公开(公告)号：US20160279794A1

公开(公告)日：2016-09-29

申请号：US15068642

申请日：2016-03-14

申请人： FANUC CORPORATION

发明人： Shougo INAGAKI ,  Soichi ARITA ,  Hiromitsu TAKAHASHI

IPC分类号： B25J9/16

CPC分类号： B25J9/1674 ,  G05B2219/37526 ,  G05B2219/37538 ,  G05B2219/39413 ,  Y10S901/46 ,  Y10S901/49

摘要： A robot controller includes a first time-series data obtaining part for obtaining first data used for fault diagnosis in time series and store the first data as first time-series data, a second time-series data obtaining part for obtaining second data used for extraction of the first data which is used for the fault diagnosis in time series and store the second data as second time-series data, a time specification part for specifying extraction time of the first data used for the fault diagnosis based on the second time-series data, a data extraction part for extracting the first data corresponding to the extraction time, and a diagnosis performing part for performing the fault diagnosis of the robot based on the first data extracted by the data extraction part.

摘要翻译： 机器人控制器包括第一时间序列数据获取部，用于以时间序列获取用于故障诊断的第一数据，并将第一数据作为第一时间序列数据存储，第二时间序列数据获取部，用于获取用于提取的第二数据 用于按时间序列进行故障诊断的第一数据，并将第二数据存储为第二时间序列数据;时间指定部，用于基于第二时间序列指定用于故障诊断的第一数据的提取时间 数据，用于提取对应于提取时间的第一数据的数据提取部分，以及用于基于由数据提取部分提取的第一数据执行机器人的故障诊断的诊断执行部分。

公开(公告)号：US06333614B1

公开(公告)日：2001-12-25

申请号：US09529712

申请日：2000-07-24

申请人： Norbert Kerner

发明人： Norbert Kerner

IPC分类号： G05B1928

CPC分类号： G05B9/03 ,  G05B19/4062 ,  G05B2219/34484 ,  G05B2219/34486 ,  G05B2219/37538 ,  G05B2219/42295 ,  G05B2219/42318 ,  H02H3/05 ,  H02H7/093

摘要： A circuit arrangement for monitoring the operational state of an electric motor that includes an angle encoder mechanically connected with an electric motor. A first processor electrically connected to the angle encoder, wherein the first processor includes a first comparator that receives an output signal from the angle encoder. A second processor electrically connected to the angle encoder, wherein the second processor includes a second comparator that receives the output signal from the angle encoder. A shutoff component connected to the first and second processors to receive output signals from the first comparator and the second comparator, wherein the shutoff component shuts off the electric motor should an error be detected in either one of the output signals of the first and second comparators during a testing interval.

摘要翻译： 一种用于监测电动机的操作状态的电路装置，其包括与电动机机械连接的角度编码器。 电连接到角度编码器的第一处理器，其中第一处理器包括接收来自角度编码器的输出信号的第一比较器。 电连接到角度编码器的第二处理器，其中第二处理器包括从角度编码器接收输出信号的第二比较器。 连接到第一和第二处理器以接收来自第一比较器和第二比较器的输出信号的关断部件，其中，如果在第一和第二比较器的输出信号中的任何一个中检测到错误，则关闭组件切断电动机 在测试期间。

公开(公告)号：US06295478B1

公开(公告)日：2001-09-25

申请号：US09143239

申请日：1998-08-28

申请人： Masayoshi Inada

发明人： Masayoshi Inada

IPC分类号： G06F1900

CPC分类号： G05B23/024 ,  G05B19/41875 ,  G05B2219/32181 ,  G05B2219/32191 ,  G05B2219/32207 ,  G05B2219/37538 ,  G05B2219/45031 ,  Y02P90/14 ,  Y02P90/22

摘要： A process change control apparatus that performs a control function based on information from a manufacturing process is provided in a manufacturing process control system. The change control apparatus includes a recorder which records a change item for which a manufacturing process change control is to be performed, information required for a making judgment, a judgment method, an for extracting date from a manufacturing process and recording required information before and after a change point for each change item recorded in the, a statistical comparison judging device which performs a statistical comparison judgment of the information extracted by the information extractor before and after the change point for each change item, and an output device which outputs the result of the comparison judging device.

摘要翻译： 在制造过程控制系统中提供了一种基于来自制造过程的信息执行控制功能的过程变化控制装置。 变更控制装置包括记录要进行制造过程变更控制的变更项目的记录器，制造判定所需的信息，判断方法，制造过程中的抽出日期以及记录前后的所需信息 统计比较判断装置对每个改变项目的改变点之前和之后由信息提取器提取的信息进行统计比较判断的每个变化项目的变化点和输出结果的输出装置 比较判断装置。

公开(公告)号：US07020535B1

公开(公告)日：2006-03-28

申请号：US10702877

申请日：2003-11-06

申请人： Christopher A. Bode ,  J. Broc Stirton ,  Robert J. Chong

发明人： Christopher A. Bode ,  J. Broc Stirton ,  Robert J. Chong

IPC分类号： G06F19/00

CPC分类号： G05B19/41875 ,  G05B2219/32097 ,  G05B2219/37538 ,  G05B2219/45031 ,  Y02P90/22 ,  Y02P90/265

摘要： A method includes defining a design window for a manufacturing process performed by a tool and a process window within the design window. A workpiece likely to have a characteristic outside the process window is identified. The characteristic of the identified workpiece is measured. A control model for controlling the tool is updated using the measured characteristic. A system includes a tool, a process controller, a metrology tool, and a sampling controller. The tool is adapted to process workpieces in accordance with a manufacturing process. The manufacturing process has an associated design window and a process window defined within the design window. The process controller is adapted to control the tool using a control model. The sampling controller is adapted to identify a workpiece likely to have a characteristic outside the process window and direct the metrology tool to measure the characteristic of the identified workpiece. The process controller is further adapted to update the control model using the measured characteristic.

摘要翻译： 一种方法包括定义由设计窗口内的工具和处理窗口执行的制造过程的设计窗口。 识别出可能具有处理窗口外的特征的工件。 测量所识别的工件的特性。 使用测量特性更新用于控制刀具的控制模型。 系统包括工具，过程控制器，计量工具和采样控制器。 该工具适于根据制造过程处理工件。 制造过程具有关联的设计窗口和在设计窗口内定义的过程窗口。 过程控制器适用于使用控制模型来控制工具。 采样控制器适于识别可能具有处理窗口外的特征的工件，并引导计量工具测量所识别的工件的特性。 过程控制器还适于使用所测量的特征来更新控制模型。

公开(公告)号：US5071106A

公开(公告)日：1991-12-10

申请号：US581717

申请日：1990-09-13

申请人： Rolf Helkenberg

发明人： Rolf Helkenberg

IPC分类号： B23K7/00 ,  B23K37/00 ,  G05B19/07

CPC分类号： G05B19/07 ,  G05B2219/25372 ,  G05B2219/34388 ,  G05B2219/37535 ,  G05B2219/37538

摘要： Apparatus for the opto-electronic control of a flame cutting machine having photoelectric sensors of different spectral sensitivity. The sensors may be positioned within a cutting torch and directed during operation on a flame and a workpiece to be cut. The sensors are connected at their outputs with computing means to generate control signals for the advancing movement of the cutting torch relative to the workpiece. In order to reduce the impact of disturbing variables on the control signals, an electronic means for generating the quotient of the sensor output signals is connected with the outputs of at least two of said sensors. The quotient of the output magnitude of the sensors is used to control the flame cutting machine.

摘要翻译： 具有不同光谱灵敏度的光电传感器的火焰切割机的光电控制装置。 传感器可以定位在割炬内并且在操作期间被引导到火焰和待切割的工件上。 传感器在其输出处与计算装置连接，以产生用于切割炬相对于工件的前进运动的控制信号。 为了减少干扰变量对控制信号的影响，用于产生传感器输出信号的商的电子装置与至少两个所述传感器的输出连接。 传感器的输出量级商用于控制火焰切割机。

公开(公告)号：US5920951A

公开(公告)日：1999-07-13

申请号：US832309

申请日：1997-04-03

申请人： David P. Piccirillo ,  Thomas E. Moskal ,  John T. Huston ,  Ryan M. Tooill

发明人： David P. Piccirillo ,  Thomas E. Moskal ,  John T. Huston ,  Ryan M. Tooill

IPC分类号： F23J3/00 ,  F28G1/16 ,  F28G15/00 ,  B08B3/02

CPC分类号： F28G1/16 ,  F23J3/00 ,  F28G15/00 ,  G05B2219/37538 ,  G05B2219/37625 ,  G05B2219/37632

摘要： A PLC based parameter sensing sootblower having a retractable lance tube that is extended and retracted by a drive motor. A PLC sensing circuit is used to sense when the lance tube is fully extended and/or fully retracted. The PLC sensing circuit can be configured to sense drive motor current, power, torque or other drive motor characteristics to determine when the lance tube has come to a hard stop upon extension. The PLC sensing circuit then calculates an approximate time window in which the lance should be fully retracted. The parameter sensor is configured to sense the drive motor current, power, torque or other characteristic only during the time window to determine when the lance tube is fully retracted while ignoring any motor load variations outside of the designated time window.

摘要翻译： 一种基于PLC的参数感测吹灰器，其具有由驱动马达延伸和缩回的可伸缩喷枪管。 PLC检测电路用于检测喷枪管何时完全伸出和/或完全缩回。 PLC检测电路可以配置为检测驱动电机电流，功率，转矩或其他驱动电机特性，以确定喷枪管何时在延伸时已经硬停止。 然后，PLC感应电路计算一个近似时间窗口，其中喷枪应完全缩回。 参数传感器被配置为仅在时间窗口期间感测驱动电机电流，功率，扭矩或其他特性，以确定喷枪管何时完全缩回，同时忽略指定时间窗外的任何电机负载变化。

公开(公告)号：US4714400A

公开(公告)日：1987-12-22

申请号：US851509

申请日：1986-04-14

申请人： Joseph A. Barnett ,  Joseph M. Gomez ,  William F. Green ,  Vincent M. Lisica ,  Arnold B. Rosenthal

发明人： Joseph A. Barnett ,  Joseph M. Gomez ,  William F. Green ,  Vincent M. Lisica ,  Arnold B. Rosenthal

IPC分类号： B25J5/00 ,  G05B19/18 ,  G05B19/23 ,  B25J9/02

CPC分类号： G05B19/232 ,  G05B2219/37296 ,  G05B2219/37538 ,  G05B2219/41021 ,  G05B2219/41195 ,  G05B2219/41337 ,  G05B2219/50228

摘要： A robotic system includes two joints moving a common load-bearing member along a path for positioning a load. Each joint includes a linear electric motor and a feedback loop, the latter driving the motor accurately in response to a commanded position signal, and a true position signal provided by sensor apparatus disposed alongside a track of each linear motor. Cross-coupling circuitry connects with the sensor apparatus of each joint to produce signals representing differences in positional error and in speed of the joints. The signals are injected into the feedback loops of the joints to effect a shift of power between the joints to synchronize their travel. Window comparator circuitry is employed for introduction of variable gains to the feedback loops for values of positional error and velocity which are greater than reference values in a window. Simultaneous injection of phase lead angle to the electric motors is employed for transition to a high speed mode while retaining synchronized operation of the motors.

摘要翻译： 机器人系统包括两个接头，沿着用于定位负载的路径移动公共承载构件。 每个接头包括线性电动机和反馈回路，后者响应于指令位置信号精确地驱动电动机，以及由每个线性电动机的轨道旁边设置的传感器装置提供的真实位置信号。 交叉耦合电路与每个接头的传感器装置连接，以产生表示接头位置误差和速度差异的信号。 信号被注入到接头的反馈环中，以实现接头之间的功率偏移以使其行进同步。 窗口比较器电路用于将反馈回路的可变增益引入到位于窗口中大于参考值的位置误差和速度值。 同时向电动机注入相角，用于过渡到高速模式，同时保持电动机的同步运行。