WO2024147182A1 - 位置検出システムおよびアクチュエータ - Google Patents

位置検出システムおよびアクチュエータ Download PDF

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Publication number
WO2024147182A1
WO2024147182A1 PCT/JP2023/000080 JP2023000080W WO2024147182A1 WO 2024147182 A1 WO2024147182 A1 WO 2024147182A1 JP 2023000080 W JP2023000080 W JP 2023000080W WO 2024147182 A1 WO2024147182 A1 WO 2024147182A1
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WO
WIPO (PCT)
Prior art keywords
encoder
circuit
current
secondary encoder
output shaft
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2023/000080
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English (en)
French (fr)
Japanese (ja)
Inventor
泰地 田口
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Fanuc Corp
Original Assignee
Fanuc Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Fanuc Corp filed Critical Fanuc Corp
Priority to JP2024568670A priority Critical patent/JPWO2024147182A1/ja
Priority to PCT/JP2023/000080 priority patent/WO2024147182A1/ja
Priority to TW112147189A priority patent/TW202428408A/zh
Publication of WO2024147182A1 publication Critical patent/WO2024147182A1/ja
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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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

Definitions

  • This disclosure relates to position detection systems and actuators.
  • the detected information can be stored in memories, for example, volatile or non-volatile memories, in the first circuit 26a and the second circuit 26b, respectively.
  • the primary encoder 15 and the secondary encoder 25 are equipped with rotating disks 15A and 25A, respectively.
  • the controller 9 drives and controls the motor 10, and performs a positioning operation to position the link 2 at a target position relative to the link 1. Furthermore, the built-in brake 50 provided on the outer surface of the motor shaft 13 is activated in response to an instruction from the controller 9, and brakes the motor shaft 13. Furthermore, the controller 9 also serves to energize the primary encoder 15 and secondary encoder 25 via the external main power supply 19 when the robot 3 equipped with the links 1 and 2 is in operation.
  • the circuit in the detection unit 16 and the first circuit 26a and second circuit 26b in the detection unit 26 are driven by the current supplied from the main power supply 19.
  • the first circuit 26a and the second circuit 26b are electrically connected to each other, and the multi-rotation information PB2 of the second circuit 26b can be sent to the first circuit 26a. Therefore, when the robot 3 is disconnected from the main power supply 19 for an extended period of time, even if the motor 10 rotates more than once, that information is detected as multi-rotation information PB2 and sent to the first circuit 26a. Therefore, even in such a case, the first circuit 26a can create an absolute position PA2 that takes into account the multi-rotation information PB2. Similarly, the detection unit 16 can create an absolute position PA1 that takes into account the multi-rotation information PB2.
  • the secondary encoder 25 performs detection intermittently at a lower frequency than when current is supplied to the secondary encoder from the outside. In other words, in FIG. 3, the frequency of detection is reduced to suppress the current consumption of the spare battery 8.
  • the intermittent period T between the count timings is obtained as shown in the following formula (2). T ⁇ /2 ⁇ v (2) As described above, by setting the intermittent period T to the above value greater than zero, it is possible to reduce the count timing, and therefore reduce the current consumption of the spare battery 8. When the maximum value of the intermittent period T is used, the count timing can be reduced to the greatest extent, and as a result, the current consumption of the spare battery 8 can be further reduced.
  • the solid lines in FIG. 5 indicate the case where the spare battery 8 is a primary battery, i.e., a non-rechargeable battery.
  • the dashed lines in FIG. 5 indicate the case where the spare battery 8 is a secondary battery, i.e., a rechargeable battery.
  • the spare battery 8 is a primary battery.
  • the encoders 15, 25 are operated by the main power supply 19.
  • the spare battery 8 itself is not used, so the charge level of the spare battery 8 remains at 100%.
  • the spare battery 8 is used, and therefore the charge level of the spare battery 8 decreases.
  • the charge level of the spare battery 8 reaches zero, and the spare battery 8 needs to be replaced relatively frequently.
  • Machines (Robots) 5 Position detection system 6 Actuator 8 Battery 9 Controller 10 Motor 11 Stator 12 Rotor 13 Motor shaft 15 Primary encoder 16 Detection unit 19 Main power supply 19 20: reducer 23: output shaft 25: secondary encoder 26: detector 26a: first circuit 26b: second circuit 50: built-in brake

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Transmission And Conversion Of Sensor Element Output (AREA)
PCT/JP2023/000080 2023-01-05 2023-01-05 位置検出システムおよびアクチュエータ Ceased WO2024147182A1 (ja)

Priority Applications (3)

Application Number Priority Date Filing Date Title
JP2024568670A JPWO2024147182A1 (https=) 2023-01-05 2023-01-05
PCT/JP2023/000080 WO2024147182A1 (ja) 2023-01-05 2023-01-05 位置検出システムおよびアクチュエータ
TW112147189A TW202428408A (zh) 2023-01-05 2023-12-05 位置檢測系統及致動器

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2023/000080 WO2024147182A1 (ja) 2023-01-05 2023-01-05 位置検出システムおよびアクチュエータ

Publications (1)

Publication Number Publication Date
WO2024147182A1 true WO2024147182A1 (ja) 2024-07-11

Family

ID=91803722

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2023/000080 Ceased WO2024147182A1 (ja) 2023-01-05 2023-01-05 位置検出システムおよびアクチュエータ

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Country Link
JP (1) JPWO2024147182A1 (https=)
TW (1) TW202428408A (https=)
WO (1) WO2024147182A1 (https=)

Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH05248893A (ja) * 1992-03-05 1993-09-28 Matsushita Electric Ind Co Ltd バックアップ式絶対位置エンコーダ
JPH062115U (ja) * 1992-06-19 1994-01-14 ヤマハ株式会社 磁気式検出装置
JPH0723225U (ja) * 1993-10-04 1995-04-25 株式会社ニコン 多回転アブソリュートエンコーダ
JP2004239737A (ja) * 2003-02-05 2004-08-26 Tokai Rika Co Ltd 回転角度検出装置及び回転角度検出方法
WO2008105217A1 (ja) * 2007-02-26 2008-09-04 Kabushiki Kaisha Yaskawa Denki 絶対値エンコーダ装置および多回転検出方法
WO2015137040A1 (ja) * 2014-03-14 2015-09-17 ソニー株式会社 ロボットアーム装置、ロボットアーム制御方法及びプログラム
WO2017126339A1 (ja) * 2016-01-18 2017-07-27 株式会社ニコン エンコーダ装置、駆動装置、ステージ装置、及びロボット装置
WO2019159311A1 (ja) * 2018-02-16 2019-08-22 株式会社五十嵐電機製作所 Ｄｃモータの制御装置
JP2020193942A (ja) * 2019-05-30 2020-12-03 日本電産株式会社 回転位置検出装置、回転位置検出方法、及び回転位置検出プログラム
JP2021063732A (ja) * 2019-10-15 2021-04-22 ファナック株式会社 補助電源装置及び産業機械

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4161248B2 (ja) * 2002-02-27 2008-10-08 株式会社安川電機 複合形検出器
JP2011211791A (ja) * 2010-03-29 2011-10-20 Toshiba Mach Co Ltd バックアップ電源装置及び電力出力方法
JP6772013B2 (ja) * 2016-09-28 2020-10-21 キヤノン株式会社 ロボットアーム、ロボット制御装置、およびロボットシステム
JP2021076587A (ja) * 2019-10-31 2021-05-20 株式会社ニコン エンコーダ装置、その使用方法、その位置決め方法、及び位置検出方法

Patent Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH05248893A (ja) * 1992-03-05 1993-09-28 Matsushita Electric Ind Co Ltd バックアップ式絶対位置エンコーダ
JPH062115U (ja) * 1992-06-19 1994-01-14 ヤマハ株式会社 磁気式検出装置
JPH0723225U (ja) * 1993-10-04 1995-04-25 株式会社ニコン 多回転アブソリュートエンコーダ
JP2004239737A (ja) * 2003-02-05 2004-08-26 Tokai Rika Co Ltd 回転角度検出装置及び回転角度検出方法
WO2008105217A1 (ja) * 2007-02-26 2008-09-04 Kabushiki Kaisha Yaskawa Denki 絶対値エンコーダ装置および多回転検出方法
WO2015137040A1 (ja) * 2014-03-14 2015-09-17 ソニー株式会社 ロボットアーム装置、ロボットアーム制御方法及びプログラム
WO2017126339A1 (ja) * 2016-01-18 2017-07-27 株式会社ニコン エンコーダ装置、駆動装置、ステージ装置、及びロボット装置
WO2019159311A1 (ja) * 2018-02-16 2019-08-22 株式会社五十嵐電機製作所 Ｄｃモータの制御装置
JP2020193942A (ja) * 2019-05-30 2020-12-03 日本電産株式会社 回転位置検出装置、回転位置検出方法、及び回転位置検出プログラム
JP2021063732A (ja) * 2019-10-15 2021-04-22 ファナック株式会社 補助電源装置及び産業機械

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TW202428408A (zh) 2024-07-16
JPWO2024147182A1 (https=) 2024-07-11

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