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1. 发明授权

US5214362A Method for detecting a collision and stopping drive of a machine driven by servomotors 失效
标题翻译：用于检测伺服电机驱动的机器的碰撞和停止驱动的方法
公开(公告)号：US5214362A
公开(公告)日：1993-05-25
申请号：US477871
申请日：1990-04-11
申请人： Nobutoshi Torii , Yasuo Naito , Masayuki Hamura , Kazuhisa Otsuka
发明人： Nobutoshi Torii , Yasuo Naito , Masayuki Hamura , Kazuhisa Otsuka
IPC分类号： G05B9/02 , G05B19/4061 , G05D3/00 , G05D3/12
CPC分类号： G05B19/4061 , G05B2219/34047 , G05B2219/36399 , G05B2219/37624 , G05B2219/49162 , G05B2219/50179
摘要： A collision detection/drive stoppage method capable of promptly detecting a collision of machine operating parts driven by servomotors with a foreign object, and of promptly stopping drive of the machine operating parts upon detection of a collision, thereby preventing or lessening damage to a machine, etc., caused by the collision. A digital signal processor of an axis controller, forming a software servo system, periodically calculates a velocity deviation (.epsilon.v) in accordance with a command velocity (Vc) calculated based on a command from a main computer and an actual motor velocity (V) from a pulse coder of the servomotor (S2), determines whether the absolute value (.vertline..epsilon.v-.epsilon.v'.vertline.) of the difference between the velocity deviation of the current servo control period and that of the previous control period is smaller than a collision discriminating reference value (ERR) (S3), and causes an alarm to be displayed and at the same time delivers a torque command having a value of zero to stop rotation of the servomotor (S8, S9) when the absolute value is larger than the reference value.

2. 发明授权

US5119006A Method of detecting a collision of machine operating parts driven by servomotors 失效
标题翻译：检测伺服电机驱动的机器操作部件碰撞的方法
公开(公告)号：US5119006A
公开(公告)日：1992-06-02
申请号：US432743
申请日：1989-10-25
申请人： Nobutoshi Torii , Yasuo Naito , Masayuki Hamura , Tetsuaki Kato
发明人： Nobutoshi Torii , Yasuo Naito , Masayuki Hamura , Tetsuaki Kato
IPC分类号： B25J9/16 , B25J19/06 , G05B19/19 , G05D1/02
CPC分类号： B25J19/06 , B25J19/063 , B25J9/1676
摘要： A collision detecting method is provided which is capable of promptly detecting a collision of robot operating parts driven by servomotors, e.g., robot arms, with a foreign object. Prompt detection of such collisions aids in preventing or limiting damage to a machine, etc. by the collision. A digital signal processor of an axis controller (2) of FIG. 1, as part of a software servo system, calculates a velocity command and a torque command in accordance with a movement command supplied from a main computer (1), to periodically carry out servo control for individual axes of the robot. The digital signal processor also determines whether the torque command or a velocity deviation between the velocity command and an actual velocity of a servomotor (13b) is greater than a respective predetermined value. When the torque command or velocity deviation becomes greater than the respective predetermined value, the collision detecting method determines that a collision of the robot operating part (13a) with a foreign object or the like has occurred, and the operation of the servomotor is stopped.
摘要翻译： PCT No.PCT / JP89 / 00245 Sec。 371日期：1989年10月25日 102（e）日期1989年10月25日PCT 1989年3月7日PCT公布。出版物WO89 / 08538 日期：1989年9月21日。提供了一种碰撞检测方法，其能够及时检测由伺服电动机（例如机器人手臂）驱动的机器人操作部件与异物的碰撞。快速检测这种碰撞有助于防止或限制碰撞对机器等造成的损坏。图1的轴控制器（2）的数字信号处理器。如图1所示，作为软件伺服系统的一部分，根据从主计算机（1）提供的移动指令计算速度指令和转矩指令，周期性地对机器人的各个轴进行伺服控制。数字信号处理器还确定扭矩指令或速度指令与伺服电动机（13b）的实际速度之间的速度偏差是否大于相应的预定值。当转矩指令或速度偏差大于相应的预定值时，碰撞检测方法确定机器人操作部件（13a）与异物等的碰撞已经发生，并且停止伺服电动机的操作。

3. 发明授权

US4934504A Apparatus for setting turning movement region of trunk body of industrial robot 失效
标题翻译：用于设置工业机器人主体的转动运动区域的装置
公开(公告)号：US4934504A
公开(公告)日：1990-06-19
申请号：US437307
申请日：1989-11-17
申请人： Nobutoshi Torii , Yasuo Naito , Kazuhisa Otsuka , Satoshi Kinoshita
发明人： Nobutoshi Torii , Yasuo Naito , Kazuhisa Otsuka , Satoshi Kinoshita
IPC分类号： B25J19/00 , B25J9/10 , B25J19/06
CPC分类号： B25J9/101 , Y10T74/1453 , Y10T74/1494
摘要： Angular regions (A, B) for turning a trunk body (12) of an industrial robot can be changed in accordance with an operation of the industrial robot by setting movable stoppers (18, 20). Turning movement can be stopped by an electrical means (LS1, LS2, LS3, LS4, LS5) to protect a drive motor and a drive mechanism, just before a stopper (22) fixed on the trunk body collides with mechanical stoppers (14, 16, 18, 20). An accident based on an error operation of the movable stoppers can be prevented by disposing proximity detectors (PS1, PS2, PS3, PS4).
摘要翻译：可以通过设置可动止动件（18,20），根据工业机器人的操作来改变用于转动工业机器人的主体（12）的角区域（A，B）。通过电气装置（LS1，LS2，LS3，LS4，LS5）可以停止转动运动，以在固定在主体上的止动器（22）与机械止动件（14,16）碰撞之前保护驱动电机和驱动机构，18,20）。通过设置接近检测器（PS1，PS2，PS3，PS4）可以防止基于可动止动器的错误操作的事故。

4. 发明授权

US5325467A Robot control method based on an acceleration/deceleration time constant 失效
标题翻译：基于加速/减速时间常数的机器人控制方法
公开(公告)号：US5325467A
公开(公告)日：1994-06-28
申请号：US820881
申请日：1992-01-17
申请人： Nobutoshi Torii , Ryo Nihei , Yasuo Naito , Tetsuaki Kato , Satoshi Kinoshita
发明人： Nobutoshi Torii , Ryo Nihei , Yasuo Naito , Tetsuaki Kato , Satoshi Kinoshita
IPC分类号： B25J9/10 , B25J9/16 , B25J9/18 , G05B19/416 , G05D3/12 , B25J19/00
CPC分类号： G05B19/416 , B25J9/1651 , G05B2219/37391 , G05B2219/43009 , G05B2219/43023 , G05B2219/43046 , G05B2219/43059 , G05B2219/43099
摘要： A robot control method based on an acceleration/deceleration time constant wherein the acceleration/deceleration time constant of a servomotor is set for an optimum value for each block, to thereby control the operation of the robot. A reaching speed (Vu) is determined from an amount of movement (X) of a block, and based on the reaching speed, a maximum torque (Tmax) of the servomotor is determined and then a static load torque (T.sub.wn) is subtracted from the maximum torque (Tmax) to determine an acceleration torque (Ta.sub.n). Thereafter, based on the acceleration torque (Ta.sub.n) and the load inertia of the servomotor, an acceleration (a.sub.n) is determined and an acceleration/deceleration time constant (.tau.) is determined from the acceleration (a.sub.n), and accordingly, an optimum acceleration/deceleration time constant is determined.
摘要翻译： PCT No.PCT / JP91 / 00645 Sec。 371日期：1992年1月17日 102（e）日期1992年1月17日PCT 1991年5月15日PCT PCT。公开号WO91 / 18717 日期：1991年12月12日。一种基于加速/减速时间常数的机器人控制方法，其中将伺服电动机的加减速时间常数设定为每个块的最佳值，从而控制机器人的操作。从块的移动量（X）确定到达速度（Vu），并且基于到达速度，确定伺服电动机的最大转矩（Tmax），然后从静止负载转矩（Twn）中减去确定加速扭矩（Tan）的最大扭矩（Tmax）。然后，基于加速扭矩（Tan）和伺服电动机的负载惯量，确定加速度（an），根据加速度（an）确定加减速时间常数（τ），因此，优化加速度 /减速时间常数。

5. 发明授权

US5187996A Industrial articulated robot provided with a driving linkage 失效
标题翻译：工业机器人提供驱动链接
公开(公告)号：US5187996A
公开(公告)日：1993-02-23
申请号：US768757
申请日：1991-10-15
申请人： Nobutoshi Torii , Yasuo Naito , Satoshi Kinoshita
发明人： Nobutoshi Torii , Yasuo Naito , Satoshi Kinoshita
IPC分类号： B25J9/06 , B25J9/04 , B25J9/10
CPC分类号： B25J9/046 , B25J9/1065 , Y10S414/13 , Y10T74/20207
摘要： The present invention is intended to expand the operating region of a driven robot component of a robot by a provision of a driving linkage system for transmitting a drive torque of a drive source unit to the driven robot component, the driving linkage system having two spatially separated linkages, which are different from each other in the phase of motion thereof, to thereby transmit the drive torque from the drive source unit to the driven robot component by at least one of the two linkages even if the other linkage is brought to a dead center state, whereby the torque can be continuously transmitted to the driven robot component.
摘要翻译： PCT No.PCT / JP91 / 00186 Sec。 371日期1991年10月15日 102（e）日期1991年10月15日PCT 1991年2月15日提交PCT公布。公开号WO91 / 12117 日本1991年8月22日。本发明旨在通过提供用于将驱动源单元的驱动转矩传递到被驱动机器人部件的驱动联动系统来扩展机器人的从动机器人部件的操作区域，驱动联动系统具有两个在其运动阶段彼此不同的空间分离的联动装置，从而通过两个连杆中的至少一个将驱动力单元从驱动源单元传递到从动机器人部件，即使另一个连杆被带到死角状态，由此可以将扭矩连续地传递到从动机器人部件。

6. 发明授权

US5111019A Variable-pitch spot welding gun assembly for a welding robot 失效
标题翻译：用于焊接机器人的可变点焊枪组件
公开(公告)号：US5111019A
公开(公告)日：1992-05-05
申请号：US613781
申请日：1990-11-19
申请人： Nobutoshi Torii , Yasuo Naito , Kunio Ueda
发明人： Nobutoshi Torii , Yasuo Naito , Kunio Ueda
IPC分类号： B25J15/00 , B23K11/11 , B23K11/31
CPC分类号： B23K11/312 , B23K11/314
摘要： A variable pitch spot welding gun assembly for a welding robot has a fixed base (16) directly attached to the robot wrist (12) of an industrial welding robot, welding transformers (24, 26) fixed to the fixed base (16), a fixed spot welding gun (22) provided apart from the welding transformers (24, 26), a movable spot welding gun (20) provided apart from the welding transfomers (24, 26) and capable of being moved relative to the fixed spot welding gun (22), to adjust a pitch between the fixed spot welding gun (22) and the movable spot welding gun (20), and secondary conductors (44a to 44e) connecting the fixed and movable spot welding guns (22, 90) respectively to the welding transformers (24, 26).
摘要翻译： PCT No.PCT / JP90 / 00366 Sec。 371日期1990年11月19日 102（e）1990年11月19日PCT PCT 1990年3月19日PCT公布。出版物WO90 / 11160 日期：1990年10月4日。焊接机器人的可变节点点焊枪组件具有直接附接到工业焊接机器人的机器人手腕（12）上的固定基座（16），固定在工件焊接机器人上的焊接变压器（24,26）固定基座（16），与焊接变压器（24,26）分开设置的固定点焊枪（22），与焊接变形体（24,26）分开设置并能够移动的可动点焊枪（20）相对于固定点焊枪（22），调节固定点焊枪（22）和可动点焊枪（20）之间的间距，以及连接固定点焊枪和可移动点焊枪的辅助导体（44a至44e）（22,90）分别连接到焊接变压器（24,26）。

7. 发明授权

US4628778A Industrial robot 失效
标题翻译：工业机器人
公开(公告)号：US4628778A
公开(公告)日：1986-12-16
申请号：US833533
申请日：1986-02-12
申请人： Seiichiro Nakashima , Shigemi Inagaki , Susumu Ito , Yasuo Naito , Kazuhisa Otsuka
发明人： Seiichiro Nakashima , Shigemi Inagaki , Susumu Ito , Yasuo Naito , Kazuhisa Otsuka
IPC分类号： B25J9/02 , B23Q7/04 , B25J9/04 , B25J15/00 , B25J15/02 , B23B15/00
CPC分类号： B25J9/04 , B23Q7/046 , B25J15/0052 , B25J15/0253 , Y10T82/2514
摘要： A compact industrial robot for mounting on a lathe includes a traveling body transported along an axis (Z axis) parallel to the axis of a spindle provided on a lathe, a column provided on the traveling body for extending and retracting in a vertical direction (Y axis), a first rotating mechanism provided on the column for rotation about an axis (C axis) parallel to the spindle axis, and a second rotating mechanism provided on the rotary shaft of the first rotating mechanism and having a hand. The hand, having a double-hand configuration, is swung by the first rotating mechanism in a plane orthogonal to the spindle axis, and is swiveled by the second rotating mechanism about the longitudinal axis (.alpha. axis) of the second rotating mechanism.
摘要翻译：一种用于安装在车床上的紧凑型工业机器人包括沿着平行于设置在车床上的心轴的轴线（Z轴）上传送的行进体，设置在行进体上的列，用于沿垂直方向（Y 轴），设置在所述列上用于围绕与所述主轴轴线平行的轴线（C轴）旋转的第一旋转机构，以及设置在所述第一旋转机构的旋转轴上并具有手的第二旋转机构。具有双手配置的手在与主轴轴线正交的平面中被第一旋转机构摆动，并且通过第二旋转机构围绕第二旋转机构的纵向轴线（α轴）旋转。

8. 发明授权

US5493192A Abnormal load detection method 失效
标题翻译：异常负载检测方法
公开(公告)号：US5493192A
公开(公告)日：1996-02-20
申请号：US84181
申请日：1993-06-28
申请人： Ryo Nihei , Yasuo Naito , Kazuhisa Otsuka , Tetsuaki Kato , Hideki Sugiyama
发明人： Ryo Nihei , Yasuo Naito , Kazuhisa Otsuka , Tetsuaki Kato , Hideki Sugiyama
IPC分类号： B23K11/25 , B25J9/16 , B25J9/18 , B25J19/06 , G05D3/00 , G05D17/02 , G05B19/416
CPC分类号： B25J19/06 , B23K11/252 , B25J9/1674
摘要： A method for accurately detecting an abnormal load caused, e.g., by adhesion of the distal end of a spot gun. A flag F2 is set to "1" when a move command is outputted to move a movable part of a machine and is reset to "0" upon lapse of a predetermined very short period of time, and, while the flag F2 remains "0" during stoppage of the movable part, a disturbance torque T0, estimated by a disturbance estimation observer, is stored and successively updated. When a move command is thereafter outputted, and the flag F2 is set to "1", an estimated disturbance torque T1 is obtained, and if the absolute value .vertline.T1-T0.vertline. of the difference between the disturbance torque T1 and the disturbance torque T0, estimated immediately before the movable part is moved, is greater than a reference value Ts, it is determined that an abnormal load is applied, whereupon an alarm is outputted, a flag F1 is set to "1", and the motion is stopped. The disturbance torque T0 estimated during stoppage indicates a value of the load then acting on the movable part, such as gravity. Consequently, the value .vertline.T1-T0.vertline. represents a disturbance torque during movement of the movable part, which is free from the influence of gravity, and a comparison between this value and the reference value Ts permits accurate detection of a force acting on the movable part, not including gravity or frictional force, whereby the occurrence of adhesion or the like can be accurately detected.
摘要翻译： PCT No.PCT / JP92 / 01391 Sec。 371日期：1993年6月28日 102（e）日期1993年6月28日PCT提交1992年10月10日PCT公布。出版物WO93 / 08958 日期：1993年5月13日。一种用于准确地检测异常载荷的方法，例如通过点枪的远端的粘附而引起。当输出移动指令以移动机器的可移动部分时，标志F2被设置为“1”，并且在经过预定的非常短的时间段后被重置为“0”，并且当标志F2保持为“0” “在可动部件的停止期间，由干扰估计观察者估计的干扰转矩T0被存储并依次更新。此后，当输出移动指令并且将标志F2设定为“1”时，获得估计的干扰转矩T1，如果绝对值| T1-T0 | 在可移动部分移动之前估计的干扰转矩T1和干扰转矩T0之间的差异大于参考值Ts，确定施加异常负载，从而输出报警，标志F1 被设定为“1”，停止运动。在停止期间估计的扰动转矩T0表示随后作用在可动部分上的负载的值，例如重力。因此，值| T1-T0 | 表示可移动部件的移动期间的干扰转矩，其不受重力的影响，并且该值与参考值Ts之间的比较允许精确地检测作用在可移动部件上的力，不包括重力或摩擦力，从而可以精确地检测粘附等的发生。

9. 发明授权

US5964509A Anti-lock brake control system for motor vehicle and brake force control method thereof 失效
标题翻译：用于机动车辆的防抱死制动控制系统及其制动力控制方法
公开(公告)号：US5964509A
公开(公告)日：1999-10-12
申请号：US863366
申请日：1997-05-27
申请人： Yasuo Naito , Chiaki Fujimoto , Mitsuhiro Mimura
发明人： Yasuo Naito , Chiaki Fujimoto , Mitsuhiro Mimura
IPC分类号： B60T8/173 , B60T8/00 , B60T8/52
CPC分类号： B60T8/173
摘要： An anti-lock brake control system for a motor in which influence of vibration of wheel driving shafts occurring upon braking in the state where the wheels (1a, 1b) are operatively connected to a prime mover such as an internal combustion engine is suppressed to thereby enhance the braking performance of the system. Rotation speed (Vw) of each of the driving wheels (1a to 1d) of the motor vehicle is detected for determining wheel acceleration (Gw). A torsion torque (Tt) applied to a wheel drive shaft is detected. The wheel acceleration (Gw) is corrected with the torsion torque (Tt) for determining a corrected acceleration (Gc). The brake application pressure is controlled in dependence on combinations of two variables, i.e., the corrected acceleration (Gc) and the wheel acceleration (Gw). Owing to detection of the torsion torque (Tt), not only the influence of the vibration of the wheel (1a to 1d) due to the torsion torque (Tt) but also a delay involved in the detection of the torsion torque (Tt) can be taken into consideration in the anti-lock brake control.
摘要翻译：在车轮（1a，1b）可操作地连接到诸如内燃机的原动机的状态下，在制动时产生的车轮驱动轴的振动的影响的电动机的防抱死制动控制系统被抑制，从而提高系统的制动性能。检测机动车辆的各驱动轮（1a〜1d）的转速（Vw），以确定车轮加速度（Gw）。检测到施加到轮驱动轴的扭矩（Tt）。用用于确定校正加速度（Gc）的扭矩（Tt）校正车轮加速度（Gw）。根据两个变量的组合，即校正后的加速度（Gc）和车轮加速度（Gw）来控制制动施加压力。由于扭转扭矩（Tt）的检测，不仅由于扭矩（Tt）而导致的车轮（1a〜1d）的振动的影响，而且与扭转扭矩（Tt）的检测相关的延迟也可以在防抱死制动控制中要考虑到。

10. 发明授权

US5399870A Position detecting method and apparatus for laser sensor 失效
标题翻译：激光传感器位置检测方法及装置
公开(公告)号：US5399870A
公开(公告)日：1995-03-21
申请号：US961901
申请日：1993-01-08
申请人： Nobitoshi Torii , Ryo Nihei , Yasuo Naito , Hiroshi Wakio , Takashi Iwamoto
发明人： Nobitoshi Torii , Ryo Nihei , Yasuo Naito , Hiroshi Wakio , Takashi Iwamoto
IPC分类号： B25J19/04 , G01B11/00 , G01C3/06 , G01S17/46 , G05D3/12 , G01N21/86
CPC分类号： G01S17/48 , G01B11/00
摘要： The present invention relates to a position detecting method and its apparatus that is capable of improving detecting accuracy in a laser sensor using a Charged Coupled Device (CCD) as a light receiving element. A sum of products of an output C.sub.i of each cell in a light receiving element and a cell position X.sub.i is obtained, and the cell outputs C.sub.i are added. When the cell output C.sub.i exceeds a predetermined threshold value, a counter is reset. When the cell output C.sub.i decreases down below the threshold value, the sample hold signal SH is counted. When the counted value of the counter becomes a predetermined value, a division circuit divides the above-obtained sum of products by the above addition value to obtain a center of gravity of the sum of products as a light receiving position. Then, thus obtained value is stored in a latch buffer. When a plurality of light receiving positions are obtained, the control unit picks out only the light receiving position of primary reflection beam from among them to identify the object position. Accordingly, the accuracy of the position detecting operation can be improved, since resolution in position detecting according to the invention is not determined on the unit of cell, but a light receiving position between adjacent cells in CCD can also be detected.
摘要翻译： PCT No.PCT / JP92 / 00630 Sec。 371日期：1993年1月8日 102（e）日期1993年1月8日PCT提交日期为1992年5月15日PCT公布。 WO92 / 20993 PCT出版物日期：1992年11月26日。本发明涉及一种位置检测方法及其装置，其能够提高使用带电耦合器件（CCD）作为光接收元件的激光传感器的检测精度。获得光接收元件中的每个单元的输出Ci和单元位置Xi的乘积之和，并且增加单元输出Ci。当单元输出Ci超过预定阈值时，计数器被复位。当单元输出Ci降低到低于阈值时，对样本保持信号SH进行计数。当计数器的计数值变为预定值时，除法电路将上述乘积之和除以上述加法值，得到作为光接收位置的乘积之和的重心。然后，将这样获得的值存储在锁存缓冲器中。当获得多个光接收位置时，控制单元从其中仅拾取一次反射光束的光接收位置以识别对象位置。因此，能够提高位置检测动作的精度，因为根据本发明的位置检测的分辨率未以单元为单位，而且还可以检测CCD中的相邻单元之间的光接收位置。

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