公开(公告)号：US20090187277A1

公开(公告)日：2009-07-23

申请号：US12301203

申请日：2007-03-27

申请人： Ian Bird-Radolovic ,  Peter J. Eriksson

发明人： Ian Bird-Radolovic ,  Peter J. Eriksson

IPC分类号： B25J9/16

CPC分类号： G05B19/406 ,  B25J9/1674 ,  G05B2219/41293 ,  G05B2219/42284

摘要： A control system for controlling an industrial robot and a method thereof. A control unit generates a control signal for controlling the motor. At least one drive unit controls the motor. The drive unit includes a switching unit adapted to convert DC current to alternating current to the motor in dependence on the control signal. A safety unit generates a stop signal for stopping the robot upon occurrence of a safety event. The drive unit disables the switching unit upon receiving the stop signal. The safety unit generates the stop signal with a time delay with respect to the safety event. The control unit generates the control signal in such a way that the motor is electrically braked during the time delay. The control system transfers the stop signal to the brake, which mechanically brakes the motor upon receiving the stop signal, and delays the stop signal to the drive unit so that the brake receives the stop signal before the drive unit to ensure that the mechanical brake is applied before the switching unit is disabled.

摘要翻译： 一种用于控制工业机器人的控制系统及其方法。 控制单元生成用于控制电动机的控制信号。 至少有一个驱动单元控制电机。 驱动单元包括适于根据控制信号将直流电流转换为电动机的交流电的开关单元。 在安全事件发生时，安全单元产生用于停止机器人的停止信号。 驱动单元在接收到停止信号时禁用开关单元。 安全单元产生相对于安全事件延时的停止信号。 控制单元以这样的方式生成控制信号，使得电机在时间延迟期间被电制动。 控制系统将停止信号传送到制动器，其在接收到停止信号时机械地制动电动机，并且将停止信号延迟到驱动单元，使得制动器在驱动单元之前接收到停止信号，以确保机械制动器 在切换单元被禁用之前应用。

公开(公告)号：US09533416B2

公开(公告)日：2017-01-03

申请号：US14678672

申请日：2015-04-03

申请人： STAUBLI FAVERGES

发明人： Louis Garde

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

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

摘要： 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.

摘要翻译： 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：US20150151440A1

公开(公告)日：2015-06-04

申请号：US14560195

申请日：2014-12-04

申请人： KUKA Laboratories GmbH

发明人： Uwe Bonin

IPC分类号： B25J19/00 ,  B25J9/16 ,  B25J9/06

CPC分类号： B25J19/0004 ,  B25J9/06 ,  B25J9/1674 ,  G05B2219/40218 ,  G05B2219/42284 ,  G05B2219/50181 ,  Y10S901/02 ,  Y10S901/09

摘要： A method for controlling a robot that has a plurality of articulation axes, with at least one axis that includes a drive mechanism for moving the axis and a holding brake for limiting movement of the axis. The method includes closing the holding brake and at least one of opening the holding brake after the closing step based on an axial load, or opening the holding brake for a specified duration. In addition, or alternatively, closing of the holding brake may be delayed for a period of time. The holding brake may be closed in response to the detection of a monitoring-related condition of the robot.

摘要翻译： 一种用于控制具有多个关节轴线的机器人的方法，其中至少一个轴线包括用于移动所述轴线的驱动机构和用于限制所述轴线运动的保持制动器。 该方法包括关闭保持制动器和基于轴向负载在闭合步骤之后打开保持制动器或者在特定持续时间内打开保持制动器中的至少一个。 此外，或者替代地，保持制动器的闭合可以延迟一段时间。 响应于机器人的监视相关状况的检测，保持制动器可以被关闭。

公开(公告)号：US20020125847A1

公开(公告)日：2002-09-12

申请号：US10090562

申请日：2002-03-04

发明人： Akira Shimoyama

IPC分类号： G05B011/01

CPC分类号： G05B19/19 ,  G05B2219/41329 ,  G05B2219/42215 ,  G05B2219/42284

摘要： A method of controlling a DC servomotor for driving a driven member coupled by a wire to an operation member of a valve, wherein, at the start of a control, the motor is driven first to rotate the operation shaft of the valve to a limit position after the motor stops, a driving current of the motor is gradually reduced to return slowly the driven member by a tension of the wire, and a position of the driven member when the driving current of the motor becomes zero is stored as a final stop position, thereafter, a rotational range of the driven member is limited to the range between these final stop positions when the position of the driven member is controlled to coincide with a target position.

摘要翻译： 一种控制直流伺服电动机的方法，用于将通过电线耦合的从动构件驱动到阀的操作构件，其中，在控制开始时，首先驱动电动机将阀的操作轴旋转到极限位置 在电动机停止之后，电动机的驱动电流逐渐减小，由于电线的张力使从动构件缓慢返回，并且当电动机的驱动电流为零时从动构件的位置被存储为最终的停止位置 此后，当从动构件的位置被控制为与目标位置一致时，被驱动构件的旋转范围被限制在这些最终停止位置之间的范围内。

公开(公告)号：US5895177A

公开(公告)日：1999-04-20

申请号：US859166

申请日：1997-05-20

申请人： Masayuki Iwai ,  Katsunori Tsutsui

发明人： Masayuki Iwai ,  Katsunori Tsutsui

IPC分类号： B23Q15/013 ,  B23B49/00 ,  B23Q17/09 ,  G05B19/18 ,  G05B19/406 ,  B23B35/00

CPC分类号： B23B49/001 ,  B23Q17/0961 ,  G05B19/406 ,  G05B2219/33299 ,  G05B2219/33325 ,  G05B2219/34465 ,  G05B2219/37246 ,  G05B2219/37344 ,  G05B2219/42284 ,  Y10T408/03 ,  Y10T408/13 ,  Y10T408/165

摘要： A machine tool includes a spindle having a cutting tool for cutting a workpiece. For fault detection, a control unit of the machine tool detects a value representing a torque applied on the spindle while the spindle is stopped in a state the cutting tool is engaged with the workpiece. The control unit further compares the detected value (representing a torque) with a predetermined threshold thereby to determine that a fault has occurs. Since the detection of the value representing a torque is performed while the spindle is stopped, the detection is free from the effects of acceleration or deceleration of the spindle.

摘要翻译： 一种机床包括具有用于切割工件的切削工具的主轴。 对于故障检测，机床的控制单元在切削刀具与工件接合的状态下主轴停止时检测表示施加在主轴上的扭矩的值。 控制单元进一步将检测值（表示转矩）与预定阈值进行比较，从而确定发生故障。 由于在主轴停止时执行表示扭矩的值的检测，因此检测不受主轴加速或减速的影响。

公开(公告)号：US20150081093A1

公开(公告)日：2015-03-19

申请号：US14218988

申请日：2014-03-19

申请人： KABUSHIKI KAISHA YASKAWA DENKI

发明人： Keita OGOH

IPC分类号： B25J9/16 ,  B25J19/06

CPC分类号： B25J9/16 ,  B25J9/1674 ,  B25J19/06 ,  G05B19/406 ,  G05B19/414 ,  G05B2219/34189 ,  G05B2219/42284 ,  G05B2219/49152 ,  G05B2219/50181

摘要： A controller includes: a plurality of first drivers that outputs a plurality of drive signals to drive a plurality of motors, respectively, and stops an output of the drive signals with a stop signal; a second driver that outputs a drive signal to drive another motor, and stops an output of the drive signal with a stop signal; a first transmitter that transmits the stop signal to all the first drivers; a second transmitter that transmits the stop signal to the second driver; and a stop signal introduction unit capable of introducing separate stop signals to into the first transmitter and the second transmitter, respectively.

摘要翻译： 控制器包括：多个第一驱动器，分别输出多个驱动信号以驱动多个电动机，并以停止信号停止驱动信号的输出; 输出驱动信号以驱动另一个电动机的第二驱动器，并以停止信号停止驱动信号的输出; 将停止信号发送到所有第一驱动器的第一发送器; 将所述停止信号发送到所述第二驱动器的第二发送器; 以及能够分别将分离的停止信号引入到第一发送器和第二发送器中的停止信号引入单元。

公开(公告)号：US20080218115A1

公开(公告)日：2008-09-11

申请号：US12071970

申请日：2008-02-28

申请人： Tsutomu Hamabata ,  Hiroshige Ando

发明人： Tsutomu Hamabata ,  Hiroshige Ando

IPC分类号： G05B19/4062 ,  G05B23/02

CPC分类号： G05B19/4063 ,  G05B2219/42284

摘要： While a numerical controller is operating, an abnormality of a numerical control section is detected. In response to an abnormality detection signal, a motor deceleration stop control circuit of a servo section is actuated to perform speed control with a speed command “0”, thereby stopping a motor. If an actual speed of the motor becomes not higher than a preset speed, an off command signal for turning off a DO signal is delivered to a PMC section. In response to this off command signal, the PMC section turns off a brake control DO or all DO signals. Thus, a brake device that is attached to the motor is activated to brake the motor.

摘要翻译： 当数字控制器正在操作时，检测到数字控制部分的异常。 响应于异常检测信号，伺服部分的电动机减速停止控制电路被致动，以速度指令“0”进行速度控制，从而停止电动机。 如果电机的实际速度不高于预设速度，则关闭DO信号的关闭指令信号被传送到PMC部分。 响应该关闭指令信号，PMC部分关闭制动控制DO或所有DO信号。 因此，附接到马达的制动装置被启动以制动马达。

公开(公告)号：US06639374B2

公开(公告)日：2003-10-28

申请号：US10090562

申请日：2002-03-04

申请人： Akira Shimoyama

发明人： Akira Shimoyama

IPC分类号： G05B1101

CPC分类号： G05B19/19 ,  G05B2219/41329 ,  G05B2219/42215 ,  G05B2219/42284

摘要： A method of controlling a DC servomotor for driving a driven member coupled by a wire to an operation member of a valve, wherein, at the start of a control, the motor is driven first to rotate the operation shaft of the valve to a limit position after the motor stops, a driving current of the motor is gradually reduced to return slowly the driven member by a tension of the wire, and a position of the driven member when the driving current of the motor becomes zero is stored as a final stop position, thereafter, a rotational range of the driven member is limited to the range between these final stop positions when the position of the driven member is controlled to coincide with a target position.

公开(公告)号：US6091219A

公开(公告)日：2000-07-18

申请号：US168348

申请日：1998-10-08

申请人： Satoshi Maruo ,  Takamitsu Inagaki ,  Yoshio Kawamura ,  Akira Ogawa ,  Noritaka Yatsuya ,  Masatoshi Kojima

发明人： Satoshi Maruo ,  Takamitsu Inagaki ,  Yoshio Kawamura ,  Akira Ogawa ,  Noritaka Yatsuya ,  Masatoshi Kojima

IPC分类号： G05B19/18 ,  B25J13/08 ,  G05B19/31 ,  G05B19/414 ,  G05D3/12 ,  G05B11/32 ,  G05B9/02

CPC分类号： G05B19/31 ,  G05B2219/33236 ,  G05B2219/37149 ,  G05B2219/42284 ,  G05B2219/42291

摘要： A robot control system is provided which controls a plurality of servomotors for moving a hand and articulated arms of a robot. The robot control system includes a plurality of position detectors, a motor control driver, and a serial communication path. The position detectors detect rotational positions of the servomotors and output the rotational positions in the form of serial data, respectively. The serial communication path is disposed between the motor control driver and the position detectors to transmit request signals provided by the motor control driver to the position detectors to request the position detectors to output the rotational positions.

摘要翻译： 提供了一种机器人控制系统，其控制用于移动机器人的手和铰接臂的多个伺服电动机。 机器人控制系统包括多个位置检测器，马达控制驱动器和串行通信路径。 位置检测器检测伺服电机的旋转位置并分别以串行数据的形式输出旋转位置。 串行通信路径设置在马达控制驱动器和位置检测器之间，以将由马达控制驱动器提供的请求信号发送到位置检测器，以请求位置检测器输出旋转位置。

公开(公告)号：US09956693B2

公开(公告)日：2018-05-01

申请号：US14339093

申请日：2014-07-23

申请人： KUKA Laboratories GmbH

发明人： Hartmut Keyl ,  Michael Thummel ,  Dietmar Tscharnuter ,  Tobias Weiser

IPC分类号： B25J19/00 ,  B25J9/16

CPC分类号： B25J19/0004 ,  B25J9/1674 ,  G05B2219/41279 ,  G05B2219/41285 ,  G05B2219/42284

摘要： 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.