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公开(公告)号：US11628579B2
公开(公告)日：2023-04-18
申请号：US16827811
申请日：2020-03-24
发明人： Akitoshi Maeda , Daiki Tokushima , Takeru Saeki
摘要： A robot system includes a robot, a controller that controls actuation of the robot, and a first external device, wherein the robot has a first member, a second member that pivots relative to the first member, a motor that generates drive power for pivoting the second member relative to the first member, an encoder including a detection unit that detects an amount of rotation of the motor, a control unit that controls actuation of the detection unit, a communication unit that communicates with the controller, and a first device connecting part connected to the first external device, the control unit connected to the detection unit, the communication unit, and the first device connecting part, and a first communication line connecting the communication unit and the controller, and data of the first external device is transmitted to the controller via the first device connecting part and the first communication line.
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公开(公告)号：US11554500B2
公开(公告)日：2023-01-17
申请号：US16434260
申请日：2019-06-07
发明人： Akitoshi Maeda
IPC分类号： H02K11/215 , B25J13/08 , H02K11/22 , B25J9/12 , B25J18/00 , H02K11/20 , G01D5/347 , H02K37/00 , G01D5/14
摘要： An encoder including a rotary disc that rotates around a rotating shaft, and a sensor that detects a rotational position of the rotary disc, in which the rotary disc is provided with first patterns and second patterns, the first patterns are arranged at positions obtained by equally dividing a first circumference which is a circumference of a first circle into M (M is natural number of 2 or more) at intervals, the second patterns are arranged at positions obtained by equally dividing a second circumference which is a circumference of a second circle which is a concentric circle of the first circle and has a different radius from that of the first circle into N (N is natural number of 2 or more) at intervals, and M and N are different from each other and a greatest common divisor of M and N is 1.
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公开(公告)号：US11383389B2
公开(公告)日：2022-07-12
申请号：US16775494
申请日：2020-01-29
发明人： Daiki Tokushima , Akitoshi Maeda
摘要： A robot includes a robot control apparatus that communicates with a device, wherein a transmission terminal of a clock synchronization serial communication system of the device and a reception terminal of the robot control apparatus are connected by a signal line, and the robot control apparatus receives an asynchronous signal from the device.
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公开(公告)号：US09784598B2
公开(公告)日：2017-10-10
申请号：US14922627
申请日：2015-10-26
发明人： Akitoshi Maeda
CPC分类号： G01D5/341 , B25J13/088 , G01D5/3473 , Y10S901/23
摘要： A position detecting device detects the position of a moving body by using first and second detected signals that have voltage values changing in connection with a movement of the moving body. The position detecting device includes a difference computing unit that computes first and second difference values, the first being the difference between a center voltage of the first detected signal and the voltage value of the first detected signal, and the second being the difference between a center voltage of the second detected signal and the voltage value of the second detected signal. A ratio computing unit computes a difference-sum ratio index in accordance with the ratio of the difference value between the absolute values of the first and second difference values and the absolute value of the second difference value to the sum of the absolute values of the first and second difference values.
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5.发明授权公开(公告)号：US11213959B2
公开(公告)日：2022-01-04
申请号：US17117126
申请日：2020-12-10
发明人： Akitoshi Maeda
IPC分类号： B25J19/00 , G05B19/042 , B25J9/16 , B25J9/12
摘要： An identification number setting system includes a first element component including a first storing section, coupled to a first branch communication line branching from a main line of a bus-type communication wire, and coupled to a power supply, a second element component including a second storing section, coupled to a second branch communication line branching from the main line, and coupled to the power supply to be capable of switching energization and disenergization, and a control device coupled to the main line and configured to communicate with the first element component and the second element component. The control device writes a first identification number in the first storing section in a first state and writes a second identification number different from the first identification number in the second storing section after the writing of the first identification number and in a second state.
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6.发明授权Control device of motor, electronic apparatus, recording apparatus, robot, and control method of motor 有权电机控制装置，电子设备，记录装置，机器人及电机控制方法公开(公告)号：US09571019B2
公开(公告)日：2017-02-14
申请号：US14857678
申请日：2015-09-17
发明人： Akitoshi Maeda
IPC分类号： H02P6/18
CPC分类号： H02P6/182
摘要： A control device of a motor includes detection section that detect counter-electromotive voltages induced in coils by rotation of a rotor, a counter-electromotive voltage normalizing section that normalizes a value of the counter-electromotive voltage using a normalization coefficient according to a speed of the rotation of the rotor, and a rotor position specifying section that specifies the position of the rotor based on values of the counter-electromotive voltage normalized by the counter-electromotive voltage normalizing section.
摘要翻译： 电动机的控制装置包括检测部，其通过转子旋转来检测线圈感应的反电动势电压;反电动势电压归一化部，其使用归一化系数，根据转速的归一化系数对反电动势的电压值进行归一化; 转子的旋转，以及基于由反电压电压归一化部归一化的反向电动势的值来指定转子的位置的转子位置确定部。
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公开(公告)号：US11312008B2
公开(公告)日：2022-04-26
申请号：US16667963
申请日：2019-10-30
发明人： Akihiro Fujisawa , Akitoshi Maeda
IPC分类号： B25J9/10 , B25J9/16 , G05B19/406
摘要： A robot system includes: a robot having a main shaft gear attached to a rotary shaft of a drive unit, a first countershaft gear meshing with the main shaft gear, a second countershaft gear meshing with the main shaft gear, and a third countershaft gear meshing with the main shaft gear. A number of teeth of the main shaft gear, a number of teeth of the first countershaft gear, a number of teeth of the second countershaft gear, and a number of teeth of the third countershaft gear are integers having no greatest common divisor other than 1. As first processing, a first number of rotations, which is a number of rotations of the main shaft gear, is derived based on a phase of the first countershaft gear and a phase of the second countershaft gear, and a second number of rotations, which is a number of rotations of the main shaft gear, is derived based on the phase of the second countershaft gear and a phase of the third countershaft gear, and the drive unit is stopped when the first number of rotations and the second number of rotations do not coincide with each other.
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