WO2016088605A1 - ストローク検出装置 - Google Patents
ストローク検出装置 Download PDFInfo
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- WO2016088605A1 WO2016088605A1 PCT/JP2015/082935 JP2015082935W WO2016088605A1 WO 2016088605 A1 WO2016088605 A1 WO 2016088605A1 JP 2015082935 W JP2015082935 W JP 2015082935W WO 2016088605 A1 WO2016088605 A1 WO 2016088605A1
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- Prior art keywords
- scale
- sensor
- piston rod
- stroke
- output
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- 238000001514 detection method Methods 0.000 title claims abstract description 88
- 238000006073 displacement reaction Methods 0.000 description 29
- 230000007423 decrease Effects 0.000 description 24
- 239000000696 magnetic material Substances 0.000 description 11
- 230000005389 magnetism Effects 0.000 description 11
- 239000003921 oil Substances 0.000 description 11
- 238000013459 approach Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 239000010720 hydraulic oil Substances 0.000 description 4
- 238000012986 modification Methods 0.000 description 4
- 230000004048 modification Effects 0.000 description 4
- 238000010438 heat treatment Methods 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 230000008018 melting Effects 0.000 description 2
- 238000002844 melting Methods 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 230000002194 synthesizing effect Effects 0.000 description 2
- 230000001154 acute effect Effects 0.000 description 1
- 229910001566 austenite Inorganic materials 0.000 description 1
- 238000010891 electric arc Methods 0.000 description 1
- 238000010894 electron beam technology Methods 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000010902 straw Substances 0.000 description 1
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
- G01D5/244—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains
- G01D5/24428—Error prevention
- G01D5/24433—Error prevention by mechanical means
- G01D5/24438—Special design of the sensing element or scale
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
- F15B15/20—Other details, e.g. assembly with regulating devices
- F15B15/28—Means for indicating the position, e.g. end of stroke
- F15B15/2815—Position sensing, i.e. means for continuous measurement of position, e.g. LVDT
- F15B15/2846—Position sensing, i.e. means for continuous measurement of position, e.g. LVDT using detection of markings, e.g. markings on the piston rod
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
- F15B15/20—Other details, e.g. assembly with regulating devices
- F15B15/28—Means for indicating the position, e.g. end of stroke
- F15B15/2815—Position sensing, i.e. means for continuous measurement of position, e.g. LVDT
- F15B15/2861—Position sensing, i.e. means for continuous measurement of position, e.g. LVDT using magnetic means
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
- G01B7/003—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring position, not involving coordinate determination
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
- G01D5/14—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage
- G01D5/142—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage using Hall-effect devices
- G01D5/145—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage using Hall-effect devices influenced by the relative movement between the Hall device and magnetic fields
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
- G01D5/14—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage
- G01D5/142—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage using Hall-effect devices
- G01D5/147—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage using Hall-effect devices influenced by the movement of a third element, the position of Hall device and the source of magnetic field being fixed in respect to each other
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
- G01D5/244—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains
- G01D5/24471—Error correction
- G01D5/24476—Signal processing
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
- F15B2211/705—Output members, e.g. hydraulic motors or cylinders or control therefor characterised by the type of output members or actuators
- F15B2211/7051—Linear output members
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D2205/00—Indexing scheme relating to details of means for transferring or converting the output of a sensing member
- G01D2205/70—Position sensors comprising a moving target with particular shapes, e.g. of soft magnetic targets
- G01D2205/77—Specific profiles
Definitions
- the present invention relates to a stroke detection device.
- a stroke detector is used to detect the stroke of a linear motion part such as a cylinder.
- the detection element provided on the first member detects the scale of the linear component by detecting the scale provided on the second member that is movable back and forth with respect to the first member.
- JP2010-145423A discloses a stroke detection device that can detect the absolute stroke amount of a linear motion component by changing the shape of the scale according to the stroke.
- the second member may slightly shift in a direction perpendicular to the advance / retreat direction with respect to the first member due to a processing error or the like.
- the second member may slightly rotate with respect to the first member or may be twisted.
- the position of the scale provided on the second member is also displaced, so that the accurate stroke amount of the second member may not be detected by the detection element.
- the increase in the size of the detection element leads to an increase in cost and an increase in the size of the linear motion component itself.
- the present invention has an object of suppressing the detection error of the stroke of the linear motion component even if the member provided with the scale is displaced.
- the first member, the second member provided so as to be able to advance and retract with respect to the first member, and the surface of the second member are formed along the advancing / retreating direction of the second member.
- a first detection element and a second detection element that are provided in the first member so as to face the scale, and whose output changes according to the area of the opposing scale, the scale includes: A first edge inclined with respect to the advancing / retreating direction of the second member, and a second edge extending at an angle different from the first edge with respect to the advancing / retreating direction of the second member,
- the first edge portion is formed so as to always face the first detection element in the advance / retreat range of the second member, and the second edge portion is always located on the second detection element in the advance / retreat range of the second member. It is formed so as to oppose, and the straw of the second member
- the stroke detection device is detected based on the outputs of said second detector elements of the first detection device is provided.
- FIG. 1 is a configuration diagram of a stroke detection device according to the first embodiment of the present invention.
- FIG. 2 is an enlarged view of the scale of FIG.
- FIG. 3A is a graph of the output signal of the first MR sensor of the stroke detection device according to the first embodiment of the present invention.
- FIG. 3B is a graph of the output signal of the second MR sensor of the stroke detection device according to the first embodiment of the present invention.
- FIG. 3C is a graph obtained by synthesizing the output signal of the first MR sensor and the output signal of the second MR sensor of the stroke detection device according to the first embodiment of the present invention.
- FIG. 4 is a diagram showing a first modification of the scale of FIG.
- FIG. 5 is a diagram showing a second modification of the scale of FIG. FIG.
- FIG. 6 is an enlarged view of the scale of the stroke detection device according to the second embodiment.
- FIG. 7A is a graph of the output signal of the first MR sensor of the stroke detection device according to the second embodiment of the present invention.
- FIG. 7B is a graph of the output signal of the second MR sensor of the stroke detection device according to the second embodiment of the present invention.
- FIG. 7C is a graph diagram obtained by subtracting the output signal of the second MR sensor from the output signal of the first MR sensor of the stroke detection device according to the second embodiment of the present invention.
- a cylinder 10 shown in FIG. 1 is a hydraulic cylinder that is operated by hydraulic oil discharged from a hydraulic pump (not shown).
- the stroke detection device 100 is provided in the cylinder 10.
- the cylinder 10 includes a cylinder tube 20 as a first member that is a main body of the cylinder 10 and a piston rod 30 as a second member that is provided so as to be movable forward and backward with respect to the cylinder tube 20. That is, the cylinder 10 is a linear motion component in which the piston rod 30 as the other member moves forward and backward with respect to the cylinder tube 20 as one member.
- the cylinder tube 20 has a cylindrical shape, and a piston 31 that is slidable in the axial direction is provided inside the cylinder tube 20.
- a cylinder head 20a through which the piston rod 30 is slidably inserted is provided at the end of the cylinder tube 20.
- the inside of the cylinder tube 20 is partitioned into two oil chambers 11 and 12 by the piston 31.
- the two oil chambers 11 and 12 are connected to a hydraulic pump or tank as a hydraulic supply source (not shown) through a switching valve (not shown). When one of the two oil chambers 11 and 12 is connected to the hydraulic pump, the other is connected to the tank.
- the cylinder 10 expands and contracts when hydraulic oil is guided from the hydraulic pump to one of the two oil chambers 11 and 12 and the piston rod 30 moves in the axial direction.
- the cylinder 10 is a double-acting cylinder, but may be a single-acting cylinder.
- the cylinder 10 is not limited to a hydraulic type, and may be a pneumatic type, a hydraulic type, an electric mechanical type, or the like.
- the piston rod 30 is a columnar magnetic member having a base end portion 30 a fixed to the piston 31 and a tip end portion 30 b exposed from the cylinder tube 20.
- the piston rod 30 is operated by a hydraulic force acting on the piston 31.
- the stroke detection device 100 includes an MR sensor 50 as a detection element disposed in a cylinder head 20a through which the piston rod 30 is inserted, and a forward / backward direction A of the piston rod 30 on the side surface 30c of the piston rod 30 (the direction of arrow A in FIG. 1). ) And a scale 60 formed along.
- the stroke detection device 100 is provided to detect the stroke amount and stroke position of the piston rod 30 with respect to the cylinder tube 20.
- the MR (Magneto-Resistive: magnetoresistive) sensor 50 has an MR element whose electrical resistance changes depending on the strength of magnetism.
- the MR sensor 50 is disposed on the inner peripheral side of the cylinder head 20 a so as to face the outer periphery of the piston rod 30.
- a permanent magnet (not shown), which is a magnetic source, is disposed on the opposite side of the MR sensor 50 from the surface facing the piston rod 30.
- the MR sensor 50 detects magnetism emitted from the permanent magnet and outputs a voltage corresponding to the detected magnetism to a controller (not shown).
- the magnetism emitted from the permanent magnet acts on the magnetic material, but does not act on the non-magnetic material. That is, the MR sensor 50 detects how the magnetism generated from the permanent magnet is changed by the magnetism of the member facing the MR sensor 50.
- a more sensitive GMR (Giant Magneto-Resistive) sensor or an MI sensor using the MI (Magneto-Impedance) effect may be used.
- a displacement of the piston rod 30 may be detected by providing a coil so as to face the scale 60 and exciting the coil. In this case, the impedance of the excited coil varies according to the opposing scale 60.
- the scale 60 is a non-magnetic material formed on the outer periphery of the piston rod 30 that is a magnetic material. Although only one scale 60 is shown in FIG. 1, the scale 60 is provided at two locations apart from each other in the circumferential direction B of the piston rod 30 (in the direction of arrow B in FIG. 1).
- the scale 60 is formed by melting the outer peripheral surface of the piston rod 30 with a laser irradiated by a laser device as a local heating device and adding Ni or Mn to austenite.
- the piston rod 30 may be made of a non-magnetic material.
- the scale 60 is formed as a magnetic material by melting the piston rod 30 with a laser device and adding Sn or the like.
- the means for locally heating is not limited to a laser, and any means may be used as long as it can be locally heated, such as an electron beam, high-frequency induction heating, or arc discharge.
- the scale 60 has a most advanced end A1 that faces the MR sensor 50 when the piston rod 30 enters the cylinder tube 20 most, and a scale 60 that faces the MR sensor 50 when the piston rod 30 leaves the cylinder tube 20 most. It is formed over the entire stroke including the withdrawal end A2.
- the stroke detection device 100 having such a configuration, the magnetism emitted from the permanent magnet and acting on the piston rod 30 depends on the area of the scale 60 facing the MR sensor 50 and the distance between the MR sensor 50 and the scale 60. Change. In the present embodiment, the area of the scale 60 facing the MR sensor 50 changes according to the stroke of the piston rod 30 as described later. For this reason, the stroke detection device 100 can detect the absolute stroke amount of the piston rod 30, that is, the absolute position of the piston rod 30, based on the output of the MR sensor 50.
- FIG. 2 shows the scale 60 shown in FIG. 1 developed in the circumferential direction B of the piston rod 30.
- the scale 60 includes a first scale 61 and a second scale 62 provided to be separated from the first scale 61 in the circumferential direction B of the piston rod 30.
- the first scale 61 and the second scale 62 are each formed in a rectangular shape, and are provided so that the long side is slightly inclined with respect to the forward / backward direction A of the piston rod 30.
- the first scale 61 has a first edge 61a which is a long side inclined with respect to the forward / backward direction A of the piston rod 30 and serves as a boundary between the nonmagnetic part and the magnetic part.
- the second scale 62 has a second edge 62a which is a long side inclined in the direction opposite to the first edge 61a with respect to the forward / backward direction A of the piston rod 30 and serves as a boundary between the nonmagnetic part and the magnetic part.
- the shape of the first scale 61 and the second scale 62 is not limited to a rectangular shape, and may have edge portions 61 a and 62 a that are inclined in directions opposite to each other with respect to the forward / backward direction A of the piston rod 30. The shape may be triangular or trapezoidal. When each scale 61, 62 is rectangular, it does not have an acute angle and can be formed relatively easily.
- the MR sensor 50 includes a first MR sensor 51 as a first detection element facing the first scale 61 and a second MR sensor 52 as a second detection element facing the second scale 62.
- the first MR sensor 51 and the second MR sensor 52 are provided separately on the same plane orthogonal to the forward / backward direction A of the piston rod 30. For this reason, the first MR sensor 51 and the second MR sensor 52 are affected by displacement in the direction orthogonal to the forward / backward direction A of the piston rod 30 generated at the same position in the forward / backward direction A.
- the first edge 61 a extends from the most advanced end A ⁇ b> 1 where the piston rod 30 enters the cylinder tube 20 to the most retracted end A ⁇ b> 2 where the piston rod 30 most retracts from the cylinder tube 20. It is formed so as to always face the first MR sensor 51 in the range. Similarly, the second edge 62a is formed so as to always face the second MR sensor 52 in the same range.
- the area of the first scale 61 facing the first MR sensor 51 and the area of the second scale 62 facing the second MR sensor 52 are the smallest at the most advanced end A1 and the largest at the most retracted end A2. That is, as the piston rod 30 moves away from the cylinder tube 20, the area of the first scale 61 facing the first MR sensor 51 and the area of the second scale 62 facing the second MR sensor 52 gradually increase. To do.
- the positional relationship between the first MR sensor 51 and the first scale 61 when the piston rod 30 moves relative to the cylinder tube 20 coaxially is the first distance in the circumferential direction B at the most advanced end A1. It is set so as to oppose only d1 and not to oppose the second distance d2 in the circumferential direction B at the most retracted end A2.
- the size of the first distance d1 and the second distance d2 is set larger than the displacement amount that the piston rod 30 may be displaced in the circumferential direction B with respect to the cylinder tube 20 due to a processing error or the like. For this reason, even if the piston rod 30 is slightly displaced in the circumferential direction B, the state in which the first edge portion 61a faces the first MR sensor 51 is maintained, and the output of the first MR sensor 51 corresponds to the stroke of the piston rod 30. Keep changing.
- the first distance d1 and the second distance d2 may be the same size or different sizes. Further, the sizes of the first distance d1 and the second distance d2 are set as small as possible so that the change in the output of the first MR sensor 51 with respect to a predetermined stroke becomes large in order to improve the detection accuracy of the stroke. It is preferable.
- the positional relationship between the second MR sensor 52 and the second scale 62 is set similarly.
- FIG. 3A is a graph showing an output waveform of the first MR sensor 51 that changes with respect to the stroke of the piston rod 30.
- FIG. 3B is a graph showing an output waveform of the second MR sensor 52 that changes with respect to the stroke of the piston rod 30.
- FIG. 3C is a graph showing a waveform obtained by adding the output of the first MR sensor 51 and the output of the second MR sensor 52 that change with respect to the stroke of the piston rod 30.
- the solid line indicates the output when the piston rod 30 is not displaced in the direction of the arrow shown in FIG. 2 with respect to the cylinder tube 20, and the broken line indicates the arrow when the piston rod 30 is shown in FIG. The output in the case of displacement in the direction is shown.
- the first MR sensor 51 detects a change in magnetism due to a change in the area of the opposing first scale 61.
- the area of the first scale 61 facing the first MR sensor 51 increases as the piston rod 30 moves out. That is, as the piston rod 30 retreats, the ratio of the nonmagnetic material that occupies the portion facing the first MR sensor 51 gradually increases. Thus, the change in magnetism increases as the proportion of non-magnetic material increases.
- the output of the first MR sensor 51 changes from the output a to the output b as the piston rod 30 retreats from the cylinder tube 20 as indicated by a solid line in the graph of FIG. 3A.
- the output of the second MR sensor 52 changes from the output a to the output b as the piston rod 30 retreats from the cylinder tube 20 as indicated by a solid line in the graph of FIG. 3B.
- the sum of the output of the first MR sensor 51 and the output of the second MR sensor 52 is from the output 2a to the output 2b in accordance with the stroke amount of the piston rod 30, as indicated by the solid line in the graph of FIG. 3C. And change. Therefore, the absolute stroke amount and stroke position of the piston rod 30 can be detected based on the sum of the output of the first MR sensor 51 and the output of the second MR sensor 52.
- the first scale 61 moves in a direction away from the first MR sensor 51 in the circumferential direction B. That is, the area of the first scale 61 facing the first MR sensor 51 is smaller than when the piston rod 30 is not displaced in the circumferential direction B. For this reason, the output of the first MR sensor 51 is slightly smaller by the amount (x) corresponding to the displacement X than the case where the piston rod 30 is not displaced in the circumferential direction B, as shown by the broken line in the graph of FIG. Lower.
- the second scale 62 moves in a direction approaching the circumferential direction B with respect to the second MR sensor 52. That is, the area of the second scale 62 facing the second MR sensor 52 is larger than when the piston rod 30 is not displaced in the circumferential direction B. For this reason, the output of the second MR sensor 52 is slightly smaller by the amount (x) corresponding to the displacement X than the case where the piston rod 30 is not displaced in the circumferential direction B, as shown by the broken line in the graph of FIG. Get higher.
- both the first scale 61 and the second scale 62 are formed on the side surface 30c of the piston rod 30, the first scale 61 and the second scale 62 are displaced when the piston rod 30 is displaced in the circumferential direction B.
- the distance from the scale 62 in the circumferential direction B is the same. That is, the distance by which the first scale 61 is shifted in the circumferential direction B with respect to the first MR sensor 51 is the same as the distance by which the second scale 62 is shifted in the circumferential direction B with respect to the second MR sensor 52.
- the decrease (x) in the output of the first MR sensor 51 that has changed in accordance with the displacement X of the piston rod 30 and the increase (x) in the output of the second MR sensor 52 are approximately the same.
- the piston is based on the sum of the output of the first MR sensor 51 and the output of the second MR sensor 52. An output corresponding to the stroke amount of the rod 30 is calculated. For this reason, the detection error of the stroke of the piston rod 30 is suppressed, and the absolute stroke amount and the stroke position can be accurately detected.
- the area of the first scale 61 facing the first MR sensor 51 and the area of the second scale 62 facing the second MR sensor 52 are maximized at the most advanced end A1 and minimized at the most retracted end A2. It may be set.
- the forward / backward direction of the piston rod 30 in which the area of the first scale 61 facing the first MR sensor 51 gradually increases and the forward / backward direction of the piston rod 30 in which the area of the second scale 62 facing the second MR sensor 52 gradually increases. are the same direction, the stroke of the piston rod 30 can be detected as described above.
- the inclination angle of the first edge portion 61a with respect to the forward / backward direction A of the piston rod 30 and the inclination angle of the second edge portion 62a with respect to the forward / backward direction A of the piston rod 30 may be the same or different. Good. Further, if one edge 61a, 62a is inclined with respect to the forward / backward direction A of the piston rod 30, the other edge 61a, 62a may not be inclined with respect to the forward / backward direction A of the piston rod 30. Good. If any one of the edges 61a and 62a is inclined with respect to the forward / backward direction A of the piston rod 30, the detection error is suppressed as described above, and the stroke of the piston rod 30 can be detected.
- each scale 61, 62 is provided one by one, a plurality of scales 61, 62 may be provided, and a plurality of MR sensors 51, 52 corresponding thereto may be provided. By adopting such a configuration, it is possible to further suppress the stroke detection error by calculating the average value of the outputs of the MR sensors 51 and 52.
- the area of one set of scales 61 and 62 facing one set of MR sensors 51 and 52 and the area of another set of scales 61 and 62 facing another set of MR sensors 51 and 52 are:
- first scale 61 and the second scale 62 may be disposed apart from each other in the circumferential direction B of the piston rod 30, but are preferably provided to face each other with the central axis of the piston rod 30 in between.
- the second scale 62 moves away from the second MR sensor 52. Therefore, one of the output of the first MR sensor 51 and the output of the second MR sensor 52 increases according to the amount of eccentricity and the other decreases, or one decreases and the other increases. Therefore, similarly to the case where the piston rod 30 is displaced in the circumferential direction B, the outputs of the first MR sensor 51 and the output of the second MR sensor 52 are added together, so that the outputs of the MR sensors 51 and 52 corresponding to the eccentricity amount are added. This change is offset.
- One of the outputs of the first MR sensor 51 and the second MR sensor 52 used for detecting the stroke of the piston rod 30 increases and the other decreases in accordance with the displacement of the piston rod 30 in the direction orthogonal to the forward / backward direction A. Or one decreases and the other increases. For this reason, by adding the output of the first MR sensor 51 and the output of the second MR sensor 52, the change in the output according to the displacement X is canceled out. As a result, even if the piston rod 30 provided with the scale 60 is displaced, a detection error of the stroke of the piston rod 30 can be suppressed.
- FIG. 4 and FIG. 5 show the scale 60 developed in the circumferential direction B of the piston rod 30.
- FIG. 4 and 5 show the scale 60 developed in the circumferential direction B of the piston rod 30.
- the scale 60 includes the first scale 61 provided with the first edge 61a and the second scale 62 provided with the second edge 62a.
- the processing of the scale becomes easy.
- the first scale 61 and the second scale 62 are formed in a single line along the forward / backward direction A of the piston rod 30.
- the first scale 61 and the second scale 62 may be divided into a plurality of parts along the forward / backward direction A of the piston rod 30 as in the second modification shown in FIG.
- each scale 61, 62 is divided into a plurality along the forward / backward direction A, the change in the output of each MR sensor 51, 52 with respect to a predetermined stroke can be increased. Also, when the strokes are relatively long by making the lengths of the scales 61 and 62 divided into a plurality of lengths in the forward / backward direction A, that is, the number of divisions of the first scale 61 and the number of divisions of the second scale 62 different. Even so, the absolute position of the stroke can be detected.
- FIG. 6 shows the scale 60 shown in FIG. 1 developed in the circumferential direction B of the piston rod 30. Below, it demonstrates centering on a different point from 1st Embodiment, the same code
- the area of the first scale 61 facing the first MR sensor 51 and the area of the second scale 62 facing the second MR sensor 52 are the smallest at the most approaching end A1, and the largest at the most exiting end A2. It becomes.
- the area of the first scale 61 facing the first MR sensor 51 is the smallest at the most advanced end A1 and the largest at the most retracted end A2, while facing the second MR sensor 52.
- the area of the second scale 62 to be maximized at the most entering end A1 and minimized at the most leaving end A2. That is, as the piston rod 30 moves away from the cylinder tube 20, the area of the first scale 61 facing the first MR sensor 51 gradually increases, while the second scale 62 facing the second MR sensor 52 is increased. The area gradually decreases.
- the positional relationship between the first MR sensor 51 and the first scale 61 when the piston rod 30 moves relative to the cylinder tube 20 coaxially is the first distance in the circumferential direction B at the most advanced end A1.
- the second distance d2 is not opposed in the circumferential direction B.
- the positional relationship between the second MR sensor 52 and the second scale 62 is the maximum.
- the entry end A1 is set so as not to face the circumferential direction B by the first distance d1
- the most leaving end A2 is set to face the circumferential direction B by the second distance d2.
- FIG. 7A is a graph showing an output waveform of the first MR sensor 51 that changes with respect to the stroke of the piston rod 30.
- FIG. 7B is a graph showing an output waveform of the second MR sensor 52 that changes with respect to the stroke of the piston rod 30.
- FIG. 7C is a graph showing a waveform obtained by subtracting the output of the second MR sensor 52 from the output of the first MR sensor 51 that changes with respect to the stroke of the piston rod 30.
- the solid line shows the output when the piston rod 30 is not displaced in the direction of the arrow shown in FIG. 6 with respect to the cylinder tube 20, and the broken line shows the arrow with respect to the cylinder tube 20 shown in FIG. The output in the case of displacement in the direction is shown.
- the first MR sensor 51 detects a magnetic change due to a change in the area of the opposing first scale 61.
- the area of the first scale 61 facing the first MR sensor 51 increases as the piston rod 30 moves out. That is, as the piston rod 30 retreats, the ratio of the nonmagnetic material that occupies the portion facing the first MR sensor 51 gradually increases. Thus, the change in magnetism increases as the proportion of non-magnetic material increases.
- the output of the first MR sensor 51 changes from the output a to the output b as the piston rod 30 retreats from the cylinder tube 20 as indicated by a solid line in the graph of FIG. 7A.
- the area of the second scale 62 facing the second MR sensor 52 decreases as the piston rod 30 moves out. That is, as the piston rod 30 retreats, the ratio of the nonmagnetic material that occupies the portion facing the second MR sensor 52 gradually decreases. As described above, when the proportion of the non-magnetic material decreases, the change in magnetism also decreases. As a result, the output of the second MR sensor 52 changes from the output b to the output a as the piston rod 30 retreats from the cylinder tube 20 as indicated by a solid line in the graph of FIG. 7B.
- the value obtained by subtracting the output of the second MR sensor 52 from the output of the first MR sensor 51 is based on the output (ab) in accordance with the stroke amount of the piston rod 30 as shown by the solid line in the graph of FIG. 7C. It changes to output (ba). Therefore, the absolute stroke amount and stroke position of the piston rod 30 can be detected based on the difference between the output of the first MR sensor 51 and the output of the second MR sensor 52.
- the first scale 61 moves in a direction away from the first MR sensor 51 in the circumferential direction B. That is, the area of the first scale 61 facing the first MR sensor 51 is smaller than when the piston rod 30 is not displaced in the circumferential direction B. For this reason, the output of the first MR sensor 51 is slightly smaller by the amount (x) corresponding to the displacement X than when the piston rod 30 is not displaced in the circumferential direction B, as indicated by the broken line in the graph of FIG. 7A. Lower.
- the second scale 62 moves in a direction away from the second MR sensor 52 in the circumferential direction B. That is, the area of the second scale 62 facing the second MR sensor 52 is smaller than when the piston rod 30 is not displaced in the circumferential direction B. For this reason, the output of the second MR sensor 52 is slightly smaller by the amount (x) corresponding to the displacement X than the case where the piston rod 30 is not displaced in the circumferential direction B, as indicated by the broken line in the graph of FIG. 7B. Lower.
- the distance by which the first scale 61 is shifted in the circumferential direction B with respect to the first MR sensor 51 and the distance by which the second scale 62 is shifted in the circumferential direction B with respect to the second MR sensor 52 are the same.
- the decrease (x) in the output of the first MR sensor 51 that changes in accordance with the displacement X of the piston rod 30 and the decrease (x) in the output of the second MR sensor 52 are approximately the same.
- the area of the first scale 61 facing the first MR sensor 51 is maximum at the most approaching end A1 and is minimum at the most exiting end A2, while the area of the second scale 62 facing the second MR sensor 52 is: It may be set to be the minimum at the most entering end A1 and the maximum at the most leaving end A2.
- the resistance value in each MR sensor 51, 52 may change due to the influence of the ambient temperature, and the output of each MR sensor 51, 52 may drift.
- the stroke amount and the stroke position of the piston rod 30 are detected by subtracting the output of the second MR sensor 52 from the output of the first MR sensor 51. For this reason, even if the output of each MR sensor 51, 52 drifts due to the influence of temperature, the change in the output of each MR sensor 51, 52 corresponding to the drift is canceled out. As a result, the detection error due to the ambient temperature can be suppressed, and the absolute stroke amount and stroke position can be accurately detected.
- first scale 61 and the second scale 62 may be disposed apart from each other in the circumferential direction B of the piston rod 30, but the first scale 61 and the second scale 62 are arranged in the circumferential direction of the piston rod 30.
- B it is provided within a range of less than 90 °, more preferably within a range of less than 30 °.
- the second scale 62 also approaches the second MR sensor 52.
- the output of the first MR sensor 51 and the output of the second MR sensor 52 increase and decrease in the same manner according to the amount of eccentricity of the piston rod 30. Therefore, similarly to the case where the piston rod 30 is displaced in the circumferential direction B, the output of each MR sensor 51, 52 corresponding to the amount of eccentricity is obtained by subtracting the output of the second MR sensor 52 from the output of the first MR sensor 51. Is offset.
- the outputs of the first MR sensor 51 and the second MR sensor 52 used for detecting the stroke of the piston rod 30 both increase and decrease in the same manner according to the displacement of the piston rod 30 in the direction orthogonal to the advance / retreat direction A. For this reason, by subtracting the output of the second MR sensor 52 from the output of the first MR sensor 51, the change in the output corresponding to the displacement X is canceled out. As a result, even if the piston rod 30 provided with the scale 60 is displaced, a detection error of the stroke of the piston rod 30 can be suppressed.
- the stroke detection device 100 includes a cylinder tube 20, a piston rod 30 provided so as to be movable back and forth with respect to the cylinder tube 20, and a scale 60 formed on a side surface 30c of the piston rod 30 along the forward / backward direction A of the piston rod 30. , A first MR sensor 51 and a second MR sensor 52 which are provided in the cylinder tube 20 so as to face the scale 60 and whose output changes according to the area of the facing scale 60.
- the portion 61a is formed so as to always face the first MR sensor 51 in the forward / backward range of the piston rod 30, and the second
- the portion 62 a is formed so as to always face the second MR sensor 52 in the advance / retreat range of the piston rod 30, and the stroke of the piston rod 30 is based on the output of the first MR sensor 51 and the output of the second MR sensor 52. It is detected.
- the outputs of the first MR sensor 51 and the second MR sensor 52 used for detecting the stroke of the piston rod 30 change in accordance with the displacement of the piston rod 30 in the direction orthogonal to the forward / backward direction A, respectively. For this reason, by combining the output of the first MR sensor 51 and the output of the second MR sensor 52, the change in the output according to the displacement of the piston rod 30 in the direction orthogonal to the forward / backward direction A is cancelled. As a result, even if the piston rod 30 provided with the scale 60 is displaced, a detection error of the stroke of the piston rod 30 can be suppressed.
- the second edge 62a is characterized in that it is inclined in the opposite direction to the first edge 61a with respect to the forward / backward direction A of the piston rod 30.
- the outputs of the first MR sensor 51 and the second MR sensor 52 change according to the stroke of the piston rod 30. For this reason, by synthesizing the output of the first MR sensor 51 and the output of the second MR sensor 52, the change in the output according to the displacement of the piston rod 30 in the direction orthogonal to the advancing / retreating direction is canceled and more accurate. The stroke of the piston rod 30 can be detected.
- first MR sensor 51 and the second MR sensor 52 are characterized by being provided apart from each other on the same plane orthogonal to the forward / backward direction A of the piston rod 30.
- the first MR sensor 51 and the second MR sensor 52 are arranged on the same plane orthogonal to the forward / backward direction A of the piston rod 30 without being separated in the forward / backward direction A of the piston rod 30. For this reason, both the first MR sensor 51 and the second MR sensor 52 are affected by the displacement of the piston rod 30 generated at the same position in the forward / backward direction A. As a result, even if the piston rod 30 provided with the scale 60 is displaced, a detection error of the stroke of the piston rod 30 can be suppressed.
- the advance / retreat direction A of the piston rod 30 in which the area of the scale 60 facing the first MR sensor 51 gradually increases is the same as the advance / retreat direction A of the piston rod 30 in which the area of the scale 60 facing the second MR sensor 52 gradually increases.
- the stroke of the piston rod 30 is detected based on the sum of the output of the first MR sensor 51 and the output of the second MR sensor 52.
- the piston rod 30 is a cylindrical member, and the scale 60 includes a first scale 61 having a first edge 61a and a second scale 62 having a second edge 62a.
- the second scale 62 and the second scale 62 are provided to face each other across the central axis of the piston rod 30.
- the advancing / retreating direction A of the piston rod 30 in which the area of the scale 60 facing the first MR sensor 51 gradually increases is opposite to the advancing / retreating direction A of the piston rod 30 in which the area of the scale 60 facing the second MR sensor 52 gradually increases.
- the stroke of the piston rod 30 is detected based on the difference between the output of the first MR sensor 51 and the output of the second MR sensor 52.
- the piston rod 30 is a cylindrical member, and the scale 60 includes a first scale 61 having a first edge 61a and a second scale 62 having a second edge 62a. And the second scale 62 are provided within a range of less than 90 ° in the circumferential direction B of the piston rod 30.
- first scale 61 and the second scale 62 have a rectangular shape.
- the first scale 61 and the second scale 62 are formed in a geometrically simple rectangular shape. For this reason, the processing of the first scale 61 and the second scale 62 is facilitated, and the manufacturing cost of the stroke detection device 100 can be reduced.
- a plurality of first scales 61 and a plurality of second scales 62 are provided, a plurality of first MR sensors 51 are provided to face the plurality of first scales 61, respectively, and a second MR sensor is provided to face the plurality of second scales 62.
- a plurality of 52 is provided.
- the scale 60 is formed by being divided into a plurality along the advancing / retreating direction A of the piston rod 30.
- the scale is the scale 60 made of a non-magnetic material or a magnetic material, but the scale may have a dielectric constant different from that of the piston rod 30.
- a sensor for detecting the stroke a coil provided facing the scale is used, and the impedance of the excited coil changes according to the displacement of the piston rod 30.
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- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Signal Processing (AREA)
- Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
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Abstract
Description
図1を参照して、本発明の第1実施形態に係るストローク検出装置100について説明する。図1に示されるシリンダ10は、図示しない油圧ポンプから吐出される作動油によって動作する油圧シリンダである。ストローク検出装置100は、このシリンダ10に設けられる。
次に、図6を参照して、本発明の第2実施形態に係るストローク検出装置100について説明する。図6は、図1に示されるスケール60をピストンロッド30の周方向Bに展開して示したものである。以下では、第1実施形態と異なる点を中心に説明し、第1実施形態と同様の構成には、同一の符号を付し説明を省略する。
Claims (7)
- 第1部材と、
前記第1部材に対して進退自在に設けられる第2部材と、
前記第2部材の表面に前記第2部材の進退方向に沿って形成されるスケールと、
前記スケールに対向するように前記第1部材に設けられ、対向する前記スケールの面積に応じて出力が変化する第1検出素子及び第2検出素子と、を備え、
前記スケールは、前記第2部材の進退方向に対して傾斜する第1縁部と、前記第2部材の進退方向に対して前記第1縁部とは異なる角度に延びる第2縁部と、を有し、
前記第1縁部は、前記第2部材の進退範囲において常に前記第1検出素子に対向するように形成され、前記第2縁部は、前記第2部材の進退範囲において常に前記第2検出素子に対向するように形成されており、
前記第2部材のストロークは、前記第1検出素子の出力と前記第2検出素子の出力とに基づいて検出されるストローク検出装置。 - 請求項1に記載のストローク検出装置であって、
前記第2縁部は、前記第2部材の進退方向に対して前記第1縁部と反対方向に傾斜するストローク検出装置。 - 請求項1に記載のストローク検出装置であって、
前記第1検出素子と前記第2検出素子とは、前記第2部材の進退方向に対して直交する同一面上に離間して設けられるストローク検出装置。 - 請求項1に記載のストローク検出装置であって、
前記第1検出素子に対向する前記スケールの面積が漸増する前記第2部材の進退方向と、前記第2検出素子に対向する前記スケールの面積が漸増する前記第2部材の進退方向と、は同一方向であり、前記第2部材のストロークは、前記第1検出素子の出力と前記第2検出素子の出力と和に基づいて検出されるストローク検出装置。 - 請求項4に記載のストローク検出装置であって、
前記第2部材は、円柱状部材であり、
前記スケールは、前記第1縁部を有する第1スケールと、前記第2縁部を有する第2スケールと、からなり、
前記第1スケールと前記第2スケールとは、前記第2部材の中心軸を挟んで対向して設けられるストローク検出装置。 - 請求項1に記載のストローク検出装置であって、
前記第1検出素子に対向する前記スケールの面積が漸増する前記第2部材の進退方向と、前記第2検出素子に対向する前記スケールの面積が漸増する前記第2部材の進退方向と、は反対方向であり、前記第2部材のストロークは、前記第1検出素子の出力と前記第2検出素子の出力との差に基づいて検出されるストローク検出装置。 - 請求項6に記載のストローク検出装置であって、
前記第2部材は、円柱状部材であり、
前記スケールは、前記第1縁部を有する第1スケールと、前記第2縁部を有する第2スケールと、からなり、
前記第1スケールと前記第2スケールとは、前記第2部材の周方向において90°未満の範囲内に設けられるストローク検出装置。
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KR1020177014836A KR101868365B1 (ko) | 2014-12-05 | 2015-11-24 | 스트로크 검출 장치 |
EP15865987.0A EP3228992A4 (en) | 2014-12-05 | 2015-11-24 | Stroke detection device |
US15/531,943 US20180136014A1 (en) | 2014-12-05 | 2015-11-24 | Stroke detector |
CN201580065923.8A CN107003147A (zh) | 2014-12-05 | 2015-11-24 | 行程检测装置 |
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JPH08156796A (ja) * | 1994-10-07 | 1996-06-18 | Mitsubishi Electric Corp | 遮断器の開閉速度測定装置 |
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JP2010256122A (ja) * | 2009-04-23 | 2010-11-11 | Kayaba Ind Co Ltd | シリンダのストロークセンサ |
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JP4620447B2 (ja) * | 2004-12-27 | 2011-01-26 | カヤバ工業株式会社 | シリンダ位置検出装置、油空圧シリンダ |
US7280937B1 (en) * | 2006-04-18 | 2007-10-09 | Deere & Company | System and method for detecting an axial position of a shaft |
JP4780682B2 (ja) * | 2006-06-16 | 2011-09-28 | 株式会社小松製作所 | シリンダのストローク位置計測装置 |
KR100776743B1 (ko) * | 2006-11-20 | 2007-11-19 | 경남대학교 산학협력단 | 피스톤 로드의 변위 측정용 자기스케일 형성방법 및 변위검출방법 |
JP4842314B2 (ja) * | 2008-11-07 | 2011-12-21 | 株式会社アミテック | シリンダ位置検出装置 |
JP2010145423A (ja) * | 2010-03-15 | 2010-07-01 | Amitec:Kk | シリンダ位置検出装置 |
-
2014
- 2014-12-05 JP JP2014246822A patent/JP6043333B2/ja active Active
-
2015
- 2015-11-24 US US15/531,943 patent/US20180136014A1/en not_active Abandoned
- 2015-11-24 CN CN201580065923.8A patent/CN107003147A/zh active Pending
- 2015-11-24 KR KR1020177014836A patent/KR101868365B1/ko active IP Right Grant
- 2015-11-24 EP EP15865987.0A patent/EP3228992A4/en not_active Withdrawn
- 2015-11-24 WO PCT/JP2015/082935 patent/WO2016088605A1/ja active Application Filing
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JPH08156796A (ja) * | 1994-10-07 | 1996-06-18 | Mitsubishi Electric Corp | 遮断器の開閉速度測定装置 |
JPH11336713A (ja) * | 1998-05-27 | 1999-12-07 | Amitec:Kk | シリンダ位置検出装置 |
JP2006183721A (ja) * | 2004-12-27 | 2006-07-13 | Kayaba Ind Co Ltd | シリンダ位置検出装置、油空圧シリンダ |
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CN107003147A (zh) | 2017-08-01 |
KR20170076777A (ko) | 2017-07-04 |
JP2016109538A (ja) | 2016-06-20 |
JP6043333B2 (ja) | 2016-12-14 |
KR101868365B1 (ko) | 2018-06-19 |
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