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1. 发明授权

US07234483B2 Electro-pneumatic air pressure regulator 有权
标题翻译：电动气动调压器
公开(公告)号：US07234483B2
公开(公告)日：2007-06-26
申请号：US10859028
申请日：2004-06-02
申请人： Masakuni Kainuma , Toshikazu Aoki , Keiji Tamaki , Katsuo Uematsu , Tomomasa Fujita , Hiroshi Chinda , Akihiro Hayashi , Mitsuaki Nakanishi
发明人： Masakuni Kainuma , Toshikazu Aoki , Keiji Tamaki , Katsuo Uematsu , Tomomasa Fujita , Hiroshi Chinda , Akihiro Hayashi , Mitsuaki Nakanishi
IPC分类号： F15B13/044 , G05D16/06
CPC分类号： G05D16/2093 , G05D16/0672 , Y10T137/2409 , Y10T137/261 , Y10T137/7764
摘要： An electro-pneumatic air pressure regulator includes a primary pressure introduction port, a secondary pressure output port, a pilot pressure chamber, a main valve for opening and closing a communicating conduit, a floating piston which actuates the main valve, a nozzle conduit via which the pilot pressure chamber is communicatively connected to the atmosphere, a flapper which includes a leaf spring facing an open end of the nozzle conduit, and an electromagnetic drive system which deforms the leaf spring to vary a position of the flapper relative to the open end of the nozzle conduit in accordance with the magnitude of an analogue input signal. The flapper includes a conical projection which projects toward the open end of the nozzle conduit. A conical recess corresponding to the conical projection is formed on an end face of the nozzle conduit around the open end thereof.
摘要翻译：电动空气压力调节器包括主压力引入口，二次压力输出口，先导压力室，用于打开和关闭连通导管的主阀，致动主阀的浮动活塞，喷嘴导管，先导压力室与大气连通地连接，挡板包括面向喷嘴导管的开口端的板簧，以及电磁驱动系统，其使板簧变形以改变挡板相对于开口端的位置喷嘴导管根据模拟输入信号的大小。挡板包括朝向喷嘴导管的开口端突出的锥形突起。在喷嘴导管的围绕其开口端的端面上形成有与圆锥形突起相对应的锥形凹部。

2. 发明申请

US20120065781A1 REDUCER ABNORMALITY DETERMINATION METHOD, ABNORMALITY DETERMINATION DEVICE, AND ROBOT SYSTEM 有权
标题翻译：减速器异常确定方法，异常判定装置和机器人系统
公开(公告)号：US20120065781A1
公开(公告)日：2012-03-15
申请号：US13233472
申请日：2011-09-15
申请人： Koichiro IKEDA , Mitsuaki Nakanishi
发明人： Koichiro IKEDA , Mitsuaki Nakanishi
IPC分类号： G05B15/00
CPC分类号： B25J9/1674 , G05B19/4065 , G05B2219/37252 , G05B2219/37434 , G05B2219/37525 , G05B2219/39194 , G05B2219/39261 , G05B2219/41121 , G05B2219/41152
摘要： The invention provides a method and a device capable of precisely and simply extracting data used for abnormality determination and life diagnosis of a drive system of an industrial robot while executing a normal action program. Regarding a torque signal Tf outputted from a motor driver for controlling a motor in accordance with a position command Xs generated based on an operation program of a robot to the motor, a highpass filter is applied after gravity compensating torque and interference torque due to other shafts of the robot are removed from the torque signal Tf, and an abnormality in a reducer is determined based on an extracted oscillating component of the reducer.
摘要翻译：本发明提供了一种方法和装置，其能够在执行正常动作程序的同时精确地简单地提取用于工业机器人的驱动系统的异常判定和寿命诊断的数据。关于从基于机器人的运转程序生成的位置指令Xs向电动机输出的用于控制电动机的电动机驱动器输出的转矩信号Tf，由于其他轴由重力补偿扭矩和干涉扭矩施加高通滤波器从转矩信号Tf除去机器人，并且基于所提取的减速器的振荡分量来确定减速器中的异常。

3. 发明申请

US20100145515A1 ROBOT SYSTEM AND CONTROL METHOD 有权
标题翻译：机器人系统与控制方法
公开(公告)号：US20100145515A1
公开(公告)日：2010-06-10
申请号：US12538167
申请日：2009-08-10
申请人： Mitsuaki NAKANISHI , Makoto WADA
发明人： Mitsuaki NAKANISHI , Makoto WADA
IPC分类号： G05B19/04
CPC分类号： B25J9/1676 , G05B2219/42288 , G05B2219/49162 , G05B2219/50103 , G05B2219/50112
摘要： A robot system includes a robot arm driven by a motor, a collision detector that detects a collision between the robot arm and an obstacle, which is provided on the robot arm, and a stopping method selector that controls the robot arm by selecting any one of all stopping methods on the basis of the information obtained by the collision detector, thereby selecting a stopping method in accordance with the status of the collision.
摘要翻译：机器人系统包括由马达驱动的机器人手臂，检测机器人手臂与设置在机器人手臂上的障碍物之间的碰撞的碰撞检测器，以及通过选择任意一个来控制机器人手臂的停止方法选择器基于由碰撞检测器获得的信息的所有停止方法，从而根据碰撞状态选择停止方法。

4. 发明申请

US20080098731A1 Load Control System 审中-公开
标题翻译：负载控制系统
公开(公告)号：US20080098731A1
公开(公告)日：2008-05-01
申请号：US11663935
申请日：2005-09-22
申请人： Hiroshi Chinda , Mitsuaki Nakanishi
发明人： Hiroshi Chinda , Mitsuaki Nakanishi
IPC分类号： G05D16/20 , F15B11/06 , F15B15/00
CPC分类号： F16D3/74 , F16D2003/745 , G05D16/2066 , Y10T137/7762
摘要： It is an object of the present invention to provide a load control system capable of controlling pressure generated by a pneumatic device with a high degree of accuracy and further capable of reacting to variations of the pressure without delay.A pressure regulating screw (61), which is adopted to set a secondary pressure of compressed air output from a pressure regulator body (60) for supplying compressed air at the secondary pressure to a pneumatic cylinder device (10), is coupled to a motor shaft (42) of a rotational driving device (41) via bowl-shaped members (51) and (52) having flexibility in a direction in which the bowl-shaped members move toward and away from each other, and a drive control circuit (30) which receives a pressure signal output from a pressure sensor (14a) of the pneumatic cylinder device (10) rotates the pressure regulating screw (61) via the motor shaft (42) of the rotational driving device (41) and the flexible bowl-shaped members (51) and (52) so that the pressure signal holds a set value.
摘要翻译：本发明的目的是提供一种负载控制系统，其能够以高精度控制由气动装置产生的压力，并且能够不间断地对压力的变化作出反应。用于设定从压力调节器主体（60）输出的压缩空气二次压力的压力调节螺钉（61），用于将二次压缩的压缩空气供应到气缸装置（10），该调压螺钉旋转驱动装置（41）的轴（42）经由碗状构件（51）和（52）在碗状构件朝向和远离的方向具有柔性的驱动控制电路（接收从气动缸装置（10）的压力传感器（14a）输出的压力信号的动力传感器（30）经由旋转驱动装置（41）的马达轴（42）旋转压力调节螺钉（61）碗状构件（51）和（52），使得压力信号保持设定值。

5. 发明申请

US20130060381A1 PARALLEL LINK ROBOT, PARALLEL LINK ROBOT SYSTEM, AND METHOD OF CONTROLLING PARALLEL LINK ROBOT 有权
标题翻译：并联机器人，平行机器人系统和控制并行机器人的方法
公开(公告)号：US20130060381A1
公开(公告)日：2013-03-07
申请号：US13602202
申请日：2012-09-03
申请人： Mitsuaki NAKANISHI
发明人： Mitsuaki NAKANISHI
IPC分类号： B25J13/08
CPC分类号： B25J9/1623 , B25J9/0051 , B25J9/108 , B25J9/1674 , B25J17/0266 , B25J17/0275 , B25J17/0283 , G05B2219/37214 , G05B2219/42311
摘要： A parallel link robot includes a base, three servo motors disposed in the base, three arms, and a robot controller. Each of the three arms includes a first link and a second link that respectively include a first joint and a second joint. Each of the three arms is driven by a corresponding one of the three servo motors. The robot controller determines whether or not any of the first and second joints of the arms is dislocated on the basis of the torques of the three servo motors.
摘要翻译：平行连杆机器人包括基座，设置在基座中的三个伺服电动机，三个臂和机器人控制器。三个臂中的每一个包括分别包括第一接头和第二接头的第一连杆和第二连杆。三个臂中的每一个由三个伺服电动机中的相应一个驱动。机器人控制器基于三个伺服电动机的转矩来确定臂的第一和第二关节中的任何一个是否脱位。

6. 发明授权

US08316735B2 Industrial robot and control method 有权
标题翻译：工业机器人和控制方法
公开(公告)号：US08316735B2
公开(公告)日：2012-11-27
申请号：US12718996
申请日：2010-03-07
申请人： Kazuyoshi Nogami , Mitsuaki Nakanishi , Keita Ogoh , Tomohiro Matsuo
发明人： Kazuyoshi Nogami , Mitsuaki Nakanishi , Keita Ogoh , Tomohiro Matsuo
IPC分类号： B25J17/00 , B25J17/02 , B25J18/00
CPC分类号： B25J9/10 , B25J9/104 , B25J9/126 , B25J19/0004 , Y10T74/20305 , Y10T74/20317
摘要： An industrial robot includes a hollow chamber rotatably supported by a base, an arm rotatably supported by the hollow chamber, and drive devices provided in the hollow chamber and configured to drive the arm.
摘要翻译：工业机器人包括由基座可旋转地支撑的中空室，由中空室可旋转地支撑的臂以及设置在中空室中并构造成驱动臂的驱动装置。

7. 发明申请

US20120000891A1 ROBOT SYSTEM 审中-公开
标题翻译：机器人系统
公开(公告)号：US20120000891A1
公开(公告)日：2012-01-05
申请号：US13172800
申请日：2011-06-29
申请人： Mitsuaki NAKANISHI , Makoto Wada
发明人： Mitsuaki NAKANISHI , Makoto Wada
IPC分类号： B23K37/02
CPC分类号： B23K11/115
摘要： For teaching a welding-point position for a robot, processing of a robot system includes first processing for moving a spot welding gun to a position at which movable and fixed electrodes pinch the welding point; second processing for extending the movable electrode toward a member to be welded by driving of a motor, detecting contact between the movable electrode and the member based on a torque command to the motor, and stopping the movable electrode after the contact is detected; and third processing for operating the robot toward the movable electrode to move the fixed electrode toward the member while maintaining the contact between the movable electrode and the member by the driving of the motor, detecting contact between the fixed electrode and the member based on a disturbance torque acting on a joint of the robot, and stopping the operation of the robot after the contact is detected.
摘要翻译：为了教导机器人的焊点位置，机器人系统的处理包括将点焊枪移动到可动和固定电极夹住焊接点的位置的第一处理; 第二处理，用于通过电动机的驱动将可动电极朝向待焊接的部件延伸，基于对电动机的转矩指令检测可动电极和部件之间的接触，并且在检测到接触之后停止可动电极; 以及用于将机器人朝向可动电极操作的第三处理，以通过电动机的驱动来保持固定电极朝向构件的同时保持可动电极和构件之间的接触，基于扰动来检测固定电极和构件之间的接触作用在机器人的关节上的扭矩，并且在检测到接触之后停止机器人的操作。

8. 发明授权

US09321177B2 Reducer abnormality determination method, abnormality determination device, and robot system 有权
标题翻译：减速器异常判定方法，异常判定装置，机器人系统
公开(公告)号：US09321177B2
公开(公告)日：2016-04-26
申请号：US13233472
申请日：2011-09-15
申请人： Koichiro Ikeda , Mitsuaki Nakanishi
发明人： Koichiro Ikeda , Mitsuaki Nakanishi
IPC分类号： G05B15/00 , B25J9/16 , G05B19/4065
CPC分类号： B25J9/1674 , G05B19/4065 , G05B2219/37252 , G05B2219/37434 , G05B2219/37525 , G05B2219/39194 , G05B2219/39261 , G05B2219/41121 , G05B2219/41152
摘要： The invention provides a method and a device capable of precisely and simply extracting data used for abnormality determination and life diagnosis of a drive system of an industrial robot while executing a normal action program. Regarding a torque signal Tf outputted from a motor driver for controlling a motor in accordance with a position command Xs generated based on an operation program of a robot to the motor, a highpass filter is applied after gravity compensating torque and interference torque due to other shafts of the robot are removed from the torque signal Tf, and an abnormality in a reducer is determined based on an extracted oscillating component of the reducer.
摘要翻译：本发明提供了一种方法和装置，其能够在执行正常动作程序的同时精确地简单地提取用于工业机器人的驱动系统的异常判定和寿命诊断的数据。关于从基于机器人的运转程序生成的位置指令Xs向电动机输出的用于控制电动机的电动机驱动器输出的转矩信号Tf，由于其他轴由重力补偿扭矩和干涉扭矩施加高通滤波器从转矩信号Tf除去机器人，并且基于所提取的减速器的振荡分量来确定减速器中的异常。

9. 发明授权

US08948915B2 Parallel link robot, parallel link robot system, and method of controlling parallel link robot 有权
标题翻译：并联机器人，并联机器人系统，并行机器人控制方法
公开(公告)号：US08948915B2
公开(公告)日：2015-02-03
申请号：US13602202
申请日：2012-09-03
申请人： Mitsuaki Nakanishi
发明人： Mitsuaki Nakanishi
IPC分类号： B25J9/00 , B25J13/00 , B25J9/16 , B25J17/02 , B25J9/10
CPC分类号： B25J9/1623 , B25J9/0051 , B25J9/108 , B25J9/1674 , B25J17/0266 , B25J17/0275 , B25J17/0283 , G05B2219/37214 , G05B2219/42311
摘要： A parallel link robot includes a base, three servo motors disposed in the base, three arms, and a robot controller. Each of the three arms includes a first link and a second link that respectively include a first joint and a second joint. Each of the three arms is driven by a corresponding one of the three servo motors. The robot controller determines whether or not any of the first and second joints of the arms is dislocated on the basis of the torques of the three servo motors.
摘要翻译：平行连杆机器人包括基座，设置在基座中的三个伺服电动机，三个臂和机器人控制器。三个臂中的每一个包括分别包括第一接头和第二接头的第一连杆和第二连杆。三个臂中的每一个由三个伺服电动机中的相应一个驱动。机器人控制器基于三个伺服电动机的转矩来确定臂的第一和第二关节中的任何一个是否脱位。

10. 发明授权

US08423189B2 Robot system and control method 有权
标题翻译：机器人系统和控制方法
公开(公告)号：US08423189B2
公开(公告)日：2013-04-16
申请号：US12538167
申请日：2009-08-10
申请人： Mitsuaki Nakanishi , Makoto Wada
发明人： Mitsuaki Nakanishi , Makoto Wada
IPC分类号： G05B19/048
CPC分类号： B25J9/1676 , G05B2219/42288 , G05B2219/49162 , G05B2219/50103 , G05B2219/50112
摘要： A robot system includes a robot arm driven by a motor, a collision detector that detects a collision between the robot arm and an obstacle, which is provided on the robot arm, and a stopping method selector that controls the robot arm by selecting any one of all stopping methods on the basis of the information obtained by the collision detector, thereby selecting a stopping method in accordance with the status of the collision.
摘要翻译：机器人系统包括由马达驱动的机器人手臂，检测机器人手臂与设置在机器人手臂上的障碍物之间的碰撞的碰撞检测器，以及通过选择任意一个来控制机器人手臂的停止方法选择器基于由碰撞检测器获得的信息的所有停止方法，从而根据碰撞状态选择停止方法。

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