公开(公告)号：US09533416B2

公开(公告)日：2017-01-03

申请号：US14678672

申请日：2015-04-03

Applicant: STAUBLI FAVERGES

Inventor： Louis Garde

IPC: B25J19/00 ,  B25J9/16 ,  H02P3/16

CPC classification number: B25J9/1651 ,  B25J9/1674 ,  B25J19/0004 ,  G05B2219/40218 ,  G05B2219/41285 ,  G05B2219/42284 ,  H02P3/16 ,  Y10S901/20

Abstract: The invention relates to a method for commanding the brakes (F1, F2, F3) of the motors (M1, M2, M3) of a multi-axis robot (R1), comprising: a robot arm (B) comprising at least two degrees of freedom each associated with an electric motor (M1, M2, M3), a sensor (C1, C2, C3) for measuring movement information, and a brake (F1, F2, F3), an interfacing unit (4) of the brakes (F1-F3) able to control the supply of electricity to the brakes (F1-F3), a central processing unit (2), variable drives (V1, V2, V3) having a torque off function of the motors (M1-M3), a security system (4, 5), the method comprising the following successive steps: 6a) selecting a motor (M1-M3), 6b) activating an electric braking function using the selected motor (M1-M3), 6c) opening the brake (F1-F3), 6d) comparing the movement information delivered by the sensor (C1-C3) to a threshold, 6e) closing the brake (F1-F3) when the movement information exceeds the threshold.

Abstract translation: 本发明涉及一种用于指令多轴机器人（R1）的电机（M1，M2，M3）的制动器（F1，F2，F3）的方法，包括：机器人手臂（B），其包括至少两度 （M1，M2，M3），用于测量运动信息的传感器（C1，C2，C3）和制动器（F1，F2，F3），制动器的接口单元（4） （F1-F3），具有马达（M1-M3）的转矩关闭功能的可变驱动（V1，V2，V3）的中央处理单元（F1） ），安全系统（4,5），所述方法包括以下连续步骤：6a）选择使用所选择的电动机（M1-M3）激活电制动功能的电动机（M1-M3），6b）开启 6）将传感器（C1-C3）传递的移动信息与阈值进行比较，6e）当移动信息超过阈值时，6e）闭合制动器（F1-F3）。

公开(公告)号：US07852030B2

公开(公告)日：2010-12-14

申请号：US12155815

申请日：2008-06-10

Applicant: Koji Kamiya

Inventor： Koji Kamiya

IPC: G05B19/19 ,  G05B19/406 ,  G05B9/00

CPC classification number: B25J9/1674 ,  B25J19/0004 ,  G05B2219/40218 ,  G05B2219/41285

Abstract: In a controller, a first switch unit establishes electrical connection between a power-off brake and a power source when a servomotor is energized. The electrical connection causes the power-off brake to be released. A second switch unit is provided between the power-off brake and the power source. The second switch unit establishes electrical connection between the power-off brake and the power source upon being manually operated during the servomotor being deenergized. A calculating unit calculates a driving speed of the joint by the servomotor. A determining unit determines whether the calculated driving speed of the joint is greater than a predetermined threshold speed. An interrupting unit interrupts a supply of electrical power from the power source to the power-off brake through the electrical connection established by the second switch unit when it is determined that the calculated driving speed of the joint is greater than the predetermined threshold speed.

Abstract translation: 在控制器中，当伺服电动机通电时，第一开关单元在断电制动器和电源之间建立电连接。 电气连接导致断电制动器被释放。 在断电制动器和电源之间设置有第二开关单元。 第二开关单元在伺服电动机被断电期间手动操作时建立断电制动器和电源之间的电连接。 计算单元计算伺服电动机的接头的行驶速度。 确定单元确定所计算的关节的行驶速度是否大于预定阈值速度。 当确定所计算的关节的驱动速度大于预定阈值速度时，中断单元通过由第二开关单元建立的电连接中断从电源向断电制动器的电力供应。

公开(公告)号：US5449990A

公开(公告)日：1995-09-12

申请号：US052882

申请日：1993-04-26

Applicant: Joseph M. Bowling ,  Michael D. Strong

Inventor： Joseph M. Bowling ,  Michael D. Strong

IPC: H02P3/24 ,  G05B19/416 ,  B66B13/14

CPC classification number: G05B19/416 ,  G05B2219/34217 ,  G05B2219/41101 ,  G05B2219/41285 ,  G05B2219/41293 ,  G05B2219/41319 ,  G05B2219/43177

Abstract: A single cycle positioning system utilizing a three phase wye connected induction motor (10) includes a three phase inverter (28) and a microprocessor (20) for controlling the inverter to generate three phases of power. Pulse width modulation techniques are utilized and in response to a start signal the frequency of the power to the motor is increased up to a running frequency, and in response to a stop signal the frequency of the power applied to the motor is decreased along with a corresponding reduction of the voltage applied to the motor.

Abstract translation: 利用三相二极管连接的感应电动机（10）的单周期定位系统包括用于控制逆变器产生三相功率的三相逆变器（28）和微处理器（20）。 利用脉冲宽度调制技术，并且响应于启动信号，电动机的功率的频率增加到运行频率，并且响应于停止信号，施加到电动机的功率的频率随着 相应地降低施加到电动机的电压。

公开(公告)号：US4130787A

公开(公告)日：1978-12-19

申请号：US776307

申请日：1977-03-10

Applicant: William P. Allaire ,  William J. Mayer ,  Thomas A. Zambetis

Inventor： William P. Allaire ,  William J. Mayer ,  Thomas A. Zambetis

IPC: G05B19/25 ,  G05B23/02

CPC classification number: G05B19/25 ,  G05B2219/33229 ,  G05B2219/34242 ,  G05B2219/41285 ,  G05B2219/41363 ,  G05B2219/42307

Abstract: A system for monitoring a machine tool under automatic control is provided which uses the actual path of the tool in all directions of motion for comparison with a mathematically ideal path to detect tool error. Machine tool position is obtained from independent feedback devices on each axis of tool movement. The system monitors the machine control commands independently of a machine control command generating means, the machine control command generating means commonly bring a computer of a conventional type. Thus, a monitoring loop is placed about the entire machine tool, that loop being capable of detecting malfunction or mispositioning of the tool, as that tool operates under automatic control. An independent dynamic braking means enables the system of this invention to bring the machine to a stop without part scrappage in the event of a machine shut down, occurring for example, because of a power system failue, or mispositioning error detection.

Abstract translation: 提供了一种用于在自动控制下监视机床的系统，其使用工具在所有运动方向上的实际路径与用于检测工具误差的数学理想路径进行比较。 机床位置由刀具运动各轴上的独立反馈装置获得。 该系统独立于机器控制命令生成装置监视机器控制命令，机器控制命令生成装置通常带有常规类型的计算机。 因此，围绕整个机床设置监控回路，该回路能够检测到工具的故障或错位，因为该工具在自动控制下运行。 独立的动态制动装置使本发明的系统能够在机器停机的情况下使机器停止，例如由于电力系统故障或误位错误检测而发生。

公开(公告)号：US20170093309A1

公开(公告)日：2017-03-30

申请号：US15248569

申请日：2016-08-26

Applicant: DENSO WAVE INCORPORATED

Inventor： Hideyuki NISHINO

IPC: H02P3/22 ,  B25J19/00 ,  B25J9/16 ,  H02P27/06 ,  B25J9/12

CPC classification number: H02P3/22 ,  B25J9/12 ,  B25J9/126 ,  B25J9/1674 ,  B25J19/0004 ,  B25J19/06 ,  G05B2219/41285 ,  H02P27/06 ,  H02P29/024

Abstract: A robot system includes a motor, an inverter, a first control portion, and a second control portion. The motor includes stator windings for three phases. The inverter includes series-connection bodies of a high-side switch and a low-side switch for three phases. A connection point of the high-side switch and the low-side switch for each of the phases is connected with the corresponding stator winding. One of the high-side switch and the low-side switch for each of the phases works as a brake switch. The first control portion and the second control portion performs a driving control of the brake switches. Each of the first control portion and the second control portion has a function of monitoring the robot system, and turns on the brake switches for at least two phases when detecting that an abnormality occurs in the robot system.

公开(公告)号：US20150290806A1

公开(公告)日：2015-10-15

申请号：US14678672

申请日：2015-04-03

Applicant: STAUBLI FAVERGES

Inventor： Louis GARDE

IPC: B25J9/16 ,  B25J19/00

CPC classification number: B25J9/1651 ,  B25J9/1674 ,  B25J19/0004 ,  G05B2219/40218 ,  G05B2219/41285 ,  G05B2219/42284 ,  H02P3/16 ,  Y10S901/20

Abstract: The invention relates to a method for commanding the brakes (F1, F2, F3) of the motors (M1, M2, M3) of a multi-axis robot (R1), comprising: a robot arm (B) comprising at least two degrees of freedom each associated with an electric motor (M1, M2, M3), a sensor (C1, C2, C3) for measuring movement information, and a brake (F1, F2, F3), an interfacing unit (4) of the brakes (F1-F3) able to control the supply of electricity to the brakes (F1-F3), a central processing unit (2), variable drives (V1, V2, V3) having a torque off function of the motors (M1-M3), a security system (4, 5), the method comprising the following successive steps: 6a) selecting a motor (M1-M3), 6b) activating an electric braking function using the selected motor (M1-M3), 6c) opening the brake (F1-F3), 6d) comparing the movement information delivered by the sensor (C1-C3) to a threshold, 6e) closing the brake (F1-F3) when the movement information exceeds the threshold.

Abstract translation: 本发明涉及一种用于指令多轴机器人（R1）的电机（M1，M2，M3）的制动器（F1，F2，F3）的方法，包括：机器人手臂（B），其包括至少两度 （M1，M2，M3），用于测量运动信息的传感器（C1，C2，C3）和制动器（F1，F2，F3），制动器的接口单元（4） （F1-F3），具有马达（M1-M3）的转矩关闭功能的可变驱动（V1，V2，V3）的中央处理单元（F1） ），安全系统（4,5），所述方法包括以下连续步骤：6a）选择使用所选择的电动机（M1-M3）激活电制动功能的电动机（M1-M3），6b）开启 6）将传感器（C1-C3）传递的移动信息与阈值进行比较，6e）当移动信息超过阈值时，6e）闭合制动器（F1-F3）。

公开(公告)号：US20150032263A1

公开(公告)日：2015-01-29

申请号：US14339093

申请日：2014-07-23

Applicant: KUKA Laboratories GmbH

Inventor： Hartmut Keyl ,  Michael Thummel ,  Dietmar Tscharnuter ,  Tobias Weiser

IPC: B25J19/00

CPC classification number: B25J19/0004 ,  B25J9/1674 ,  G05B2219/41279 ,  G05B2219/41285 ,  G05B2219/42284

Abstract: A method for decelerating a robot axis arrangement having at least one output link includes steps of applying a braking force on the output link with a brake and, in so doing, controlling a driving force of a drive that acts on the output link, and/or controlling the braking force on the basis of a dynamic variable of the output link, wherein the dynamic variable is a function of the braking force.

Abstract translation: 一种用于使具有至少一个输出连杆的机器人轴装置减速的方法包括以下步骤：利用制动器在输出连杆上施加制动力，并且这样做控制作用在输出连杆上的驱动器的驱动力和/ 或者基于输出连杆的动态变量控制制动力，其中动态变量是制动力的函数。

公开(公告)号：US20080309273A1

公开(公告)日：2008-12-18

申请号：US12155815

申请日：2008-06-10

Applicant: Koji Kamiya

Inventor： Koji Kamiya

IPC: G05B9/02

CPC classification number: B25J9/1674 ,  B25J19/0004 ,  G05B2219/40218 ,  G05B2219/41285

Abstract: In a controller, a first switch unit establishes electrical connection between a power-off brake and a power source when a servomotor is energized. The electrical connection causes the power-off brake to be released. A second switch unit is provided between the power-off brake and the power source. The second switch unit establishes electrical connection between the power-off brake and the power source upon being manually operated during the servomotor being deenergized. A calculating unit calculates a driving speed of the joint by the servomotor. A determining unit determines whether the calculated driving speed of the joint is greater than a predetermined threshold speed. An interrupting unit interrupts a supply of electrical power from the power source to the power-off brake through the electrical connection established by the second switch unit when it is determined that the calculated driving speed of the joint is greater than the predetermined threshold speed.

Abstract translation: 在控制器中，当伺服电动机通电时，第一开关单元在断电制动器和电源之间建立电连接。 电气连接导致断电制动器被释放。 在断电制动器和电源之间设置有第二开关单元。 第二开关单元在伺服电动机被断电期间手动操作时建立断电制动器和电源之间的电连接。 计算单元计算伺服电动机的接头的行驶速度。 确定单元确定所计算的关节的行驶速度是否大于预定阈值速度。 当确定所计算的关节的驱动速度大于预定阈值速度时，中断单元通过由第二开关单元建立的电连接中断从电源向断电制动器的电力供应。

公开(公告)号：US20030015984A1

公开(公告)日：2003-01-23

申请号：US10194088

申请日：2002-07-12

Inventor： Michael Scheidegger ,  Jean-Marc Chenuz

IPC: G05B011/01

CPC classification number: G05B19/27 ,  G05B19/21 ,  G05B2219/37175 ,  G05B2219/41285 ,  G05B2219/41329 ,  G05B2219/42214 ,  G05B2219/42215 ,  Y02P90/265

Abstract: The invention concerns a control system for a d.c. motor (10), powered by an actuating system (14) comprising: a position detector (30, 32) co-operating with the motor's rotor; a power supply circuit (34) to apply to the terminals of the motor coils a supply voltage to generate the electric current, and a control circuit (36). This system is designed to actuate the motor to move a moving part (24), with a view to reaching a target position Pc defined by a number of steps dc to be executed. During a so-called positioning phase, the control circuit (36), after observing that target position Pc has been reached, interrupts the current powering the coils and applies to them a braking pulse (If) of reverse polarity, then short-circuits them until stoppage observed by the detector (30, 32).

Abstract translation: 本发明涉及一种用于直流的控制系统。 电动机（10），由致动系统（14）驱动，包括：位置检测器（30,32），与电动机的转子协作; 电源电路（34），用于向电动机线圈的端子施加用于产生电流的电源电压;以及控制电路（36）。 该系统被设计成致动电动机以移动移动部件（24），以便达到由要执行的数量级DC定义的目标位置Pc。 在所谓的定位阶段期间，在观察到目标位置Pc已经到达之后，控制电路（36）中断向线圈供电的电流并向它们施加相反极性的制动脉冲（If），然后将它们短路 直到检测器（30,32）观察到停止。

公开(公告)号：US06310452B1

公开(公告)日：2001-10-30

申请号：US09591643

申请日：2000-06-09

Applicant: Gary Lee Deck ,  Douglas Sebastian Pfautz ,  Michael David Strong

Inventor： Gary Lee Deck ,  Douglas Sebastian Pfautz ,  Michael David Strong

IPC: H02P300

CPC classification number: G05B19/231 ,  G05B2219/37094 ,  G05B2219/41285 ,  G05B2219/41329 ,  G05B2219/43177

Abstract: A single cycle positioning system utilizing a DC motor wherein a wide ranging incoming AC supply voltage is rectified and a fixed frequency variable duty cycle pulse width modulation is provided to apply a predetermined rms DC voltage to the motor for a single cycle of operation.

Abstract translation: 利用直流电动机的单周期定位系统，其中提供宽范围的输入AC电源电压并提供固定频率可变占空比脉冲宽度调制，以将单个周期的预定均方根直流电压施加到电动机。