US 11,192,286 B2Granted

Phase adjusting device and phase adjusting method

AssigneeFanuc Corporation

InventorsKodai Nanri, Satoshi Yano

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Abstract

A phase adjusting device includes: a torque acquisition unit acquiring a torque; a position acquisition unit acquiring the rotational position of the first motor; a first motor control unit rotating the first motor in a first rotational direction until the torque exceeds a threshold, and then in a second rotational direction until the torque exceeds the threshold again; a storage control unit storing, in a storage unit, a first rotational position when the first motor is rotated in the first rotational direction and the torque exceeds the threshold and a second rotational position when the first motor is rotated in the second rotational direction and the torque exceeds the threshold again; a phase position calculator calculating a third rotational position, based on the first and second rotational positions; and a second motor control unit rotating the first motor to the third rotational position.

Claims11

Dependent claims

A phase adjusting device for a drive device including a first motor and a second motor configured to move a movable part, a first driving force transmission mechanism configured to convert a rotational force of the first motor into a linear force and transmit the linear force to the movable part, and a second driving force transmission mechanism configured to convert a rotational force of the second motor into a linear force and transmit the linear force to the movable part,

the phase adjusting device comprising:
a torque acquisition unit configured to acquire a torque of the first motor or the second motor;
a position acquisition unit configured to acquire a rotational position of the first motor;
a first motor control unit configured to rotate the first motor in a first rotational direction until the torque exceeds a threshold, and then rotate the first motor in a second rotational direction opposite to the first rotational direction until the torque exceeds the threshold again;
a storage control unit configured to store the rotational position of the first motor when the first motor is rotated in the first rotational direction and the torque exceeds the threshold, in a storage unit as a first rotational position, and store the rotational position of the first motor when the first motor is rotated in the second rotational direction and the torque exceeds the threshold again, in the storage unit as a second rotational position, and
a phase position calculator configured to calculate, as a third rotational position and based on the first rotational position and the second rotational position, a rotational position of the first motor at which a relative position of the movable part in a backlash of the second driving force transmission mechanism and a relative position of the movable part in a backlash of the first driving force transmission mechanism coincide with each other within a predetermined range;
and
a second motor control unit configured to rotate the first motor to the third rotational position.

5 more elements

A phase adjusting method for a drive device including a first motor and a second motor configured to move a movable part, a first driving force transmission mechanism configured to convert a rotational force of the first motor into a linear force and transmit the linear force to the movable part, and a second driving force transmission mechanism configured to convert a rotational force of the second motor into a linear force and transmit the linear force to the movable part,

the phase adjusting method comprising:
a torque acquisition step of acquiring a torque of the first motor or the second motor;
a position acquisition step of acquiring a rotational position of the first motor;
a first motor controlling step of rotating the first motor in a first rotational direction until the torque exceeds a threshold;
a first storage controlling step of storing the rotational position of the first motor when the first motor is rotated in the first rotational direction and the torque exceeds the threshold, in a storage unit as a first rotational position;
a second motor controlling step of rotating the first motor in a second rotational direction opposite to the first rotational direction until the torque exceeds the threshold again;
a second storage controlling step of storing the rotational position of the first motor when the first motor is rotated in the second rotational direction and the torque exceeds the threshold again, in the storage unit as a second rotational position;
a phase position calculating step of calculating, as a third rotational position and based on the first rotational position and the second rotational position, a rotational position of the first motor at which a relative position of the movable part in a backlash of the second driving force transmission mechanism and a relative position of the movable part in a backlash of the first driving force transmission mechanism coincide with each other within a predetermined range;
and
a third motor controlling step of rotating the first motor to the third rotational position.

7 more elements

Dependencies are inferred from the claim text.

Facts

Application: 17/026,458Filed 21 Sep 2020
Priority: JP JP2019-17993430 Sep 2019
Published: US 2021/0094211 A11 Apr 2021
Granted: 7 Dec 2021
Term ends: Not estimatedThe source records don’t support an estimate.

Classification16 codes

B29C 45/5008
Axially movable screw: drive means therefor
B29C 45/7613
Measuring, controlling or regulating: the termination of flow of material into the mould
B29C 45/76
Component parts, details or accessories; Auxiliary operations: measuring, controlling or regulating
B29C 2045/1792
Component parts, details or accessories not otherwise provided for; Auxiliary operations not otherwise provided for: machine parts driven by an…