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公开(公告)号：US4517653A
公开(公告)日：1985-05-14
申请号：US422300
申请日：1982-09-23
CPC分类号： G05B19/4083 , G05B2219/36503 , Y02P90/083
摘要： Dimensions of a plurality of works of the same specification are subtantially identical among the works. Thus, a teach work point on the work to be worked by an industrial robot and a teach reference point to specify the teach work point are taught to memory means of the industrial robot. In an automatic mode, an actual reference point on the work of the same specification is detected by a sensor and an actual work point of the work is determined based on a difference between the detected actual reference point and the teach reference point and the resulting actual work point is conveyed to the industrial robot.
摘要翻译： 相同规格的多个作品的尺寸在作品中基本相同。 因此，对工业机器人工作的教学工作点和教导参考点来指定教学工作点被教导到工业机器人的存储装置。 在自动模式中，通过传感器检测相同规范的工作的实际参考点，并且基于检测到的实际参考点和示教参考点之间的差异确定工件的实际工作点，并且产生的实际 工作点被传送到工业机器人。
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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.
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公开(公告)号：US4613943A
公开(公告)日：1986-09-23
申请号：US599472
申请日：1984-04-12
CPC分类号： G05B19/42 , B23K9/12 , G05B2219/36461 , G05B2219/36503 , G05B2219/45083
摘要： An operation teaching method and apparatus for an industrial robot adapted to be successively moved to and set at different positions along an objective structure to conduct a predetermined operation on working objects of the same configuration on the objective structure to which objects the different positions correspond, respectively. The data taught at an initial position is corrected through a coordinate transformation between a coordinate system fixed on a working object and a coordinate system assumed on the robot, and the corrected data are reproduced and used as the operation data for the second and the following working positions.
摘要翻译： 一种用于工业机器人的操作教学方法和装置，其适用于沿目标结构连续移动并设置在不同位置，以对相同结构的工作对象分别对不同位置对应的目标结构进行预定操作 。 通过在工作对象上固定的坐标系和机器人上假设的坐标系之间的坐标变换来校正在初始位置上教导的数据，并且将修正后的数据作为第二和下一个工作的操作数据进行再现和使用 职位
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4.发明授权Computer system for controlling an industrial robot subsystem which can monitor and detect abnormalities therein 失效用于控制可以监测和检测异常的工业机器人子系统的计算机系统
公开(公告)号：US5715388A
公开(公告)日：1998-02-03
申请号：US829480
申请日：1997-03-28
申请人： Akira Tsuchihashi
发明人： Akira Tsuchihashi
IPC分类号： G05B19/42 , G05B19/4063 , G05B19/425 , G05B23/02 , G06F11/07 , G06F11/32 , G06F11/34 , G06F11/00
CPC分类号： G06F11/0736 , G05B19/4063 , G05B19/425 , G06F11/0766 , G06F11/321 , G06F11/323 , G05B2219/35289 , G05B2219/35291 , G05B2219/39375 , G05B2219/40396 , G05B2219/40397 , G06F11/3466
摘要： Each of the states of the computer system is displayed in units of a module which is executed for a predetermined time period, thereby facilitating diagnosis and countermeasure by a maker. For this purpose, software of a computer system operable by software is classified hierarchically, a module of the hierarchical software which is being executed for a predetermined time period is managed as a minimum unit and displayed on an as-needed basis, and the state of execution of the software can be understood.
摘要翻译： PCT No.PCT / JP93 / 01356 Sec。 371日期：1995年3月22日 102（e）1995年3月22日PCT PCT 1993年9月22日PCT公布。 公开号WO95 / 05241 日期1995年2月23日计算机系统的每个状态以预定时间段执行的模块为单位显示，从而便于制造者的诊断和对策。 为此，通过软件可操作的计算机系统的软件被分层分类，正在执行预定时间段的分级软件的模块被作为最小单位进行管理并根据需要进行显示， 可以理解软件的执行。
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公开(公告)号：US4906907A
公开(公告)日：1990-03-06
申请号：US175318
申请日：1988-03-30
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。
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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
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。
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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
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。
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8.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
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。
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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.
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公开(公告)号：US4955654A
公开(公告)日：1990-09-11
申请号：US286866
申请日：1988-12-20
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）。
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