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1. 发明授权

US4951517A Rotational driving apparatus with frictional engagement and robot using the same 失效
标题翻译：具有摩擦接合的旋转驱动装置和使用其的机器人
公开(公告)号：US4951517A
公开(公告)日：1990-08-28
申请号：US262309
申请日：1988-10-25
申请人： Yusaku Azuma , Takeo Tanita , Toshihiro Yamamoto , Shozo Kasai , Masateru Yasuhara , Yasuhiro Sawada
发明人： Yusaku Azuma , Takeo Tanita , Toshihiro Yamamoto , Shozo Kasai , Masateru Yasuhara , Yasuhiro Sawada
IPC分类号： B25J9/04 , B25J9/10 , F16H13/02
CPC分类号： B25J9/044 , B25J9/04 , B25J9/042 , B25J9/108 , F16H13/02
摘要： A rotational driving apparatus with frictional engagement includes a base, a rotating member having rigidity and axially supported on the base, at least one frictional roller having rigidity and at least one driving roller which are in rolling contact with the rotating member, a motor for rotating the driving roller, and a pressing mechanism for pressing the frictional and driving rollers against the rotating member, thereby transmitting a driving force of the driving roller to the rotating member to rotate it.
摘要翻译：具有摩擦接合的旋转驱动装置包括基座，具有刚性并轴向支撑在基座上的旋转构件，具有刚性的至少一个摩擦辊和与旋转构件滚动接触的至少一个驱动辊，用于旋转的马达驱动辊和用于将摩擦和驱动辊压靠在旋转构件上的按压机构，从而将驱动辊的驱动力传递到旋转构件以使其旋转。

2. 发明授权

US5513946A Clean robot 失效
标题翻译：清洁机器人
公开(公告)号：US5513946A
公开(公告)日：1996-05-07
申请号：US321922
申请日：1994-10-12
申请人： Yasuhiro Sawada , Yusaku Azuma , Masateru Yasuhara
发明人： Yasuhiro Sawada , Yusaku Azuma , Masateru Yasuhara
IPC分类号： B25J9/04 , B25J9/10 , B25J19/00 , B25J18/00
CPC分类号： B25J9/042 , B25J19/0029 , B25J19/0075 , B25J9/1045 , B25J9/106
摘要： A clean robot capable of a linear conveying motion comprises a base, a first arm rotatably supported by the base, a second arm rotatably supported by the first arm, and a third arm rotatably supported by the second arm. Also provided are a first driving unit for rotating the first arm with respect to the base in a first rotational direction at a first angular velocity, a second driving unit for rotating the second arm with respect to the first arm in a second rotational direction reverse to the first rotational direction at a doubled angular velocity of the first angular velocity, and a third driving unit for rotating the third arm with respect to the second arm in the first rotational direction at the first angular velocity.
摘要翻译：一种能够进行线性输送运动的清洁机器人，包括基座，由基座可旋转地支撑的第一臂，由第一臂可旋转地支撑的第二臂和由第二臂可旋转地支撑的第三臂。还提供了第一驱动单元，用于以第一角速度在第一旋转方向上相对于基座旋转第一臂;第二驱动单元，用于相对于第一臂在第二旋转方向上相对于第一旋转方向旋转第二臂以第一角速度的双倍角速度的第一旋转方向，以及第三驱动单元，用于以第一角速度在第一旋转方向上相对于第二臂旋转第三臂。

3. 发明授权

US5046915A Rotational driving apparatus with frictional engagement and robot using the same 失效
标题翻译：具有摩擦接合的旋转驱动装置和使用其的机器人
公开(公告)号：US5046915A
公开(公告)日：1991-09-10
申请号：US541924
申请日：1990-06-21
申请人： Yusaku Azuma , Takeo Tanita , Toshihiro Yamamoto , Shozo Kasai , Masateru Yasuhara , Yasuhiro Sawada
发明人： Yusaku Azuma , Takeo Tanita , Toshihiro Yamamoto , Shozo Kasai , Masateru Yasuhara , Yasuhiro Sawada
IPC分类号： B25J9/04 , B25J9/10 , F16H13/02
CPC分类号： B25J9/044 , B25J9/04 , B25J9/042 , B25J9/108 , F16H13/02
摘要： A rotational driving apparatus with frictional engagement includes a base, a rotating member having rigidity and axially supported on the base, at least one frictional roller having rigidity and at least one driving roller which are in rolling contact with the rotating member, a motor for rotating the driving roller, and a pressing mechanism for pressing the frictional and driving rollers against the rotating member, thereby transmitting a driving force of the driving roller to the rotating member to rotate it.

4. 发明授权

US5232331A Automatic article feeding system 失效
标题翻译：自动送料系统
公开(公告)号：US5232331A
公开(公告)日：1993-08-03
申请号：US668912
申请日：1991-03-13
申请人： Shozo Kasai , Takeo Tanita , Masateru Yasuhara , Yusaku Azuma , Toshihiro Yamamoto , Norio Nikaido , Ryohei Inaba , Mitsuo Arai
发明人： Shozo Kasai , Takeo Tanita , Masateru Yasuhara , Yusaku Azuma , Toshihiro Yamamoto , Norio Nikaido , Ryohei Inaba , Mitsuo Arai
IPC分类号： B23P19/00 , B23Q7/10 , B23Q7/14 , B65G65/00
CPC分类号： B65G65/00 , B23P19/001 , B23Q7/10 , B23Q7/1494 , Y10S414/105
摘要： A method for stocking a plurality of containers in a stocking device and feeding one container at a time to a robot includes the steps of separately supporting each container in a vertically moveable frame and moving the frame to align a selected container at a drawing position. The selected container is withdrawn from the frame and a lid of a pallet on the withdrawn frame is removed. The articles are then supplied to the robot.
摘要翻译：一种用于在放养装置中放养多个容器并一次将一个容器供给机器人的方法包括以下步骤：将每个容器分别支撑在可垂直移动的框架中并移动框架以使所选择的容器在绘图位置对齐。将选定的容器从框架中取出，取出框架上的托盘盖。然后将物品提供给机器人。

5. 发明授权

US4934278A Moving apparatus with track recessed portion to dissipate drive roller contact pressure 失效
标题翻译：具有轨道凹陷部分的移动设备消散驱动辊接触压力
公开(公告)号：US4934278A
公开(公告)日：1990-06-19
申请号：US222539
申请日：1988-07-21
申请人： Takeo Tanita , Yusaku Azuma , Toshihiro Yamamoto , Masateru Yasuhara , Shozo Kasai , Norio Nikaido
发明人： Takeo Tanita , Yusaku Azuma , Toshihiro Yamamoto , Masateru Yasuhara , Shozo Kasai , Norio Nikaido
IPC分类号： B23Q5/38 , B25J9/02 , B25J9/10 , B61B13/04 , B61D15/12 , B61K7/00
CPC分类号： B25J9/023 , B23Q5/385 , B25J9/103
摘要： A displacing apparatus includes a moving table provided movably on a guide rail mounted on a fixed base. A guide bar is provided on the fixed base in parallel with the guide rail. The guide bar is formed with a recess. Also provided is a driving roller maintained in contact with the guide bar and driven by a driving source provided on the moving table for moving the moving table. A device is provided on the moving table for generating a contact pressure for maintaining the driving roller in pressure contact with the guide bar at a position on the guide bar opposite to the drive roller. A detector is also provided in relation to the moving table for detecting the position of the moving table. Finally, a device is provided for nullifying the contact pressure. The nullifying device drops the driving roller into the recess of the guide bar to nullify the contact pressure of the drive roller, the drive roller moving on the guide bar.
摘要翻译：移动装置包括可移动地设置在安装在固定基座上的导轨上的移动台。导轨与导轨平行设置在固定基座上。导杆形成有凹部。还提供了一种驱动辊，其保持与导杆接触并由设置在移动台上的驱动源驱动，用于移动移动台。在移动台上设置有用于产生接触压力的装置，用于保持驱动辊在导向杆上与驱动辊相对的位置处与导杆压力接触。还相对于用于检测移动台的位置的移动台提供检测器。最后，提供了用于使接触压力无效的装置。无效装置将驱动辊下降到导杆的凹槽中，以消除驱动辊的接触压力，驱动辊在导杆上移动。

6. 发明授权

US5380138A Automatic article feeding system 失效
标题翻译：自动送料系统
公开(公告)号：US5380138A
公开(公告)日：1995-01-10
申请号：US140964
申请日：1993-10-25
申请人： Shozo Kasai , Takeo Tanita , Masateru Yasuhara , Yusaku Azuma , Toshihiro Yamamoto , Norio Nikaido , Ryohei Inaba , Mitsuo Arai
发明人： Shozo Kasai , Takeo Tanita , Masateru Yasuhara , Yusaku Azuma , Toshihiro Yamamoto , Norio Nikaido , Ryohei Inaba , Mitsuo Arai
IPC分类号： B23P19/00 , B23Q7/10 , B23Q7/14 , B65G65/00 , B65G1/06
CPC分类号： B23P19/001 , B23Q7/10 , B23Q7/1494 , B65G65/00
摘要： An article feeding apparatus which feeds articles from a feed source to a section to be subjected to feeding includes a stocker for stocking a plurality of pallets retaining a plurality of articles in units of types of articles, with the stocker being capable of moving one pallet to a predetermined position, and a take-out unit for taking the pallet moved to the predetermined position outside the stocker in order to transfer articles to the section to be subjected to feeding. In addition, a buffer receives replacement of the pallets retaining the articles from external equipment and temporarily stores the plurality of pallets, and a replacing unit replaces the pallets in the stocker with the pallets in the buffer in accordance with a decrease in number of articles in the pallet in the stocker to a predetermined value as the articles are fed to the feeding section.
摘要翻译：将来自进料源的物品从供给源供给到供给部的物品供给装置包括：储料器，用于以多个物品为单位容纳保持多个物品的多个托盘，储料器能够将一个托盘移动到预定位置，以及用于将托盘移动到存储器外部的预定位置的取出单元，以便将物品转移到要进行供给的区段。此外，缓冲器接收从外部设备保持物品的托盘的更换并暂时存储多个托盘，并且更换单元根据缓冲器中的托盘数量的减少将托盘中的托盘替换为缓冲器中的托盘当物品被馈送到供给部时，储盘架中的托盘达到预定值。

7. 发明授权

US5203661A Handling device for articles or containers 失效
标题翻译：物品或容器处理装置
公开(公告)号：US5203661A
公开(公告)日：1993-04-20
申请号：US598746
申请日：1990-10-16
申请人： Takeo Tanita , Masateru Yasuhara , Shozo Kasai , Yusaku Azuma , Toshihiro Yamamoto , Norio Nikaido , Toshio Tsuda
发明人： Takeo Tanita , Masateru Yasuhara , Shozo Kasai , Yusaku Azuma , Toshihiro Yamamoto , Norio Nikaido , Toshio Tsuda
IPC分类号： B65G1/04
CPC分类号： B65G1/0435
摘要： A handling device for a stocker, for storing various articles or containers, has a pair of engaging members for storing or extracting the articles, in which the engaging members have unbalanced engaging forces and the articles are aligned in one direction by the unbalanced engaging forces.
摘要翻译：用于储存器的处理装置，用于储存各种物品或容器，具有用于储存或取出物品的一对接合构件，其中接合构件具有不平衡的接合力，并且物品通过不平衡的接合力在一个方向上对齐。

8. 发明授权

US5868545A Automatic article feeding system 失效
标题翻译：自动送料系统
公开(公告)号：US5868545A
公开(公告)日：1999-02-09
申请号：US657500
申请日：1996-06-04
申请人： Shozo Kasai , Takeo Tanita , Masateru Yasuhara , Yusaku Azuma , Toshihiro Yamamoto , Norio Nikaido , Ryohei Inaba , Mitsuo Arai
发明人： Shozo Kasai , Takeo Tanita , Masateru Yasuhara , Yusaku Azuma , Toshihiro Yamamoto , Norio Nikaido , Ryohei Inaba , Mitsuo Arai
IPC分类号： B23P19/00 , B23Q7/10 , B23Q7/14 , B65G65/00 , B65G1/06
CPC分类号： B23Q7/10 , B23P19/001 , B23Q7/1494 , B65G65/00
摘要： A method for stocking a plurality of containers in a stocking device and feeding one container at a time to a robot includes the steps of separately supporting each container in a vertically moveable frame and moving the frame to align a selected container at a drawing position. The selected container is withdrawn from the frame and a lid of a pallet on the withdrawn frame is removed. The articles are then supplied to the robot.
摘要翻译：一种用于在放养装置中放养多个容器并一次将一个容器供给机器人的方法包括以下步骤：将每个容器分别支撑在可垂直移动的框架中并移动框架以使所选择的容器在绘图位置对齐。将选定的容器从框架中取出，取出框架上的托盘盖。然后将物品提供给机器人。

9. 发明授权

US5503516A Automatic article feeding system 失效
标题翻译：自动送料系统
公开(公告)号：US5503516A
公开(公告)日：1996-04-02
申请号：US276755
申请日：1994-07-18
申请人： Shozo Kasai , Takeo Tanita , Masateru Yasuhara , Yusaku Azuma , Toshihiro Yamamoto , Norio Nikaido , Ryohei Inaba , Mitsuo Arai
发明人： Shozo Kasai , Takeo Tanita , Masateru Yasuhara , Yusaku Azuma , Toshihiro Yamamoto , Norio Nikaido , Ryohei Inaba , Mitsuo Arai
IPC分类号： B23P19/00 , B23Q7/10 , B23Q7/14 , B65G65/00 , B65G59/00
CPC分类号： B23Q7/10 , B23P19/001 , B23Q7/1494 , B65G65/00
摘要： A method for feeding articles to a robot comprises the steps of temporarily storing a plurality of containers in a temporary storing device including a rest on which the plurality of containers are stacked and a separator for simultaneously separating the stacked containers from each other, stocking a plurality of containers supplied from the temporary storing device in a stocker, and feeding the stocked containers to the robot one-by-one.
摘要翻译：一种用于将物品供给到机器人的方法包括以下步骤：将多个容器临时存储在包括堆叠在其上的多个容器的其余部分的临时存储装置中，以及用于将堆叠的容器彼此分离的分离器，从储存器中的临时存储装置提供的容器，并将储存的容器逐个送入机器人。

10. 发明授权

US5425133A Robot apparatus with an electrical driver for controlling a detachable rotor hand 失效
标题翻译：具有用于控制可拆卸机器人手的电驱动器的机器人装置
公开(公告)号：US5425133A
公开(公告)日：1995-06-13
申请号：US101820
申请日：1993-08-04
申请人： Masateru Yasuhara , Hiroyuki Kigami , Katsumi Ishihara , Yusaku Azuma , Teiji Oosaka
发明人： Masateru Yasuhara , Hiroyuki Kigami , Katsumi Ishihara , Yusaku Azuma , Teiji Oosaka
IPC分类号： B25J9/16 , B25J9/18 , B25J15/04 , B25J18/04 , G06F15/46
CPC分类号： B25J15/04 , B25J9/1612 , G05B2219/33254 , G05B2219/39468
摘要： A robot apparatus includes a robot arm, a robot hand, an electrical/electronic device mounted on the robot hand for operating the robot hand, and a hand attaching/detaching device, arranged between the robot arm and the robot hand, for detachably mounting the robot hand on the robot arm. A signal transmission path, is connected to an external robot controller at one end thereof and to the electrical/electronic device at the other end thereof, extends through the hand attaching/detaching device, and is able to be disconnected between the robot hand side and the robot arm side in the hand attaching/detaching device. The signal transmission path drives the robot hand, and allows a plurality of kinds of signals for the electrical/electronic device to pass therethrough in a multiplexed serial format; a first signal conversion circuit, arranged on a robot hand side, converts the multiplexed serial format signal into original parallel signals, and output the parallel signals to the electrical/electronic device, or converts signals from the electrical/electronic device into a multiplexed serial format signals, and outputs the multiplexed serial signal to a robot controller.
摘要翻译：机器人装置包括机器人手臂，机器人手，安装在机器人手上用于操作机器人手的电气/电子设备，以及设置在机器人手臂与机器人手之间的手动安装/拆卸装置，用于可拆卸地安装机器人手在机器人手臂上。信号传输路径在其一端连接到外部机器人控制器，并且在另一端连接到电气/电子设备，延伸穿过手持/拆卸装置，并且能够在机器人手侧和机器人手臂侧在手上安装/拆卸装置。信号传输路径驱动机器人手，并允许电子/电子设备的多种信号以多路复用的串行格式通过; 设置在机器人手侧的第一信号转换电路将多路复用串行格式信号转换为原始并行信号，并将并行信号输出到电气/电子设备，或将来自电气/电子设备的信号转换成多路复用串行格式信号，并将多路复用的串行信号输出到机器人控制器。

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