公开(公告)号：US20210371136A1

公开(公告)日：2021-12-02

申请号：US17328110

申请日：2021-05-24

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Haruhiko KOIKE ,  Tomoya HYODO ,  Koji HARA ,  Tomohiro KAMISHIO ,  Koichi KIRIHARA ,  Atsuo IKEDA

IPC: B65B5/04 ,  B65B35/16 ,  B65B35/56

Abstract: A layered food packaging system includes: a carrier device configured to convey a sandwich in a horizontal posture in which a layering direction of the sandwich is substantially vertical; a temporary placement table configured to temporarily place the sandwich thereon in a vertical posture in which the layering direction of the sandwich is substantially horizontal; a first robot and a second robot configured to grip the sandwich that is conveyed by the carrier device, lift the sandwich from the carrier device, change the posture of the sandwich from the horizontal posture to the vertical posture, and temporarily place the sandwich on the temporary placement table; and a third robot configured to grip the sandwich that is temporarily placed on the temporary placement table, and insert the sandwich into a bag for packaging the layered food.

公开(公告)号：US20160149523A1

公开(公告)日：2016-05-26

申请号：US14945434

申请日：2015-11-19

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Yasufumi YOSHIURA ,  Yasuhiko KAKU ,  Yusuke OKA ,  Atsuo IKEDA

IPC: H02P6/00 ,  H02P6/14 ,  H02P6/08 ,  H02P6/16

CPC classification number: H02P6/08 ,  G05B1/00 ,  G05B11/42 ,  H02P6/17 ,  H02P6/34 ,  H02P23/0004 ,  H02P23/18

Abstract: A motor controller to control a motor includes a position controller, a speed controller, a first integrator, and a second integrator. The position controller is configured to generate a speed command based on a position error between a position command and a motor position. The speed controller is configured to generate a torque command to be input to the motor based on a speed error between the speed command and a motor speed. The first integrator is configured to calculate an integral value of the position error to be added to the position error. The second integrator is configured to calculate an integral value of the speed error to be added to the speed error.

Abstract translation: 用于控制电动机的电动机控制器包括位置控制器，速度控制器，第一积分器和第二积分器。 位置控制器被配置为基于位置命令和电动机位置之间的位置误差来生成速度命令。 速度控制器被配置为基于速度命令和电动机速度之间的速度误差生成要输入到电动机的转矩命令。 第一个积分器被配置为计算要添加到位置误差的位置误差的积分值。 第二个积分器被配置为计算要加到速度误差的速度误差的积分值。