Electricity: motive power systems – Positional servo systems – With particular 'error-detecting' means
Patent
1994-02-17
1997-06-10
Cabeca, John W.
Electricity: motive power systems
Positional servo systems
With particular 'error-detecting' means
324 97, 318 16, G05B 106
Patent
active
056379730
DESCRIPTION:
BRIEF SUMMARY
FIELD OF THE INVENTION
The present invention relates to a transfer mechanism that transfers electric power or signals to an electric load provided in a mobile or rotatable unit and relates to a dividual or split-type mechanical device that employs such transfer mechanisms. The present invention further relates to a control method of the split-type mechanical apparatus. In addition, the present invention relates to a transmitting system that uses the transfer mechanism of electric power and signals to transmit information on a rotating shaft that rotates at high speed.
BACKGROUND OF THE INVENTION
There has recently been a growing demand for autonomic decentralization of a machining system in an entirety of a machine system including robots and machine tools wherein the machining system is divided into independent functional units having control functions and machining functions of their own, i.e., autonomous units, wherein these units, maintaining their independence, carry out a coordinated machine work by effecting communications between a static functional unit (hereinafter referred to as a static unit) and movable functional units as well as mutually between the movable functional units for exchanging commands and information.
Dividing the machining system into a plurality of functional units in this way enables the optimum combinations of a plurality of functional units to fit each particular working object as the occasion demands, and consequently, offers the advantage that a single machine plant may serve for carrying out a wide variety of functions.
However, dividing the processing system into functional units is by no means obvious. For example, determining what extent of the apparatuses within the machining system should be consolidated as one unit presents one technical problem. In addition, it is to be desired that the attachment and removal of each functional unit be easy, and moreover, that an electric power transfer system and a communication system be automatically established between a movable functional unit and the static unit upon attachment of the movable functional unit to the static unit. This is particularly essential in the field of machine tools for realizing complete automatization of operation of jigs and for electrically controlling such operations as positioning, centering, and clamping a workpiece on a pallet as it moves from a setup process to a work process.
In addition, even in the case that a functional unit, for example a servomotor, is not physically separable from the static unit, a way of controlling the servomotor driven on a rotating body making multiple rotations is also becoming desirable. This applies to such cases as, for example, the rectilinear drive of a machine post mounted at the tip of the main shaft of a machine tool by an electric motor, or the electrical powering of a lathe head chucking section, or to a case in which the main shaft of an electric motor is mounted on a rotating index table. In such a case, in order that the control signals and electric power to drive the electric motor is supplied from a static unit, it is necessary that the electric power supply system and communication system always operate stably for any rotations of the rotating body.
A general survey will next be presented of the prior art relevant to the present invention from the viewpoint of the above-described current state of mechanical engineering.
FIG. 1 is a block diagram showing the basic structure of an electric motor control of the prior art.
A power source 11 inputs electric power of commercial frequency and supplies main power supply S12 and control power supply S13 to controller 12. The controller 12, driven by control power supply S13, is composed of position amplifier 12.sub.1, speed amplifier 12.sub.2, differentiator 12.sub.3, current amplifier 12.sub.4, and power switch 12.sub.5, thereby modulating and supplying the main power supply S12 to the servomotor 13 in response to a position command S11 fed from the upstream system. The detector 14 detects the position
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Patent Abstracts of Japan, vol. 8, No. 39 (E-228)(1476), Feb. 21, 1984, JP-A-58 197 807, Nov. 17, 1983.
Hamamoto Hiroyuki
Hiraga Yoshiji
Hirai Junji
Hirose Kenji
Nitta Yuji
Cabeca John W.
Kabushiki Kaisha Yaskawa Denki
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