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61. 发明申请

US20050071048A1 Robot system 有权
标题翻译：机器人系统
公开(公告)号：US20050071048A1
公开(公告)日：2005-03-31
申请号：US10952101
申请日：2004-09-29
申请人： Atsushi Watanabe , Kazunori Ban , Ichiro Kanno
发明人： Atsushi Watanabe , Kazunori Ban , Ichiro Kanno
IPC分类号： B25J19/06 , B25J9/16 , B25J13/08 , G05B19/4067 , G06F19/00
CPC分类号： G05B19/4069 , B25J9/1664 , B25J9/1674 , G05B2219/37555 , G05B2219/40053 , G05B2219/40125 , G05B2219/40213
摘要： A robot system can grasp and take out one of a plurality of workpieces placed in a basket-like container by a hand mounted at the forward end of a robot arm. The workpiece is detected by a visual sensor, and the robot is controlled depending on a position and an orientation of the workpiece. When a problem such as interference or the like occurs, information relating to the problem is stored in a robot control unit or a visual sensor control unit. Information relating to the problem includes a predetermined amount of the latest data retrospectively traced from the time point of problem occurrence, a position which the robot has reached, the target position data, the content of the process executed by the visual sensor, and the detection result. When the problem is reproduced, these data are used to simulate the situation at the time of problem occurrence by using simulation unit. The situation at the time of problem occurrence can also be reproduced by using the actual robot without using the simulation unit.
摘要翻译：机器人系统可以通过安装在机器人臂的前端的手抓住并取出放置在篮状容器中的多个工件中的一个。通过视觉传感器检测工件，根据工件的位置和方向来控制机器人。当发生诸如干扰等的问题时，与问题有关的信息存储在机器人控制单元或视觉传感器控制单元中。与问题有关的信息包括从问题发生的时间点，机器人到达的位置，目标位置数据，由视觉传感器执行的处理的内容以及检测的追溯地追溯的预定量的最新数据结果。当问题复制时，这些数据用于通过使用模拟单元来模拟出现问题时的情况。发生问题时的情况也可以通过使用实际的机器人而不使用模拟单元来再现。

62. 发明授权

US06701088B1 IP packet transmission equipment 有权
标题翻译： IP分组传输设备
公开(公告)号：US06701088B1
公开(公告)日：2004-03-02
申请号：US09636822
申请日：2000-08-14
申请人： Atsushi Watanabe , Satoru Okamoto
发明人： Atsushi Watanabe , Satoru Okamoto
IPC分类号： H04J1400
CPC分类号： H04Q11/0005 , H04J2203/0089 , H04Q11/0066 , H04Q11/0071 , H04Q2011/0011
摘要： An arbitrary signal is converted to IP packets, which are routed by an IP packet routing part to Optical path signal conversion parts. Optical path signals from the Optical path signal conversion parts are provided directly to an optical path route switching part of an IP packet transmission equipment. By the optical path route switching part, optical path signals, obtained by wavelength-demultiplexing of OTM signals from optical backbone transmission lines by OTM/optical path signal conversion parts, and optical path signals from the Optical path signal conversion parts are cross-connected to output routes according to their destinations.
摘要翻译：任意信号被转换成IP分组，由IP分组路由部分路由到光路信号转换部分。来自光路信号转换部的光路信号直接提供给IP分组传输设备的光路路由交换部分。通过光路路径切换部，通过OTM /光路信号变换部从光纤主干传输线的OTM信号的波长解复用得到的光路信号和来自光路信号转换部的光路信号交叉连接根据目的地输出路线。

63. 发明授权

US06686722B2 Battery pack containing a circuit breaker 失效
标题翻译：包含断路器的电池组
公开(公告)号：US06686722B2
公开(公告)日：2004-02-03
申请号：US10106049
申请日：2002-03-27
申请人： Atsushi Watanabe , Mikitaka Tamai , Hiroki Teraoka
发明人： Atsushi Watanabe , Mikitaka Tamai , Hiroki Teraoka
IPC分类号： H01M1046
CPC分类号： H01M2/348 , H01M2/22 , H01M2/34 , H01M10/48 , H01M10/486 , H02J7/0031
摘要： The battery pack has batteries, a printed circuit board with battery protection circuit components mounted on it, and a circuit breaker contained in a case. The circuit breaker switches off if excessive current flows in the batteries, or if battery temperature exceeds a specified temperature. The circuit breaker has a plurality of solder terminals attached to its casing, and one or a plurality of the solder terminals are attached to the printed circuit board by solder re-flow. The printed circuit board is connected to the batteries via leads and is disposed in a fixed position inside the case. The circuit breaker is mounted in a fixed position inside the case via the printed circuit board.
摘要翻译：电池组具有电池，安装有电池保护电路部件的印刷电路板以及壳体中的断路器。如果电池中有过大的电流，或者电池温度超过规定温度，则断路器将断开。断路器具有附接到其壳体的多个焊接端子，并且一个或多个焊接端子通过焊料回流附接到印刷电路板。印刷电路板通过引线连接到电池，并且设置在壳体内的固定位置。断路器通过印刷电路板安装在壳体内的固定位置。

64. 发明授权

US06554595B2 Compressor with oil-mist separator 有权
公开(公告)号：US06554595B2
公开(公告)日：2003-04-29
申请号：US09846262
申请日：2001-05-02
申请人： Takeshi Hida , Shigekazu Nozawa , Masayuki Urashin , Hiroki Osumimoto , Hirotaka Kameya , Atsushi Watanabe
发明人： Takeshi Hida , Shigekazu Nozawa , Masayuki Urashin , Hiroki Osumimoto , Hirotaka Kameya , Atsushi Watanabe
IPC分类号： F04C2902
CPC分类号： F04C29/026 , F25B2400/02 , Y10S418/01
摘要： In an oil-mist separator included by a compressor, an inlet passage directs a flow axis of a mixture gas including a mist of lubrication oil and a gas to be taken out of the compressor with a pressurized condition when the mixture gas reaches a chamber, and a discharge port for discharging the gas from the chamber opens in the chamber.

65. 发明授权

US06442184B1 Nitride-based semiconductor light emitting device and manufacturing method therefor 有权
标题翻译：氮化物系半导体发光元件及其制造方法
公开(公告)号：US06442184B1
公开(公告)日：2002-08-27
申请号：US09459471
申请日：1999-12-13
申请人： Hiroyuki Ota , Atsushi Watanabe , Toshiyuki Tanaka
发明人： Hiroyuki Ota , Atsushi Watanabe , Toshiyuki Tanaka
IPC分类号： H01S500
CPC分类号： H01L33/007 , H01L33/22 , H01S5/0213 , H01S5/3202 , H01S5/32341
摘要： A semiconductor light emitting device having multi-layer structure of group-3 nitride-based semiconductors is disclosed. The light emitting device has lower density of threading dislocation extending from a boundary of a crystal substrate through the multi-layer structure, thereby obtaining good luminescence characteristics. The nitride semiconductor light emitting device has the multi-layer structure. The multi-layer structure comprises a first crystal layer containing substantially pyramidal crystal grains, each of grains has a crystal face non-parallel to a surface of the substrate, and the pyramidal crystal grains are distributed at random like islands. The structure further comprises a second crystal layer formed on the first crystal layer with a compound having a different lattice constant from that of the first crystal layer. The second crystal layer smoothes a surface of the first crystal layer parallel to the surface of the substrate.
摘要翻译：公开了一种具有III族氮化物基半导体的多层结构的半导体发光器件。发光器件具有从晶体衬底的边界通过多层结构延伸的穿透位错的较低密度，从而获得良好的发光特性。氮化物半导体发光器件具有多层结构。多层结构包括含有大致锥形晶粒的第一晶体层，每个晶粒具有不平行于衬底表面的晶面，并且金字塔形晶粒以岛状随机分布。该结构还包括在第一晶体层上形成具有与第一晶体层不同的晶格常数的化合物的第二晶体层。第二晶体层使平行于衬底表面的第一晶体层的表面平滑。

66. 发明授权

US06377869B1 Robot controller with abnormality monitoring function 有权
标题翻译：具有异常监控功能的机器人控制器
公开(公告)号：US06377869B1
公开(公告)日：2002-04-23
申请号：US09605844
申请日：2000-06-29
申请人： Atsushi Watanabe , Tetsuya Kosaka , Hiromitsu Takahashi
发明人： Atsushi Watanabe , Tetsuya Kosaka , Hiromitsu Takahashi
IPC分类号： G06F1900
CPC分类号： B25J9/1674 , G05B19/4062
摘要： A robot controller having a function of monitoring abnormality of a robot operation to prevent an accident by stopping supply of energy or operational substance to an operational tool when the operational tool is abnormally stopped. Motion command pulses for a robot motion are obtained by computing operations when a motion statement of the operation program is read out and stored in a shared memory. Motors for driving respective robot axes are driven based on the motion command pulses. When an I/O output command is issued on a signal line to actuate an arc welder, the operation control software demands to set a predetermined waiting time period to a timer. The managing software demands to start a countdown of the timer and informs the operation control software of an elapse of the set waiting time period. The operation control software determines that an abnormality has occurred if all of the present motion command pulses stored in the shared memory are zero, and turns off the signal line to forcedly terminates the actuation of the operational tool. In the midst of the operation, if the operational tool remains unmoved over a predetermined time period, it is also determined that an abnormality has occurred and the operation is forcedly terminated.
摘要翻译：具有监视机器人操作的异常的功能的机器人控制器，以在操作工具异常停止时通过停止向操作工具供应能量或操作物质来防止事故。当操作程序的运动语句被读出并存储在共享存储器中时，通过计算操作来获得用于机器人运动的运动命令脉冲。基于运动指令脉冲来驱动用于驱动各个机器人轴的马达。当在信号线上发出I / O输出指令以启动电弧焊机时，操作控制软件要求将定时的等待时间设定为定时器。管理软件需要开始定时器的倒计时，并通知操作控制软件设置等待时间段。如果存储在共享存储器中的所有当前运动指令脉冲都为零，则操作控制软件确定已经发生异常，并且关闭信号线以强制终止操作工具的致动。在操作中，如果操作工具在预定时间段内保持不动，则还确定发生异常并且强制终止操作。

67. 发明授权

US06340875B1 Robot controller 有权
标题翻译：机器人控制器
公开(公告)号：US06340875B1
公开(公告)日：2002-01-22
申请号：US09468641
申请日：1999-12-22
申请人： Atsushi Watanabe , Tetsuaki Kato
发明人： Atsushi Watanabe , Tetsuaki Kato
IPC分类号： G05B1942
CPC分类号： B25J9/163 , G05B19/19
摘要： A robot controller which controls a process controlled variable of an operational tool mounted on a robot in synchronism with the robot motion. The position of each axis of the robot is detected by a sensor such as a position detector. In a calculating section, motion variables such as position Pn, velocity vn and acceleration &agr;n of a tool center point (TCP) are detected from the respective positions of the robot axes. An ideal output (target value) of a sensor for detecting a controlled variable to be controlled in accordance with the motion state is determined in a calculating section. A sensor output is subtracted from the target value to determine a deviation. The deviation is multiplied by a proportional gain K to determine a manipulated variable. By using this manipulated variable, the process of an arc welding machine, sealing machine, or laser beam machine in which a tool is mounted on a distal end of a robot wrist is controlled. The target value is determined in accordance with the change of motion state of the robot, and feedback control is carried out so as to follow the target value so that uniform operation is achieved.
摘要翻译：机器人控制器，其与机器人运动同步地控制安装在机器人上的操作工具的过程控制变量。机器人的各轴的位置由诸如位置检测器的传感器检测。在计算部分中，从机器人轴的相应位置检测诸如位置Pn，速度vn和工具中心点（TCP）的加速度相关的运动变量。在计算部中确定用于检测根据运动状态来控制的受控变量的传感器的理想输出（目标值）。从目标值中减去传感器输出以确定偏差。该偏差乘以比例增益K以确定操纵变量。通过使用该操作变量，控制将机器人手腕的远端安装有工具的电弧焊机，封口机或激光束机的工序。目标值根据机器人的运动状态的变化来确定，并且进行反馈控制以便跟随目标值，从而实现均匀的操作。

68. 发明授权

US06236896B1 Coordinate system setting method using visual sensor 失效
标题翻译：使用视觉传感器的坐标系设置方法
公开(公告)号：US06236896B1
公开(公告)日：2001-05-22
申请号：US09004506
申请日：1998-01-08
申请人： Atsushi Watanabe , Fumikazu Warashina
发明人： Atsushi Watanabe , Fumikazu Warashina
IPC分类号： G05B1302
CPC分类号： B25J9/1692 , G05B2219/39016 , G05B2219/39057
摘要： A method of setting a coordinate system to an automatic machine with a stable accuracy in a non-contact manner. The desired coordinate system can be set even if it exists outside a moving range of the automatic machine. The operator operates a robot control device to move a robot to a first position A1 where a coordinate system setting jig is within the field of view of a camera supported by the robot. Matrix data [A1] representing the robot position A1 is stored and the jig is photographed by the camera. The image of a group of dots on the jig are analyzed by an image processor to obtain picture element values of the individual points. Based on the picture element values of the individual points and jig data (data of distances between and number of the points), matrix data [D1] representing a position and a posture of a coordinate system &Sgr;c to be set with respect to a sensor coordinate system &Sgr;s is obtained. In the same manner, a matrix data [D2] at a position A2 is obtained. According to a relationship [C]=[A1]·[S]·[D1]=[A2]·[S]·[D2], a matrix [C] is derived and stored as data for setting the coordinate system &Sgr;c to the robot control device.
摘要翻译：以非接触的方式将坐标系设置为自动机器的方法以稳定的精度设置。即使存在于自动机器的移动范围之外，也可以设定所需的坐标系。操作者操作机器人控制装置将机器人移动到第一位置A1，其中坐标系设置夹具在由机器人支持的相机的视场内。存储表示机器人位置A1的矩阵数据[A1]，通过照相机拍摄夹具。通过图像处理器分析夹具上的一组点的图像，以获得各个点的图像元素值。基于各个点和夹具数据（点之间的距离和数量的数据）的像素值，表示相对于传感器坐标设定的坐标系SIGMAc的位置和姿势的矩阵数据[D1] 获得系统SIGMA。以相同的方式，获得位置A2处的矩阵数据[D2]。根据[C] = [A1]。[S]。[D1] = [A2]。[S]。[D2]，导出并存储矩阵[C]，作为将坐标系SIGMAc设置为机器人控制装置。

69. 发明授权

US5937143A Teaching pendant for a robot 失效
标题翻译：教学吊坠机器人
公开(公告)号：US5937143A
公开(公告)日：1999-08-10
申请号：US836752
申请日：1997-07-10
申请人： Atsushi Watanabe , Tomoyuki Terada , Hirotsugu Kaihori , Tatsuya Oumi , Shinsuke Sakamoto
发明人： Atsushi Watanabe , Tomoyuki Terada , Hirotsugu Kaihori , Tatsuya Oumi , Shinsuke Sakamoto
IPC分类号： B25J9/16 , B25J9/22 , G05B19/42 , H01H9/02 , G05B19/48
CPC分类号： B25J9/1671 , G05B2219/36162 , G05B2219/36168 , G05B2219/39438 , G05B2219/39443 , G05B2219/39444 , G05B2219/39446 , G05B2219/40522 , H01H2300/026 , H01H9/0214
摘要： The invention is a robot teaching pendant containing a display device with graphic display capabilities. Display data is displayed on the graphic display and includes the movement of a robot and taught points. This display data is generated by a display data generation unit based on robot programs stored in data storage unit by buffering the data from a robot controller. This display data may also include representative images of the robot tool along with its coordinates in a tool coordinate system and the taught points in a user or world coordinate system. Thus, the action of the robot can be visually recognized with ease, and the robot can be taught easily and accurately.
摘要翻译： PCT No.PCT / JP96 / 02688 Sec。 371日期1997年7月10日 102（e）1997年7月10日PCT PCT 1996年9月18日PCT公布。公开号WO97 / 10931 日期1997年3月27日本发明是一种包含具有图形显示能力的显示装置的机器人教学装置。显示数据显示在图形显示屏上，包括机器人和教导点的移动。该显示数据由显示数据生成单元基于通过缓冲来自机器人控制器的数据而存储在数据存储单元中的机器人程序来生成。该显示数据还可以包括机器人工具的代表性图像及其在工具坐标系中的坐标以及用户或世界坐标系中的教导点。因此，可以容易地视觉识别机器人的动作，并且可以容易且准确地教导机器人。

70. 发明授权

US5872894A Robot control apparatus and method eliminating any influence of motion in a preceding path and a recording medium storing the same 失效
标题翻译：机器人控制装置和方法，消除前一路径中的运动的影响和存储该路径的记录介质
公开(公告)号：US5872894A
公开(公告)日：1999-02-16
申请号：US809789
申请日：1997-03-28
申请人： Atsushi Watanabe , Tomoyuki Terada , Shinsuke Sakamoto
发明人： Atsushi Watanabe , Tomoyuki Terada , Shinsuke Sakamoto
IPC分类号： G05B19/05 , B25J9/18 , B25J9/22 , G05B19/18 , G05B19/4103 , G05B19/416 , G05B19/04 , G05B19/25 , G05B19/41
CPC分类号： G05B19/416 , G05B2219/34175 , G05B2219/43129 , G05B2219/45083 , Y02P90/265
摘要： A robot control method capable of eliminating any influence of motion in a preceding path section to assure an accurate path movement with respect to a portion of a path section toward an end point. In a motion statement, a path-assurance section is previously designated in terms of length, time or path-assurance ratio for a moving path �2!.fwdarw.�3!. A path motion plan EFGH for the moving path �2!.fwdarw.�3! is created so that a path section represented by DHGK is the path-assurance section designated in the motion statement, assuming that D represents a terminal point of the motion along the moving path �1!.fwdarw.�2!. Consequently, an influence of motion of the moving path �1!.fwdarw.�2! is not exerted on the motion after a point in time represented by D or K, to assure a movement on the path �2!.fwdarw.�3! in the path-assurance section.
摘要翻译： PCT No.PCT / JP96 / 02114 Sec。 371日期1997年3月28日 102（e）1997年3月28日PCT PCT 1996年7月26日PCT公布。公开号WO97 / 05533 日期1997年2月13日一种机器人控制方法，其能够消除前一路径部分中的运动的任何影响，以确保相对于路径部分的朝向终点的一部分的准确路径运动。在运动声明中，先前根据移动路径的长度，时间或路径保证率来指定路径保护部分[2] - > [3]。创建用于移动路径[2] - > [3]的路径运动计划EFGH，使得由DHGK表示的路径部分是在运动语句中指定的路径保证部分，假设D表示运动的终点移动路径[1] - > [2]。因此，由D或K表示的时间点后的运动不会对移动路径[1]→2的运动产生影响，以保证路径[2]→运动[3] 在路径保证部分。

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