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1. 发明授权

US5063334A Orthogonal two-axis moving apparatus 失效
标题翻译：正交双轴移动装置
公开(公告)号：US5063334A
公开(公告)日：1991-11-05
申请号：US555939
申请日：1990-07-23
申请人： Takeo Tanita , Hiroyuki Kigami , Yusaku Azuma
发明人： Takeo Tanita , Hiroyuki Kigami , Yusaku Azuma
IPC分类号： B25J9/02 , B25J9/04 , B25J9/10 , B25J9/16
CPC分类号： B25J9/041 , B25J9/023 , B25J9/104 , B25J9/1692 , F16H2019/069 , Y10T74/18848
摘要： An orthogonal two-axis moving apparatus includes a first guide member which extends along one direction and is attached to a stationary position, a slide block which is slidably supported on the first guide member and is movable in the one direction, and a second guide member which extends along the other direction perpendicular to the one direction and is supported by the slide block to be movable in the other direction. First and second rollers are pivotally supported on two ends of the first guide member, a third roller is pivotally supported on one end of the second guide member, and intermediate rollers are pivotally supported on four corner portions of the slide block. A coupling belt is provided and has two ends of which are fixed to the other end of the second guide member and which is looped in a cross shape on the first to third rollers and the four intermediate rollers. In addition, a first origin detection device detects an original position of the slide block along the one direction, and a second origin detection device for detecting an origin position of the second guide member along the other direction.
摘要翻译：正交的双轴移动装置包括沿着一个方向延伸并且附接到静止位置的第一引导构件，滑动支撑在第一引导构件上并可沿一个方向移动的滑动块，以及第二引导构件其沿着垂直于该一个方向的另一个方向延伸并且由滑动块支撑以能够在另一个方向上移动。第一和第二辊枢转地支撑在第一引导构件的两端上，第三辊枢转地支撑在第二引导构件的一端上，并且中间滚子枢转地支撑在滑块的四个角部上。提供一个联接带，其两端固定到第二导向件的另一端，并且在第一至第三辊和四个中间辊上以十字形环绕。此外，第一原点检测装置沿着一个方向检测滑动块的原始位置，以及第二原点检测装置，用于检测第二引导构件沿着另一个方向的原点位置。

2. 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。

3. 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。

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

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。

6. 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。

7. 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。

8. 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。

9. 发明授权

US5040427A Moving apparatus 失效
标题翻译：移动装置
公开(公告)号：US5040427A
公开(公告)日：1991-08-20
申请号：US443363
申请日：1989-11-30
申请人： Takeo Tanita , Yusaku Azuma , Yasuhiro Sawada
发明人： Takeo Tanita , Yusaku Azuma , Yasuhiro Sawada
IPC分类号： B23Q5/38 , F16H19/02
CPC分类号： B23Q5/385 , F16H19/02 , Y10T74/18072
摘要： A moving mechanism according to the present invention includes a fixed base, a moving member movably provided with respect to the fixed base, a driving motor mounted on the moving member, a driving shaft rotatably supported by the moving member and rotated by the driving motor, a pair of driven wheels to be brought into rolling contact with the driving shaft, a unit for simultaneously bringing the driven wheels into rolling contact with the base, and an abutting unit for causing the driving shaft to abut against the driven wheels so that they are frictionally engaged with each other, and causing the driven wheels to abut against the fixed base so that they are fictionally engaged with each other, wherein the driven wheels are rotated on the fixed base to move the moving member with respect to the fixed base in accordance with rotation of the driving shaft. The moving mechanism further includes a slip detecting unit for detecting slip generated in a driving power transmitting system from the driving shaft to the fixed base, an abuting force adjusting unit, connected to the abutting unit, for adjusting the abutting force of the abutting unit, and a slip control unit for adjusting the abutting force adjusting unit in a direction of eliminating the slip on the basis of the detection result of the slip detecting unit.
摘要翻译：根据本发明的移动机构包括固定基座，相对于固定基座可移动地设置的移动构件，安装在移动构件上的驱动马达，由可动构件可旋转地支撑并由驱动马达旋转的驱动轴，与驱动轴滚动的一对从动轮，用于同时使从动轮与基座滚动接触的单元，以及用于使驱动轴抵靠从动轮的邻接单元，摩擦接合，并使从动轮与固定基座抵接，使得它们相互虚拟接合，其中从动轮在固定基座上旋转，以使移动构件相对于固定基座移动随着驱动轴的旋转。移动机构还包括滑动检测单元，用于检测从驱动轴到固定基座的驱动力传递系统中产生的滑移;连接到邻接单元的用于调节邻接单元的抵接力的排气力调节单元，以及滑移控制单元，用于根据滑移检测单元的检测结果，在消除滑移的方向上调整抵接力调节单元。

10. 发明授权

US5418890A Arm origin calibrating method for an articulated robot 失效
标题翻译：铰接机器人的手臂原点校准方法
公开(公告)号：US5418890A
公开(公告)日：1995-05-23
申请号：US898549
申请日：1992-06-15
申请人： Katsumi Ishihara , Takeo Tanita , Yasuhiro Sawada
发明人： Katsumi Ishihara , Takeo Tanita , Yasuhiro Sawada
IPC分类号： B25J9/06 , B25J9/10 , B25J9/16 , B25J9/18 , G05D3/12 , G05B19/42
CPC分类号： B25J9/1692
摘要： An arm origin calibrating method for an articulated robot is capable of implementing highly accurate calibration without requiring special high-precision measuring devices. A round bar is mounted on a first arm and a round hole is provided in a second arm. A rotation angle of the second arm is detected when, with the first arm being fixed, the second arm is rotated in the first direction until the round bar comes in contact with the inner surface of the round hole. A rotation angle of the second arm is detected when, with the first arm being fixed, the second arm is rotated in the second direction reverse to the first direction until the round bar comes in contact with the inner surface of the round hole. An offset angle of the second arm is detected on the basis of the two detected rotation angles.
摘要翻译：关节式机器人的手臂原点校准方法能够实现高精度校准，而不需要特殊的高精度测量装置。在第一臂上安装有圆棒，在第二臂上设置有圆孔。当第一臂被固定时第二臂在第一方向上旋转直到圆棒与圆孔的内表面接触时，检测第二臂的旋转角度。当第一臂被固定时，第二臂在与第一方向相反的第二方向上旋转直到圆棒与圆孔的内表面接触的方式来检测第二臂的旋转角度。基于两个检测到的旋转角度来检测第二臂的偏移角。

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