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1. 发明申请

US20100145515A1 ROBOT SYSTEM AND CONTROL METHOD 有权
标题翻译：机器人系统与控制方法
公开(公告)号：US20100145515A1
公开(公告)日：2010-06-10
申请号：US12538167
申请日：2009-08-10
申请人： Mitsuaki NAKANISHI , Makoto WADA
发明人： Mitsuaki NAKANISHI , Makoto WADA
IPC分类号： G05B19/04
CPC分类号： B25J9/1676 , G05B2219/42288 , G05B2219/49162 , G05B2219/50103 , G05B2219/50112
摘要： A robot system includes a robot arm driven by a motor, a collision detector that detects a collision between the robot arm and an obstacle, which is provided on the robot arm, and a stopping method selector that controls the robot arm by selecting any one of all stopping methods on the basis of the information obtained by the collision detector, thereby selecting a stopping method in accordance with the status of the collision.
摘要翻译：机器人系统包括由马达驱动的机器人手臂，检测机器人手臂与设置在机器人手臂上的障碍物之间的碰撞的碰撞检测器，以及通过选择任意一个来控制机器人手臂的停止方法选择器基于由碰撞检测器获得的信息的所有停止方法，从而根据碰撞状态选择停止方法。

2. 发明授权

US07023161B2 Power regulated window 有权
标题翻译：电力调节窗
公开(公告)号：US07023161B2
公开(公告)日：2006-04-04
申请号：US11195787
申请日：2005-08-03
申请人： Katsuyuki Iwasaki , Yasuyuki Mochizuki , Yoshimitsu Maejima , Susumu Yamamoto , Satoshi Nakagawa
发明人： Katsuyuki Iwasaki , Yasuyuki Mochizuki , Yoshimitsu Maejima , Susumu Yamamoto , Satoshi Nakagawa
IPC分类号： G05D3/00
CPC分类号： E05F15/695 , E05F15/00 , E05F15/41 , E05Y2201/41 , E05Y2201/434 , E05Y2400/525 , E05Y2400/554 , E05Y2400/57 , E05Y2400/86 , E05Y2800/252 , E05Y2900/55 , G05B2219/45242 , G05B2219/49159 , G05B2219/49162
摘要： The present invention is to provide a power regulated window having a window glass to be closed intentionally when some foreign body is pinched by the window glass for security reasons. When a close signal is output to a semiconductor switching element from window regulator switches, the window glass is closed. When some foreign body such as arm or fingers is pinched by the window glass, a load current of a motor becomes abnormal and the motor rotates reversely to open the window glass in order not to damage the foreign body. Besides this protective function, when the foreign body is pinched by the window glass and a prohibit signal to invalidate the reverse rotation is output, a reversing controller is stopped and the window glass is closed continuously by a bypass switching element.
摘要翻译：本发明的目的是提供一种具有窗玻璃的动力调节窗，当窗口玻璃出于安全考虑被夹住时，有意闭合的窗玻璃。当窗口调节器开关向半导体开关元件输出关闭信号时，关闭窗玻璃。当手指或手指等异物被窗玻璃夹住时，电机的负载电流变得异常，电机反向旋转以打开窗玻璃，以免损坏异物。除了这种保护功能之外，当异物被窗玻璃挤压并输出禁止反转无效信号时，反转控制器停止，窗玻璃被旁路开关元件连续关闭。

3. 发明申请

US20160279797A1 DETECTION DEVICE AND DETECTION METHOD 有权
标题翻译：检测装置和检测方法
公开(公告)号：US20160279797A1
公开(公告)日：2016-09-29
申请号：US15034991
申请日：2014-11-06
申请人： KUKA SYSTEMS GMBH
发明人： Richard ZUNKE , Andreas DOMKE , Konrad WIRTH , Thomas RAU , Julian STOCKSCHLÄDER
IPC分类号： B25J9/16 , B25J13/08 , B25J19/00 , G01L5/00
CPC分类号： B25J9/1692 , B25J9/1674 , B25J9/1676 , B25J13/085 , B25J19/0095 , F16P3/12 , G01L5/008 , G05B19/423 , G05B2219/37205 , G05B2219/39013 , G05B2219/39031 , G05B2219/39319 , G05B2219/40226 , G05B2219/42288 , G05B2219/49162
摘要： A detection device and a detection method are provided for robot-induced loads that can act upon the human body in contact with the robot during a working process. The robot-induced loads, in particular forces, are measured by the measuring device (16) of an external sensing device (2). The measuring device (16) is suitably positioned and oriented in this process in the working area of an industrial robot (3) by means of a positioning device (15).
摘要翻译：提供了一种用于机器人引起的负载的检测装置和检测方法，其可以在工作过程中作用于与机器人接触的人体。机器人引起的负载（特别是力）由外部感测装置（2）的测量装置（16）测量。测量装置（16）通过定位装置（15）适当地定位和定向在工业机器人（3）的工作区域中。

4. 发明授权

US08134312B2 Motor control circuit and power window device 有权
标题翻译：电机控制电路和电动窗装置
公开(公告)号：US08134312B2
公开(公告)日：2012-03-13
申请号：US12573683
申请日：2009-10-05
申请人： Katsunori Kigoshi
发明人： Katsunori Kigoshi
IPC分类号： H02P1/00 , H02P1/04 , H02G3/00 , B23K11/24
CPC分类号： G05B19/4061 , E05F15/40 , E05F15/41 , E05F15/695 , E05Y2400/44 , E05Y2800/428 , E05Y2900/55 , G05B2219/45242 , G05B2219/49162 , H02H1/04 , H02H7/0851 , Y10T307/74
摘要： A motor control circuit includes a manipulation unit, a control unit that drives a motor in a normal rotation direction or a reverse rotation direction, a catch detecting unit that detects a foreign substance caught in the opening and closing body, a first relay circuit that connects one of terminals of the motor to a power supply when the motor is driven in the normal rotation direction, a second relay circuit that connects the other terminal of the motor to the power supply when the motor is driven in the reverse rotation direction, a switch element that cuts off connection to the power supply when the normal rotation command is fed into the control unit from the manipulation unit, a detection circuit, and a feed circuit.
摘要翻译：一种电动机控制电路，包括：操作单元，沿正常旋转方向或反向旋转方向驱动电动机的控制单元;检测在开闭体内捕获的异物的检测单元;连接当电动机沿正常旋转方向驱动时，将电动机的端子中的一个连接到电源;电动机沿反向旋转方向驱动时将电动机的另一个端子连接到电源的第二继电器电路; 元件，当正常旋转命令从操作单元，检测电路和馈电电路馈送到控制单元时，切断与电源的连接。

5. 发明申请

US20060028162A1 Power regulated window 有权
公开(公告)号：US20060028162A1
公开(公告)日：2006-02-09
申请号：US11195787
申请日：2005-08-03
申请人： Katsuyuki Iwasaki , Yasuyuki Mochizuki , Yoshimitsu Maejima , Susumu Yamamoto , Satoshi Nakagawa
发明人： Katsuyuki Iwasaki , Yasuyuki Mochizuki , Yoshimitsu Maejima , Susumu Yamamoto , Satoshi Nakagawa
IPC分类号： H02P3/00 , H02P1/00
CPC分类号： E05F15/695 , E05F15/00 , E05F15/41 , E05Y2201/41 , E05Y2201/434 , E05Y2400/525 , E05Y2400/554 , E05Y2400/57 , E05Y2400/86 , E05Y2800/252 , E05Y2900/55 , G05B2219/45242 , G05B2219/49159 , G05B2219/49162
摘要： The present invention is to provide a power regulated window having a window glass to be closed intentionally when some foreign body is pinched by the window glass for security reasons. When a close signal is output to a semiconductor switching element from window regulator switches, the window glass is closed. When some foreign body such as arm or fingers is pinched by the window glass, a load current of a motor becomes abnormal and the motor rotates reversely to open the window glass in order not to damage the foreign body. Besides this protective function, when the foreign body is pinched by the window glass and a prohibit signal to invalidate the reverse rotation is output, a reversing controller is stopped and the window glass is closed continuously by a bypass switching element.

6. 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.

7. 发明授权

US4580085A Feed control system with a safety device 失效
标题翻译：进料控制系统带有安全装置
公开(公告)号：US4580085A
公开(公告)日：1986-04-01
申请号：US724165
申请日：1985-04-17
申请人： Kunihiko Eto , Syuichi Nakada , Kaoru Owa , Tadashi Koyama
发明人： Kunihiko Eto , Syuichi Nakada , Kaoru Owa , Tadashi Koyama
IPC分类号： G05B9/02 , B25J9/16 , B25J9/18 , G05B19/4067 , G05B19/4155 , G05B23/02
CPC分类号： B25J9/1676 , G05B2219/49157 , G05B2219/49162
摘要： In a feed control system, a feed controller controls a servomotor in such a manner as to reduce the difference between an objective position and a present position of a movable body. An interference detection circuit coupled to the feed controller detects the occurrence of an interference between the movable body and an obstruction when feed movement of the movable body is discontinued nevertheless the difference between the objection and present positions does not reach zero. A digital computer is coupled to an objective position counter provided in the feed controller to selectively set therein objective positions to which the movable body is to be positioned successively. The digital computer, when receiving a signal from the interference detection circuit, sets the objective position counter with data for moving the movable body a predetermined amount in a direction opposite to that wherein the movable body was moved before the occurrence of an interference.
摘要翻译：在进给控制系统中，进给控制器以减小可移动体的目标位置和当前位置之间的差异的方式控制伺服电动机。耦合到馈送控制器的干扰检测电路检测当移动体的进给运动中断时可移动体和障碍物之间的干扰的发生，然而反射和当前位置之间的差不会达到零。数字计算机被耦合到设置在馈送控制器中的目标位置计数器，以选择性地将其中可移动体被定位到的目标位置。数字计算机在从干扰检测电路接收到信号时，将目标位置计数器设置为与可动体在发生干扰之前移动的方向相反的方向移动可移动体的数据。

8. 发明授权

US09962836B2 Detection device and detection method 有权
公开(公告)号：US09962836B2
公开(公告)日：2018-05-08
申请号：US15034991
申请日：2014-11-06
申请人： KUKA SYSTEMS GMBH
发明人： Richard Zunke , Andreas Domke , Konrad Wirth , Thomas Rau , Julian Stockschläder
IPC分类号： G05B19/04 , B25J9/16 , B25J19/00 , G01L5/00 , B25J13/08 , G05B19/423 , F16P3/12
CPC分类号： B25J9/1692 , B25J9/1674 , B25J9/1676 , B25J13/085 , B25J19/0095 , F16P3/12 , G01L5/008 , G05B19/423 , G05B2219/37205 , G05B2219/39013 , G05B2219/39031 , G05B2219/39319 , G05B2219/40226 , G05B2219/42288 , G05B2219/49162
摘要： A detection device and a detection method are provided for robot-induced loads that can act upon the human body in contact with the robot during a working process. The robot-induced loads, in particular forces, are measured by the measuring device (16) of an external sensing device (2). The measuring device (16) is suitably positioned and oriented in this process in the working area of an industrial robot (3) by means of a positioning device (15).

9. 发明授权

US08423189B2 Robot system and control method 有权
标题翻译：机器人系统和控制方法
公开(公告)号：US08423189B2
公开(公告)日：2013-04-16
申请号：US12538167
申请日：2009-08-10
申请人： Mitsuaki Nakanishi , Makoto Wada
发明人： Mitsuaki Nakanishi , Makoto Wada
IPC分类号： G05B19/048
CPC分类号： B25J9/1676 , G05B2219/42288 , G05B2219/49162 , G05B2219/50103 , G05B2219/50112
摘要： A robot system includes a robot arm driven by a motor, a collision detector that detects a collision between the robot arm and an obstacle, which is provided on the robot arm, and a stopping method selector that controls the robot arm by selecting any one of all stopping methods on the basis of the information obtained by the collision detector, thereby selecting a stopping method in accordance with the status of the collision.
摘要翻译：机器人系统包括由马达驱动的机器人手臂，检测机器人手臂与设置在机器人手臂上的障碍物之间的碰撞的碰撞检测器，以及通过选择任意一个来控制机器人手臂的停止方法选择器基于由碰撞检测器获得的信息的所有停止方法，从而根据碰撞状态选择停止方法。

10. 发明申请

US20100083579A1 MOTOR CONTROL CIRCUIT AND POWER WINDOW DEVICE 有权
标题翻译：电机控制电路和电动窗设备
公开(公告)号：US20100083579A1
公开(公告)日：2010-04-08
申请号：US12573683
申请日：2009-10-05
申请人： Katsunori Kigoshi
发明人： Katsunori Kigoshi
IPC分类号： E05F15/18 , H02H7/093
CPC分类号： G05B19/4061 , E05F15/40 , E05F15/41 , E05F15/695 , E05Y2400/44 , E05Y2800/428 , E05Y2900/55 , G05B2219/45242 , G05B2219/49162 , H02H1/04 , H02H7/0851 , Y10T307/74
摘要： A motor control circuit includes a manipulation unit, a control unit that drives a motor in a normal rotation direction or a reverse rotation direction, a catch detecting unit that detects a foreign substance caught in the opening and closing body, a first relay circuit that connects one of terminals of the motor to a power supply when the motor is driven in the normal rotation direction, a second relay circuit that connects the other terminal of the motor to the power supply when the motor is driven in the reverse rotation direction, a switch element that cuts off connection to the power supply when the normal rotation command is fed into the control unit from the manipulation unit, a detection circuit, and a feed circuit.
摘要翻译：一种电动机控制电路，包括：操作单元，沿正常旋转方向或反向旋转方向驱动电动机的控制单元;检测在开闭体内捕获的异物的检测单元;连接当电动机沿正常旋转方向驱动时，将电动机的端子中的一个连接到电源;电动机沿反向旋转方向驱动时将电动机的另一个端子连接到电源的第二继电器电路; 元件，当正常旋转命令从操作单元，检测电路和馈电电路馈送到控制单元时，切断与电源的连接。

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