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1. 发明申请

WO1994022776A1 CONTROL OF PLUNGERS IN GLASSWARE FORMING MACHINES 审中-公开
标题翻译：玻璃制品机器的控制
公开(公告)号：WO1994022776A1
公开(公告)日：1994-10-13
申请号：PCT/GB1994000643
申请日：1994-03-28
申请人： EMHART GLASS MACHINERY INVESTMENTS INC. , PLATER, Neil, James , COUNSELL, John , ROSKILLY, Anthony, Paul
发明人： EMHART GLASS MACHINERY INVESTMENTS INC.
IPC分类号： C03B09/41
CPC分类号： C03B9/1938 , C03B9/1936 , C03B9/41 , G05B19/19 , G05B2219/34008 , G05B2219/34013 , G05B2219/35585 , G05B2219/37313 , G05B2219/37401 , G05B2219/41248 , G05B2219/41301 , G05B2219/42174
摘要： A control system is described for controlling the movement of a plunger for use in forming parisons in a glassware manufacturing machine in which the plunger is driven between first and second positions by a pneumatic piston and cylinder device in which pressure sensors sense the pressure on opposite sides of the piston. An electronic signal processing system incorporates a memory in which a motion profile and force limits are stored and which receives through each cycle a feedback signal relating to the transducer position of the plunger and from the pressure sensors the pressure on opposite sides of the piston and which produces control signals for a solenoid driven proportional pneumatic valve in accordance with a repetitive algorithm which takes account of (a) the displacement of the plunger from the motion profile, (b) the velocity of the plunger as derived from the rate of change of its position, and (c) the force exerted on the plunger as derived from the pressure difference across the piston. In this way the valve supplies air to the piston and cylinder device to cause the plunger to move from rest at a first position, for a first period of time in a manner limited by the motion profile. Thereafter a first force limit is applied to the plunger. Movement during a second period of time is controlled in a manner limited by the reduction from the first force limit to a second force limit and during a third period of time is limited by the second force limit.
摘要翻译：描述了一种控制系统，用于控制用于在玻璃器皿制造机器中形成型坯的柱塞的运动，其中柱塞通过气动活塞和气缸装置在第一和第二位置之间被驱动，其中压力传感器感测相对侧的压力的活塞。电子信号处理系统包括存储器，其中存储运动曲线和力极限，并且其通过每个周期接收与柱塞的换能器位置和压力传感器相关的反馈信号与活塞相对侧上的压力，根据重复算法产生螺线管驱动比例气动阀的控制信号，该算法考虑了（a）柱塞从运动曲线上的位移，（b）从其变化率得出的柱塞速度位置，以及（c）由活塞两端的压差导出的施加在柱塞上的力。以这种方式，阀将空气供应到活塞和气缸装置，以使柱塞以第一位置的静止状态移动第一时间段，并以受运动曲线限制的方式。此后，对柱塞施加第一力极限。在第二时间段内的运动受到从第一力极限减小到第二力极限限制的方式的控制，并且在第三时间段期间被第二力极限限制。

2. 发明申请

WO1989006007A1 METHOD OF TEACHING AND REPRODUCING OPERATION PROGRAM FOR AN INDUSTRIAL ARTICULATED ROBOT 审中-公开
标题翻译：工业机器人教学与再现操作程序的方法
公开(公告)号：WO1989006007A1
公开(公告)日：1989-06-29
申请号：PCT/JP1988001265
申请日：1988-12-13
申请人： FANUC LTD , TORII, Nobutoshi , NIHEI, Ryo , TERADA, Akihiro
发明人： FANUC LTD
IPC分类号： G05B19/42
CPC分类号： G05B19/42 , G05B2219/39178 , G05B2219/41248
摘要： A method of teaching and reproducing operation program for an articulated robot that carries out the operation depending upon the load conditions. A ROM (24) of a robot controller (20) stores a plurality of data tables that determine speed values and acceleration values corresponding to an operation range of articulate drive motors (M theta , MV) depending upon the load weight. The ROM (24) further stores a maximum load inertia determined for the wrist drive motors (M alpha , MZ) and the corresponding servo gain value. In the step of teaching the operation program, the operator sets the load weight as well as load inertia at the time of registering the operation program from a start point to an end point. At the time of reproduction, the corresponding speed value, acceleration value and servo gain are read from the ROM (24) and are automatically set to the servo unit (34).
摘要翻译：一种用于根据负载条件执行操作的铰接机器人的教学和再现操作程序的方法。机器人控制器（20）的ROM（24）存储多个数据表，其根据负载重量来确定对应于关节式驱动电机（Mθ，MV）的操作范围的速度值和加速度值。 ROM（24）还存储为腕部驱动电动机（Mα，MZ）确定的最大负载惯量和对应的伺服增益值。在教导操作程序的步骤中，操作员在从起始点到终点登记操作程序时设置负载重量以及负载惯量。在再现时，从ROM（24）读取对应的速度值，加速度值和伺服增益，并自动设置到伺服单元（34）。

3. 发明申请

WO1994022777A1 CONTROL SYSTEM SUITABLE FOR GLASSWARE FORMING MACHINE 审中-公开
标题翻译：适用于玻璃成型机的控制系统
公开(公告)号：WO1994022777A1
公开(公告)日：1994-10-13
申请号：PCT/GB1994000644
申请日：1994-03-28
申请人： EMHART GLASS MACHINERY INVESTMENTS INC. , PLATER, Neil, James , COUNSELL, John , ROSKILLY, Anthony, Paul
发明人： EMHART GLASS MACHINERY INVESTMENTS INC.
IPC分类号： C03B09/41
CPC分类号： C03B9/403 , C03B9/447 , G05B19/19 , G05B2219/33215 , G05B2219/34008 , G05B2219/34013 , G05B2219/35585 , G05B2219/37313 , G05B2219/37401 , G05B2219/41248 , G05B2219/41301 , G05B2219/41311 , G05B2219/42174 , G05B2219/43058
摘要： A control system for a member driven by the pneumatic piston and cylinder (15) under the control of a solenoid driven proportional pneumatic valve (16) which receives valve command signals from a servo control card (32) which includes a microprocessor and a memory, the card repetitively calculating acceleration-limited values for the command signals on the basis of an algorithm and a motion profile stored in the memory, the values used in computing the algorithm being derived from transducers (25, 26, 27) which sense the pressures of opposite sides of the piston and the position of the driven member.
摘要翻译：一种用于由电磁驱动比例气动阀（16）控制的由气动活塞和气缸（15）驱动的构件的控制系统，其接收来自包括微处理器和存储器的伺服控制卡（32）的阀命令信号，所述卡基于存储在存储器中的算法和运动曲线重复地计算命令信号的加速度限制值，用于计算算法的值是从传感器（25,26,27）导出的，活塞的相对侧和从动构件的位置。

4. 发明申请

WO1984003572A1 SERVO DRIVING UNIT 审中-公开
标题翻译：伺服驱动单元
公开(公告)号：WO1984003572A1
公开(公告)日：1984-09-13
申请号：PCT/JP1984000083
申请日：1984-03-02
申请人： FANUC LTD , KURAKAKE, Mitsuo , SAKAMOTO, Keiji
发明人： FANUC LTD
IPC分类号： G05D03/12
CPC分类号： G05B19/237 , G05B2219/34215 , G05B2219/34426 , G05B2219/35252 , G05B2219/36511 , G05B2219/37154 , G05B2219/41248 , G05B2219/42104 , H02P25/03
摘要： A servo driving unit enables the use of hardware in common within various control modes by changing the program controllng a processor in accordance with the control mode. A processor (108a) in an operational control unit (108) selects various control programs from a program memory (108b) in answer to commands from an interface circuit (108d), and prepares an inverter driving command from an armature current detection value input from an AD converter (108f) and a rotational angle detection value input from a counter (108g). The inverter driving command is output to a timer circuit (114) through an input/output port (108e), and controls an inverter (115) so that it varies a current driving a servo motor (101).

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