公开(公告)号：US06897850B2

公开(公告)日：2005-05-24

申请号：US09885224

申请日：2001-06-20

申请人： Koichi Sugimoto

发明人： Koichi Sugimoto

IPC分类号： G06F15/02 ,  G06F1/16 ,  G06F3/00 ,  G06F3/01 ,  G06F13/14 ,  G06F17/30 ,  G08B7/06 ,  G09B5/00 ,  G09G5/00 ,  G09G5/08 ,  G10L13/08 ,  G10L15/26 ,  H04M1/02 ,  H04M1/03

CPC分类号： H04M1/03 ,  G06F1/1616 ,  G06F1/1632 ,  G06F1/1647 ,  G06F1/1656 ,  G06F1/1671 ,  G06F1/1677 ,  G06F1/1686 ,  G06F1/169 ,  G08B7/06 ,  H04M1/0214 ,  H04M1/0245 ,  H04M2250/52 ,  Y10S345/901

摘要： An information processing apparatus wherein playback of display data and playback of audio data relating to the display data are changed over in an associated relationship with each other in response to an open or closed state of a lid mounted on a housing, includes the portable housing having an image display section provided thereon, the lid mounted for opening and closing motion on the housing for covering the display section, a lid opening/closing detection section for detecting opening or closing of the lid with respect to the housing, a display control section for displaying display data on the image display section, an audio playback section for playing back audio data relating to the display data, and a control section for controlling the audio playback section so as to play back, when opening or closing of the lid is detected by the opening/closing detection section, the audio data relating to the display data displayed when the opening or closing of the lid is detected by the lid opening/closing detection section.

摘要翻译： 一种信息处理装置，其中显示数据的回放和与显示数据有关的音频数据的重放响应于安装在外壳上的盖子的打开或关闭状态而相互关联地改变，包括具有 设置在其上的图像显示部分，用于盖住显示部分的壳体上的打开和关闭运动的盖子，用于检测盖子相对于壳体的打开或关闭的盖打开/关闭检测部分，用于 在图像显示部分显示显示数据，用于播放与显示数据有关的音频数据的音频回放部分，以及用于控制音频回放部分以便重放的控制部分，当打开或关闭盖子时，由 打开/关闭检测部分，当检测到盖的打开或关闭时显示的与显示数据相关的音频数据 盖打开/关闭检测部分。

公开(公告)号：US20050081966A1

公开(公告)日：2005-04-21

申请号：US10928176

申请日：2004-08-30

申请人： Takahiro Kashima ,  Koichi Sugimoto

发明人： Takahiro Kashima ,  Koichi Sugimoto

IPC分类号： C21D1/18 ,  C21D1/20 ,  C21D8/02 ,  C21D9/52 ,  C21D8/00 ,  C22C38/00

CPC分类号： C22C38/02 ,  C21D1/185 ,  C21D1/20 ,  C21D8/0273 ,  C21D8/0278 ,  C21D9/52 ,  C21D2211/001 ,  C21D2211/002 ,  C21D2211/008 ,  C22C38/04 ,  C22C38/06 ,  Y10T428/12799

摘要： A high tensile strength steel sheet excellent in processibility which can satisfy a strength, a total elongation, and stretch-flanging property (hole enlarging rate) at a further high level and comprises a matrix microstructure of tempered martensite or tempered bainite and, if necessary, ferrite, and a second phase of retained austenite, wherein (1) the steel comprising C: 0.10 to 0.6 mass %, Si: 1.0 mass % or smaller, Mu: 1.0 to 3 mass %, Al: 0.3 to 2.0 mass %, P: 0.02 mass % or smaller, S: 0.03 mass % or smaller, (2) a volume rate of retained austenite obtained by a saturated magnetization measuring method is 5 to 40% by area (whole field is 100%), and (3) a relationship of a carbon amount (C: weight %) in the steel, a volume rate (fγR) of retained austenite and a carbon concentration (CγR) of the retained austenite satisfies the equation: (fγR×CγR)/C≧50   (I)

摘要翻译： 一种加工性优异的高拉伸强度钢板，其可以满足强度，总伸长率和拉伸凸缘性（孔扩大率），并且还包括回火马氏体或回火贝氏体的基体组织，如果需要， 铁素体和第二相残留奥氏体，其中，（1）包含C：0.10〜0.6质量％，Si：1.0质量％以下的Mu，1.0〜3质量％，Al：0.3〜2.0质量％，P ：0.02质量％以下，S：0.03质量％以下，（2）通过饱和磁化测定法得到的残留奥氏体的体积率为5〜40面积％（整场为100％），（3） 钢中的碳量（C：重量％），残留奥氏体的体积率（fgammaR）和残留奥氏体的碳浓度（CgammaR）之间的关系满足以下等式：<βin-line-formula description =“ （fgammaRxCgammaR）/ C> = 50（I）<？in-line-formula description =“在线公式” e“end =”tail“？>

公开(公告)号：US5761390A

公开(公告)日：1998-06-02

申请号：US987158

申请日：1992-12-08

申请人： Eri Koshishiba ,  Koichi Sugimoto ,  Atsuko Hara ,  Masao Miki

发明人： Eri Koshishiba ,  Koichi Sugimoto ,  Atsuko Hara ,  Masao Miki

IPC分类号： B25J9/16 ,  B25J9/18 ,  G05B19/402 ,  G05B19/42 ,  G06F15/46

CPC分类号： B25J9/1679 ,  G05B19/402

摘要： A robot for removing an unnecessary portion on a workpiece, comprises a tool for removing the unnecessary portion, a tool positioning apparatus which contains a reference coordinate system, carries the tool attached thereon, and is movable to change a position and a posture of the tool in the reference coordinate system, a jig on which the workpiece is securely fixed to maintain a desired position and a desired posture of the workpiece with respect to the reference coordinate system of the tool positioning apparatus, and an arithmetic unit for calculating a movement path and a posture of the tool moved by the tool positioning apparatus on the basis of a position of the unnecessary portion on a desired shape of the workpiece, in which the arithmetic unit corrects the movement path and the posture of the tool not in accordance with the position of the unnecessary portion on the desired shape of the workpiece, but in accordance with a shape of at least one of the workpiece, the tool and the jig.

摘要翻译： 一种用于去除工件上的不必要部分的机器人，包括用于去除不需要部分的工具，包含参考坐标系的工具定位装置，其承载附接在其上的工具，并且可移动以改变工具的位置和姿势 在参考坐标系中，夹具被牢固地固定在其上，以保持工件相对于刀具定位装置的基准坐标系的期望位置和期望姿势;以及运算单元，用于计算运动路径和 基于所述工件的期望形状的不需要部分的位置，由所述工具定位装置移动所述工具的姿势，所述工具的运动单元根据所述位置校正所述工具的移动路径和姿势 在工件的期望形状上的不需要的部分，但是根据工件，工具和t中的至少一个的形状 他夹具

公开(公告)号：US4788482A

公开(公告)日：1988-11-29

申请号：US75987

申请日：1987-07-21

申请人： Kyozo Tachibana ,  Toshihiko Sakai ,  Hisaaki Hirabayashi ,  Koichi Sugimoto ,  Hiroshi Sugai ,  Hisakazu Ninomiya

发明人： Kyozo Tachibana ,  Toshihiko Sakai ,  Hisaaki Hirabayashi ,  Koichi Sugimoto ,  Hiroshi Sugai ,  Hisakazu Ninomiya

IPC分类号： G05D3/12 ,  B25J9/16 ,  G05B19/19 ,  G05B5/01

CPC分类号： G05B19/19 ,  B25J9/1633 ,  G05B2219/37357

摘要： The present invention relates to a control system for a servomechanism device such as robot, and more particularly to a position correcting control system for a servomechanism device which is well suited to perform high-precision positioning or high-perfomance operations on the basis of a sensor feedback control system such as force detection feedback control. It is characterized in that a plurality of algorithms for correcting a position target value on the basis of a sensor signal are prepared and are switchedly used so as to readily switch functions, depending upon whether the purpose of a sensor control is a high-precision control or any other high-performance control, that the position target value is corrected through a threshold characteristic element or a dead band element so as to make effective the correction of the position target value based on the sensor signal, and that a correcting signal is applied through a response lag element so as to attain stabilization owing to a viscous effect bestowed on the position correcting operation based on the sensor signal.

摘要翻译： 本发明涉及一种用于诸如机器人的伺服机构的控制系统，更具体地涉及一种适用于基于传感器执行高精度定位或高性能操作的伺服机构的位置校正控制系统 反馈控制系统如力检测反馈控制。 其特征在于，根据传感器控制的目的是否是高精度控制，准备用于基于传感器信号校正位置目标值的多种算法，并且切换使用以便容易地切换功能 或任何其他高性能控制，通过阈值特征元件或死区元素校正位置目标值，以便基于传感器信号有效地校正位置目标值，并且应用校正信号 通过响应滞后元件，由于基于传感器信号的位置校正操作产生的粘性效果而实现稳定化。

公开(公告)号：US4620436A

公开(公告)日：1986-11-04

申请号：US784502

申请日：1985-10-04

申请人： Hisaaki Hirabayashi ,  Koichi Sugimoto ,  Shinichi Arai ,  Tomoyuki Masui ,  Hidetoshi Inaba

发明人： Hisaaki Hirabayashi ,  Koichi Sugimoto ,  Shinichi Arai ,  Tomoyuki Masui ,  Hidetoshi Inaba

IPC分类号： B25J9/16 ,  B25J13/08 ,  G01L5/16 ,  G01L5/22 ,  G01L25/00

CPC分类号： G01L25/00 ,  B25J13/085 ,  B25J9/1692 ,  G01L5/161 ,  G01L5/226

摘要： The present invention relates to a method and an apparatus for calibrating a transformation matrix of a force sensor, in which: a force sensor is attached between a wrist portion and a hand portion of a robot; a standard work (weight) whose weight and position of a center of gravity are known is attached or held to the hand portion; each driving source of the robot is made operative in response to commands from a control unit and thereby sequentially changing the posture of the force sensor attached to the robot; the control unit obtains a force consisting of a force and a moment due to an arithmetic operation from the posture and position information of the force sensor which is detected on the basis of signals from encoders to detect an operational amount of each operating element of the robot and from the weights and the positions of the centers of gravity of the standard work and the hand portion and the like inputted as data; the control unit receives a strain voltage detected from the force sensor; the control unit calculates the transformation matrix of the force sensor from the force consisting of the force and moment derived and from the strain voltage received in accordance with a predetermined arithmetic logic equation and then stores the transformation matrix into memory means; and then the transformation matrix of the force sensor is calibrated.

摘要翻译： 本发明涉及一种用于校准力传感器的变换矩阵的方法和装置，其中：力传感器安装在机械手的腕部和手部之间; 其重量和重心位置已知的标准作业（重量）被附着或保持在手部; 机器人的每个驱动源响应于来自控制单元的命令而操作，从而顺序地改变附接到机器人的力传感器的姿势; 控制单元根据来自编码器的信号检测到的力传感器的姿态和位置信息，从由运算操作产生的力和力矩构成的力，以检测机器人的每个操作元件的操作量 并且从作为数据输入的标准作品的重心和作为数据的手部等的重量和位置; 控制单元接收从力传感器检测到的应变电压; 控制单元根据由力和力导出的力，根据预定的算术逻辑方程从接收的应变电压计算力传感器的变换矩阵，然后将变换矩阵存储到存储装置中; 然后校正力传感器的变换矩阵。

公开(公告)号：US4550383A

公开(公告)日：1985-10-29

申请号：US418681

申请日：1982-09-16

申请人： Koichi Sugimoto

发明人： Koichi Sugimoto

IPC分类号： B25J9/16 ,  B25J9/18 ,  G05B19/41 ,  G05B19/425 ,  G05B19/42

CPC分类号： G05B19/41 ,  B25J9/161 ,  G05B19/425 ,  G05B2219/34098

摘要： A control system and method for controlling a hand of an industrial robot are disclosed wherein the hand is driven at a predetermined speed along a polygonal path defined by a plurality of straight lines which interconnect a plurality of point coordinates taught to the robot. The straight lines are continuously interconnected by a parabola at predetermined locations in the vicinity of the centers of the straight lines, wherein the hand is continuously moved along the parabola from a straight line to the next straight line, and wherein the parabola is generated by dividing a span between two predetermined positions through arithmetic linear interpolation technique in a manner in which points located between the predetermined positions are defined on a straight line interconnecting the two predetermined positions.

摘要翻译： 公开了一种用于控制工业机器人的手的控制系统和方法，其中手沿着由将教导到机器人的多个点坐标相互连接的多条直线所限定的多边形路径以预定速度被驱动。 直线通过抛物线在直线中心附近的预定位置处连续地互连，其中手沿着抛物线从直线连续移动到下一条直线，并且其中抛物线通过分割产生 通过算术线性插值技术，在位于两个预定位置之间的直线上限定位于预定位置之间的点的两个预定位置之间的跨度。

公开(公告)号：US4197627A

公开(公告)日：1980-04-15

申请号：US934718

申请日：1978-08-21

申请人： Hisaaki Hirabayashi ,  Koichi Sugimoto

发明人： Hisaaki Hirabayashi ,  Koichi Sugimoto

IPC分类号： B23P19/02 ,  B23P19/00 ,  B25B27/14

CPC分类号： B23P19/12 ,  Y10T29/53978

摘要： Interfitting apparatus including a fitting jig formed with a plurality of regulating openings each for receiving therein one of a plurality of shaft members having chamfered forward ends, which are objects of interest, to hold the shaft members by regulating their posture and allow them to move freely within tight tolerances, and a table at least slightly movable in a horizontal direction for supporting, by precision positioning, an object formed with a plurality of holes separated from one another by a spacing substantially the same as the spacing between the regulating openings of the fitting jig. In fitting the shaft members in the respective holes in the object, the fitting jig is moved in a vertical direction toward the table, and guiding members and guided members mounted in the fitting jig and the table respectively are brought into engagement with each other so that the former may guide the latter, to thereby allow the table to move slightly in the horizontal direction to effect positioning of the shaft members and the object horizontally relative to each other within the range of the chamfers. Thereafter the fitting jig is further moved in the vertical direction to interfit the shaft members and the holes in the object with each other by exerting a fitting force on the shaft members from outside a jamming area.

摘要翻译： 一种接合装置，包括形成有多个调节开口的配合夹具，每个调节开口用于在其中容纳具有倒角前端的多个轴构件中的一个，所述多个轴构件是有意义的物体，以通过调节它们的姿态并允许它们自由移动来保持轴构件 以及在水平方向上至少可稍微移动的桌子，通过精确定位来支撑形成有彼此分开的多个孔的物体，其间隔与配件的调节开口之间的间隔基本相同 夹具 在将轴构件安装在物体的相应孔中时，装配夹具沿着垂直方向朝向工作台移动，并且安装在装配夹具和工作台中的引导构件和引导构件彼此接合，使得 前者可以引导后者，从而允许工作台在水平方向上稍微移动，以在轴倒角的范围内相对于彼此水平地定位轴构件和物体。 此后，通过在干扰区域的外部对轴构件施加配合力，使装配夹具在垂直方向上进一步移动，以使轴构件和物体中的孔相互配合。