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12 条记录 (耗时 0.014 秒)

    Master-slave manipulator control
    1.
    发明授权
    Master-slave manipulator control 失效
    主从操纵器控制

    公开(公告)号：US5053975A

    公开(公告)日：1991-10-01

    申请号：US363071

    申请日：1989-06-08

    申请人： Akira Tsuchihashi ,  Shinichi Takarada ,  Taro Iwamoto ,  Kichio Nakajima ,  Tatsu Aoki ,  Hiroshi Yamamoto

    发明人： Akira Tsuchihashi ,  Shinichi Takarada ,  Taro Iwamoto ,  Kichio Nakajima ,  Tatsu Aoki ,  Hiroshi Yamamoto

    IPC分类号： B25J3/04 ,  B25J3/00 ,  B25J9/18 ,  G05B19/427 ,  G05D3/12

    CPC分类号： G05B19/427

    摘要： After positional information of the master arm is transformed into first generalized world coordinates corresponding to positional information representing a calculated position of the slave arm, when a signal instructing an interruption of the associated operation between the master arm and the slave arm is received and then the positional relationships between the master arm and the slave arm connected thereto by use of an imaging device are updated, the first generalized world coordinates are transformed into the second generalized world coordinates based on the new positional relationships so as to restart the associated operation therebetween. The optimal control of the manipulator is conducted through matrix operations related to the change-over between imaging devices, the reset operation conducted in an area of the movable range of the master arm, and the alteration of the ratio between the movements of the associated operation.

    Robot system
    4.
    发明授权
    Robot system 失效
    机器人系统

    公开(公告)号：US4906907A

    公开(公告)日：1990-03-06

    申请号：US175318

    申请日：1988-03-30

    申请人： Akira Tsuchihashi ,  Shinichi Takarada

    发明人： Akira Tsuchihashi ,  Shinichi Takarada

    IPC分类号： G05D3/12 ,  B25J9/06 ,  B25J9/16 ,  B25J9/18 ,  B25J13/08 ,  B25J19/02 ,  B64G4/00

    CPC分类号： B64G4/00 ,  B25J13/08 ,  B25J13/085 ,  B25J13/088 ,  B25J19/023 ,  B25J9/06 ,  B25J9/1638

    摘要： A robot system in which a force (torque) exerted on an end effector disposed at an end of a robot to hold an object is sensed to achieve a positioning control. The robot system includes a unit to sense an inertial force exerted on the end effector and the sensed result is fed back so as to remove the influence of the inertia force, thereby effecting an accurate positioning control.

    摘要翻译： 一种机器人系统，其中感测到施加在设置在机器人的端部处的用于保持物体的端部执行器的力（扭矩）以实现定位控制。 机器人系统包括感测施加在末端执行器上的惯性力的单元，并且将感测结果反馈，以消除惯性力的影响，由此实现精确的定位控制。

    Safety system and method for a robot
    5.
    发明授权
    Safety system and method for a robot 失效
    机器人的安全系统和方法

    公开(公告)号：US4490660A

    公开(公告)日：1984-12-25

    申请号：US501993

    申请日：1983-06-07

    申请人： Akira Tsuchihashi

    发明人： Akira Tsuchihashi

    IPC分类号： B25J9/18 ,  B25J19/02 ,  B25J19/06 ,  G05B19/4061 ,  G05B19/42 ,  G05B23/02

    CPC分类号： B25J19/06 ,  B25J19/023 ,  G05B19/4061 ,  G05B2219/49157

    摘要： A safety system and method for industrial robots includes a detection arrangement having a detection field covering the area of reach or operation of the robot. Detection data obtained through the detecting arrangement in each of predetermined operation positions of the robot is compared with the detection data indicative of the normal or correct detection field in the same operation position. The movement of the robot to the next operation position is prohibited when a difference of a level exceeding a predetermined level is obtained during the comparison.

    摘要翻译： 工业机器人的安全系统和方法包括具有覆盖机器人的到达或操作区域的检测区域的检测装置。 通过机器人的每个预定操作位置中的检测装置获得的检测数据与表示相同操作位置中的正常或正确检测场的检测数据进行比较。 在比较期间获得超过预定值的电平差时，禁止机器人移动到下一个操作位置。

    Fluid pressure actuator
    6.
    发明授权
    Fluid pressure actuator 失效
    流体压力执行器

    公开(公告)号：US4169404A

    公开(公告)日：1979-10-02

    申请号：US891625

    申请日：1978-03-30

    申请人： Akira Tsuchihashi

    发明人： Akira Tsuchihashi

    IPC分类号： F01B11/00 ,  F01L7/00 ,  F01L21/02 ,  F01B13/00

    CPC分类号： F01L21/02 ,  F01B11/001 ,  F01L7/00 ,  Y10S60/916

    摘要： A fluid pressure actuator having a first member, a second member adapted to rotate relative to the first member, and a third member adapted to move on the second member. One of the first member and the second member is formed thereon with two flanges disposed in spaced-apart relationship for closing opposite ends of a first pressure chamber defined between the first and second members. The flanges are each formed in the outer periphery thereof with a groove communicating with passages formed in the first and second members for supplying therethrough power for moving the third member. The actuator is small in volume, dispenses with piping located outside the actuator, and is easy to provide a fluid seal thereto.

    摘要翻译： 具有第一构件，适于相对于第一构件旋转的第二构件的流体压力致动器和适于在第二构件上移动的第三构件。 第一构件和第二构件中的一个在其上形成有两个以间隔开的关系设置的凸缘，用于封闭限定在第一和第二构件之间的第一压力室的相对端。 凸缘的外周各形成有与形成在第一和第二构件中的通道连通的槽，用于提供用于移动第三构件的动力。 致动器的体积小，省去了位于致动器外侧的管道，并且易于向其提供流体密封。

    Robotic manipulator including a failure detecting circuit for prohibiting a movable section from being driven
    7.
    发明授权
    Robotic manipulator including a failure detecting circuit for prohibiting a movable section from being driven 失效
    机器人操纵器包括用于禁止可动部分被驱动的故障检测电路

    公开(公告)号：US5404290A

    公开(公告)日：1995-04-04

    申请号：US165888

    申请日：1993-12-14

    申请人： Akira Tsuchihashi ,  Yoshishige Nakazawa ,  Yasushi Watanabe ,  Imazawa Kanji ,  Kazuyuki Watanabe

    发明人： Akira Tsuchihashi ,  Yoshishige Nakazawa ,  Yasushi Watanabe ,  Imazawa Kanji ,  Kazuyuki Watanabe

    IPC分类号： B25J19/06 ,  B25J9/16 ,  B25J9/18 ,  G05B9/02 ,  G05B19/18 ,  G05B19/42 ,  G05B19/427 ,  G05D3/00 ,  G05D3/12 ,  G06F15/46

    CPC分类号： G05B19/425 ,  B25J9/1674 ,  G05B19/427

    摘要： A safety operation system for a manipulator is provided with a first operation section. The first operation section has a first movable section, and outputs a first operation signal representing the position and angle of the first movable section. A failure detecting section detects failure of the first operation section on the basis of the first operation signal, and outputs a detection signal. When failure of the first operation section is not detected, a conversion section converts the first operation signal into a control signal. A second operation section has a second movable section which moves in accordance with movement of the first movable section, and outputs a second operation signal generated in accordance with movement of the second movable section. A comparison section compares the control signal with the second operation signal, and outputs a deviation signal used for opening the second movable section. A management section receives the detection signal, and supplies the comparison section with a signal for making deviation signal zero, thereby prohibiting the second movable section from being driven. A display section displays data on the failure of the first operation section and/or data on the current position of the first movable section, on the basis of a signal output from the management section.

    摘要翻译： 机械手的安全操作系统具有第一操作部。 第一操作部具有第一可动部，输出表示第一可动部的位置和角度的第一操作信号。 故障检测部根据第一操作信号检测第一操作部的故障，并输出检测信号。 当未检测到第一操作部分的故障时，转换部分将第一操作信号转换为控制信号。 第二操作部分具有根据第一可移动部分的移动而移动的第二可移动部分，并且输出根据第二可动部分的移动产生的第二操作信号。 比较部分将控制信号与第二操作信号进行比较，并输出用于打开第二可动部分的偏差信号。 管理部分接收检测信号，并向比较部分提供用于使偏差信号为零的信号，从而禁止第二可动部分被驱动。 显示部分基于从管理部分输出的信号，显示第一操作部分的故障和/或关于第一可移动部分的当前位置的数据的数据。

    Master slave manipulator system
    8.
    发明授权
    Master slave manipulator system 失效
    主从系统操纵系统

    公开(公告)号：US5105367A

    公开(公告)日：1992-04-14

    申请号：US421841

    申请日：1989-10-16

    申请人： Akira Tsuchihashi ,  Shinichi Takarada ,  Taro Iwamoto ,  Kichio Nakajima ,  Hiroshi Yamamoto ,  Tatsu Aoki

    发明人： Akira Tsuchihashi ,  Shinichi Takarada ,  Taro Iwamoto ,  Kichio Nakajima ,  Hiroshi Yamamoto ,  Tatsu Aoki

    IPC分类号： B25J3/04

    CPC分类号： B25J9/0018 ,  B25J21/00 ,  B25J3/04

    摘要： A master slave manipulator system includes a master arm having six or more axes of motion and an articulated slave arm having six or more axes of motion and being shaped in sharp contrast with the master arm. The master arm has an arm body with three axes perpendicular to each other and a wrist assembly connected to the arm body. The wrist assembly has a gripper disposed in a space of a size large enough for an operator to operate the gripper with his clutched hand in X, Y and Z directions and also has a pitch-axis, a yaw-axis and a roll-axis all disposed outside of the space. The pitch-axis, yaw-axis and roll-axis have output axes directed toward the gripper. The slave arm has an arm body with axes longitudinally stretchable or foldable into parallel positions, and a wrist assembly having three axes disposed in a space of predetermined dimensions in X, Y and Z directions. The output axes of the three axes of the slave arm wrist assembly are directed away from the mounting portions of these axes. The slave arm is so controlled as to follow movements of the master arm.

    End effector
    9.
    发明授权
    End effector 失效
    末端执行器

    公开(公告)号：US4955654A

    公开(公告)日：1990-09-11

    申请号：US286866

    申请日：1988-12-20

    申请人： Akira Tsuchihashi ,  Naoki Noguchi ,  Kesatoshi Kuraoka

    发明人： Akira Tsuchihashi ,  Naoki Noguchi ,  Kesatoshi Kuraoka

    IPC分类号： B25J9/16 ,  B25J13/08 ,  B25J15/00 ,  B64G4/00 ,  G05D3/12

    CPC分类号： B25J13/085 ,  B25J15/00 ,  B64G4/00 ,  Y10S294/907

    摘要： An end effector secured to an front end of a manipulator of a remote manipulator system and having a function for clamping dedicated objects, wherein a force (or torque) applied to the end effector at the time of clamping the dedicated object is detected so that a driving portion of the end effector is feedback-controlled in order to protect the end effector from being applied with a force (or torque) exceeding a predetermined level.

    摘要翻译： 固定到远程操纵器系统的操纵器的前端并具有用于夹紧专用物体的功能的末端执行器，其中检测在夹紧专用物体时施加到末端执行器的力（或扭矩），使得 端部执行器的驱动部分被反馈控制，以便保护端部执行器不被施加超过预定水平的力（或扭矩）。

    Manipulator system with small arm removably attachable at points along large arm
    10.
    发明授权
    Manipulator system with small arm removably attachable at points along large arm 失效
    具有小臂的机械手系统可拆卸地安装在大臂上的点处

    公开(公告)号：US4865514A

    公开(公告)日：1989-09-12

    申请号：US103668

    申请日：1987-10-02

    申请人： Akira Tsuchihashi ,  Naoya Ezawa

    发明人： Akira Tsuchihashi ,  Naoya Ezawa

    IPC分类号： B25J9/06 ,  B25J9/00 ,  B25J9/04 ,  B25J9/08 ,  B25J15/04 ,  B25J18/00 ,  G05B19/39

    CPC分类号： G05B19/39 ,  B25J9/009 ,  B25J9/046 ,  B25J9/08 ,  G05B2219/40296

    摘要： In this manipulator system, a small arm is coupled with an arm portion of a large arm excepting the tip, and the large arm and the small arm are independently controlled to operate. For coupling the small arm with the arm portion of the large arm, a capturing mechanism located at the tip of the large arm is actuated to be coupled with a capturing mechanism of the small arm. Another capturing mechanism of the small arm is moved to a capturing mechanism located on the arm portion of the large arm to be mechanically and electrically coupled therewith. When this coupling has been completed, the coupling between the capturing mechanism located on the tip of the large arm and the capturing mechanism of the small arm is released. As a result, the small arm can be branch-connected to the large arm, and expansion of the work range and complex work become possible.

    摘要翻译： 在该机械手系统中，小臂与除了尖端之外的大臂的臂部结合，大臂和小臂被独立地控制操作。 为了将小臂与大臂的臂部分联接，位于大臂的尖端处的捕获机构被致动以与小臂的捕获机构联接。 小臂的另一个捕获机构被移动到位于大臂的臂部上的捕获机构，以与其机械地和电耦合。 当该联接完成时，位于大臂的尖端的捕获机构与小臂的捕获机构之间的联接被释放。 结果，小臂可以与大臂分支连接，工作范围扩大和复杂工作成为可能。