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公开(公告)号：US20070096670A1
公开(公告)日：2007-05-03
申请号：US11539134
申请日：2006-10-05
IPC分类号： H02P3/00
摘要： A servo motor controller is provided with a motor control section for controlling a servo motor provided with a brake. The motor control section includes a speed command portion for outputting a speed command to increase or reduce the rotation of the servo motor, and a brake switching portion for outputting switch command for a braking circuit to switch the brake, wherein the brake is activated during speed reduction of the servo motor by the speed command portion, whereby a rotation of the servo motor is stopped. The motor control section further includes a monitoring portion for monitoring whether or not the decelerating torque of the servo motor during speed reduction exceeds a set value that has been set equal to or lower than a maximum allowable torque of the servo motor in the motor control section.
摘要翻译： 伺服电动机控制器设置有用于控制设置有制动器的伺服电动机的电动机控制部。 电动机控制部分包括用于输出用于增加或减少伺服电动机的旋转的速度指令的速度指令部分和用于输出制动电路的切换命令以切换制动器的制动切换部分，其中制动器在速度 通过速度指令部减少伺服电动机，停止伺服电动机的转动。 电动机控制部还包括监视部，其用于监视减速期间伺服电动机的减速转矩是否超过设定为等于或低于电动机控制部中的伺服电动机的最大容许转矩的设定值 。
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公开(公告)号：US20060214618A1
公开(公告)日：2006-09-28
申请号：US11385998
申请日：2006-03-22
申请人： Yoshiki Hashimoto , Yoshikiyo Tanabe , Nobuo Chino
发明人： Yoshiki Hashimoto , Yoshikiyo Tanabe , Nobuo Chino
IPC分类号： H02P3/00
CPC分类号： G05B19/406 , G05B2219/50198 , Y10T307/76
摘要： An emergency-stop device provided in a robot system, a machine tool or the like, arranged to promptly detect failure of a circuit through which an emergency stop signal is supplied to an CPU, without stopping the robot system, the machine tool or the like, to improve reliability. When at least one of emergency stop switches is opened, a CPU #1 or #2 issues an emergency stop command through one of input circuits, so that a switch SW10 or SW20 is opened by an output circuit #1 or #2 to emergency-stop the system. Switching means #1, #2 are opened separately, at appropriate intervals, and change of output of each photo coupler is recognized. In this manner, it is checked that open/closed-state outputs related to contacts C11 and C21/C12 and C22, each connected to one of the input circuits, indicate an open state. If regarding any of the contacts, change of output of the corresponding photo coupler is not recognized, the system is stopped and an action such as causing a buzzer and displaying of an alarm is taken.
摘要翻译： 设置在机器人系统，机床等中的紧急停止装置，其被设置成在不停止机器人系统，机床等的情况下，迅速检测到向CPU提供紧急停止信号的电路的故障 ，提高可靠性。 当至少一个紧急停止开关打开时，CPU＃1或＃2通过一个输入电路发出紧急停止命令，使得开关SW 10或SW 20被输出电路＃1或＃2打开， 紧急停止系统。 切换装置＃1，＃2以适当的间隔单独打开，并且识别每个光耦合器的输出变化。 以这种方式，检查与连接到一个输入电路的触点C 11和C 21 / C 12和C 22相关的开/关状态输出指示打开状态。 如果关于任何触点，则不能识别相应光耦合器的输出变化，系统停止，并且采取诸如引起蜂鸣器和显示报警的动作。
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公开(公告)号：US20050122078A1
公开(公告)日：2005-06-09
申请号：US10999948
申请日：2004-12-01
CPC分类号： H01H47/004
摘要： Two emergency stop lines are provided. Due to contacts being opened by commands from emergency stop factors and from first and second CPUs, conducting to first and second contactors are stopped. Contacts of the contactors are opened, and power supply to the motor is interrupted, whereby an emergency stop is performed. Further, the first CPU on the first line transmits an abnormality signal to the second CPU when the states of the contacts on the self emergency stop line, detected by digital inputs, are abnormal, and the second CPU opens a contact on the self emergency stop line so as to cause the contactor to be non-excited to thereby stop power supply to the motor.
摘要翻译： 提供两条紧急停车线。 由于由紧急停止因素的指令和第一和第二CPU打开的触点，导致第一和第二接触器停止。 接触器的触点打开，电机的电源中断，从而进行紧急停机。 此外，当由数字输入检测到的自紧急停止线上的触点的状态异常时，第一线上的第一CPU将发送异常信号发送到第二CPU，并且第二CPU在自紧急停止处打开接点 以使接触器不激励，从而停止对电动机的供电。
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公开(公告)号：USRE36631E
公开(公告)日：2000-03-28
申请号：US132309
申请日：1998-08-11
CPC分类号： B25J9/1671 , G05B2219/36161 , G05B2219/39447 , G05B2219/50048 , G05B2219/50198 , H01H2300/026 , H01H9/0214
摘要： A robot teaching pendant having improved operability achieved by being provided with a display function for a personal computer. The robot teaching pendant includes an emergency stop switch and a deadman switch necessary to secure the safety of an operator, and a jog key switch necessary for a teaching operation. The robot teaching pendant further includes a liquid crystal display unit for displaying an image signal supplied from a graphical (CRT) interface of the personal computer, whereby the robot teaching pendant not only serves as a display unit for the personal computer but also realizes an easy to operate display using the graphical user interface of the personal computer when a teaching operation and the like are carried out.
摘要翻译： 具有通过提供个人计算机的显示功能而实现的具有改善的可操作性的机器人教导吊坠。 机器人教学用吊坠包括紧急停止开关和用于确保操作者的安全所需的停止开关以及用于教学操作所需的点动键开关。 机器人示教器还包括用于显示从个人计算机的图形（CRT）接口提供的图像信号的液晶显示单元，由此机器人教学用挂件不仅用作个人计算机的显示单元，而且还实现了简单 当执行教学操作等时，使用个人计算机的图形用户界面来操作显示。
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公开(公告)号：US5705906A
公开(公告)日：1998-01-06
申请号：US558753
申请日：1995-11-20
CPC分类号： B25J9/1671 , G05B2219/36161 , G05B2219/39447 , G05B2219/50048 , G05B2219/50198 , H01H2300/026 , H01H9/0214
摘要： A robot teaching pendant having improved operability achieved by being provided with a display function for a personal computer. The robot teaching pendant includes an emergency stop switch and a deadman switch necessary to secure the safety of an operator, and a jog key switch necessary for a teaching operation. The robot teaching pendant further includes a liquid crystal display unit for displaying an image signal supplied from a graphical (CRT) interface of the personal computer, whereby the robot teaching pendant not only serves as a display unit for the personal computer but also realizes an easy to operate display using the graphical user interface of the personal computer when a teaching operation and the like are carried out.
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公开(公告)号：US07525273B2
公开(公告)日：2009-04-28
申请号：US11619514
申请日：2007-01-03
IPC分类号： B25J19/06
CPC分类号： H01H47/002 , H01H2231/04
摘要： A robot control system including a servo amplifier supplying power to a robot, a processor controlling the operation of the robot, and a servo power connection/cutoff circuit connected to the same, issuing excitation/nonexcitation commands to a charging relay and a main circuit connection electromagnetic contactor provided in the circuit from the processor, monitoring the opened/closed states of the contacts of the charging relay and main circuit connection electromagnetic contactor by the processor, and detecting if their contacts open and close as instructed by the processor to thereby check if the power connection/cutoff circuit has a fault. Due to this, it is possible to provide a robot control system which detects faults of the power connection/cutoff circuit and which is inexpensive and high in safety.
摘要翻译： 一种机器人控制系统，包括向机器人供电的伺服放大器，控制机器人操作的处理器以及与其连接的伺服电源连接/断开电路，向充电继电器和主电路连接发出励磁/非励磁指令 从处理器提供在电路中的电磁接触器，监视处理器对充电继电器和主电路连接电磁接触器的触点的打开/关闭状态，并根据处理器的指示检测其触点是否打开和关闭，从而检查是否 电源连接/断路电路有故障。 由此，能够提供一种机器人控制系统，其检测电力连接/断路电路的故障，其便宜且安全性高。
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公开(公告)号：US07208899B2
公开(公告)日：2007-04-24
申请号：US11385998
申请日：2006-03-22
申请人： Yoshiki Hashimoto , Yoshikiyo Tanabe , Nobuo Chino
发明人： Yoshiki Hashimoto , Yoshikiyo Tanabe , Nobuo Chino
IPC分类号： G05B19/406
CPC分类号： G05B19/406 , G05B2219/50198 , Y10T307/76
摘要： An emergency-stop device provided in a robot system, a machine tool or the like, arranged to promptly detect failure of a circuit through which an emergency stop signal is supplied to an CPU, without stopping the robot system, the machine tool or the like, to improve reliability. When at least one of emergency stop switches is opened, a CPU #1 or #2 issues an emergency stop command through one of input circuits, so that a switch SW10 or SW20 is opened by an output circuit #1 or #2 to emergency-stop the system. Switching means #1, #2 are opened separately, at appropriate intervals, and change of output of each photo coupler is recognized. In this manner, it is checked that open/closed-state outputs related to contacts C11 and C21/C12 and C22, each connected to one of the input circuits, indicate an open state. If regarding any of the contacts, change of output of the corresponding photo coupler is not recognized, the system is stopped and an action such as causing a buzzer and displaying of an alarm is taken.
摘要翻译： 设置在机器人系统，机床等中的紧急停止装置，其被设置成在不停止机器人系统，机床等的情况下，迅速检测到向CPU提供紧急停止信号的电路的故障 ，提高可靠性。 当至少一个紧急停止开关打开时，CPU＃1或＃2通过一个输入电路发出紧急停止命令，使得开关SW 10或SW 20被输出电路＃1或＃2打开， 紧急停止系统。 切换装置＃1，＃2以适当的间隔单独打开，并且识别每个光耦合器的输出变化。 以这种方式，检查与连接到一个输入电路的触点C 11和C 21 / C 12和C 22相关的开/关状态输出指示打开状态。 如果关于任何触点，则不能识别相应光耦合器的输出变化，系统停止，并且采取诸如引起蜂鸣器和显示报警的动作。
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公开(公告)号：US06992458B2
公开(公告)日：2006-01-31
申请号：US10999948
申请日：2004-12-01
IPC分类号： G05B9/02
CPC分类号： H01H47/004
摘要： Two emergency stop lines are provided. Due to contacts being opened by commands from emergency stop factors and from first and second CPUs, conducting to first and second contactors are stopped. Contacts of the contactors are opened, and power supply to the motor is interrupted, whereby an emergency stop is performed. Further, the first CPU on the first line transmits an abnormality signal to the second CPU when the states of the contacts on the self emergency stop line, detected by digital inputs, are abnormal, and the second CPU opens a contact on the self emergency stop line so as to cause the contactor to be non-excited to thereby stop power supply to the motor.
摘要翻译： 提供两条紧急停车线。 由于由紧急停止因素的指令和第一和第二CPU打开的触点，导致第一和第二接触器停止。 接触器的触点打开，电机的电源中断，从而进行紧急停机。 此外，当由数字输入检测到的自紧急停止线上的触点的状态异常时，第一线上的第一CPU将发送异常信号发送到第二CPU，并且第二CPU在自紧急停止处打开接点 以使接触器不激励，从而停止对电动机的供电。
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公开(公告)号：US5783922A
公开(公告)日：1998-07-21
申请号：US817717
申请日：1997-04-24
CPC分类号： B25J13/02 , B25J19/0004 , G05B19/423 , G05B2219/36399 , G05B2219/36423 , G05B2219/36428 , G05B2219/39447
摘要： A robot controller capable of performing the lead-through-teaching easily and safely. When an operator depresses a lead-through-teach enabling switch (12) provided at a main body of a control apparatus, power supply to a servo control unit (17) is stopped and mechanical brakes (18) are set effective. When a deadman switch (4) is depressed by the operator holding a teaching handle (3), an electromagnetic relay RL1 is energized and a normally-open contact (14) is closed. Consequently, the mechanical brakes (18) are rendered ineffective and an electromagnetic relay RL2 is energized to close a normally-open contact (15), whereby electric power is supplied to the servo control unit (17). Further, a signal for setting a torque command to zero is inputted to the servo control unit. Thus, the operator can move the robot in a desired direction. When the operator stops depressing the deadman switch (4), the mechanical brake is immediately set effective to lock the robot at its current position.
摘要翻译： PCT No.PCT / JP96 / 02379 Sec。 371日期1997年04月24日 102（e）1997年4月24日PCT PCT 1996年8月26日PCT公布。 公开号WO97 / 07941 日期1997年3月6日一个能够轻松安全地执行导通教学的机器人控制器。 当操作者按下设置在控制装置的主体上的导通示教使能开关（12）时，停止对伺服控制单元（17）的供电，并使机械制动器（18）有效。 当操作者握着教具（3）压下死人开关（4）时，电磁继电器RL1通电，并且常开触点（14）闭合。 因此，机械制动器（18）变得无效，并且电磁继电器RL2被通电以闭合常开触点（15），由此向伺服控制单元（17）供电。 此外，将用于将转矩指令设定为零的信号输入到伺服控制单元。 因此，操作者可以在期望的方向上移动机器人。 当操作员停止按下死板开关（4）时，立即将机械制动器设置为有效地将机器人锁定在其当前位置。
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