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1. WO2020138705 - CONTROL DEVICE FOR GANTRY STAGE HAVING DEVIATION CONTROL UNIT

Publication Number WO/2020/138705
Publication Date 02.07.2020
International Application No. PCT/KR2019/015152
International Filing Date 08.11.2019
IPC
B25J 9/16 2006.1
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
16Programme controls
B25J 9/02 2006.1
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
02characterised by movement of the arms, e.g. cartesian co-ordinate type
CPC
B25J 9/02
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
02characterised by movement of the arms, e.g. cartesian coordinate type
B25J 9/026
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
02characterised by movement of the arms, e.g. cartesian coordinate type
023Cartesian coordinate type
026Gantry-type
B25J 9/16
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
16Programme controls
B25J 9/1602
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
16Programme controls
1602characterised by the control system, structure, architecture
B25J 9/1633
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
16Programme controls
1628characterised by the control loop
1633compliant, force, torque control, e.g. combined with position control
B25J 9/1692
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
16Programme controls
1679characterised by the tasks executed
1692Calibration of manipulator
Applicants
  • 알에스오토메이션주식회사 RS AUTOMATION CO.,LTD. [KR]/[KR]
Inventors
  • 함년근 HAHM, Nyeon Kun
Agents
  • 특허법인 태웅 TW INTERNATIONAL PATENT AND LAWFIRM
Priority Data
10-2018-017080727.12.2018KR
Publication Language Korean (KO)
Filing Language Korean (KO)
Designated States
Title
(EN) CONTROL DEVICE FOR GANTRY STAGE HAVING DEVIATION CONTROL UNIT
(FR) DISPOSITIF DE COMMANDE POUR ÉTAGE DE PORTIQUE AYANT UNE UNITÉ DE COMMANDE DE DÉVIATION
(KO) 편차 제어부를 구비한 갠트리 스테이지의 제어 장치
Abstract
(EN)
A control device of the present invention comprises: a first control unit having a position control unit which outputs position control values of a first motor for driving one side of an arm of a gantry stage, and a second motor for driving the other side of the arm; a second control unit connected downstream of the first control unit and having a first current control unit which outputs a first current value input to the first motor, and a second current control unit which outputs a second current value input to the second motor; and a deviation control unit for removing a yaw error value of the arm by using a first measurement value obtained by measuring the driving amount of the first motor, and a second measurement value obtained by measuring the driving amount of the second motor.
(FR)
L'invention concerne un dispositif de commande comprenant : une première unité de commande ayant une unité de commande de position qui délivre des valeurs de commande de position d'un premier moteur pour entraîner un côté d'un bras d'un étage de portique et un second moteur pour entraîner l'autre côté du bras ; une seconde unité de commande connectée en aval de la première unité de commande et ayant une première unité de commande de courant qui délivre une première valeur de courant entrée au premier moteur et une seconde unité de commande de courant qui délivre une seconde entrée de valeur de courant au second moteur ; et une unité de commande de déviation pour éliminer une valeur d'erreur de lacet du bras en utilisant une première valeur de mesure obtenue en mesurant la quantité d'entraînement du premier moteur et une seconde valeur de mesure obtenue par mesure de la quantité d'entraînement du second moteur.
(KO)
본 발명의 제어 장치는, 갠트리 스테이지의 아암의 일측을 구동하는 제1 모터 및 상기 아암의 타측을 구동하는 제2 모터의 위치 제어값을 출력하는 위치 제어부를 구비하는 제1 제어부; 상기 제1 제어부의 하류에 연결되고, 상기 제1 모터에 입력되는 제1 전류값을 출력하는 제1 전류 제어부 및 상기 제2 모터에 입력되는 제2 전류값을 출력하는 제2 전류 제어부를 구비하는 제2 제어부; 상기 제1 모터의 구동량을 측정한 제1 측정값 및 상기 제2 모터의 구동량을 측정한 제2 측정값을 이용하여 상기 아암의 요 에러값을 제거하는 편차 제어부; 를 포함한다.
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