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    MULTIJOINT ROBOT
    1.
    发明申请
    MULTIJOINT ROBOT 审中-公开
    多机器人

    公开(公告)号：US20140083233A1

    公开(公告)日：2014-03-27

    申请号：US14091347

    申请日：2013-11-27

    Applicant: KABUSHIKI KAISHA YASKAWA DENKI

    Inventor： Takashi MAMBA

    IPC: B25J17/00

    CPC classification number: B25J17/00 ,  B25J9/102 ,  Y10S901/26 ,  Y10T74/20329

    Abstract: This disclosure discloses a multijoint robot. The multijoint robot has a plurality of link members and a plurality of joints. At least one of the plurality of joints includes a double joint structure comprising a first link member, an intermediate link member connected to the first link member rotatably around a first joint axis, and a second link member which is connected to the intermediate link member rotatably around a second joint axis and in which two small link members are connected capable of relative rotation around a rotating axis along a longitudinal direction of the link member. The one of the plurality of joints further includes a first bevel gear and a second bevel gear disposed facing each other on the second joint axis, a first actuator configured to transmit a driving force to the first bevel gear and a second actuator configured to transmit a driving force to the second bevel gear, and a third bevel gear meshed with both the first bevel gear and the second bevel gear and connected to one of the small link members by a rotating shaft disposed along the rotating axis.

    Abstract translation: 本公开公开了一种多点机器人。 多关节机器人具有多个连杆构件和多个接头。 所述多个接头中的至少一个包括双接头结构，所述双接头结构包括第一连接构件，围绕第一接头轴线可旋转地连接到所述第一连杆构件的中间连杆构件，以及第二连杆构件，其可旋转地连接到所述中间连杆构件 围绕第二关节轴线，并且其中两个小连杆构件连接成能够沿着连杆构件的纵向方向围绕旋转轴线相对旋转。 多个关节中的一个还包括在第二关节轴线上彼此相对设置的第一锥齿轮和第二锥齿轮，构造成将驱动力传递到第一锥齿轮的第一致动器和被配置为传递 驱动力到第二伞齿轮，以及与第一锥齿轮和第二伞齿轮啮合的第三伞齿轮，并且通过沿着旋转轴设置的旋转轴连接到小连杆构件中的一个。

    MOTOR DRIVE SYSTEM, MOTOR CONTROL APPARATUS AND MOTOR CONTROL METHOD
    4.
    发明申请
    MOTOR DRIVE SYSTEM, MOTOR CONTROL APPARATUS AND MOTOR CONTROL METHOD 审中-公开
    电机驱动系统，电动机控制装置和电动机控制方法

    公开(公告)号：US20160156297A1

    公开(公告)日：2016-06-02

    申请号：US15014020

    申请日：2016-02-03

    Applicant: KABUSHIKI KAISHA YASKAWA DENKI

    Inventor： Yoshiyasu TAKASE ,  Hiroshi NAKAMURA ,  Yoshiaki KUBOTA ,  Takashi MAMBA

    IPC: H02P21/18 ,  H02P6/00 ,  H02P6/28 ,  H02P6/08 ,  H02K11/20

    CPC classification number: H02P21/18 ,  B25J9/1633 ,  G05B2219/39188 ,  H02K11/20 ,  H02P6/006 ,  H02P6/10 ,  H02P6/183 ,  H02P6/28

    Abstract: A motor control apparatus according to an embodiment includes a torque current controller, an excitation current controller, and an estimation unit. The torque current controller that performs torque current control on a motor based on a deviation between a feedback signal based on a detection result of a sensor that can detect torque or acceleration of the motor and a torque current reference. The excitation current controller that performs excitation current control on the motor based on an excitation current reference on which a high-frequency current reference is superimposed. The estimation unit that estimates at least one of a position and a velocity of the motor based on the deviation and the high-frequency current reference.

    Abstract translation: 根据实施例的电动机控制装置包括转矩电流控制器，励磁电流控制器和估计单元。 扭矩电流控制器，其基于可以检测电动机的转矩或加速度的传感器的检测结果的反馈信号与转矩电流基准之间的差异，对电动机进行转矩电流控制。 励磁电流控制器，其基于叠加了高频电流基准的励磁电流基准对电动机进行励磁电流控制。 估计单元，基于偏差和高频电流基准来估计电动机的位置和速度中的至少一个。

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