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    APPARATUS FOR SWITCHING WINDINGS OF AC THREE−PHASE MOTOR
    61.
    发明公开
    APPARATUS FOR SWITCHING WINDINGS OF AC THREE−PHASE MOTOR 审中-公开
    VORRICHTUNG ZUM UMSCHALTEN VON WICKLUNGEN EINES WECHSELSTROM-DREIPHASENMOTORS

    公开(公告)号：EP1439633A1

    公开(公告)日：2004-07-21

    申请号：EP02705457.6

    申请日：2002-03-22

    申请人： KABUSHIKI KAISHA YASKAWA DENKI SEISAKUSHO

    发明人： KUME, Tsuneo, c/o KABUSHIKI KAISHA YASKAWA DENKI ,  MAHESH, Swamy, c/o KABUSHIKI KAISHA YASKAWA DENKI

    IPC分类号： H02P7/36

    CPC分类号： H02P25/188 ,  H02P23/06

    摘要： It is an object to provide a winding switching device of a three-phase AC motor having a small size at a low cost in which a time required for switching a winding is shortened and the number of semiconductor switch units is decreased as much as possible.
    In a winding switching device of a three-phase AC motor including an AC motor in which a winding having each phase is formed by a plurality of windings and a connecting terminal connecting the windings to each other and both terminals of the winding having the phase are provided on an outside of a motor, winding switching means for properly switching the connecting terminal, and a variable frequency power source for supplying a variable voltage having a variable frequency to the AC motor, the winding switching means is constituted by a plurality of three-phase rectifying means connecting one of ends of the winding having the phase to the variable frequency power source and connecting the other end and the connecting terminal to an input terminal on an AC side of the three-phase rectifying means for each phase, and a semiconductor switch provided to open and close both ends on a DC output side of the three-phase rectifying means.

    摘要翻译： 本发明的目的是提供一种具有小成本的三相交流电动机的绕组开关装置，其成本较低，其中绕组切换所需的时间缩短并且半导体开关单元的数量尽可能地减少。 在包括交流电动机的三相AC电动机的绕组开关装置中，其中每个相的绕组由多个绕组形成，并且连接端子将绕组彼此连接，并且绕组的两个端子 具有相位设置在电动机的外部，用于适当地切换连接端子的绕组开关装置和用于向AC电动机提供具有可变频率的可变电压的可变频率电源，所述绕组切换装置由 多个三相整流装置将具有相位的绕组的一端连接到可变频率电源，并将另一端和连接端连接到三相整流装置的AC侧的输入端，用于每相 以及设置成在三相整流装置的DC输出侧开闭两端的半导体开关。

    MULTIPLEX PULSE-WIDTH MODULATION POWER CONVERTER
    62.
    发明公开
    MULTIPLEX PULSE-WIDTH MODULATION POWER CONVERTER 失效
    多功能多功能一体机

    公开(公告)号：EP0907238A1

    公开(公告)日：1999-04-07

    申请号：EP97926252.4

    申请日：1997-06-16

    申请人： KABUSHIKI KAISHA YASKAWA DENKI SEISAKUSHO

    发明人： YAMANAKA, Katsutoshi, K. K. Yaskawa Denki ,  SAWA, Toshihiro, K. K. Yaskawa Denki ,  TAJIMA, Eijiro, K. K. Yaskawa Denki

    IPC分类号： H02M7/48 ,  B60L9/18

    CPC分类号： H02M7/49 ,  B60L11/1803 ,  B60L11/185 ,  B60L2210/20 ,  H02J7/0013 ,  H02J7/0065 ,  Y02T10/7005 ,  Y02T10/7055 ,  Y02T10/7072 ,  Y02T10/725 ,  Y02T90/121 ,  Y02T90/127 ,  Y02T90/128 ,  Y02T90/14

    摘要： A multiple pulse-width modulation power conversion device for variable-speed drive of a three-phase AC motor comprises three units (11 1 , 11 2 , and 11 3 ), each unit including n (n ≧ 2) batteries (12 11 , 12 12 , and 12 13 ), each made up of a DC power supply or at least one battery cell, and n power converters (13 11 , 13 12 , and 13 13 ) for converting the DC power of each of these batteries to single-phase AC power. Single-phase AC terminals within each unit are connected in series, and of the single-phase AC terminals within each unit, one of the single-phase AC terminals that is not connected to the single-phase AC terminal of another power converter is connected to a star connection, and the other is connected to a respective one of three input terminals of a three-phase AC motor. The power conversion device further comprises control circuits (14 11 , 14 12 , ... 14 33 ) for controlling the power converters such that the AC outputs applied to the single-phase AC terminals of the n power converters within each unit are of the same phase, and further, for effecting multiple pulse-width modulation such that the AC outputs from the three units are separated by an electrical angle of 120°.

    摘要翻译： 用于三相交流电动机的变速驱动的多脉冲宽度调制电力转换装置包括三个单元（111,112和113），每个单元包括n（n> / = 2）个电池（1211,1212， 和1213），每个由直流电源或至少一个电池单元组成，以及用于将这些电池中的每一个的DC电力转换为单相交流电力的n个电力转换器（1311,1312和1313）。 每个单元内的单相交流电源串联连接，每个单元内的单相交流电源端子，未连接到另一个电源转换器的单相交流电源的单相交流电源中的一个被连接 连接到星形连接，另一个连接到三相AC电动机的三个输入端子中的相应一个。 功率转换装置还包括用于控制功率转换器的控制电路（1411,1412，... 1433），使得施加到每个单元内的n个功率转换器的单相AC端子的AC输出具有相同的相位， 此外，为了实现多个脉冲宽度调制，使得来自三个单元的AC输出被分离120度的电角度。

    ARTICULATED ROBOT
    63.
    发明授权
    ARTICULATED ROBOT 失效
    铰接式机器人

    公开(公告)号：EP0647507B1

    公开(公告)日：1997-11-05

    申请号：EP94910555.5

    申请日：1994-03-29

    申请人： KABUSHIKI KAISHA YASKAWA DENKI SEISAKUSHO

    发明人： NISHI, Masanori, K.K. Yaskawa Denki Seisakusho ,  WATANABE, Hideaki, K.K. Yaskawa Denki Seisakusho

    IPC分类号： B25J9/06 ,  B25J9/10 ,  B25J9/04

    CPC分类号： B25J9/04 ,  B25J9/1065 ,  Y10S414/13 ,  Y10T74/20305

    摘要： A parallel link mechanism is formed by a lower arm (2) supported on a lower base (1) so that the lower arm (2) can be tilted longitudinally, a connecting link (21) extending in parallel with the lower arm (2) and supported on the lower base (1) so that the connecting link (21) can be tilted longitudinally, and an upper base (22) to which the upper end portions of the lower arm (2) and connecting link (21) are connected pivotably. The upper base (22) supports thereon a swing member (3) adapted to be swung horizontally, and an upper arm (4) provided in a position offset from an axis Z^_ of swinging movement of the swing member (3) so that the upper arm (4) can be tilted vertically. Accordingly, the upper and lower arms do not interfere with each other, and the range of working of the upper arm can be increased.

    摘要翻译： 平行连杆机构由支撑在下底座（1）上的下臂（2）形成，使得下臂（2）能够纵向倾斜，平行于下臂（2）延伸的连接连杆（21） 并且支撑在下基座1上以使得连接连杆21能够纵向地倾斜;以及上基座22，下臂2和连接连杆21的上端部连接到该上基座22上， 枢。 上基座（22）上支撑有适于水平摆动的摆动部件（3）和设置在偏离摆动部件（3）的摆动轴线Z ^ _的位置的上臂（4），使得 上臂（4）可以垂直倾斜。 因此，上臂和下臂不会相互干涉，并且可以增加上臂的工作范围。

    Tracking control method between two servo systems
    68.
    发明公开
    Tracking control method between two servo systems 失效
    Spurfolgesteuerungsverfahren zwischen zwei Servoanlagen。

    公开(公告)号：EP0451986A2

    公开(公告)日：1991-10-16

    申请号：EP91302615.9

    申请日：1991-03-26

    申请人： KABUSHIKI KAISHA YASKAWA DENKI SEISAKUSHO

    发明人： Kyura, Nobuhiro, c/o Tokyo Plant, K.K. Yaskawa ,  Hiraga, Yoshiji, c/o Tokyo Plant, K.K. Yaskawa

    IPC分类号： G05B19/25 ,  G05B19/416

    CPC分类号： G05B19/416 ,  G05B19/25

    摘要： First, second and third compensation signals are generated from the information on the position and speed of the first servo system having a speed control loop as a minor loop. The speed error of the speed control loop of the second servo system which has the speed control loop as a minor loop and uses a signal obtained by sampling the position detection signal, executing a digital calculation process on the sampled signal to obtain a speed signal and integrating the speed signal as a position command signal or a signal obtained by sampling the position detection signal of the first servo system and executing a digital calculation process on the sampled signal as a position command signal is compensated by the first, second and third compensation signals. Thus, even in cases where the acceleration and deceleration of the first servo system are executed even at constant power, positional synchronizing error is not generated. The accurate positional synchronizing control between two servo systems having different response characteristics can be achieved.

    摘要翻译： 首先，从具有速度控制回路的第一伺服系统的位置和速度的信息作为次循环生成第二和第三补偿信号。 具有速度控制回路作为次级回路的第二伺服系统的速度控制回路的速度误差，并且使用通过对位置检测信号进行采样而获得的信号，对采样信号执行数字计算处理以获得速度信号，以及 将速度信号作为位置指令信号或通过对第一伺服系统的位置检测信号进行采样并对作为位置指令信号的采样信号执行数字计算处理而获得的信号进行积分，由第一，第二和第三补偿信号 。 因此，即使在恒定功率下执行第一伺服系统的加速和减速的情况下，也不产生位置同步误差。 可以实现具有不同响应特性的两个伺服系统之间的精确位置同步控制。

    ROBOT CONTROL METHOD
    69.
    发明公开
    ROBOT CONTROL METHOD 失效
    ROBOTERSTEUERUNGSVERFAHREN。

    公开(公告)号：EP0440816A1

    公开(公告)日：1991-08-14

    申请号：EP90912489.3

    申请日：1990-08-27

    申请人： KABUSHIKI KAISHA YASKAWA DENKI SEISAKUSHO

    发明人： MINAMI, Yoshikatsu Yahata Plant K.K.Yaskawa DenkiY ,  TANAKA, Masato Yahata Plant K.K.Yaskawa Denki

    IPC分类号： G05B19/42 ,  B25J9/22

    CPC分类号： G05B19/425 ,  G05B2219/36446 ,  G05B2219/36448 ,  G05B2219/45083 ,  G05B2219/50353

    摘要： In order to operate the relative posture between a work (4) gripped by a robot (1) and an arbitrary work point (A) without changing the position of a certain point (P), the work point (A) is defined on the reference coordinates of the robot (1) and when the work (4) gripped by the robot (1) is subjected to a teaching operation with respect to the work point (A), the work point (A) is temporarily controlled as if it were the end effector of a robot control point (R). As the work (4) is rotated around the work point (A), the posture of the work (4) is changed to a desired relative posture with respect to the work point (A). In this manner, the posture of the work (4) gripped by the robot can be changed to a desired relative posture within a short period with respect to the work point (A) and the teaching time can be reduced.

    摘要翻译： 为了在不改变特定点（P）的位置的情况下操作由机器人（1）抓握的工件（4）和任意工作点（A）之间的相对姿势，工作点（A）被定义在 机器人（1）的参考坐标和当由机器人（1）抓握的工件（4）相对于工作点（A）进行教学操作时，工作点（A）被暂时控制 是机器人控制点（R）的末端执行器。 当工件（4）围绕工作点（A）旋转时，工件（4）的姿势相对于工作点（A）改变为期望的相对姿势。 以这种方式，由机器人抓握的作业（4）的姿势可以在相对于工作点（A）的短时间内改变为期望的相对姿势，并且可以减少教学时间。