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1.发明授权Automatic reader of processing condition data for articles to be processed in an automatic processing system 失效在自动处理系统中处理物品的处理条件数据的自动阅读器
公开(公告)号：US4208576A
公开(公告)日：1980-06-17
申请号：US954167
申请日：1978-10-24
申请人： Yoshio Hane , Nobuo Chino
发明人： Yoshio Hane , Nobuo Chino
摘要： A pneumatic apparatus used for reading punch cards containing processing condition data for articles being processed in an automatic system. The apparatus has a pneumatic reading head for reading the punch cards, and the head has a plurality of air conduits therein. Each conduit has an inlet and an outlet. An air supply is connected to the air conduits for supplying air thereto, and a back pressure detector is provided in each conduit for detecting back pressure therein. The apparatus also includes a movable carrier jig for holding and carrying the article being processed in said system and the jig has a card fitting portion thereon for holding the punch card. The carrier jig is movable toward and away from the conduits so that the card on the card fitting portion can be positioned adjacent the outlets of the conduits. Air passing through the conduits creates a back pressure in the conduits corresponding to those portions of the punch cards which are solid when the punch card on the carrier jig is positioned adjacent the conduit outlets, and the back pressure is detectable by the back pressure detecting means, thus permitting the solid and punched portions of the punch card to be determined.
摘要翻译： 一种用于读取含有在自动系统中处理的物品的处理条件数据的穿孔卡的气动装置。 该装置具有用于读取穿孔卡的气动读取头，并且头部中具有多个空气导管。 每个导管都有一个入口和一个出口。 空气供应装置连接到用于向其供应空气的空气管道，并且在每个管道中设置有背压检测器，用于检测其中的背压。 该装置还包括用于保持和携带在所述系统中被处理的物品的活动托架夹具，并且夹具具有用于保持穿孔卡的卡装配部分。 载体夹具可以朝向和远离导管移动，使得卡配合部分上的卡可以邻近导管的出口定位。 穿过导管的空气在导管中形成背压，该导管对应于穿孔卡片的那些部分，当托架夹具上的冲孔卡定位在导管出口附近时，这些部分是实心的，背压可由背压检测装置 ，因此可以确定穿孔卡的固体和冲孔部分。
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公开(公告)号：US07221119B2
公开(公告)日：2007-05-22
申请号：US10663695
申请日：2003-09-17
申请人： Yoshiki Hashimoto , Yoshiyuki Kubo , Nobuo Chino , Shuntaro Toda
发明人： Yoshiki Hashimoto , Yoshiyuki Kubo , Nobuo Chino , Shuntaro Toda
摘要： In a case in which an operation is alternately carried out by apparatus-1 and the apparatus-2 in cooperation with a robot, an operator carries out operation within an operation range of each of the apparatuses during the interruption of power supply to the apparatus-1 and the apparatus-2. Even if the operator approaches or enters the apparatus-1 or the apparatus-2, an emergency stop unit is not informed of a notice of such approach or entry as far as the interruption of power to the apparatus is confirmed. In a state in which the interruption of power is not confirmed, on the other hand, the emergency stop unit is informed of the notice of operator's approach or entry, and the robot system is emergency stopped.
摘要翻译： 在与机器人协作的情况下，由装置1和装置-2交替地进行操作的情况下，操作者在向设备1供电中断期间，在每个设备的操作范围内进行操作， 1和装置-2。 即使操作人员接近或进入设备-1或设备-2，只要确认设备的电源中断，紧急停止单元就不会被通知此类接近或进入的通知。 另一方面，在没有确认电力中断的状态下，向紧急停止单元通知操作者进入或进入的通知，并且机器人系统被紧急停止。
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公开(公告)号：US20050122078A1
公开(公告)日：2005-06-09
申请号：US10999948
申请日：2004-12-01
CPC分类号： H01H47/004
摘要： Two emergency stop lines are provided. Due to contacts being opened by commands from emergency stop factors and from first and second CPUs, conducting to first and second contactors are stopped. Contacts of the contactors are opened, and power supply to the motor is interrupted, whereby an emergency stop is performed. Further, the first CPU on the first line transmits an abnormality signal to the second CPU when the states of the contacts on the self emergency stop line, detected by digital inputs, are abnormal, and the second CPU opens a contact on the self emergency stop line so as to cause the contactor to be non-excited to thereby stop power supply to the motor.
摘要翻译： 提供两条紧急停车线。 由于由紧急停止因素的指令和第一和第二CPU打开的触点，导致第一和第二接触器停止。 接触器的触点打开，电机的电源中断，从而进行紧急停机。 此外，当由数字输入检测到的自紧急停止线上的触点的状态异常时，第一线上的第一CPU将发送异常信号发送到第二CPU，并且第二CPU在自紧急停止处打开接点 以使接触器不激励，从而停止对电动机的供电。
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公开(公告)号：US4063651A
公开(公告)日：1977-12-20
申请号：US664897
申请日：1976-03-08
申请人： Nobuo Chino
发明人： Nobuo Chino
CPC分类号： B65G49/0459
摘要： An improved article conveying apparatus suitable for conveying an article to be processed from an article receiving station to a processing station and for conveying a processed article from the processing station to a product delivery station in a highly efficient manner. This article conveying apparatus has an apparatus main body supported on a track and capable of travelling along said track, an arm supporting frame mounted on the apparatus main body so as to be rotatable about a vertical axis, at least a pair of arms mounted on the frame in a vertically movable manner, and article supporting devices mounted on the respective arms at an equal distance from the vertical axis.
摘要翻译： 一种改进的物品输送装置，适合于将物品从物品接收站传送到处理站，并将处理过的物品以高效的方式从处理站传送到产品传送站。 该物品输送装置具有支撑在轨道上并且能够沿着所述轨道行进的装置主体，安装在装置主体上以便能够围绕垂直轴线旋转的臂支撑框架，至少一对臂安装在 框架以可垂直移动的方式，以及以与垂直轴相等的距离安装在相应的臂上的物品支撑装置。
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公开(公告)号：US07525273B2
公开(公告)日：2009-04-28
申请号：US11619514
申请日：2007-01-03
IPC分类号： B25J19/06
CPC分类号： H01H47/002 , H01H2231/04
摘要： A robot control system including a servo amplifier supplying power to a robot, a processor controlling the operation of the robot, and a servo power connection/cutoff circuit connected to the same, issuing excitation/nonexcitation commands to a charging relay and a main circuit connection electromagnetic contactor provided in the circuit from the processor, monitoring the opened/closed states of the contacts of the charging relay and main circuit connection electromagnetic contactor by the processor, and detecting if their contacts open and close as instructed by the processor to thereby check if the power connection/cutoff circuit has a fault. Due to this, it is possible to provide a robot control system which detects faults of the power connection/cutoff circuit and which is inexpensive and high in safety.
摘要翻译： 一种机器人控制系统，包括向机器人供电的伺服放大器，控制机器人操作的处理器以及与其连接的伺服电源连接/断开电路，向充电继电器和主电路连接发出励磁/非励磁指令 从处理器提供在电路中的电磁接触器，监视处理器对充电继电器和主电路连接电磁接触器的触点的打开/关闭状态，并根据处理器的指示检测其触点是否打开和关闭，从而检查是否 电源连接/断路电路有故障。 由此，能够提供一种机器人控制系统，其检测电力连接/断路电路的故障，其便宜且安全性高。
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公开(公告)号：US20070152617A1
公开(公告)日：2007-07-05
申请号：US11619514
申请日：2007-01-03
CPC分类号： H01H47/002 , H01H2231/04
摘要： A robot control system including a servo amplifier supplying power to a robot, a processor controlling the operation of the robot, and a servo power connection/cutoff circuit connected to the same, issuing excitation/nonexcitation commands to a charging relay and a main circuit connection electromagnetic contactor provided in the circuit from the processor, monitoring the opened/closed states of the contacts of the charging relay and main circuit connection electromagnetic contactor by the processor, and detecting if their contacts open and close as instructed by the processor to thereby check if the power connection/cutoff circuit has a fault. Due to this, it is possible to provide a robot control system which detects faults of the power connection/cutoff circuit and which is inexpensive and high in safety.
摘要翻译： 一种机器人控制系统，包括向机器人供电的伺服放大器，控制机器人操作的处理器以及与其连接的伺服电源连接/断开电路，向充电继电器和主电路连接发出励磁/非励磁指令 从处理器提供在电路中的电磁接触器，监视处理器对充电继电器和主电路连接电磁接触器的触点的打开/关闭状态，并根据处理器的指示检测其触点是否打开和关闭，从而检查是否 电源连接/断路电路有故障。 由此，能够提供一种机器人控制系统，其检测电力连接/断路电路的故障，其便宜且安全性高。
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公开(公告)号：US07208899B2
公开(公告)日：2007-04-24
申请号：US11385998
申请日：2006-03-22
申请人： Yoshiki Hashimoto , Yoshikiyo Tanabe , Nobuo Chino
发明人： Yoshiki Hashimoto , Yoshikiyo Tanabe , Nobuo Chino
IPC分类号： G05B19/406
CPC分类号： G05B19/406 , G05B2219/50198 , Y10T307/76
摘要： An emergency-stop device provided in a robot system, a machine tool or the like, arranged to promptly detect failure of a circuit through which an emergency stop signal is supplied to an CPU, without stopping the robot system, the machine tool or the like, to improve reliability. When at least one of emergency stop switches is opened, a CPU #1 or #2 issues an emergency stop command through one of input circuits, so that a switch SW10 or SW20 is opened by an output circuit #1 or #2 to emergency-stop the system. Switching means #1, #2 are opened separately, at appropriate intervals, and change of output of each photo coupler is recognized. In this manner, it is checked that open/closed-state outputs related to contacts C11 and C21/C12 and C22, each connected to one of the input circuits, indicate an open state. If regarding any of the contacts, change of output of the corresponding photo coupler is not recognized, the system is stopped and an action such as causing a buzzer and displaying of an alarm is taken.
摘要翻译： 设置在机器人系统，机床等中的紧急停止装置，其被设置成在不停止机器人系统，机床等的情况下，迅速检测到向CPU提供紧急停止信号的电路的故障 ，提高可靠性。 当至少一个紧急停止开关打开时，CPU＃1或＃2通过一个输入电路发出紧急停止命令，使得开关SW 10或SW 20被输出电路＃1或＃2打开， 紧急停止系统。 切换装置＃1，＃2以适当的间隔单独打开，并且识别每个光耦合器的输出变化。 以这种方式，检查与连接到一个输入电路的触点C 11和C 21 / C 12和C 22相关的开/关状态输出指示打开状态。 如果关于任何触点，则不能识别相应光耦合器的输出变化，系统停止，并且采取诸如引起蜂鸣器和显示报警的动作。
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公开(公告)号：US06992458B2
公开(公告)日：2006-01-31
申请号：US10999948
申请日：2004-12-01
IPC分类号： G05B9/02
CPC分类号： H01H47/004
摘要： Two emergency stop lines are provided. Due to contacts being opened by commands from emergency stop factors and from first and second CPUs, conducting to first and second contactors are stopped. Contacts of the contactors are opened, and power supply to the motor is interrupted, whereby an emergency stop is performed. Further, the first CPU on the first line transmits an abnormality signal to the second CPU when the states of the contacts on the self emergency stop line, detected by digital inputs, are abnormal, and the second CPU opens a contact on the self emergency stop line so as to cause the contactor to be non-excited to thereby stop power supply to the motor.
摘要翻译： 提供两条紧急停车线。 由于由紧急停止因素的指令和第一和第二CPU打开的触点，导致第一和第二接触器停止。 接触器的触点打开，电机的电源中断，从而进行紧急停机。 此外，当由数字输入检测到的自紧急停止线上的触点的状态异常时，第一线上的第一CPU将发送异常信号发送到第二CPU，并且第二CPU在自紧急停止处打开接点 以使接触器不激励，从而停止对电动机的供电。
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公开(公告)号：US20110118874A1
公开(公告)日：2011-05-19
申请号：US12868794
申请日：2010-08-26
申请人： Yoshikiyo TANABE , Nobuo CHINO , Yoshiki HASHIMOTO
发明人： Yoshikiyo TANABE , Nobuo CHINO , Yoshiki HASHIMOTO
IPC分类号： G05B19/418
CPC分类号： B25J9/1682 , G05B2219/33226 , G05B2219/39146
摘要： A robot controller which simultaneously controls N (N≧2) number of robots (R1 to Rn), provided with a main control unit (MCU), the main control unit including a main processor (MP) which prepares operational commands each of the N number of robots and a servo processor (SP) which uses the operational commands prepared by the main processor as the basis to calculate amounts of operation of servo motors which drive each of the robots, and furthermore provided with N number of amplifier units (AU1 to AUn) connected to the main control unit, each including a servo amplifier (SA1 to SAn) which uses amounts of operations of servo motors calculated by the servo processor to drive servo motors of one robot among the N number of robots. Due to this, it is easy to add and remove robots and the cost can be lowered and the size reduced.
摘要翻译： 一种机器人控制器，其同时控制设置有主控制单元（MCU）的机器人（R1〜Rn）的N（N≥2）个数，所述主控制单元包括主处理器（MP），所述主处理器 使用由主处理器准备的操作命令的机器人和伺服处理器（SP）的数量作为计算驱动每个机器人的伺服电机的操作量的基础，并且还设置有N个放大器单元（AU1至 AUn），其各自包括使用由伺服处理器计算的伺服电动机的操作量来驱动N个机器人中的一个机器人的伺服电机的伺服放大器（SA1至SAn）。 因此，容易添加和去除机器人，并且可以降低成本并减小尺寸。
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公开(公告)号：US20050187657A1
公开(公告)日：2005-08-25
申请号：US11062467
申请日：2005-02-22
CPC分类号： B25J19/00
摘要： A robot allowing an operator to refer to information required for inspections or the like without having to use a printed manual or a display screen of a teaching pendant. A display device has a flexible display screen that uses organic light-emitting diodes, a control unit, and a plug. The display device plug is inserted in a connector provided at a suitable location the robot arm, the display unit is lightly pressed onto the surface of the robot arm (the surface may be curved or flat) and a sticking part (an adhesive layer or magnetic layer) stuck onto and fixed to the surface. Instructions are transmitted from the teaching pendant to a robot controller. Electric power and signals are transmitted to the control unit through wiring and an image is displayed on the display unit. The technician carries on with the work of inspection while referring to the display screen. Alternatively, power may be supplied by battery and data exchanged by wireless communications. In addition, a holder that accepts and holds the display device may be provided on the robot arm.
摘要翻译： 机器人允许操作者参考检查所需的信息等，而不必使用教学用挂件的印刷手册或显示屏。 显示装置具有使用有机发光二极管，控制单元和插头的柔性显示屏。 显示装置插头插入设置在机器人手臂的合适位置处的连接器中，显示单元被轻轻按压到机器人臂的表面上（表面可以是弯曲或平坦的）和粘贴部分（粘合剂层或磁性 层）粘附并固定在表面上。 说明书从教学吊坠传送到机器人控制器。 电力和信号通过布线传输到控制单元，图像显示在显示单元上。 技术人员参照显示屏进行检查工作。 或者，可以通过电池和通过无线通信交换的数据来供电。 此外，可以在机器人手臂上设置接受和保持显示装置的保持器。
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