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1.发明申请公开(公告)号：US20050168186A1
公开(公告)日：2005-08-04
申请号：US11049080
申请日：2005-02-03
CPC分类号： H02P21/22
摘要： A servomotor control device for a robot which can adjust the characteristics of maximum torque and/or continuous rated output of the servomotor and a robot with easy maintenance. The robot is commanded to execute one cycle of taught motion. During the cycle, a maximum torque required for the servomotor is calculated by a torque command or the like. When the maximum torque lacks, a field weakening current correction value is increased for increasing d-phase current and the maximum torque. Further, lack of continuous rated output may be judged by detected temperature of the servomotor. When a lack of continuous rated output occurs, the correction value is decreased to decrease the d-phase current so as to adjust the characteristic of continuous rated output. Although the servomotors have the same specification, the characteristic of each of the servomotors may be optimized corresponding to the axis by adjusting the field weakening current (or the d-phase current). As the hardware such as the control devices have the same specification, manufacture, maintenance and control of the robot may become easier.
摘要翻译： 一种用于机器人的伺服电机控制装置，其可以调节伺服电动机的最大扭矩和/或连续额定输出的特性以及容易维护的机器人。 命令机器人执行教学动作的一个循环。 在该循环期间，通过转矩指令等计算伺服电动机所需的最大转矩。 当最大扭矩不足时，为减小d相电流和最大转矩而增大磁场弱化电流校正值。 此外，通过伺服电动机的检测温度可以判断缺乏连续的额定输出。 当发生缺乏连续额定输出时，减小校正值以减小d相电流，从而调整连续额定输出的特性。 虽然伺服电机具有相同的规格，但是可以通过调节弱磁电流（或d相电流）来对应于轴线来优化每个伺服电动机的特性。 由于诸如控制装置的硬件具有相同的规格，所以机器人的制造，维护和控制可能变得更容易。
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公开(公告)号：US06566836B2
公开(公告)日：2003-05-20
申请号：US09968508
申请日：2001-10-02
IPC分类号： G05B1929
CPC分类号： G05B19/4069 , G05B19/4068 , G05B2219/35286 , G05B2219/35287 , G05B2219/35292
摘要： In a controller where a contour machining is performed through a synchronous control between a mechanically movable portion (servo axis) driven by a servo motor and a main shaft (spindle axis) driven by a spindle motor, the position of the servo axis and the position of the spindle axis are collected at the same timing for each predetermined cycle and are stored. The position data of the servo axis and the spindle axis stored are converted to obtain a machining contour shape data, and the shape obtained is displayed on a display device of a personal computer or the like.
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公开(公告)号：US5602347A
公开(公告)日：1997-02-11
申请号：US335879
申请日：1994-11-15
IPC分类号： B23Q17/09 , G05B19/4065 , G06F15/00
CPC分类号： G05B19/4065 , G05B2219/37252 , G05B2219/37285 , G05B2219/41368 , G05B2219/41376 , G05B2219/41379
摘要： A method for estimating a load acting on a machine tool and controlling a life of the machine tool based on the estimated load. When predetermined machining is effected on a predetermined workpiece, a disturbance load torque acting on a motor for a spindle or a motor for a feed shaft is estimated by a disturbance estimating observer. When the estimated disturbance load becomes not lower than a set reference value, a timer is reset and started. If the estimated disturbance load torque is kept not smaller than the set reference value until the timer reaches a predetermined set time, a tool change command is issued to stop the machining. Since the tool life is determined in accordance with the magnitude of the load acting on the tool, the tool life is controlled objectively and accurately.
摘要翻译： PCT No.PCT / JP94 / 00336 Sec。 371日期：1994年11月15日 102（e）1994年11月15日日期PCT 1994年3月2日PCT公布。 公开号WO94 / 21425 日期1994年9月29日一种用于估计作用在机床上的负载并基于估计的负载来控制机床的寿命的方法。 当在预定的工件上进行预定的加工时，通过扰动估计观察器来估计作用于用于主轴的马达或用于进给轴的马达的扰动载荷转矩。 当估计的扰动负载变得不低于设定的参考值时，定时器被复位并启动。 如果估计的扰动负载转矩保持在设定的基准值以上，直到定时器达到预定的设定时间，则发出刀具更换指令以停止加工。 由于刀具寿命根据作用在刀具上的负载的大小来确定，因此客观准确地控制刀具寿命。
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公开(公告)号：US20090230898A1
公开(公告)日：2009-09-17
申请号：US12356928
申请日：2009-01-21
IPC分类号： H02P3/14
CPC分类号： H02P3/18
摘要： A servo amplifier for a robot capable of avoiding an excessive capacity for dealing with a regenerative power to achieve downsizing, cost reduction and energy saving of the device. A servo amplifier for driving servomotors of a robot to perform an operation using an electric power from a power source. The servo amplifier comprises a changeable converter connected with the power source and a plurality of inverters electrically connected with the converter and the servomotors. The changeable converter is selectively provided as a converter having a regenerative function of returning a regenerative power generated in the servomotors to the power source, or a converter having a regenerative function of discharging the regenerative power through a resistor, depending on conditions of the operation by the robot.
摘要翻译： 一种用于机器人的伺服放大器，其能够避免用于处理再生电力的过剩能力，以实现装置的小型化，降低成本和节能。 一种伺服放大器，用于驱动机器人的伺服电动机，以使用来自电源的电力进行操作。 伺服放大器包括与电源连接的可变换器和与转换器和伺服电机电连接的多个逆变器。 可选择地提供可变转换器作为转换器，其具有将在伺服电动机中产生的再生电力返回到电源的再生功能，或者具有通过电阻器再生功率放电的再生功能的转换器，这取决于根据操作的条件 机器人。
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公开(公告)号：US5598077A
公开(公告)日：1997-01-28
申请号：US416898
申请日：1995-04-18
IPC分类号： B23Q15/24 , G05B19/18 , G05B19/404 , G05D3/12 , H02P1/16 , H02P23/00 , H02P29/00 , G05B11/01
CPC分类号： G05B19/404 , H02P23/24 , G05B2219/41078
摘要： The present invention relates to motor control at the time of reversal of direction of feed axes of a machine tool using a servomotor. The present invention includes a disturbance torque estimating unit for estimating a disturbance torque and estimating a frictional torque. The value in a speed loop integrator is divided into a frictional torque component and an acceleration torque component. An integrator target value for the time of reversal of motor rotation is obtained in accordance with the acceleration torque component and a value obtained by inverting the sign of the frictional torque component. Backlash acceleration correction is effected using a value obtained by applying a certain offset to a speed command so that the integrator target value is reached, as a backlash acceleration value. In estimating the frictional torque, a ratio of torque constant to inertia is estimated automatically, and the frictional torque is estimated by using this ratio. Since proper backlash acceleration correction can be effected, quadrant projections are minimized.
摘要翻译： PCT No.PCT / JP94 / 01326 Sec。 371日期1995年04月18日 102（e）1995年4月18日PCT PCT 1994年8月10日PCT公布。 WO95 / 05703 PCT出版物 日期：1995年2月23日本发明涉及使用伺服电机反转机床的进给轴方向时的电动机控制。 本发明包括用于估计干扰转矩并估计摩擦转矩的扰动转矩估计单元。 速度环积分器中的值被分为摩擦转矩分量和加速度转矩分量。 根据加速扭矩分量和通过反转摩擦转矩分量的符号获得的值来获得电动机旋转时间的积分器目标值。 使用通过对速度指令施加某个偏移而获得的值来达到积分器目标值作为间隙加速度值来实现齿隙加速度校正。 在估计摩擦转矩时，自动估计转矩常数与惯量的比，并且通过使用该比率来估计摩擦转矩。 由于可以实现适当的齿隙加速度校正，所以能够使象限突起最小化。
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公开(公告)号：US5374882A
公开(公告)日：1994-12-20
申请号：US87749
申请日：1993-07-12
CPC分类号： G05B19/19 , G05B2219/41024
摘要： A method of controlling a servomotor, characterized by faster convergence of both positional deviations and velocity deviations, higher responsibility as well as an improved resistivity against a disturbance, and being free from any mechanical resonance. An adjustment gain G is increased when a torque command Tc1 received from a conventional velocity control is small, whereas the adjustment gain G is decreased when the torque command Tc1 is large. A torque command Tc2 obtained by multiplying the Tc1 to the output from the velocity control section by the adjustment gain G is supplied to the servomotor. The gain is to be heightened in the case where the positional deviation and velocity deviation are both small and the torque command Tc1 is also small, to thereby ensure a higher responsibility and a rapid convergence. Moreover, the gain is to be suppressed when the torque command Tc1 is large, thus preventing the occurrence of a mechanical resonance.
摘要翻译： PCT No.PCT / JP92 / 01453 Sec。 371日期：1993年7月12日 102（e）日期1993年7月12日PCT 1991年11月10日PCT PCT。 WO / 9310489 PCT公开 日期：1993年5月27日。一种控制伺服电动机的方法，其特征在于位置偏差和速度偏差的更快的收敛性，更高的责任度以及改善的抗扰性的电阻率，并且没有任何机械共振。 当从常规速度控制接收到的转矩指令Tc1较小时调节增益G增加，而当转矩指令Tc1较大时调节增益G减小。 通过将Tc1与速度控制部的输出相乘而得到的转矩指令Tc2被提供给伺服电动机。 在位置偏差和速度偏差都小，转矩指令Tc1也小的情况下，增益要提高，从而确保更高的责任度和快速收敛。 此外，当转矩指令Tc1大时，增益被抑制，从而防止发生机械共振。
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7.发明授权Numerical controller having a function for determining machine abnormality from signals obtained from a plurality of sensors 有权具有从多个传感器获得的信号确定机器异常的功能的数字控制器公开(公告)号：US08350713B2
公开(公告)日：2013-01-08
申请号：US12832209
申请日：2010-07-08
IPC分类号： G08B21/00
CPC分类号： G05B19/406 , G05B2219/34455 , G05B2219/34465 , G05B2219/37343 , G05B2219/37375 , G05B2219/37435 , G07C3/08
摘要： Signals from a plurality of sensors (vibration sensors, temperature sensors, and humidity sensors) disposed at places on a machine are input through a communication circuit to a numerical controller that controls the machine. The numerical controller uses vibration information, temperature information and humidity information obtained from these sensors to determine whether the machine is in an abnormal state.
摘要翻译： 设置在机器上的多个传感器（振动传感器，温度传感器和湿度传感器）的信号通过通信电路输入到控制机器的数值控制器。 数值控制器使用从这些传感器获得的振动信息，温度信息和湿度信息来确定机器是否处于异常状态。
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公开(公告)号：US08054012B2
公开(公告)日：2011-11-08
申请号：US12244999
申请日：2008-10-03
申请人： Shunsuke Matsubara , Yasusuke Iwashita , Yuuichi Yamada , Shigeki Hanyu , Masatomo Shirouzu , Koujirou Sakai
发明人： Shunsuke Matsubara , Yasusuke Iwashita , Yuuichi Yamada , Shigeki Hanyu , Masatomo Shirouzu , Koujirou Sakai
IPC分类号： H02P1/00
摘要： A motor driving apparatus having a converter, which receives AC voltage and converts it to DC power, and an inverter, which receives the DC power and converts it to AC power, includes a charge/discharge control circuit and a capacitor connected in parallel to a link section between the converter and the inverter, and energy stored in the capacitor C8 is charged and discharged at arbitrary timing by the charge/discharge control circuit. The invention thus provides a motor driving apparatus that supplies energy to a motor so that the peak of the input current from a power supply to the motor can also be suppressed when particularly large energy is needed during the second half period of motor acceleration.
摘要翻译： 具有接收AC电压并将其转换为DC电力的转换器的电动机驱动装置和接收DC电力并将其转换为AC电力的逆变器包括：充放电控制电路和与 转换器和逆变器之间的连接部分，并且存储在电容器C8中的能量通过充放电控制电路在任意定时被充放电。 因此，本发明提供了一种电动机驱动装置，其向电动机提供能量，使得当在电动机加速的后半期间需要特别大的能量时，也可以抑制从电源到电动机的输入电流的峰值。
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公开(公告)号：US06211636B1
公开(公告)日：2001-04-03
申请号：US09155717
申请日：1998-10-05
IPC分类号： H02K1732
CPC分类号： B30B15/14
摘要： A torque command Tc is restricted to a torque limit value Tm′ by torque limiting means and delivered to current restricting means for a motor. The torque limit value Tm′ is derived by adding a torque limit correction value &Dgr;Tm as calculated by torque limit correction value calculating means to a torque limit value Tm corresponding to the target pressing force F. The torque limit correction value &Dgr;Tm is supplied in accordance with the acceleration value when the motor is accelerated or decelerated. This acceleration is calculated from the feedback velocity Vf from the velocity detector, or the command velocity Vc. Alternatively, it may be derived from the output of an observer which inputs the torque command Tc′ supplied to the current control means of the motor, and the feedback velocity Vf.
摘要翻译： 扭矩指令Tc通过转矩限制装置被限制在转矩极限值Tm'，并传送到电动机的电流限制装置。 转矩限制值Tm'通过将由转矩极限修正值计算装置算出的转矩极限校正值DELTATm加到与目标按压力F相对应的转矩极限值Tm而导出。转矩极限校正值DELTATm根据 电机加速或减速时的加速度值。 该加速度是从速度检测器的反馈速度Vf或指令速度Vc计算的。 或者，可以从输入提供给电动机的电流控制装置的转矩指令Tc'和反馈速度Vf的观测器的输出导出。
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公开(公告)号：US6163130A
公开(公告)日：2000-12-19
申请号：US202598
申请日：1998-12-17
IPC分类号： B22D17/26 , B22D17/20 , B22D17/32 , B29C45/47 , B29C45/64 , B29C45/76 , H02P21/00 , H02P27/04
摘要： In an injection molding machine whose movable part is driven by an AC servo motor, d-phase current in a direction of magnetic flux produced by a field system and q-phase current orthogonal to the d-phase current are obtained through d-q conversion on the basis of drive current of the AC servo motor and a phase of a rotor. Control of current is made in DC mode on condition that the d-phase current is set to zero, and the q-phase current is adapted for a current command. Control of current in the DC mode as described above is designed to advance the phase of the q-phase current command, which is an effective component of a current command at the time of the occurrence of magnetic saturation, thereby preventing, the influence of magnetic saturation to lessen the fall of torque.
摘要翻译： PCT No.PCT / JP98 / 01827 Sec。 371日期1998年12月17日第 102（e）日期1998年12月17日PCT提交1998年4月21日PCT公布。 第WO98 / 48507号公报 日期1998年10月29日在可动部由交流伺服电动机驱动的注塑机中，获得由场系统产生的磁通方向的d相电流和与d相电流正交的q相电流 通过基于交流伺服电动机的驱动电流和转子的相位的dq转换。 条件是在d相电流设定为零，q相电流适合于电流指令的情况下，以直流模式进行电流的控制。 如上所述，在DC模式中的电流的控制被设计为提高作为磁饱和时的电流指令的有效成分的q相电流指令的相位，从而防止磁场的影响 饱和度以减轻扭矩的下降。
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