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1. 发明授权

US5099707A Direct-acting actuator for an industrial robot 失效
标题翻译：用于工业机器人的直接执行机构
公开(公告)号：US5099707A
公开(公告)日：1992-03-31
申请号：US477872
申请日：1990-04-11
申请人： Nobutoshi Tori , Susumu Ito , Masayuki Hamura , Akira Tanaka
发明人： Nobutoshi Tori , Susumu Ito , Masayuki Hamura , Akira Tanaka
IPC分类号： B25J9/02 , B25J9/10 , B25J18/02
CPC分类号： B25J9/102 , B25J18/02 , B25J9/02 , Y10T403/32155 , Y10T403/7015 , Y10T74/18648 , Y10T74/20317
摘要： A direct-acting actuator for an industrial robot has an elongate ball screw or feed screw which is attached or detached quickly and safely in a narrow working space. In attaching the ball screw, upper and lower end portions of the ball screw, diagonally inserted in the inside space of a column (10), are respectively fitted into holes (12a, 33a) of a column top plate (12) and a plate member (33) of a slider (30) through a passage (12b), formed in the top plate and opening in a slider-side end face of the same plate, and a passage (33b), formed in the plate member and opening in the distal end face of the same member. Then, the lower end of the ball screw is coupled to a reduction gear (52), and a bearing unit (22) mounted on the upper end of the ball screw and a ball nut (34) threadedly engaged with the ball screw are respectively fitted into the holes (12a, 32a) so that the bearing unit and the ball nut are fixed to the top plate and the plate member, respectively.
摘要翻译： PCT No.PCT / JP89 / 00740。 371日期1990年04月11日 102（e）日期1990年4月11日PCT提交1989年7月24日PCT公布。出版物WO90 / 01402 日期：1990年2月22日。用于工业机器人的直接作用致动器具有细长的滚珠丝杠或进给螺杆，其在狭窄的工作空间中快速且安全地附接或分离。在安装滚珠丝杠时，滚珠丝杠的上下端分别装配在塔顶板（12）和板（12）的孔（12a，33a）中，滑块（30）的通过通道（12b）的构件（33），形成在顶板中并在同一板的滑块侧端面中开口;以及通道（33b），其形成在板构件和开口在同一构件的远端面。然后，滚珠丝杠的下端与减速齿轮（52）连接，安装在滚珠丝杠的上端的轴承单元（22）和与滚珠丝杠螺纹接合的滚珠螺母（34）分别装配到孔（12a，32a）中，使得轴承单元和滚珠螺母分别固定到顶板和板构件。

2. 发明授权

US5105136A Structure of shaft supporter in industrial robot 失效
标题翻译：工业机器人轴支架结构
公开(公告)号：US5105136A
公开(公告)日：1992-04-14
申请号：US465115
申请日：1990-02-20
申请人： Nobutoshi Torii , Susumu Ito , Masayuki Hamura , Akira Tanaka
发明人： Nobutoshi Torii , Susumu Ito , Masayuki Hamura , Akira Tanaka
IPC分类号： B25J9/04 , B25J9/00 , B25J9/02 , B25J18/02
CPC分类号： B25J9/0009 , B25J18/02 , Y10T74/18856 , Y10T74/19181
摘要： A gear box (30) housing a reduction gear unit (24) and supporting a drive motor (22), and a elongated screw shaft (12) is fitted over a base plate (14) so that an area of a shaft supporter (10) projected in a plane perpendicular to a longitudinal direction of the elongated screw shaft is reduced, which supporter supports both ends of the elongaged screw shaft (12) for moving a movable element such as an arm of an industrial robot in a predetermined direction. Furthermore, a circular boss portion (32b) provided at the lower face of the gear box (30) and a hole (14a) provided at the base plate (14) are used for positioning the gear box on the base plate (14), and the positioning in a height direction is achieved by positioning elements (40) having a predetermined height dimension when the gear box (30) is attached to the base plate (14).
摘要翻译： PCT No.PCT / JP89 / 00619 Sec。 371日期1990年2月20日 102（e）1990年2月20日PCT PCT。 WO89 / 12531 PCT出版物日期：1989年12月28日。一个容纳减速齿轮单元（24）并支撑驱动马达（22）的齿轮箱（30）和细长的螺杆轴（12），装在基板（14）上，在垂直于细长螺杆轴的纵向的平面中突出的轴支撑件（10）的面积减小，该支撑件支撑延伸螺纹轴（12）的两端，用于移动诸如工业的臂的可移动元件机器人沿预定方向。此外，设置在齿轮箱（30）的下表面处的圆形凸台部分（32b）和设置在基板（14）上的孔（14a）用于将齿轮箱定位在基板（14）上，并且当齿轮箱（30）附接到基板（14）时，通过定位具有预定高度尺寸的元件（40）来实现高度方向上的定位。

3. 发明授权

US5111709A Industrial robot with a telescopic horizontal arm 失效
标题翻译：具有伸缩水平臂的工业机器人
公开(公告)号：US5111709A
公开(公告)日：1992-05-12
申请号：US589836
申请日：1990-09-26
申请人： Nobutoshi Torii , Susumu Ito , Masayuki Hamura , Akira Tanaka
发明人： Nobutoshi Torii , Susumu Ito , Masayuki Hamura , Akira Tanaka
IPC分类号： B25J18/02 , F02B75/02
CPC分类号： B25J18/025 , F02B2075/025 , Y10T74/18672
摘要： An industrial robot with a horizontal telescopic arm unit having an arm casing horizontally slidably mounted on a vertical upright column, a telescopic arm encased in the arm casing to be telescopically moved with respect to the arm casing and in synchronism with the horizontal sliding movement of the arm casing, and a common drive motor causing the horizontal linear sliding movement of the arm casing and the telescopic movement of the telescopic arm via a rotation to linear movement converting mechanism.
摘要翻译：一种具有水平伸缩臂单元的工业机器人，其具有水平可滑动地安装在垂直立柱上的臂壳体，包围在臂壳体中的伸缩臂相对于臂壳体可伸缩地移动并且与水平滑动运动同步臂壳体和公共驱动马达，其使臂壳体的水平线性滑动运动和伸缩臂的伸缩运动经由旋转到线性运动转换机构。

4. 发明授权

US5107716A Horizontal revolute robot 失效
标题翻译：水平革命机器人
公开(公告)号：US5107716A
公开(公告)日：1992-04-28
申请号：US474040
申请日：1990-04-11
申请人： Nobutoshi Torii , Susumu Ito , Masayuki Hamura , Akira Tanaka
发明人： Nobutoshi Torii , Susumu Ito , Masayuki Hamura , Akira Tanaka
IPC分类号： B25J9/02 , B25J9/04 , B25J9/10 , B25J18/02
CPC分类号： B25J9/042 , B25J18/02 , B25J9/02 , B25J9/102 , Y10T403/32155 , Y10T403/7015 , Y10T74/18648 , Y10T74/20317
摘要： In a horizontal revolute robot, an upper end of a ball screw (21) of a direct-acting actuator (100) is rotatably supported by a top plate of a column (10), and the lower end thereof is coupled to a drive unit (40) disposed on a base plate of the column. A first link (220) is pivotally coupled to a coupling member (210) of a manipulator (200) fixed to a slider (30) of the actuator, and a second link (240) is pivotally coupled to the first link. The ball screw is rotated by the drive unit to move the manipulator along the ball screw in unison with the slider, and servomotors (230, 250) of the manipulator are driven to turn both the links within a horizontal plane, so that a wrist portion of the robot is positioned in a robot installation space for robot operation. Since no base is required to turnably support the actuator, the robot is small-sized, light in weight, and low-priced. Since the lower movement limit position of the manipulator is low, the range of action of the robot is wide.
摘要翻译： PCT No.PCT / JP89 / 00820 Sec。 371日期1990年04月11日 102（e）1990年4月11日PCT PCT 1989年8月11日PCT。 WO90 / 01403 PCT出版物日本1990年2月22日。在水平旋转机器人中，直动式致动器（100）的滚珠丝杠（21）的上端由柱（10）的顶板可旋转地支撑，下端其连接到设置在所述塔的基板上的驱动单元（40）。第一连杆（220）枢转地联接到固定到致动器的滑块（30）的操纵器（200）的联接构件（210），并且第二连杆（240）枢转地联接到第一连杆。滚珠丝杠通过驱动单元旋转，以使滑块与滚珠丝杠一致地移动操纵器，并且驱动操纵器的伺服马达（230,250），使两个连杆在水平面内转动，使得腕部的机器人位于机器人操作的机器人安装空间中。由于不需要底座可转动地支撑执行机构，机器人体积小巧，重量轻，价格低廉。由于机械手的下移动极限位置较低，所以机器人的动作范围很宽。

5. 发明授权

US5204598A Method and apparatus for stopping an industrial robot 失效
标题翻译：用于停止工业机器人的方法和装置
公开(公告)号：US5204598A
公开(公告)日：1993-04-20
申请号：US773593
申请日：1991-11-21
申请人： Nobutoshi Torii , Susumu Ito , Masayuki Hamura , Tamotsu Sakai
发明人： Nobutoshi Torii , Susumu Ito , Masayuki Hamura , Tamotsu Sakai
IPC分类号： B25J13/08 , B25J9/06 , B25J9/16 , B25J9/18 , B25J19/06
CPC分类号： B25J19/06 , B25J9/1674 , B25J9/1676 , G05B2219/45083 , G05B2219/49142
摘要： An industrial robot having a plurality of axes drivable by respective servomotors is stopped in operation after detecting a collision of the industrial robot with foreign matter. The monitoring of a position error of a servomotor for the axis with respect to which the collision is detected is stopped (S11), and the speed command for that axis is set to "0" (S12). A reverse torque is generated (S13) to decelerate and stop the servomotor. After elapse of a predetermined period of time (S14), the monitoring of a position error is resumed (S15). If the position error exceeds a predetermined value (S31), then an alarm is activated (S32). Then, currents supplied to all the servomotors are cut off (S33), thus stopping the operation of the robot in a short period of time.
摘要翻译： PCT No.PCT / JP91 / 00353 Sec。 371日期1991年11月21日 102（e）日期1991年11月21日PCT 1991年3月13日PCT公布。出版物WO91 / 14544 日期为1991年10月3日。在检测到工业机器人与异物的碰撞后，停止具有由各个伺服电动机驱动的多个轴的工业机器人。检测到相对于检测到碰撞的轴的伺服电机的位置误差的停止（S11），将该轴的速度指令设定为“0”（S12）。产生逆转矩（S13），使伺服电机减速停止。在经过预定时间段（S14）之后，恢复对位置误差的监视（S15）。如果位置误差超过预定值（S31），则报警被激活（S32）。然后，切断供给所有伺服电动机的电流（S33），从而在短时间内停止机器人的动作。

6. 发明授权

US07905692B2 Processing machine with reciprocation device 有权
标题翻译：加工机具有往复运动装置
公开(公告)号：US07905692B2
公开(公告)日：2011-03-15
申请号：US12324988
申请日：2008-11-28
申请人： Masayuki Hamura , Kenzo Ebihara
发明人： Masayuki Hamura , Kenzo Ebihara
IPC分类号： B23D3/02 , B23D7/10
CPC分类号： B23Q1/34 , B23Q1/4828 , B23Q5/027 , B23Q11/0025 , B23Q11/0032 , B23Q2230/004 , Y10S82/904 , Y10T83/0304 , Y10T83/8873 , Y10T409/502788 , Y10T409/504428 , Y10T409/504592 , Y10T409/504756 , Y10T409/506232 , Y10T409/508036
摘要： An angle adjusting mechanism or a linear axis of a processing machine is provided with a reciprocation device. A tool and a tool cutting mechanism are mounted on a moving part of the reciprocation device. A workpiece is processed by the tool based on a combination of the drive of the processing machine and the drive of the reciprocation device.
摘要翻译：处理机的角度调节机构或线性轴设有往复运动装置。工具和切割机构安装在往复运动装置的运动部分上。基于加工机的驱动和往复运动装置的驱动的组合，由工具处理工件。

7. 发明申请

US20090292503A1 MACHINE TOOL WITH NUMERICAL CONTROLLER AND ON-MACHINE MEASURING DEVICE 有权
标题翻译：带数字控制器和机器测量装置的机床
公开(公告)号：US20090292503A1
公开(公告)日：2009-11-26
申请号：US12411437
申请日：2009-03-26
申请人： Yonpyo Hon , Kenzo Ebihara , Akira Yamamoto , Masayuki Hamura
发明人： Yonpyo Hon , Kenzo Ebihara , Akira Yamamoto , Masayuki Hamura
IPC分类号： B23Q17/20
CPC分类号： B23Q17/22 , G01B5/008 , Y02P90/265
摘要： A machine tool is fitted with a position detector for detecting a position of a moving axis of the machine tool and an on-machine measuring device for measurement on the machine tool. An axial position detection signal output from the position detector and a measurement signal output from the on-machine measuring device are received through interfaces by a numerical controller that controls the machine tool. These interfaces are designed so that the numerical controller receives the axial position detection signal and the measurement signal with the same timing.
摘要翻译：机床上装有用于检测机床的移动轴的位置的位置检测器和用于在机床上进行测量的机上测量装置。从位置检测器输出的轴向位置检测信号和从机上测量装置输出的测量信号通过控制机床的数值控制器的接口接收。这些接口被设计成使得数字控制器以相同的定时接收轴向位置检测信号和测量信号。

8. 发明授权

US5214362A Method for detecting a collision and stopping drive of a machine driven by servomotors 失效
标题翻译：用于检测伺服电机驱动的机器的碰撞和停止驱动的方法
公开(公告)号：US5214362A
公开(公告)日：1993-05-25
申请号：US477871
申请日：1990-04-11
申请人： Nobutoshi Torii , Yasuo Naito , Masayuki Hamura , Kazuhisa Otsuka
发明人： Nobutoshi Torii , Yasuo Naito , Masayuki Hamura , Kazuhisa Otsuka
IPC分类号： G05B9/02 , G05B19/4061 , G05D3/00 , G05D3/12
CPC分类号： G05B19/4061 , G05B2219/34047 , G05B2219/36399 , G05B2219/37624 , G05B2219/49162 , G05B2219/50179
摘要： A collision detection/drive stoppage method capable of promptly detecting a collision of machine operating parts driven by servomotors with a foreign object, and of promptly stopping drive of the machine operating parts upon detection of a collision, thereby preventing or lessening damage to a machine, etc., caused by the collision. A digital signal processor of an axis controller, forming a software servo system, periodically calculates a velocity deviation (.epsilon.v) in accordance with a command velocity (Vc) calculated based on a command from a main computer and an actual motor velocity (V) from a pulse coder of the servomotor (S2), determines whether the absolute value (.vertline..epsilon.v-.epsilon.v'.vertline.) of the difference between the velocity deviation of the current servo control period and that of the previous control period is smaller than a collision discriminating reference value (ERR) (S3), and causes an alarm to be displayed and at the same time delivers a torque command having a value of zero to stop rotation of the servomotor (S8, S9) when the absolute value is larger than the reference value.

9. 发明授权

US08277123B2 Fluid bearing structure and method of forming bearing concaves in fluid bearing structure 有权
标题翻译：流体轴承结构和在轴承结构中形成轴承凹陷的方法
公开(公告)号：US08277123B2
公开(公告)日：2012-10-02
申请号：US12561610
申请日：2009-09-17
申请人： Masayuki Hamura , Kenzo Ebihara , Takeshi Ooki
发明人： Masayuki Hamura , Kenzo Ebihara , Takeshi Ooki
IPC分类号： F16C32/06 , B21D53/10
CPC分类号： F16C32/0696 , C25D11/04 , F16C29/025 , F16C32/0614 , F16C2204/20 , Y10T29/49639
摘要： A fluid bearing structure with uniform depths of bearing concaves and a method of forming the bearing concaves in the fluid bearing structure. Pipe parts are inserted into through holes formed in the bearing base to form fluid spout holes for spouting fluid between confronting bearing surfaces. Bearing concaves are formed around the fluid spout holes. The bearing base and the pipe parts are made of different materials. A coating layer is formed on the bearing base and the pipe parts by an anodic oxidation process. Thickness of the coating layer on the bearing base is different from thickness of the coating layer on the pipe parts since the base member and the pipe members are made of different materials. The material on which a coating layer grows quickly is selected for the bearing base and the material on which a coating layer grows slowly is selected for the pipe parts.
摘要翻译：具有均匀深度的轴承凹陷的流体轴承结构和在流体轴承结构中形成轴承凹部的方法。将管件插入到形成在轴承座中的通孔中，以形成用于在相对的轴承表面之间喷射流体的流体喷口。轴承凹陷形成在流体喷口周围。轴承座和管件由不同的材料制成。通过阳极氧化工艺在轴承座和管件上形成涂层。由于基部件和管件由不同的材料制成，所以在轴承座上的涂层厚度与管件上的涂层厚度不同。对于轴承座选择涂层快速生长的材料，并且为管件选择涂层缓慢生长的材料。

10. 发明授权

US08225519B2 Contact type measurement device having fine contact force adjustment mechanism 有权
标题翻译：具有接触力调节机构的接触式测量装置
公开(公告)号：US08225519B2
公开(公告)日：2012-07-24
申请号：US13033927
申请日：2011-02-24
申请人： Yonpyo Hon , Kenzo Ebihara , Masayuki Hamura
发明人： Yonpyo Hon , Kenzo Ebihara , Masayuki Hamura
IPC分类号： G01B5/00 , G01B7/00 , G01B13/00
CPC分类号： G01B3/008 , G01B5/20
摘要： A contact type measurement device performs measurement with displacement of a probe, while a contact member attached to the probe is in contact with an object to be measured. Data on the relationship of a contact force of the probe to the object to be measured with an angle between the central axis of the probe and the direction of gravity, the amount of displacement of the probe, and a fluid pressure for applying a pushing-out or pulling-in force to the probe is stored in advance and, on the basis of this data, the fluid pressure or the amount of displacement of the probe is controlled to automatically and precisely adjust a fine contact force of the probe to the object to be measured.
摘要翻译：接触型测量装置通过探针的位移进行测量，而附接到探针的接触构件与被测量物体接触。关于探头的接触力与被测量物体的接触力与探头的中心轴线之间的角度与重力的关系的数据，探头的位移量以及用于施加推压方向的流体压力，预先存储对探头的拉出或拉动力，并且基于该数据，控制流体压力或探针的位移量以自动且精确地将探针的精细接触力调整到对象待测。

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