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1. 发明授权

US06608459B2 Method and device for servo-controlling DC motor 有权
公开(公告)号：US06608459B2
公开(公告)日：2003-08-19
申请号：US10016553
申请日：2001-12-10
申请人： Fumio Kasagami , Toshikazu Noda
发明人： Fumio Kasagami , Toshikazu Noda
IPC分类号： H02P506
CPC分类号： H02P6/085
摘要： PWM controlling means (4) for inputting PWM signals corresponding to PWM target values to electric power supplier (3) in order to servo-controlling DC motor (2) comprises synchronizing control part (41), PWM computing part (50), selecting part of PWM target value (45) and PWM commanding part (46). The synchronizing control part (41) instructs the commencement of the PWM computation, selection of PWM target value and PWM command allotted to some of the infinitesimal intervals obtained by dividing processing term, on which PWM signals regulating the electric power supplied to the motor (2) are allotted, into n equal parts, and terminates one cycle for a series of the process and/or computation predetermined within one processing term. PWM target values corresponding to plural control target values (DP0, DV0, DT0) are computed in parallel so that the servo-control of motor can be operated in quick response to the change of control mode.

2. 发明授权

US5315222A Control apparatus for industrial robot 失效
标题翻译：工业机器人控制装置
公开(公告)号：US5315222A
公开(公告)日：1994-05-24
申请号：US82728
申请日：1993-06-28
申请人： Fumio Kasagami , Akinobu Izawa
发明人： Fumio Kasagami , Akinobu Izawa
IPC分类号： B25J9/10 , B25J9/16 , B25J9/18 , B25J9/22 , G05B19/408 , G05B19/4093 , G05B19/42
CPC分类号： G05B19/4086 , B25J9/1664 , Y02P90/265
摘要： An apparatus is provided for controlling an industrial robot of the type which holds a workpiece for movement relative to a fixed tool or a series of fixed tools. The robot control apparatus prepares and stores a task program which itself includes teaching data regarding the positional and attitudinal relation wXt.sub.j of the tool tip relative to the workpiece reference point as well as the setting data regarding the tool and the workpiece.
摘要翻译：提供了一种用于控制类型的工业机器人的装置，其保持工件相对于固定工具或一系列固定工具移动。机器人控制装置准备和存储任务程序，其本身包括关于工具尖端相对于工件参考点的位置和态度关系wXtj的教导数据以及关于工具和工件的设置数据。

3. 发明授权

US5353386A Apparatus for controlling industrial robot system to perform coordinated operation using teaching playback method and method thereof 失效
标题翻译：用于控制工业机器人系统以使用教学回放方法及其方法执行协调操作的装置
公开(公告)号：US5353386A
公开(公告)日：1994-10-04
申请号：US909159
申请日：1992-07-06
申请人： Fumio Kasagami , Seisuke Kugumiya
发明人： Fumio Kasagami , Seisuke Kugumiya
IPC分类号： B25J9/16 , B25J9/18 , G06F15/46
CPC分类号： B25J9/1682
摘要： In an apparatus for controlling an industrial robot system comprising a workpiece handling apparatus having first revolute joints for moving a workpiece, and a tool moving apparatus having second revolute joints for moving a tool so as to move the workpiece and the tool on a predetermined trajectory between two adjacent teaching points, there are calculated a position and an attitude of a predetermined coordinate system of a predetermined workpiece attachment reference point based on a coordinate system of a baseplane of said workpiece handling apparatus, and a position and an attitude of a predetermined coordinate system of a predetermined tool attachment reference point based on a coordinate system of a baseplane of said tool handling apparatus, from inputted teaching data. Further, there are calculated joint variables of the first and second revolute joints for moving tile workpiece and the tool on the trajectory, from the calculated data. Finally, the first and second revolute joints are simultaneously driven in accordance with the calculated joint variables thereof.
摘要翻译：一种用于控制工业机器人系统的装置，包括具有用于移动工件的第一旋转接头的工件处理装置和具有用于移动工具的第二旋转接头的工具移动装置，以便使工件和工具在预定轨迹上移动两个相邻的示教点，基于所述工件处理装置的基板的坐标系以及预定的坐标系的位置和姿态来计算预定的工件附着参考点的预定坐标系的位置和姿态根据输入的教导数据，基于所述工具处理装置的基准面的坐标系的预定的工具附着参考点。此外，根据计算的数据，计算出第一和第二旋转关节的关节变量，用于在轨迹上移动瓦片工件和工具。最后，根据其计算出的关节变量同时驱动第一和第二旋转接头。

4. 发明申请

US20050066442A1 Transfer device 有权
标题翻译：传输设备
公开(公告)号：US20050066442A1
公开(公告)日：2005-03-31
申请号：US10966170
申请日：2004-09-29
申请人： Fumio Kasagami , Fumio Hojo , Hideaki Hyodo
发明人： Fumio Kasagami , Fumio Hojo , Hideaki Hyodo
IPC分类号： B65G15/22 , A61G1/00 , A61G1/02 , A61G7/10 , B65G7/02
CPC分类号： A61G7/1032 , A61G7/1011 , A61G7/1036 , A61G7/1065 , A61G2200/32
摘要： A transfer device includes a lower mechanism and an upper mechanism stacked on the lower mechanism. The lower mechanism includes a first endless belt, and the upper mechanism includes a second endless belt. The first and the second endless belts are operable independently of each other for forward and backward circulation. The first endless belt is driven by a first driving unit disposed at one end of the lower mechanism as viewed in the traveling direction of the first endless belt. The second endless belt is driven by a second driving unit disposed at one end of the upper mechanism as viewed in the traveling direction of the second endless belt. A plurality of transfer devices connected in their widthwise direction constitute a transfer device assembly.
摘要翻译：传送装置包括下机构和堆叠在下机构上的上机构。下部机构包括第一环形带，上部机构包括第二环形带。第一和第二环形带可以彼此独立地操作以用于前进和后退循环。当从第一环形带的行进方向观察时，第一环形带由设置在下机构的一端的第一驱动单元驱动。第二环形带由第二驱动单元驱动，第二驱动单元设置在第二环形带的行进方向上的上机构的一端。沿宽度方向连接的多个传送装置构成传送装置组件。

5. 发明授权

US5243266A Teaching control device for manual operation in an industrial robots-system 失效
标题翻译：用于在工业机器人系统中手动操作的教学控制装置
公开(公告)号：US5243266A
公开(公告)日：1993-09-07
申请号：US908196
申请日：1992-07-02
申请人： Fumio Kasagami , Seisuke Kugumiya
发明人： Fumio Kasagami , Seisuke Kugumiya
IPC分类号： B25J9/10 , B25J9/16 , B25J9/18 , B25J9/22 , B25J13/06
CPC分类号： B25J9/1682
摘要： An industrial robotic system related to the present invention provides a workpiece handling robot manipulating a workpiece and a tool handling robot manipulating a tool processing the workpiece. A teaching control device for manual operation of the robotic system controls not only the execution of a conventional sole-acting manual mode of operation, but also the execution of a co-acting manual mode of operation. According to a co-acting manual mode of operation, "a relative position and a relative attitude of a tool against a workpiece" are maintained substantially constant.When the manipulation of the workpiece is executed in order to get a new setting state by means of a co-acting manual mode of operation from an initial setting state, the tip point of the tool is remained at an aimed point on the workpiece and an attitude of the tool against the workpiece is maintained without interference between the tool and the workpiece.The new setting state for teaching a new teaching point is established by means of sole-acting manipulating the tool from the aimed point manipulated by the workpiece handling robot to a new aimed on the workpiece.

6. 发明授权

US07200881B2 Transfer device 有权
标题翻译：传输设备
公开(公告)号：US07200881B2
公开(公告)日：2007-04-10
申请号：US10966170
申请日：2004-09-29
申请人： Fumio Kasagami , Fumio Hojo , Hideaki Hyodo
发明人： Fumio Kasagami , Fumio Hojo , Hideaki Hyodo
IPC分类号： A61G7/14
CPC分类号： A61G7/1032 , A61G7/1011 , A61G7/1036 , A61G7/1065 , A61G2200/32
摘要： A transfer device includes a lower mechanism and an upper mechanism stacked on the lower mechanism. The lower mechanism includes a first endless belt, and the upper mechanism includes a second endless belt. The first and the second endless belts are operable independently of each other for forward and backward circulation. The first endless belt is driven by a first driving unit disposed at one end of the lower mechanism as viewed in the traveling direction of the first endless belt. The second endless belt is driven by a second driving unit disposed at one end of the upper mechanism as viewed in the traveling direction of the second endless belt. A plurality of transfer devices connected in their widthwise direction constitute a transfer device assembly.
摘要翻译：传送装置包括下机构和堆叠在下机构上的上机构。下部机构包括第一环形带，上部机构包括第二环形带。第一和第二环形带可以彼此独立地操作以用于前进和后退循环。当从第一环形带的行进方向观察时，第一环形带由设置在下机构的一端的第一驱动单元驱动。第二环形带由第二驱动单元驱动，第二驱动单元设置在第二环形带的行进方向上的上机构的一端。沿宽度方向连接的多个传送装置构成传送装置组件。

7. 发明授权

US06932209B2 Transfer device, transfer device assembly, and accommodating device thereof 有权
标题翻译：传送装置，传送装置组件及其容纳装置
公开(公告)号：US06932209B2
公开(公告)日：2005-08-23
申请号：US10400786
申请日：2003-03-27
申请人： Fumio Kasagami , Fumio Hojo
发明人： Fumio Kasagami , Fumio Hojo
IPC分类号： B65G15/12 , A61G1/00 , A61G7/10 , A61G7/14 , B65G7/02 , B65G21/12
CPC分类号： A61G7/1032 , A61G7/1046 , A61G7/1074 , A61G2200/32
摘要： A transfer device includes an upper mechanism and a lower mechanism associated with the upper mechanism. The upper mechanism includes a first endless belt that circulates in forward and reverse directions. The lower mechanism includes a second endless belt that circulates in forward and reverse directions independently of the first endless belt. The first and the second endless belts are selectively brought into and out of engagement with each other.
摘要翻译：传送装置包括与上机构相关联的上机构和下机构。上部机构包括沿正向和反向循环的第一环形带。下部机构包括独立于第一环形带而在向前和向后方向上循环的第二环形带。第一和第二环形带被选择性地进入和脱离彼此接合。

8. 发明授权

US5596683A Teaching control device for manual operations of two industrial robots 失效
标题翻译：两台工业机器人手动操作教学控制装置
公开(公告)号：US5596683A
公开(公告)日：1997-01-21
申请号：US176864
申请日：1993-12-30
申请人： Fumio Kasagami , Yasuhiro Kojina
发明人： Fumio Kasagami , Yasuhiro Kojina
IPC分类号： B25J9/22 , B23K9/127 , B25J9/16 , B25J9/18 , G05B19/425 , B25J9/00
CPC分类号： B25J9/1682 , G05B19/425 , G05B2219/39136 , G05B2219/39139 , G05B2219/40287 , G05B2219/50353 , Y02P90/265
摘要： The teaching procedure is performed so that a relative position of the tool against a workpiece and an attitude of a tool against a ground are maintained constant under a control of a co-acting mode of the manual operation. The position and the attitude of the workpiece and the position and the attitude of the tool are manipulated in response to a co-acting mode signal supplied by a mode changing switch, a robot signal selecting the workpiece handling robot supplied by a robot changing switch and actuating signals supplied by a group of the keys. The manipulation of the position of the tool by the tool handling robot is coordinated with the manipulation of the position and the attitude of the workpiece by the workpiece handling robot maintaining the attitude of the tool against the ground and the relative position of the tool against the workpiece.
摘要翻译：执行教学过程，使得在手动操作的协同作用模式的控制下，工具相对于工件的相对位置和工具抵靠地面的姿态保持恒定。响应于由模式切换开关提供的协同作用模式信号，选择由机器人改变开关所提供的工件处理机器人的机器人信号，并且对所述工具的位置和姿态，致动由一组键提供的信号。通过工具处理机器人对工具的位置的操纵与通过工件处理机器人对工件的位置和姿态的操纵进行协调，以保持工具对着地面的姿态以及工具相对于地面的相对位置工件。

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