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11. 发明授权

US5032975A Controller for automatic assembling apparatus 失效
标题翻译：自动组装装置控制器
公开(公告)号：US5032975A
公开(公告)日：1991-07-16
申请号：US227551
申请日：1988-08-03
申请人： Toshihiro Yamamoto , Yusaku Azuma , Masateru Yasuhara , Takeo Tanita , Shozo Kasai
发明人： Toshihiro Yamamoto , Yusaku Azuma , Masateru Yasuhara , Takeo Tanita , Shozo Kasai
IPC分类号： G05B19/418 , G05B15/00 , G06F15/46
CPC分类号： G05B19/41835 , Y02P90/04 , Y02P90/12
摘要： A controller for an automatic assembling apparatus consisting of a plurality of operation units each of which has a variety of devices to be driven and which perform independent, different operations under the program control is disclosed. This controller includes a host control unit expressing a sequence control portion of program control for the plurality of operation units by multitask program control, a plurality of lower-order control units having control programs for controlling an independent operation of each of the plurality of devices to be driven, and a shared memory which is connected to the host control unit and the plurality of lower-order control units, and is shared and accessed by the host control unit and the lower-order control units.
摘要翻译：公开了一种由多个操作单元组成的自动组装装置的控制器，每个操作单元具有各种要驱动的装置，并且在程序控制下执行独立的不同操作。该控制器包括通过多任务程序控制表示多个操作单元的程序控制的序列控制部分的主机控制单元，具有用于控制多个设备中的每一个的独立操作的控制程序的多个下位控制单元，以及共享存储器，其连接到主机控制单元和多个下位控制单元，并且由主机控制单元和下位控制单元共享和访问。

12. 发明授权

US5265490A Orthogonal two-axis moving apparatus 失效
标题翻译：正交双轴移动装置
公开(公告)号：US5265490A
公开(公告)日：1993-11-30
申请号：US853433
申请日：1992-03-18
申请人： Yusaku Azuma , Hiroyuki Kigami , Yasuhiro Sawada
发明人： Yusaku Azuma , Hiroyuki Kigami , Yasuhiro Sawada
IPC分类号： B25J9/02 , B25J9/04 , B25J9/10 , G05G11/00 , B25J11/00
CPC分类号： B25J9/041 , B25J9/104 , Y10T74/18832 , Y10T74/20323
摘要： An orthogonal two-axis moving apparatus is provided with a first guide member extending along a vertical direction, a second guide member mounted on the first guide member for movement along the vertical direction and extending along a horizontal direction, and a slide block mounted on the second guide member for movement along the horizontal direction. A timing belt having its opposite ends fixed to the slide block is passed over first and second drive rollers rotatably mounted on the opposite ends of the first guide member and rotatively driven by first and second motors, four idle rollers rotatably supported on one end of the second guide member and two idle rollers rotatably supported on the other end of the second guide member, and a driven roller rotatably supported on the slide block.
摘要翻译：正交的双轴移动装置设置有沿着垂直方向延伸的第一引导构件，安装在第一引导构件上用于沿着垂直方向移动并沿着水平方向延伸的第二引导构件，以及安装在第二引导构件，用于沿水平方向移动。其相对端固定在滑动块上的同步皮带通过第一和第二驱动辊，第一和第二驱动辊可旋转地安装在第一引导件的相对端上并由第一和第二马达旋转驱动，四个空转辊可转动地支撑在第二引导构件和可旋转地支撑在第二引导构件的另一端上的两个空转辊，以及可旋转地支撑在滑块上的从动辊。

13. 发明授权

US5040427A Moving apparatus 失效
标题翻译：移动装置
公开(公告)号：US5040427A
公开(公告)日：1991-08-20
申请号：US443363
申请日：1989-11-30
申请人： Takeo Tanita , Yusaku Azuma , Yasuhiro Sawada
发明人： Takeo Tanita , Yusaku Azuma , Yasuhiro Sawada
IPC分类号： B23Q5/38 , F16H19/02
CPC分类号： B23Q5/385 , F16H19/02 , Y10T74/18072
摘要： A moving mechanism according to the present invention includes a fixed base, a moving member movably provided with respect to the fixed base, a driving motor mounted on the moving member, a driving shaft rotatably supported by the moving member and rotated by the driving motor, a pair of driven wheels to be brought into rolling contact with the driving shaft, a unit for simultaneously bringing the driven wheels into rolling contact with the base, and an abutting unit for causing the driving shaft to abut against the driven wheels so that they are frictionally engaged with each other, and causing the driven wheels to abut against the fixed base so that they are fictionally engaged with each other, wherein the driven wheels are rotated on the fixed base to move the moving member with respect to the fixed base in accordance with rotation of the driving shaft. The moving mechanism further includes a slip detecting unit for detecting slip generated in a driving power transmitting system from the driving shaft to the fixed base, an abuting force adjusting unit, connected to the abutting unit, for adjusting the abutting force of the abutting unit, and a slip control unit for adjusting the abutting force adjusting unit in a direction of eliminating the slip on the basis of the detection result of the slip detecting unit.
摘要翻译：根据本发明的移动机构包括固定基座，相对于固定基座可移动地设置的移动构件，安装在移动构件上的驱动马达，由可动构件可旋转地支撑并由驱动马达旋转的驱动轴，与驱动轴滚动的一对从动轮，用于同时使从动轮与基座滚动接触的单元，以及用于使驱动轴抵靠从动轮的邻接单元，摩擦接合，并使从动轮与固定基座抵接，使得它们相互虚拟接合，其中从动轮在固定基座上旋转，以使移动构件相对于固定基座移动随着驱动轴的旋转。移动机构还包括滑动检测单元，用于检测从驱动轴到固定基座的驱动力传递系统中产生的滑移;连接到邻接单元的用于调节邻接单元的抵接力的排气力调节单元，以及滑移控制单元，用于根据滑移检测单元的检测结果，在消除滑移的方向上调整抵接力调节单元。

14. 发明授权

US5271292A Robot 失效
标题翻译：机器人
公开(公告)号：US5271292A
公开(公告)日：1993-12-21
申请号：US797946
申请日：1991-11-26
申请人： Yasuhiro Sawada , Takeo Tanita , Yusaku Azuma , Yasuo Karube
发明人： Yasuhiro Sawada , Takeo Tanita , Yusaku Azuma , Yasuo Karube
IPC分类号： B25J9/06 , B25J9/04 , B25J19/00 , G05G11/00 , B25J11/00
CPC分类号： B25J9/044 , B25J9/042 , Y10T74/20323
摘要： An industrial robot is provided with a body, a horizontal arm pivotally supported on the body, and a vertical arm mounted on the tip end portion of the horizontal arm for rotation about its own center axis. The robot includes a drive motor for rotatively driving the vertical arm, speed reduction means for speed-reducing and transmitting the drive force of the drive motor through a first output pulley to a second output pulley, and first and second detected portions mounted on the first and second output pulleys, respectively, with respective predetermined ranges of extension and indicating the original point position of the vertical arm by the difference between the respective phases. In addition, first and second detectors are fixed to the horizontal arm and output first and second detection signals, respectively, as long as they are detecting the first and second detected portions, respectively, and a controller is provided for judging the original point position of the vertical arm on the basis of the output modes of the first and second detection signals from the first and second detectors respectively.
摘要翻译：工业机器人设有主体，枢转地支撑在主体上的水平臂，以及安装在水平臂的顶端部上的垂直臂，用于围绕其自身的中心轴线旋转。机器人包括用于旋转驱动垂直臂的驱动马达，减速装置，用于通过第一输出滑轮将驱动马达的驱动力减速并传递到第二输出滑轮;以及第一和第二检测部分，安装在第一和第二输出皮带轮分别具有相应的预定延伸范围，并且通过各相之间的差指示垂直臂的原点位置。此外，第一和第二检测器分别固定在水平臂上，并分别输出第一和第二检测信号，只要它们分别检测第一和第二检测部分，并且提供控制器，用于判断原始位置基于来自第一和第二检测器的第一和第二检测信号的输出模式的垂直臂。

15. 发明授权

US5203748A Rotary driving system and robot operating thereon 失效
标题翻译：旋转驱动系统和在其上操作的机器人
公开(公告)号：US5203748A
公开(公告)日：1993-04-20
申请号：US695995
申请日：1991-05-06
申请人： Yasuhiro Sawada , Yusaku Azuma , Takeo Tanita , Yasuo Karube , Teiji Ohsaka
发明人： Yasuhiro Sawada , Yusaku Azuma , Takeo Tanita , Yasuo Karube , Teiji Ohsaka
IPC分类号： B25J9/10 , F16H13/04 , F16H13/06
CPC分类号： F16H13/06 , B25J9/102 , F16H13/04 , Y10T74/20305
摘要： A planetary roller speed reducer includes a sun roller mounted rotatably on a pedestal and a plurality of planetary rollers having a central portion with a narrowed diameter and mounted rotatably on the pedestal. The sun roller circumscribes large-diameter portions of the planetary rollers which work as a first reduction part, and an outer ring working as an output shaft circumscribes a small-diameter portion working as a second reduction part. A rotary driving system comprises a support fixed to the pedestal and disposed within the outer ring on an extension of the sun roller, and a turning angle detector fixed to the outer ring detects a turning angle between the support and the outer ring.
摘要翻译：行星滚子减速机包括可旋转地安装在基座上的太阳辊和多个行星滚子，所述行星滚子具有直径变窄的中心部分，并且可旋转地安装在基座上。太阳滚筒围绕作为第一减速部的行星辊的大直径部分，并且作为输出轴工作的外圈围绕作为第二减速部分工作的小直径部分。旋转驱动系统包括固定到基座并且在太阳辊的延伸部上设置在外环内的支撑件，并且固定到外环的转向角检测器检测支撑件和外圈之间的转动角度。

16. 发明授权

US5165165A Part inserting apparatus and method for use 失效
标题翻译：零件插入装置和使用方法
公开(公告)号：US5165165A
公开(公告)日：1992-11-24
申请号：US531572
申请日：1990-06-01
申请人： Yasushi Aoki , Shozo Kasai , Takeshi Yakou , Yusaku Azuma
发明人： Yasushi Aoki , Shozo Kasai , Takeshi Yakou , Yusaku Azuma
IPC分类号： H05K13/04
CPC分类号： H05K13/0404 , Y10T29/4914 , Y10T29/515 , Y10T29/53183
摘要： A parts inserting apparatus of this invention includes clinch elements arranged to be engaged with lead wires of an electronic part inserted into a printed circuit board, a detecting unit for detecting completion of insertion of the lead wires into the printed circuit board, a driving unit, connected to the clinch elements, for engaging the clinch elements with the lead wires to bend the lead wires, and a control unit for driving the driving unit to perform a clinch operation for bending the lead wires after the detecting unit detects completion of insertion of the lead wires.
摘要翻译：本发明的零件插入装置包括布置成与插入到印刷电路板中的电子部件的引线接合的夹紧元件，用于检测引线到印刷电路板的插入完成的检测单元，驱动单元，连接到钳位元件，用于使钳紧元件与导线接合以使引线弯曲;以及控制单元，用于驱动驱动单元，以在检测单元检测到完成插入之后执行用于弯曲引线的钳制操作导线。

17. 发明授权

US5090113A Apparatus for supplying articles 失效
标题翻译：用于供应物品的装置
公开(公告)号：US5090113A
公开(公告)日：1992-02-25
申请号：US503745
申请日：1990-04-03
申请人： Sachio Umetsu , Toshio Tsuda , Yusaku Azuma , Toshihiko Miura , Katsumi Ishihara , Teiji Ohsaka
发明人： Sachio Umetsu , Toshio Tsuda , Yusaku Azuma , Toshihiko Miura , Katsumi Ishihara , Teiji Ohsaka
IPC分类号： B23P19/00
CPC分类号： B23P19/001 , Y10T29/53039 , Y10T29/53061 , Y10T29/53348 , Y10T29/53361
摘要： There is disclosed an apparatus for feeding articles, containing a tape transporting apparatus, including a transporting member having plural container portions in succession, a cover tape for covering the apertures of the container portions of the transporting member, a first reel on which ends of the transporting member and the cover tape are fixed, for simultaneously winding the transporting member and the cover tape, a second reel on which the other end of the transporting member is fixed, for winding the transporting member only, a third reel on which the other end of the cover tape is fixed, for winding the cover tape only, a drive assembly for rotating the first, second and third reels, intermittent drive unit for intermittently driving the transporting member by engaging with successive perforations formed on the transporting member, a control unit for driving the drive assembly and intermittent drive unit, an aperture for loading or removing the articles into or from the container portions of the transporting member, a first detector provided in the vicinity of the aperture, for detecting the presence or absence of an article in a container portion, and a guide member for defining the position to an article assembling apparatus or an article manufacturing apparatus, wherein each of these apparatus is provided with a robot hand and a main control unit to be connected to the control unit mentioned above.
摘要翻译：公开了一种包含带输送装置的物品的装置，该装置包括连续地具有多个容器部分的传送部件，覆盖传送部件的容器部分的孔的盖带，第一卷轴，传送构件和盖带固定，用于同时卷绕传送构件和盖带;传送构件的另一端固定在其上的第二卷轴，用于卷绕传送构件;第三卷轴，其另一端的盖带固定，用于仅缠绕盖带;驱动组件，用于旋转第一，第二和第三卷轴;间歇驱动单元，用于通过与形成在传送构件上的连续穿孔接合来间歇地驱动传送构件;控制单元用于驱动驱动组件和间歇驱动单元，用于将物品装入或从其中取出物品的孔设置在孔附近的用于检测容器部分中物品的存在或不存在的第一检测器和用于限定物品组装设备或物品制造设备的位置的引导件其中，这些装置中的每一个设置有要连接到上述控制单元的机器人手和主控制单元。

18. 发明授权

US5470193A Pallet supply apparatus and control method thereof 失效
标题翻译：托盘供应装置及其控制方法
公开(公告)号：US5470193A
公开(公告)日：1995-11-28
申请号：US71003
申请日：1993-06-04
申请人： Toshihiko Miura , Yusaku Azuma
发明人： Toshihiko Miura , Yusaku Azuma
IPC分类号： B23Q7/14 , B65G1/18
CPC分类号： B23Q7/1447 , B23Q7/1431
摘要： In a pallet supply apparatus, pallets are stacked on a loaded pallet elevator and are conveyed by the elevator to the upper end position of a main body of the pallet supply apparatus. The uppermost pallet is separated from the remaining pallets by a shutter. A left side flange of the pallet is pushed by a left roller in a direction to approach rear and side reference surfaces, and a right side flange of the pallet is then pushed by a right roller in a direction to separate away from the side reference surface and to approach the rear reference surface, thus positioning the pallet. When all works are picked up, and the pallet becomes empty, the right and left rollers are escaped, and thereafter, the pallet is slidably moved toward an empty pallet elevator.
摘要翻译：在托盘供给装置中，托盘堆叠在装载的托盘升降机上，并且由电梯运送到托盘供应装置的主体的上端位置。最上面的托盘通过快门与剩余的托盘分开。托盘的左侧凸缘由左侧辊沿着靠近后方和参考面的方向推动，然后托盘的右侧凸缘沿着与侧基准面分离的方向被右侧滚轮推动并靠近后方参考面，从而定位托盘。当拾取所有的作品，并且托盘变空时，左右的滚子被逸出，然后托盘滑向空的托盘升降机。

19. 发明授权

US5063334A Orthogonal two-axis moving apparatus 失效
标题翻译：正交双轴移动装置
公开(公告)号：US5063334A
公开(公告)日：1991-11-05
申请号：US555939
申请日：1990-07-23
申请人： Takeo Tanita , Hiroyuki Kigami , Yusaku Azuma
发明人： Takeo Tanita , Hiroyuki Kigami , Yusaku Azuma
IPC分类号： B25J9/02 , B25J9/04 , B25J9/10 , B25J9/16
CPC分类号： B25J9/041 , B25J9/023 , B25J9/104 , B25J9/1692 , F16H2019/069 , Y10T74/18848
摘要： An orthogonal two-axis moving apparatus includes a first guide member which extends along one direction and is attached to a stationary position, a slide block which is slidably supported on the first guide member and is movable in the one direction, and a second guide member which extends along the other direction perpendicular to the one direction and is supported by the slide block to be movable in the other direction. First and second rollers are pivotally supported on two ends of the first guide member, a third roller is pivotally supported on one end of the second guide member, and intermediate rollers are pivotally supported on four corner portions of the slide block. A coupling belt is provided and has two ends of which are fixed to the other end of the second guide member and which is looped in a cross shape on the first to third rollers and the four intermediate rollers. In addition, a first origin detection device detects an original position of the slide block along the one direction, and a second origin detection device for detecting an origin position of the second guide member along the other direction.
摘要翻译：正交的双轴移动装置包括沿着一个方向延伸并且附接到静止位置的第一引导构件，滑动支撑在第一引导构件上并可沿一个方向移动的滑动块，以及第二引导构件其沿着垂直于该一个方向的另一个方向延伸并且由滑动块支撑以能够在另一个方向上移动。第一和第二辊枢转地支撑在第一引导构件的两端上，第三辊枢转地支撑在第二引导构件的一端上，并且中间滚子枢转地支撑在滑块的四个角部上。提供一个联接带，其两端固定到第二导向件的另一端，并且在第一至第三辊和四个中间辊上以十字形环绕。此外，第一原点检测装置沿着一个方向检测滑动块的原始位置，以及第二原点检测装置，用于检测第二引导构件沿着另一个方向的原点位置。

20. 发明授权

US4820114A Compliance apparatus of a robot hand 失效
标题翻译：机器人手的合规装置
公开(公告)号：US4820114A
公开(公告)日：1989-04-11
申请号：US183348
申请日：1988-04-12
申请人： Ryohei Inaba , Yusaku Azuma , Shozou Kasai
发明人： Ryohei Inaba , Yusaku Azuma , Shozou Kasai
IPC分类号： B25J17/02 , B66C1/10
CPC分类号： B25J17/0208
摘要： In a compliance apparatus wherein a movable plate movable in a direction perpendicular to the direction of insertion of a gripped part is provided on a portion in which a robot hand is mounted to a robot arm to thereby enable relative displacement of the robot hand and the robot arm, a plurality of cylinders of which the extended end positions are adjustable and of which the protruding force can be changed by a spring or fluid are opposed to one another as positioning devices for the movable plate and sandwich the movable plate therebetween.
摘要翻译：在其中在机器人手安装到机器人手臂的部分上设置有可沿垂直于被夹持部的插入方向移动的可移动板的机构手臂和机器人的相对位移，臂，多个气缸，其延伸端位置是可调节的，并且突出力可以通过弹簧或流体改变，作为用于可动板的定位装置并将可动板夹在其间并相互相对。

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