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1. 发明申请

US20100234999A1 MULTI-JOINT ROBOT AND CONTROL PROGRAM THEREOF 有权
标题翻译：多机器人及其控制程序
公开(公告)号：US20100234999A1
公开(公告)日：2010-09-16
申请号：US12303649
申请日：2007-06-25
申请人： Yuichiro Nakajima
发明人： Yuichiro Nakajima
IPC分类号： B25J9/10 , B25J17/00 , B25J13/08
CPC分类号： B25J9/1628 , G05B2219/37342 , G05B2219/40461
摘要： The present invention provides a multi-joint robot that, when the loads acting on some of joints are overloaded, controls the joints so as to continue the work as far as possible while easing the overloaded state. The load estimate unit (32) estimates the load acting on each joint, and the overloaded joint specifying unit (34) specifies an overloaded joint of which the estimated load is greater than a threshold. The storage unit (40) stores a target state vector of an end link of the robot and stores a predetermined priority with respect to the components of the vector. The component extracting unit (42) extracts the same number of components as that of non-overloaded joints from the target state vector in order of a higher priority. The force control calculating unit (36) determines the target drive quantity for driving the overloaded joint in the same direction as that of the load. The inverse transformation unit determines the target drive quantities with respect to the non-overloaded joints so as to realize the extracted components. Thus, the non-overloaded joints can be controlled so as to follow the target state vector as far as possible, while the overloaded joints are controlled in a direction to reduce the load.
摘要翻译：本发明提供一种多关节机器人，当作用在某些关节上的负载过载时，控制接头，以便在减轻过载状态的同时尽可能地继续工作。负载估计单元（32）估计作用在每个关节上的负载，并且过载关节指定单元（34）指定估计负载大于阈值的过载接头。存储单元（40）存储机器人的端部链接的目标状态向量，并且相对于向量的分量存储预定的优先级。分量提取单元（42）从目标状态矢量中提取与非过载关节相同数量的分量，其次序优先。力控制计算单元（36）确定用于驱动与负载相同方向的过载接头的目标驱动量。逆变换单元确定相对于非过载接头的目标驱动量，以实现提取的分量。因此，可以尽可能地控制非过载接头，以尽可能地跟随目标状态向量，同时将负载关节控制在减小负载的方向上。

2. 发明申请

US20090196696A1 PORTABLE DRILLING DEVICE 有权
标题翻译：便携式钻孔装置
公开(公告)号：US20090196696A1
公开(公告)日：2009-08-06
申请号：US12159174
申请日：2006-12-13
申请人： Kenji Otsuka , Osamu Asano
发明人： Kenji Otsuka , Osamu Asano
IPC分类号： B23B39/24
CPC分类号： B23B45/02 , B23B2260/062 , B23B2260/122 , B23B2270/32 , B25H1/0071 , G05B19/4062 , G05B2219/37285 , G05B2219/37342 , G05B2219/42286 , G05B2219/42289 , G05B2219/45127 , Y10S388/937 , Y10T408/14
摘要： It is an object of the present invention to prevent recurrence of an overload condition after occurrence of the overload condition, thereby improving operability and safety in a drilling device. A motor 12 for rotating a drill is connected to an AC power source 10 through a motor control unit 28, a current detector 30, and a power switch 36. A magnet 16 is also connected to the AC power source 10 through the power switch 36 and a full-wave rectifier 18. The motor control unit 28 rotationally drives the motor on the basis of a signal sent from a main control unit according to a state in which a motor start switch 38 is on. The main control unit 14 controls the motor control unit 28 to gradually reduce a supply voltage to the motor 12 when the motor 12 becomes overloaded, to gradually increase the voltage to the normal power supply condition when the overload condition is vanished, and to stop power supply to the motor 12 if the overload condition continues for a predetermined period.
摘要翻译：本发明的目的是防止在发生过载状态之后再次发生过载状况，从而提高了钻井装置的可操作性和安全性。用于旋转钻机的电动机12通过电动机控制单元28，电流检测器30和电源开关36连接到AC电源10.磁体16还通过电源开关36连接到AC电源10 和全波整流器18.电动机控制单元28根据电动机启动开关38接通的状态，基于从主控制单元发送的信号旋转驱动电动机。主控制单元14控制电动机控制单元28，当电动机12变得过载时，逐渐降低对电动机12的供电电压，当过载状况消失时，电压逐渐升高到正常供电状态，并停止供电如果过载状态持续一段预定时间，则供给电动机12。

3. 发明授权

US06965210B2 Robot apparatus, and load absorbing apparatus and method 失效
公开(公告)号：US06965210B2
公开(公告)日：2005-11-15
申请号：US11083932
申请日：2005-03-21
申请人： Masatsugu Iribe , Hajime Yamanaka
发明人： Masatsugu Iribe , Hajime Yamanaka
IPC分类号： B25J19/06 , B25J5/00 , B25J9/16 , F16D7/00 , G05B11/01 , H02P7/00
CPC分类号： B25J9/1633 , G05B2219/37342 , G05B2219/42289
摘要： To appropriately detect overload which may break a motor or deform a body and reduce the overload in the motor. The DC component of a load torque is derived from the sum of absolute values of a torque applied to a link connected to the output shaft of a motor and the generated torque of the motor, and it is determined that overload has been applied when the DC component exceeds a first threshold value for a prescribed period of time or longer. In addition, considering such a characteristic that the variation of energy applied to the output shaft of a motor is in proportion to a product of the torque and the angular velocity of the motor, the AC component of the load torque is detected based on the variation of energy, and it is predicted that overload will be applied when the AC component exceeds a second threshold value.

4. 发明授权

US06956346B2 Robot apparatus, and load absorbing apparatus and method 失效
公开(公告)号：US06956346B2
公开(公告)日：2005-10-18
申请号：US11083967
申请日：2005-03-21
申请人： Masatsugu Iribe , Hajime Yamanaka
发明人： Masatsugu Iribe , Hajime Yamanaka
IPC分类号： B25J19/06 , B25J5/00 , B25J9/16 , F16D7/00 , G05B11/01 , H02P7/00
CPC分类号： B25J9/1633 , G05B2219/37342 , G05B2219/42289
摘要： To appropriately detect overload which may break a motor or deform a body and reduce the overload in the motor. The DC component of a load torque is derived from the sum of absolute values of a torque applied to a link connected to the output shaft of a motor and the generated torque of the motor, and it is determined that overload has been applied when the DC component exceeds a first threshold value for a prescribed period of time or longer. In addition, considering such a characteristic that the variation of energy applied to the output shaft of a motor is in proportion to a product of the torque and the angular velocity of the motor, the AC component of the load torque is detected based on the variation of energy, and it is predicted that overload will be applied when the AC component exceeds a second threshold value.

5. 发明申请

US20050184697A1 Robot apparatus, and load absorbing apparatus and method 失效
公开(公告)号：US20050184697A1
公开(公告)日：2005-08-25
申请号：US11098471
申请日：2005-04-05
申请人： Masatsugu Iribe , Hajime Yamanaka
发明人： Masatsugu Iribe , Hajime Yamanaka
IPC分类号： F16D7/00 , G05B11/01 , H02P7/00
CPC分类号： B25J9/1633 , G05B2219/37342 , G05B2219/42289
摘要： To appropriately detect overload which may break a motor or deform a body and reduce the overload in the motor. The DC component of a load torque is derived from the sum of absolute values of a torque applied to a link connected to the output shaft of a motor and the generated torque of the motor, and it is determined that overload has been applied when the DC component exceeds a first threshold value for a prescribed period of time or longer. In addition, considering such a characteristic that the variation of energy applied to the output shaft of a motor is in proportion to a product of the torque and the angular velocity of the motor, the AC component of the load torque is detected based on the variation of energy, and it is predicted that overload will be applied when the AC component exceeds a second threshold value.

6. 发明授权

US3544875A Control system for a machine tool 失效
标题翻译：机床控制系统
公开(公告)号：US3544875A
公开(公告)日：1970-12-01
申请号：US3544875D
申请日：1967-05-16
申请人： TOKYU CAR CORP
发明人： HARA SEIICHI , KOSUGE GIICHI , INOUE KAZUJI
IPC分类号： G05B19/4065 , H02H3/38 , H02H7/08 , H02H7/085 , G05B9/02
CPC分类号： G05B19/4065 , G05B2219/37342 , G05B2219/37354 , H02H3/382 , H02H7/08 , H02H7/085

7. 发明申请

US20170205797A1 ELECTRONICALLY CONTROLLED SUBSTRATE WORKING APPARATUS 审中-公开
公开(公告)号：US20170205797A1
公开(公告)日：2017-07-20
申请号：US15405279
申请日：2017-01-12
申请人： 2141632 Ontario Inc.
发明人： Stephan E. Bohner , Alexander Kravets
IPC分类号： G05B19/18 , G05B19/4065 , G05B19/402
CPC分类号： G05B19/182 , G05B19/402 , G05B19/4065 , G05B2219/37342 , G05B2219/45145 , G05B2219/50277
摘要： An electronically controlled substrate working apparatus, such as a CNC controlled milling machine, drill press or lathe. The apparatus comprises a tool configured to remove material from the substrate, a spindle motor coupled to the tool, a feed motor configured to cause relative movement between the tool and the substrate along a feed path, a controller configured to control the spindle motor and the feed motor and a tool load measurement structure configured to provide a tool load value to the controller. The controller is configured to compare the load on the tool with stored or calculated first compliance values for a first location along the feed path and second compliance values for a second location along the feed path. The controller is further configured to cause the feed motor, the spindle motor or a combination thereof to take an action selected from a first set of response actions for the first location in the event that the load falls outside the first compliance values and to take an action selected from a second set of response actions for the second location in the event that the load falls outside the second compliance values. A method of operating the apparatus is also disclosed.

8. 发明授权

US08340821B2 Robot program adjusting system 有权
标题翻译：机器人程序调整系统
公开(公告)号：US08340821B2
公开(公告)日：2012-12-25
申请号：US12175569
申请日：2008-07-18
申请人： Takayuki Ito , Yoshiharu Nagatsuka
发明人： Takayuki Ito , Yoshiharu Nagatsuka
IPC分类号： G05B19/18
CPC分类号： B25J9/1671 , G05B2219/37342 , G05B2219/40387 , G05B2219/40461
摘要： A robot program adjusting system (11) adjusting an operating program of a robot arm having a plurality of axes including an overload identifying means (12) for successively reading operational instructions from said operating program of said robot arm to run simulations and thereby identify an axis where overload is acting from said plurality of axes, an additional operation generating means (13) for generating an additional operation for an axis other than the axis identified by said overload identifying means (12) to lighten the load of said identified axis, and a program adjusting means (15) for adjusting the operating program of said robot arm based on the additional operation generated by said additional operation generating means (13), whereby the load acting on an axis with a large load can be lightened without trial and error.
摘要翻译：一种机器人程序调整系统（11），其调节具有多个轴的机器人手臂的操作程序，所述多个轴包括过载识别装置（12），用于从所述机器人手臂的所述操作程序连续读取操作指令以运行模拟，从而识别轴其中过载来自所述多个轴，附加操作产生装置（13），用于为除了由所述过载识别装置（12）识别的轴之外的轴产生附加操作，以减轻所述所识别的轴的负载，以及程序调整装置（15），用于基于由所述附加操作发生装置（13）产生的附加操作来调节所述机器人手臂的操作程序，由此可以在没有试错的情况下减轻作用在具有大负载的轴上的负载。

9. 发明授权

US07936142B2 Portable drilling device 有权
标题翻译：便携式钻孔装置
公开(公告)号：US07936142B2
公开(公告)日：2011-05-03
申请号：US12159174
申请日：2006-12-13
申请人： Kenji Otsuka , Osamu Asano
发明人： Kenji Otsuka , Osamu Asano
IPC分类号： G05B11/28
CPC分类号： B23B45/02 , B23B2260/062 , B23B2260/122 , B23B2270/32 , B25H1/0071 , G05B19/4062 , G05B2219/37285 , G05B2219/37342 , G05B2219/42286 , G05B2219/42289 , G05B2219/45127 , Y10S388/937 , Y10T408/14
摘要： A drilling device prevents recurrence of an overload condition after occurrence of the overload condition, thereby improving operability and safety in the drilling device. A motor for rotating a drill is connected to an AC power source through a motor control unit, a current detector, and a power switch. A magnet is also connected to the AC power source through the power switch and a full-wave rectifier. The motor control unit rotationally drives the motor on the basis of a signal sent from a main control unit according to a state in which a motor start switch is on. The main control unit controls the motor control unit to gradually reduce a supply voltage to the motor when the motor becomes overloaded, to gradually increase the voltage to the normal power supply condition when the overload condition is vanished, and to stop power supply to the motor if the overload condition continues for a predetermined period.
摘要翻译：钻井装置防止在发生过载状况后再次发生过载状况，从而提高钻井装置的可操作性和安全性。用于旋转钻机的电动机通过电动机控制单元，电流检测器和电源开关连接到AC电源。磁体也通过电源开关和全波整流器连接到交流电源。电动机控制单元根据电动机起动开关接通的状态，根据从主控制单元发送的信号旋转驱动电动机。主控制单元控制电机控制单元，当电机过载时逐渐减小电机的电源电压，当过载状态消失时，逐渐将电压提高到正常供电状态，并停止向电机供电如果过载状态持续一段预定时间。

10. 发明申请

US20090043425A1 ROBOT PROGRAM ADJUSTING SYSTEM 有权
标题翻译：机器人程序调整系统
公开(公告)号：US20090043425A1
公开(公告)日：2009-02-12
申请号：US12175569
申请日：2008-07-18
申请人： Takayuki Ito , Yoshiharu Nagatsuka
发明人： Takayuki Ito , Yoshiharu Nagatsuka
IPC分类号： B25J9/06 , G05B19/048 , B25J13/02
CPC分类号： B25J9/1671 , G05B2219/37342 , G05B2219/40387 , G05B2219/40461
摘要： A robot program adjusting system (11) adjusting an operating program of a robot arm having a plurality of axes including an overload identifying means (12) for successively reading operational instructions from said operating program of said robot arm to run simulations and thereby identify an axis where overload is acting from said plurality of axes, an additional operation generating means (13) for generating an additional operation for an axis other than the axis identified by said overload identifying means (12) to lighten the load of said identified axis, and a program adjusting means (15) for adjusting the operating program of said robot arm based on the additional operation generated by said additional operation generating means (13), whereby the load acting on an axis with a large load can be lightened without trial and error.
摘要翻译：一种机器人程序调整系统（11），其调节具有多个轴的机器人手臂的操作程序，所述多个轴包括过载识别装置（12），用于从所述机器人手臂的所述操作程序连续读取操作指令以运行模拟，从而识别轴其中过载来自所述多个轴，附加操作产生装置（13），用于为除了由所述过载识别装置（12）识别的轴之外的轴产生附加操作，以减轻所述所识别的轴的负载，以及程序调整装置（15），用于基于由所述附加操作发生装置（13）产生的附加操作来调节所述机器人手臂的操作程序，由此可以在没有试错的情况下减轻作用在具有大负载的轴上的负载。

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