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    Manipulator apparatus
    44.
    发明授权
    Manipulator apparatus 失效
    机械手装置

    公开(公告)号：US4518308A

    公开(公告)日：1985-05-21

    申请号：US354780

    申请日：1982-03-01

    申请人： Bohdan Grzybowski ,  Mark T. Horbal

    发明人： Bohdan Grzybowski ,  Mark T. Horbal

    IPC分类号： B25J9/04 ,  B25J9/08 ,  B25J9/10 ,  B25J17/02 ,  G05B19/414 ,  G05B19/425 ,  B66C23/00

    CPC分类号： B25J17/0241 ,  B25J9/046 ,  B25J9/08 ,  B25J9/1005 ,  B25J9/1025 ,  G05B19/4141 ,  G05B19/425 ,  F01L2001/3521 ,  G05B2219/31151 ,  G05B2219/33337 ,  G05B2219/34205 ,  G05B2219/34396 ,  G05B2219/36043 ,  G05B2219/36117 ,  G05B2219/36395 ,  G05B2219/41326 ,  G05B2219/45083 ,  G05B2219/49292 ,  G05B2219/50083 ,  Y10T74/19

    摘要： A manipulator apparatus comprises an elongated member having a number of arm sections interconnected by rotary actuators and supported by a vertical member rotatably mounted on a console. The other end of the elongated member terminates in a terminal motion actuator adapted to support an article handling member. Each rotary actuator comprises a stepping motor coupled to a harmonic drive device, wherein control pulses fed into the stepping motor will initiate motion which is reduced by the harmonic drive device and then imparted to the respective arm section. The vertical member is similarly controlled. The terminal motion actuator comprises a stepping motor rotatably supported by a rotary actuator comprising a combination of a stepping motor and a harmonic drive device. The terminal motion actuator has mounting means for supporting article handling members. The vertical member is rotatably supported in such manner that free play is totally eliminated. A control arrangement comprises a computer having hardware and software and interconnected with a CRT screen and a control panel. The computer is connected by a cable to bus means which intercouple a plurality of axes controlling devices, modulator connector devices, and data input devices. The computer has an address system to control the operation of the devices which have respective addresses. Each axis controlling device includes a microstep indexer interconnecting the axis controlling device with a motor driver which is connected to a respective stepping motor. The modular connector devices are connected to a plurality of modules which are associated with a particular type of external equipment which cooperates with the operation of the manipulator apparatus.

    摘要翻译： 操纵器装置包括细长构件，其具有多个由旋转致动器互连并由可旋转地安装在控制台上的垂直构件支撑的臂部分。 细长构件的另一端终止于适于支撑物品处理构件的终端运动致动器。 每个旋转致动器包括耦合到谐波驱动装置的步进电机，其中馈送到步进电机中的控制脉冲将启动由谐波驱动装置减小的运动，然后施加到相应的臂部分。 垂直构件也同样受到控制。 端子运动致动器包括由包括步进电机和谐波驱动装置的组合的旋转致动器可旋转地支撑的步进电机。 端子运动致动器具有用于支撑物品处理构件的安装装置。 垂直构件被可旋转地支撑，从而完全消除了自由游隙。 控制装置包括具有硬件和软件并与CRT屏幕和控制面板互连的计算机。 计算机通过电缆连接到总线装置，该总线装置相互耦合多个轴控制装置，调制器连接器装置和数据输入装置。 计算机具有用于控制具有相应地址的设备的操作的地址系统。 每个轴控制装置包括将轴控制装置与连接到相应的步进电机的电动机驱动器相互连接的微步进分度器。 模块化连接器装置连接到多个模块，这些模块与与机械手装置的操作配合的特定类型的外部设备相关联。

    System for restoring numerically controlled machine tool to former condition
    45.
    发明授权
    System for restoring numerically controlled machine tool to former condition 失效
    将数控机床恢复到前一种状态的系统

    公开(公告)号：US4484287A

    公开(公告)日：1984-11-20

    申请号：US304903

    申请日：1981-09-23

    申请人： Gotaro Gamo ,  Mitsuo Kinoshita

    发明人： Gotaro Gamo ,  Mitsuo Kinoshita

    IPC分类号： G05B9/02 ,  G05B19/406 ,  G06F15/46 ,  G05B19/18

    CPC分类号： G05B19/406 ,  G05B2219/37154 ,  G05B2219/37473 ,  G05B2219/37486 ,  G05B2219/50083 ,  G05B2219/50084 ,  G05B2219/50097

    摘要： A system for restoring a numerically controlled machine tool to its former condition after a power interruption, the numerical control system being of the type in which a position sensor senses the current position of a movable member or of a drive motor of the machine tool and generates a current position signal in accordance with said current position, the movable member being positioned on the basis of a commanded position signal and the current position signal. The positional control information which prevails immediately prior to an interruption in the electric power which is applied to the machine tool and to the numerical control device is stored in a non-volatile memory before the power interruption occurs. When the electric power is reintroduced, the positional control information is read out of the non-volatile memory, and the movable member is returned to the position which it occupied immediately prior to the power interruption, this being accomplished on the basis of the positional control information and the current position signal.

    摘要翻译： 一种用于在电力中断之后将数控机床恢复到其前一状态的系统，数字控制系统是位置传感器感测机床的可动构件或驱动电机的当前位置并产生的类型 根据所述当前位置的当前位置信号，基于命令位置信号和当前位置信号来定位可移动部件。 在电力中断发生之前，将施加到机床和数控装置的电力中断之前的位置控制信息存储在非易失性存储器中。 当重新引入电力时，从非易失性存储器中读出位置控制信息，并且可移动部件返回到其在电力中断之前立即占据的位置，这是基于位置控制 信息和当前位置信号。

    MACHINE TOOL CONTROLLER
    49.
    发明申请
    MACHINE TOOL CONTROLLER 审中-公开

    公开(公告)号：US20180004186A1

    公开(公告)日：2018-01-04

    申请号：US15623378

    申请日：2017-06-15

    申请人： FANUC CORPORATION

    发明人： Shunpei TANAKA

    IPC分类号： G05B19/406 ,  B23Q5/58

    CPC分类号： G05B19/406 ,  B23Q5/58 ,  G05B2219/34474 ,  G05B2219/50081 ,  G05B2219/50083 ,  G05B2219/50084 ,  G05B2219/50203

    摘要： A machine tool controller includes: a voltage detection unit which detects a voltage value of an input power supply; a time measurement unit which measures an occurrence time and a duration time when a voltage drop state occurs with respect to the voltage value; an abnormality determination unit which determines whether a low voltage abnormality or a power failure occurs with respect to the input power supply based on the voltage value and the duration time of the voltage drop state; a machining management unit which acquires a machining condition command and machining information of the machine tool; and a storage unit which stores the voltage value detected by the voltage detection unit, the occurrence time of the voltage drop state measured by the time measurement unit, and the machining information when the abnormality determination unit determines that the low voltage abnormality occurs with respect to the input power supply.

    MOTOR CONTROL SYSTEM AND MOTOR CONTROL METHOD WHICH PROTECT TOOL AND WORKPIECE AT TIME OF POWER OUTAGE
    50.
    发明申请
    MOTOR CONTROL SYSTEM AND MOTOR CONTROL METHOD WHICH PROTECT TOOL AND WORKPIECE AT TIME OF POWER OUTAGE 有权
    电动机控制系统和电动机控制方法

    公开(公告)号：US20150355627A1

    公开(公告)日：2015-12-10

    申请号：US14734558

    申请日：2015-06-09

    申请人： FANUC Corporation

    发明人： Shoutarou HASHIMOTO ,  Tadashi OKITA

    IPC分类号： G05B19/402 ,  G05B15/02

    CPC分类号： G05B19/402 ,  G05B15/02 ,  G05B19/4063 ,  G05B2219/34391 ,  G05B2219/49001 ,  G05B2219/50083 ,  G05B2219/50112

    摘要： A motor control system which makes a tool motor and a workpiece motor rotate in synchronization in a machine tool equipped with a tool motor, a workpiece motor, and a tool shaft movement motor which drives a linear shaft to change an intershaft distance between the tool shaft and the workpiece shaft, wherein when the power outage detector detects a power outage of the power supply during synchronous rotation of the tool motor and the workpiece motor, the operation of the forced deceleration circuit for causing forced deceleration of either one of the tool motor and workpiece motor is made to be delayed by a predetermined time and during that time the tool shaft movement motor is used to drive the linear shaft and separate the tool and workpiece as a retraction operation to thereby prevent damage to the tool and the workpiece at the time of a power outage.

    摘要翻译： 一种电动机控制系统，其使工具电动机和工件电动机在配备有工具电动机，工件电动机和工具轴运动电动机的机床中同步旋转，该电动机驱动线性轴以改变工具轴之间的轴间距离 以及所述工件轴，其中，当所述停电检测器检测到所述工具电动机和所述工件电动机的同步旋转期间的所述电源的停电时，所述强制减速电路的操作使得所述工具电动机和 工件电动机被延迟预定时间，并且在该时间期间，工具轴运动马达用于驱动直线轴并将工具和工件分离为缩回操作，从而防止在此时对工具和工件的损坏 断电。