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    • 2. 发明授权
    • Apparatus for generating trajectory for industrial robot
    • 用于产生工业机器人轨迹的装置
    • US5993044A
    • 1999-11-30
    • US916574
    • 1997-08-22
    • Masahiro OhtoHisashi KinoshitaTakashi NakatsukaYoshinori Nishida
    • Masahiro OhtoHisashi KinoshitaTakashi NakatsukaYoshinori Nishida
    • B25J9/22G05B19/416G06F17/17
    • G06F17/17Y02P90/265
    • An acceleration generated when a tool tip of a robot moves straightly or turns a teaching point inward, is suppressed under a predetermined maximum acceleration so that the tool tip moves smoothly. From teaching point data including a moving instruction to specify a trajectory shape on the basis of a teaching point giving a reference based on which a tip portion of the robot moves, a moving speed instruction to specify a moving speed of the tip portion on the trajectory, and an allowable path error to specify a maximum value of an error between the teaching point and the trajectory, a realizable moving speed when the tip portion of the robot moves on the straight line trajectory is obtained, a deceleration rate with respect to the moving speed recorded in the teaching point data is obtained, a realizable moving speed when the tip portion of the robot passes the inside of the teaching point is obtained, a deceleration rate with respect to the moving speed recorded in the teaching point data is calculated, and those values are stored in the teaching point data. When the robot is operated, in accordance with the straight portion deceleration rate and the inward turning portion deceleration rate stored in the teaching point data, the moving speeds of the robot at the straight portion and the inward turning portion are reset.
    • 当机器人的工具尖端直线移动或向内转动教导点时产生的加速度在预定的最大加速度下被抑制,使得刀尖顺利地移动。 从包括移动指令的教学点数据,基于给出基于机器人移动的尖端部分的参考的教导点来指定轨迹形状,指定尖端部分在轨迹上的移动速度的移动速度指令 以及用于指定教导点和轨迹之间的误差的最大值的可允许路径误差,当机器人的尖端部分在直线轨迹上移动时可实现的移动速度获得相对于移动的减速度 获得记录在教学点数据中的速度,获得当机器人的尖端部分通过教导点内部时可实现的移动速度,计算相对于记录在教学点数据中的移动速度的减速率,以及 这些值被存储在教学点数据中。 当机器人被操作时,根据存储在示教点数据中的直线部分减速率和向内转动部分减速度,机器人在直线部分和向内转动部分的移动速度被复位。
    • 8. 发明授权
    • Cubic boron nitride-based sintered material and manufacture thereof
    • 立方氮化硼系烧结材料及其制造
    • US06562746B2
    • 2003-05-13
    • US09767890
    • 2001-01-24
    • Yasuhiro EnyaShoichi KumeYoshinori NishidaTatsuya Hara
    • Yasuhiro EnyaShoichi KumeYoshinori NishidaTatsuya Hara
    • C04B355835
    • C04B35/5831
    • The present invention provides a cubic boron nitride-based sintered material excellent in durability and usable for a cutting tool material capable of carrying out high speed cutting of at least a high grade cast iron represented with a Ni-Resist cast iron and an austempered cast iron and having a long life. The present invention further provides a method for manufacturing the cubic boron nitride-based sintered material. The method for the production of a cubic boron nitride-based sintered material includes preparing a starting mixture by mixing particles of cubic boron nitride with a binding powders based on the system of TiCN, Si3N4, Al2O3, and CrxN, wherein x varyies from 1 to 2.7; and subjecting the starting mixture to a sintering process under pressure and at the same time at a high temperature; and recovering a sintered product.
    • 本发明提供一种耐久性优异的立方氮化硼系烧结体,可用于能够进行至少一种以Ni-Resist铸铁和奥氏体铸铁为代表的高品位铸铁的高速切削的切削工具材料 并且寿命长。 本发明还提供一种立方氮化硼系烧结体的制造方法。 立方氮化硼系烧结体的制造方法包括:以TiCN,Si 3 N 4,Al 2 O 3,Cr x N的体系混合立方氮化硼的微粒与结合粉末混合来制备起始混合物,其中x为1〜 2.7; 并在高压下同时对起始混合物进行烧结, 并回收烧结产品。
    • 9. 发明授权
    • Large deformation apparatus, the deformation method and the deformed metallic materials
    • 大变形装置,变形方法和变形金属材料
    • US06209379B1
    • 2001-04-03
    • US09514292
    • 2000-02-28
    • Yoshinori NishidaShoichi KumeTsunemichi Imai
    • Yoshinori NishidaShoichi KumeTsunemichi Imai
    • B21C2700
    • B21J13/085B21C23/001B21C23/01B21J5/00B21J5/02B21J9/02B21J13/08
    • The present invention relates to a large deformation apparatus for metal-based materials that comprises a mold (A), a support mechanism (B) for supporting the mold (A), and a rotary mechanism (C) for rotating the mold (A), wherein the mold (A) comprises a mold body (1), four holes (2) that pass through the mold body (1) and intersect in its interior, and engagement means (3a) for engaging the rotary mechanism (C), each hole (2) being provided with a punch (5) that can slide or otherwise move with friction in relation to the hole (2) and that extends from the end face of the mold body (1) to the intersection of the holes (2); the support mechanism (B) comprises restraint plates (6a), (6b), and (6c) for restraining the external end faces of the mold body (1) having holes (2), and holding plates (7a) and (7b) for holding the mold body (1); and the rotary mechanism (C) comprises engagement means (3b) for engaging the engagement means (3a), rotary means (8), connection means (9) for connecting the engagement means (3b) and the rotary means (8), and to a method for applying large deformation to a metal-based material with the aid of the apparatus, and further to a metal-based material subjected to large deformation by the method.
    • 本发明涉及一种用于金属基材料的大型变形装置,其包括模具(A),用于支撑模具(A)的支撑机构(B)和用于使模具(A)旋转)的旋转机构(C) ,其中所述模具(A)包括模体(1),穿过所述模体(1)并在其内部相交的四个孔(2)和用于接合所述旋转机构(C)的接合装置(3a) 每个孔(2)设置有冲头(5),该冲头可以相对于孔(2)以摩擦力滑动或以其它方式移动,并且从模体(1)的端面延伸到孔( 2); 支撑机构(B)包括用于限制具有孔(2)的模具主体(1)的外端面和保持板(7a)和(7b)的约束板(6a),(6b)和(6c) 用于保持模体(1); 旋转机构(C)包括用于接合接合装置(3a)的接合装置(3b),旋转装置(8),用于连接接合装置(3b)和旋转装置(8)的连接装置(9),以及 涉及一种借助该装置向金属基材料施加大变形的方法,并且还涉及通过该方法进行大变形的金属基材料。