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1. 发明申请

US20150266152A1 MOTOR CONTROL APPARATUS CAPABLE OF PROTECTING PROCESS FACE AT THE TIME OF OCCURRENCE OF ABNORMAL LOAD 审中-公开
标题翻译：在异常负载发生时保护过程面的电机控制装置
公开(公告)号：US20150266152A1
公开(公告)日：2015-09-24
申请号：US14661034
申请日：2015-03-18
申请人： FANUC CORPORATION
发明人： Kenichi Takayama , Zhiwei Tang
IPC分类号： B23Q5/10 , B23Q17/00
CPC分类号： G05B19/048 , B23Q5/10 , B23Q15/013 , B23Q15/225 , B23Q17/007 , B23Q17/2208 , G05B19/0428 , G05B2219/37025 , G05B2219/42289 , G05B2219/49147
摘要： A motor control apparatus controlling a motor driving a machine tool includes, an abnormal load detecting unit that detects an abnormal load by monitoring a load of the motor, a retract amount storing unit that stores a plurality of retract amounts used when the machine tool performs a retract operation in response to detection of an abnormal load by the abnormal load detecting unit, a retract amount switching unit that switches a retract amount selected from the plurality of retract amounts in accordance with a result of determination of whether the machine tool is processing or not, and a retract amount adding unit that adds a retract amount selected by switching of the retract amount switching unit to an instruction value indicative of a movement amount of the machine tool.
摘要翻译：控制驱动机床的电动机的电动机控制装置包括：异常负载检测单元，其通过监视电动机的负载来检测异常负载;回收量存储单元，其存储当机床执行时使用的多个回退量响应于由异常负载检测单元检测到异常负载的回退操作;回退量切换单元，其根据机床是否正在处理的判断结果来切换从多个退回量中选择的回退量以及缩回量添加单元，其将通过将所述缩回量切换单元的切换所选择的缩回量与表示所述机床的移动量的指示值相加。

2. 发明申请

US20120239182A1 NUMERICAL CONTROL MACHINE TOOL 有权
标题翻译：数控机床
公开(公告)号：US20120239182A1
公开(公告)日：2012-09-20
申请号：US13513988
申请日：2009-12-15
申请人： Kazuhiro Kikata , Morikuni Kimura , Sachio Ikeda
发明人： Kazuhiro Kikata , Morikuni Kimura , Sachio Ikeda
IPC分类号： G05D3/00
CPC分类号： G05B19/4061 , G05B2219/35316 , G05B2219/49147 , G05B2219/49157
摘要： An NC control unit 100 includes a touch panel display device 155 through which a barrier canceling command is input and a machining control section 160 that performs an interference check for interference between a milling tool 70 and a chuck 58 and jaws 60. When the machining control section 160 determines that interference occurs and stops movement of a tool rest 54, the machining control section 160 writes the barrier canceling command that commands cancelation of the interference check for a process of a machining program where the interference has been determined based on manipulation of the display device 155. When the machining program including the barrier canceling command is carried out to machine subsequent workpieces, the machining control section 160 omits the interference check for the process corresponding to the barrier canceling command.
摘要翻译： NC控制单元100包括输入屏障消除指令的触摸面板显示装置155和对铣削工具70与卡盘58与夹爪60之间的干涉进行干涉检查的加工控制部分160.当加工控制部分160确定干扰发生并停止刀架54的移动，加工控制部分160写入阻挡消除命令，该命令取消对已经确定了干扰的加工程序的处理的干扰检查，显示装置155.当执行包括屏障消除命令的加工程序以对后续工件进行加工时，加工控制部分160省略与屏障消除命令相对应的处理的干扰检查。

3. 发明授权

US06822410B2 Motor speed-based anti-pinch control apparatus and method 有权
标题翻译：基于电机速度的防夹控制装置及方法
公开(公告)号：US06822410B2
公开(公告)日：2004-11-23
申请号：US10159185
申请日：2002-05-31
申请人： Joseph P. Whinnery , John G. Buechele , Jon C. Everhart, Jr.
发明人： Joseph P. Whinnery , John G. Buechele , Jon C. Everhart, Jr.
IPC分类号： E05F1516
CPC分类号： H02H7/0851 , E05F15/41 , E05Y2400/564 , E05Y2900/531 , E05Y2900/542 , E05Y2900/546 , E05Y2900/55 , G05B19/232 , G05B2219/45242 , G05B2219/49147 , G05B2219/49159 , H02H1/04
摘要： The apparatus and method includes a panel movable between at least two positions. An electric motor has a rotating armature. A multiple pole magnet is mounted on the armature. A sensor detects the passage of each magnet pole and generates an output signal. A control measures time periods between each pole passage. An average time period is computed over a predetermined number of time periods. The difference between average time periods is computed and compared with a threshold difference to determine if an obstacle is present in the path of movement of the panel. Transient counts are accumulated for increasing average time periods over a number of time period samples as a measurement of the force exerted on an obstacle by the panel to detect an obstacle.
摘要翻译：该装置和方法包括可在至少两个位置之间移动的面板。电动机具有旋转电枢。多极磁铁安装在电枢上。传感器检测每个磁极的通过并产生输出信号。控制器测量每个极通道之间的时间间隔。在预定数量的时间段内计算平均时间段。计算平均时间段之间的差异，并将其与阈值差进行比较，以确定障碍物是否存在于面板的移动路径中。累积临时计数以增加多个时间段样本中的平均时间周期，作为由面板施加在障碍物上的力的测量以检测障碍物。

4. 发明授权

US06678601B2 Motor speed-based anti-pinch control apparatus and method with rough road condition detection and compensation 有权
标题翻译：基于电机速度的防抱死控制装置和方法，具有恶劣的道路状况检测和补偿
公开(公告)号：US06678601B2
公开(公告)日：2004-01-13
申请号：US10159186
申请日：2002-05-31
申请人： Joseph P. Whinnery
发明人： Joseph P. Whinnery
IPC分类号： G05B500
CPC分类号： G05B19/232 , E05F15/41 , E05F15/70 , E05Y2400/54 , E05Y2400/564 , E05Y2800/40 , E05Y2900/55 , G05B2219/37388 , G05B2219/37624 , G05B2219/45242 , G05B2219/49147 , G05B2219/49159 , H02H7/0851
摘要： A powered panel control apparatus and method using an electric motor with a rotatable armature. The control generates time periods for a predetermined amount of angular rotation of the motor armature during one complete rotation. An average time period is computed over a predetermined number of time periods and compared with a threshold time period to determine if an obstacle is present in the path of movement of the panel. Transient counts are accumulated for increasing average time periods over a number of time period samples to detect an obstacle. A threshold for normal noise variations is adjusted upon detection of a rough road condition to compensate for the effect of rough road conditions on the powered panel control apparatus.
摘要翻译：一种使用具有可旋转衔铁的电动机的动力面板控制装置和方法。该控制在一次完全旋转期间产生电动机电枢的预定角度旋转的时间段。在预定数量的时间段内计算平均时间周期，并与阈值时间周期进行比较，以确定在面板的移动路径中是否存在障碍物。累积临时计数以增加多个时间段样本中的平均时间周期以检测障碍物。通过检测到粗糙的道路状况来调整正常噪声变化的阈值，以补偿在动力面板控制装置上的恶劣道路状况的影响。

5. 发明申请

US20030222614A1 Motor speed-based anti-pinch control apparatus and method 有权
标题翻译：基于电机速度的防夹控制装置及方法
公开(公告)号：US20030222614A1
公开(公告)日：2003-12-04
申请号：US10159185
申请日：2002-05-31
发明人： Joseph P. Whinnery , John G. Buechele , Jon C. Everhart JR.
IPC分类号： H02P001/04
CPC分类号： H02H7/0851 , E05F15/41 , E05Y2400/564 , E05Y2900/531 , E05Y2900/542 , E05Y2900/546 , E05Y2900/55 , G05B19/232 , G05B2219/45242 , G05B2219/49147 , G05B2219/49159 , H02H1/04
摘要： The apparatus and method includes a panel movable between at least two positions. An electric motor has a rotating armature. A multiple pole magnet is mounted on the armature. A sensor detects the passage of each magnet pole and generates an output signal. A control measures time periods between each pole passage. An average time period is computed over a predetermined number of time periods. The difference between average time periods is computed and compared with a threshold difference to determine if an obstacle is present in the path of movement of the panel. Transient counts are accumulated for increasing average time periods over a number of time period samples as a measurement of the force exerted on an obstacle by the panel to detect an obstacle.
摘要翻译：该装置和方法包括可在至少两个位置之间移动的面板。电动机具有旋转电枢。多极磁铁安装在电枢上。传感器检测每个磁极的通过并产生输出信号。控制器测量每个极通道之间的时间间隔。在预定数量的时间段内计算平均时间段。计算平均时间段之间的差异，并将其与阈值差进行比较，以确定障碍物是否存在于面板的移动路径中。累积临时计数以增加多个时间段样本中的平均时间周期，作为由面板施加在障碍物上的力的测量以检测障碍物。

6. 发明授权

US09737991B2 Robot control device controlling robot based on external force applied to robot and robot system 有权
公开(公告)号：US09737991B2
公开(公告)日：2017-08-22
申请号：US15000714
申请日：2016-01-19
申请人： FANUC Corporation
发明人： Hiromitsu Takahashi , Kazuhisa Takaki
IPC分类号： B25J9/16
CPC分类号： B25J9/1674 , B25J9/1664 , B25J9/1676 , B25J9/1694 , G05B2219/37411 , G05B2219/42288 , G05B2219/49147 , G05B2219/50198 , Y10S901/09
摘要： A robot control device includes a contact judging part which judges if the robot has contacted an object based on external force which is detected by the sensor, a stop command part which makes the robot stop when it is judged that the robot has contacted the object, a continuous contact judging part which judges if the robot continues to contact the object after making the robot stop, and a retraction command part which makes the robot retract in a direction away from the object when it is judged that the robot continues to contact the object.

7. 发明授权

US06788016B2 Motor speed-based anti-pinch control apparatus and method with endzone ramp detection and compensation 有权
标题翻译：基于电机速度的反夹控制装置和方法，具有端带斜坡检测和补偿
公开(公告)号：US06788016B2
公开(公告)日：2004-09-07
申请号：US10159172
申请日：2002-05-31
申请人： Joseph P. Whinnery
发明人： Joseph P. Whinnery
IPC分类号： E05F1510
CPC分类号： H02H7/0851 , E05F15/41 , E05Y2400/564 , E05Y2900/531 , E05Y2900/542 , E05Y2900/546 , E05Y2900/55 , G05B19/232 , G05B2219/37388 , G05B2219/37624 , G05B2219/45242 , G05B2219/49147 , G05B2219/49159 , H02H1/04
摘要： A powered panel control apparatus and method is used with an electric motor having a rotatable armature. The control detects and generates time periods between the rotation of the armature over a predetermined constant amount of angular rotation. An average time period is computed over a predetermined number of time periods and compared with a threshold time period to determine if an obstacle is present in the path of movement of the panel. Transient counts are accumulated for increasing average time periods over a number of time period samples to detect an obstacle. Endzone ramp compensation adjusts a threshold for the initial entry of the panel into a seal.
摘要翻译：电动面板控制装置和方法与具有可旋转衔铁的电动机一起使用。控制器检测并产生在预定的恒定角度旋转量之间的电枢的旋转之间的时间段。在预定数量的时间段内计算平均时间周期，并与阈值时间周期进行比较，以确定在面板的移动路径中是否存在障碍物。累积临时计数以增加多个时间段样本中的平均时间周期以检测障碍物。端区斜坡补偿调整面板初始进入密封的阈值。

8. 发明申请

US20030225497A1 MOTOR SPEED-BASED ANTI-PINCH CONTROL APPARATUS AND METHOD WITH ROUGH ROAD CONDITION DETECTION AND COMPENSATION 有权
标题翻译：基于电机速度的防抱死控制装置和粗糙路况检测与补偿方法
公开(公告)号：US20030225497A1
公开(公告)日：2003-12-04
申请号：US10159186
申请日：2002-05-31
发明人： Joseph P. Whinnery
IPC分类号： G06F017/00
CPC分类号： G05B19/232 , E05F15/41 , E05F15/70 , E05Y2400/54 , E05Y2400/564 , E05Y2800/40 , E05Y2900/55 , G05B2219/37388 , G05B2219/37624 , G05B2219/45242 , G05B2219/49147 , G05B2219/49159 , H02H7/0851
摘要： A powered panel control apparatus and method using an electric motor with a rotatable armature. The control generates time periods for a predetermined amount of angular rotation of the motor armature during one complete rotation. An average time period is computed over a predetermined number of time periods and compared with a threshold time period to determine if an obstacle is present in the path of movement of the panel. Transient counts are accumulated for increasing average time periods over a number of time period samples to detect an obstacle. A threshold for normal noise variations is adjusted upon detection of a rough road condition to compensate for the effect of rough road conditions on the powered panel control apparatus.
摘要翻译：一种使用具有可旋转衔铁的电动机的动力面板控制装置和方法。该控制在一次完全旋转期间产生电动机电枢的预定角度旋转的时间段。在预定数量的时间段内计算平均时间周期，并与阈值时间周期进行比较，以确定在面板的移动路径中是否存在障碍物。累积临时计数以增加多个时间段样本中的平均时间周期以检测障碍物。通过检测到粗糙的道路状况来调整正常噪声变化的阈值，以补偿在动力面板控制装置上的恶劣道路状况的影响。

9. 发明授权

US09522470B2 Human-cooperative industrial robot with lead-through function 有权
标题翻译：具有导通功能的人机工程机器人
公开(公告)号：US09522470B2
公开(公告)日：2016-12-20
申请号：US14681916
申请日：2015-04-08
申请人： FANUC Corporation
发明人： Hiroshi Nakagawa , Takatoshi Iwayama
IPC分类号： B25J9/18 , B25J9/16 , B25J13/08
CPC分类号： B25J9/1676 , B25J13/085 , G05B2219/36429 , G05B2219/40198 , G05B2219/40201 , G05B2219/49147 , Y02P80/114
摘要： A human-cooperative industrial robot includes a contact force detection part configured to detect a contact force applied to the robot when an operator and a robot come in contact with each other, a contact force monitoring part configured to either stop the robot or make the robot retreat in a direction in which the contact force is reduced if the contact force exceeds a predetermined threshold value, and an operation force detection part configured to detect an operation force applied to the robot when the lead-through operation is implemented. The robot also includes a lead-through switch for switching between the states of enabling and disabling the lead-through operation. When the lead-through operation is enabled, the contact force monitoring is disabled, and when the lead-through operation is disabled, the contact force monitor is enabled.
摘要翻译：人工合作的工业机器人包括：接触力检测部，被配置为当操作者和机器人彼此接触时检测施加到机器人的接触力;接触力监测部，被配置为停止机器人或使机器人如果接触力超过预定阈值，接触力减小的方向退避;以及操作力检测部，被配置为当实施所述引导操作时，检测施加到所述机器人的操作力。机器人还包括用于在启用和禁用导通操作的状态之间切换的引导开关。当使能导通操作时，接触力监控被禁用，当禁用直通操作时，接触力监视器被使能。

10. 发明授权

US09229443B2 Numerical control machine tool 有权
标题翻译：数控机床
公开(公告)号：US09229443B2
公开(公告)日：2016-01-05
申请号：US13513988
申请日：2009-12-15
申请人： Kazuhiro Kikata , Morikuni Kimura , Sachio Ikeda
发明人： Kazuhiro Kikata , Morikuni Kimura , Sachio Ikeda
IPC分类号： G05D3/00 , G05B19/4061
CPC分类号： G05B19/4061 , G05B2219/35316 , G05B2219/49147 , G05B2219/49157
摘要： An NC control unit 100 includes a touch panel display device 155 through which a barrier canceling command is input and a machining control section 160 that performs an interference check for interference between a milling tool 70 and a chuck 58 and jaws 60. When the machining control section 160 determines that interference occurs and stops movement of a tool rest 54, the machining control section 160 writes the barrier canceling command that commands cancelation of the interference check for a process of a machining program where the interference has been determined based on manipulation of the display device 155. When the machining program including the barrier canceling command is carried out to machine subsequent workpieces, the machining control section 160 omits the interference check for the process corresponding to the barrier canceling command.
摘要翻译： NC控制单元100包括输入屏障消除指令的触摸面板显示装置155和对铣削工具70与卡盘58与夹爪60之间的干涉进行干涉检查的加工控制部分160.当加工控制部分160确定干扰发生并停止刀架54的移动，加工控制部分160写入阻挡消除命令，该命令取消对已经确定了干扰的加工程序的处理的干扰检查，显示装置155.当执行包括屏障消除命令的加工程序以对后续工件进行加工时，加工控制部分160省略与屏障消除命令相对应的处理的干扰检查。

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