公开(公告)号：US11613011B2

公开(公告)日：2023-03-28

申请号：US16927247

申请日：2020-07-13

Applicant: Delta Electronics, Inc.

Inventor： Ching-Hsiung Tsai ,  Ming-Yang Cheng ,  Chung-Chan Hsu ,  Chia-Hui Chen ,  Hao-Lun Huang ,  Kuan-Shun Chao

IPC: H02P7/00 ,  B25J9/16 ,  G05B19/23

Abstract: A mechanical arm system includes at least two links, at least two control devices and at least two motor devices. Each of the control devices includes a first control unit, a mechanical arm control unit and a driving unit. The first control unit receives an end-position command to output a first torque signal. The mechanical arm control unit includes a rigid mechanical unit and a mechanical model unit. The rigid mechanical unit receives the first torque signal to obtain a rigid mechanical torque, and the mechanical model unit receives the rigid mechanical torque and operates the flexible mechanical model to establish the mechanical arm model for obtaining the target torque, and the target position signal is output according to the target torque. The driving unit generates a driving signal according to the target position signal to adjust a rotation angle of the corresponding motor device.

公开(公告)号：US11604450B1

公开(公告)日：2023-03-14

申请号：US17694605

申请日：2022-03-14

Applicant: Delta Electronics, Inc.

Inventor： Jia-Ming Wu ,  Chung-Chan Hsu

IPC: G05B19/4065 ,  B23Q15/12

Abstract: A method for determining an abnormal processing of a processing machine is disclosed, and includes: obtaining an acceleration signal corresponding to an acceleration of a tool tip from an accelerometer arranged on a tool-end of the processing machine; performing an integral process to the acceleration signal to generate a movement information; obtaining a motor position information of a motor used to bring the tool-end to move; respectively performing a coordinate alignment process to the movement information and the motor-position information to generate a transformed movement information and a position vector respectively being described based on a workpiece-end coordinates system used by a workpiece-end of the processing machine; combining the transformed movement information and the position vector to generate a relative movement value between the tool tip and the workpiece-end; and, determining whether an abnormal processing occurs based on the relative movement value.