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1. 发明授权

US09393691B2 Industrial robot system including action planning circuitry for temporary halts 有权
标题翻译：工业机器人系统，包括临时停止的行动计划电路
公开(公告)号：US09393691B2
公开(公告)日：2016-07-19
申请号：US13147415
申请日：2010-02-10
申请人： Akio Noda , Haruhisa Okuda , Kenichi Tanaka , Tetsuo Sawaragi , Hiroshi Matsuhisa , Yasuyoshi Yokokouji , Hideo Utsuno , Masaharu Komori , Hajime Mizuyama , Hiroaki Nakanishi , Yukio Horiguchi , Takehisa Kouda , Kazuhiro Izui
发明人： Akio Noda , Haruhisa Okuda , Kenichi Tanaka , Tetsuo Sawaragi , Hiroshi Matsuhisa , Yasuyoshi Yokokouji , Hideo Utsuno , Masaharu Komori , Hajime Mizuyama , Hiroaki Nakanishi , Yukio Horiguchi , Takehisa Kouda , Kazuhiro Izui
IPC分类号： B25J9/06 , B25J9/16 , G05B19/42
CPC分类号： B25J9/1661 , G05B19/42 , G05B2219/36404 , G05B2219/39527 , G05B2219/40111 , G05B2219/40613
摘要： An industrial robot system may enable a reduction in an installation/adjustment period, and an increase in a no-error continuous operation period. The system includes an action planning section for temporary halts, an error-inducing-task restraining section, a section for teaching task, an operation mastering section, a hand library, an optimum-task-operation generating section, a specific task library, an error-recovery-task teaching section, an error recovery library, a finger-eye-camera measurement section including an omnidirectional mirror, a three-dimensional recognition section, a controller, a manipulator, and a hand with a plurality of fingers.
摘要翻译：工业机器人系统可以实现安装/调整周期的减少以及无错误的连续操作期间的增加。该系统包括用于暂时停止的动作规划部，错误诱导任务抑制部，教学任务部，操作母版部，手库，最优任务动作生成部，特定任务库，错误恢复任务教学部分，错误恢复库，包括全向镜，三维识别部分，控制器，操纵器和具有多个手指的手的手指相机测量部分。

2. 发明授权

US07755771B2 Noncontact method for measuring pitch of gear teeth and screw 失效
标题翻译：用于测量齿轮齿和螺丝螺距的非接触式方法
公开(公告)号：US07755771B2
公开(公告)日：2010-07-13
申请号：US11662421
申请日：2005-09-06
申请人： Masaharu Komori , Aizoh Kubo , Yoshihiro Oda
发明人： Masaharu Komori , Aizoh Kubo , Yoshihiro Oda
IPC分类号： G01B11/24
CPC分类号： G01B11/2416
摘要： A pitch measurement method of performing noncontact measurement of a pitch of target portions, the target portions being provided in an object and adjacent to each other, includes moving the object such that the target portions move along a same path, continuously acquiring and storing optical data of the target portions passing a predetermined position on the path from a fixed position, while focusing on the predetermined position, calculating a focusing evaluation value representing a degree of focus at an area corresponding to the predetermined position, using a movement distance of the target portions as a variable, according to a relationship between the optical data and the movement distance, and obtaining a point group of combinations of the movement distance and the focusing evaluation value, and applying a reference curve to the point group, thereby determining the pitch based on a position where the reference curve is applied.
摘要翻译：目标部分设置在物体中并且彼此相邻的目标部分的间距的非接触测量方法包括使目标部分沿着相同的路径移动，连续获取和存储光学数据在从固定位置通过路径上的预定位置的目标部分中，同时聚焦在预定位置，使用目标部分的移动距离计算表示与预定位置对应的区域的聚焦度的聚焦评估值作为变量，根据光学数据和移动距离之间的关系，并获得移动距离和聚焦评估值的组合的点组，并将参考曲线应用于点组，从而基于应用参考曲线的位置。

3. 发明申请

US20070291260A1 Noncontact Method for Measuring Pitch of Gear Teeth and Screw 失效
标题翻译：用于测量齿轮齿和螺丝间距的非接触式方法
公开(公告)号：US20070291260A1
公开(公告)日：2007-12-20
申请号：US11662421
申请日：2005-09-06
申请人： Masaharu Komori , Aizoh Kubo , Yoshihiro Oda
发明人： Masaharu Komori , Aizoh Kubo , Yoshihiro Oda
IPC分类号： G01B11/26
CPC分类号： G01B11/2416
摘要： A method for measuring the pitch in a noncontact way in a short time with high precision by using a simple device. The method includes a first step of moving an object (2) having shape-of-interest portions (4) of generally the same shapes so that the shape-of interest portions (4) move along the same patch (8), a second step of continuously acquiring optical data on the shape-of-interest portions (4) passing a predetermined position (6) on the path (8) from a fixed position while focusing on the predetermined position (6) and storing the optical data, a third step of calculating a focusing evaluation value representing the numerical focusing degree at the area corresponding to the predetermined position (6) of the acquired optical data using the movement distance as a variable according to the correspondence relationship between the stored optical data and the movement distance of the shape-of-interest portion (4) of the object (2) and determining a point group of combinations of the movement distance and the focusing evaluation value, and a fourth step of applying a reference curve to the point group and determining the pitch on the basis of the application point on the reference curve.
摘要翻译：一种通过使用简单的装置以高精度在短时间内以非接触方式测量间距的方法。该方法包括：移动具有大致相同形状的感兴趣部分（4）的物体（2）的第一步骤，使得兴趣部分（4）的形状沿着相同的贴片（8）移动，第二步骤同时在固定位置（6）聚焦在预定位置（6）并存储光学数据的情况下，连续地获取从固定位置通过路径（8）上的预定位置（6）的感兴趣部分（4）上的光学数据，第三步骤，根据所存储的光学数据和移动距离之间的对应关系，使用该移动距离作为变量来计算表示与获取的光学数据的预定位置（6）相对应的区域处的数值聚焦度的聚焦评估值并且确定移动距离和聚焦评估值的组合的一组点，以及第四步骤，应用参考对象（2）的感兴趣部分（4）曲线到点组，并根据参考曲线上的应用点确定音调。

4. 发明申请

US20110288667A1 INDUSTRIAL ROBOT SYSTEM 有权
标题翻译：工业机器人系统
公开(公告)号：US20110288667A1
公开(公告)日：2011-11-24
申请号：US13147415
申请日：2010-02-10
申请人： Akio Noda , Haruhisa Okuda , Kenichi Tanaka , Tetsuo Sawaragi , Hiroshi Matsuhisa , Yasuyoshi Yokokouji , Hideo Utsuno , Masaharu Komori , Hajime Mizuyama , Hiroaki Nakanishi , Yukio Horiguchi , Takehisa Kouda , Kazuhiro Izui
发明人： Akio Noda , Haruhisa Okuda , Kenichi Tanaka , Tetsuo Sawaragi , Hiroshi Matsuhisa , Yasuyoshi Yokokouji , Hideo Utsuno , Masaharu Komori , Hajime Mizuyama , Hiroaki Nakanishi , Yukio Horiguchi , Takehisa Kouda , Kazuhiro Izui
IPC分类号： B25J9/06 , B25J13/02 , B25J13/08
CPC分类号： B25J9/1661 , G05B19/42 , G05B2219/36404 , G05B2219/39527 , G05B2219/40111 , G05B2219/40613
摘要： Provided is an industrial robot system which enables a reduction in an installation/adjustment period, and an increase in a no-error continuous operation period, and includes an action planning section (4) for temporary halts, an error-inducing-task restraining section (5), a section (6) for teaching task, an operation mastering section (7), a hand library (8), an optimum-task-operation generating section (11), a specific task library (9), an error-recovery-task teaching section (12), an error recovery library (10), a finger-eye-camera measurement section (32), a three-dimensional recognition section (33), a controller (30), a manipulator (31), and a universal hand contained in a manipulation device group (34).
摘要翻译：提供一种工业机器人系统，其能够减少安装/调整周期，并且增加无错误的连续运行时间，并且包括用于暂时停止的动作规划部（4），误差诱导任务抑制部（5），用于教学任务的部分（6），操作母版部分（7），手库（8），最佳任务操作生成部分（11），特定任务库（9），错误（12），错误恢复库（10），手指相机测量部分（32），三维识别部分（33），控制器（30），操纵器（31））和包含在操纵装置组（34）中的通用手。

5. 发明申请

US20100064848A1 TRANSMISSION AND GEAR CHANGING METHOD 失效
标题翻译：传动和变速方法
公开(公告)号：US20100064848A1
公开(公告)日：2010-03-18
申请号：US12312512
申请日：2007-11-15
申请人： Masaharu Komori
发明人： Masaharu Komori
IPC分类号： F16H37/06
CPC分类号： F16H61/04 , F16H3/089 , F16H3/093 , F16H3/12 , F16H2003/0818 , F16H2035/003 , F16H2061/0425 , Y10T74/19135 , Y10T74/19219
摘要： A transmission and a gear changing method capable of changing a reduction ratio while a load is supported without stopping rotation, and transmitting a rotation angle accurately and power efficiently.First and second gear element pairs (16, 17) are arranged between an input member (12) and an output member (14) via first and second clutches (40, 42), and a non-circular gear pair (18) is arranged via a non-circular gear element pair-use clutch (44). The non-circular gear pair (18) includes between the input member (12) and the output member (14) a first meshing section where it has a ratio equal to a first reduction ratio when the first gear element pair (16) is coupled, and a second meshing section where it has a ratio equal to a second reduction ratio when the second gear element pair (17) is coupled. When the gear element pairs (16, 17) to be coupled between the input member (12) and the output member (14) are switched, the non-circular gear element pair (18) is coupled between the input member (12) and the output member (14) transitionally.
摘要翻译：一种变速器和变速方法，其能够在不停止旋转的同时支撑负载而改变减速比，并且有效地发送旋转角度并进行发电。第一和第二齿轮对（16,17）经由第一和第二离合器（40,42）布置在输入构件（12）和输出构件（14）之间，并且非圆形齿轮对（18）布置通过非圆形齿轮元件对使用离合器（44）。非圆形齿轮对（18）在输入构件（12）和输出构件（14）之间包括第一啮合部分，当第一齿轮件对（16）联接时，第一啮合部分具有等于第一减速比的比率和第二啮合部分，其中当第二齿轮件对（17）联接时，其具有等于第二减速比的比率。当耦合在输入构件（12）和输出构件（14）之间的齿轮元件对（16,17）被切换时，非圆形齿轮元件对（18）联接在输入构件（12）和输出构件（14）。

6. 发明授权

US08096202B2 Transmission and gear changing method 失效
标题翻译：变速器和换档方法
公开(公告)号：US08096202B2
公开(公告)日：2012-01-17
申请号：US12312512
申请日：2007-11-15
申请人： Masaharu Komori
发明人： Masaharu Komori
IPC分类号： F16H3/08
CPC分类号： F16H61/04 , F16H3/089 , F16H3/093 , F16H3/12 , F16H2003/0818 , F16H2035/003 , F16H2061/0425 , Y10T74/19135 , Y10T74/19219
摘要： A transmission and a gear changing method capable of changing a reduction ratio while a load is supported without stopping rotation, and transmitting a rotation angle accurately and power efficiently.First and second gear element pairs (16, 17) are arranged between an input member (12) and an output member (14) via first and second clutches (40, 42), and a non-circular gear pair (18) is arranged via a non-circular gear element pair-use clutch (44). The non-circular gear pair (18) includes between the input member (12) and the output member (14) a first meshing section where it has a ratio equal to a first reduction ratio when the first gear element pair (16) is coupled, and a second meshing section where it has a ratio equal to a second reduction ratio when the second gear element pair (17) is coupled. When the gear element pairs (16, 17) to be coupled between the input member (12) and the output member (14) are switched, the non-circular gear element pair (18) is coupled between the input member (12) and the output member (14) transitionally.
摘要翻译：一种变速器和变速方法，其能够在不停止旋转的同时支撑负载而改变减速比，并且有效地发送旋转角度并进行发电。第一和第二齿轮对（16,17）经由第一和第二离合器（40,42）布置在输入构件（12）和输出构件（14）之间，并且非圆形齿轮对（18）布置通过非圆形齿轮元件对使用离合器（44）。非圆形齿轮对（18）在输入构件（12）和输出构件（14）之间包括第一啮合部分，当第一齿轮件对（16）联接时，第一啮合部分具有等于第一减速比的比率和第二啮合部分，其中当第二齿轮件对（17）联接时，其具有等于第二减速比的比率。当耦合在输入构件（12）和输出构件（14）之间的齿轮元件对（16,17）被切换时，非圆形齿轮元件对（18）联接在输入构件（12）和输出构件（14）。

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