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1. 发明授权

US4051417A Control system for a brushless motor 失效
标题翻译：无刷电机控制系统
公开(公告)号：US4051417A
公开(公告)日：1977-09-27
申请号：US610289
申请日：1975-09-04
申请人： Masaaki Fujinawa , Kiyoo Takeyasu , Kenichi Iizuka , Motokazu Uchida , Hideo Uzuhashi
发明人： Masaaki Fujinawa , Kiyoo Takeyasu , Kenichi Iizuka , Motokazu Uchida , Hideo Uzuhashi
IPC分类号： H02P6/08 , H02P6/16 , H02K29/00
CPC分类号： H02P6/16 , H02P6/085
摘要： In a control system for a brushless motor comprising a power source, a plurality of driving coils and contactless switching elements for intermittently supplying voltage across the power source to the driving coils in response to rotor position signals, rotor position signals are chopped by a chopping signal in which a ratio of a high level period to a low level period can be changed, and a portion of the contactless switching elements is driven by the chopped rotor position signals, thereby controlling the rotating speed of the brushless motor.

2. 发明授权

US4255762A Apparatus for inspecting pipes in a plant 失效
标题翻译：用于在工厂检查管道的装置
公开(公告)号：US4255762A
公开(公告)日：1981-03-10
申请号：US56853
申请日：1979-07-12
申请人： Kiyoo Takeyasu , Kanji Kato , Tatsuo Goto , Yoozoo Oouchi , Kazuhiro Yoshida , Yoshitoshi Ito , Katsumi Takami
发明人： Kiyoo Takeyasu , Kanji Kato , Tatsuo Goto , Yoozoo Oouchi , Kazuhiro Yoshida , Yoshitoshi Ito , Katsumi Takami
IPC分类号： G01N21/954 , G02B23/24 , H04N7/18
CPC分类号： G01N21/954 , G02B23/2476
摘要： Apparatus for inspecting pipes in a plant, comprising an elongate inspection head portion which is provided with an optical system for receiving an inspection image by approaching an inner surface of a pipe being an object to-be-inspected; at least one proximity sensor which is disposed in the inspection head portion in order to detect a relative distance between the inspection head portion and the proximate object; a positioning mechanism which consists of a plurality of driving shafts for advancing or retreating, rotating, and revolving the inspection head portion; a control device which is capable of programmed operation and which drives and controls the positioning mechanism in a predetermined operation sequence programmed in advance; a data storage device which stores positional data of the respective driving shafts of the positioning mechanism; and an image processor which is disposed at a position remote from the inspection head portion and which reconstructs the inspection image from video signals; the control device controlling the positioning mechanism on the basis of an output signal from the proximity sensor, so that the inspection head portion can be moved and controlled from an initially-set position outside the pipe towards an inspection position of the pipe without contacting with the object to-be-inspected.
摘要翻译：用于检查设备中的管道的装置，包括细长的检查头部分，其设置有用于通过接近作为被检体的管的内表面接收检查图像的光学系统; 至少一个接近传感器，其布置在所述检查头部分中，以便检测所述检查头部分和所述邻近物体之间的相对距离; 定位机构，其由用于前进或后退，旋转和旋转检查头部的多个驱动轴组成; 控制装置，其能够进行编程操作，并且以预先编程的预定操作顺序驱动和控制定位机构; 数据存储装置，其存储定位机构的各个驱动轴的位置数据; 以及图像处理器，其设置在远离检查头部的位置，并且从视频信号重构检查图像; 所述控制装置基于来自所述接近传感器的输出信号来控制所述定位机构，使得所述检查头部能够从所述管外的初始设定位置移动和控制到所述管的检查位置，而不与所述对象被检查。

3. 发明授权

US4095481A Joint mechanism of manipulator 失效
标题翻译：机械手联合机构
公开(公告)号：US4095481A
公开(公告)日：1978-06-20
申请号：US746628
申请日：1976-12-01
申请人： Masuo Kasai , Kanji Kato , Yasuhide Matsumura , Kiyoo Takeyasu , Raiji Shimomura
发明人： Masuo Kasai , Kanji Kato , Yasuhide Matsumura , Kiyoo Takeyasu , Raiji Shimomura
IPC分类号： B25J9/06 , B25J9/04 , B25J9/10 , B25J9/18 , G01B21/00 , B25J3/02
CPC分类号： B25J9/1065 , B25J9/04 , B25J9/046 , Y10S414/13 , Y10T74/20
摘要： A joint mechanism of a manipulator, according to the present invention, consists of a first joint having its rotating shaft aligned with the Z-axis in the X-Y-Z Cartesian coordinate system established at a desired position in a working space, a second joint connected to the rotating shaft of the first joint and having its rotating shaft positioned within the X-Y coordinate plane, a third joint, connected to the rotating shaft of the second joint and having its rotating shaft aligned with the vector passing through the origin of the Cartesian coordinate system, and an arm assembly connected to the rotating shaft of the third joint and comprising a link mechanism which is driven so that a wrist connected to said arm assembly may be always moved on the prolongation line of the vector, to thereby provide a simplified joint mechanism of a manipulator having a redundant degree of freedom of the posture completely independent to the position of the wrist.
摘要翻译：根据本发明的机械手的关节机构包括第一接头，其第一接头具有在XYZ笛卡尔坐标系中建立的工作空间中所需位置处的与Z轴对准的旋转轴，第二接头连接到第一接头的旋转轴，其旋转轴位于XY坐标平面内，第三接头，连接到第二接头的旋转轴，并且其旋转轴与通过笛卡尔坐标系的原点的矢量对齐，以及臂组件，其连接到所述第三关节的旋转轴，并且包括连杆机构，所述连杆机构被驱动，使得连接到所述臂组件的腕部可以总是在所述矢量的延长线上移动，从而提供简化的关节机构具有完全独立于手腕位置的姿势的冗余自由度的操纵器。

4. 发明授权

US4041294A Automatic assembly control method and apparatus therefore 失效
标题翻译：因此，自动组装控制方法和装置
公开(公告)号：US4041294A
公开(公告)日：1977-08-09
申请号：US636835
申请日：1975-12-02
申请人： Tadao Inoyama , Tatsuo Goto , Kiyoo Takeyasu , Hiroshi Ishimura , Junichi Suzuki
发明人： Tadao Inoyama , Tatsuo Goto , Kiyoo Takeyasu , Hiroshi Ishimura , Junichi Suzuki
IPC分类号： B23P19/02 , B23P19/00 , B25J9/16 , B25J17/02 , G05B19/02 , B23Q17/00
CPC分类号： B23P19/105 , B23P19/12 , B25J17/0208 , Y10T29/49009 , Y10T29/53039 , Y10T29/53143
摘要： An automatic assembly control apparatus employs a holding mechanism for holding a collar with a hole, to which a shaft of a motor is inserted. The holding mechanism is coupled to a positioning mechanism through an elastic mechanism so that the positioning mechanism may be controlled in response to signals representative of the displacement or deflection of the elastic mechanism. The collar is first placed in rough upon the center axis of the shaft which has a step portion at the end portion thereof and then inserted onto the shaft while its position is corrected by the positioning mechanism. The insertion of the collar is stopped when it is caught at the step portion of the shaft and then the position of the collar is changed in such a manner that the collar is inserted onto the shaft over the step portion thereof. Then, the collar is gradually inserted onto the shaft.
摘要翻译：一种自动组装控制装置采用保持机构，用于保持具有孔的轴环，电动机的轴被插入该孔。保持机构通过弹性机构联接到定位机构，使得可以响应于表示弹性机构的位移或偏转的信号来控制定位机构。首先，在轴的中心轴上首先将轴环放置在轴的中心轴上，该轴在其端部具有阶梯部分，然后通过定位机构校正位置而插入轴上。当套环被卡在轴的台阶部分时，套环的插入被停止，然后轴环的位置以这样的方式改变，使得套环在其台阶部分上插入轴上。然后，套环逐渐插入轴上。

5. 发明授权

US3984006A Automatic assembly control system 失效
标题翻译：自动组装控制系统
公开(公告)号：US3984006A
公开(公告)日：1976-10-05
申请号：US546131
申请日：1975-01-31
申请人： Kiyoo Takeyasu , Tatsuo Goto , Tadao Inoyama , Takeshi Tokunaga , Osamu Isoo , Shigeru Matsuoka
发明人： Kiyoo Takeyasu , Tatsuo Goto , Tadao Inoyama , Takeshi Tokunaga , Osamu Isoo , Shigeru Matsuoka
IPC分类号： B23P19/00 , B25J9/18 , B25J17/02 , G05D3/20 , B25J3/00
CPC分类号： B23P19/105 , B23P19/12 , B25J17/0208 , G05D3/20
摘要： In an automatic assembly control system, a flexible coupling mechanism deformable in accordance with the relative positions of an object and a hole to receive the object therein and a detector to detect the displacement or the deformation of the coupling mechanism in the direction of insertion in excess of a certain value are provided so that in the process of inserting the object into the hole the distance between the object and the hole in the direction perpendicular to the direction of insertion is controlled in accordance with the output of the detector.

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