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1. 发明授权

US5325467A Robot control method based on an acceleration/deceleration time constant 失效
标题翻译：基于加速/减速时间常数的机器人控制方法
公开(公告)号：US5325467A
公开(公告)日：1994-06-28
申请号：US820881
申请日：1992-01-17
申请人： Nobutoshi Torii , Ryo Nihei , Yasuo Naito , Tetsuaki Kato , Satoshi Kinoshita
发明人： Nobutoshi Torii , Ryo Nihei , Yasuo Naito , Tetsuaki Kato , Satoshi Kinoshita
IPC分类号： B25J9/10 , B25J9/16 , B25J9/18 , G05B19/416 , G05D3/12 , B25J19/00
CPC分类号： G05B19/416 , B25J9/1651 , G05B2219/37391 , G05B2219/43009 , G05B2219/43023 , G05B2219/43046 , G05B2219/43059 , G05B2219/43099
摘要： A robot control method based on an acceleration/deceleration time constant wherein the acceleration/deceleration time constant of a servomotor is set for an optimum value for each block, to thereby control the operation of the robot. A reaching speed (Vu) is determined from an amount of movement (X) of a block, and based on the reaching speed, a maximum torque (Tmax) of the servomotor is determined and then a static load torque (T.sub.wn) is subtracted from the maximum torque (Tmax) to determine an acceleration torque (Ta.sub.n). Thereafter, based on the acceleration torque (Ta.sub.n) and the load inertia of the servomotor, an acceleration (a.sub.n) is determined and an acceleration/deceleration time constant (.tau.) is determined from the acceleration (a.sub.n), and accordingly, an optimum acceleration/deceleration time constant is determined.
摘要翻译： PCT No.PCT / JP91 / 00645 Sec。 371日期：1992年1月17日 102（e）日期1992年1月17日PCT 1991年5月15日PCT PCT。公开号WO91 / 18717 日期：1991年12月12日。一种基于加速/减速时间常数的机器人控制方法，其中将伺服电动机的加减速时间常数设定为每个块的最佳值，从而控制机器人的操作。从块的移动量（X）确定到达速度（Vu），并且基于到达速度，确定伺服电动机的最大转矩（Tmax），然后从静止负载转矩（Twn）中减去确定加速扭矩（Tan）的最大扭矩（Tmax）。然后，基于加速扭矩（Tan）和伺服电动机的负载惯量，确定加速度（an），根据加速度（an）确定加减速时间常数（τ），因此，优化加速度 /减速时间常数。

2. 发明授权

US4934504A Apparatus for setting turning movement region of trunk body of industrial robot 失效
标题翻译：用于设置工业机器人主体的转动运动区域的装置
公开(公告)号：US4934504A
公开(公告)日：1990-06-19
申请号：US437307
申请日：1989-11-17
申请人： Nobutoshi Torii , Yasuo Naito , Kazuhisa Otsuka , Satoshi Kinoshita
发明人： Nobutoshi Torii , Yasuo Naito , Kazuhisa Otsuka , Satoshi Kinoshita
IPC分类号： B25J19/00 , B25J9/10 , B25J19/06
CPC分类号： B25J9/101 , Y10T74/1453 , Y10T74/1494
摘要： Angular regions (A, B) for turning a trunk body (12) of an industrial robot can be changed in accordance with an operation of the industrial robot by setting movable stoppers (18, 20). Turning movement can be stopped by an electrical means (LS1, LS2, LS3, LS4, LS5) to protect a drive motor and a drive mechanism, just before a stopper (22) fixed on the trunk body collides with mechanical stoppers (14, 16, 18, 20). An accident based on an error operation of the movable stoppers can be prevented by disposing proximity detectors (PS1, PS2, PS3, PS4).
摘要翻译：可以通过设置可动止动件（18,20），根据工业机器人的操作来改变用于转动工业机器人的主体（12）的角区域（A，B）。通过电气装置（LS1，LS2，LS3，LS4，LS5）可以停止转动运动，以在固定在主体上的止动器（22）与机械止动件（14,16）碰撞之前保护驱动电机和驱动机构，18,20）。通过设置接近检测器（PS1，PS2，PS3，PS4）可以防止基于可动止动器的错误操作的事故。

3. 发明授权

US5187996A Industrial articulated robot provided with a driving linkage 失效
标题翻译：工业机器人提供驱动链接
公开(公告)号：US5187996A
公开(公告)日：1993-02-23
申请号：US768757
申请日：1991-10-15
申请人： Nobutoshi Torii , Yasuo Naito , Satoshi Kinoshita
发明人： Nobutoshi Torii , Yasuo Naito , Satoshi Kinoshita
IPC分类号： B25J9/06 , B25J9/04 , B25J9/10
CPC分类号： B25J9/046 , B25J9/1065 , Y10S414/13 , Y10T74/20207
摘要： The present invention is intended to expand the operating region of a driven robot component of a robot by a provision of a driving linkage system for transmitting a drive torque of a drive source unit to the driven robot component, the driving linkage system having two spatially separated linkages, which are different from each other in the phase of motion thereof, to thereby transmit the drive torque from the drive source unit to the driven robot component by at least one of the two linkages even if the other linkage is brought to a dead center state, whereby the torque can be continuously transmitted to the driven robot component.
摘要翻译： PCT No.PCT / JP91 / 00186 Sec。 371日期1991年10月15日 102（e）日期1991年10月15日PCT 1991年2月15日提交PCT公布。公开号WO91 / 12117 日本1991年8月22日。本发明旨在通过提供用于将驱动源单元的驱动转矩传递到被驱动机器人部件的驱动联动系统来扩展机器人的从动机器人部件的操作区域，驱动联动系统具有两个在其运动阶段彼此不同的空间分离的联动装置，从而通过两个连杆中的至少一个将驱动力单元从驱动源单元传递到从动机器人部件，即使另一个连杆被带到死角状态，由此可以将扭矩连续地传递到从动机器人部件。

4. 发明授权

US08308419B2 Robot system using robot to load and unload workpiece into and from machine tool 有权
标题翻译：机器人系统使用机器人将工件装载和卸载机床
公开(公告)号：US08308419B2
公开(公告)日：2012-11-13
申请号：US12491700
申请日：2009-06-25
申请人： Ryo Nihei , Satoshi Kinoshita
发明人： Ryo Nihei , Satoshi Kinoshita
IPC分类号： B25J18/00
CPC分类号： B25J9/0009 , B25J9/047
摘要： A robot includes a base member, which is installed at a position offset from the front of a door of a machine tool to the side, as viewed in a direction vertical to the surface where the door is provided and is fixed to a surface of a base slanted so as to face the door side. A rotary member is coupled to the base member so as to be rotatable about a first axis extending vertical to the slanted surface. A first arm member is coupled to the rotary member so as to be able to swivel about a second axis vertical to the first axis, and a second arm member is coupled to the first arm member so as to be able to swivel about a third axis parallel to the second axis.
摘要翻译：机器人包括：基部构件，其安装在从机器门的前部偏离到侧面的位置，从垂直于设置门的表面的方向观察并固定到底座倾斜以面对门侧。旋转构件联接到基部构件，以便能够围绕垂直于倾斜表面延伸的第一轴线旋转。第一臂构件联接到旋转构件，以便能够围绕垂直于第一轴线的第二轴线旋转，并且第二臂构件联接到第一臂构件，以便能够围绕第三轴线平行于第二轴。

5. 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。

6. 发明授权

US06956347B2 Robot with sensor 失效
标题翻译：机器人与传感器
公开(公告)号：US06956347B2
公开(公告)日：2005-10-18
申请号：US10686588
申请日：2003-10-17
申请人： Ryo Nihei , Satoshi Kinoshita
发明人： Ryo Nihei , Satoshi Kinoshita
IPC分类号： B25J19/00 , B25J13/08 , B25J19/02
CPC分类号： B25J19/023 , B25J19/02
摘要： A visual sensor main body is attached to a first attachment provided in a vicinity of a hand provided to a tip end of a robot arm to take an image of a workpiece to obtain a position and an attitude of the workpiece. Based on the detected position and attitude, the workpiece is grasped with the hand. The sensor main body is handed to the second attachment provided in the retreat position. Then, after mounting the grasped workpiece to a chuck of a working machine and machining the workpiece, the workpiece is taken out with the hand.
摘要翻译：视觉传感器主体附接到设置在机器人手臂的末端的手附近的第一附件，以拍摄工件的图像以获得工件的位置和姿态。根据检测到的位置和姿态，用手抓住工件。将传感器主体交给设置在退避位置的第二附件。然后，将把持的工件安装到加工机械的卡盘上并加工工件后，用手取出工件。

7. 发明申请

US20100028117A1 ROBOT SYSTEM USING ROBOT TO LOAD AND UNLOAD WORKPIECE INTO AND FROM MACHINE TOOL 有权
标题翻译：机器人系统使用机器人加载和卸载工具进入机器工具
公开(公告)号：US20100028117A1
公开(公告)日：2010-02-04
申请号：US12491700
申请日：2009-06-25
申请人： Ryo Nihei , Satoshi Kinoshita
发明人： Ryo Nihei , Satoshi Kinoshita
IPC分类号： B66C23/00
CPC分类号： B25J9/0009 , B25J9/047
摘要： A robot includes a base member, which is installed at a position offset from the front of a door of a machine tool to the side, as viewed in a direction vertical to the surface where the door is provided and is fixed to a surface of a base slanted so as to face the door side. A rotary member is coupled to the base member so as to be rotatable about a first axis extending vertical to the slanted surface. A first arm member is coupled to the rotary member so as to be able to swivel about a second axis vertical to the first axis, and a second arm member is coupled to the first arm member so as to be able to swivel about a third axis parallel to the second axis.
摘要翻译：机器人包括：基部构件，其安装在从机器门的前部偏离到侧面的位置，从垂直于设置门的表面的方向观察并固定到底座倾斜以面对门侧。旋转构件联接到基部构件，以便能够围绕垂直于倾斜表面延伸的第一轴线旋转。第一臂构件联接到旋转构件，以便能够围绕垂直于第一轴线的第二轴线旋转，并且第二臂构件联接到第一臂构件，以便能够围绕第三轴线平行于第二轴。

8. 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。

9. 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。

10. 发明申请

US20120284277A1 EVENT INFORMATION MANAGEMENT SYSTEM, EVENT MANAGEMENT METHOD AND PROGRAM 审中-公开
标题翻译：事件信息管理系统，事件管理方法和程序
公开(公告)号：US20120284277A1
公开(公告)日：2012-11-08
申请号：US13521119
申请日：2011-01-12
申请人： Satoshi Kinoshita
发明人： Satoshi Kinoshita
IPC分类号： G06F17/30
CPC分类号： G06Q10/08
摘要： When multiple types of monitored objects are sorted into main monitored objects and smaller objects accommodated therein, the states of the smaller objects can be made searchable by only monitoring information about said main monitored objects. The event information management system is provided with: an association information storage unit which stores association information in which association lists comprising main monitored object IDs and subordinate monitored object IDs associated therewith are marked with specific list identifiers; an event management module which, if the attribute information of an input event shows a physical quantity, selects the list identifiers of the association lists containing main monitored object IDs matching the entity ID of said input event, and creates index information in which the list identifiers and the input event attribute information are associated; and an index storage unit which stores the index information for purposes of searching for events.
摘要翻译：当多种类型的被监视对象被分类到主监视对象和容纳在其中的较小对象时，较小对象的状态可以通过仅监视关于所述主要被监视对象的信息来进行搜索。所述事件信息管理系统具有：存储关联信息的关联信息存储部，其中，包含主监视对象ID的关联列表和与其相关联的下属被监视对象ID被标记有特定列表标识符; 事件管理模块，如果输入事件的属性信息显示物理量，则选择包含与所述输入事件的实体ID相匹配的主要被监视对象ID的关联列表的列表标识符，并创建索引信息，其中列表标识符并输入事件属性信息; 以及索引存储单元，其存储用于搜索事件的索引信息。

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