Fanuc Corporation

Yuuichi Yamada

Masatomo Shirouzu

Mamoru Yaeshima

Kenichi Tsukada

Shunsuke Matsubara

Kaname Matsumoto

Makoto Takeshita

Shigeki Hanyu

Yasusuke Iwashita

Koujirou Sakai

Shinichi Horikoshi

Naoto Ota

Tomokazu Yoshida

Hiroyuki Uchida

Shinichi Kono

Takashi Okamoto

Takashi Harada

Kazuyuki Sugiyama

Tatsuo Shinohara

Naoki Yamaguchi

Takayuki Akazawa

Takumi Mizuno

Hikaru Fujita

Takashi Ogura

An object is to reduce the risk of outflow of defects and improve the work efficiency of assembly work. An assembly systemaccording to an embodiment of the present invention is used to assemble a finished product while sequentially placing and fixing multiple types of components to a workpiece. The assembly systemincludes a collaborative robotconfigured to collaborate with a worker, an identification information reading unitconfigured to read identification information indicated on a component placed on the workpiece, and a controllerconfigured to determine whether a type of the component placed on the workpiece is correct or incorrect based on the read identification information and control the collaborative robot in accordance with a result of the correctness determination.

Assembly system

A three-phase AC reactor according to an embodiment of the present invention includes three-phase coils that are not arranged in parallel, an input and output terminal block having an input and output unit having a parallel arrangement, and an external connection position change unit disposed between a coil end of each of the three-phase coils and the input and output terminal block to connect the coil end to the input and output terminal block.

Method for manufacturing a three-phase AC reactor having external connection position change unit

A three-phase AC reactor according to an embodiment of the present invention includes an input and output terminal block; a peripheral iron core disposed under the input and output terminal block; and at least three iron-core coils each constituted of an iron core and a coil wound around the iron core, so as to contact an inner surface of the peripheral iron core or so as to be coupled to the inner surface. The at least three iron-core coils form gaps that can be magnetically coupled between two of the iron-core coils adjoining each other. The three-phase AC reactor includes a phase-based coil extending member unit that extends from coil end portions of the coils as base points to connection points of the input and output terminal block.

Three-phase AC reactor easily connectable to input and output terminal block and manufacturing method thereof

Three-phase AC reactor having external connection position change unit and manufacturing method thereof

A motor controller capable of effectively utilizing electrical energy accumulated in a capacitor and achieving a reduction in capacitance of the capacitor. The motor controller includes a converter that receives an input AC voltage and performs AC-to-DC power conversion thereon, an inverter that receives DC power and performs DC-to-AC conversion thereon, and a capacitor and a charging/discharging control circuit connected in parallel with a DC link between the converter and the inverter. Electrical energy is supplied from the capacitor to the DC link via the charging/discharging control circuit. The charging/discharging control circuit has a circuit for discharging electrical energy accumulated in the capacitor and for stepping up a voltage of the capacitor when discharging the electrical energy.

Motor controller

A motor driving apparatus having a converter, which receives AC voltage and converts it to DC power, and an inverter, which receives the DC power and converts it to AC power, includes a charge/discharge control circuit and a capacitor connected in parallel to a link section between the converter and the inverter, and energy stored in the capacitor Cis charged and discharged at arbitrary timing by the charge/discharge control circuit. The invention thus provides a motor driving apparatus that supplies energy to a motor so that the peak of the input current from a power supply to the motor can also be suppressed when particularly large energy is needed during the second half period of motor acceleration.

Motor driving apparatus

A motor driving apparatus comprises a charge/discharge control circuit for controlling charge to or discharge from a capacitor connected in parallel in a link section between a converter and an inverter, and a current control means for controlling discharge current from the charge/discharge control circuit. The current control means controls discharge current from the charge/discharge control circuit based on input current to the inverter or output current from the converter so that output current from the converter is equal to a prescribed value.

A die cushion drive system provided with a servo motor serving as a source of drive power for a die cushion of a press machine and a power circuit with a regeneration function which regenerates energy from the servo motor and returns it to an AC power supply, whereby it is possible to power the die cushion drive system by a servo motor and return the regenerated energy of this servo motor to the power source so as to save on energy.

Die cushion drive system

A motor driving apparatus applicable to various types of motor driving apparatuses and having a power storage section for storing a regenerative current and supplying power to an inverter section at the time of acceleration. The motor driving apparatus further comprises a converter section, a DC link, and an inverter section, thereby driving a motor. Connected to the DC link is the power storage section including a capacitor, a charging circuit, a discharging circuit and a diode. The regenerative current produced at the motor deceleration is stored in the capacitor through the diode. The power stored in the capacitor is outputted to the DC link by turning a switching element of the discharging circuit ON at the motor acceleration. Furthermore, the charging circuit has a boost switching regulator circuit for charging the capacitor to the given upper limit voltage equal to or larger than voltage of the DC link and a current limitation circuit for limiting a charging current to the given upper limit. The upper limit of the charging current can be changed according to the type of the motor driving apparatus.

The invention is directed to the provision of a converter apparatus, an inverter apparatus, and a DC link voltage control method, wherein the upper limit value of the DC link voltage that rises due to regenerative energy occurring from a motor is set high, thereby increasing the regenerative energy to be stored in a DC link. The converter apparatus () comprises: a voltage detection part () for monitoring the DC link voltage occurring across the DC link (); and a charge stopping part () for stopping charging a power storage part (C) when the detected value of the DC link voltage exceeds a predetermined upper limit voltage as the motor () is decelerated.

Converter apparatus, inverter apparatus, and DC link voltage control method

The present invention is directed to the provision of a servomotor driving apparatus that feeds energy stored in a power storage part connected with a DC link that connects a rectifier circuit with an inverter circuit so that the energy stored in the power storage part can be reduced. A motor driving apparatus () includes: a step-up type DC/DC converter circuit () for boosting voltage appearing at an output of the power storage part (C) connected with a DC link; and a DC/AC conversion circuit () for converting the boosted DC electric power into AC electric power and feeding it to an electric power source.

While the motor drive amplifier is not operating, electromagnetic switch contacts are held closed for a predetermined period of time, three-phase power is rectified by a rectifier circuit and a smoothing capacitor is charged. Then, the smoothing capacitor is discharged through a discharging resistor and, when a predetermined voltage is reached, a contact is closed, with the result that a closed circuit is formed by the smoothing capacitor, a detection resistor, a motor coil, motor insulation resistance, and ground. A voltage generating across the detection resistor due to leakage current is detected and compared with a reference value. If the detected voltage exceeds the reference value, an insulation degradation signal is delivered.

Motor driver

A motor driving apparatus including a regeneration control function and a power storage device for accumulating a regenerative current and for supplying an inverter section with electric power during acceleration. The inverter section is connected to a converter section by a DC link to which regeneration start detecting means and the power storage device are connected. When the regeneration start detecting means detects that a voltage at the DC link reaches a regeneration control start voltage, a controller controls switching elements and starts regeneration control. The regenerative current is accumulated in the capacitor through a diode. When a motor is in a power running state, the switching elements are turned on to apply the voltage at the power storage device to the DC link, and the charged power is utilized for motor acceleration. At that time, the regeneration control start voltage for the regeneration start detecting means is made higher, thereby preventing regeneration control from being activated due to application of the capacitor's voltage. Not only the regenerative current is effectively utilized by the power storage device, but also the regeneration control function can be utilized.

An inverter apparatus is provided with first and second current detectors for detecting the current of two arbitrary phases and further with first and second A/D converters, and they are integrated into one unit. It furthermore stores, in a storage device, a compensation value for compensating for an unbalance between gains of the first current detector and the first A/D converter, and gains of the second current detector and the second A/D converter. By multiplying the detected current value of either one of the detected phases by this compensation value, it equalizes the current feedback gains for both phases.

Growing community of inventors

Yamanashi, Japan

Yuuichi Yamada