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1. 发明申请

US20150048724A1 CONTROL APPARATUS FOR CONTROLLING ROTATION OF JOINTS OF ROBOT 有权
标题翻译：用于控制机器人接头旋转的控制装置
公开(公告)号：US20150048724A1
公开(公告)日：2015-02-19
申请号：US14387736
申请日：2013-03-26
申请人： DENSO WAVE INCORPORATED , NIKON CORPORATION
发明人： Takeshi Ueda , Yoshiji Takahashi , Toru Morita , Kou Ohno
IPC分类号： H02K11/00 , H02K7/116
CPC分类号： H02K11/21 , B25J9/10 , G05B19/19 , G05B2219/35375 , G05B2219/37175 , G05B2219/37297 , H02K7/116
摘要： A joint of a robot includes a driving motor, a speed reducer that reduces rotation of an output shaft of the motor, and an arm connected to the speed reducer. The joint includes an input encoder that detects a rotational position of the motor and an output encoder that detects a rotational position of the arm. A controller controls the motor based on data indicating the rotational positions of the motor and the arm detected by the input encoder and the output encoder, respectively. The input encoder is arranged with a register that latches and retains an input EC value. The output encoder includes a register that latches and retains an output EC value, and an edge pulse output section that outputs an edge pulse to both registers every time the output EC value changes. In response to the edge pulse, both registers concurrently output EC values to the controller.
摘要翻译：机器人的接头包括驱动电机，减速器，其减小电动机的输出轴的旋转，以及连接到减速器的臂。接头包括检测电动机的旋转位置的输入编码器和检测臂的旋转位置的输出编码器。控制器基于分别指示由输入编码器和输出编码器检测到的电动机和臂的旋转位置的数据来控制电动机。输入编码器配有一个寄存器，用于锁存和保留输入的EC值。输出编码器包括锁存和保持输出EC值的寄存器，以及边沿脉冲输出部分，每当输出EC值改变时，两个寄存器输出边沿脉冲。响应边沿脉冲，两个寄存器同时向控制器输出EC值。

2. 发明授权

US09823091B2 Encoder system, signal processing method, and transmission signal generation and output device 有权
公开(公告)号：US09823091B2
公开(公告)日：2017-11-21
申请号：US14609981
申请日：2015-01-30
申请人： NIKON CORPORATION
发明人： Hiroyuki Kishida , Toru Morita , Yoshiji Takahashi
IPC分类号： G01D5/14 , G05D3/00 , G05B15/02 , G01D5/244 , G01B7/30 , G01B21/22 , G01D5/347 , G01D5/58 , G01D5/56
CPC分类号： G01D5/14 , G01B7/30 , G01B21/22 , G01D5/145 , G01D5/2449 , G01D5/3473 , G01D5/56 , G01D5/58 , G05B15/02 , G05D3/00
摘要： An encoder system includes a signal processing circuit including: (1) a first position data detection circuit that detects first position data representing positional displacement in rotation of an input shaft through first predetermined signal processing based on a first detection signal input from a first absolute position encoder; (2) a second position data detection circuit that detects second position data representing positional displacement in rotation of an output shaft through second predetermined signal processing based on a second detection signal input from a second absolute position encoder; (3) a position data combination circuit that combines the first and second position data to generate combined position data representing the number of rotations of the input shaft and the positional displacement within one rotation of the input shaft; and (4) a position data comparing and collating circuit that compares and collates the first and second position data.

3. 发明授权

US09306434B2 Control apparatus for controlling rotation of joints of robot 有权
标题翻译：用于控制机器人关节旋转的控制装置
公开(公告)号：US09306434B2
公开(公告)日：2016-04-05
申请号：US14387736
申请日：2013-03-26
申请人： DENSO WAVE INCORPORATED , NIKON CORPORATION
发明人： Takeshi Ueda , Yoshiji Takahashi , Toru Morita , Kou Ohno
IPC分类号： G05B19/19 , H02K11/00 , B25J9/10 , H02K7/116
CPC分类号： H02K11/21 , B25J9/10 , G05B19/19 , G05B2219/35375 , G05B2219/37175 , G05B2219/37297 , H02K7/116
摘要： A joint of a robot includes a driving motor, a speed reducer that reduces rotation of an output shaft of the motor, and an arm connected to the speed reducer. The joint includes an input encoder that detects a rotational position of the motor and an output encoder that detects a rotational position of the arm. A controller controls the motor based on data indicating the rotational positions of the motor and the arm detected by the input encoder and the output encoder, respectively. The input encoder is arranged with a register that latches and retains an input EC value. The output encoder includes a register that latches and retains an output EC value, and an edge pulse output section that outputs an edge pulse to both registers every time the output EC value changes. In response to the edge pulse, both registers concurrently output EC values to the controller.
摘要翻译：机器人的接头包括驱动电机，减速器，其减小电动机的输出轴的旋转，以及连接到减速器的臂。接头包括检测电动机的旋转位置的输入编码器和检测臂的旋转位置的输出编码器。控制器基于分别指示由输入编码器和输出编码器检测到的电动机和臂的旋转位置的数据来控制电动机。输入编码器配有一个寄存器，用于锁存和保留输入的EC值。输出编码器包括锁存和保持输出EC值的寄存器，以及边沿脉冲输出部分，每当输出EC值改变时，两个寄存器输出边沿脉冲。响应边沿脉冲，两个寄存器同时向控制器输出EC值。

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