公开(公告)号：US09821866B1

公开(公告)日：2017-11-21

申请号：US14939077

申请日：2015-11-12

Applicant: Schaft Inc.

Inventor： Junichi Urata ,  Yoshito Ito

IPC: B25J5/00 ,  B25J9/16 ,  B62D57/032

CPC classification number: B62D57/032 ,  B25J5/00 ,  B25J9/16 ,  B25J13/085

Abstract: Example embodiments relate to a robotic device with at least two legs. Each leg includes a foot including a first sole and a second sole perpendicular to the first sole. Each leg additionally includes an ankle joint configured to rotate the foot from a first position in which the first sole is contacting a ground surface to a second position in which the second sole is contacting the ground surface. The robotic device includes a control system. When the foot of a given leg of the at least two legs is in the first position, the control system may determine to cause the foot of the given leg to switch from the first position to the second position, and may cause the ankle joint of the given leg to rotate the foot of the given leg from the first position to the second position.

公开(公告)号：US20150331006A1

公开(公告)日：2015-11-19

申请号：US14648826

申请日：2013-12-25

Applicant: SCHAFT INC.

Inventor： Jyunichi Urata ,  Masayuki Inaba

IPC: G01P3/489 ,  G01D5/244

CPC classification number: G01P3/489 ,  G01D5/244 ,  G01P13/045

Abstract: The present invention aims to easily suppress noise components of aliases when measuring a velocity based on an output from an encoder. The invention comprises a step for converting in which two-phase signals indicating the movement of a spinning body, etc., are converted to a ternary pulse train signal having a positive or a negative or a zero value corresponding to the phases of the two-phase signals, a step for low pass filtering in which a low frequency component of the pulse train signal is obtained by arithmetically processing the pulse train signal and filter coefficients, and a step for output-sampling in which the signal obtained by the step for low pass filtering is sampled at a predetermined sampling period. In the step for low pass filtering, a convolution (operation for convolution) between the pulse train signal obtained by sampling the pulse train signal at a predetermined period and the filter coefficients is carried out. Sampling the pulse train signal is synchronized with and has the same phase as reading the filter coefficients for the convolution. The sampled signal by the step for output-sampling is output as a velocity signal corresponding to the velocity determined by the two-phase signal.

Abstract translation: 本发明的目的是在基于编码器的输出测量速度时容易地抑制别名的噪声分量。 本发明包括一种转换步骤，其中指示旋转体等的移动的两相信号被转换成具有对应于二维相位的相位的正或负或零值的三进脉冲序列信号， 相位信号，通过对脉冲序列信号和滤波器系数进行算术处理获得脉冲序列信号的低频分量的低通滤波步骤，以及通过该步骤获得的低信号的信号的输出采样步骤 在预定的采样周期采样通滤波。 在低通滤波的步骤中，执行通过以预定周期采样脉冲序列信号而获得的脉冲序列信号与滤波器系数之间的卷积（卷积操作）。 脉冲串信号的采样与读取滤波器系数的卷积同步并具有相同的相位。 输出采样步骤的采样信号作为与由两相信号确定的速度对应的速度信号输出。

公开(公告)号：US20180241285A1

公开(公告)日：2018-08-23

申请号：US15441123

申请日：2017-02-23

Applicant: Schaft Inc.

Inventor： Akihiko Sasaki ,  Nobuyuki Ito ,  Junichi Urata

IPC: H02K9/00 ,  H05K1/02 ,  H05K1/14 ,  H05K1/18 ,  H05K1/09 ,  H02K11/33

CPC classification number: H02K9/005 ,  H02K11/33 ,  H05K1/0204 ,  H05K1/05 ,  H05K1/09 ,  H05K1/144 ,  H05K1/181 ,  H05K2201/042 ,  H05K2201/066 ,  H05K2201/10166 ,  H05K2201/10416

Abstract: A system includes a primary Printed Circuit Board (PCB) and a heat transfer device that is attached to the primary PCB. The primary PCB includes a heat generating device and a thermal conductive inlay attached to the heat generating device. The heat transfer device includes a secondary PCB that is thermally coupled to the primary PCB, and a heat dissipation block. The heat dissipation block has a first side attached to the thermal conductive inlay of the primary PCB and a second side attached to the secondary PCB.

公开(公告)号：US10179619B1

公开(公告)日：2019-01-15

申请号：US15085584

申请日：2016-03-30

Applicant: Schaft Inc.

Inventor： Junichi Urata ,  Masaki Hamafuji

IPC: B62D57/032 ,  B25J13/08 ,  B25J9/16

Abstract: An example implementation may involve receiving, by a robot comprising a first foot and a second foot, sensor data indicating that a force has been applied to a top surface of the first foot. The robot may have a trajectory, and the sensor data may be received from a sensor positioned on the top surface of the first foot. In response to receiving the sensor data, the robot may determine an updated trajectory for the robot and cause the second foot to swing such that the robot moves according to the updated trajectory.

公开(公告)号：US09950430B1

公开(公告)日：2018-04-24

申请号：US15370312

申请日：2016-12-06

Applicant: Schaft Inc.

Inventor： Nobuyuki Ito ,  Junichi Urata ,  Koichi Nishiwaki

IPC: G05B15/00 ,  G06F19/00 ,  B25J9/16

CPC classification number: B25J9/1694 ,  B25J9/161 ,  B25J9/1664 ,  G05B19/21 ,  G05B2219/37175 ,  G05B2219/41422 ,  G05F1/66 ,  Y10S901/02 ,  Y10S901/28 ,  Y10S901/46

Abstract: A robotic system may include an incremental encoder coupled to a joint of the system. The robotic system may include a memory configured to store representations of angular positions of the joint. The robotic system may include a motor coupled to the joint, where rotation of the joint while the motor is powered off (i) causes rotation of the motor such that electric power is generated, and (ii) updates the angular position of the joint. The robotic system may use the electric power to power on the incremental encoder and the memory while the robotic system is powered off. One or more processors may obtain, when the robotic system powers on after being powered off, the updated angular position of the joint from the memory, where the incremental encoder provides the updated angular position to the memory while the robotic system is powered off.

公开(公告)号：US09882523B2

公开(公告)日：2018-01-30

申请号：US15293838

申请日：2016-10-14

Applicant: Schaft Inc.

Inventor： Junichi Urata ,  Masayuki Inaba

IPC: G05B11/28 ,  H02P27/08 ,  H03M3/00 ,  H02P6/14

CPC classification number: H02P27/08 ,  H02P6/14 ,  H03M3/30

Abstract: To suppress a decline in the control accuracy of an applied voltage associated with an increase in quantum noise, and to increase the control accuracy of a motor speed. When generating a driving voltage signal supplied to a motor from a driving command signal, a motor-driving voltage control device reduces the gradation level and performs noise-shaping modulation before performing PWM modulation. Reducing the gradation level allows the degree of gradation of the driving voltage signal to be within the resolution range of the PWM modulation, and thus PWM modulation can be performed even when the driving voltage signal has a high frequency. Noise-shaping modulation reduces the level of quantum noise near the low frequency range by causing the quantum noise due to digitization, included in the driving voltage signal, to be biased toward the high frequency range side. Of modulation signals with the reduced-gradation level, the components near the high frequency band are cut, while the components near the low frequency range are used to suppress quantum noise and control the driving voltage applied to the motor with a high accuracy.

公开(公告)号：US09733137B2

公开(公告)日：2017-08-15

申请号：US14649019

申请日：2013-12-16

Applicant: Schaft Inc.

Inventor： Junichi Urata

IPC: G01L3/04 ,  H02K7/116 ,  F16H49/00 ,  F16H57/01 ,  H02P29/00 ,  H02P6/16 ,  H02P29/024

CPC classification number: G01L3/04 ,  F16H49/001 ,  F16H57/01 ,  F16H2057/018 ,  H02K7/116 ,  H02P6/16 ,  H02P29/00 ,  H02P29/0241 ,  H02P2203/00

Abstract: The structure for detecting tooth-skipping of the speed reducer of the rotary driver is reduced in weight and size. In the rotary driver the occurrence of tooth-skipping is detected based on the difference in outputs from the encoders located at the input side (the side of the motor) and at the output side (the side of the load), which is opposite the input side in relation to the speed reducer. The rotary driver comprises a motor, a speed reducer located between the motor and a load to reduce the rotary speed of a rotary shaft at the side of the motor, to thereby transmit the reduced rotary speed to a rotary shaft at the side of the load, a first encoder for detecting a rotation of the rotary shaft at the side of the motor, a second encoder for detecting a rotation of the rotary shaft at the side of the load, a section for detecting any difference between a first detected value that is obtained by dividing an output of the first encoder by a rate for reducing the speed by the speed reducer and a second detected value that is obtained from an output of the second encoder, and a section for detecting tooth-skipping that detects tooth-skipping of the speed reducer based on the difference.

公开(公告)号：US20150311852A1

公开(公告)日：2015-10-29

申请号：US14648289

申请日：2013-12-12

Applicant: Schaft Inc.

Inventor： Jyunichi Urata ,  Masayuki Inaba

IPC: H02P27/08 ,  H03M3/00

CPC classification number: H02P27/08 ,  H02P6/14 ,  H03M3/30

Abstract: To suppress a decline in the control accuracy of an applied voltage associated with an increase in quantum noise, and to increase the control accuracy of a motor speed. When generating a driving voltage signal supplied to a motor from a driving command signal, a motor-driving voltage control device reduces the gradation level and performs noise-shaping modulation before performing PWM modulation. Reducing the gradation level allows the degree of gradation of the driving voltage signal to be within the resolution range of the PWM modulation, and thus PWM modulation can be performed even when the driving voltage signal has a high frequency. Noise-shaping modulation reduces the level of quantum noise near the low frequency range by causing the quantum noise due to digitization, included in the driving voltage signal, to be biased toward the high frequency range side. Of modulation signals with the reduced-gradation level, the components near the high frequency band are cut, while the components near the low frequency range are used to suppress quantum noise and control the driving voltage applied to the motor with a high accuracy.

Abstract translation: 抑制与量子噪声增加有关的施加电压的控制精度下降，提高电机转速的控制精度。 当从驱动命令信号产生提供给电动机的驱动电压信号时，电机驱动电压控制装置在执行PWM调制之前降低灰度级并进行噪声整形调制。 降低灰度级使得驱动电压信号的灰度级在PWM调制的分辨率范围内，因此即使驱动电压信号具有高频也可以执行PWM调制。 噪声整形调制通过使包含在驱动电压信号中的数字化引起的量子噪声偏向高频范围侧，来降低低频范围附近的量子噪声的电平。 对于具有降低灰度级的调制信号，高频带附近的分量被切断，而低频范围附近的分量被用于抑制量子噪声并以高精度控制施加到电动机的驱动电压。

公开(公告)号：US20150263583A1

公开(公告)日：2015-09-17

申请号：US14432904

申请日：2013-09-30

Applicant: SCHAFT INC.

Inventor： Junichi Urata ,  Yuto Nakanishi

IPC: H02K5/20

CPC classification number: H02K5/20 ,  H02K9/00

Abstract: A water-cooled housing (100) comprises: a tubular passage section (20) which has a plurality of partition walls erected in the direction of the central axis at a prescribed angular interval on a substantially cylindrical inner wall to form a plurality of outward passages and a plurality of inward passages extending parallel to each other along the central axis between the plurality of partition walls and the outer peripheral surface of a motor (40); a first cover section (10) which closes a first opening of the tubular passage section (20) while having a plurality of returning passages that connects inward passages to next outward passages; a second cover section (30) which closes a second opening of the tubular passage section (20) while having a plurality of returning passages that connects outward passages to next inward passages; a water supply section (16a) which is provided on the first cover section (10) and connected to the entrance of a first outward passage; and a water drain section (17a) which is connected to the outlet of the last inward passage of the first cover section (10) or is connected to the outlet of the last outward passage of the second cover section (30). With such a configuration, the present invention provides a water-cooled motor structure and a water-cooled housing which allow for easy production of components and increased cooling efficiency.

Abstract translation: 水冷式壳体（100）包括：管状通道部分（20），其具有在中心轴线方向上以规定的角度间隔竖立在大致圆筒形的内壁上的多个隔壁，以形成多个向外通道 以及沿所述中心轴线在所述多个分隔壁与所述电动机（40）的外周面之间彼此平行延伸的多个向内通道; 第一盖部分（10），其封闭所述管状通道部分（20）的第一开口，同时具有将向内通道连接到下一个向外通道的多个返回通道; 第二盖部分（30），其封闭所述管状通道部分（20）的第二开口，同时具有将向外的通道连接到下一个向内通道的多个返回通道; 供水部（16a），其设置在所述第一盖部（10）上并连接到第一向外通道的入口; 以及与第一盖部（10）的最后向内通道的出口连接或连接到第二盖部（30）的最后向外通道的出口的排水部（17a）。 通过这样的结构，本发明提供一种水冷电动机结构和水冷式壳体，其容易制造部件并提高冷却效率。

公开(公告)号：US10132701B2

公开(公告)日：2018-11-20

申请号：US15646224

申请日：2017-07-11

Applicant: Schaft Inc.

Inventor： Junichi Urata

IPC: G01L3/04 ,  H02K7/116 ,  F16H49/00 ,  F16H57/01 ,  H02P29/00 ,  H02P6/16 ,  H02P29/024

Abstract: The structure for detecting tooth-skipping of the speed reducer of the rotary driver is reduced in weight and size. In the rotary driver the occurrence of tooth-skipping is detected based on the difference in outputs from the encoders located at the input side (the side of the motor) and at the output side (the side of the load), which is opposite the input side in relation to the speed reducer. The rotary driver comprises a motor, a speed reducer located between the motor and a load to reduce the rotary speed of a rotary shaft at the side of the motor, to thereby transmit the reduced rotary speed to a rotary shaft at the side of the load, a first encoder for detecting a rotation of the rotary shaft at the side of the motor, a second encoder for detecting a rotation of the rotary shaft at the side of the load, a section for detecting any difference between a first detected value that is obtained by dividing an output of the first encoder by a rate for reducing the speed by the speed reducer and a second detected value that is obtained from an output of the second encoder, and a section for detecting tooth-skipping that detects tooth-skipping of the speed reducer based on the difference.