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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
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.
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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.
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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
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.
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公开(公告)号：US20170307455A1
公开(公告)日：2017-10-26
申请号：US15646224
申请日：2017-07-11
Applicant: Schaft Inc.
Inventor： Junichi Urata
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.
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5.发明授权Motor drive voltage control device and method for controlling motor drive voltage 有权电机驱动电压控制装置及控制电机驱动电压的方法公开(公告)号：US09503013B2
公开(公告)日：2016-11-22
申请号：US14648289
申请日：2013-12-12
Applicant: Schaft Inc.
Inventor： Junichi Urata , Masayuki Inaba
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。
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Patent Agency Ranking
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.
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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
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.
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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
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.
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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
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.
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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
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。
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