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1. 发明授权

US08812157B2 Robot system having error detection function of robot and control method thereof 有权
标题翻译：具有机器人检错功能的机器人系统及其控制方法
公开(公告)号：US08812157B2
公开(公告)日：2014-08-19
申请号：US13437178
申请日：2012-04-02
申请人： Masahiro Morioka , Satoshi Adachi
发明人： Masahiro Morioka , Satoshi Adachi
IPC分类号： G05B19/04 , B25J9/16 , G05B19/418
CPC分类号： B25J9/1674
摘要： When an error occurs in robot system, a difference between first and second detection values of two sensors or first and second sensors occurs due to differences in position and responsibility. When this difference exceeds a predetermined threshold, control section detects that a difference has occurred in robot system. The first and second detection values of two sensors or first and second sensors are compared, and therefore, reliability of the detection values can be secured. Further, the abnormal state can be determined through the difference between the first and second detection values, and therefore, errors resulting from problems such as variations in gears and speed reducers due to temperature changes of the operational state and disposition environment of the robot can be avoided.
摘要翻译：当机器人系统发生错误时，由于位置和责任的差异，两个传感器或第一和第二传感器的第一和第二检测值之间的差异发生。当该差超过预定阈值时，控制部检测出机器人系统发生差异。比较两个传感器或第一和第二传感器的第一和第二检测值，因此可以确保检测值的可靠性。此外，可以通过第一和第二检测值之间的差异来确定异常状态，因此，由于机器人的操作状态和配置环境的温度变化引起的齿轮和减速器的变化等问题，可以是避免。

2. 发明授权

US08109170B2 Umbilical member motion limiting device and robot having the device 有权
标题翻译：具有该装置的脐构件运动限制装置和机器人
公开(公告)号：US08109170B2
公开(公告)日：2012-02-07
申请号：US12505969
申请日：2009-07-20
申请人： Munehiro Jinushi , Masahiro Morioka , Satoshi Adachi
发明人： Munehiro Jinushi , Masahiro Morioka , Satoshi Adachi
IPC分类号： B25J17/00 , B25J17/02 , B25J18/00 , B66C23/00
CPC分类号： B25J19/0025 , H02G11/00 , Y10S414/131 , Y10T74/20305 , Y10T74/20311 , Y10T74/20329 , Y10T74/20335
摘要： An umbilical member motion limiting device is provided on a robot which has a forearm, a wrist portion, an operating tool attached to the end of the wrist portion, and the umbilical member connected to the operating tool through the forearm, for limiting the motion of the umbilical member corresponding to the motion of the robot. The motion limiting device comprises a swing portion attached to the wrist portion so as to swing around a swing axis and a limiting portion arranged on the swing portion for limiting the motion of the umbilical member. Thus, the motion limiting device can minimize interference due to surplus length of the umbilical member and avoid contact of the umbilical member with external equipment.
摘要翻译：脐部件运动限制装置设置在机器人上，该机器人具有前臂，腕部，连接到腕部的端部的操作工具，以及通过前臂连接到操作工具的脐带构件，用于限制脐带部件对应于机器人的运动。运动限制装置包括：摆动部分，其围绕摆动轴线旋转安装到腕部;以及限制部分，其布置在摆动部分上，用于限制脐带部件的运动。因此，运动限制装置可以最小化由于脐带构件的多余长度引起的干扰，并避免脐带构件与外部设备的接触。

3. 发明授权

US07299713B2 Device for laying line elements 有权
标题翻译：用于铺设线元件的装置
公开(公告)号：US07299713B2
公开(公告)日：2007-11-27
申请号：US10786172
申请日：2004-02-26
申请人： Masaaki Uematsu , Kuniyasu Matsumoto , Hiroshi Nakagawa , Masahiro Morioka
发明人： Masaaki Uematsu , Kuniyasu Matsumoto , Hiroshi Nakagawa , Masahiro Morioka
IPC分类号： B25J19/00
CPC分类号： B25J19/0029 , H01R35/02 , H02G11/00 , Y10T74/20311
摘要： A device used to lay line elements such as electric and/or fluid lines between a stationary housing and a moving housing. The device includes a double pipe structure having an inner pipe member and an outer pipe member. The outer pipe member is attached to the moving housing and rotatably supported by the stationary housing. The inner and outer pipe members are arranged in a generally coaxial relationship and coupled to each other by a coupling member. The line elements, which extend between a holding portion on the stationary housing and a holding portion on the moving housing, are divided into first and second groups, and the first group of line elements is laid to extend through an inner hole of the inner pipe member while the second group of line elements is laid to extend through an annular gap formed between the inner and outer pipe members.
摘要翻译：用于在固定壳体和移动壳体之间铺设诸如电气和/或流体线的线路元件的装置。该装置包括具有内管构件和外管构件的双管结构。外管构件附接到移动壳体并由固定壳体可旋转地支撑。内部和外部管构件以大体上同轴的关系布置并且通过联接构件彼此联接。在固定壳体上的保持部分和移动壳体上的保持部分之间延伸的线元件被分成第一组和第二组，第一组线元件被放置成延伸穿过内管的内孔而第二组线元件铺设成延伸穿过形成在内管件和外管件之间的环形间隙。

4. 发明申请

US20060196300A1 Managing device for an umbilical member of a robot and a robot having the managing device 审中-公开
标题翻译：管理机器人的脐带构件的装置和具有管理装置的机器人
公开(公告)号：US20060196300A1
公开(公告)日：2006-09-07
申请号：US11283682
申请日：2005-11-22
申请人： Akio Kidooka , Masahiro Morioka
发明人： Akio Kidooka , Masahiro Morioka
IPC分类号： B25J18/00
CPC分类号： B25J19/0025 , Y10T74/20305
摘要： A managing device having a simple structure for an umbilical member or a conduit and a robot having the managing device, by which an interference region of the conduit is reduced as much as possible and the undesirable excess length of the conduit may be cancelled without using an auxiliary device. A first conduit supporting member is arranged on an upper arm of the robot and a second conduit supporting member is arranged on a wrist element of the robot. The conduit is fixed to or twistably supported by the first and second supporting member. Further, the conduit is held by a holding member, mounted between the first and second supporting member, in particular, adjacent to the side of a forearm of the robot, such that the conduit may slide relative to the holding member and may rotate about axes along and perpendicular to the sliding direction of the conduit. As the holding member is positioned as close to the forearm as possible, a gap between the conduit and the forearm is reduced and the possibility of interference between the conduit and an external equipment may be minimized.
摘要翻译：具有用于脐带部件或导管的简单结构的管理装置和具有管理装置的机器人，通过该管理装置尽可能地减少导管的干涉区域，并且可以取消导管的不期望的超长度，而不使用辅助装置。第一导管支撑构件设置在机器人的上臂上，并且第二导管支撑构件布置在机器人的腕部元件上。导管被第一和第二支撑构件固定或扭转地支撑。此外，导管被保持构件保持，该保持构件安装在第一和第二支撑构件之间，特别是邻近机器人前臂的侧面，使得导管可相对于保持构件滑动并且可绕轴线旋转沿着并垂直于导管的滑动方向。当保持构件尽可能靠近前臂定位时，导管和前臂之间的间隙减小，并且导管和外部设备之间的干扰的可能性可以最小化。

5. 发明授权

US07028578B2 Wrist driving mechanism for robot 有权
标题翻译：机器人手腕驱动机构
公开(公告)号：US07028578B2
公开(公告)日：2006-04-18
申请号：US10401789
申请日：2003-03-31
申请人： Masaaki Uematsu , Kuniyasu Matsumoto , Hiroshi Nakagawa , Masahiro Morioka
发明人： Masaaki Uematsu , Kuniyasu Matsumoto , Hiroshi Nakagawa , Masahiro Morioka
IPC分类号： B25J17/00 , B25J17/02 , B25J18/00
CPC分类号： B25J17/0283 , Y10S414/131 , Y10T74/20329 , Y10T74/20335
摘要： A wrist driving mechanism capable of arranging a large amount of cables and pipes in a robot arm. A robot wrist mechanism having three degrees of freedom is driven by first, second and third drive shafts for transmitting driving forces of first, second and third motors M4, M5 and M6, respectively. The first drive shaft is a hollow shaft for transmitting a rotational driving force from the motor M4 to a first wrist element supported rotatably around the first axis B1. The second and third drive shafts are arranged eccentrically with the first axis B1 in an inner space of the first drive shaft. The second drive shaft transmits a rotational driving force from the motor M5 to a second wrist element supported rotatably around the second axis B2, and the third drive shaft transmits a rotational force from the motor M6 to a third wrist element supported rotatably around the third axis B3. A first gear and a third gear as planet gears and a second gear and a fourth gear as sun gears are provided for avoiding complication of structure due to the eccentric arrangement of the second and third drive shafts.
摘要翻译：一种能够在机器人手臂中布置大量电缆和管道的手腕驱动机构。具有三个自由度的机器人手腕机构由第一，第二和第三驱动轴驱动，用于分别传递第一，第二和第三电动机M 4，M 5和M 6的驱动力。第一驱动轴是用于将来自马达M4的旋转驱动力传递到围绕第一轴线B1可旋转地支撑的第一腕部元件的中空轴。第二和第三驱动轴在第一驱动轴的内部空间中与第一轴线B 1偏心地布置。第二驱动轴将来自马达M5的旋转驱动力传递到围绕第二轴线B 2可旋转地支撑的第二腕部元件，并且第三驱动轴将来自马达M6的旋转力传递到可旋转地支撑的第三腕部元件第三轴B 3。提供作为行星齿轮的第一齿轮和第三齿轮以及作为太阳齿轮的第二齿轮和第四齿轮，以避免由于第二和第三驱动轴的偏心布置引起的结构的复杂化。

6. 发明申请

US20100191372A1 PRODUCTION SYSTEM HAVING COOPERATING PROCESS AREA BETWEEN HUMAN AND ROBOT 有权
标题翻译：生产系统具有人机与机器人之间的合作过程
公开(公告)号：US20100191372A1
公开(公告)日：2010-07-29
申请号：US12694201
申请日：2010-01-26
申请人： Ryo NIHEI , Shinsuke SAKAKIBARA , Kazunori BAN , Masahiro MORIOKA , Satoshi ADACHI , Shouta TAKIZAWA
发明人： Ryo NIHEI , Shinsuke SAKAKIBARA , Kazunori BAN , Masahiro MORIOKA , Satoshi ADACHI , Shouta TAKIZAWA
IPC分类号： G06F19/00
CPC分类号： B25J9/1676 , F16P1/00 , G05B2219/40203
摘要： A production system in which a human and a robot may simultaneously perform a cooperative task in the same area while ensuring human's safety. A robot is positioned at one side of a working table, and an operator is positioned at the other side of the working table. The reachable area of the operator is limited by the working table. An area of the working table is divided into an area where only the operator may perform a task, an area where only the robot may perform a task, and an area where both the operator and the robot may enter. In a cooperation mode, the maximum movement speed of a component of the robot is limited lower than when the component of the robot is outside the cooperative task area, and, the motion of the robot is limited so that the robot does not enter a robot entry-prohibited area.
摘要翻译：人和机器人可以同时在同一地区执行合作任务同时确保人的安全的生产系统。机器人位于工作台的一侧，操作者位于工作台的另一侧。操作员的可达区域受工作台的限制。工作台的区域被划分为仅操作者可以执行任务的区域，仅机器人可以执行任务的区域以及操作者和机器人可以进入的区域。在协作模式中，机器人的部件的最大移动速度被限制在比机器人的部件在协作任务区域之外的最小移动速度，并且机器人的运动受到限制，使得机器人不进入机器人入境禁区。

7. 发明授权

US07069808B2 Line laying structure for robot wrist 有权
标题翻译：机器手腕线铺设结构
公开(公告)号：US07069808B2
公开(公告)日：2006-07-04
申请号：US10401778
申请日：2003-03-31
申请人： Masaaki Uematsu , Kuniyasu Matsumoto , Hiroshi Nakagawa , Masahiro Morioka
发明人： Masaaki Uematsu , Kuniyasu Matsumoto , Hiroshi Nakagawa , Masahiro Morioka
IPC分类号： B25J17/02
CPC分类号： B25J19/0025 , B25J17/0283 , Y10S414/131 , Y10T74/20311
摘要： A line laying structure for a wrist of a robot capable of enhancing durability of lines of cables/pipes for flowing electricity, air, water, etc. to an end effector attached to the wrist, and reducing a restriction of angle of rotation of a wrist axis by rotation of the other wrist axes. First, second and third wrist elements of the wrist are rotatable around fist, second and third axes, respectively. The first wrist element is fixed to a distal end of a forearm of the robot, to be rotated on a mounting base with the forearm as a unit. The lines are clamped on the mounting base by a line retainer and laid inside the forearm and clamped at a distal end of the forearm inside and outside thereof by line retainers. The lines are then clamped by line retainers provided on the second wrist element and introduced to the third wrist element. Then, the lines are clamped by the line retainer provided on the third wrist element and drawn outside thereof to be connected with the end effector. Only limited sections S1–S3 of the lines between the line retainers are subjected to bending, twisting and translation by the rotation of the wrist elements and the other sections of the lines are not influence by the rotation of the wrist elements, to enhance durability of the lines.
摘要翻译：一种用于机器人手腕的线铺设结构，其能够提高连接到手腕的端部执行器的电力，空气，水等的电缆/管道的线的耐久性，并且减少了手腕的旋转角度的限制轴旋转其他腕轴。手腕的第一，第二和第三腕部元件分别围绕第一，第二和第三轴线旋转。第一腕部被固定在机器人前臂的远端，以前臂作为一个单元旋转在安装基座上。线路通过线路保持器夹持在安装基座上，并且放置在前臂内部并且通过线路保持器夹在前臂内部和外部的前端。然后，线路被设置在第二腕部上的线保持器夹紧并被引导到第三腕部元件。然后，线路被设置在第三腕部上的线保持器夹紧，并在其外侧被拉伸以与端部执行器连接。只有线保持器之间的线路的限制部分S 1 -S 3通过腕部元件的旋转而受到弯曲，扭曲和平移，并且线的其它部分不受腕部元件的旋转的影响，以增强线的耐久性。

8. 发明申请

US20060117896A1 Guiding device for an umbilical member of a robot and a robot having the guiding device 失效
公开(公告)号：US20060117896A1
公开(公告)日：2006-06-08
申请号：US11290462
申请日：2005-12-01
申请人： Akio Kidooka , Masahiro Morioka
发明人： Akio Kidooka , Masahiro Morioka
IPC分类号： B25J19/00
CPC分类号： B25J19/0025 , Y10T74/20311 , Y10T74/20335
摘要： A guiding device, with high rigidity, for an umbilical member and a robot having the guiding device, by which interference between the umbilical member and another component or external equipment is minimized. The guiding device or an adaptor includes a first plate member fixed to a third wrist element, a second plate member opposing to and parallel to the first plate member, and a connecting member for connecting the first and second plate members. The first and second plate members and the connecting member define a first opening for introducing the umbilical member into the adaptor. The second includes a fixed portion fixed to an end effector and an extended portion extending from the fixed portion and offset from the third wrist axis. A second opening is formed on the extending portion of the second plate member, through which the umbilical member may extend.

9. 发明授权

US08788093B2 Human robot interactive system 有权
标题翻译：人机交互系统
公开(公告)号：US08788093B2
公开(公告)日：2014-07-22
申请号：US13185667
申请日：2011-07-19
申请人： Shinsuke Sakakibara , Masahiro Morioka , Satoshi Adachi
发明人： Shinsuke Sakakibara , Masahiro Morioka , Satoshi Adachi
IPC分类号： G06F19/00 , G05B19/04 , G05B19/18 , H02H11/00
CPC分类号： B25J19/06 , B25J9/1674 , B25J13/085 , B25J21/00 , G05B2219/40198 , G05B2219/40202
摘要： A human-robot interactive system in which a robot and a human share an area for performing interactive work, the human-robot interactive system including a force sensor which is set at an end effector attached to a front end of the robot or which is set at the robot and, when a detected value of the force sensor exceeds a predetermined value, is configured to stop the robot or controlling operation of the robot so that a detected value of the force sensor becomes smaller, the system further including a limiter which limits a work area of said human so as to prevent contact by the human with the first robot portion of the robot that is positioned further from the human than a set position of the force sensor during operation even when the robot approaches the human.
摘要翻译：一种人机交互系统，其中机器人和人共享用于进行交互工作的区域，所述人 - 机器人交互系统包括力传感器，所述力传感器被设置在附接到所述机器人的前端的末端执行器或被设置在机器人处，并且当力传感器的检测值超过预定值时，被配置为停止机器人或控制机器人的操作，使得力传感器的检测值变小，该系统还包括限制器所述人的工作区域，以便即使在机器人接近人的情况下，也可以防止操作人员与机器人远离人的第一机器人部分接触，而不是在操作过程中力传感器的设定位置。

10. 发明授权

US07430939B2 Laying device for laying line element 有权
标题翻译：铺设线元件铺设装置
公开(公告)号：US07430939B2
公开(公告)日：2008-10-07
申请号：US10810698
申请日：2004-03-29
申请人： Kuniyasu Matsumoto , Hiroshi Nakagawa , Masahiro Morioka
发明人： Kuniyasu Matsumoto , Hiroshi Nakagawa , Masahiro Morioka
IPC分类号： B25J17/00 , B25J18/00
CPC分类号： B25J19/0029 , Y10T74/20311
摘要： A robot arm is provided at a forward end thereof with a rotation shaft member rotatable about a rotation axis thereof, in which a hollow portion is formed along the rotation axis. A laying device for laying a line element includes a relaying means for relaying an arm side section of the line element, extending through the hollow portion out of a lead-out opening formed on a side of the rotation shaft member, to a tool side section of the line element extending from the tool. A direction in which the relaying means connects the line element is substantially parallel to a tool mount surface and forms an angle other than 0° with regard to a radial direction perpendicular to the rotation axis.
摘要翻译：机器人臂在其前端设置有可围绕其旋转轴线旋转的旋转轴构件，其中沿着旋转轴线形成中空部分。一种用于铺设线路元件的敷设装置包括：中继装置，用于将线元件的臂侧部分延伸穿过形成在旋转轴构件侧的引出开口的中空部分到工具侧部分的线元素从工具延伸。中继装置连接线路元件的方向基本上平行于工具安装表面，并且相对于垂直于旋转轴线的径向方向形成除了0°以外的角度。

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