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1. 发明授权

US5470193A Pallet supply apparatus and control method thereof 失效
标题翻译：托盘供应装置及其控制方法
公开(公告)号：US5470193A
公开(公告)日：1995-11-28
申请号：US71003
申请日：1993-06-04
申请人： Toshihiko Miura , Yusaku Azuma
发明人： Toshihiko Miura , Yusaku Azuma
IPC分类号： B23Q7/14 , B65G1/18
CPC分类号： B23Q7/1447 , B23Q7/1431
摘要： In a pallet supply apparatus, pallets are stacked on a loaded pallet elevator and are conveyed by the elevator to the upper end position of a main body of the pallet supply apparatus. The uppermost pallet is separated from the remaining pallets by a shutter. A left side flange of the pallet is pushed by a left roller in a direction to approach rear and side reference surfaces, and a right side flange of the pallet is then pushed by a right roller in a direction to separate away from the side reference surface and to approach the rear reference surface, thus positioning the pallet. When all works are picked up, and the pallet becomes empty, the right and left rollers are escaped, and thereafter, the pallet is slidably moved toward an empty pallet elevator.
摘要翻译：在托盘供给装置中，托盘堆叠在装载的托盘升降机上，并且由电梯运送到托盘供应装置的主体的上端位置。最上面的托盘通过快门与剩余的托盘分开。托盘的左侧凸缘由左侧辊沿着靠近后方和参考面的方向推动，然后托盘的右侧凸缘沿着与侧基准面分离的方向被右侧滚轮推动并靠近后方参考面，从而定位托盘。当拾取所有的作品，并且托盘变空时，左右的滚子被逸出，然后托盘滑向空的托盘升降机。

2. 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。

3. 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。

4. 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。

5. 发明授权

US4820114A Compliance apparatus of a robot hand 失效
标题翻译：机器人手的合规装置
公开(公告)号：US4820114A
公开(公告)日：1989-04-11
申请号：US183348
申请日：1988-04-12
申请人： Ryohei Inaba , Yusaku Azuma , Shozou Kasai
发明人： Ryohei Inaba , Yusaku Azuma , Shozou Kasai
IPC分类号： B25J17/02 , B66C1/10
CPC分类号： B25J17/0208
摘要： In a compliance apparatus wherein a movable plate movable in a direction perpendicular to the direction of insertion of a gripped part is provided on a portion in which a robot hand is mounted to a robot arm to thereby enable relative displacement of the robot hand and the robot arm, a plurality of cylinders of which the extended end positions are adjustable and of which the protruding force can be changed by a spring or fluid are opposed to one another as positioning devices for the movable plate and sandwich the movable plate therebetween.
摘要翻译：在其中在机器人手安装到机器人手臂的部分上设置有可沿垂直于被夹持部的插入方向移动的可移动板的机构手臂和机器人的相对位移，臂，多个气缸，其延伸端位置是可调节的，并且突出力可以通过弹簧或流体改变，作为用于可动板的定位装置并将可动板夹在其间并相互相对。

6. 发明授权

US4510011A Strip deforming apparatus 失效
标题翻译：带变形装置
公开(公告)号：US4510011A
公开(公告)日：1985-04-09
申请号：US565176
申请日：1983-12-23
申请人： Yusaku Azuma , Yoshifumi Kitayama , Shinji Kawaida
发明人： Yusaku Azuma , Yoshifumi Kitayama , Shinji Kawaida
IPC分类号： B29C67/00 , B29D30/00 , B29D30/38 , B32B31/00
CPC分类号： B29D30/38
摘要： A strip deforming apparatus for deforming a flexible strip into a looped endless band, comprising a first conveyor assembly comprising an endless belt having an upper travelling path, a second conveyor assembly positioned below the first conveyor assembly and comprising an endless belt having an upper travelling path parallel with and spaced apart downwardly from the belt of the first conveyor assembly, and a third conveyor assembly positoned between the first and second conveyor assemblies and comprising a pair of conveyor rolls elongated in longitudinal directions of the apparatus and each rotatable about the center axis thereof. At least one of the first and second conveyor assemblies is movable toward and away from the other conveyor assembly and the conveyor rolls are spaced apart in parallel from each other in a lateral direction of the apparatus. The belt of the first conveyor assembly is driven to travel in a lateral direction of the apparatus and the belt of the second conveyor assembly is driven to travel in a direction opposite to the direction of travel of the belt of the first conveyor assembly. The third conveyor assembly is driven to move vertically between the first and second conveyor assemblies and the conveyor rolls of the third conveyor assembly are driven to move toward and away from each other in a lateral direction of the apparatus.
摘要翻译：一种带状变形装置，用于使柔性带变形成环形环形带，包括第一传送器组件，其包括具有上部行进路径的环形带，位于第一传送器组件下方的第二传送器组件，并且包括具有上部行进路径平行于并且与第一输送机组件的皮带向下间隔开;以及定位在第一和第二输送机组件之间的第三输送机组件，包括一对在该装置的纵向方向上伸长的输送辊，并且每一个可绕其中心轴线转动。第一和第二输送机组件中的至少一个可以朝向和远离另一输送机组件移动，并且输送机辊沿设备的横向方向彼此平行地间隔开。第一输送机组件的带被驱动以沿设备的横向方向行进，并且第二输送机组件的带被驱动以沿与第一输送机组件的带的行进方向相反的方向行进。第三输送机组件被驱动以在第一和第二输送机组件之间垂直移动，并且第三输送机组件的输送辊被驱动以在设备的横向方向上朝向和远离彼此移动。

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

US5431086A Method of controlling cylinder apparatus 失效
标题翻译：控制缸装置的方法
公开(公告)号：US5431086A
公开(公告)日：1995-07-11
申请号：US155161
申请日：1993-11-19
申请人： Masatoshi Morita , Yusaku Azuma
发明人： Masatoshi Morita , Yusaku Azuma
IPC分类号： F15B11/06 , F15B11/04 , F15B11/048 , F15B15/28 , F15B13/16
CPC分类号： F15B15/2807 , F15B11/048 , F15B2211/30525 , F15B2211/3138 , F15B2211/31576 , F15B2211/327 , F15B2211/505 , F15B2211/50554 , F15B2211/5151 , F15B2211/526 , F15B2211/565 , F15B2211/6303 , F15B2211/6336 , F15B2211/665 , F15B2211/6653 , F15B2211/755
摘要： A method of controlling a cylinder apparatus includes the steps of supplying compressed air of a first high pressure to one chamber of a cylinder which is divided into two chambers by a piston, and exhausting air from the other chamber so as to move the piston from the start position at an end portion of one chamber toward an end position at an end portion of the other chamber along the extending direction of the cylinder, and detecting if the position has passed the position of a sensor. In addition, a moving speed of the piston is decreased by supplying air of a second high pressure lower than the first high pressure to the other chamber after an elapse of a predetermined wait time from when the piston has passed the position of the sensor, so that the piston reaches the end position in a shock-free state.
摘要翻译：一种控制气缸装置的方法包括以下步骤：将第一高压的压缩空气供应到由活塞分成两个室的气缸的一个室中，并从另一个室排出空气，以使活塞从在一个室的端部处沿着气缸的延伸方向朝向另一个室的端部的端部位置的起始位置，并且检测位置是否已经通过传感器的位置。此外，在从活塞通过传感器的位置经过预定的等待时间之后，通过将低于第一高压的第二高压的空气供给到另一个室来降低活塞的移动速度，因此活塞在无震动状态下到达终点位置。

10. 发明授权

US5425133A Robot apparatus with an electrical driver for controlling a detachable rotor hand 失效
标题翻译：具有用于控制可拆卸机器人手的电驱动器的机器人装置
公开(公告)号：US5425133A
公开(公告)日：1995-06-13
申请号：US101820
申请日：1993-08-04
申请人： Masateru Yasuhara , Hiroyuki Kigami , Katsumi Ishihara , Yusaku Azuma , Teiji Oosaka
发明人： Masateru Yasuhara , Hiroyuki Kigami , Katsumi Ishihara , Yusaku Azuma , Teiji Oosaka
IPC分类号： B25J9/16 , B25J9/18 , B25J15/04 , B25J18/04 , G06F15/46
CPC分类号： B25J15/04 , B25J9/1612 , G05B2219/33254 , G05B2219/39468
摘要： A robot apparatus includes a robot arm, a robot hand, an electrical/electronic device mounted on the robot hand for operating the robot hand, and a hand attaching/detaching device, arranged between the robot arm and the robot hand, for detachably mounting the robot hand on the robot arm. A signal transmission path, is connected to an external robot controller at one end thereof and to the electrical/electronic device at the other end thereof, extends through the hand attaching/detaching device, and is able to be disconnected between the robot hand side and the robot arm side in the hand attaching/detaching device. The signal transmission path drives the robot hand, and allows a plurality of kinds of signals for the electrical/electronic device to pass therethrough in a multiplexed serial format; a first signal conversion circuit, arranged on a robot hand side, converts the multiplexed serial format signal into original parallel signals, and output the parallel signals to the electrical/electronic device, or converts signals from the electrical/electronic device into a multiplexed serial format signals, and outputs the multiplexed serial signal to a robot controller.
摘要翻译：机器人装置包括机器人手臂，机器人手，安装在机器人手上用于操作机器人手的电气/电子设备，以及设置在机器人手臂与机器人手之间的手动安装/拆卸装置，用于可拆卸地安装机器人手在机器人手臂上。信号传输路径在其一端连接到外部机器人控制器，并且在另一端连接到电气/电子设备，延伸穿过手持/拆卸装置，并且能够在机器人手侧和机器人手臂侧在手上安装/拆卸装置。信号传输路径驱动机器人手，并允许电子/电子设备的多种信号以多路复用的串行格式通过; 设置在机器人手侧的第一信号转换电路将多路复用串行格式信号转换为原始并行信号，并将并行信号输出到电气/电子设备，或将来自电气/电子设备的信号转换成多路复用串行格式信号，并将多路复用的串行信号输出到机器人控制器。

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