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1. 发明授权

US5841257A Circuit for supplying/interrupting power to robots 失效
标题翻译：供给/中断机器人电源的电路
公开(公告)号：US5841257A
公开(公告)日：1998-11-24
申请号：US592446
申请日：1996-01-26
申请人： Yoshiki Hashimoto , Yasuyuki Shimoda , Yasuhiro Matsuo
发明人： Yoshiki Hashimoto , Yasuyuki Shimoda , Yasuhiro Matsuo
IPC分类号： B25J9/16 , B25J9/18
CPC分类号： B25J9/1674 , G05B2219/40221
摘要： A circuit for supplying/interrupting power to robots in a robot control system which controls two robots by use of one controller. This circuit for supplying/interrupting power to robots includes a common power interrupting circuit, which simultaneously interrupts power supplies to two robots, and power interrupting circuits for individual robots, which individually interrupt power supplies to individual robots. When a common cutoff switch circuit in the common power interrupting circuit is operated on the basis of an emergency stop signal or an alarm signal, two relays are deenergized at the same time, thereby simultaneously interrupting power supply to two robots. When one of the cutoff switch circuits in the power interrupting circuit for each robot is operated by an emergency stop signal or an alarm signal, only one corresponding relay is deenergized, thereby interrupting power supply to one appropriate robot.
摘要翻译：用于在机器人控制系统中向机器人提供/中断电力的电路，其通过使用一个控制器来控制两个机器人。用于向机器人提供/中断电力的电路包括共同断电电路，其同时中断对两个机器人的电力供应，以及单独机器人的功率中断电路，其单独地中断对各个机器人的电力供应。当公共断电电路中的公共断路开关电路基于紧急停止信号或报警信号进行工作时，两个继电器同时断电，从而同时中断对两个机器人的供电。当每个机器人的断电电路中的一个断路开关电路由紧急停止信号或报警信号操作时，只有一个对应的继电器断电，从而中断向一个适当机器人的电力供应。

2. 发明授权

US06181096B2 Robot controlling system 失效
标题翻译：机器人控制系统
公开(公告)号：US06181096B2
公开(公告)日：2001-01-30
申请号：US09336705
申请日：1999-06-21
申请人： Yoshiki Hashimoto , Yoshiyuki Kubo , Yasuyuki Shimoda
发明人： Yoshiki Hashimoto , Yoshiyuki Kubo , Yasuyuki Shimoda
IPC分类号： G05B1919
CPC分类号： B25J9/1602 , G05B19/4144
摘要： In a robot controlling system including a robot unit having a robot arm and a servomotor into which the robot ann is incorporated, a servo amplifier unit to drive the servo motor, and a controlling unit to control the robot arm by sending commands to the servo amplifier unit, and transmit-receive means between the controlling unit and the robot unit is incorporated into transmit-receive means between the controlling unit and the servo amplifier unit as well as into trasmmit-receive means between the servo amplifier unit and the robot unit, transmission and reception between the controlling unit and the robot unit is conducted via the servo amplifier unit. A command to be sent from the controlling unit to the robot unit as well as communication on feedback signals and detection signals to be sent from the robot unit to the controlling unit is conducted via the servo amplifier unit, which as a result may serve to make it possible to omit cables connecting between the control unit and the robot unit, and to decrease in terms of kinds of length of cables and number of cables to be prepared to comply with placement conditions of the controlling unit, the servo amplifier unit, and the robot unit.
摘要翻译：在包括具有机器人臂的机器人单元和机器人装置的伺服电动机的机器人控制系统中，驱动伺服电动机的伺服放大器单元和通过向伺服放大器发送命令来控制机器人臂的控制单元控制单元和机器人单元之间的单元和发送接收装置并入控制单元和伺服放大器单元之间的发送接收装置中，以及在伺服放大器单元和机器人单元之间的传输接收装置中，传输并且控制单元和机器人单元之间的接收通过伺服放大器单元进行。从控制单元发送到机器人单元的命令以及将从机器人单元发送到控制单元的反馈信号和检测信号的通信通过伺服放大器单元进行，其结果可以用于使可以省略在控制单元和机器人单元之间连接的电缆，并且根据控制单元，伺服放大器单元和控制单元的布置条件来减少电缆的长度和要准备的电缆的数量机器人单元。

3. 发明授权

US5608299A Robot apparatus 失效
标题翻译：机器人装置
公开(公告)号：US5608299A
公开(公告)日：1997-03-04
申请号：US436459
申请日：1995-05-25
申请人： Yoshiki Hashimoto , Yasuyuki Shimoda , Tatsuya Obi , Yasuhiro Matsuo , Tomoki Ohya
发明人： Yoshiki Hashimoto , Yasuyuki Shimoda , Tatsuya Obi , Yasuhiro Matsuo , Tomoki Ohya
IPC分类号： B25J13/00 , B25J19/00 , G05B19/409
CPC分类号： G05B19/409 , B25J13/00 , B25J19/00
摘要： In a robot apparatus comprising a robot mechanical unit and a robot controller, the robot apparatus does not need a connecting cable for connecting the robot mechanical unit to the robot controller. The robot mechanical unit includes a connector for receiving a control signal and outputting a sensor signal, in addition to an arm and a drive unit. The robot controller includes a circuit for controlling the robot mechanical unit, a servo amplifier, and a connector capable of being directly coupled with the connector of the robot mechanical unit. Further, the robot controller is installed at a location adjacent to the robot mechanical unit and within a dead space of an operating area of the robot mechanical unit.
摘要翻译： PCT No.PCT / JP94 / 01677 Sec。 371日期：1995年5月25日 102（e）日期1995年5月25日PCT 1994年10月6日PCT PCT。出版物WO95 / 11114 日期1994年4月27日在机器人机械装置中，机器人机械单元和机器人控制器，机器人装置不需要用于将机器人机械单元连接到机器人控制器的连接电缆。除了臂和驱动单元之外，机器人机械单元包括用于接收控制信号并输出传感器信号的连接器。机器人控制器包括用于控制机器人机械单元的电路，伺服放大器和能够与机器人机械单元的连接器直接耦合的连接器。此外，机器人控制器安装在与机器人机械单元相邻的位置并且在机器人机械单元的操作区域的死区内。

4. 发明授权

US06226181B1 Controller with servo amplifier incorporated in cabinet 有权
标题翻译：带有伺服放大器的控制器并入机柜
公开(公告)号：US06226181B1
公开(公告)日：2001-05-01
申请号：US09214304
申请日：1999-01-04
申请人： Yoshiki Hashimoto , Yasuyuki Shimoda
发明人： Yoshiki Hashimoto , Yasuyuki Shimoda
IPC分类号： H05K720
CPC分类号： H05K7/1432
摘要： A base plate (20) is provided in a standing manner on a center portion of one side surface of a front-surface panel (15), a control unit (3) of a servo amplifier is attached to one surface of the base plate (20), and a heat-radiation unit (19) of the servo amplifier is attached to the other surface. The control unit (3) and other electric parts in a cabinet (11) are connected to each other through a connector cable (9). When the front-surface panel (15) is drawn out to release only the connector cable (9), the control unit (3) and the heat-radiation unit (19) of the servo amplifier can be separated from the cabinet (11).
摘要翻译：在前表面板（15）的一个侧面的中心部分上设置有基板（20），伺服放大器的控制单元（3）安装在基板的一个表面 20），并且伺服放大器的散热单元（19）附接到另一表面。控制单元（3）和机柜（11）中的其他电气部件通过连接器电缆（9）彼此连接。当前表面面板（15）被拉出以仅释放连接器电缆（9）时，伺服放大器的控制单元（3）和散热单元（19）可以与机柜（11）分离，。

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