Matsushita Electric Industrial Co., Ltd.

Mikio Hasegawa

Teruo Maruyama

Kazuhiro Mori

Yoshikazu Abe

Tatsuhisa Taguchi

Eiji Itemadani

Masahiro Maruyama

Makoto Doi

Kenji Sogawa

Masaki Suzuki

Hiroyuki Inoue

Makoto Imanishi

Takahiro Yonezawa

Hiroshi Nasu

Katsuhiko Watanabe

Akiyoshi Nakada

Toshitsugu Inoue

Shoshi Kabashima

Ken Kobayashi

Hiroji Takano

Yoshihumi Hara

Toshihiro Ide

Takeshi Shiraishi

In an electronic component mounting apparatus, a vertical load and horizontal loads applied to an electronic component are detected by a load sensor that has piezoelectric elements provided in a stack in a mounting direction of the electronic component. Therefore, a size in a horizontal direction of the load sensor can be reduced, and a load applied to the electronic component can be detected at a neighborhood of a mounting position of the electronic component. Moreover, by comparing a position, in a two-dimensional space in which load values in an X-direction and Y-direction of the horizontal load serve as coordinate values, with a tolerance range in the two-dimensional space, a mounting failure can be detected from a deviation in the horizontal loads.

Electronic component mounting apparatus and electronic component mounting method

A fluid rotating apparatus according to the present invention is designed to promptly achieve an extremely high degree of vacuum from atmospheric pressure by its single apparatus. Moreover, high-speed synchronous rotation of the rotary shafts of the apparatus is controlled by use of a rotary position detecting sensor, to thereby avoid control through mechanical contact thereof with a gear or the like. In addition, hydrostatic bearings are employed for supporting the rotary shaft to avoid mechanical abrasion and the use of lubricant oil.

Fluid rotating apparatus

A current detecting method in a case of effecting the digital current control of a motor by a PWM switching system, wherein the current feedback control time and the PWM period are synchronized, and the current for each of the current taking in PWM periods at a time established with respect to the reference signal for determining the PWM period is detected, so that the influence of the pulsation of the current by the PWM switching system may be reduced, and the performance improvement in the digital current feedback control may be improved.

Current detecting method

A multi-shaft driving apparatus includes a plurality of motors each for rotating one of a plurality of shafts to be synchronously rotated, an encoder, provided for each motor, for detecting a rotational state of the shafts, a pulse generator for generating a pulse signal for rotating the shafts, and a motor control circuit, provided for each motor, for inputting the pulse signal generated by the pulse generator for rotating the shafts and a pulse signal detected by the encoder and used as a feedback signal. The motor control circuit has a PLL control section and a rotational angle phasing section so that a rotational angle phasing control loop is generated to perform a rotational angle phasing operation by the rotational angle phasing section so to as place the shafts in position at a driving start and after performing the rotational angle phasing operation, a rising and steady control loop is generated to perform an operation from a rise state to a steady state by the PLL control section. A fluid rotary apparatus includes a plurality of rotors accommodated in a housing, a plurality of shafts each for rotating one of the rotors to be synchronously rotated, and a fluid drawing opening formed in the housing and a fluid discharge opening formed therein, in addition to the structure of the multi-shaft driving apparatus so that the volume change of a space formed by the rotors or by the rotors and the housing is utilized to draw and discharge fluid.

Multi-shaft driving apparatus and fluid rotary apparatus

A fluid rotating apparatus according to the present invention is designed to promptly achieve an extremely high degree of vacuum from promptly atmospheric pressure promptly by its single apparatus. Moreover, high-speed synchronous rotation of the rotary shafts of the apparatus is controlled by use of a rotary position detecting sensor, to thereby avoid control mechanical contact thereof with a gear or the like. In addition, hydrostatic bearing are employed for supporting the rotary shafts to avoid of mechanical abrasion and the use of lubricant oil.

A multi-spindle synchronous drive unit for synchronously driving a plurality of spindles, includes a plurality of motors for respectively driving the spindles, a plurality of encoders for respectively detecting rotational positions of the motors, a plurality of phase locked loop control units for respectively controlling a drive of the motors and for receiving as feedback signals detection signals respectively output by the encoders, a reference pulse oscillator for outputting a pulse signal, and a plurality of multipliers for multiplying the pulse signal by multiplication factors respectively corresponding to rotational speed ratios of the spindles and for respectively outputting speed command pulse signals to the phase locked loop control unit.

Multi-spindle synchronous drive unit and gear cutting machine employing

In an industrial robot including a control apparatus capable of executing control of the robot in a position control mode, a velocity control mode and a current control mode. The control apparatus includes a changeover section (20) for executing changeover between the position control mode and the current control mode. The position of an object is sensed by driving a set of arms of the robot in a force control mode which is a combination of the velocity control mode and the current control mode, and detecting the position at which the arms contact an object and are halted. Detection of the halted condition is performed based on a condition of an output signal produced from a position sensor (13), and by repetitively performing such detection for a plurality of different points on the body surface, a plurality of position values are derived which are compared with reference position data. Any change of the position of the object from a reference position is thereby computed by a computation section (24), whereby the robot itself is capable of sensing the position or attitude of an object, in 2 dimensions or 3 dimensions.

Industrial robot

An industrial robot includes a movable arm and an electric motor driving the arm. A current flowing through the motor is controlled so that the arm is moved into predetermined positions and is balanced in the predetermined positions sequentially. A device memorizes values of the motor current at which the arm is balanced in the respective predetermined positions. A target value of the motor current is calculated on the basis of the memorized motor current values. The target motor current value allows the arm to be balanced in a given position.

The present invention is a part mounting device for mounting chip parts on a substrate, comprising a linear motor having a columnar yoke with upper and lower ends thereof pivotably supported on the device, permanent magnets disposed in the vicinity of the columnar yoke and forming with the columnar yoke a magnetic circuit, and a bobbin disposed in the vicinity of the columnar yoke and slidable in the columnar direction of the yoke;

Method of loading parts

Method and apparatus for mounting electronic parts

Dynamic unbalance of a rigid rotor is corrected by machining the rotor in a direction parallel to the rotor axis of said rotor by subtracting or adding weights corresponding to a corrective weight in two planes for compensating initial unbalanced vectors corresponding to correction angle directions and corrective weights in the planes. Prior to effecting the machining, center of gravity position of a corrective machining weight is calculated for effecting corrective machining in the axial direction; the corrective machining corresponds to the corrective weight. The initial unbalanced vectors in the two planes are corrected into unbalanced vectors in new planes respectively including the centers of gravities of the corrective machining weights determined during the calculating step. Correction angular positions and corrective machining weights around the respective planes are obtained by repeating the calculating and correcting steps.

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Neyagawa, Japan

Mikio Hasegawa