公开(公告)号：US5265194A

公开(公告)日：1993-11-23

申请号：US769428

申请日：1991-10-01

申请人： Junichiro Kanamori

发明人： Junichiro Kanamori

IPC分类号： G05B19/18 ,  B25J9/16 ,  B25J9/18 ,  G05B19/404 ,  G05B19/408 ,  G05B19/42

CPC分类号： G05B19/4083 ,  B25J9/1687 ,  G05B2219/40386 ,  G05B2219/40387

摘要： A robot control system which automatically improves the success rate of work performed by a robot even if the worked object is unmeasurable or unobservable by a distance on visual sensor. The control system includes a work judging unit which determines the success rate of work performed at a teaching point of the robot. The control system also includes a search judging unit which judges the result of work at each of a plurality of searching points to determine a success rate of work performed at the searching points. A search instruction unit causes the robot to move to the plurality of search points around the teaching point to perform work or search thereat. A correction unit corrects the teaching point based on the relative relation between the success rate of the work at the teaching point and the success rate at each of the searching points.

摘要翻译： 一种机器人控制系统，其自动提高机器人执行的工作成功率，即使加工对象在视觉传感器上距离不可测量或不可观察。 控制系统包括一个工作判断单元，其确定在机器人的教学点执行的工作的成功率。 控制系统还包括搜索判断单元，其在多个搜索点中的每一个处判断工作结果，以确定在搜索点执行的工作成功率。 搜索指令单元使机器人移动到教学点周围的多个搜索点，以执行工作或在那里搜索。 校正单元根据教学点工作成功率与每个搜索点的成功率之间的相对关系来校正教学点。

公开(公告)号：US06615603B2

公开(公告)日：2003-09-09

申请号：US10082652

申请日：2002-02-25

申请人： Masaaki Tanaka ,  Shigeo Numazawa ,  Katsuya Ishii ,  Hideaki Sato ,  Shin Honda ,  Yoshiyuki Okamoto ,  Junichiro Kanamori ,  Tadayoshi Terao

发明人： Masaaki Tanaka ,  Shigeo Numazawa ,  Katsuya Ishii ,  Hideaki Sato ,  Shin Honda ,  Yoshiyuki Okamoto ,  Junichiro Kanamori ,  Tadayoshi Terao

IPC分类号： F25D2312

CPC分类号： F25B27/02 ,  F25B17/086 ,  F25D16/00 ,  H05K7/20363

摘要： Heat is absorbed from a first heat emitter and a second heat emitter is cooled by an adsorption type refrigerator operating by that absorbed heat. When the amount of emission of heat of the first heat emitter exceeds a predetermined amount of heat, the heat absorbed in the heat medium by a first heat collector is discharged to the outside air by an outdoor unit without being supplied to the adsorbent of the refrigerator. On the other hand, when the amount of emission of heat of the first heat emitter falls below a predetermined amount, the heat medium which had been supplied to a first heat exchanger for heating the adsorbent is switched to return to the first heat collector without flowing to the outdoor unit.

公开(公告)号：US5549169A

公开(公告)日：1996-08-27

申请号：US348999

申请日：1994-11-29

申请人： Masafumi Matsumura ,  Junichiro Kanamori

发明人： Masafumi Matsumura ,  Junichiro Kanamori

IPC分类号： B23P19/06 ,  B25B21/00 ,  B25B23/14 ,  B25B23/151 ,  B23Q5/00 ,  E21C5/00

CPC分类号： B23P19/06 ,  B23P19/066 ,  B25B21/008 ,  B25B23/14 ,  Y10T29/49766

摘要： A screw tightening apparatus including an electric screwdriver having a bit shaft adapted to hold a male screw to be threaded to a female hole in a workpiece and a drive mechanism arranged to move the screwdriver toward and away from the mounting hole of the workpiece is disclosed. The screwdriver and drive mechanism are controlled in such a manner that the bit shaft is driven at a low speed and applied with a small thrust force at an initial stage during which the male screw is located to be engaged with the mounting hole. Then the bit shaft is driven at a higher speed than that at the initial stage and applied with a larger thrust force than that at the initial stage during an interim stage when the male screw is threaded into the mounting hole. Finally, the speed of the bit shaft is reduced so that the bit shaft is driven at a lower speed than that at the initial stage and applied with a larger thrust force than that at the interim stage at a final stage during which the male screw is tightened and seated on the workpiece.

摘要翻译： 公开了一种螺丝紧固装置，其特征在于，具有电动起子，所述电动螺丝刀具有适于保持要螺纹连接到工件中的阴孔的外螺纹的钻头轴以及将所述螺丝刀朝向和远离所述工件的安装孔移动的驱动机构。 螺丝刀和驱动机构以这样的方式进行控制，使得位轴在低速下被驱动并且在外螺纹位于与安装孔接合的初始阶段施加小的推力。 然后以比初始阶段高的速度驱动钻头轴，并且在外螺纹拧入安装孔的过渡阶段施加比在初始阶段的推力更大的推力。 最后，减小了位轴的速度，使得位轴以比初始阶段低的速度被驱动，并且在最后阶段施加比在中间阶段的推力更大的推力，在该阶段期间，外螺纹是 拧紧并坐在工件上。

公开(公告)号：US5469924A

公开(公告)日：1995-11-28

申请号：US181079

申请日：1994-01-13

申请人： Junichiro Kanamori ,  Masafumi Matsumura

发明人： Junichiro Kanamori ,  Masafumi Matsumura

IPC分类号： B23P19/06 ,  B25B23/14 ,  B25B23/147 ,  B25B23/151 ,  B23Q5/00 ,  E21C5/00

CPC分类号： B25B23/147 ,  B23P19/06 ,  B25B23/14 ,  Y10T29/49766

摘要： A screw tightening apparaus of type including an electric screwdriver the bit shaft of which is arranged to carry a male screw engaged therewith to be threaded into a mounting hole of a workpiece and a drive mechanism arranged to move the screwdriver toward and away from the mounting hole of the workpiece, wherein the screwdriver and drive mechanism are controlled in such a manner that the bit shaft is driven at a low speed and applied with a small thrust force at an initial stage during which the male screw is located to be engaged with the mounting hole, that the bit shaft is driven at a higher speed than that at the initial stage and applied with a larger thrust force than that at the initial stage at an interim stage during which the male screw is threaded into the mounting hole and that the bit shaft is driven at a lower speed than that at the initial stage and applied with a larger thrust force than that at the interim stage at a final stage during which the male screw is tightened and seated on the workpiece.

摘要翻译： 一种螺丝拧紧装置，包括电动螺丝刀，该电动螺丝刀的位轴布置成承载与其接合的外螺纹以螺纹连接到工件的安装孔中;驱动机构，其布置成使螺丝刀朝向和远离安装孔移动 其中螺丝刀和驱动机构以这样的方式进行控制，使得位轴在低速下被驱动并且在初始阶段施加小的推力，在该初始阶段，外螺纹定位成与安装件 钻头轴以比初始阶段高的速度被驱动，并且在外螺纹拧入安装孔的中间阶段施加比在初始阶段的推力更大的推力，并且钻头 轴以比初始阶段低的速度被驱动，并且在最后阶段施加比在中间阶段的推力更大的推力，在该阶段期间外螺纹被紧固 并在工件上放置。