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1. 发明授权

US4737697A Industrial robot having a device for teaching a motor-driven arm with variable servo-control 失效
标题翻译：具有用于教导具有可变伺服控制的电动臂的设备的工业机器人
公开(公告)号：US4737697A
公开(公告)日：1988-04-12
申请号：US868654
申请日：1986-05-29
申请人： Tomohiro Maruo , Toshitugu Inoue , Akiho Hirahata , Akiyoshi Nakada , Yoshiaki Makizawa
发明人： Tomohiro Maruo , Toshitugu Inoue , Akiho Hirahata , Akiyoshi Nakada , Yoshiaki Makizawa
IPC分类号： B25J9/22 , B25J9/04 , B25J9/06 , B25J9/10 , B25J9/16 , B25J9/18 , B25J13/06 , G05B19/42 , G05B19/423 , G05B19/427
CPC分类号： G05B19/423 , B25J13/06 , B25J9/042 , B25J9/107 , G05B2219/36159 , G05B2219/36422 , G05B2219/36429 , G05B2219/36472 , Y10S700/90
摘要： Disclosed is an industrial robot of the type wherein the robot arm is directly driven by a motor. A position encoder generates a signal representative of the actual position of the arm and a manually controlled position entry switch is operable during a teaching mode. When the arm is manually moved to a desired position, a memory controller responds to the operation of the position entry device by storing the actual position signal in a memory as a target position signal, and reads the stored signal during a playback mode. A servo-control system responds to the actual position signal from the encoder and the target position signal from the memory by controlling the motor so that the actual position of the arm approaches the desired position during the playback mode. The output of the servo-control system is decreased during the teaching mode to render the arm manually movable to the desired position and is increased during the playback mode. Alternatively, the servo-control system is disabled during the teaching mode to permit the robot arm to be manually moved to the desired position and enabled during the playback mode.
摘要翻译：公开了一种其中机器人手臂由电动机直接驱动的工业机器人。位置编码器生成表示臂的实际位置的信号，并且在教学模式期间手动控制的位置进入开关可操作。当手臂移动到所需位置时，存储器控制器通过将存储器中的实际位置信号存储为目标位置信号来响应位置输入装置的操作，并且在重放模式期间读取存储的信号。伺服控制系统通过控制电机来响应来自编码器的实际位置信号和来自存储器的目标位置信号，使得在回放模式期间臂的实际位置接近所需位置。在教学模式期间伺服控制系统的输出减少，使得手臂可手动移动到所需位置，并在播放模式期间增加。或者，在示教模式期间，伺服控制系统被禁用，以允许将机器人手臂手动移动到期望的位置并且在回放模式期间被启用。

2. 发明授权

US4622502A Position detecting apparatus 失效
标题翻译：位置检测装置
公开(公告)号：US4622502A
公开(公告)日：1986-11-11
申请号：US694557
申请日：1985-01-09
申请人： Tomohiro Maruo , Norio Okutani , Toshitugu Inoue
发明人： Tomohiro Maruo , Norio Okutani , Toshitugu Inoue
IPC分类号： G01S17/06 , G05B1/06
CPC分类号： G01S17/06
摘要： A position detecting apparatus provided with a lighting unit 13 for lighting an object 14 to be detected, an image-formation unit 15 for imaging the object 14, a detecting unit 16 comprising a plurality of photoelectric converters disposed on the image-formation plane to detect brightness of the image and disposed two-dimensionally, a scanning unit 17 for allowing the relative position of the image to the photoelectric converters to move one-dimensionally in the image-formation plane, a selecting unit 19 for selecting the plurality of detected signals of the detecting unit, and a decision means 18 for deciding the one- and two-dimensional positions of the center, corner and edge of the object by means of the detected signal of the detecting unit, a selected signal of the selecting unit and a scanning signal of the scanning unit, so that the images formed are moved slantwise with respect to the plurality of photoelectric converters disposed two-dimensionally and the selecting unit selects the detected signals and computing-processing them to carry out the one- and two-dimensional position detection of the center, corner and edge of the object.
摘要翻译： PCT No.PCT / JP84 / 00210 Sec。 371日期1985年1月9日第 102（e）日期1985年1月9日PCT提交1984年4月23日PCT公布。公开号WO84 / 04586 日期：1984年11月22日。一种位置检测装置，其具有用于点亮待检测物体14的照明单元13，用于对物体14成像的图像形成单元15，检测单元16，其包括多个光电转换器图像形成平面，用于检测图像的亮度并二维设置;扫描单元17，用于允许图像对光电转换器的相对位置在图像形成平面中一维移动;选择单元19，用于选择检测单元的多个检测信号，以及判定装置18，用于通过检测单元的检测信号来确定物体的中心，拐角和边缘的一维和二维位置，所选择的信号和扫描单元的扫描信号，使得形成的图像相对于二维设置的多个光电转换器倾斜地移动，并且s 选择单元选择检测到的信号并对其进行计算处理，以对物体的中心，拐角和边缘进行一维和二维位置检测。

3. 发明授权

US4065792A Facsimile system 失效
标题翻译：传真系统
公开(公告)号：US4065792A
公开(公告)日：1977-12-27
申请号：US707343
申请日：1976-07-21
申请人： Toshitugu Inoue , Takuji Nakamura , Tadayuki Onoda , Tatuo Nakatugawa
发明人： Toshitugu Inoue , Takuji Nakamura , Tadayuki Onoda , Tatuo Nakatugawa
IPC分类号： H04N1/06 , H04N1/08
CPC分类号： H04N1/0821 , H04N1/0657 , H04N1/08 , H04N1/0834
摘要： Disclosed is an improvement over a facsimile transmitter apparatus of the type in which a scanning system disposed within a transparent cylinder scans a subject copy wrapped around the cylinder, wherein one side edge of a subject copy wrapping belt is securely fixed to the outer surface of the cylinder in the axial direction thereof while the other side edge is securely fixed to a take-up roller after the belt having been wrapped therearound, the take-up roller being biased to resist the unrolling of the wrapping belt, and the transparent cylinder is rotated through in excess of 360.degree. from the initial position to the wrapping position where the subject copy is wrapped completely around the transparent cylinder and between the transparent cylinder and the wrapping belt, the cylinder being reversed in rotation to release and discharge the subject copy.
摘要翻译：公开了一种传真发送装置的改进，其中设置在透明圆柱体内的扫描系统扫描卷绕在圆筒上的被摄体，其中主体复制包装带的一个侧边缘牢固地固定到在其周围缠绕带之后，另一侧边缘牢固地固定在卷取辊上，卷取辊被偏置以抵抗包装带的展开，并且使透明圆筒旋转通过从初始位置到包装位置超过360度，其中主体复制品完全包裹在透明圆筒之间以及透明圆筒和包装带之间，气缸旋转反向以释放和放出被摄体。

4. 发明授权

US4552504A Industrial robot 失效
标题翻译：工业机器人
公开(公告)号：US4552504A
公开(公告)日：1985-11-12
申请号：US579362
申请日：1984-01-31
申请人： Akiyoshi Nakada , Toshitugu Inoue , Haruo Tada , Kiyoshi Shinki , Kuninori Takezawa , Makoto Doi
发明人： Akiyoshi Nakada , Toshitugu Inoue , Haruo Tada , Kiyoshi Shinki , Kuninori Takezawa , Makoto Doi
IPC分类号： B25J17/00 , B25J9/06 , B25J9/08 , B25J9/10 , B25J17/02 , B25J19/00 , F16H33/00
CPC分类号： B25J19/0004 , B25J17/0241 , B25J9/06 , B25J9/08 , B25J9/1005 , B25J9/102 , B25J9/1025 , Y10T74/19
摘要： An industrial robot is constituted by a plurality of series connected arm units each composed of a driving unit from among a plurality of driving units having different driving powers and different driving speeds, a joint unit from among a plurality of joint units having different driving speeds and power transmitting capacities, and an arm from among a plurality of arms having different sizes and load capacities. The joint units, driving units and arms each have connecting surfaces thereon having positioning parts and setting-fixing parts in a predetermined pattern for enabling the joint units, driving units and arms to be detachably connected to other joint units, driving units and arms at corresponding connecting surfaces to form arm units with the desired joint units, driving units and arms. The joint units each have a stationary frame and a follower frame rotatably connected to each other and driving power transmitting mechanism connected between said frames and including reduction gears. The driving units each have a motor and an output member fixed to the motor shaft which, when a driving unit is connected with a joint unit, is engaged with power transmitting mechanism.
摘要翻译： PCT No.PCT / JP83 / 00175 Sec。 371日期1984年1月31日 102（e）日期1984年1月31日PCT提交日期1983年5月31日。工业机器人由多个串联连接的臂单元构成，每个组合连接的臂单元由驱动单元组成，多个驱动单元具有不同的驱动力和不同的驱动速度，具有不同驱动速度和动力传递能力的多个接头单元中的接头单元，以及具有不同尺寸和负载能力的多个臂中的臂。接合单元，驱动单元和臂各具有连接表面，其上具有预定图案的定位部件和固定部件，以使接合单元，驱动单元和臂可拆卸地连接到相应的其它接头单元，驱动单元和臂连接表面以形成具有所需接头单元，驱动单元和臂的臂单元。接头单元各自具有彼此可旋转地连接的静止框架和从动框架，并且连接在所述框架之间并且包括减速齿轮的驱动动力传递机构。驱动单元各自具有固定到电动机轴的电动机和输出构件，当驱动单元与接合单元连接时，其与动力传递机构接合。

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