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US 12,691,578 B2Granted
Rotation mechanic equipment
AssigneeTechman Robot Inc.
InventorsChing-Wei Lee, Chun-Wen Lai
Life of this patent
Estimating the term…
Abstract
A rotating mechanical equipment is provided. The rotating mechanical equipment detects a vibration based on 2 times the rotation frequency to suppress the vibration of the rotating mechanical equipment.
Claims6
A rotating mechanical equipment, comprising:
- a micro control circuit used to receive a position command then generates a control signal based on the position command to control a rotation frequency;
- and
- a rotation module comprising:
- a motor coupled to the micro control circuit to receive the control signal then operates at the rotation frequency based on the control signal;
- a first encoder connected to the motor to detect the rotation frequency of the motor then generates a first detection signal;
- a reducer connected to the motor through the first encoder to operate at a circled frequency based on the rotation frequency of the motor;
- a second encoder connected to the reducer to detect the circled frequency of the reducer then generates a second detection signal to the micro control circuit;
- and
- a detection circuit configured to detect vibration based on an amplitude of the second detection signal at a frequency equal to 2 times the rotation frequency.
6 more elements
A rotating mechanical equipment, comprising:
- a detection circuit used to receive a position command then generates a detection signal based on the position command;
- and
- a vibration suppression circuit coupled to the detection circuit to receive the detection signal to suppress a vibration,
- wherein the detection circuit comprises:
- a command operation circuit used to receive the position command to calculate a command speed of the position command;
- and
- a judgment circuit coupled to the command operation circuit to receive the command speed then compares the command speed with a command threshold to generate a judgment signal;
- wherein the detection circuit starts a detection based on the judgment signal and generates the detection signal when an amplitude whose frequency is detected as 2 times a rotation frequency.
5 more elements
A rotating mechanical equipment, comprising:
- a detection circuit used to receive a position command then generates a detection signal based on the position command;
- and
- a vibration suppression circuit coupled to the detection circuit to receive the detection signal to suppress a vibration, wherein the detection circuit detects the vibration based on 2 times a rotation frequency to generate the detection signal,
- wherein the vibration suppression circuit comprises a compensation coefficient and is coupled to a first encoder and a second encoder to receive a first detection signal and a second detection signal then calculates a compensation signal based on the compensation coefficient, the first detection signal and the second detection signal to compensate a torque control loop.
1 more element
Dependencies are inferred from the claim text.