US 12,221,289 B2
Driver and carrier
Hitoshi Nariai, Kobe (JP); Kengo Maeda, Kobe (JP); and Shogo Fujita, Kobe (JP)
Assigned to KAWASAKI JUKOGYO KABUSHIKI KAISHA, Kobe (JP)
Appl. No. 18/029,396
Filed by KAWASAKI JUKOGYO KABUSHIKI KAISHA, Kobe (JP)
PCT Filed Oct. 1, 2021, PCT No. PCT/JP2021/036469
§ 371(c)(1), (2) Date Mar. 30, 2023,
PCT Pub. No. WO2022/071592, PCT Pub. Date Apr. 7, 2022.
Claims priority of application No. 2020-168004 (JP), filed on Oct. 2, 2020.
Prior Publication US 2023/0365340 A1, Nov. 16, 2023
Int. Cl. B65G 43/00 (2006.01); B65G 47/90 (2006.01); H02K 11/21 (2016.01); H02K 11/27 (2016.01)
CPC B65G 43/00 (2013.01) [B65G 47/90 (2013.01); H02K 11/21 (2016.01); H02K 11/27 (2016.01); B65G 2812/02089 (2013.01)] 5 Claims
OG exemplary drawing
 
1. A driver comprising:
a driving shaft that is rotatable;
a first motor located so as to rotate the driving shaft;
a second motor located so as to rotate the driving shaft;
circuitry that is configured to control driving of the first motor and driving of the second motor;
a first rotation sensor that detects a rotation amount of the first motor; and
a second rotation sensor that detects a rotation amount of the second motor; wherein:
the circuitry performs control while switching between a dual mode and a single mode;
in the dual mode, the circuitry drives the first motor and the second motor together;
in the single mode, the circuitry drives a drive target motor that is one of the first motor and the second motor and performs such control as to set one or more among a rotational speed, rotation acceleration, and rotation deceleration of the drive target motor to be lower than that or those in the dual mode,
in the dual mode, the circuitry performs first control of controlling a rotational position of the first motor based on a first detection result of the first rotation sensor and performs second control of causing the rotational speed of the second motor to synchronize with the rotational speed of the first motor based on the first detection result of the first rotation sensor and a second detection result of the second rotation sensor,
when the circuitry drives the first motor in the single mode, the circuitry performs the first control with respect to the first motor;
when the circuitry drives the second motor in the single mode, the circuitry performs third control of controlling a rotational position of the second motor based on the second detection result of the second rotation sensor,
when the circuitry (i) determines, based on the first detection result from the first rotation sensor, that the first motor is not abnormal and (ii) determines, based on the second detection result from the second rotation sensor, that the second motor is not abnormal, the circuitry performs control in the dual mode;
when the circuitry determines, based on the second detection result from the second rotation sensor, that the second motor is abnormal, the circuitry drives the first motor in the single mode; and
when the circuitry determines, based on the first detection result from the first rotation sensor, that the first rotation sensor is abnormal, the circuitry drives the second motor in the single mode.