Stepless pulse count switching
    1.
    发明授权
    Stepless pulse count switching 失效
    无级脉冲计数切换

    公开(公告)号:US4669042A

    公开(公告)日:1987-05-26

    申请号:US753504

    申请日:1985-07-10

    IPC分类号: G05B7/02 G05B19/408 G05B7/00

    摘要: An up-down counter is fed pulses generated manually and/or automatically from either or any of two or more command sources. Gating circuitry ahead of the up-down counter may be used to enable counts from only one source at a time. The output of the counter represents the magnitude of the parameter to be controlled. The purpose is to transfer control of a parameter to any of several command sources without changing the value of the parameter, thereby achieving "stepless" switching. Only one counter is needed regardless of the number of command sources, no synchronizing circuitry is required, and switching is provided with no steps or delays. Multiple command sources may be active simultaneously when command source input gating is not used ahead of the up-down parameter magnitude counter.

    摘要翻译: 递增计数器是从两个或更多个命令源中的任一个或任何一个手动和/或自动生成的脉冲。 升降计数器之前的门控电路可以用于一次只能启动一个源的计数。 计数器的输出表示要控制的参数的大小。 目的是在不改变参数值的情况下将参数的控制转移到多个命令源中的任何一个,从而实现“无级”切换。 不管命令源数量如何,都需要一个计数器,不需要同步电路,并且不提供任何步骤或延迟。 当在上下参数量值计数器之前未使用命令源输入门控时,多个指令源可能同时有效。

    Flexible servo control method
    2.
    发明授权
    Flexible servo control method 失效
    灵活的伺服控制方式

    公开(公告)号:US5581167A

    公开(公告)日:1996-12-03

    申请号:US373225

    申请日:1995-01-18

    摘要: A robotic arm is driven by a servomotor which is controlled through position and speed control loops. The position and speed control loops are adaptable in response to a flexible position control. Upon receipt of a flexible control command, a position gain and a proportional gain of the speed control loop are lowered in accordance with a set degree of flexibility. The output of an integrator of the speed control loop is also limited to a set clamp value. As a result, a torque command for controlling the servomotor never achieves an expressly large value even if a position deviation increases. In case an obstacle is placed in the transfer path of the robotic arm, the arm can be moved by human power to avoid the obstacle.

    摘要翻译: PCT No.PCT / JP94 / 00765 Sec。 371日期1995年1月19日 102(e)1995年1月19日PCT PCT 1994年5月12日PCT公布。 WO94 / 27200PC公报 日期1994年11月24日机器臂由伺服电机驱动,伺服电机通过位置和速度控制回路控制。 位置和速度控制回路适应于灵活的位置控制。 在接收到柔性控制命令时,根据设定的灵活程度降低速度控制回路的位置增益和比例增益。 速度控制回路的积分器的输出也限于设定的钳位值。 结果,即使位置偏差增加,用于控制伺服电机的转矩指令也不会实现明显的大值。 如果障碍物放置在机器臂的传送路径中,则可以通过人力来移动臂以避免障碍物。

    Electro-hydraulic position control for a machine tool with actual and
commanded position feedback
    3.
    发明授权
    Electro-hydraulic position control for a machine tool with actual and commanded position feedback 失效
    具有实际和指令位置反馈的机床的电液位置控制

    公开(公告)号:US4527244A

    公开(公告)日:1985-07-02

    申请号:US370205

    申请日:1982-04-21

    IPC分类号: G05B19/23 G05B13/00

    摘要: An automated control system and method for control of hydraulically positionable machine tools is disclosed. A servo motor is coupled to a servo valve spool such that the angular displacement of the motor shaft directly corresponds to the resultant rotation of the spool, which in turn threadably engages a precision lead screw fixed to a tool slide. In the preferred embodiment, a position encoder provides signals indicative of the angular displacement of the motor shaft. The position encoder signals are fed back to an electronic central processor which controls motor operation. The controller is programmed with the lead screw pitch information, and a series of instructions to advance or reverse the spool along the lead screw in a series of movements precisely corresponding to the desired movements of the slide.

    摘要翻译: 公开了一种用于控制液压定位机床的自动化控制系统和方法。 伺服电动机联接到伺服阀阀芯,使得电动机轴的角度位移直接对应于阀芯的合成旋转,该阀芯又与固定在工具滑块上的精密螺杆螺纹接合。 在优选实施例中,位置编码器提供指示电动机轴的角位移的信号。 位置编码器信号被反馈到控制电机操作的电子中央处理器。 控制器使用导螺杆间距信息进行编程,以及一系列指令,以一系列精确对应于滑块所需运动的运动方式沿着导螺杆推进或反向滑阀。

    Robot operating method capable of manual correction
    5.
    发明授权
    Robot operating method capable of manual correction 失效
    可进行手动校正的机器人操作方法

    公开(公告)号:US5136223A

    公开(公告)日:1992-08-04

    申请号:US543840

    申请日:1990-07-19

    摘要: A robot operating method capable of easily performing manual correction of a previously taught teaching point during an automatic robot operation, and of accurately and effectively performing a desired robot operation without the need of employing a visual sensor. After switching is made from an automatic operation mode to a manual operation mode in response to reading of a predetermined command code from a program (S1, S2), a robot tool positioned at a first teaching position is moved to a first working position on a workpiece by a control apparatus which responds to an operation of a remote operation board by an operator, so as to compensate for a dislocation of the teaching point attributable to a positional dislocation of the workpiece (S3), and then a correction data indicative of the results of a manual adjustment is calculated in response to supply of an external signal generated by an operator's operation and is stored in a memory (S4, S5). After completion of robot working at the first working position, second and later teaching points are sequentially corrected based on the correction data in response to reading of a position correcting command code from the program, whereby the robot working is accurately carried out at second and later working positions on the workpiece.

    摘要翻译: PCT No.PCT / JP89 / 01234 Sec。 371日期1990年7月19日 102(e)1990年7月19日PCT PCT 1989年12月8日PCT公布。 出版物WO90 / 06836 日期:1990年6月28日。一种机器人操作方法,其能够在自动机器人操作期间容易地执行先前教导的教导点的手动校正,并且准确且有效地执行期望的机器人操作,而不需要使用视觉传感器。 响应于从程序(S1,S2)读取预定命令代码,从自动操作模式切换到手动操作模式时,位于第一教学位置的机器人工具被移动到第一工作位置 工件,其由操作者响应于远程操作板的操作的控制装置,以补偿由于工件的位置偏差引起的示教点的位错(S3),然后指示表示工件的修正数据 响应于由操作者的操作产生的外部信号的供给来计算手动调整的结果,并存储在存储器中(S4,S5)。 在完成在第一工作位置的机器人工作之后,响应于来自程序的位置校正命令代码的读取,基于校正数据顺序地校正第二和稍后的教导点,从而在第二和稍后精确地执行机器人工作 工件上的工作位置。

    Backlash compensation
    7.
    发明授权
    Backlash compensation 失效
    间隙补偿

    公开(公告)号:US4042869A

    公开(公告)日:1977-08-16

    申请号:US128718

    申请日:1971-03-29

    摘要: A system for compensating for the backlash of a drive mechanism of an actuator that can be controlled manually or switched to automatic, with the starting position indeterminate. The actuator includes a position transducer for the actuator. Impulses are supplied to the drive mechanism to energize the drive mechanism in discrete steps in a first direction. In response to a change in the actuator position being sensed by the position transducer, the supply of impulses to the drive mechanism is terminated. Because of backlash in gearing included in the drive mechanism, each of the impulses to the drive mechanism does not necessarily result in a change in the actuator position. In response to movement of the actuator being sensed the drive mechanism is energized in a direction opposite to the first direction through a distance equal to the sum of the backlash and the amount of movement of the actuator detected by the position transducer.

    摘要翻译: 用于补偿致动器的驱动机构的齿隙的系统,其可以手动控制或切换到自动,起始位置不确定。 致动器包括用于致动器的位置传感器。 脉冲被提供给驱动机构,以在第一方向上以离散的步进激励驱动机构。 响应于由位置传感器感测到的致动器位置的变化,终止对驱动机构的脉冲的供给。 由于包括在驱动机构中的齿轮传动中的间隙,驱动机构的每个脉冲不一定导致致动器位置的变化。 响应于所感测的致动器的运动,驱动机构在与第一方向相反的方向上被激励,距离等于由位置传感器检测到的间隙与致动器的移动量之和的距离。

    Automatic control system
    8.
    发明授权
    Automatic control system 失效
    自动控制系统

    公开(公告)号:US5128599A

    公开(公告)日:1992-07-07

    申请号:US588009

    申请日:1990-09-25

    摘要: An automatic control including a memory is provided to be loaded with positional data for the automatic control of a cycle of motions of preferably a plurality of power members. The speed reading the data in and out is freely selectable. Accordingly programming a cycle of motions may be performed in a slow motion process, whereas the speed of reading out the data is selected such that an optimum operational speed is obtained. In addition to the automatic speed control a manual control is provided to interrupt the cycle motion of the automatic control to manually adjust the position or the power member. In returning to the automatic control the further cycle of motion is taken up again where it has been interrupted.

    摘要翻译: 提供包括存储器的自动控制装载用于自动控制优选多个功率构件的运动循环的位置数据。 读取数据的速度可以自由选择。 因此,可以在慢动作过程中执行运动循环的编程,而选择读出数据的速度使得获得最佳操作速度。 除了自动速度控制外,还提供手动控制来中断自动控制的循环运动,手动调整位置或功率部件。 在返回到自动控制中,再一次中断运动的进一步循环。

    Numerically controlled machine tool
    10.
    发明授权
    Numerically controlled machine tool 失效
    数控机床

    公开(公告)号:US3895279A

    公开(公告)日:1975-07-15

    申请号:US41398973

    申请日:1973-11-08

    摘要: A numerically controlled machine tool is disclosed which includes a numerical control system having a numerical controller and a sub controller provided with a setting means for setting the partial variation to a series of feeding motions of a movable member of the machine tool. When part of the series of feeding motions of the movable member of the machine tool is required to be varied by a special function command issued by the numerical controller, the sub controller drives and controls the part of the series of feeding motions of the movable member by cooperation with the numerical controller, on the basis of the partial variation set by the setting means.

    摘要翻译: 公开了一种数控机床,其包括具有数值控制器和副控制器的数控系统,该控制器设置有用于将部分变化设定为机床的可移动部件的一系列进给运动的设定装置。 当机床的可动构件的一系列进给运动的一部分需要通过由数字控制器发出的特殊功能指令而改变时,副控制器驱动和控制可动件的一系列进给运动的一部分 通过与数字控制器的协作,基于由设定装置设定的部分变化。