17
摘要： In a drilling control apparatus for properly controlling a load sitting on a drill, a cutting reaction force estimate unit (1) estimates a disturbance load torque Yz acting on a servomotor (feed axis) (63) based on a speed signal X1z to the servomotor (63) and a torque value U1z commanded to the servomotor (63). In drilling operations, the cutting reaction force Yz is equivalent to a cutting reaction force generated between a drill (75) and a workpiece (91). Note, rotation of the drill (75) is controlled by a spindle motor (73) and a position in a Z-axis direction of the drill (75) and a feed speed of the drill (75) are controlled by the servomotor (63) through a spindle head (74). A cutting reaction force monitor unit (2) monitors whether a cutting reaction force estimated by the cutting reaction force estimate unit (1) follows a predetermined pattern, and if not, then a feed axis torque control unit (3) controls a torque of the servomotor (63) to cause the cutting reaction force to follow the predetermined pattern. The cutting reaction force generated between the drill (75) and the workpiece (91) is changed according to the predetermined pattern by a torque control of the feed axis.
摘要翻译： PCT No.PCT / JP94 / 00981 Sec。 371日期1995年2月15日 102（e）日期1995年2月15日PCT提交1994年6月16日PCT公布。出版物WO95 / 02485 日期1995年1月26日在用于适当控制坐在钻头上的载荷的钻井控制装置中，切削反作用力估计单元（1）基于速度来估计作用在伺服马达（进给轴）（63）上的扰动载荷扭矩Yz 向伺服电机（63）发送信号X1z，并向伺服电动机（63）指令的转矩值U1z。在钻孔操作中，切割反作用力Yz等同于在钻头（75）和工件（91）之间产生的切割反作用力。注意，钻头（75）的旋转由主轴马达（73）控制，并且钻头（75）的Z轴方向的位置和钻头（75）的进给速度由伺服马达（63）控制）通过主轴头（74）。切割反作用力监视器单元（2）监视由切割反作用力估计单元（1）估计的切割反作用力是否遵循预定图案，如果否，则进给轴转矩控制单元（3）伺服电动机（63）使切割反作用力遵循预定的模式。通过进给轴的转矩控制，在钻头（75）和工件（91）之间产生的切割反作用力根据预定图案而改变。

5. 发明申请

US20110087374A1 ROBOT SYSTEM 有权
标题翻译：机器人系统
公开(公告)号：US20110087374A1
公开(公告)日：2011-04-14
申请号：US12722535
申请日：2010-03-12
申请人： Shingo ANDO , Yasuyuki INOUE
发明人： Shingo ANDO , Yasuyuki INOUE
IPC分类号： B25J9/10
CPC分类号： B25J9/1687 , B25J9/1633 , G05B2219/39318 , G05B2219/40032 , G05B2219/41371
摘要： First calculation means calculates a TCP velocity error vector Verr when wrist axes performs rotational following movement, second calculation means selects a component, including the sign, of the TCP velocity error vector Verr, third calculation means decomposes the selected velocity error vector into a joint velocity vector ωerr, fourth calculation means integrates the joint velocity ωerr and calculates a position correction amount vector θadd, and the position correction amount vector θadd is fed back to position control means with torque limits.
摘要翻译：第一计算装置在腕轴执行旋转跟随移动时计算TCP速度误差向量Verr，第二计算装置选择TCP速度误差矢量Verr的包括符号的分量，第三计算装置将所选择的速度误差向量分解为关节速度向量ωerr，第四计算装置对联合速度ωerr进行积分，并计算位置校正量向量和加法和位置校正量向量和加法，反馈到具有转矩限制的位置控制装置。

6. 发明授权

US06316893B1 Method and arrangement for adaptive load change compensation 有权
标题翻译：自适应负载变化补偿的方法和布置
公开(公告)号：US06316893B1
公开(公告)日：2001-11-13
申请号：US09314892
申请日：1999-05-19
申请人： Heikki Rasimus
发明人： Heikki Rasimus
IPC分类号： H02P700
CPC分类号： H02P23/14 , G05B19/416 , G05B2219/41138 , G05B2219/41371 , G05B2219/41375 , H02P23/0004 , H02P29/40 , H02P2205/05
摘要： A method and arrangement for adaptively compensating for load changes, particularly in connection with an electric motor drive which comprises a motor, the shaft of the motor being connected to a load (3) having a known moment of inertia; a device (2), such as an inverter, to control the motor, a torque controller being arranged in connection with the device; and a speed controller (1) arranged to control the speed of the motor. The method comprises steps of determining, during the load change, an estimate (Mh) for an external torque disturbance which causes load changes, and employing the torque disturbance estimate (Mh) determined during the previous load change for compensating for the external torque disturbance in controlling the torque of the motor.
摘要翻译：一种用于自适应地补偿负载变化的方法和装置，特别是与包括电动机的电动机驱动有关，电机的轴连接到具有已知转动惯量的负载（3）; 诸如逆变器的装置（2），用于控制所述电动机;扭矩控制器，与所述装置相连; 以及速度控制器（1），其被布置成控制电动机的速度。该方法包括以下步骤：在负载变化期间确定引起负载变化的外部转矩扰动的估计（Mh），并且采用在先前负载变化期间确定的用于补偿外部转矩干扰的转矩干扰估计（Mh）控制电机的转矩。

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