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1. 发明授权

US6160324A Deadman switch mechanism for emergency stop of robot and teaching operation 失效
标题翻译：机器人紧急停机死机开关机构及教学操作
公开(公告)号：US6160324A
公开(公告)日：2000-12-12
申请号：US297148
申请日：1999-04-26
申请人： Akihiro Terada , Mitsuhiro Yasumura , Shinsuke Nakao
发明人： Akihiro Terada , Mitsuhiro Yasumura , Shinsuke Nakao
IPC分类号： B25J19/06 , B25J9/22 , B25J13/02 , H01H3/02 , H01H9/02 , H01H71/52 , H01H3/16
CPC分类号： B25J13/02 , H01H3/022 , H01H9/0235 , H01H2225/008 , H01H2300/026 , Y10T307/766 , Y10T307/786 , Y10T307/826
摘要： A deadman switch mechanism and a teaching operation panel equipped with the deadman switch mechanism, in which possibility of losing a safety function is low even if failure happens in a contact or other elements of a circuit. When an operator grips at least one of grip levers (GL1; GL2) with normal force, the grip levers turn around axes (AX4; AX5), shoulder portions (SD1; SD2) abut on slave levers (SL1; SL2) and turns the slave levers connected by a link (LK) around an axis (AX3) in the direction denoted by an arrow B, simultaneously, so that switches (SW1; SW2) are turned into an ON-state, simultaneously. Then, two circuits including those switches, respectively, output ON-signals independently and these signals are subjected to AND process, to allow the robot to operate. In an emergency, when an operator releases gripping of the grip levers (GL1; GL2), the slave levers (SL1; SL2) turn in the direction denoted by an arrow A, simultaneously, so that the switches (SW1; SW2) are brought into an OFF-state, simultaneously, and the robot stops immediately.
摘要翻译： PCT No.PCT / JP98 / 03772 Sec。 371日期1999年4月26日 102（e）1999年4月26日PCT PCT 1998年8月25日PCT公布。公开号WO99 / 10138 日期1999年3月4日，即使在触点或电路的其他元件中发生故障，死机开关机构和配备有死机开关机构的教学操作面板也可能失去安全功能。当操作者以正常的力握住至少一个握柄（GL1，GL2）时，把手杠杆绕轴（AX4; AX5）转动，肩部（SD1; SD2）靠在从动杆（SL1; SL2）上，并转动同时由箭头B所示的方向通过连杆（LK）围绕轴线（AX3）连接的从动杆，使得开关（SW1; SW2）同时变为接通状态。然后，分别包括那些开关的两个电路分别输出ON信号，这些信号经过AND处理，以允许机器人操作。在紧急情况下，当操作者释放把手（GL1，GL2）的夹持时，从动杆（SL1; SL2）同时向箭头A方向转动，从而使开关（SW1; SW2）同时进入OFF状态，机器人立即停止。

2. 发明授权

US06180898B2 Emergency stop switching mechanism for robot and teaching control panel provided with same 失效
标题翻译：机器人紧急停机开关机构及配备机构的教学操作面板
公开(公告)号：US06180898B2
公开(公告)日：2001-01-30
申请号：US09202724
申请日：1998-12-21
申请人： Akihiro Terada , Mitsuhiro Yasumura , Kenichiro Abe
发明人： Akihiro Terada , Mitsuhiro Yasumura , Kenichiro Abe
IPC分类号： H01H1350
CPC分类号： B25J19/06 , B25J13/02 , B25J13/06 , H01H3/022 , H01H9/0214 , H01H13/506 , H01H2239/066 , H01H2300/026 , H01H2300/028
摘要： An emergency stop switch mechanism for a robot which can take an emergency position when an external operation force is released and when a strong external operation force is applied. When the robot operation is started, a main lever La is pushed down from the OFF state with a normal external operation force. Since an elastic biasing force S2 is sufficiently larger than S1, a second ancillary lever Lc is pushed by a plunger PL and is turned downward together with a first ancillary lever Lb. A movable contact element ME of a contact mechanism section CM is moved to the ON position by the second ancillary lever Lc, so that the ON state (motion permitting state) is established. If emergency stop becomes necessary, the pressure of the main lever La is released from this state, or a specially strong force is applied to the main lever La. When the former is selected, the movable contact element ME is returned to the OFF position. When the latter is selected, a strong torque is applied to an axis AX2, so that the first and second ancillary lever Lb and Lc become in a bent state. As a result, the OFF state is established, by which the robot is stopped.
摘要翻译：一种用于机器人的紧急停止开关机构，当外部操作力被释放并且施加强大的外部操作力时，该紧急停止开关机构能够采取紧急位置。当机器人操作开始时，主杆La以正常的外部操作力从OFF状态下推。由于弹性偏压力S2足够大于S1，所以第二辅助杆Lc被柱塞PL推压，并与第一辅助杆Lb一起向下转动。接触机构部分CM的可动接触元件ME由第二辅助杆Lc移动到ON位置，从而建立ON状态（运动允许状态）。如果需要紧急停止，则主杆La的压力从该状态释放，或者特别强的力施加到主杆La上，当选择前者时，可动接触元件ME返回到OFF位置。当选择后者时，对轴线AX2施加强力矩，使得第一辅助杆Lb和第二辅助杆Lc变为弯曲状态。结果，建立了关闭状态，通过该状态机器人停止。

3. 发明申请

US20050276878A1 Extracting device of molded article 审中-公开
标题翻译：成型品的提取装置
公开(公告)号：US20050276878A1
公开(公告)日：2005-12-15
申请号：US11146101
申请日：2005-06-07
申请人： Ryo Nihei , Katsuyuki Yamanaka , Satoshi Kinoshita , Mitsuhiro Yasumura
发明人： Ryo Nihei , Katsuyuki Yamanaka , Satoshi Kinoshita , Mitsuhiro Yasumura
IPC分类号： B29C45/40 , B25J9/04 , B25J9/06 , B29C37/00 , B29C45/17 , B29C45/42
CPC分类号： B25J9/042 , B25J9/06 , B29C37/0007 , B29C45/42 , B29C2045/4283
摘要： An extracting device for easily exchanging a mold. The extracting device is attached to an upper side of a molding machine using an adapter plate. The extracting device includes a plurality of arms configured to rotate about vertical axes and a vertical motion arm, having a gripper, mounted to the end of the arms. The mold attached or to be attached to a mold fixing member is lifted, lowered or translated to the side of the molding machine. The arms of the extracting device are rotated to be away from a conveying path of the mold such that the arms do not obstruct the conveying path. In this way, a useful conveying path of the mold may be maintained, thereby the mold or a part of a crane or the like for the mold does not contact the extracting device and the mold may be easily exchanged.
摘要翻译：一种用于容易地更换模具的提取装置。提取装置使用适配器板附接到成型机的上侧。提取装置包括被构造为围绕垂直轴线旋转的多个臂和具有安装到臂的端部的夹持器的垂直运动臂。附接或附接到模具固定构件的模具被提升，降低或平移到模制机的侧面。提取装置的臂被旋转以远离模具的传送路径，使得臂不妨碍输送路径。以这种方式，可以保持模具的有用输送路径，从而模具或用于模具的起重机等的一部分不接触提取装置，并且模具可以容易地更换。

4. 发明申请

US20050276877A1 Extracting device of molded article 审中-公开
标题翻译：成型品的提取装置
公开(公告)号：US20050276877A1
公开(公告)日：2005-12-15
申请号：US11145956
申请日：2005-06-07
申请人： Ryo Nihei , Katsuyuki Yamanaka , Satoshi Kinoshita , Mitsuhiro Yasumura
发明人： Ryo Nihei , Katsuyuki Yamanaka , Satoshi Kinoshita , Mitsuhiro Yasumura
IPC分类号： B29C33/44 , B25J9/04 , B25J9/06 , B29C37/00 , B29C45/42 , B29C45/76
CPC分类号： B29C45/42 , B25J9/042 , B25J9/06 , B29C37/0007
摘要： An extracting device capable of extracting a molded article to both of a front side and a back side of a molding machine. The extracting device is loaded on an upper side of the molding machine. The extracting device includes a plurality of arms configured to rotate about vertical axes and a vertical motion arm mounted to the end of the arms. The vertical motion arm has a gripper at its front end for gripping the molded article. The molded article may be extracted to the back side of the machine by moving the end of the arms rotatable about the vertical axes to the back side. Also, the molded article may be extracted to the front side of the machine by moving the end of the arms to the front side. Even when the molded article is extracted to the front side of the molding machine, the extracting device cannot disturb the work of the operator and the safety of the operator may be ensured. In setting a molding condition, for example, the work of the operator may be simplified by extracting the molded article to the front side.
摘要翻译：一种提取装置，其能够将模塑制品提取到成型机的前侧和后侧。提取装置装载在成型机的上侧。提取装置包括被配置为围绕垂直轴线旋转的多个臂和安装到臂的端部的垂直运动臂。垂直运动臂在其前端具有夹持器，用于夹紧模制品。通过将可绕垂直轴线旋转的臂的端部移动到背面，模制品可以被提取到机器的后侧。此外，通过将臂的端部移动到前侧，模制品可以被抽出到机器的前侧。即使当模制品被提取到成型机的前侧时，提取装置也不会妨碍操作者的工作，并且可以确保操作者的安全。在设定成型条件时，例如，可以通过将模制品提取到前侧来简化操作者的工作。

5. 发明授权

US07442030B2 Molded component retrieving apparatus and a molding machine having the molded component retrieving apparatus mounted thereon 失效
标题翻译：模制部件回收装置和安装有模制部件回收装置的成型机
公开(公告)号：US07442030B2
公开(公告)日：2008-10-28
申请号：US11073710
申请日：2005-03-08
申请人： Satoshi Kinoshita , Mitsuhiro Yasumura , Hikaru Yamashiro
发明人： Satoshi Kinoshita , Mitsuhiro Yasumura , Hikaru Yamashiro
IPC分类号： B29C33/44 , B29C45/42
CPC分类号： B29C45/42
摘要： A molded component retrieving apparatus and a molding machine with the molded component retrieving apparatus include first and second units. The first unit includes a base, first to third arms and a first lift arm. The second unit includes fourth to sixth arms and a second lift arm. The second unit is removably mounted on the third arm through an intermediate base member. Rotary shafts of the arms are parallel. A holding unit to hold and retrieve the molded component or the runner is arranged at the forward end of the first and second lift arms. The third and sixth arms can be kept in position even when the drive sources are reduced in number and other arms are pivoted using a belt and a pulley.
摘要翻译：成型部件回收装置和具有成型部件回收装置的成型机包括第一和第二单元。第一单元包括基座，第一至第三臂和第一提升臂。第二单元包括第四至第六臂和第二提升臂。第二单元通过中间基座部件可拆卸地安装在第三臂上。臂的旋转轴平行。在第一和第二提升臂的前端布置有用于保持和取回模制部件或流道的保持单元。即使当驱动源的数量减少时，第三和第六臂也可以保持在适当的位置，并且其它臂使用皮带和皮带轮枢转。

6. 发明申请

US20060182608A1 Formed article taking-out apparatus and forming machine 审中-公开
标题翻译：成型制品取出机和成型机
公开(公告)号：US20060182608A1
公开(公告)日：2006-08-17
申请号：US11327311
申请日：2006-01-09
申请人： Satoshi Kinoshita , Mitsuhiro Yasumura , Ryuji Takikawa
发明人： Satoshi Kinoshita , Mitsuhiro Yasumura , Ryuji Takikawa
IPC分类号： B66C23/00
CPC分类号： B29C45/42 , B25J9/042 , B25J9/06
摘要： A formed article taking-out apparatus used for taking out a formed article from a forming machine. The apparatus includes a base able to be secured to a forming machine; a first arm attached to the base rotatably about a first axis; a second arm attached to the first arm rotatably about a second axis parallel to the first axis; a third arm attached to the second arm rotatably about a third axis parallel to the second axis; an elevating arm linearly movably attached to the third arm; a holding member mounted on the elevating arm for holding an object in the forming machine; a first-arm driving mechanism driving the first arm for rotation about the first axis; a second-arm driving mechanism driving the second arm for rotation about the second axis, independently of the first-arm driving mechanism; a third-arm driving mechanism driving the third arm for rotation about the third axis, independently of the first and second-arm driving mechanisms; and an elevating-arm driving mechanism linearly driving the elevating arm, independently of the first, second and third-arm driving mechanisms.
摘要翻译：用于从成型机取出成形品的成形制品取出装置。该装置包括能够固定到成型机的基座; 第一臂，围绕第一轴线可旋转地附接到基座; 围绕平行于所述第一轴线的第二轴线可旋转地连接到所述第一臂的第二臂; 围绕平行于第二轴线的第三轴线可旋转地连接到第二臂的第三臂; 可升降臂，可直线地可移动地附接到第三臂; 安装在所述升降臂上用于将物体保持在所述成形机中的保持构件; 第一臂驱动机构，驱动第一臂围绕第一轴旋转; 第二臂驱动机构，驱动所述第二臂，以与所述第一臂驱动机构无关地绕所述第二轴线旋转; 第三臂驱动机构，驱动第三臂，以与第一和第二臂驱动机构无关地围绕第三轴旋转; 以及与第一，第二和第三臂驱动机构无关地直线地驱动升降臂的升降臂驱动机构。

7. 发明申请

US20050231332A1 Manual operating unit for robot 审中-公开
标题翻译：机器人手动操作单元
公开(公告)号：US20050231332A1
公开(公告)日：2005-10-20
申请号：US11090235
申请日：2005-03-28
申请人： Ryo Nihei , Satoshi Kinoshita , Mitsuhiro Yasumura , Hikaru Yamashiro
发明人： Ryo Nihei , Satoshi Kinoshita , Mitsuhiro Yasumura , Hikaru Yamashiro
IPC分类号： B25J9/22 , B25J9/16 , B25J13/02 , B25J13/06 , G05B19/409 , G05B19/425 , G08B1/00
CPC分类号： G05B19/409 , B25J13/06 , G05B2219/36162 , G05B2219/39443 , G05B2219/39446
摘要： A manual operating unit for operating a robot in a manual mode, for the purpose of a teaching operation, a start/stop operation, or the like. The manual operating unit includes a housing; a robot diagram provided on the housing for schematically showing an external appearance of a robot mechanical section; an index provided on the housing in association with the robot diagram for representing a plurality of directions of motions to be performed by the robot mechanical section under control; and a motion command section provided on the housing in association with the index for causing the robot mechanical section to perform the motions in the directions represented by the index. For example, the index includes a drawing illustrating three coordinate axes of a three-axis rectangular coordinate system provided for the robot mechanical section. In this arrangement, the motion command section includes a plurality of motion command keys for causing the robot mechanical section to perform the motions along the three coordinate axes illustrated by the drawing.
摘要翻译：用于以手动模式操作机器人的手动操作单元，用于教学操作，起动/停止操作等。手动操作单元包括壳体; 设置在壳体上用于示意性地示出机器人机械部分的外观的机器人图; 与机器人图相关联地设置在壳体上的索引，用于表示由被控制的机器人机械部分执行的多个运动方向; 以及运动指令部，其与用于使所述机器人机械部在由所述指标表示的方向上执行运动的所述指标相关联地设置在所述壳体上。例如，该索引包括示出为机器人机械部设置的三轴直角坐标系的三个坐标轴的图。在这种布置中，运动指令部分包括用于使机器人机械部分沿着图示的三个坐标轴执行运动的多个运动指令键。

8. 发明授权

US5251500A Industrial robot with a compound drive mechanism 失效
标题翻译：具有复合驱动机构的工业机器人
公开(公告)号：US5251500A
公开(公告)日：1993-10-12
申请号：US859371
申请日：1992-05-26
申请人： Nobutoshi Torii , Ryo Nihei , Mitsuhiro Yasumura
发明人： Nobutoshi Torii , Ryo Nihei , Mitsuhiro Yasumura
IPC分类号： B25J9/02 , B25J18/04 , F16H25/20 , B25J18/00
CPC分类号： B25J18/04 , Y10T74/20317
摘要： A compound drive mechanism (30) according to the invention is capable of driving an output element (10, 40) of an industrial robot for a linear motion along an axis and of rotating the output element (10, 40) independently of the linear motion of the output element (10, 40). The mechanism includes a linear-motion drive motor (M.sub.1) for driving the output element (10, 40) for linear motion, a rotation drive motor (M.sub.2) for driving the output element (10, 40) for a rotational motion arranged at a fixed position, a linear motion transmitting system (12 and 14; 42 and 44) for transmitting a linear motion to the output element (10, 40) a rotational motion transmitting system (18 and 20; 48 and 50) for transmitting a rotational motion to the output element (10, 40), and a rolling contact bearing (18, 46) interconnecting the linear motion transmitting means (12 and 14; 42 and 44) the rotational motion transmitting means (18 and 20; 48 and 50) to thereby obviate interference between those transmission systems.
摘要翻译： PCT No.PCT / JP91 / 01290 Sec。 371日期：1992年5月26日 102（e）日期1992年5月26日PCT 1991年9月27日PCT PCT。出版物WO92 / 05921 根据本发明的复合驱动机构（30）能够驱动工业机器人的沿着轴线的直线运动的输出元件（10,40），并且使输出元件（10， 40），与输出元件（10,40）的线性运动无关。该机构包括用于驱动用于直线运动的输出元件（10,40）的直线运动驱动马达（M1），用于驱动输出元件（10,40）的旋转驱动马达（M2），用于旋转运动固定位置，用于向所述输出元件（10,40）传送线性运动的线性运动传递系统（12和14; 42和44）;用于传送旋转运动的旋转运动传递系统（18和20; 48和50）以及将所述线性运动传递装置（12和14; 42和44）将所述旋转运动传递装置（18和20; 48和50）互连到所述输出元件（10,40）的滚动接触轴承（18,46）从而避免这些传输系统之间的干扰。

9. 发明申请

US20070244609A1 DEVICE AND METHOD FOR CONTROLLING ELECTRIC MOTOR 审中-公开
标题翻译：用于控制电机的装置和方法
公开(公告)号：US20070244609A1
公开(公告)日：2007-10-18
申请号：US11735986
申请日：2007-04-16
申请人： Satoshi Kinoshita , Mitsuhiro Yasumura
发明人： Satoshi Kinoshita , Mitsuhiro Yasumura
IPC分类号： G06F17/00
CPC分类号： G05B19/4062
摘要： A control device including an operation monitoring section for monitoring the operating state of an electric motor, and an operation control section for controlling the operation of the electric motor in accordance with a monitored result of the operation monitoring section. The operation monitoring section includes a data obtaining section for obtaining operational data of the electric motor; a threshold determining section for selecting and determining an applicable threshold actually comparable with the operational data, from among mutually different first and second thresholds provided for comparison with the operational data, in a manner as to comply with a given condition in connection with a temperature of the electric motor; and an abnormal-operation judging section for comparing the operational data obtained in the data obtaining section with the applicable threshold determined in the threshold determining section, and judging whether there is an abnormality in the operation of the electric motor. The operation control section is configured to control the operation of the electric motor in accordance with a judged result of the abnormal-operation judging section.
摘要翻译：一种控制装置，包括用于监视电动机的操作状态的操作监视部分和用于根据操作监视部分的监视结果控制电动机的操作的操作控制部分。操作监视部分包括用于获取电动机的操作数据的数据获取部分; 阈值确定部分，用于选择和确定与操作数据实际相当的适用阈值，从与提供的与操作数据进行比较的相互不同的第一和第二阈值中，以符合关于温度的给定条件的方式电动机; 以及异常操作判断部分，用于将在数据获取部分中获得的操作数据与在阈值确定部件中确定的适用阈值进行比较，并判断电动机的操作是否有异常。操作控制部被配置为根据异常操作判断部的判定结果来控制电动机的动作。

10. 发明申请

US20050202116A1 Molded product removing device 审中-公开
标题翻译：成型产品去除装置
公开(公告)号：US20050202116A1
公开(公告)日：2005-09-15
申请号：US11076112
申请日：2005-03-09
申请人： Satoshi Kinoshita , Mitsuhiro Yasumura , Hikaru Yamashiro , Hideo Matsui
发明人： Satoshi Kinoshita , Mitsuhiro Yasumura , Hikaru Yamashiro , Hideo Matsui
IPC分类号： B29C33/44 , B25J9/04 , B25J9/10 , B25J18/02 , B29C45/42 , B29C45/38
CPC分类号： B25J18/025 , B25J9/042 , B25J9/1035 , B25J9/104 , B29C45/42
摘要： A molded-product removing device (10) includes a base (10), a rotation arm mechanism including a plurality of rotation arms (12, 14, 16) serially connected to each other so as to be rotatable about vertical axes (11, 13, 15), respectively, and a lift arm (17) mounted on the forward end rotation arm (16) of the rotation arm mechanism for moving up and down a holding mechanism arranged at the forward end thereof. The lift arm (17) is configured as a two-stage speed increasing mechanism and a pinion-rack mechanism for driving the two-stage speed increasing mechanism.
摘要翻译：一种模制产品移除装置（10），包括基座（10），旋转臂机构，其包括多个彼此串联连接的旋转臂（12,14,16），以便可绕垂直轴线（11,13）旋转，15）和安装在旋转臂机构的前端旋转臂（16）上的提升臂（17），用于上下移动布置在其前端的保持机构。提升臂（17）构成为两级增速机构和用于驱动两级增速机构的小齿轮架机构。

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