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1. 发明授权

US09302395B2 Conveying robot 有权
标题翻译：输送机器人
公开(公告)号：US09302395B2
公开(公告)日：2016-04-05
申请号：US13609254
申请日：2012-09-11
申请人： Ryuji Ando , Kazunori Hino , Akihiro Furutani
发明人： Ryuji Ando , Kazunori Hino , Akihiro Furutani
IPC分类号： B25J19/06 , B25J11/00 , B25J9/04 , H01L21/677 , H01L21/687
CPC分类号： B25J11/0095 , B25J9/042 , H01L21/67742 , H01L21/68707 , Y10S414/141 , Y10S901/49
摘要： A robot system according to an aspect of the embodiments includes a plurality of work holding units and a heat insulating member. The work holding units each hold a work to be conveyed on one surface and are arranged vertically one over another in some cases during conveying of the work. The heat insulating member is provided on another surface side of at least one of the work holding units.
摘要翻译：根据实施例的一个方面的机器人系统包括多个工件保持单元和隔热构件。工件保持单元各自在一个表面上保持要被输送的工件，并且在工作的传送期间在一些情况下垂直地布置。绝热构件设置在至少一个工件保持单元的另一表面侧。

2. 发明授权

US08820809B2 Robot hand and robot 有权
标题翻译：机器人手和机器人
公开(公告)号：US08820809B2
公开(公告)日：2014-09-02
申请号：US13606024
申请日：2012-09-07
申请人： Ryuji Ando , Kazunori Hino , Akihiro Furutani
发明人： Ryuji Ando , Kazunori Hino , Akihiro Furutani
IPC分类号： B65G49/07 , H01L21/683
CPC分类号： H01L21/67265 , H01L21/67766 , H01L21/68707
摘要： A robot hand according to embodiments includes a holding unit, a bottom end, an optical sensor, and a reflecting member. The holding unit holds a thin-plate-shaped workpiece. In the bottom end, its leading part is coupled to the holding unit and its tail part is rotatably coupled to an arm. The optical sensor is provided in the bottom end and has a projector and a photoreceiver. The reflecting member is provided in the holding unit. The reflecting member reflects light from the projector, makes it pass through the holding area of the workpiece, and makes it reach the photoreceiver to form an optical path.
摘要翻译：根据实施例的机器人手包括保持单元，底端，光学传感器和反射构件。保持单元保持薄板状工件。在底端，其引导部分联接到保持单元，并且其尾部可旋转地联接到臂上。光学传感器设置在底端并具有投影仪和光接收器。反射构件设置在保持单元中。反射构件反射来自投影仪的光，使其通过工件的保持区域，并使其到达光接收器以形成光路。

3. 发明申请

US20130195591A1 CONVEYING ROBOT 有权
标题翻译：输送机器人
公开(公告)号：US20130195591A1
公开(公告)日：2013-08-01
申请号：US13609254
申请日：2012-09-11
申请人： Ryuji ANDO , Kazunori HINO , Akihiro FURUTANI
发明人： Ryuji ANDO , Kazunori HINO , Akihiro FURUTANI
IPC分类号： B65G65/04 , B65D25/34
CPC分类号： B25J11/0095 , B25J9/042 , H01L21/67742 , H01L21/68707 , Y10S414/141 , Y10S901/49
摘要： A robot system according to an aspect of the embodiments includes a plurality of work holding units and a heat insulating member. The work holding units each hold a work to be conveyed on one surface and are arranged vertically one over another in some cases during conveying of the work. The heat insulating member is provided on another surface side of at least one of the work holding units.
摘要翻译：根据实施例的一个方面的机器人系统包括多个工件保持单元和隔热构件。工件保持单元各自在一个表面上保持要被输送的工件，并且在工作的传送期间在一些情况下垂直地布置。绝热构件设置在至少一个工件保持单元的另一表面侧。

4. 发明授权

US5020444A Method of and apparatus for controlling magnetic levitation 失效
标题翻译：磁悬浮控制方法及装置
公开(公告)号：US5020444A
公开(公告)日：1991-06-04
申请号：US517745
申请日：1990-05-02
申请人： Akihiro Furutani , Junichi Okada , Tomoaki Tanimoto
发明人： Akihiro Furutani , Junichi Okada , Tomoaki Tanimoto
IPC分类号： B65G54/02 , B60L13/10 , F16C39/06
CPC分类号： F16C32/0444
摘要： The present invention relates to an improvement in a method and an apparatus for magnetic levitation of a linear slider through a PI control action. When the slider is horizontally moved while levitated vertically by two fixed magnetic forces, the angle of inclination of the slider cannot be settled in a preset position because of a control delay caused by integral action, which results in an angle offset. In order to eliminate the offset, a signal which is the sum of an angle deviation and a delay compensation signal that is proportional to the product of the velocity of the slider and an integral time is used as an error signal to settle the angle of inclination. The vertical position of the slider is controlled so that the sum of the magnetic forces applied to the slider balances the weight of the slider.
摘要翻译：本发明涉及通过PI控制动作对线性滑块的磁悬浮的方法和装置的改进。当滑块通过两个固定磁力垂直悬浮时水平移动时，由于由积分作用导致的控制延迟，滑块的倾斜角度不能稳定在预设位置，这导致角度偏移。为了消除偏移，使用作为与滑块的速度和积分时间的乘积成比例的角度偏差和延迟补偿信号之和的信号作为误差信号来设定倾斜角。控制滑块的垂直位置使得施加到滑块的磁力的总和平衡滑块的重量。

5. 发明申请

US20130193703A1 ROBOT HAND AND ROBOT 有权
标题翻译：机器手和机器人
公开(公告)号：US20130193703A1
公开(公告)日：2013-08-01
申请号：US13606024
申请日：2012-09-07
申请人： Ryuji ANDO , Kazunori Hino , Akihiro Furutani
发明人： Ryuji ANDO , Kazunori Hino , Akihiro Furutani
IPC分类号： B65G49/07
CPC分类号： H01L21/67265 , H01L21/67766 , H01L21/68707
摘要： A robot hand according to embodiments includes a holding unit, a bottom end, an optical sensor, and a reflecting member. The holding unit holds a thin-plate-shaped workpiece. In the bottom end, its leading part is coupled to the holding unit and its tail part is rotatably coupled to an arm. The optical sensor is provided in the bottom end and has a projector and a photoreceiver. The reflecting member is provided in the holding unit. The reflecting member reflects light from the projector, makes it pass through the holding area of the workpiece, and makes it reach the photoreceiver to form an optical path.
摘要翻译：根据实施例的机器人手包括保持单元，底端，光学传感器和反射构件。保持单元保持薄板状工件。在底端，其引导部分联接到保持单元，并且其尾部可旋转地联接到臂。光学传感器设置在底端并具有投影仪和光接收器。反射构件设置在保持单元中。反射构件反射来自投影仪的光，使其通过工件的保持区域，并使其到达光接收器以形成光路。

6. 发明授权

US5079493A Ultra-precise positioning system 失效
标题翻译：超精密定位系统
公开(公告)号：US5079493A
公开(公告)日：1992-01-07
申请号：US531229
申请日：1990-05-31
申请人： Shigeru Futami , Akihiro Furutani
发明人： Shigeru Futami , Akihiro Furutani
IPC分类号： G05D3/00 , G05D3/12 , H01L21/68
CPC分类号： H01L21/68
摘要： An ultra-precise positioning system includes a movable part, a rolling guide, a fixed part in supporting contact with the rolling guide, and a driving device for driving the movable part. The driving device includes a non-contact motor which applies a force to the movable part without touching engagement with the movable part. The system also includes a position measuring device for measuring a position of the movable part, a position reference generator for generating a reference position of the movable part, and a positioning control device for controlling the position of the movable part by comparing the measured position to the reference position, the positioning control device having a first control mode in a first operational region in which a resistance force arising due to displacement of the movable part varies in magnitude as a function of the force applied to the movable part by the driving device, and a second control mode in a second operational region in which frictional resistance force of the rolling guide is in a saturated condition and normal rolling of the rolling guide takes place, so that a resistance force resisting the force applied to the movable part by the driving device is substantially constant.

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