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1. 发明专利

JPH0336144A LINEAR SHEET AUTO-INSPECTION DEVICE 失效
公开(公告)号：JPH0336144A
公开(公告)日：1991-02-15
申请号：JP17150689
申请日：1989-07-03
申请人： NIPPON STEEL CORP , SANKYO SEIKI SEISAKUSHO KK
发明人： OHIGATA NAOHARU , ONO JIRO , TOKIDA HARUHIRO , WADA TAKAAKI , FUJIMURA YUKIO
IPC分类号： B65H23/188 , H05K13/08
摘要： PURPOSE:To stop a linear sheet, which is intermittently transferred, at an accurate position with simplicity by providing a control means to control transfer through a transferring means so that when the linear sheet is stopped beyond a preset stop position the next transfer distance can be shortened the first minute distance in accordance with signals from a stop position detecting means. CONSTITUTION:When a transferring means starts transfer, the stop position of a linear sheet 3 stopped after transferred is detected by a stop position detecting means 23, which sends to a control means 92 signals corresponding to a preset stop position whether it is beyond or not. Next, the control means 92 allows the transfer distance for the next transfer operation through the transferring means 91 to be shortened the first minute distance or lengthened the second minute distance in accordance with the signals. In this way, similar operation is done each time after the next transfer, to restrain the dislocation of the stop position of the linear sheet 3 within a minute range from a preset stop position all times.

2. 发明专利

JPH0346544A AUTOMATIC INSPECTING DEVICE FOR BANDLIKE BODY 失效
公开(公告)号：JPH0346544A
公开(公告)日：1991-02-27
申请号：JP18228289
申请日：1989-07-13
申请人： NIPPON STEEL CORP , SANKYO SEIKI SEISAKUSHO KK
发明人： OHIGATA NAOHARU , ONO JIRO , MATSUBARA TOSHIRO , TOKIDA HARUHIRO , WADA TAKAAKI , FUJIMURA YUKIO , KANEKO HIROSHI
IPC分类号： G01N21/84 , B65H26/00 , G01N21/88 , G01N21/89 , G01N21/892 , G01N21/93 , H01L21/66 , H04N7/18
摘要： PURPOSE:To improve the work efficiency by guiding selectively a visual observation inspecting means and an image pickup means to a detected part of a defect of a bandlike body (TAB tape), based on information from an inspecting means. CONSTITUTION:While a bandlike body 3 is fed out of a supply reel 1 and wound to a take-up reel 11, whether its defect exists or not is inspected at every prescribed area by an automatic inspecting part 31. In this case, a verification part 41 for bringing the bandlike body 3 to image pickup and sending an image pickup signal to an image display means, and a visual observation inspecting part 51 for bringing the same bandlike body 3 to visual observation are guided selectively to a detected part of the defect of the bandlike body 3 by a moving means, for instance, a rack base using an XY table, based on information of the inspecting part 31. Accordingly, a worker observes a video signal of a defect part sent from a verification part 41 at all times, through an image display means, and can execute the observation directly by switching to a microscope of the inspecting part 51 by the moving means in accordance with necessity.

3. 发明专利

JPH0340447A CONTROL OF REEL 失效
公开(公告)号：JPH0340447A
公开(公告)日：1991-02-21
申请号：JP17578989
申请日：1989-07-07
申请人： SANKYO SEIKI SEISAKUSHO KK , NIPPON STEEL CORP
发明人： FUJIMURA YUKIO , TOKIDA HARUHIRO , HIRASAWA TSUMORU , OHIGATA NAOHARU , ONO JIRO , MATSUBARA TOSHIRO
IPC分类号： H01L21/60 , H01L21/50
摘要： PURPOSE:To inhibit a fluctuation in the tension of a carrier tape and to perform efficiently the stable feed of the tape by a method wherein a take-up force of a fixed torque and a torque to respond to a winding diameter are respectively adjusted automatically to subreels and main reels in the direction of taking-up of the tape. CONSTITUTION:While an interleaver 12 is taken up around a subreel 4, a carrier tape 11 is fed out from a main reel 3 apart from the subreel 4. The tape 11 goes through a prescribed apparatus, the amount of rotation of the tape 11 is controlled by a feed means 10 and the tape 11 is taken up on a main reel 5 by superposition on a leaver 12 of a subreel 6. The subreels 4 and 6 are driven by a motor and a cluch in a fixed torque and the torques of the main reels 3 and 5 are automatically controlled by a control device through an electromagnetic clutch according to a winding diameter. The winding diamater is measured by arms 48 and 49 and potentiometers coupled with arm axes 52 and 53 of the arms 48 and 49 and the result is sent to the control device. Thereby, the excessive stretch and the slack of the carrier tape 1 are prevented whether the tape is fed continuously or intermittently and a stable tension control can be performed.

4. 发明专利

JP2004009152A INDUSTRIAL ROBOT 审中-公开
公开(公告)号：JP2004009152A
公开(公告)日：2004-01-15
申请号：JP2002162089
申请日：2002-06-03
申请人： SANKYO SEIKI SEISAKUSHO KK
发明人： TOKIDA HARUHIRO , KOIKE KAZUHIDE , SHIMURA YOSHIKI , SATO SHIRO
IPC分类号： B25J9/04 , B25J19/00
摘要： PROBLEM TO BE SOLVED: To secure high rigidity and operational precision on an industrial robot to carry out assembly, processing, etc. on a work. SOLUTION: An up-and-down elevation mechanism 45 is constituted of a shaft 15, a shaft guide part 18 to support this shaft 15 and an up-and-down elevation driving device 20, an arm revolving mechanism 46 is constituted of a revolving arm 16 and a revolution driving device 42 to revolve this revolving arm 16, the revolving arm 16 is arranged higher above the shaft guide part 18 and a horizontal sliding mechanism 44 and the up-and-down elevation driving mechanism 20 are arranged lower below the shaft guide part 18 so as to maintain weight balance against the shaft guide part 18. COPYRIGHT: (C)2004,JPO

5. 发明专利

JP2000283792A SIGNAL ERROR DETECTOR FOR ENCODER 失效
公开(公告)号：JP2000283792A
公开(公告)日：2000-10-13
申请号：JP8995799
申请日：1999-03-30
申请人： SANKYO SEIKI SEISAKUSHO KK
发明人： ODAGIRI HIDEYUKI , TOKIDA HARUHIRO
IPC分类号： G01D5/245 , G01D5/244 , G01R25/08 , H03K5/26 , H04L1/00
摘要： PROBLEM TO BE SOLVED: To enhance noise resistance by preventing erroneous operation due to noise and to prevent erroneous operation by detecting failure of an encoder. SOLUTION: The signal error detector for encoder comprises means 3 for receiving first and pulses and detecting the state transition thereof. The state transition detecting means 3 outputs a state transition other than a predetermined order as an invalid transition and outputs an error upon occurrence of a state transition following to output of an invalid transition.

6. 发明专利

JP2000187509A MECHANISM CONTROLLER 失效
公开(公告)号：JP2000187509A
公开(公告)日：2000-07-04
申请号：JP36341498
申请日：1998-12-21
申请人： SANKYO SEIKI SEISAKUSHO KK
发明人： TOKIDA HARUHIRO , ITO AKIHIRO , WATANABE HIROKAZU
IPC分类号： B25J9/10 , G05B19/4093 , G05D3/12
摘要： PROBLEM TO BE SOLVED: To smoothly move a moving member even in a path whose path length is not analytically obtained and to accurately stop the moving member at an end point. SOLUTION: Together with a forward tracing means (and a back tracing means) which respectively calculate speeds on time base (and a reverse direction) according to speed curves 4 (and 5) led from a function in which the speed changes of front (and rear) side speed changing parts are respectively defined from the start point 2 (and the end point 3) of a path at the same time to sequentially generate points P on the path (and stores them in a buffer, this controller traces the points generated on the path by the means to make a trace, also continues forward trace processing on the rear side speed changing part when an estimated speech change point is exceeded before a point on the path crosses a point on the path generated by the back tracing means, calculates deviation on the path from a true speed change point 9 at the point of time when speeds obtained by both means become equal and generates a trace by tracing the points on the path stored in the buffer while correcting them.

7. 发明专利

JP2909998B2 失效
公开(公告)号：JP2909998B2
公开(公告)日：1999-06-23
申请号：JP27679290
申请日：1990-10-16
申请人： SANKYO SEIKI SEISAKUSHO KK
发明人： TOKIDA HARUHIRO , NAGATA HIROAKI
IPC分类号： H02H9/02

8. 发明专利

JPH10291177A ARTICULATED ROBOT 失效
公开(公告)号：JPH10291177A
公开(公告)日：1998-11-04
申请号：JP9934497
申请日：1997-04-16
申请人： SANKYO SEIKI SEISAKUSHO KK
发明人： TOKIDA HARUHIRO , KITAHARA YASUYUKI
IPC分类号： B25J9/06
摘要： PROBLEM TO BE SOLVED: To prevent the vibration of arms and improve the stability in the operation of an articulated robot, in the articulated robot having a hand part which can hold a work on a point of a second arm, by expanding and contracting the hand part of the second arm toward a specific direction at all times. SOLUTION: In an articulated robot 1, a hand part 6 is straightly moved only by expanding and contracting a second arm 4, and a rotary table 3 and the second arm 4 are not necessary to be brought into a condition of a singular point. That is, it is unnecessary to rotate the rotary table 3 particularly at a high speed, which prevents the vibration of the arms 3, 4. Whereby the stability in the operation of the articulated robot 1 can be improved. Further when the hand part 6 is moved straight, the position of the center of rotation of the expandable second arm 4 can be changed by the rotation of the rotary table 3, so that the expanding direction of the second arm 4 is not limited in a radial direction. Accordingly the degree of freedom of the arrangement of the articulated robot 1 and a cassette 1 can be increased.

9. 发明专利

JPH10265027A ARTICLE DETECTOR 失效
公开(公告)号：JPH10265027A
公开(公告)日：1998-10-06
申请号：JP36065397
申请日：1997-12-26
申请人： SANKYO SEIKI SEISAKUSHO KK
发明人： TOKIDA HARUHIRO , YAJIMA MASAO
IPC分类号： G01V8/20 , B65G43/08
摘要： PROBLEM TO BE SOLVED: To provide an article detector which can detect completely an article passing through or positioned in a detecting area even if an obstacle exits. SOLUTION: Light emitting diodes 1 and light receiving diodes 2 are disposed so as to face each other, and the light receiving diode 2 which cannot receive the irradiated light from the light emitting diode 1 due to an obstacle G existing in an detecting area A formed between the light emitting diode 1 and the light receiving diode 2 is stored by a non-operation storage part 9. Whether an article M passes through or exists is detected using the light emitting diode 1 and the light receiving diode 2, excluding the light-intercepting diode 2 stored in the non-operation storage part 9.

10. 发明专利

JPH10230489A FORCE AUXILIARY DEVICE CONTROL AND CONTROLLER THEREWITH 失效
公开(公告)号：JPH10230489A
公开(公告)日：1998-09-02
申请号：JP32898797
申请日：1997-11-28
申请人： SANKYO SEIKI SEISAKUSHO KK
发明人： ITO AKIHIRO , TOKIDA HARUHIRO , KITAHARA YASUYUKI , HIRAKURI MASAO
IPC分类号： B25J13/00 , A61B19/00 , B25J9/10 , B25J13/02 , B25J13/08
摘要： PROBLEM TO BE SOLVED: To conduct smooth movement or rotation using a motor as a power source with constant operationability regardless of the position and direction of an object to be supported, such as a heavy object, so as to be capable of moving and rotating on a fixed track in the case of a point lock or the like. SOLUTION: This force auxiliary device is formed by fitting an operating handle which is disposed in the vicinity of an instrument to be supported, for example and operation microscope which is attached onto the front end part of a plurality of arms which are jointed so as to rotatable, detecting the operating force applied to the operating handle by a force torque sensor which outputs it as a signal of a plurality of axial directions (steps 101 to 103), calculating an operational command of respective joint part of a plurality of the arms based on the detected force torque information of a plurality of axial directions along with impedance control (step 106) and track control (step 107), and moving a plurality of the arms in a direction of the operational force which is applied to the operating handle based on the operational command of the respective joint parts (step 108 to 112).

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