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1. 发明授权

US07764040B2 Robot control apparatus comprising a servo amplifier having an AC/DC converter 有权
标题翻译：机器人控制装置包括具有AC / DC转换器的伺服放大器
公开(公告)号：US07764040B2
公开(公告)日：2010-07-27
申请号：US11902269
申请日：2007-09-20
申请人： Yoshiki Hashimoto , Minoru Enomoto
发明人： Yoshiki Hashimoto , Minoru Enomoto
IPC分类号： G05B11/32
CPC分类号： H01H47/223 , B25J9/161 , G05B2219/35472 , G05B2219/36472 , H02M1/36 , H02P29/032 , H02P29/10
摘要： A robot control apparatus comprises a servo amplifier having an AC/DC converter and used for driving a servo motor of a robot, and performs control so that power for driving the robot is supplied to the servo amplifier through a capacitor inrush current preventing resistor until precharging of a capacitor provided for the AC/DC converter is completed. The robot control apparatus has a first operation mode in which the power is supplied by bypassing the resistor, a second operation mode in which power is supplied through the resistor thereby controlling the servo motor in the robot to a lower driving speed than the driving speed in the first operation mode, and a selector switch SW for effecting switching from the first operation mode to the second operation mode or from the second operation mode to the first operation mode. With this configuration, a power supply circuit for supplying power to the servo amplifier for limiting the driving of the robot is reliably implemented by hardware.
摘要翻译：机器人控制装置包括具有AC / DC转换器的伺服放大器，用于驱动机器人的伺服电动机，并且进行控制，使得通过电容器涌流阻止电阻器向伺服放大器提供用于驱动机器人的电力，直到预充电为AC / DC转换器提供的电容器完成。机器人控制装置具有第一操作模式，其中通过绕过电阻器来供电，通过电阻器供电的第二操作模式，从而将机器人中的伺服电机控制在比驱动速度低的驱动速度第一操作模式和用于从第一操作模式切换到第二操作模式或从第二操作模式切换到第一操作模式的选择器开关SW。利用该结构，通过硬件可靠地实现用于向伺服放大器供电以限制机器人的驱动的电源电路。

2. 发明授权

US07817847B2 Robot system with vision sensor 有权
标题翻译：具有视觉传感器的机器人系统
公开(公告)号：US07817847B2
公开(公告)日：2010-10-19
申请号：US11242934
申请日：2005-10-05
申请人： Yoshiki Hashimoto , Minoru Enomoto
发明人： Yoshiki Hashimoto , Minoru Enomoto
IPC分类号： G06K9/00
CPC分类号： B25J9/1697
摘要： A robot system having a vision sensor. The robot system includes a robot; a robot controlling section for controlling an operation of the robot; an imaging section provided on the robot and obtaining image data of a working environment of the robot; an image processing section for processing the image data obtained in the imaging section; a vision controlling section for controlling the imaging section and the image processing section to cause execution of obtaining the image data, transmitting the image data thus obtained, and processing the image data; and a communication network to which the robot controlling section, the image processing section and the vision controlling section are connected.
摘要翻译：具有视觉传感器的机器人系统。机器人系统包括机器人; 机器人控制部，其控制所述机器人的动作; 成像部，其设置在所述机器人上，获取所述机器人的工作环境的图像数据; 图像处理部分，用于处理在所述成像部分中获得的图像数据; 视觉控制部分，用于控制成像部分和图像处理部分，以执行获取图像数据，发送由此获得的图像数据，并处理图像数据; 以及机器人控制部分，图像处理部分和视觉控制部分连接到的通信网络。

3. 发明申请

US20080079382A1 Robot control apparatus comprising a servo amplifier having an AC/DC converter 有权
标题翻译：机器人控制装置包括具有AC / DC转换器的伺服放大器
公开(公告)号：US20080079382A1
公开(公告)日：2008-04-03
申请号：US11902269
申请日：2007-09-20
申请人： Yoshiki Hashimoto , Minoru Enomoto
发明人： Yoshiki Hashimoto , Minoru Enomoto
IPC分类号： B25J9/18 , G05B11/18 , G05B19/416 , G05B19/42
CPC分类号： H01H47/223 , B25J9/161 , G05B2219/35472 , G05B2219/36472 , H02M1/36 , H02P29/032 , H02P29/10
摘要： A robot control apparatus comprises a servo amplifier having an AC/DC converter and used for driving a servo motor of a robot, and performs control so that power for driving the robot is supplied to the servo amplifier through a capacitor inrush current preventing resistor until precharging of a capacitor provided for the AC/DC converter is completed. The robot control apparatus has a first operation mode in which the power is supplied by bypassing the resistor, a second operation mode in which power is supplied through the resistor thereby controlling the servo motor in the robot to a lower driving speed than the driving speed in the first operation mode, and a selector switch SW for effecting switching from the first operation mode to the second operation mode or from the second operation mode to the first operation mode. With this configuration, a power supply circuit for supplying power to the servo amplifier for limiting the driving of the robot is reliably implemented by hardware.
摘要翻译：机器人控制装置包括具有AC / DC转换器的伺服放大器，用于驱动机器人的伺服电动机，并且进行控制，使得通过电容器涌流阻止电阻器向伺服放大器提供用于驱动机器人的电力，直到预充电为AC / DC转换器提供的电容器完成。机器人控制装置具有第一操作模式，其中通过绕过电阻器来供电，通过电阻器供电的第二操作模式，从而将机器人中的伺服电机控制在比驱动速度低的驱动速度第一操作模式和用于从第一操作模式切换到第二操作模式或从第二操作模式切换到第一操作模式的选择器开关SW。利用该结构，通过硬件可靠地实现用于向伺服放大器供电以限制机器人的驱动的电源电路。

4. 发明授权

US06278902B1 Robot control method and robot control system 有权
标题翻译：机器人控制方法和机器人控制系统
公开(公告)号：US06278902B1
公开(公告)日：2001-08-21
申请号：US09254289
申请日：1999-03-03
申请人： Yoshiki Hashimoto , Minoru Enomoto
发明人： Yoshiki Hashimoto , Minoru Enomoto
IPC分类号： G06F1900
CPC分类号： G05B19/414 , B25J9/14 , B25J9/1633 , G05B2219/34013 , G05B2219/34047 , G05B2219/37494
摘要： A DSP of a servo control circuit obtains a movement value of a servomotor for each axis for each position-speed feedback processing cycle in accordance with a move command value for each axis delivered from a main processor with every distribution cycle, and also obtains a position correction value in accordance with pressure information detected by a sensor. The DSP of the servo control circuit carries out position-speed feedback processing with the use of a move command value which is obtained by correcting the movement value with the obtained position correction value, and drives the servomotor.
摘要翻译：伺服控制电路的DSP根据每个分配周期从主处理器传送的每个轴的移动指令值，获得针对每个位置速度反馈处理周期的每个轴的伺服电机的移动值，并且还获得位置根据由传感器检测到的压力信息的校正值。伺服控制电路的DSP通过使用通过用所获得的位置校正值校正移动值而获得的移动指令值来执行位置速度反馈处理，并且驱动伺服电动机。

5. 发明申请

US20060072809A1 Robot system with vision sensor 有权
标题翻译：具有视觉传感器的机器人系统
公开(公告)号：US20060072809A1
公开(公告)日：2006-04-06
申请号：US11242934
申请日：2005-10-05
申请人： Yoshiki Hashimoto , Minoru Enomoto
发明人： Yoshiki Hashimoto , Minoru Enomoto
IPC分类号： G06K9/00
CPC分类号： B25J9/1697
摘要： A robot system having a vision sensor. The robot system includes a robot; a robot controlling section for controlling an operation of the robot; an imaging section provided on the robot and obtaining image data of a working environment of the robot; an image processing section for processing the image data obtained in the imaging section; a vision controlling section for controlling the imaging section and the image processing section to cause execution of obtaining the image data, transmitting the image data thus obtained, and processing the image data; and a communication network to which the robot controlling section, the image processing section and the vision controlling section are connected. The robot controlling section, the image processing section and the vision controlling section are incorporated into a common robot control unit, the imaging section is connected to the image processing section through the communication network, and the vision controlling section causes a transmission of the image data obtained in the imaging section through the communication network to the image processing section.
摘要翻译：具有视觉传感器的机器人系统。机器人系统包括机器人; 机器人控制部，其控制所述机器人的动作; 成像部，其设置在所述机器人上，获取所述机器人的工作环境的图像数据; 图像处理部分，用于处理在所述成像部分中获得的图像数据; 视觉控制部分，用于控制成像部分和图像处理部分，以执行获取图像数据，发送由此获得的图像数据，并处理图像数据; 以及机器人控制部分，图像处理部分和视觉控制部分连接到的通信网络。机器人控制部分，图像处理部分和视觉控制部分被并入公共机器人控制单元中，成像部分通过通信网络连接到图像处理部分，并且视觉控制部分使得图像数据的传输在成像部分中通过通信网络获得到图像处理部分。

6. 发明授权

US07330777B2 Robot coordinated control method and system 有权
标题翻译：机器人协调控制方法和系统
公开(公告)号：US07330777B2
公开(公告)日：2008-02-12
申请号：US11467364
申请日：2006-08-25
申请人： Yoshiki Hashimoto , Tomoki Ohya
发明人： Yoshiki Hashimoto , Tomoki Ohya
IPC分类号： G05B19/04 , G05B19/418
CPC分类号： H04J3/0667 , B25J9/1682
摘要： A reference signal is transmitted from one of a plurality of robot control devices connected by communication connecting device to the other robot control device. The timing of generation of an operation basic period signal in each of the other robot control devices is synchronized with the timing of generation of an operation basic period signal in the one of the plurality of robot control devices, based on a time interval from generation of the operation basic period signal until transmission of the reference signal in the one of the plurality of robot control devices, a time interval from generation of the operation basic period signal until reception of the reference signal in each of the other robot control devices, and a communication delay time required for communication between the one of the plurality of robot control devices and each of the other robot control devices.
摘要翻译：通过通信连接装置连接的多个机器人控制装置中的一个发送参考信号到另一个机器人控制装置。在其他机器人控制装置的每一个中生成操作基本周期信号的定时与多个机器人控制装置中的一个机器人控制装置中的一个操作基本周期信号的生成时刻基于从生成所述操作基本周期信号，直到在所述多个机器人控制装置中的一个机器人控制装置中的所述参考信号的发送为止，从所述操作基本周期信号的生成到每个其他机器人控制装置中的参考信号的接收的时间间隔，以及多个机器人控制装置中的一个机器人控制装置与其他机器人控制装置之间的通信所需的通信延迟时间。

7. 发明授权

US06804952B2 Catalyst warm up control for diesel engine 失效
标题翻译：催化剂预热柴油机控制
公开(公告)号：US06804952B2
公开(公告)日：2004-10-19
申请号：US10369629
申请日：2003-02-21
申请人： Shizuo Sasaki , Kouji Yoshizaki , Nobuki Kobayashi , Yoshiki Hashimoto
发明人： Shizuo Sasaki , Kouji Yoshizaki , Nobuki Kobayashi , Yoshiki Hashimoto
IPC分类号： F01N300
CPC分类号： F02D41/0057 , F02D41/0255 , F02D41/3035 , F02D41/3076 , F02D2200/0802 , F02P19/026 , Y02T10/26 , Y02T10/47
摘要： Diesel engine is operated in a first warm-up mode in an early warm-up period after startup so as to accelerate activation of the catalyst, and then in a second warm-up mode in a late warm-up period after the early warm-up period so as to maintain activity of the catalyst. The first warm-up mode provides more energy to the catalyst with exhaust gases than the normal operation mode of the diesel engine. The second warm-up mode provides exhaust gases of higher temperature to the catalyst than the normal operation mode.
摘要翻译：柴油发动机在启动后的早期预热期间以第一预热模式运行，以加速催化剂的活化，然后在早期预热后的预热期间的第二预热模式中，以保持催化剂的活性。第一个预热模式为催化剂提供比柴油发动机的正常运行模式更多的能量。第二预热模式提供比正常操作模式更高温度的催化剂废气。

8. 发明授权

US06324443B1 Robot control apparatus 有权
标题翻译：机器人控制装置
公开(公告)号：US06324443B1
公开(公告)日：2001-11-27
申请号：US09258078
申请日：1999-02-26
申请人： Mitsuo Kurakake , Atsushi Watanabe , Yoshiki Hashimoto , Tomoyuki Terada
发明人： Mitsuo Kurakake , Atsushi Watanabe , Yoshiki Hashimoto , Tomoyuki Terada
IPC分类号： G06F1900
CPC分类号： B25J9/1656 , G05B19/425 , G05B2219/36159 , G05B2219/36168
摘要： An robot control apparatus with a teaching operation panel capable of making graphic display. The teaching operation panel comprises a processor, a flash memory, a DRAM, a communication port, a touch panel, a graphic controller for controlling a display device, a key control circuit for jog keys. The flash memory stores an operating system having small data size storable in the flash memory and supporting a graphic interface. The processor reads a robot operation program stored in a memory of the robot controller or in an external memory of the teaching operation pane and makes a graphic display on the display device. The graphic display is easily comprehended by an operator and editing and creation of the robot control program is made easy.
摘要翻译：具有可进行图形显示的教学操作面板的机器人控制装置。教学操作面板包括处理器，闪速存储器，DRAM，通信端口，触摸面板，用于控制显示设备的图形控制器，用于点动键的键控制电路。闪存存储具有可存储在闪速存储器中并且支持图形界面的小数据量的操作系统。处理器读取存储在机器人控制器的存储器或教学操作面板的外部存储器中的机器人操作程序，并在显示装置上进行图形显示。图形显示易于操作者理解，机器人控制程序的编辑和创建变得容易。

9. 发明授权

US06324051B1 Solid electrolytic capacitor 有权
标题翻译：固体电解电容器
公开(公告)号：US06324051B1
公开(公告)日：2001-11-27
申请号：US09697468
申请日：2000-10-26
申请人： Emiko Igaki , Masakazu Tanahashi , Chiharu Hayashi , Yoshiki Hashimoto
发明人： Emiko Igaki , Masakazu Tanahashi , Chiharu Hayashi , Yoshiki Hashimoto
IPC分类号： H01G900
CPC分类号： H01G9/012 , H01G9/042 , H01G9/08 , H01G9/12 , H01G9/15 , Y10T29/417
摘要： A solid electrolytic capacitor includes a capacitor element having an anode of a valve action metal, an oxide film layer formed on the surface of the anode, a solid electrolytic layer formed on the oxide film layer and a cathode electrically connected to the solid electrolytic layer, and also a packaging resin formed to cover the capacitor element. An intermediate layer to relieve stress is arranged in at least one part of the interface between the cathode and the packaging resin. The intermediate layer is deformed and/or peels to relieve stress caused by heat applied while mounting the capacitor element on a substrate.
摘要翻译：固体电解电容器包括具有阀作用金属的阳极的电容器元件，形成在阳极表面上的氧化膜层，形成在氧化物膜层上的固体电解质层和与固体电解质层电连接的阴极，以及形成为覆盖电容器元件的封装树脂。在阴极和包装树脂之间的界面的至少一部分中布置有缓解应力的中间层。中间层变形和/或剥离以减轻在将电容器元件安装在基板上时施加的热引起的应力。

10. 发明授权

US5841257A Circuit for supplying/interrupting power to robots 失效
标题翻译：供给/中断机器人电源的电路
公开(公告)号：US5841257A
公开(公告)日：1998-11-24
申请号：US592446
申请日：1996-01-26
申请人： Yoshiki Hashimoto , Yasuyuki Shimoda , Yasuhiro Matsuo
发明人： Yoshiki Hashimoto , Yasuyuki Shimoda , Yasuhiro Matsuo
IPC分类号： B25J9/16 , B25J9/18
CPC分类号： B25J9/1674 , G05B2219/40221
摘要： A circuit for supplying/interrupting power to robots in a robot control system which controls two robots by use of one controller. This circuit for supplying/interrupting power to robots includes a common power interrupting circuit, which simultaneously interrupts power supplies to two robots, and power interrupting circuits for individual robots, which individually interrupt power supplies to individual robots. When a common cutoff switch circuit in the common power interrupting circuit is operated on the basis of an emergency stop signal or an alarm signal, two relays are deenergized at the same time, thereby simultaneously interrupting power supply to two robots. When one of the cutoff switch circuits in the power interrupting circuit for each robot is operated by an emergency stop signal or an alarm signal, only one corresponding relay is deenergized, thereby interrupting power supply to one appropriate robot.
摘要翻译：用于在机器人控制系统中向机器人提供/中断电力的电路，其通过使用一个控制器来控制两个机器人。用于向机器人提供/中断电力的电路包括共同断电电路，其同时中断对两个机器人的电力供应，以及单独机器人的功率中断电路，其单独地中断对各个机器人的电力供应。当公共断电电路中的公共断路开关电路基于紧急停止信号或报警信号进行工作时，两个继电器同时断电，从而同时中断对两个机器人的供电。当每个机器人的断电电路中的一个断路开关电路由紧急停止信号或报警信号操作时，只有一个对应的继电器断电，从而中断向一个适当机器人的电力供应。

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