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公开(公告)号：US20080157705A1
公开(公告)日：2008-07-03
申请号：US11952159
申请日：2007-12-07
申请人： Kozo Sasaki , Toshiki Maruyama , Toshiyuki Abe , Muneo Mitamura
发明人： Kozo Sasaki , Toshiki Maruyama , Toshiyuki Abe , Muneo Mitamura
IPC分类号： G05B9/03
CPC分类号： G01D5/24447 , G01D5/24428 , G01D5/24461
摘要： In the magnetic absolute encoder, an ordinary operating circuit and an ordinary/backup operating circuit are actuated during ordinary operation in which power is supplied from the ordinary operating power supply; the single-rotation absolute value (1) and single-rotation absolute value (2) detected by these circuits are compared by the abnormality diagnosis circuit, and the presence or absence of an abnormality is automatically judged During backup in which the ordinary operating power supply is interrupted, only the low-power-consumption ordinary/backup operating circuit is actuated, and the multiple-rotation value (2) is detected At the point in time at which the system is returned to ordinary operation, the multiple-rotation value setting circuit sets the multiple-rotation value (2) as the multiple-rotation value (1) of the ordinary operating circuit. As a result, the calculation operation of the multiple-rotation value (1) can be restarted.
摘要翻译： 在磁绝对编码器中，普通操作电路和普通/备用操作电路在从普通操作电源供电的普通操作期间被致动; 通过异常诊断电路比较由这些电路检测到的单个旋转绝对值（1）和单个旋转绝对值（2），并且自动判断异常的有无。在普通操作电源 被中断，只有低功耗普通/备用操作电路被启动，并且检测到多个旋转值（2）。在系统返回到正常操作的时间点，多个旋转值设置 电路将多个旋转值（2）设定为普通操作电路的多个旋转值（1）。 结果，能够重新开始多次旋转值（1）的计算动作。
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公开(公告)号：US20090243599A1
公开(公告)日：2009-10-01
申请号：US12400839
申请日：2009-03-10
申请人： Kozo Sasaki , Toshiki Maruyama
发明人： Kozo Sasaki , Toshiki Maruyama
IPC分类号： G01B7/30
CPC分类号： G01D5/2497
摘要： A multiple-rotation absolute encoder attached to an actuator provided with a motor and a reduction gear comprises a multiple-rotation value counter for counting a multiple-rotation value representing a number of rotations of a rotating shaft of the motor from a predetermined origin; a memory part for storing a reduction ratio R of the reduction gear; and a counter-controlling part for setting a range of the count value of the multiple-rotation value counter from zero rotations to (R−1) rotations on the basis of the reduction ratio R stored and maintained in the memory part, resetting the count value to zero when the rotating shaft makes a single rotation in a forward direction from a state in which the count value is (R−1), and setting the count value to (R−1) when the rotating shaft makes a single rotation in a reverse direction from a state in which the count value is zero. The rotation-angle position within a single rotation of the output shaft can be specified without the multiple-rotation value counter overflowing, even when the actuator rotates continuously in one direction.
摘要翻译： 安装在具有马达和减速齿轮的致动器的多旋转绝对式编码器包括：多转数值计数器，用于对表示来自预定原点的马达的旋转轴的转数进行多个旋转值的计数; 用于存储所述减速装置的减速比R的存储部件; 以及反控制部件，用于根据存储部分中存储和保持的减速比R来设定多转数值计数器的计数值的范围从零旋转到（R-1）转数，复位计数 当旋转轴从计数值为（R-1）的状态向正方向进行单次旋转时，将该值设定为零，并且当旋转轴进行单次旋转时将计数值设定为（R-1） 与计数值为零的状态相反的方向。 即使在执行器沿一个方向连续旋转的情况下，也可以指定输出轴的单次旋转中的旋转角位置，而不会使多个旋转值计数器溢出。
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公开(公告)号：US07876092B2
公开(公告)日：2011-01-25
申请号：US12400839
申请日：2009-03-10
申请人： Kozo Sasaki , Toshiki Maruyama
发明人： Kozo Sasaki , Toshiki Maruyama
IPC分类号： G01B7/30
CPC分类号： G01D5/2497
摘要： A multiple-rotation absolute encoder attached to an actuator provided with a motor and a reduction gear comprises a multiple-rotation value counter for counting a multiple-rotation value representing a number of rotations of a rotating shaft of the motor from a predetermined origin; a memory part for storing a reduction ratio R of the reduction gear; and a counter-controlling part for setting a range of the count value of the multiple-rotation value counter from zero rotations to (R−1) rotations on the basis of the reduction ratio R stored and maintained in the memory part, resetting the count value to zero when the rotating shaft makes a single rotation in a forward direction from a state in which the count value is (R−1), and setting the count value to (R−1) when the rotating shaft makes a single rotation in a reverse direction from a state in which the count value is zero. The rotation-angle position within a single rotation of the output shaft can be specified without the multiple-rotation value counter overflowing, even when the actuator rotates continuously in one direction.
摘要翻译： 安装在具有马达和减速齿轮的致动器的多旋转绝对式编码器包括：多转数值计数器，用于对表示来自预定原点的马达的旋转轴的转数进行多个旋转值的计数; 用于存储所述减速装置的减速比R的存储部件; 以及反控制部件，用于根据存储部分中存储和保持的减速比R来设定多转数值计数器的计数值的范围从零旋转到（R-1）转数，复位计数 当旋转轴从计数值为（R-1）的状态向正方向进行单次旋转时，将该值设定为零，并且当旋转轴进行单次旋转时将计数值设定为（R-1） 与计数值为零的状态相反的方向。 即使在执行器沿一个方向连续旋转的情况下，也可以指定输出轴的单次旋转中的旋转角位置，而不会使多个旋转值计数器溢出。
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公开(公告)号：US07471080B2
公开(公告)日：2008-12-30
申请号：US11952159
申请日：2007-12-07
申请人： Kozo Sasaki , Toshiki Maruyama , Toshiyuki Abe , Muneo Mitamura
发明人： Kozo Sasaki , Toshiki Maruyama , Toshiyuki Abe , Muneo Mitamura
IPC分类号： G01B7/30
CPC分类号： G01D5/24447 , G01D5/24428 , G01D5/24461
摘要： In the magnetic absolute encoder, an ordinary operating circuit and an ordinary/backup operating circuit are actuated during ordinary operation in which power is supplied from the ordinary operating power supply; the single-rotation absolute value (1) and single-rotation absolute value (2) detected by these circuits are compared by the abnormality diagnosis circuit, and the presence or absence of an abnormality is automatically judged During backup in which the ordinary operating power supply is interrupted, only the low-power-consumption ordinary/backup operating circuit is actuated, and the multiple-rotation value (2) is detected At the point in time at which the system is returned to ordinary operation, the multiple-rotation value setting circuit sets the multiple-rotation value (2) as the multiple-rotation value (1) of the ordinary operating circuit. As a result, the calculation operation of the multiple-rotation value (1) can be restarted.
摘要翻译： 在磁绝对编码器中，普通操作电路和普通/备用操作电路在从普通操作电源供电的普通操作期间被致动; 通过异常诊断电路比较由这些电路检测到的单个旋转绝对值（1）和单个旋转绝对值（2），并且自动判断异常的有无。在普通操作电源 被中断，只有低功耗普通/备用操作电路被启动，并且检测到多个旋转值（2）。在系统返回到正常操作的时间点，多个旋转值设置 电路将多个旋转值（2）设定为普通操作电路的多个旋转值（1）。 结果，能够重新开始多次旋转值（1）的计算动作。
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公开(公告)号：US20060163955A1
公开(公告)日：2006-07-27
申请号：US10529188
申请日：2004-07-14
申请人： Toshiki Maruyama , Akihiro Yokoyama
发明人： Toshiki Maruyama , Akihiro Yokoyama
摘要： A flat, hollow brushless servomotor (1) has a motor housing (2), housing through holes (22a, 23a) formed in a center of both end plate portions (22, 23), a rotor shaft (41) of which a portion of both ends is exposed from the through holes, a tool-mounting hole (43) that extends through a center thereof, and workpiece insertion recesses (24, 25) formed in an external surface of both end plate portions (22, 23) of the motor housing (2) by reducing the thickness thereof. A workpiece with a shape that has facing portions facing each other across a narrow space can be introduced from an outside to a center of the motor (1) along the workpiece insertion recesses, and the facing portions of the workpiece can be machined by a tool mounted in the center of the motor.
摘要翻译： 平坦的中空无刷伺服电动机（1）具有电动机壳体（2），形成在两个端板部分（22,23）的中心的通孔（22a，23a），转子轴（41） 两端的一部分从通孔露出，延伸穿过其中心的工具安装孔（43）和形成在两个端板部分（22,23）的外表面中的工件插入凹部（24,25） ）通过减小电机壳体（2）的厚度。 可以沿着工件插入凹槽从电动机（1）的外部向中心引入具有面对部分彼此面对的形状的工件，并且工件的相对部分可以通过工具 安装在电机的中心。
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公开(公告)号：US08400096B2
公开(公告)日：2013-03-19
申请号：US12737027
申请日：2008-06-20
申请人： Kunio Miyashita , Toshiki Maruyama , Tsukasa Koto
发明人： Kunio Miyashita , Toshiki Maruyama , Tsukasa Koto
IPC分类号： G05B19/29
CPC分类号： G01D5/2451 , G01D5/145 , G01D5/24476 , H02K24/00 , H02K29/08
摘要： First to fourth magnetic detection units (22-25) are arranged in opposition to a multipole magnetized surface (21a) of a multipole magnet (21) of a magnetic encoder (17). The first and second magnetic detection units (22, 23) are placed on positions separated from each other by 180 degrees on the periphery of the center of the multipole magnet and output an A-phase signal and a B-phase signal. The third and fourth magnetic detection units (24, 25) are placed on positions separated from each other by nearly 180 degrees on the periphery of the center of the multipole magnet and output an A-phase reverse signal and a B-phase reverse signal. Detection signals of the same phase are synthesized and averaged, and consequently a detection error generated by an outer magnetic flux extending in the diameter direction of the multipole magnet can be removed. The signal obtained by synthesizing the detection signals of the same phase and averaging the same and the reverse signal of a signal obtained by synthesizing reverse signals of the reverse phase and averaging the same are synthesized and averaged, and consequently the detection error generated by the outer magnetic flux radially extending in one direction along the radius direction of the multipole magnet can be removed.
摘要翻译： 第一至第四磁检测单元（22-25）与磁编码器（17）的多极磁体（21）的多极磁化面（21a）相对配置。 第一和第二磁检测单元（22,23）被放置在多极磁体的中心周围彼此分开180度的位置，并输出A相信号和B相信号。 第三和第四磁检测单元（24,25）被放置在多极磁体中心的周边上彼此分开近180度的位置，并输出A相反向信号和B相反向信号。 合成并平均相同相位的检测信号，因此可以消除由在多极磁体的直径方向延伸的外磁通产生的检测误差。 将通过合成相同相位的检测信号和对其进行平均的信号和通过合成反相的反相信号而获得的信号的反向信号并对其进行平均而获得的信号被合成并平均，因此由外部产生的检测误差 可以去除沿着多极磁体的半径方向沿一个方向径向延伸的磁通量。
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公开(公告)号：US20110156505A1
公开(公告)日：2011-06-30
申请号：US12737027
申请日：2008-06-20
申请人： Kunio Miyashita , Toshiki Maruyama , Tsukasa Koto
发明人： Kunio Miyashita , Toshiki Maruyama , Tsukasa Koto
CPC分类号： G01D5/2451 , G01D5/145 , G01D5/24476 , H02K24/00 , H02K29/08
摘要： First to fourth magnetic detection units (22-25) are arranged in opposition to a multipole magnetized surface (21a) of a multipole magnet (21) of a magnetic encoder (17). The first and second magnetic detection units (22, 23) are placed on positions separated from each other by 180 degrees on the periphery of the center of the multipole magnet and output an A-phase signal and a B-phase signal. The third and fourth magnetic detection units (24, 25) are placed on positions separated from each other by nearly 180 degrees on the periphery of the center of the multipole magnet and output an A-phase reverse signal and a B-phase reverse signal. Detection signals of the same phase are synthesized and averaged, and consequently a detection error generated by an outer magnetic flux extending in the diameter direction of the multipole magnet can be removed. The signal obtained by synthesizing the detection signals of the same phase and averaging the same and the reverse signal of a signal obtained by synthesizing reverse signals of the reverse phase and averaging the same are synthesized and averaged, and consequently the detection error generated by the outer magnetic flux radially extending in one direction along the radius direction of the multipole magnet can be removed.
摘要翻译： 第一至第四磁检测单元（22-25）与磁编码器（17）的多极磁体（21）的多极磁化面（21a）相对配置。 第一和第二磁检测单元（22,23）被放置在多极磁体的中心周围彼此分开180度的位置，并输出A相信号和B相信号。 第三和第四磁检测单元（24,25）被放置在多极磁体中心的周边上彼此分开近180度的位置，并输出A相反向信号和B相反向信号。 合成并平均相同相位的检测信号，因此可以消除由在多极磁体的直径方向延伸的外磁通产生的检测误差。 将通过合成相同相位的检测信号和对其进行平均的信号和通过合成反相的反相信号而获得的信号的反向信号并对其进行平均而获得的信号被合成并平均，因此由外部产生的检测误差 可以去除沿着多极磁体的半径方向沿一个方向径向延伸的磁通量。
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公开(公告)号：US07752943B2
公开(公告)日：2010-07-13
申请号：US11907665
申请日：2007-10-16
申请人： Toshiki Maruyama , Takayuki Kojima
发明人： Toshiki Maruyama , Takayuki Kojima
IPC分类号： F16H33/00
CPC分类号： H02K7/116 , H02K11/215 , Y10T74/19
摘要： In an actuator (1) in which an angle detector (13) of a magnetic encoder for detecting the rotational position of a motor (3) is incorporated inside a wave reduction gear (5), detection signals from Hall elements (11a, 11b) of the angle detector (13) are transmitted via sensor lead wires (17) that have been brought out through wiring holes (36a, 33a, 35a, 37a) formed inside the motor (3) to a sensor signal converter board (14) disposed on the rear end side of the motor. Since the wiring is not required to be brought out to the exterior, indirectly routed along the exterior of the motor (3), and brought out to the rear side thereof, the wiring is not mechanically damaged and can be brought out with the shortest possible wiring distance, and the effect of electromagnetic noise can be reduced.
摘要翻译： 在用于检测电动机（3）的旋转位置的磁性编码器的角度检测器（13）被并入在减速齿轮（5）内的致动器（1）中，来自霍尔元件（11a，11b）的检测信号 的角度检测器（13）的传感器信号转换器（14）的传感器引线（17）经由设置在电动机（3）内的配线孔（36a，33a，35a，37a） 在电机的后端侧。 由于布线不需要被引出到外部，间接地沿着电动机（3）的外部布置并且被引出到其后侧，所以布线没有机械损坏并且可以以尽可能最短的方式被拉出 布线距离，电磁噪音的影响可以减小。
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公开(公告)号：US20080098839A1
公开(公告)日：2008-05-01
申请号：US11907665
申请日：2007-10-16
申请人： Toshiki Maruyama , Takayuki Kojima
发明人： Toshiki Maruyama , Takayuki Kojima
IPC分类号： H02K7/116
CPC分类号： H02K7/116 , H02K11/215 , Y10T74/19
摘要： In an actuator (1) in which an angle detector (13) of a magnetic encoder for detecting the rotational position of a motor (3) is incorporated inside a wave reduction gear (5), detection signals from Hall elements (11a, 11b) of the angle detector (13) are transmitted via sensor lead wires (17) that have been brought out through wiring holes (36a, 33a, 35a, 37a) formed inside the motor (3) to a sensor signal converter board (14) disposed on the rear end side of the motor. Since the wiring is not required to be brought out to the exterior, indirectly routed along the exterior of the motor (3), and brought out to the rear side thereof, the wiring is not mechanically damaged and can be brought out with the shortest possible wiring distance, and the effect of electromagnetic noise can be reduced.
摘要翻译： 在用于检测电动机（3）的旋转位置的磁性编码器的角度检测器（13）被并入减波齿轮（5）内的致动器（1）中，来自霍尔元件（11a，11）的检测信号 角度检测器（13）的b）通过传感器引线（17）传输，传感器引线（17）通过形成在马达（3）内部的布线孔（36a，33a，35a，37a） 转换器板（14），设置在电动机的后端侧。 由于布线不需要被引出到外部，间接地沿着电动机（3）的外部布置并且被引出到其后侧，所以布线没有机械损坏并且可以以尽可能最短的方式被拉出 布线距离，电磁噪音的影响可以降低。
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公开(公告)号：US06817267B2
公开(公告)日：2004-11-16
申请号：US10076342
申请日：2002-02-19
IPC分类号： F16H3500
CPC分类号： F16H49/001 , H02K7/083 , H02K7/116 , Y10T74/19
摘要： An actuator has a housing, a motor and a wave gear reduction drive arranged axially in the housing, and a rotational shaft extending through the centers of these portions. The rotational shaft is supported at its rear side by a first bearing and at its front side by a boss of a flexible external gear of the wave gear reduction drive via a second bearing. The rotational shaft is formed integrally on its outer peripheral portion with a cam plate of a wave generator of the wave gear reduction drive. The actuator thus configured does not require a coupling mechanism between the motor and the wave gear reduction drive and needs fewer bearings to support the rotational shaft, making it possible to reduce the axial length of the actuator.
摘要翻译： 致动器具有壳体，马达和轴向布置在壳体中的波齿轮减速驱动器，以及延伸穿过这些部分的中心的旋转轴。 旋转轴在其后侧由第一轴承支撑，并且其前侧由波齿轮减速驱动器的柔性外齿轮的凸台经由第二轴承支撑。 旋转轴与波轮齿轮减速驱动器的波发生器的凸轮板一体地形成在其外周部上。 如此构造的致动器不需要电动机和波齿轮减速驱动之间的联接机构，并且需要更少的轴承来支撑旋转轴，使得可以减小致动器的轴向长度。
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