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1. 发明授权

US09027231B2 Assembling apparatus and production system 有权
标题翻译：组装设备和生产系统
公开(公告)号：US09027231B2
公开(公告)日：2015-05-12
申请号：US13702119
申请日：2011-06-22
申请人： Toshihiko Mimura , Yuichi Someya , Yuji Matsuo , Mikio Nakasugi , Ken Meisho , Masaichi Sato , Mahito Negishi
发明人： Toshihiko Mimura , Yuichi Someya , Yuji Matsuo , Mikio Nakasugi , Ken Meisho , Masaichi Sato , Mahito Negishi
IPC分类号： B23P21/00 , B25J19/02 , B25J9/00 , B25J21/00
CPC分类号： B23P21/00 , B25J9/0084 , B25J21/00 , Y10T29/53087 , Y10T29/53091
摘要： To enable positioning a robot arm and a workpiece with high accuracy while reducing vibrations of a camera. According to the claimed invention for this purpose, a robot station 100 includes a pedestal 103 to which robot arms 101 and 102 are fixed, a camera 106 which images an area including a working area 209 of the pedestal 103, and a booth 104 to which the camera 106 is fixed. The pedestal 103 is fixed to a floor surface, and the booth 104 is fixed to the floor surface without contacting the pedestal 103. The booth 104 is formed in the shape of a rectangular parallelepiped having a short side parallel to a workpiece conveying direction T and a long side perpendicular to the workpiece conveying direction T in a plan view. In the booth 104, the length of the long side y of the booth 104 is set to not less than the sum of a maximum length by which the robot arms 101 and 102 protrude from the pedestal 103 in a direction perpendicular to the workpiece conveying direction T and the length in the direction perpendicular to the workpiece conveying direction T of the pedestal 103 in a plan view.
摘要翻译：实现机器人手臂和工件的高精度定位，同时减少相机振动。根据本发明，为此目的，机器人站100包括固定有机器人手臂101和102的基座103，对包括基座103的工作区域209的区域进行成像的照相机106和与其相对照相机106是固定的。基座103被固定在地板表面上，并且将展位104固定在地板表面上而不与基座103接触。展台104形成为具有平行于工件传送方向T的短边的长方体形状，在平面图中垂直于工件传送方向T的长边。在展台104中，展厅104的长边y的长度被设定为不小于机器人臂101和102在垂直于工件传送方向的方向上从基座103突出的最大长度之和 T和在平面图中与基座103的工件输送方向T垂直的方向的长度。

2. 发明申请

US20130086801A1 ASSEMBLING APPARATUS AND PRODUCTION SYSTEM 有权
标题翻译：装配设备和生产系统
公开(公告)号：US20130086801A1
公开(公告)日：2013-04-11
申请号：US13702119
申请日：2011-06-22
申请人： Toshihiko Mimura , Yuichi Someya , Yuji Matsuo , Mikio Nakasugi , Ken Meisho , Masaichi Sato , Mahito Negishi
发明人： Toshihiko Mimura , Yuichi Someya , Yuji Matsuo , Mikio Nakasugi , Ken Meisho , Masaichi Sato , Mahito Negishi
IPC分类号： B23P21/00
CPC分类号： B23P21/00 , B25J9/0084 , B25J21/00 , Y10T29/53087 , Y10T29/53091
摘要： To enable positioning a robot arm and a workpiece with high accuracy while reducing vibrations of a camera. According to the claimed invention for this purpose, a robot station 100 includes a pedestal 103 to which robot arms 101 and 102 are fixed, a camera 106 which images an area including a working area 209 of the pedestal 103, and a booth 104 to which the camera 106 is fixed. The pedestal 103 is fixed to a floor surface, and the booth 104 is fixed to the floor surface without contacting the pedestal 103. The booth 104 is formed in the shape of a rectangular parallelepiped having a short side parallel to a workpiece conveying direction T and a long side perpendicular to the workpiece conveying direction T in a plan view. In the booth 104, the length of the long side y of the booth 104 is set to not less than the sum of a maximum length by which the robot arms 101 and 102 protrude from the pedestal 103 in a direction perpendicular to the workpiece conveying direction T and the length in the direction perpendicular to the workpiece conveying direction T of the pedestal 103 in a plan view.
摘要翻译：实现机器人手臂和工件的高精度定位，同时减少相机振动。根据本发明，为此目的，机器人站100包括固定有机器人手臂101和102的基座103，对包括基座103的工作区域209的区域进行成像的照相机106和与其相对照相机106是固定的。基座103被固定在地板表面上，并且将展位104固定在地板表面上而不与基座103接触。展台104形成为具有平行于工件传送方向T的短边的长方体形状，在平面图中垂直于工件传送方向T的长边。在展台104中，展厅104的长边y的长度被设定为不小于机器人臂101和102在垂直于工件传送方向的方向上从基座103突出的最大长度之和 T和在平面图中与基座103的工件输送方向T垂直的方向的长度。

3. 发明授权

US09120221B2 Robot cell apparatus and production system 有权
标题翻译：机器人细胞装置和生产系统
公开(公告)号：US09120221B2
公开(公告)日：2015-09-01
申请号：US13697584
申请日：2011-05-16
申请人： Mikio Nakasugi , Mahito Negishi , Masaichi Sato , Ken Meisho , Yuji Matsuo
发明人： Mikio Nakasugi , Mahito Negishi , Masaichi Sato , Ken Meisho , Yuji Matsuo
IPC分类号： B23P21/00 , B25J9/00
CPC分类号： B25J9/0084 , B23P21/00 , B23P21/004 , B25J9/0096 , Y10T29/53
摘要： Provided is a robot cell apparatus in which a cooperatively operable area for a pair of robot arms can be widened and which has an excellent workability. The present invention includes a table with a plane having a quadrangular shape in plan view, a workpiece being placed on the plane. Proximal ends of robot arms are respectively fixed to two corners at diagonal positions among four corners of the plane of the table. A cooperatively operable area in which the pair of robot arms are cooperatively operable is formed in a space above the plane of the table.
摘要翻译：提供一种机器人单元装置，其中可以加宽用于一对机器人手臂的协作可操作区域，并且其具有优异的可加工性。本发明包括具有平面图中具有四边形形状的平面的工作台，将工件放置在平面上。机器人手臂的近端分别固定在桌子的平面四角之间的对角位置的两个角。在桌子的平面上方的空间中形成有可协作操作的一对机器人手臂的协同操作区域。

4. 发明申请

US20130055560A1 ROBOT CELL APPARATUS AND PRODUCTION SYSTEM 有权
标题翻译：机器人设备和生产系统
公开(公告)号：US20130055560A1
公开(公告)日：2013-03-07
申请号：US13697584
申请日：2011-05-16
申请人： Mikio Nakasugi , Mahito Negishi , Masaichi Sato , Ken Meisho , Yuji Matsuo
发明人： Mikio Nakasugi , Mahito Negishi , Masaichi Sato , Ken Meisho , Yuji Matsuo
IPC分类号： B23P19/00
CPC分类号： B25J9/0084 , B23P21/00 , B23P21/004 , B25J9/0096 , Y10T29/53
摘要： Provided is a robot cell apparatus in which a cooperatively operable area for a pair of robot arms can be widened and which has an excellent workability. The present invention includes a table with a plane having a quadrangular shape in plan view, a workpiece being placed on the plane. Proximal ends of robot arms are respectively fixed to two corners at diagonal positions among four corners of the plane of the table. A cooperatively operable area in which the pair of robot arms are cooperatively operable is formed in a space above the plane of the table.
摘要翻译：提供一种机器人单元装置，其中可以加宽用于一对机器人手臂的协作可操作区域，并且其具有优异的可加工性。本发明包括具有平面图中具有四边形形状的平面的工作台，将工件放置在平面上。机器人手臂的近端分别固定在桌子的平面四角之间的对角位置的两个角。在桌子的平面上方的空间中形成有可协作操作的一对机器人手臂的协同操作区域。

5. 发明申请

US20110258847A1 ROBOTIC CELL 审中-公开
标题翻译：机器人细胞
公开(公告)号：US20110258847A1
公开(公告)日：2011-10-27
申请号：US13079183
申请日：2011-04-04
申请人： Ken Meisho , Mikio Nakasugi , Mahito Negishi , Yuji Matsuo
发明人： Ken Meisho , Mikio Nakasugi , Mahito Negishi , Yuji Matsuo
IPC分类号： B23P19/00
CPC分类号： B25J9/0084 , B23P19/00 , B23P21/00 , B25J9/0009 , B25J21/00 , Y10T29/53
摘要： A robotic cell enables a robotic station to be downsized and both high maintainability and high rigidity to be attained. To this end, the robotic cell for assembling parts by using multiple robots includes multiple booths for housing multiple trestles, on each of which a pair of robotic arms are mounted, with the trestles adjoining one another. Each trestle has an opening portion on one side surface thereof, through which a power controller box is carried in and out. To compensate for a decrease in rigidity of the trestle due to the opening portion, a connecting member is used for coupling two trestles adjacent to each other across the respective booths. Both end portions of each connecting member are fastened to the both trestles with screws, respectively.
摘要翻译：机器人电池使得机器人站能够被小型化，并且能够实现高可维护性和高刚度。为此，通过使用多个机器人组装零件的机器人单元包括多个支架，用于容纳多个支架，每个支架上安装有一对机器人手臂，支架彼此相邻。每个支架在其一个侧表面上具有开口部分，功率控制器盒通过该开口部分进出。为了补偿由于开口部分引起的支架刚度的降低，连接构件用于将两个彼此相邻的两个支架联接在相应的展位上。每个连接构件的两个端部分别用螺钉紧固到两个支架上。

6. 发明授权

US07915787B2 Actuator 有权
标题翻译：执行器
公开(公告)号：US07915787B2
公开(公告)日：2011-03-29
申请号：US12169575
申请日：2008-07-08
申请人： Mahito Negishi , Takao Yokomatsu , Ken Meisho , Seiichi Hata , Akira Shimokohbe , Dongming Sun , Sheng Wang
发明人： Mahito Negishi , Takao Yokomatsu , Ken Meisho , Seiichi Hata , Akira Shimokohbe , Dongming Sun , Sheng Wang
IPC分类号： H01L41/08
CPC分类号： H02N2/009 , H02N2/021 , H02N2/08
摘要： A cylindrical piezoelectric element is arranged to share an axis with a cylindrical vibrator having different diameters at central and end portions to fix the vibrator forming a gap at the central portion. Vibration voltages are applied across first electrodes on the piezoelectric element and the vibrator, namely, a second electrode, to vibrate the vibrator and bring a wave front of a traveling wave into contact with a tubular member, i.e., a supporting member fitted to the vibrator. Friction at a contact portion of the vibrator moves a mover including the vibrator and the piezoelectric element in an axial direction of the tubular member. By amplifying the vibration amplitude using the vibrator provided separately from the piezoelectric element, a small actuator capable of performing high-speed driving is realized.
摘要翻译：圆柱形压电元件被布置成与中心部分和端部具有不同直径的圆柱形振动器共轴以固定在中心部分形成间隙的振动器。在压电元件和振动器（即第二电极）上的第一电极上施加振动电压，以使振动器振动并使行波的波前与管状构件（即，安装到振动器的支撑构件）接触。在振动器的接触部分的摩擦使包括振动器和压电元件在内的动子在管状构件的轴向上移动。通过使用与压电元件分开设置的振动器放大振动振幅，实现了能够进行高速驱动的小型致动器。

7. 发明申请

US20090021113A1 ACTUATOR 有权
标题翻译：执行机构
公开(公告)号：US20090021113A1
公开(公告)日：2009-01-22
申请号：US12169575
申请日：2008-07-08
申请人： Mahito Negishi , Takao Yokomatsu , Ken Meisho , Seiichi Hata , Akira Shimokohbe , Dongming Sun , Sheng Wang
发明人： Mahito Negishi , Takao Yokomatsu , Ken Meisho , Seiichi Hata , Akira Shimokohbe , Dongming Sun , Sheng Wang
IPC分类号： H02N2/02
CPC分类号： H02N2/009 , H02N2/021 , H02N2/08
摘要： A cylindrical piezoelectric element is arranged to share an axis with a cylindrical vibrator having different diameters at central and end portions to fix the vibrator forming a gap at the central portion. Vibration voltages are applied across first electrodes on the piezoelectric element and the vibrator, namely, a second electrode, to vibrate the vibrator and bring a wave front of a traveling wave into contact with a tubular member, i.e., a supporting member fitted to the vibrator. Friction at a contact portion of the vibrator moves a mover including the vibrator and the piezoelectric element in an axial direction of the tubular member. By amplifying the vibration amplitude using the vibrator provided separately from the piezoelectric element, a small actuator capable of performing high-speed driving is realized.
摘要翻译：圆柱形压电元件被布置成与中心部分和端部具有不同直径的圆柱形振动器共轴以固定在中心部分形成间隙的振动器。在压电元件和振动器（即第二电极）上的第一电极上施加振动电压，以使振动器振动并使行波的波前与管状构件（即，安装到振动器的支撑构件）接触。在振动器的接触部分的摩擦使包括振动器和压电元件在内的动子在管状构件的轴向上移动。通过使用与压电元件分开设置的振动器放大振动振幅，实现了能够进行高速驱动的小型致动器。

8. 发明申请

US20070195333A1 ATOMIC FORCE MICROSCOPE 失效
标题翻译：原子力显微镜
公开(公告)号：US20070195333A1
公开(公告)日：2007-08-23
申请号：US11675562
申请日：2007-02-15
申请人： Mahito Negishi
发明人： Mahito Negishi
IPC分类号： G01N13/16 , G01B5/28 , G01B11/30
CPC分类号： G01B21/30 , G01Q10/06 , G01Q20/02 , G01Q60/38 , G01Q70/06
摘要： A surface shape of a member to be measured is measured by reflecting measuring light at a reflection surface of a probe and utilizing an atomic force exerting between the probe and utilizing an atomic force exerting between the probe and the member to be measured. In addition to a first scanner for driving the probe, a second scanner for moving a focus position of an optical system is provided. Position conversion data representing a correlation between amounts of control of the first scanner and the second scanner are obtained in advance. By synchronously driving the first scanner and the second scanner, the focus position of the optical system is caused to follow the probe to improve measurement accuracy.
摘要翻译：通过在探针的反射面反射测量光并利用在探针之间施加的原子力并利用在探针与待测量的构件之间施加的原子力来测量要测量的构件的表面形状。除了用于驱动探针的第一扫描仪之外，还提供了用于移动光学系统的聚焦位置的第二扫描仪。预先获得表示第一扫描仪和第二扫描仪的控制量之间的相关性的位置转换数据。通过同步驱动第一扫描器和第二扫描器，使得光学系统的聚焦位置跟随探头以提高测量精度。

9. 发明授权

US5040431A Movement guiding mechanism 失效
标题翻译：运动引导机制
公开(公告)号：US5040431A
公开(公告)日：1991-08-20
申请号：US299340
申请日：1989-01-23
申请人： Shigeo Sakino , Eiji Osanai , Mahito Negishi , Michio Horikoshi , Mitsuru Inoue , Kazuya Ono
发明人： Shigeo Sakino , Eiji Osanai , Mahito Negishi , Michio Horikoshi , Mitsuru Inoue , Kazuya Ono
IPC分类号： F16C29/02 , G03F7/20 , H01L21/68
CPC分类号： F16C29/025 , F16C32/06 , G03F7/70716 , H01L21/68 , Y10S248/913 , Y10T74/20354
摘要： In a movement guiding device, two parallel stationary guides are fixed to a surface plate and plural hydrostatic gas or bearing members are provided for the surface plate and the stationary guides. A Y stage is moved in a Y-axis direction under the influence of these bearing members. Additional hydrostatic gas or air bearing members are provided in relation to the surface plate and the Y stage so as to support an X stage for movement in an X-axis direction orthogonal to the Y-axis direction. Guide of the Y stage in the X-axis direction is made by the stationary guides on the surface plate, while guide thereof in a Z-axis direction perpendicular to an X-Y plane is made by the surface plate. Guide of the X stage in the Y-axis direction is made by the Y stage, while the guide thereof in the Z-axis direction is made by the surface plate, similar to the Y stage. With such structure, any vibration, rolling, or otherwise, of the Y stage is not transmitted to the X stage. Thus, high-precision guide is attainable. Linear motors are used as drive sources for the X and Y stages, so that all movable portions are provided by non-contact structures. Further, suitable brake members are used, which members are operable at a time of an accident of the stage. By this, accidental collision of the stage and/or derailment of the stage from the guide can be prevented.
摘要翻译：在运动导向装置中，两个平行的固定导轨固定在一个表面板上，为表面板和固定导轨提供多个静压气体或轴承部件。在这些轴承部件的影响下，Y台架沿Y轴方向移动。相对于表面板和Y平台设置有额外的静液压气体或空气轴承构件，以支撑X平台在与Y轴方向正交的X轴方向上移动。通过表面板上的固定引导件在X轴方向上引导Y台的引导，而通过表面板在与X-Y平面垂直的Z轴方向上的引导。 X平台的Y轴方向的引导由Y台进行，其Z轴方向的引导部由表面板制成，与Y台相同。利用这种结构，Y阶段的任何振动，滚动或其他方式不会传递到X级。因此，可以实现高精度的引导。线性电动机用作X和Y级的驱动源，使得所有可移动部分由非接触结构提供。此外，使用合适的制动构件，这些构件在阶段事故发生时可操作。由此，可以防止舞台的意外碰撞和/或舞台从导轨脱轨。

10. 发明授权

US08744625B2 Robot controlling device 有权
标题翻译：机器人控制装置
公开(公告)号：US08744625B2
公开(公告)日：2014-06-03
申请号：US13269215
申请日：2011-10-07
申请人： Mahito Negishi
发明人： Mahito Negishi
IPC分类号： B25J9/06
CPC分类号： B25J9/161 , B25J9/1656 , G05B2219/33081 , G05B2219/40449
摘要： In the control of a multi-joint robot main body, it is necessary to execute intricate track calculations and synchronous operations in parallel, even if the track calculations are intricate and times required for the calculations are indefinite. For this purpose, a robot controlling device of the present invention includes a shared memory, and first and second processing units connected to the shared memory. The first processing unit performs track calculation processing which includes calculating operation command data indicating a series of command values to be output to arm motors, based on a command to operate the multi-joint robot main body to a desired position posture, and storing the calculated operation command data in the shared memory. The second processing unit performs synchronous processing which includes acquiring the operation command data stored in the shared memory, and synchronously outputting the command values to the arm motors at predetermined time intervals.
摘要翻译：在多关节机器人主体的控制中，即使轨迹计算复杂，计算所需时间不确定，也需要并行执行复杂的轨迹计算和同步运算。为此，本发明的机器人控制装置包括共享存储器以及连接到共享存储器的第一和第二处理单元。第一处理单元执行轨道计算处理，其包括基于将多关节机器人主体操作到所需位置姿势的命令，计算指示要输出到手臂马达的一系列命令值的操作命令数据，并存储所计算的共享存储器中的操作命令数据。第二处理单元执行同步处理，其包括获取存储在共享存储器中的操作命令数据，并且以预定时间间隔同步地将命令值输出到臂马达。

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