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21. 发明授权

US5520062A Window mechanism for sensor in industrial robot 失效
标题翻译：工业机器人传感器的窗口机构
公开(公告)号：US5520062A
公开(公告)日：1996-05-28
申请号：US412123
申请日：1995-03-28
申请人： Atsushi Watanabe , Ryo Nihei , Akihiro Terada , Takahiro Hase
发明人： Atsushi Watanabe , Ryo Nihei , Akihiro Terada , Takahiro Hase
IPC分类号： B25J9/16 , B23K9/127 , B25J19/00 , B25J19/02 , G01M19/00
CPC分类号： B23K9/1274 , B25J19/0058 , B25J19/02
摘要： A window mechanism for a sensor provided at the distal end of a robot arm of an industrial robot comprises a housing for enclosing the sensor which housing includes an opening, a glass plate for closing the opening, wiper for wiping the outer surface of the glass plate, a holder plate for slidably holding the glass plate member on the housing, and an exchanger for exchanging the plate member held by the holder with a new glass plate.
摘要翻译：设置在工业机器人的机器人臂的远端处的传感器的窗口机构包括用于封闭传感器的壳体，该壳体包括开口，用于封闭开口的玻璃板，用于擦拭玻璃板的外表面的擦拭器，用于将玻璃板构件可滑动地保持在壳体上的保持板，以及用于将由保持器保持的板构件与新玻璃板更换的换热器。

22. 发明授权

US5341078A Sliding mode control method for a machine having an operating section operatively coupled to a servomotor and wherein a switching variable is determined based on a torsion amount and a torsion speed 失效
标题翻译：一种用于机器的滑动模式控制方法，其具有可操作地联接到伺服电机的操作部分，并且其中基于扭转量和扭转速度来确定切换变量
公开(公告)号：US5341078A
公开(公告)日：1994-08-23
申请号：US110212
申请日：1993-08-23
申请人： Nobutoshi Torii , Ryo Nihei , Tetsukai Kato
发明人： Nobutoshi Torii , Ryo Nihei , Tetsukai Kato
IPC分类号： B25J9/12 , B25J9/18 , G05B13/00 , G05B13/04 , G05B19/19 , G05D3/12 , G05B19/405
CPC分类号： G05B19/19 , B25J9/1641 , G05B2219/37356 , G05B2219/39186 , G05B2219/41112 , G05B2219/41251 , G05B2219/41367 , G05B2219/42344 , G05B2219/42352
摘要： A sliding mode control method is provided capable of improving the following ability of a control system with respect to a command at the time of change in the operating condition of a machine, and preventing vibration which tends to occur by the action of a spring element of the machine at the time of change in the operating condition. The processor of a servo circuit derives position deviation (.epsilon.) and speed deviation (.epsilon.) based on a command position (.theta.r) and an actual position (.theta.), estimates an torsion amount (.epsilon.n) and torsion speed (.epsilon.n) by effecting observer processing (Steps 100 to 101), and derives a switching variable (s) (102). The processor derives each of the first to fourth terms of the switching input in dependence on the positive or negative sign of the switching variable, and the positive or negative sign of a corresponding one of the position deviation, the second derivative of the command position, the torsion amount, and the torsion speed (103 to 129), and then derives, on the basis of the switching input derived by adding the four terms together, a torque command (T) sufficient to cause the switching variable to converge on 0 (130, 131). The servo system properly follows the command even when nonlinear parameters associated with the spring element of the machine have varied, thereby preventing vibration of the machine.
摘要翻译：提供一种滑动模式控制方法，其能够提高控制系统相对于机器的操作状态的变化时的指令的跟随能力，并且防止由于弹簧元件的作用而倾向于发生的振动机器在运行状态发生变化时。伺服电路的处理器基于命令位置（θr）和实际位置（θ）导出位置偏差（ε）和速度偏差（ε），估计扭转量（εn）和扭转速度（εn）通过进行观察者处理（步骤100至101），并导出切换变量（102）。处理器根据切换变量的正或负符号导出开关输入的第一至第四项中的每一个，并且位置偏差，指令位置的二阶导数中的相应一个的正或负符号，扭转量和扭转速度（103〜129），然后基于通过将四个项相加而导出的切换输入导出足以使切换变量收敛于0的转矩指令（T） 130，131）。即使与机器的弹簧元件相关的非线性参数变化，伺服系统也适当地遵循该命令，从而防止机器的振动。

23. 发明授权

US5292224A Apparatus for holding stacked workpieces and feeding the same 失效
标题翻译：用于保持堆叠的工件并将其进给的装置
公开(公告)号：US5292224A
公开(公告)日：1994-03-08
申请号：US820674
申请日：1992-01-28
申请人： Nobutoshi Torii , Shigemi Inagaki , Ryo Nihei , Mitsuhiro Yasumura
发明人： Nobutoshi Torii , Shigemi Inagaki , Ryo Nihei , Mitsuhiro Yasumura
IPC分类号： B23Q7/04 , B23Q7/10 , B65G59/02 , B65G61/00
CPC分类号： B23Q7/10 , B23Q7/04 , Y10S414/114
摘要： An apparatus for holding a plurality of workpieces (W) in a stack on a pallet (22), supporting the workpieces (W) in place on the pallet (22) by a plurality of workpiece support rods (26), and transporting and transferring the uppermost workpiece by a workpiece gripping hand (50) provided with gripping fingers (54) to a desired position, is provided with elastic lifting springs (32) for continuously biasing the workpiece support rods (26) upward to support the workpieces (W) stably in place by the upright work support rods (26). The workpiece gripping hand (50) grips the uppermost workpiece (W) with the gripping fingers (54) without interference, after depressing the workpiece support rods (26) with a depressing plate (56) provided on the back side of the gripping fingers (54) so that the uppermost workpiece (W) is exposed above the upper ends of the workpiece support rods (26), and then transports the workpiece (W) to a desired position. When placing the workpiece (W) on the pallet (22) by the work gripping hand ( 50), the gripping fingers (54) release the workpiece (W) after the workpiece support rods (26) are depressed with the depressing plate (56).
摘要翻译： PCT No.PCT / JP91 / 00704 Sec。 371日期1992年1月28日 102（e）日期1992年1月28日PCT提交1991年5月27日PCT公布。 WO91 / 18812PC公报。日期：1991年12月12日。一种用于将堆叠中的多个工件（W）保持在托盘（22）上的装置，通过多个工件支撑杆（22）将工件（W）放置在托盘（22）上的适当位置 26），并且通过设置有夹持指（54）的工件夹持手（50）将最上面的工件传送到所需位置，设置有弹性提升弹簧（32），用于将工件支撑杆（26）向上通过直立工作支撑杆（26）稳定地支撑工件（W）。工件夹持手（50）在夹持指状物（54）的后侧设置有一个压板（56）压下工件支撑杆（26）之后，用夹持指（54）无夹紧握住最上面的工件（W） 54），使得最上面的工件（W）暴露在工件支撑杆（26）的上端之上，然后将工件（W）输送到期望的位置。当通过工作夹持手（50）将工件（W）放置在托盘（22）上时，夹紧指（54）在用压板（56）压下工件支撑杆（26）之后释放工件（W））。

24. 发明授权

US5189351A Corrective positioning method in a robot 失效
标题翻译：机器人中的校正定位方法
公开(公告)号：US5189351A
公开(公告)日：1993-02-23
申请号：US566464
申请日：1990-08-16
申请人： Nobutoshi Torii , Ryo Nihei , Mitsuhiro Yasumura
发明人： Nobutoshi Torii , Ryo Nihei , Mitsuhiro Yasumura
IPC分类号： B25J9/10 , B25J9/16 , B25J9/18 , B25J13/00 , G05D3/12
CPC分类号： B25J9/1692 , G05B2219/39007
摘要： A corrective positioning method in a robot, capable of eliminating degraded positioning accuracy attributable to inherent errors in the robot. By using displayed rotary angles of first and second links (1, 2) determined by a mastering sequence associated with known points, a simultaneous equation including, as unknowns, link length errors (.DELTA.11, .DELTA.12) and actual rotary angles (.theta.1, .theta.2) of the links is solved, to thereby determine the link length errors, errors (.DELTA.X0, .DELTA.y0) of a pivotal center position of an arm, and errors (.DELTA..theta.10, .DELTA..theta.20) of rotary angles of the links. During a robot operation, X-axis and Y-axis target moving positions of a distal end of the arm, which are specified by a program, are corrected by using the pivotal center position error, and the actual link lengths are calculated by using the link length errors, and further rotary angles of servomotors respectively associated with the first and second links are determined by a coordinate conversion process performed on the basis of the corrected moving positions, the actual link lengths and the link rotary angle errors.

25. 发明授权

US4782713A Industrial robot shaft supporting mechanism 失效
标题翻译：工业机器人轴支撑机构
公开(公告)号：US4782713A
公开(公告)日：1988-11-08
申请号：US50301
申请日：1987-06-11
申请人： Nobutoshi Torii , Ryo Nihei
发明人： Nobutoshi Torii , Ryo Nihei
IPC分类号： B25J19/00 , B23Q1/58 , B25J9/04 , B25J9/06 , B25J9/08 , B25J18/02 , F16H25/24 , B25J11/00 , F16C29/02
CPC分类号： B25J9/042 , B23Q1/58 , B25J18/025 , B25J9/08 , Y10T74/20317
摘要： A shaft supporting mechanism of an industrial robot in which an arm is supported by a freely extendable support shaft inside a hollow post and a working plane of a working arm is variably set is provided, with plural sets of linear support guides in opposed relation about a drive mechanism of the support shaft. As a result, the support shaft is held in the post stably and balanced in the vertical direction even if an external force attempting to tilt the support shaft is applied during up-and-down movement of the support shaft or operation of the working arm.
摘要翻译： PCT No.PCT / JP86 / 00462 Sec。 371日期：1987年6月11日 102（e）日期1987年6月11日PCT提交1986年9月10日PCT公布。出版物WO87 / 01327 日期：1987年3月12日。一种工业机器人的轴支撑机构，其中臂被可变地设置在中空柱内的可自由延伸的支撑轴支撑并且工作臂的工作平面可变地设置，具有多组线性相对于支撑轴的驱动机构的支撑引导件。结果，即使在支撑轴的上下运动或工作臂的操作期间施加试图使支撑轴倾斜的外力，支撑轴也可以稳定地保持在竖直方向上平衡。

26. 发明授权

US4336926A Workpiece manipulator 失效
标题翻译：工件机械手
公开(公告)号：US4336926A
公开(公告)日：1982-06-29
申请号：US162879
申请日：1980-06-25
申请人： Shigemi Inagaki , Ryo Nihei
发明人： Shigemi Inagaki , Ryo Nihei
IPC分类号： B25J15/08 , B25J15/00 , B25J15/02 , B23Q3/08
CPC分类号： B25J15/0286
摘要： A manipulator corresponding to the human hand is generally attached to the end of an arm of an industrial robot or remote control apparatus. The improved manipulator herein includes two spaced-apart, rotatable sprockets and a chain which is connected in the form of an endless loop and stretched between the sockets to form two parallel linear segments which move in mutually opposing directions when the chain is rotated. Two fingers for gripping a workpiece are arranged to move in a direction which is parallel to the linear segments by means of guide members, one finger being coupled to one of the linear segments of the chain and the other finger being coupled to the other linear segment. A cylinder is provided for accommodating a piston having piston rods secured to either side thereof. The other ends of the piston rods pass hermetically through both side walls of the cylinder and are secured in blocks located outside the cylinder, the blocks forming the walls of the manipulator. The cylinder is coupled to one of the linear portions of the chain. Introducing a fluid such as compressed air into the cylinder from one side thereof and permitting the fluid to escape from the other side thereof causes the cylinder to be driven along the piston rods, whereby the chain which is coupled to the cylinder is rotated so as to move the fingers together or separate them from each other, allowing a workpiece to be gripped or released. Since the two linear portions of the chain move by equivalent absolute amounts in mutually opposing directions, the fingers can always be made to come together at the exact gripping center of the device through a very simple construction.
摘要翻译：对应于人手的机械手通常附着在工业机器人或远程控制装置的臂的端部。这里的改进的操纵器包括两个间隔开的可旋转的链轮和链，其以无端环的形式连接并且在插座之间拉伸以形成两个平行的线性段，当链条旋转时，它们在相互相反的方向上移动。用于抓握工件的两个手指被布置成通过引导构件在平行于线性段的方向上移动，一个手指耦合到链的一个线性段并且另一个手指耦合到另一个线段。设置有用于容纳活塞杆的活塞杆，该活塞杆固定在其两侧。活塞杆的另一端气密地穿过气缸的两个侧壁，并且固定在位于气缸外部的块中，块形成操纵器的壁。气缸联接到链条的一个直线部分。将流体例如压缩空气从其一侧引入气缸并允许流体从另一侧排出，使得气缸沿着活塞杆被驱动，由此连接到气缸的链条被旋转以便将手指一起移动或将它们彼此分开，从而允许工件被夹紧或释放。由于链条的两个线性部分以相互相反的方向移动相等的绝对量，所以通过非常简单的结构，手指总是能够在装置的精确夹紧中心处一起聚集在一起。

27. 发明申请

US20110106304A1 DEVICE, PROGRAM, RECORDING MEDIUM AND METHOD FOR CORRECTING TAUGHT POINT 有权
标题翻译：设备，程序，记录介质以及校正点的方法
公开(公告)号：US20110106304A1
公开(公告)日：2011-05-05
申请号：US12984796
申请日：2011-01-05
申请人： Ryo Nihei , Tetsuaki Kato , Hiroji Nishi
发明人： Ryo Nihei , Tetsuaki Kato , Hiroji Nishi
IPC分类号： G05B19/425
CPC分类号： G05B19/4083 , B25J9/1664 , G05B2219/36404 , G05B2219/40385 , G05B2219/45104
摘要： A taught point correcting device for correcting a taught point in an operation program of a robot. The device includes a judging section judging whether position data of any of a plurality of different taught points, previously taught and included in an operation program, has been corrected or not; and a data correcting section correcting, when the judging section judges that position data of a first taught point among the different taught points has been corrected, position data of a correlative taught point having a relative positional relationship with the first taught point, in accordance with a taught-point rule previously prescribing the relative positional relationship between the different taught points. The device may also include a storing section storing the taught-point rule. The taught-point rule may include a rule prescribing a distance between any two taught points among the different taught points.
摘要翻译：一种用于校正机器人的操作程序中的教导点的教导点校正装置。该装置包括：判断部，其判断是否已经校正了先前教导并包括在操作程序中的多个不同教导点中的任一个的位置数据; 以及数据校正部，根据所述判断部判断所述不同教导点中的第一教导点的位置数据已被校正，校正与所述第一教导点具有相对位置关系的相关教导点的位置数据以前规定不同教学点之间的相对位置关系的教导点规则。设备还可以包括存储教导点规则的存储部分。教导点规则可以包括规定不同教导点之间的任何两个教导点之间的距离的规则。

28. 发明申请

US20090058342A1 ROBOT CONTROLLER HAVING STOPPAGE MONITORING FUNCTION 审中-公开
标题翻译：具有停机监控功能的机器人控制器
公开(公告)号：US20090058342A1
公开(公告)日：2009-03-05
申请号：US12185226
申请日：2008-08-04
申请人： Ryo Nihei , Tetsuaki Kato , Takeaki Aramaki , Tomoyuki Yamamoto
发明人： Ryo Nihei , Tetsuaki Kato , Takeaki Aramaki , Tomoyuki Yamamoto
IPC分类号： G05B19/406
CPC分类号： B25J9/1674 , G05B2219/40231
摘要： A robot controller having a stoppage monitoring function, by which safety of an operator is ensured without using hardware or the like for allowing/stopping the power transmission to each of a robot and a cooperating device. A CPU of the robot controller periodically monitors the position of the robot or the cooperating device based on positional information from each servomotor and the state of entering information regarding the robot or the cooperating device. Then, when entering information is initially input, the position of the servomotor of the robot or the cooperating device, to which the entering information is applied, is stored in RAM. After that, while the entering information is being input, the distance between the position stored in RAM and the current position of the servomotor is calculated. If the calculated distance is larger than an allowable moving distance, the CPU sends a command to an emergency stopping part in order to cut-off power to all servomotors of the robot and the cooperating device.
摘要翻译：一种具有停止监视功能的机器人控制器，通过该机器人控制器可以确保操作者的安全性，而无需使用用于允许/停止对机器人和协作装置中的每一个的电力传输的硬件等。机器人控制器的CPU基于来自每个伺服电动机的位置信息和输入关于机器人或协作装置的信息的状态周期性地监视机器人或协作装置的位置。然后，当最初输入进入信息时，将应用了进入信息的机器人或协作装置的伺服电动机的位置存储在RAM中。此后，当输入进入信息时，计算存储在RAM中的位置与伺服电动机的当前位置之间的距离。如果计算出的距离大于允许的移动距离，则CPU向紧急停止部发送命令，以切断机器人和协作装置的所有伺服电机的电力。

29. 发明申请

US20060104791A1 Umbilical member managing system for industrial robot 审中-公开
标题翻译：工业机器人脐带管理系统
公开(公告)号：US20060104791A1
公开(公告)日：2006-05-18
申请号：US11143498
申请日：2005-06-03
申请人： Ryo Nihei , Toshihiko Inoue , Takatoshi Iwayama
发明人： Ryo Nihei , Toshihiko Inoue , Takatoshi Iwayama
IPC分类号： B66C23/08
CPC分类号： B25J19/0025
摘要： An umbilical member managing system for an industrial robot. The system is provided with a manipulator including a forearm having a first longitudinal axis, the forearm including a base, a first wrist member joined to the base rotatably about the first axis and a second wrist member joined to the first wrist member rotatably about a second axis generally perpendicular to the first axis; a working tool mounted to the second wrist member of the forearm of the manipulator; an umbilical member laid outside the forearm between the base and the second wrist member and connected to the working tool; an umbilical member guiding section provided in the forearm and including a guide passage extending generally parallel to the first axis to accommodate the umbilical member in a guidable manner; and an umbilical member retaining section provided in the second wrist member for retaining the umbilical member at a proper position relative to the working tool. The umbilical member guiding section is configured to follow a rotating motion of the first wrist member about the first axis and to shift about the first axis. The umbilical member retaining section is configured to follow a rotating motion of the second wrist member about the second axis and to bend the umbilical member in a radius not less than an allowable bend radius between the umbilical member guiding section and the second wrist member.
摘要翻译：用于工业机器人的脐带管理系统。该系统设置有包括具有第一纵向轴线的前臂的操纵器，前臂包括基座，第一腕部构件，其围绕第一轴线可旋转地接合到基座;第二腕构件，其可绕第二纵向轴线旋转地连接到第一腕部构件大致垂直于第一轴的轴线; 安装在操纵器的前臂的第二腕部件上的加工工具; 将前臂放置在基座和第二腕部件之间并连接到作业工具的脐部件; 脐部构件引导部，设置在所述前臂中，并且包括大致平行于所述第一轴线延伸的引导通道，以可引导方式容纳所述脐部构件; 以及设置在所述第二腕部件中的用于将所述脐带部件保持在相对于所述作业工具的适当位置的脐部件保持部。脐部件引导部分被配置成跟随第一腕部件围绕第一轴线的旋转运动并围绕第一轴线移动。脐部件保持部被构造为沿着第二腕部绕第二轴线的旋转运动，并且以不小于脐部件引导部和第二腕部件之间的容许弯曲半径的半径弯曲脐部件。

30. 发明申请

US20060082340A1 Robot with learning control function and method for controlling the robot 审中-公开
标题翻译：具有学习控制功能的机器人和控制机器人的方法
公开(公告)号：US20060082340A1
公开(公告)日：2006-04-20
申请号：US11249524
申请日：2005-10-14
申请人： Atsushi Watanabe , Ryo Nihei , Tetsuaki Kato , Teruki Kuroshita , Kota Mogami
发明人： Atsushi Watanabe , Ryo Nihei , Tetsuaki Kato , Teruki Kuroshita , Kota Mogami
IPC分类号： B25J15/02 , G05B19/04
CPC分类号： B25J9/163
摘要： A robot with a learning control function for improving the accuracy of the trajectory of an end effector and a method for controlling the robot. An acceleration sensor and a vision sensor are attached to the end effector of the robot. In this state, the motion of the end effector is measured and a test operation of a motion program is repeatedly executed, whereby a robot control device learns an optimized motion of the robot. In a subsequent actual operation, the acceleration sensor and the vision sensor are not used and the motion of the robot is executed based on the learned optimized motion. The sensors may be removed during the actual operation.
摘要翻译：具有用于提高末端执行器的轨迹的精度的学习控制功能的机器人以及用于控制机器人的方法。加速度传感器和视觉传感器连接到机器人的末端执行器。在这种状态下，测量末端执行器的运动并重复执行运动程序的测试操作，由此机器人控制装置学习机器人的优化运动。在随后的实际操作中，不使用加速度传感器和视觉传感器，并且基于所学习的优化运动来执行机器人的运动。传感器可能在实际操作过程中被去除。

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