公开(公告)号：US20130237368A1

公开(公告)日：2013-09-12

申请号：US13873237

申请日：2013-04-30

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Wennong ZHANG ,  Hiroshi NAKAMURA ,  Yasuo KISHI

IPC: F16H1/46

CPC classification number: F16H1/46

Abstract: A compound planetary gear mechanism includes at least two planetary gear mechanisms and a carrier. The at least two planetary gear mechanisms include a first planetary gear mechanism and a second planetary gear mechanism. The first planetary gear mechanism includes a plurality of first planetary gears. The second planetary gear mechanism includes a plurality of second planetary gears. The carrier is coupled to the plurality of first planetary gears and the plurality of second planetary gears. The carrier includes a first support shaft and a second support shaft. The first support shaft rotatably supports a first planetary gear among the plurality of first planetary gears. The second support shaft rotatably supports a second planetary gear among the plurality of second planetary gears and is independent of the first support shaft.

Abstract translation: 复合行星齿轮机构包括至少两个行星齿轮机构和载体。 所述至少两个行星齿轮机构包括第一行星齿轮机构和第二行星齿轮机构。 第一行星齿轮机构包括多个第一行星齿轮。 第二行星齿轮机构包括多个第二行星齿轮。 载体联接到多个第一行星齿轮和多个第二行星齿轮。 载体包括第一支撑轴和第二支撑轴。 第一支撑轴可旋转地支撑多个第一行星齿轮中的第一行星齿轮。 所述第二支撑轴可旋转地支撑所述多个第二行星齿轮中的第二行星齿轮并且独立于所述第一支撑轴。

公开(公告)号：US20150256113A1

公开(公告)日：2015-09-10

申请号：US14717246

申请日：2015-05-20

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Yoshiyasu TAKASE ,  Hiroshi NAKAMURA ,  Yoshiaki KUBOTA ,  Takashi MAMBA

IPC: H02P21/14 ,  H02K11/00 ,  H02P6/16 ,  H02P6/08

CPC classification number: H02P6/10 ,  H02K11/24 ,  H02P21/18 ,  H02P21/20 ,  H02P21/22 ,  H02P27/04 ,  H02P2205/05

Abstract: A motor drive system is provided with a motor, a torque sensor provided between the motor and a load, and a circuitry that controls driving of the motor. The circuitry is configured to execute estimating at least either of a speed or a position of the motor based on a torque detection signal detected by the torque sensor.

Abstract translation: 电动机驱动系统设置有电动机，设置在电动机和负载之间的扭矩传感器以及控制电动机驱动的电路。 电路被配置为基于由转矩传感器检测的转矩检测信号来执行电动机的速度或位置中的至少一个的估计。

公开(公告)号：US20160156297A1

公开(公告)日：2016-06-02

申请号：US15014020

申请日：2016-02-03

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Yoshiyasu TAKASE ,  Hiroshi NAKAMURA ,  Yoshiaki KUBOTA ,  Takashi MAMBA

IPC: H02P21/18 ,  H02P6/00 ,  H02P6/28 ,  H02P6/08 ,  H02K11/20

CPC classification number: H02P21/18 ,  B25J9/1633 ,  G05B2219/39188 ,  H02K11/20 ,  H02P6/006 ,  H02P6/10 ,  H02P6/183 ,  H02P6/28

Abstract: A motor control apparatus according to an embodiment includes a torque current controller, an excitation current controller, and an estimation unit. The torque current controller that performs torque current control on a motor based on a deviation between a feedback signal based on a detection result of a sensor that can detect torque or acceleration of the motor and a torque current reference. The excitation current controller that performs excitation current control on the motor based on an excitation current reference on which a high-frequency current reference is superimposed. The estimation unit that estimates at least one of a position and a velocity of the motor based on the deviation and the high-frequency current reference.

Abstract translation: 根据实施例的电动机控制装置包括转矩电流控制器，励磁电流控制器和估计单元。 扭矩电流控制器，其基于可以检测电动机的转矩或加速度的传感器的检测结果的反馈信号与转矩电流基准之间的差异，对电动机进行转矩电流控制。 励磁电流控制器，其基于叠加了高频电流基准的励磁电流基准对电动机进行励磁电流控制。 估计单元，基于偏差和高频电流基准来估计电动机的位置和速度中的至少一个。

公开(公告)号：US20130142608A1

公开(公告)日：2013-06-06

申请号：US13756554

申请日：2013-02-01

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Wennong ZHANG ,  Hiroshi NAKAMURA

IPC: B25J17/02 ,  B25J17/00 ,  B25J9/10

CPC classification number: B25J17/0266 ,  B25J9/0051 ,  B25J9/1065 ,  B25J17/00 ,  F16H21/04 ,  Y10T74/20305

Abstract: A parallel mechanism includes a fixed plate, four turnable actuators, four peripheral driving mechanisms, and a movable plate. The four turnable actuators are disposed in respective four directions of the fixed plate with pivot axes of two adjacent turnable actuators being orthogonal to one another and with pivot axes of two opposing turnable actuators being parallel to one another. The four peripheral driving mechanisms each include an upper arm made up of a bar integral with a rotor of a turnable actuator corresponding to the upper arm. An upper joint couples the upper arm to the lower arm. A lower joint couples the lower arm to the movable plate. The movable plate is driven by the four turnable actuators through the four peripheral driving mechanisms with at least four degrees of freedom including one rotational degree of freedom along a plane direction of the movable plate.

Abstract translation: 平行机构包括固定板，四个可转动致动器，四个外围驱动机构和可移动板。 四个可转动致动器设置在固定板的相应四个方向上，其中两个相邻的可转动致动器的枢转轴线彼此正交，并且两个相对的可转动致动器的枢转轴线彼此平行。 四个外围驱动机构各自包括由与上臂相对应的可转动致动器的转子一体的杆构成的上臂。 上接头将上臂连接到下臂。 下接头将下臂连接到可动板。 可移动板由四个可转动致动器通过四个外围驱动机构驱动，其具有至少四个自由度，包括沿着可移动板的平面方向的一个旋转自由度。