公开(公告)号：US4884226A

公开(公告)日：1989-11-28

申请号：US262081

申请日：1988-10-24

申请人： Tetsuro Sakano

发明人： Tetsuro Sakano

IPC分类号： G01B21/00 ,  G01B21/22 ,  G01D5/244 ,  G01D5/245 ,  G01D5/30 ,  H03M1/00

CPC分类号： G01D5/24409 ,  G01D5/24404 ,  H03M1/30

摘要： A method is provided for detecting a position, comprising the steps of: producing two-phase sinusoidal wave signals having a 90.degree.-spatial phase difference therebetween upon movement of a moving object; detecting the current voltage V.sub.a and V.sub.b of the two-phase sinusoidal wave signals and calculating a value of .alpha. making a value of V zero, given by V=V.sub.a .multidot.cos.alpha.-V.sub.b .multidot.sin.alpha.; determining the value of .alpha. so that polarities of sin.alpha. and cos.alpha. for the calculated .alpha. coincide with those of V.sub.a and V.sub.b, respectively; and detecting a moving position of the moving object by using the value of .alpha. determined in the preceding step as absolute position data within 1 cycle of the 2-phase signals. According to the above method for detecting a position, the absolute position of a moving object can be detected with a high resolution.

摘要翻译： 提供了一种用于检测位置的方法，包括以下步骤：在移动物体移动时产生具有90度 - 空间相位差的两相正弦波信号; 检测两相正弦波信号的电流电压Va和Vb，并计算由V = Vaxcosα-Vbxsinα给出的值为零的α的值; 确定α的值，使得所计算的α的sinα和cosα的极性分别与Va和Vb的极性一致; 以及通过使用在前一步骤中确定的α值作为2相信号的1周期内的绝对位置数据来检测移动物体的移动位置。 根据用于检测位置的上述方法，可以以高分辨率检测移动物体的绝对位置。

公开(公告)号：US4859845A

公开(公告)日：1989-08-22

申请号：US141306

申请日：1987-12-15

申请人： Tetsuro Sakano

发明人： Tetsuro Sakano

IPC分类号： G01D5/34 ,  G01D5/30 ,  G01D5/347 ,  G01D5/36

CPC分类号： G01D5/366 ,  G01D5/34784 ,  G01D5/36

摘要： An optical rotary encoder is provided, which has a code disk formed with an analog code pattern (CP) so as to improve its detection resolution.The analog code pattern (CP) is continuously formed in the disk circumferentially of the disk, and has its radial width (W) set to a value which varies as a function of the rotational position of the disk, and continuously changes in the circumferential direction. A photoreceptor of the encoder generates a signal proportionate to an amount of light received through the pattern.

公开(公告)号：US20060213287A1

公开(公告)日：2006-09-28

申请号：US11389027

申请日：2006-03-27

申请人： Tetsuro Sakano

发明人： Tetsuro Sakano

IPC分类号： G01D7/00

CPC分类号： G01L5/161

摘要： A six-axis force sensor includes a pair of members, and at least three legs scatteringly disposed between the pair of members on the periphery of the members. Each leg includes a T-shaped leg consisting of a cross beam supported at both ends thereof by one of the pair of members and extending on the periphery of the member in a circumferential direction, and a vertical beam extending from the center of the cross beam to a direction perpendicular to the cross beam and connected to the other of the pair of members. The strains on the legs are detected by first single-axis-type strain gauges and second single-axis-type strain gauges. A first single-axis-type strain gauge is attached to a surface of the cross beam facing the side opposite to the vertical beam or a surface of the cross beam facing the vertical beam, so as to be able to detect a strain generated in the cross beam in a longitudinal axis direction thereof, and a second single-axis-type strain gauge is attached to a side surface of the vertical beam facing in a circumferential direction, so as to be able to detect a strain generated in the vertical beam in a longitudinal axis direction thereof.

摘要翻译： 六轴力传感器包括一对构件，并且至少三个腿分散地设置在构件的周边上的一对构件之间。 每个腿包括一个T形腿，其由横梁支撑，其两端由一对构件中的一个支撑，并沿着圆周方向在构件的周边上延伸，并且从横梁的中心延伸的垂直梁 到垂直于横梁的方向并且连接到该对构件中的另一个。 腿上的应变由第一单轴型应变仪和第二单轴型应变计检测。 第一单轴型应变仪连接到面向与垂直梁相反的一侧的横梁的表面或面向垂直梁的横梁的表面，以便能够检测在 横梁的纵轴方向，第二单轴型应变计安装在垂直梁的朝向圆周方向的侧面，以便能够检测在垂直梁中产生的应变 其纵轴方向。

公开(公告)号：US20050141574A1

公开(公告)日：2005-06-30

申请号：US10933436

申请日：2004-09-03

申请人： Tetsuro Sakano ,  Hiroshi Takigawa ,  Yuji Nishikawa ,  Koji Hayano ,  Akinori Ohyama ,  Ryusuke Miyata

发明人： Tetsuro Sakano ,  Hiroshi Takigawa ,  Yuji Nishikawa ,  Koji Hayano ,  Akinori Ohyama ,  Ryusuke Miyata

IPC分类号： H05K7/20 ,  H01L23/473 ,  H01S3/04 ,  H01S5/02 ,  H01S5/024 ,  H01S5/40

CPC分类号： H01S5/02423 ,  H01L2924/0002 ,  H01S5/02236 ,  H01S5/02272 ,  H01S5/4031 ,  H01L2924/00

摘要： A cooling device for a semiconductor component which increases mechanical strength thereof and reduces a pressure loss of coolant. Plate members constituting the cooling device are formed with flow passages such as coolant supply and discharge openings, grooves divided by ridges, and through portions separated by projections or partitions. The ridges, projections, and partitions are joined to a adjacent plate member to increase the joining strength, which is further increased by forming the ridges, projections, and partitions of different plate members at the same positions. In the case of laminating the plate members having surfaces formed with solder layers, a number of minute vacant spaces are formed in those joining faces of the plate members which are not formed with passages, etc., and solder filets are formed over the entire joining faces to increase the joining strength. The grooves and through portions can be formed by chemical etching together with outer shapes of the plate members. A plurality of plate members can be fabricated from a single sheet material at a time.

摘要翻译： 一种用于半导体部件的冷却装置，其增加其机械强度并降低冷却剂的压力损失。 构成冷却装置的板状构件形成有诸如冷却剂供应和排出开口的流动通道，由脊部分开的凹槽以及通过突出部或隔板分隔开的部分。 脊，突起和隔板连接到相邻的板构件以增加接合强度，这通过在相同位置形成不同板构件的脊，突起和隔板而进一步增加。 在层叠具有形成有焊料层的表面的板构件的情况下，在不形成有通路等的板构件的接合面中形成多个微小的空隙，并且在整个接合处形成焊料片 面对增加接合强度。 凹槽和贯通部分可以通过化学蚀刻与板构件的外形形成。 一次可以由单张片材制造多个板构件。

公开(公告)号：US5543700A

公开(公告)日：1996-08-06

申请号：US244651

申请日：1994-06-06

申请人： Tetsuro Sakano ,  Kohei Arimoto

发明人： Tetsuro Sakano ,  Kohei Arimoto

IPC分类号： H02P25/08 ,  H02D1/46

CPC分类号： H02P25/098

摘要： A variable-reluctance motor is driven by means of a driver circuit which is composed of a common switching device and switching devices corresponding to individual phases. The sum (total current i.sub.t) of currents flowing through coils for the individual phases is detected. The duty ratio of a PWM signal for turning on and off the common switching device is computed in accordance with the deviation between the total current i.sub.t and a current command i.sub.cmd and the sign (positive or negative) of the deviation. Also, the on-off operation of the switching device corresponding to each phase is controlled depending on the excitation phase based on the rotor electrical angle and on whether the sign of the deviation is positive or negative. In this manner, current loop control is executed so that the detected total current i.sub.t follows up the current command i.sub.cmd. Thus, the current is continuously controlled even during a period for the change of the excitation phase, so that the occurrence of a torque ripple can be restrained.

摘要翻译： PCT No.PCT / JP93 / 01404 Sec。 371日期：1994年6月6日 102（e）日期1994年6月6日PCT 1993年9月30日PCT公布。 公开号WO94 / 08391 日期1994年04月14日可变磁阻电机由驱动电路驱动，该驱动电路由共同的开关装置和对应于各个相的开关装置组成。 检测流过各个相的线圈的电流的总和（总电流）。 根据总电流it与电流指令icmd之间的偏差和偏差的符号（正或负）来计算用于接通和断开公共开关器件的PWM信号的占空比。 此外，根据基于转子电角度的激励相位以及偏差的符号是正还是负来控制与各相对应的开关装置的通断动作。 以这种方式，执行电流回路控制，使得检测到的总电流跟随当前命令icmd。 因此，即使在励磁相的变化期间，电流也被连续地控制，从而可以抑制扭矩波动的发生。

公开(公告)号：US5225758A

公开(公告)日：1993-07-06

申请号：US777530

申请日：1992-02-04

申请人： Tetsuro Sakano ,  Takeshi Nakamura

发明人： Tetsuro Sakano ,  Takeshi Nakamura

IPC分类号： H02P25/08 ,  H02P5/40

CPC分类号： H02P25/08

摘要： A driving apparatus for controlling the drive of a variable reluctance motor in a manner that an average voltage applied to an exciting coil linearly changes with respect to a current deviation or a current command. If the current deviation or the current command is positive or zero, a first transistor of a driving circuit is switched ON by a signal selector circuit in dependence upon a PWM signal from a PWM circuit. A polarity determination signal from a polarity determining circuit, and an output from an ON-OFF signal generating circuit. The PWM signal is generated in dependence upon an output of an absolute value circuit. A second transistor is turned ON and OFF in accordance with the PWM signal while the output of the circuit is at a high level, so that a positive line voltage and a zero voltage are alternately generated across a coil. If the current deviation is negative, the second transistor is turned OFF by the signal selector circuit, and the first transistor is turned ON and OFF in accordance with an inverted PWM signal while the output of the circuit is at a high level, so that a negative line voltage and a zero voltage are alternately generated across the coil. Thus, a desired relationship is maintained between a driving circuit ON-OFF duty ratio, corresponding to the current deviation or the current command, and the voltage to be applied to the motor, so that the average coil voltage changes linearly with respect to the current deviation or the current command, to facilitate appropriate motor control.

摘要翻译： PCT No.PCT / JP91 / 00458 Sec。 一九九二年二月四日 102（e）日期1992年2月4日PCT提交1991年4月6日PCT公布。 WO91 / 15894 PCT出版物 日期1991年10月17日。一种驱动装置，用于以施加到励磁线圈的平均电压相对于电流偏差或电流指令线性地改变的方式控制可变磁阻电动机的驱动。 如果电流偏差或电流指令为正或零，则根据来自PWM电路的PWM信号，驱动电路的第一晶体管由信号选择器电路接通。 来自极性确定电路的极性确定信号和来自ON-OFF信号发生电路的输出。 根据绝对值电路的输出产生PWM信号。 当电路的输出处于高电平时，第二晶体管根据PWM信号导通和截止，从而在线圈上交替地产生正线电压和零电压。 如果电流偏差为负，则由信号选择电路使第二晶体管截止，并且在电路输出处于高电平的同时，根据反相PWM信号使第一晶体管导通和截止，使得 在线圈上交替地产生负线电压和零电压。 因此，在与电流偏差或电流指令相对应的驱动电路ON-OFF占空比与要施加到电动机的电压之间保持期望的关系，使得平均线圈电压相对于电流线性变化 偏差或电流指令，便于适当的电机控制。

公开(公告)号：US5013988A

公开(公告)日：1991-05-07

申请号：US382784

申请日：1989-06-23

申请人： Tetsuro Sakano

发明人： Tetsuro Sakano

IPC分类号： G01D5/245 ,  G01D5/249 ,  H03M1/14 ,  H03M1/26 ,  H03M1/30

CPC分类号： G01D5/2455 ,  G01D5/2497 ,  H03M1/143 ,  G05B2219/37263 ,  H03M1/26 ,  H03M1/30

摘要： An absolute position encoder outputs position data as absolute data. When a power supply is turned on, absolute position data is read from an absolute code pattern (6) and is set in a counter (14). Thereafter, the counter (14) effects counting of incremental pulses read from an incremental code pattern (7) and increments the contents of the counter (14). Accurate absolute data referenced upon startup to the absolute code pattern can thus be output even during a high speed rotation.

摘要翻译： PCT No.PCT / JP88 / 01061 Sec。 371日期1989年6月23日第 102（e）日期1989年6月23日PCT提交1988年10月18日PCT公布。 出版物WO89 / 03976 日期：1989年5月5日。绝对位置编码器将位置数据作为绝对数据输出。 当电源接通时，从绝对代码模式（6）读取绝对位置数据，并将其设置在计数器（14）中。 此后，计数器（14）对从增量代码模式（7）读取的增量脉冲进行计数并增加计数器（14）的内容。 因此，即使在高速旋转期间，也可以输出在启动到绝对代码模式时所参考的精确绝对数据。

公开(公告)号：US4603286A

公开(公告)日：1986-07-29

申请号：US674962

申请日：1984-11-15

申请人： Tetsuro Sakano

发明人： Tetsuro Sakano

IPC分类号： H02P29/00 ,  B25J9/18 ,  G05B11/36 ,  G05B19/416 ,  G05D3/12 ,  G05B5/01

CPC分类号： G05B19/416 ,  G05B2219/34042 ,  G05B2219/43013

摘要： In an acceleration/deceleration control system of a servo motor, an acceleration/deceleration control section (5) has a low-pass filter (4) of second or higher order when an exponential acceleration/deceleration system is used, and the acceleration/deceleration section (5) has a linear acceleration/deceleration section (3) and the low-pass filter (4) of second or higher order connected to the output of the linear acceleration/deceleration section (3) when a linear acceleration/deceleration system is used. A position instruction (Pa) is filtered through the low-pass filter (4) of second or higher order, and a filtered signal is supplied to a servo control section (6), thereby driving the servo motor (M).

摘要翻译： PCT No.PCT / JP84 / 00068 Sec。 371日期1984年11月15日 102（e）1984年11月15日日期PCT提交1984年2月27日PCT公布。 公开号WO84 / 03779 日期：1984年9月27日。在伺服电动机的加减速控制系统中，加速/减速控制部（5）具有第二或更高阶的低通滤波器（4），当指数加速/减速系统为 并且加速/减速部分（5）具有线性加速/减速部分（3）和连接到线性加速/减速部分（3）的输出的第二或更高阶的低通滤波器（4），当 使用线性加速/减速系统。 位置指令（Pa）通过第二级或更高级的低通滤波器（4）进行滤波，滤波后的信号被提供给伺服控制部分（6），从而驱动伺服电动机（M）。

公开(公告)号：US4827203A

公开(公告)日：1989-05-02

申请号：US131046

申请日：1987-11-04

申请人： Tetsuro Sakano

发明人： Tetsuro Sakano

IPC分类号： H02K11/00 ,  H02P6/00 ,  H02P6/16 ,  H02P8/00 ,  H02P8/38 ,  H02P23/00 ,  H02P25/00 ,  H02P27/00 ,  G05B1/06

CPC分类号： H02P8/00 ,  H02P6/16

摘要： A rotor rotational position detector for a motor is provided which is capable of detecting an absolute rotation position of a rotor shaft of the motor for one revolution of the rotor shaft. The detector also detects, simultaneously with the absolute detection, a rotor magnetic pole rotational position for motor driving control.The absolute rotational position of the rotor shaft in one revolution of the rotor shaft is detected and a coded signal (a), representative of the detected position, is output. The coded signal (a) is converted into a rotor magnetic position signal (b) for motor driving control by a code converting circuit (5), and is outputted therefrom.

公开(公告)号：US20080188985A1

公开(公告)日：2008-08-07

申请号：US12010957

申请日：2008-01-31

申请人： Tetsuro Sakano

发明人： Tetsuro Sakano

IPC分类号： B25J9/12

CPC分类号： B25J9/1648 ,  G05B2219/39082 ,  G05B2219/39325 ,  G05B2219/39529 ,  G05B2219/49141

摘要： A robot control unit (10) having a designated speed adjusting means for adjusting a designated speed, which is contained in a robot command program, to a value not more than the designated speed, comprises: a decoding means (38) for decoding a movement stopping command of stopping a movement of the robot (1) according to a force detection value detected by a force sensor (2) attached to a wrist of the robot (1); a movement command means (36) for generating a movement command of moving the robot by the designated speed in the designated direction contained in the program without activating the designated speed adjusting means; a force calculation means (31) for calculating a change in a force detection value from a reference value as a present force value; and a comparison means (32) for comparing a present force value, which is repeatedly calculated at a predetermined period by the force calculation means, with a predetermined force designated value while the robot is moving. When the present force value is not less than the designated force value, the movement command means stops the robot. Due to the foregoing, a force applied from the outside to the robot can be highly sensitively detected and the robot can be highly accurately stopped.

摘要翻译： 具有用于将机器人指令程序中包含的指定速度调整为指定速度以下的指定速度调节单元的机器人控制单元（10）包括：解码单元（38），用于对移动 根据由安装在所述机器人（1）的手腕上的力传感器（2）检测出的力检测值来停止所述机器人（1）的移动的停止命令; 移动指令装置（36），用于产生以包含在程序中的指定方向上以指定速度移动机器人的运动命令，而不启动指定的速度调节装置; 力计算装置，用于从作为当前力值的基准值计算力检测值的变化; 以及比较装置（32），用于在机器人移动期间将由力计算装置在预定时段重复计算的当前力值与预定的力指定值进行比较。 当当前力值不小于指定力值时，移动指令装置停止机器人。 由于上述原因，可以高度灵敏地检测从外部施加到机器人的力，并且能够高精度地停止机器人。