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    PROCESS AND DEVICE FOR CONTROLLING A MULTIPLICITY OF SPRAY TOOLS USED IN SURFACE COATING OF VEHICLES OR PARTS THEREOF
    1.
    发明申请
    PROCESS AND DEVICE FOR CONTROLLING A MULTIPLICITY OF SPRAY TOOLS USED IN SURFACE COATING OF VEHICLES OR PARTS THEREOF 审中-公开
    方法和系统，以控制一个VIELZHAL注入工具对车辆或他们的零件表面涂装

    公开(公告)号：WO1995014961A1

    公开(公告)日：1995-06-01

    申请号：PCT/EP1994003844

    申请日：1994-11-21

    Applicant: LICENTIA PATENT-VERWALTUNGS-GMBH ,  HISSEN, Hans ,  SCHUMACHER, Hans

    Inventor： LICENTIA PATENT-VERWALTUNGS-GMBH

    IPC: G05B19/4103

    CPC classification number: G05B19/4103 ,  G05B2219/33214 ,  G05B2219/33337 ,  G05B2219/34157 ,  G05B2219/34167 ,  G05B2219/34208 ,  G05B2219/42074 ,  G05B2219/45013

    Abstract: The subject matter of the invention is a process for controlling a multiplicity of spray tools for the surface coating of vehicles or parts thereof. With stored program control, the settings for the multiplicity of spray tools which determine the paint flow through each tool are issued centrally to the control elements associated with the spray tools. The trajectory points for the tools, which are stored with coarse spacing or obtained by coarse interpolation from already stored trajectory points, are applied as reference values to the attitude controllers serving each spray tool; from the said position controllers, additional trajectory points are determined by fine interpolation between the transmitted trajectory points and processed in the position controller by means of actual position values.

    Abstract translation: 本发明涉及一种用于控制多个喷射成型工具用于车辆或其部分的表面涂层的方法。 与可编程逻辑控制器是中央的多个喷射工具，其确定每个喷雾工具输出的涂料的流动性，以致动器用于注射成型工具的设置参数。 注射成型工具被遍历路径点，其存储与一个粗牙，或通过从存储路径点的粗插值获得的，在每种情况下为所希望的值发送给规定的位置控制器的喷射工具，其中多个路径点由细插值的传输路径点之间确定，并在位置调节器具有位置实际值处理 是。

    STEUERSYSTEM UND STEUERVERFAHREN FÜR EINEN ROBOTER
    5.
    发明申请
    STEUERSYSTEM UND STEUERVERFAHREN FÜR EINEN ROBOTER 审中-公开
    控制系统及控制方法的机器人

    公开(公告)号：WO2012019733A1

    公开(公告)日：2012-02-16

    申请号：PCT/EP2011/003892

    申请日：2011-08-03

    Applicant: DÜRR SYSTEMS GMBH ,  BLOCK, Torsten ,  MEISSNER, Alexander

    Inventor： BLOCK, Torsten ,  MEISSNER, Alexander

    IPC: B25J9/16 ,  G05B19/4061

    CPC classification number: B25J9/1676 ,  F16P3/14 ,  G05B19/4061 ,  G05B2219/33337 ,  G05B2219/34483

    Abstract: Die Erfindung betrifft ein Steuersystem und ein entsprechendes Steuerverfahren zur Steuerung eines Roboters mit mehreren beweglichen Roboterachsen (A1-An), insbesondere für einen Lackierroboter oder einen Handhabungsroboter in einer Lackieranlage für Kraftfahrzeugkarosseriebauteile, mit einer zentralen Robotersteuerung (4) zur Steuerung des Roboters entsprechend einem vorgegebenen Steuerprogramm, und mit mehreren Antriebsreglern (AR1-ARn) zur Ansteuerung der einzelnen bewegliehen Roboterachsen (A1-An), wobei jeder der Antriebsregler (AR1-ARn) einer der Roboterachsen (A1-An) zugeordnet ist, sowie mit einer Datenverbindung (5) zwischen der zentralen Robotersteuerung (4) und den einzelnen Antriebsreglern (AR1- ARn) zur Übertragung von Steuerbefehlen von der Robotersteuerung (4) an die einzelnen Antriebsregler (AR1-ARn). Es wird vorgeschlagen, dass zumindest einer der Antriebsregler (AR1) eine Überwachungseinheit aufweist, die eine Kollisionsüberwachung durchführt, um eine Kollision des Roboters mit Raumbegrenzungen oder Personen zu verhindern.

    Abstract translation: 本发明涉及一种控制系统和用于控制具有多个可移动机器人轴（A1-An）的用于喷涂机器人的机器人，尤其是相应的控制方法或在涂覆设备用于机动车车身零件搬运机器人，具有中央机器人控制器（4），用于根据预定的控制机器人 控制程序和用于控制各个bewegliehen机器人轴（A1-AN），各控制器（AR1-ARN）与所述机器人轴（A1-AN）的一个相关联的多个驱动控制器（AR1-ARN），并用数据链路（5） 中央机器人控制器（4）和各个驱动调节器（AR1 ARN）为控制指令的从机器人控制器（4）向所述个体控制器（AR1-ARN）变速器之间。 它建议，所述驱动器控制器（AR1）中的至少一个具有在为了防止与空间的限制或人机器人的碰撞执行碰撞检测的监测单元。

    SYSTEMS AND METHODS FOR CONTROLLING LIMITED ROTATION MOTOR SYSTEMS
    6.
    发明申请
    SYSTEMS AND METHODS FOR CONTROLLING LIMITED ROTATION MOTOR SYSTEMS 审中-公开
    用于控制有限旋转电机系统的系统和方法

    公开(公告)号：WO2008154217A2

    公开(公告)日：2008-12-18

    申请号：PCT/US2008/065632

    申请日：2008-06-03

    Applicant: GSI GROUP CORPORATION ,  PINARD, Adam, I.

    Inventor： PINARD, Adam, I.

    IPC: G05B19/414

    CPC classification number: G05B19/4141 ,  G05B2219/33083 ,  G05B2219/33337 ,  G05B2219/34157 ,  G05B2219/45165

    Abstract: A control system is disclosed for controlling the movement of a limited rotation motor. The control system includes a computer system and a closed-loop motor controller. The computer system is for generating command digital data including digital input commands for controlling the movement of the limited rotation motor. The closed-loop motor controller includes an input circuit for receiving the command digital data synchronous with a data input signal, a digital control system for processing the command digital data, an output circuit for providing a motor drive signal to the limited rotation motor, and a feedback circuit for providing digital feedback data to said digital control processing circuit. The digital control processing circuit providing closed-loop motor control calculations on a computation cycle that is synchronous with the data input signal.

    Abstract translation: 公开了用于控制有限旋转电动机的运动的控制系统。 控制系统包括计算机系统和闭环电机控制器。 计算机系统用于产生指令数字数据，包括用于控制有限旋转电动机的运动的数字输入命令。 闭环电动机控制器包括用于接收与数据输入信号同步的指令数字数据的输入电路，用于处理指令数字数据的数字控制系统，用于向有限旋转电动机提供电动机驱动信号的输出电路，以及 用于向所述数字控制处理电路提供数字反馈数据的反馈电路。 数字控制处理电路在与数据输入信号同步的计算周期上提供闭环电机控制计算。

    COORDINATIVE OPERATION SYSTEM OF CNC
    7.
    发明申请
    COORDINATIVE OPERATION SYSTEM OF CNC 审中-公开
    CNC辅助操作系统

    公开(公告)号：WO1991003010A1

    公开(公告)日：1991-03-07

    申请号：PCT/JP1990000936

    申请日：1990-07-20

    Applicant: FANUC LTD ,  IKEDA, Yoshiaki

    Inventor： FANUC LTD

    IPC: G05B19/417

    CPC classification number: G05B19/4141 ,  G05B19/4181 ,  G05B2219/33154 ,  G05B2219/33182 ,  G05B2219/33337 ,  Y02P90/06 ,  Y02P90/08

    Abstract: A coordinative operation system for a CNC (computerized numeric controller) used for a transfer line or the like. Each CNC (10, 20) comprises a CNC control section (11, 21), a switch circuit (12, 22) for switching input/output signals, a RAM (13, 23) connected to the switch circuit (12, 22) and used for storing the input/output signals, and a PMC (programmable machine controller) (16, 26) connected to the RAM (13, 23), and a serial tranfer control circuit (15, 25) which are connected to the RAMs (13, 23) and transfer the input/output signals with other CNCs. The PMC (16) is designed so that it can receive the input/output signals of other CNC (20) by the serial transfer control circuit (15) or can transmit them. The CNCs (10, 20) can input/output their input/output signals through the circuits (15, 25), respectively. Accordingly, the signal transfer speed is high and a high speed coordinative operation is possible. The PMC (16) can receive directly the input/output signals of the other CNC (20) through the circuit (15, 25) and complicated control is possible.

    ARRANGEMENT COMPRISING A SYSTEM PROVIDING MOVEMENT, PROCESSING AND/OR PRODUCTION
    8.
    发明申请
    ARRANGEMENT COMPRISING A SYSTEM PROVIDING MOVEMENT, PROCESSING AND/OR PRODUCTION 审中-公开
    包括提供运动，处理和/或生产的系统的安排

    公开(公告)号：WO1985001007A1

    公开(公告)日：1985-03-14

    申请号：PCT/SE1984000283

    申请日：1984-08-23

    Applicant: AB ROVAC ,  FREDRIKSSON, Lars-Berno

    Inventor： AB ROVAC

    IPC: B25J09/00

    CPC classification number: G05B19/4141 ,  B25J5/04 ,  B25J9/0081 ,  B25J9/046 ,  G05B2219/33125 ,  G05B2219/33182 ,  G05B2219/33337 ,  G05B2219/45083 ,  Y02P90/185

    Abstract: In a system for the performance of plurality of functions each of the functions is allocated its own function control member comprising a microprocessor with the associated peripheral equipment, and one or more actuating devices. Each control member is capable of providing the control for functions of two or more kinds, and the different control members are mutually interchangeable. The control members are connected in one or more first wiring loops (40), each of which is connected to a main computer. The signal transmission in the first loop is performed digitally and in series. The transmission of the signals includes first signals emanating from a basic or operative program in the main computer, said first signals are transmitted during a start-up phase for the system and comprising for each control member information in respect of its adjustment in relation to a function control which is applicable to the type of function and/or the variation in the type of function effected by the control member during an operating phase which follows the start-up phase. The signal transmission also includes second signals emanating from a user program entered in the main computer, which second signals are transmitted in a cyclical fashion and which contain continuous information for each microprocessor relating to the manner in which the function served by the microprocessor is to be controlled. The actuating organs are supplied with energy via one or more second wiring loops (40c), each of which is connected to an energy source.

    METHOD OF SLIDING MODE CONTROL
    9.
    发明申请
    METHOD OF SLIDING MODE CONTROL 审中-公开
    滑模控制方法

    公开(公告)号：WO1990013857A1

    公开(公告)日：1990-11-15

    申请号：PCT/JP1990000601

    申请日：1990-05-11

    Applicant: FANUC LTD ,  TORII, Nobutoshi ,  NIHEI, Ryo ,  KATO, Tetsuaki

    Inventor： FANUC LTD

    IPC: G05D03/12

    CPC classification number: G05B13/0255 ,  G05B19/19 ,  G05B2219/33337 ,  G05B2219/34069 ,  G05B2219/41112 ,  G05B2219/42034 ,  G05B2219/42035 ,  G05B2219/42062 ,  G05B2219/42067 ,  G05B2219/42352 ,  H01L2924/01013

    Abstract: A method of sliding mode control which decreases the steady deviation from the control target and which improves control stability by adapting the control system to a change in the system parameter. The processor in a digital servo circuit of the servo control system calculates position deviation (ε), speed deviation (ε), a value of the switch-over plane (s) and a value of an integration element (∫)((ε + C.ε)) on the switch-over plane (100 to 102, 107, 113) based on an instructed position (Υr) and an actual position (Υ). The processor further calculates a first term and a second term of switch-over quantity (T1) according to a calculation formula determined depending upon the switch-over plane, position deviation and positive or negative sign to which the value of the integration element is corresponded (103 to 115). Then, based on a calculated value of switch-over quantity (T1) that is equal to the sum of the first and second terms and that satisfies the Liapunov stabilization condition, a torque instruction (T) is calculated that is sufficient to converge the characteristics of the control system to the switch-over plane (s = 0). As a result, the control system does not lose stability even when the system parameters undergo a change.

    NUMERICAL CONTROLLER
    10.
    发明申请
    NUMERICAL CONTROLLER 审中-公开
    数字控制器

    公开(公告)号：WO1989012264A1

    公开(公告)日：1989-12-14

    申请号：PCT/JP1989000535

    申请日：1989-05-29

    Applicant: FANUC LTD ,  KOHARI, Katsuo ,  KONO, Shinichi ,  TAKAHASHI, Hironobu

    Inventor： FANUC LTD

    IPC: G05B19/19

    CPC classification number: G05B19/19 ,  G05B19/4141 ,  G05B2219/33182 ,  G05B2219/33207 ,  G05B2219/33337 ,  G05B2219/42215

    Abstract: A numerical controller having a control function which permits a main axis to be stopped at any absolute position by a drive motor to determine the position of the main axis that controls the positioning. The numerical controller has storage means (6) for storing data related to a motor stop position and the rotational direction included in a control instruction via transfer means (3) which transfers the control instruction to the corresponding drive means, and has calculation means (7) which calculates a drive signal for stopping the motor at a predetermined position based on the stored data and feedback signals related to the speed and position of the motor. With the absolute position such as an angle and the rotational direction up to that position being instructed from the numerical controller, the motor side determines its position by itself.

    Abstract translation: 一种具有控制功能的数字控制单元，该控制功能允许通过驱动马达在任何绝对位置上停止主轴以确定控制定位的主轴的位置。 数字控制单元具有用于经由传递马达停止位置的传递构件（3）存储与马达停止位置有关的数据和控制指令中包括的旋转方向的存储构件（6）。 控制指令给相应的驱动部件;以及计算部件（7），根据所存储的数据和与所述存储数据有关的反馈信号，计算用于使电动机停止在确定位置的驱动信号 发动机的速度和位置。 由于绝对位置表示为角度，旋转方向由数控单元决定，因此电机侧会自动确定其位置。

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