公开(公告)号：US5359490A

公开(公告)日：1994-10-25

申请号：US139886

申请日：1993-10-22

申请人： Ryuichi Oguro

发明人： Ryuichi Oguro

IPC分类号： B60L13/06 ,  B60L13/08 ,  B61B13/08 ,  H02N15/00

CPC分类号： B61B13/08 ,  B60L13/08

摘要： A magnetic levitation and transport system has a plate-like moving element (SFT) which is moved by a linear motor disposed in a stator (STT). The moving element is moved vertically by first through fourth electromagnetic devices (MGV.sub.10 -MGV.sub.41), and fifth and sixth electromagnetic devices (MGH.sub.10 -MGH.sub.21) exert forces on the moving element in a horizontal direction perpendicular to the direction in which the moving element is moved. Gaps between the moving element and the electromagnetic devices are detected by gap sensors which produce gap data. In the vertical direction, for example, attractive force commands (f.sub.V1 -f.sub.V2) are produced from the outputs from a circuit for calculating the amount of feedback (10) which is supplied with the gap data (XV.sub.1 -XV.sub.4) and also with the output from a variable gain g.sub.V (l) generator (60) to which the position (l) of the center of gravity of the moving element is supplied. The attractive force commands are then linearized by linearizing circuits (71-74), and linearized outputs are applied to the electromagnetic devices. With this arrangement, the variable gains can be established by an analog circuit, and control gains in the respective control directions can be given independently of each other.

摘要翻译： 磁悬浮和输送系统具有由设置在定子（STT）中的线性电动机移动的板状移动元件（SFT）。 移动元件由第一至第四电磁装置（MGV10-MGV41）垂直移动，第五和第六电磁装置（MGH10-MGH21）在垂直于移动元件移动方向的水平方向上对移动元件施加力 。 通过间隙传感器检测移动元件和电磁装置之间的间隙，产生间隙数据。 在垂直方向上，例如，从用于计算提供有间隙数据（XV1-XV4）的反馈量（10）的电路的输出以及输出端产生吸引力指令（fV1-fV2） 来自可变增益gV（l）发生器（60），移动元件的重心位置（l）被提供给可变增益gV（1）发生器60。 吸引力命令然后通过线性化电路（71-74）进行线性化，线性化输出被施加到电磁装置。 利用这种布置，可以通过模拟电路建立可变增益，并且可以彼此独立地给出各个控制方向上的控制增益。

公开(公告)号：US5248923A

公开(公告)日：1993-09-28

申请号：US700162

申请日：1991-05-15

申请人： Kaoru Kimura ,  Syuichi Tounai ,  Toshio Omata

发明人： Kaoru Kimura ,  Syuichi Tounai ,  Toshio Omata

IPC分类号： B25J9/06 ,  B25J5/00 ,  B25J9/12 ,  H02K41/03

CPC分类号： H02K41/033 ,  B25J5/00 ,  B25J9/123 ,  H02K2201/18 ,  Y10T74/20317

摘要： In order to obtain a manipulator using a plane pulse motor showing advantageous features such that even in a case where a moment of force is applied to the manipulator in a falling direction, the moment can be sustained by magnetic attraction caused by the pulse motor, the weight of the manipulator is reduced, the degree of freedom of the movement can be increased, and a rotating mechanism for a tool itself is eliminated; a plurality of movable members are provided on a stator of the plane pulse motor, a rotatable shaft is provided on each movable member so as to extend vertically, the rotatable shafts are connected with each other through a connecting member, a required tool is secured to the connecting member, and the movements of the movable members are made controllable in a manner correlated with each other. The manipulator using the plane pulse motor of the aforementioned construction is most adapted to be used in combination with an industrial robot and the like.

公开(公告)号：US5222199A

公开(公告)日：1993-06-22

申请号：US684921

申请日：1991-04-15

申请人： Yoshikatsu Minami ,  Masato Tanaka

发明人： Yoshikatsu Minami ,  Masato Tanaka

IPC分类号： B25J9/22 ,  B25J9/18 ,  G05B19/42 ,  G05B19/425

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

摘要： In a method for changing the relative orientation between a workpiece held or clamped by a robot and an arbitrary working point, without changing a determined position, the working point is defined in a reference coordinate system of the robot. In a teaching operation, the workpiece is held or clamped by the robot with respect to the working point. The workpiece is then rotated about the working point so that the workpiece can assume a desired relative orientation with respect to the working point.

公开(公告)号：US5222198A

公开(公告)日：1993-06-22

申请号：US871609

申请日：1992-04-20

申请人： Minoru Yamamoto ,  Satoshi Gosho

发明人： Minoru Yamamoto ,  Satoshi Gosho

IPC分类号： B25J9/04 ,  G05B19/19 ,  G05B19/23 ,  G05B19/41 ,  G05B19/418 ,  G05B19/425

CPC分类号： G05B19/41 ,  B25J9/046 ,  G05B19/19 ,  G05B19/231 ,  G05B19/4182 ,  G05B19/425 ,  G05B2219/37145 ,  G05B2219/41243 ,  G05B2219/45083 ,  Y02P90/083

摘要： The operating range of the conventional multi-axis joint type robot has been restricted, from its structural reason, with .+-.180.degree. for all axes provided. However, recently, expansion of the operating range of robots has been required and improvement in structure and control method of robots has realized expansion of the operating range to under .+-.360.degree.. But, in the case of the robot providing the axis rotating .+-.360.degree. or more, it is sometimes difficult to apply such control methods, resulting in disabling operations. In the present invention, therefore, the signal obtained by adding or subtracting the signal corresponding to the integer number of rotations of the axis to or from the rotating position signal after rotation of the axis depending on the positive or negative sign of the rotating position signal is applied as the rotating position at the time of starting the posture control operation. Since the corrected link angle has a value under .+-.360.degree., the smooth interpolating operation can be realized by applying the control method described above. Accordingly, the operating range of multiple axes joint type robot can be expanded.

摘要翻译： PCT No.PCT / JP89 / 00457 Sec。 371 1990年1月2日第 102（e）日期1990年1月2日PCT提交1989年5月1日PCT公布。 出版物WO89 / 10822 日期为1989年11月16日。传统的多轴关节型机器人的操作范围受到限制，从其结构原因，提供的所有轴线为+/- 180度。 然而，近来，机器人的操作范围扩大，机器人的结构和控制方法的改进已将操作范围扩大到+/- 360度以下。 但是，在机器人提供旋转+/- 360°以上的情况下，有时难以应用这种控制方法，导致禁用操作。 因此，在本发明中，通过根据旋转位置信号的正或负符号，在轴旋转之后将与轴的整数相对应的信号相加或相对于旋转位置信号获得的信号 作为开始姿势控制动作时的旋转位置。 由于校正后的链接角度的值在+/- 360°以下，所以可以通过应用上述的控制方法来实现平滑内插操作。 因此，可以扩大多轴关节型机器人的操作范围。

公开(公告)号：US5128536A

公开(公告)日：1992-07-07

申请号：US651376

申请日：1991-02-26

申请人： Kouichi Higashi

发明人： Kouichi Higashi

IPC分类号： G01D3/08 ,  G01D5/244 ,  G01D5/245 ,  H03M1/10 ,  H03M1/30

CPC分类号： H03M1/1076 ,  G01D3/08 ,  G01D5/2457 ,  H03M1/308

摘要： An encoder of the invention comprises: an abnormality detecting circuit for detecting an abnormal state of an encoder main body; and a circuit which inverts a part of output signals of the encoder main body and outputs or does not output a part of the output signals of the encoder main body in response to an abnormality detection signal which is output from the abnormality detecting circuit when the encoder main body is abnormal. Thus, the occurrence of the abnormality of the encoder main body can be detected from the outside.

摘要翻译： PCT No.PCT / JP90 / 00848 Sec。 371日期1991年2月26日 102（e）日期1991年2月26日PCT Filed 1990年6月29日PCT出版物 第WO91 / 00499号公报 日本1991年1月10日。本发明的编码器包括：异常检测电路，用于检测编码器主体的异常状态; 以及电路，其使编码器主体的一部分输出信号反转，并且当编码器的编码器响应于从异常检测电路输出的异常检测信号而输出或不输出编码器主体的输出信号的一部分 主体异常。 因此，可以从外部检测编码器主体的异常的发生。

公开(公告)号：US5083352A

公开(公告)日：1992-01-28

申请号：US724118

申请日：1991-07-01

申请人： Toru Nakako

发明人： Toru Nakako

IPC分类号： B23Q5/58 ,  B25J15/04

CPC分类号： B25J15/04 ,  B23Q5/58 ,  Y10T29/5178

摘要： According to the present invention, there is provided a tool changing device for a robot comprising a piston reciprocating in a cylinder, a supporting block provided at the distal end of a piston rod, a pair of links interconnecting the supporting block to a pair of cramp members cramping a tool mounting plate.Even in a case where the supply of a pressurized fluid is interrupted during the cramped state, and outside uncramping force is applied to the cramp members, a side surface of each cramp member abuts against a side surface of the supporting block, and the cramping members are thereby held in the cramping state.

公开(公告)号：US4862044A

公开(公告)日：1989-08-29

申请号：US170323

申请日：1988-03-18

申请人： Kunihiko Karashima ,  Shoji Kumada ,  Katsumasa Yoshida ,  Hiroharu Katase

发明人： Kunihiko Karashima ,  Shoji Kumada ,  Katsumasa Yoshida ,  Hiroharu Katase

IPC分类号： G01D5/245 ,  G01D5/36 ,  G01P1/00 ,  H02K29/08 ,  H02K29/10

CPC分类号： G01P1/00 ,  H02K29/08 ,  H02K29/10

摘要： A method for adjusting an encoder directly coupled with a brushless motor, wherein a set of sensor match marks are provided on a sensor base plate mounting a number of sensor elements, while another set of disc match marks are provided on an encoder disc at positions where, during the time when the motor is energized but locked, a phase difference between an EMF voltage waveform of the motor and the output voltage waveform of a specific phase of the encoder is made equal to a predetermined value, rough adjustment of the encoder is executed by aligning the two sets of match marks between each other, a gap between the encoder disc and the sensor is adjusted suitably, and then the sensor base plate is slightly rotated relative to the stator of the brushless motor for executing a fine adjustment of the encoder.

摘要翻译： 一种用于调节与无刷电动机直接耦合的编码器的方法，其中在安装多个传感器元件的传感器基板上设置一组传感器匹配标记，而在编码器盘上提供另一组光盘匹配标记， 在电动机被通电但被锁定的时间期间，电动机的电动势电压波形与编码器的特定相位的输出电压波形之间的相位差等于预定值，执行编码器的粗略调整 通过将两组匹配标记相互对准，适当地调整编码器盘和传感器之间的间隙，然后传感器基板相对于无刷电动机的定子略微旋转，以执行编码器的微调 。

公开(公告)号：US4848814A

公开(公告)日：1989-07-18

申请号：US112964

申请日：1987-10-27

申请人： Takeo Suzuki ,  Junpei Yuyama

发明人： Takeo Suzuki ,  Junpei Yuyama

IPC分类号： B65H5/14 ,  B25B9/00 ,  B25B11/00 ,  B65G49/07 ,  H01L21/67 ,  H01L21/677 ,  H01L21/687

CPC分类号： H01L21/68707 ,  B25B11/00 ,  B25B9/00 ,  Y10S414/135 ,  Y10T29/53261

摘要： A wafer transferring hand is so constructed that at least three seats made of a soft low-friction material are provided in an integral manner, a groove having a width slightly wider than the thickness of the wafer is formed in the laterally arranged seats, the bottom of the groove being arcuated in a manner conforming to the periphery of the wafer, while a similar groove having an adjustable width is provided in the seat arranged at the center, the bottom of the groove being spaced apart outwardly from the periphery of the wafer, and at least two cut-away portions are provided between the seats so as to provide a gap between the periphery of the wafer and the bottom of the cut-away portion.

摘要翻译： 晶片传送手的结构使得至少三个由软质低摩擦材料制成的座椅以一体的方式设置，在横向布置的座椅中形成了宽度略大于晶片厚度的槽，底部 凹槽以与晶片周边相符的方式被弧形化，而具有可调节宽度的类似的凹槽设置在布置在中心的座中，凹槽的底部与晶片的周边间隔开， 并且至少两个切割部分设置在座之间，以便在晶片的周边和切除部分的底部之间提供间隙。

公开(公告)号：US4528632A

公开(公告)日：1985-07-09

申请号：US355657

申请日：1982-03-08

申请人： Satoru Nio ,  Shinobu Sato ,  Shigemi Nobayashi ,  Toyoji Hamashima

发明人： Satoru Nio ,  Shinobu Sato ,  Shigemi Nobayashi ,  Toyoji Hamashima

IPC分类号： B25J9/16 ,  B25J9/18 ,  B25J9/22 ,  G05B19/41 ,  G05B19/4103 ,  G05B19/416 ,  B25J9/00 ,  B25J13/00

CPC分类号： G05B19/41 ,  G05B2219/34037 ,  G05B2219/34167 ,  G05B2219/34179 ,  G05B2219/43006

摘要： In a control device for an industrial articulated robot, in the linear interpolation between two specified points, the distance between the two points is divided into segments, and the interpolation increments of the articulation drive axes for each interpolation internal, which correspond to the segments, are calculated for interpolation so that the interpolation increments are distributed uniformly with time.

摘要翻译： 在用于工业铰接机器人的控制装置中，在两个指定点之间的线性插补中，两点之间的距离被划分成段，并且对应于段的每个插值内部的关节运动轴的插值增量， 被计算用于插值，使得插值增量随时间均匀分布。

公开(公告)号：US4499546A

公开(公告)日：1985-02-12

申请号：US376983

申请日：1982-05-10

申请人： Akihiko Kuga ,  Hiroo Kuga

发明人： Akihiko Kuga ,  Hiroo Kuga

IPC分类号： B23Q15/013 ,  B23Q15/22 ,  G05B19/19 ,  G05B19/21 ,  G06F15/46 ,  G05B19/18

CPC分类号： G05B19/21 ,  G05B19/19 ,  G05B2219/49194

摘要： In a numerical control machine tool, the sliding errors are compensated by control means comprising: a position detector for detecting a current position on a first axis at all times in association with a first-axis position detector; a compensation data memory in which compensation data for a second axis corresponding to positions on the first axis have been stored, the memory outputting a compensation data corresponding to a position which coincides with a current position specified by the position register; a pulse generator means for calculating the difference between the current compensation data and the preceding compensation data and generating a pulse train proportional to the difference; an adder for subjecting to addition or subtraction the pulse train generated and a pulse train obtained by converting the output signal of a second-axis position detector; a pulse restoring means for converting the output pulse train of the adder into a signal similar in form to the output of the position detector; and a compensation control means for outputting as a position feedback signal for the second axis the signal outputted by the pulse restoring means, and for similarly processing the output signal of the second axis position detector to provide as a position feedback signal for the first axis the output signal thus processed.

摘要翻译： 在数控机床中，滑动误差由控制装置补偿，包括：位置检测器，用于与第一轴位置检测器相关联地一直检测第一轴上的当前位置; 补偿数据存储器，其中已经存储了与第一轴上的位置对应的第二轴的补偿数据，该存储器输出与由位置寄存器指定的当前位置一致的位置对应的补偿数据; 脉冲发生器装置，用于计算当前补偿数据和前一个补偿数据之间的差值，并产生与该差值成比例的脉冲序列; 加法器，用于对产生的脉冲串进行加法或减法，以及通过转换第二轴位置检测器的输出信号而获得的脉冲串; 脉冲恢复装置，用于将加法器的输出脉冲串转换成类似于位置检测器的输出的信号; 以及补偿控制装置，用于作为第二轴的位置反馈信号输出由脉冲恢复装置输出的信号，并且类似地处理第二轴位置检测器的输出信号以提供第一轴的位置反馈信号 输出信号进行处理。