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公开(公告)号：US11735991B2
公开(公告)日：2023-08-22
申请号：US17284932
申请日：2019-10-08
申请人： THK CO., LTD.
发明人： Katsuya Fukushima , Masashi Ishii , Hiroki Niwa , Akira Suzuki , Kazuto Oga , Shogo Wakuta , Satoshi Hara , Tomofumi Mizuno , Shigeki Hayashi
CPC分类号： H02K41/031 , H02P25/06
摘要： In an actuator, an unnecessarily large load is prevented from being applied to a shaft and a workpiece. There are included a force sensor, an output of which is according to a force applied to a connecting member connected to the shaft, an amplifier that amplifies the output of the force sensor, and a low-pass filter, and a load applied to the shaft is detected based on an output from the amplifier until the shaft or a member associated with the shaft comes in contact with another member, and thereafter, the load applied to the shaft is detected based on an output from the low-pass filter.
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公开(公告)号：US12053878B2
公开(公告)日：2024-08-06
申请号：US17263729
申请日：2019-08-01
申请人： THK CO., LTD.
发明人： Katsuya Fukushima , Masashi Ishii , Hiroki Niwa , Shigeki Hayashi , Akira Suzuki , Kazuto Oga , Shogo Wakuta , Satoshi Hara , Tomofumi Mizuno
CPC分类号： B25J15/0633 , B25J13/087
摘要： Provided is a sensing device to be applied to an actuator including a shaft that is movable in an axial direction, the shaft including a hollow part formed on at least a tip side of the shaft such that an interior of the shaft is hollow, the actuator being configured to generate a negative pressure in the hollow part to suction a workpiece to a tip of the shaft, thereby picking up the workpiece. The sensing device includes a flow sensor provided in a middle of an air passage to detect a flow rate of air flowing through the air passage, the air passage being a passage through which air sucked out from the hollow part flows when the negative pressure is applied to the hollow part, and a pressure sensor provided in a middle of the air passage, to detect a pressure in the air passage.
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公开(公告)号：US11911891B2
公开(公告)日：2024-02-27
申请号：US17284886
申请日：2019-10-17
申请人： THK CO., LTD.
发明人： Katsuya Fukushima , Masashi Ishii , Hiroki Niwa , Akira Suzuki , Kazuto Oga , Shogo Wakuta , Satoshi Hara , Tomofumi Mizuno , Shigeki Hayashi
CPC分类号： B25J13/085 , B25J9/16 , B25J15/0616 , G01L5/226
摘要： An actuator system that picks up workpieces aims to shorten tact time and to reduce damages to workpieces. The actuator system includes an actuator that picks up a workpiece, an external force detection sensor that detects a physical quantity that is correlated with an external force that is applied to the workpiece, a head unit that is connected to the actuator and the external force detection sensor without a communication network, the head unit being configured to control the actuator based on a sensing result from the external force detection sensor when a pickup request signal that is a signal requesting pickup of the workpiece is received, and a control device that is connected to the head unit over the communication network, the control device being configured to transmit the pickup request signal to the head unit.
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公开(公告)号：US20210387353A1
公开(公告)日：2021-12-16
申请号：US17284886
申请日：2019-10-17
申请人： THK CO., LTD.
发明人： Katsuya Fukushima , Masashi Ishii , Hiroki Niwa , Akira Suzuki , Kazuto Oga , Shogo Wakuta , Satoshi Hara , Tomofumi Mizuno , Shigeki Hayashi
摘要： An actuator system that picks up workpieces aims to shorten tact time and to reduce damages to workpieces. The actuator system includes an actuator that picks up a workpiece, an external force detection sensor that detects a physical quantity that is correlated with an external force that is applied to the workpiece, a head unit that is connected to the actuator and the external force detection sensor without a communication network, the head unit being configured to control the actuator based on a sensing result from the external force detection sensor when a pickup request signal that is a signal requesting pickup of the workpiece is received, and a control device that is connected to the head unit over the communication network, the control device being configured to transmit the pickup request signal to the head unit.
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公开(公告)号：US20210299889A1
公开(公告)日：2021-09-30
申请号：US17263729
申请日：2019-08-01
申请人： THK CO., LTD.
发明人： Katsuya Fukushima , Masashi Ishii , Hiroki Niwa , Shigeki Hayashi , Akira Suzuki , Kazuto Oga , Shogo Wakuta , Satoshi Hara , Tomofumi Mizuno
摘要： Provided is a sensing device to be applied to an actuator including a shaft that is movable in an axial direction, the shaft including a hollow part formed on at least a tip side of the shaft such that an interior of the shaft is hollow, the actuator being configured to generate a negative pressure in the hollow part to suction a workpiece to a tip of the shaft, thereby picking up the workpiece. The sensing device includes a flow sensor provided in a middle of an air passage to detect a flow rate of air flowing through the air passage, the air passage being a passage through which air sucked out from the hollow part flows when the negative pressure is applied to the hollow part, and a pressure sensor provided in a middle of the air passage, to detect a pressure in the air passage.
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公开(公告)号：US11883952B2
公开(公告)日：2024-01-30
申请号：US17263318
申请日：2019-08-01
申请人： THK CO., LTD.
发明人： Katsuya Fukushima , Masashi Ishii , Hiroki Niwa , Akira Suzuki , Kazuto Oga , Shogo Wakuta , Satoshi Hara , Shigeki Hayashi , Tomofumi Mizuno
CPC分类号： B25J15/0616 , H02K11/30 , H02K41/031
摘要： Provided is an actuator in which a load applied to a shaft and a workpiece is controlled. The actuator includes a support part that rotatably supports the shaft, a linear motion motor that moves the shaft in a direction of a central axis, a connecting member that is at least a part of a member connecting a mover of the linear motion motor and the support part, a strain gauge that detects strain of the connecting member, and a control device that controls the linear motion motor, based on the strain detected by the strain gauge.
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公开(公告)号：US20210379760A1
公开(公告)日：2021-12-09
申请号：US17284932
申请日：2019-10-08
申请人： THK CO., LTD.
发明人： Katsuya Fukushima , Masashi Ishii , Hiroki Niwa , Akira Suzuki , Kazuto Oga , Shogo Wakuta , Satoshi Hara , Tomofumi Mizuno , Shigeki Hayashi
摘要： In an actuator, an unnecessarily large load is prevented from being applied to a shaft and a workpiece. There are included a force sensor, an output of which is according to a force applied to a connecting member connected to the shaft, an amplifier that amplifies the output of the force sensor, and a low-pass filter, and a load applied to the shaft is detected based on an output from the amplifier until the shaft or a member associated with the shaft comes in contact with another member, and thereafter, the load applied to the shaft is detected based on an output from the low-pass filter.
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公开(公告)号：US20210370526A1
公开(公告)日：2021-12-02
申请号：US17263704
申请日：2019-08-01
申请人： THK CO., LTD.
发明人： Katsuya Fukushima , Masashi Ishii , Hiroki Niwa , Shigeki Hayashi , Akira Suzuki , Kazuto Oga , Shogo Wakuta , Satoshi Hara , Tomofumi Mizuno , Satoru Nagai
IPC分类号： B25J15/06
摘要： The present invention reduces tact time for a pick-and-place operation by an actuator. In a housing of the actuator, an air passage being a passage of air when sucking air from a hollow part of a shaft is provided. Furthermore, a sucking valve that sucks air from the hollow part of the shaft through the air passage and a suction detecting sensor to detect that a workpiece is suctioned onto a tip of the shaft are provided in the air passage. Then, in the housing, the air passage is disposed at a position on a side opposite to a linear motion motor that moves the shaft in an axial direction of the shaft, via the shaft.
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公开(公告)号：US20210162609A1
公开(公告)日：2021-06-03
申请号：US17263318
申请日：2019-08-01
申请人： THK CO., LTD.
发明人： Katsuya Fukushima , Masashi Ishii , Hiroki Niwa , Akira Suzuki , Kazuto Oga , Shogo Wakuta , Satoshi Hara , Shigeki Hayashi , Tomofumi Mizuno
摘要： Provided is an actuator in which a load applied to a shaft and a workpiece is controlled. The actuator includes a support part that rotatably supports the shaft, a linear motion motor that moves the shaft in a direction of a central axis, a connecting member that is at least a part of a member connecting a mover of the linear motion motor and the support part, a strain gauge that detects strain of the connecting member, and a control device that controls the linear motion motor, based on the strain detected by the strain gauge.
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公开(公告)号：US12036666B2
公开(公告)日：2024-07-16
申请号：US17263704
申请日：2019-08-01
申请人： THK CO., LTD.
发明人： Katsuya Fukushima , Masashi Ishii , Hiroki Niwa , Shigeki Hayashi , Akira Suzuki , Kazuto Oga , Shogo Wakuta , Satoshi Hara , Tomofumi Mizuno , Satoru Nagai
IPC分类号： B25J15/06
CPC分类号： B25J15/0625 , B25J15/0658
摘要： The present invention reduces tact time for a pick-and-place operation by an actuator. In a housing of the actuator, an air passage being a passage of air when sucking air from a hollow part of a shaft is provided. Furthermore, a sucking valve that sucks air from the hollow part of the shaft through the air passage and a suction detecting sensor to detect that a workpiece is suctioned onto a tip of the shaft are provided in the air passage. Then, in the housing, the air passage is disposed at a position on a side opposite to a linear motion motor that moves the shaft in an axial direction of the shaft, via the shaft.
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