公开(公告)号：US06246923B1

公开(公告)日：2001-06-12

申请号：US09150980

申请日：1998-09-11

申请人： Shunsuke Sugimura ,  Matsuo Nose

发明人： Shunsuke Sugimura ,  Matsuo Nose

IPC分类号： G60F700

CPC分类号： G05B19/4189 ,  G05B19/416 ,  G05B2219/34387 ,  G05B2219/37225 ,  G05B2219/43006 ,  G05B2219/43162 ,  G05B2219/50391 ,  Y02P90/265 ,  Y02P90/28

摘要： A control device for a work carrying system characterized in that a first point where the moving action of a work transitions from a moving action from an origin process chamber to a transfer chamber to a moving action inside the transfer chamber and a second point where the moving action of the work transitions from the moving action inside the transfer chamber to a moving action from the transfer chamber to a destination process chamber are set on a moving path of the work, and that speed patterns on the moving path are set based on a transfer distance of the work and time required to open and close gate means of the origin and destination process chambers such that the opening of a gate valve at the destination is completed when the work reaches the second point on the moving path and that a transfer time from the first point to the second point becomes the shortest time which is longer than the opening and closing time of the gate valve, the speed of a work carrying robot being controlled in accordance with the set speed patterns, whereby any chance of the robot being temporarily stopped is minimized so as to effect high-speed carrying of a work such as a wafer requiring a shortest possible carrying time.

摘要翻译： 一种用于工作承载系统的控制装置，其特征在于，工件的移动动作从原始处理室到传送室的移动动作转移到传送室内的移动动作的第一点和移动 在工作的移动路径上设置从传送室内的移动动作到从传送室到目的地处理室的移动动作的工作过程的动作，并且基于传送设定移动路径上的速度模式 打开和关闭原点处理室和目的地处理室的门装置所需的工作和时间的距离，使得当工件到达移动路径上的第二点时，目的地的闸阀的打开完成，并且传送时间 第二点的第一点变成比闸阀的打开和关闭时间长的最短时间，作业运送机器人的速度为 根据设定的速度图案进行拖动，由此机器人暂时停止的任何机会都被最小化，以便实现诸如晶片等工件的高速承载，从而需要最短的运送时间。

公开(公告)号：US5935178A

公开(公告)日：1999-08-10

申请号：US930465

申请日：1997-12-03

申请人： Gerhard Streichert

发明人： Gerhard Streichert

IPC分类号： G05B19/416 ,  G05D1/00

CPC分类号： G05B19/416 ,  G05B2219/34387 ,  G05B2219/34388 ,  G05B2219/34391

摘要： The invention serves to take account of the reaction time of an item of equipment to be driven which, when a travel reference value, serving as a way-mark, is reached on a travel of an item of equipment in an industrial plant, is intended to be activated or deactivated, the travel being able to be covered at different speeds. The invention has the following elements: a position transmitter to register the actual value of the travel, means for storing the reaction time of the item of equipment to be driven, means for storing a first actual value of the travel ("starting actual value"), means for storing a second actual value of the travel after a time period corresponding to the reaction time of the item of equipment to be driven has elapsed ("final actual value"), means for determining a current magnitude of a lead travel by subtracting the first stored actual value from the second, and means for reducing the travel reference value ("corrected travel reference value") or increasing the actual value of the travel ("dynamized actual value") by the current magnitude of the lead travel.

摘要翻译： PCT No.PCT / DE96 / 00494 Sec。 371日期1997年12月3日第 102（e）日期1997年12月3日PCT 1996年3月22日PCT公布。 第WO96 / 30814号公报 日期1996年10月3日本发明用于考虑被驱动的物品的反应时间，当作为路标的旅行参考值在一件设备的行进中达到时 工业厂房旨在被激活或停用，行驶能够以不同的速度被覆盖。 本发明具有以下要素：用于记录行驶的实际值的位置传感器，存储要被驱动的设备的反应时间的装置，用于存储行驶的第一实际值的装置（“起始实际值” ），用于在经过与待驱动设备的项目的反应时间相对应的时间段之后存储行程的第二实际值的装置（“最终实际值”），用于通过以下方式确定前导行程的当前幅度的装置 从第二存储器中减去第一存储的实际值，以及用于减少行驶参考值（“修正行程参考值”）或增加行程实际值（“动态实际值”）乘以当前引导行程的大小的装置。

公开(公告)号：US5292066A

公开(公告)日：1994-03-08

申请号：US945976

申请日：1992-11-04

申请人： Nobutoshi Torii ,  Tatsuo Karakama ,  Hitoshi Mizuno

发明人： Nobutoshi Torii ,  Tatsuo Karakama ,  Hitoshi Mizuno

IPC分类号： F16J15/02 ,  B05B12/12 ,  B05C11/10 ,  G05B19/42 ,  B05B17/04

CPC分类号： G05B19/42 ,  B05B12/126 ,  B05C11/1013 ,  B05C11/1023 ,  G05B2219/25405 ,  G05B2219/34387 ,  G05B2219/45065 ,  G05B2219/49056

摘要： A sealing gun (31) of a sealant application unit, which controls the flow of the sealant in accordance with the value of an input signal, is attached to the end of a robot arm. The value of a signal applied to the sealant application unit (30) is controlled in association with acceleration/deceleration control of the moving speed of the sealing gun. The moving speed (TSA) of the sealing gun and the flow (SC) of the sealant discharged from the sealing gun are in direct proportion; therefore, the bead width becomes uniform independently of the moving speed (TSA) of the sealing gun.

摘要翻译： 根据输入信号的值控制密封剂的流动的密封剂施加单元的密封枪（31）附接到机器人手臂的端部。 关于密封剂施加单元（30）的信号的值与密封枪的移动速度的加速/减速控制相关联地进行控制。 密封枪的移动速度（TSA）和从密封枪排出的密封剂的流量（SC）是直接比例的; 因此，独立于密封枪的移动速度（TSA），胎圈宽度变得均匀。

公开(公告)号：US4651073A

公开(公告)日：1987-03-17

申请号：US774396

申请日：1985-09-10

申请人： Wataru Shimizu ,  Yasuhiro Yuasa

发明人： Wataru Shimizu ,  Yasuhiro Yuasa

IPC分类号： H02P3/04 ,  G05B19/35 ,  G05B19/416 ,  G05D3/00 ,  G05D23/275

CPC分类号： G05B19/358 ,  G05B19/416 ,  G05B2219/34387 ,  G05B2219/37313 ,  G05B2219/37486 ,  G05B2219/41105 ,  G05B2219/41279 ,  G05B2219/41288 ,  G05B2219/43019 ,  G05B2219/43115 ,  G05B2219/50187

摘要： A rotational position, velocity and acceleration of an electrical motor are detected and an amount of overrun produced when the motor has stopped is estimated from the detected velocity and acceleration, and at least one of motor position detection data and a positioning target value is changed in accordance with the estimated amount of overrun. The position detection data and the positioning target value after the change are compared with each other and a command for stopping the motor is generated in accordance with a result of this comparison. A brake is applied to the motor in advance by the amount of the estimated overrun so that the motor is stopped at a desired target position after making overrun. Further, velocity setting signals are generated in accordance with desired acceleration and deceleration characteristics and the velocity control of the motor is effected in an open loop in response to the velocity setting signals. By the stop and velocity controls of an open loop system, positioning control of the motor of the open loop system can be accurately performed.

摘要翻译： 检测电动机的旋转位置，速度和加速度，并且根据检测到的速度和加速度来估计电动机停止时产生的超限量，并且电动机位置检测数据和定位目标值中的至少一个被改变 按照估计的超限量。 将位置检测数据和变更后的定位目标值进行比较，根据该比较的结果生成停止电动机的指令。 预先向电动机施加制动以推定超限量，使得在超速运行之后电动机停止在期望的目标位置。 此外，根据期望的加速和减速特性产生速度设定信号，并且马达的速度控制响应于速度设定信号在开环中进行。 通过开环系统的停止和速度控制，可以准确地执行开环系统的电动机的定位控制。