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公开(公告)号：US20110010012A1
公开(公告)日：2011-01-13
申请号：US12919573
申请日：2009-02-26
IPC分类号： B25J9/02
CPC分类号： G05B19/4182 , B23P2700/50 , B25J19/06 , G05B19/423 , G05B2219/36429 , G05B2219/37357 , G05B2219/40272 , Y02P90/04 , Y02P90/083 , Y10T29/53039 , Y10T29/53057
摘要： A method of controlling a power assist device that includes an operating handle, a force sensor, a robot arm, an actuator that drives the robot arm, and a conveying portion for conveying the robot arm. When a body in motion, the conveying portion is controlled to move in synchronization with the body, and when the motion of the body is stopped or has resumed, the drive of the robot arm is stopped for a predetermined time, and does not resume until after a predetermined time has elapsed.
摘要翻译： 一种控制动力辅助装置的方法，所述动力辅助装置包括操作手柄，力传感器，机器人手臂，驱动所述机器人手臂的致动器以及用于输送所述机器人手臂的输送部。 当身体运动时，输送部分被控制为与身体同步地移动，并且当身体的运动停止或恢复时，机器人手臂的驱动停止预定的时间，并且直到 经过预定时间后。
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公开(公告)号：US08392024B2
公开(公告)日：2013-03-05
申请号：US12919573
申请日：2009-02-26
IPC分类号： G05B19/00
CPC分类号： G05B19/4182 , B23P2700/50 , B25J19/06 , G05B19/423 , G05B2219/36429 , G05B2219/37357 , G05B2219/40272 , Y02P90/04 , Y02P90/083 , Y10T29/53039 , Y10T29/53057
摘要： A method of controlling a power assist device that includes an operating handle, a force sensor, a robot arm, an actuator that drives the robot arm, and a conveying portion for conveying the robot arm. When a body in motion, the conveying portion is controlled to move in synchronization with the body, and when the motion of the body is stopped or has resumed, the drive of the robot arm is stopped for a predetermined time, and does not resume until after a predetermined time has elapsed.
摘要翻译： 一种控制动力辅助装置的方法，所述动力辅助装置包括操作手柄，力传感器，机器人手臂，驱动所述机器人手臂的致动器以及用于输送所述机器人手臂的输送部。 当身体运动时，输送部分被控制为与身体同步地移动，并且当身体的运动停止或恢复时，机器人手臂的驱动停止预定的时间，并且直到 经过预定时间后。
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公开(公告)号：US20070074906A1
公开(公告)日：2007-04-05
申请号：US11470379
申请日：2006-09-06
申请人： Kouichi Tanaka , Hideyuki Murayama , Chiharu Haraoka , Hiroshi Oota , Yuko Sakata , Naoki Terada , Takashi Kunishita , Hideki Tachikawa , Tetsuya Matsuda
发明人： Kouichi Tanaka , Hideyuki Murayama , Chiharu Haraoka , Hiroshi Oota , Yuko Sakata , Naoki Terada , Takashi Kunishita , Hideki Tachikawa , Tetsuya Matsuda
IPC分类号： H02B1/40
CPC分类号： E04H1/1272 , G06Q30/02
摘要： An object is to provide a space providing system that can be flexibly adapted to a modification to the configuration of a space structure in accordance with the intended purpose of a conference or exhibition and to replacement or addition of an information apparatus. In a space structure constructed by joining one or more post members extending upwardly from the floor and one or more horizontal beams extending parallel to the floor, connection means that can be fixed at a desired position is provided, by which a service providing apparatus is connected to the space structure. In addition, a space management server that detects and manages a service provided by the service providing apparatus is provided.
摘要翻译： 本发明的目的是提供一种空间提供系统，其能够灵活地适应于根据会议或展览的预期目的对空间结构的配置的修改以及信息设备的更换或添加。 在通过连接从地板向上延伸的一个或多个柱构件和平行于地板延伸的一个或多个水平梁构成的空间结构中，提供可固定在期望位置的连接装置，通过该连接装置连接服务提供装置 到空间结构。 另外，提供了检测并管理由服务提供装置提供的服务的空间管理服务器。
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公开(公告)号：US07953509B2
公开(公告)日：2011-05-31
申请号：US12392701
申请日：2009-02-25
申请人： Hideyuki Murayama
发明人： Hideyuki Murayama
IPC分类号： A47B85/00 , A47B11/00 , B25B1/22 , A47F5/12 , B65B35/50 , B64F5/00 , A01D90/00 , A47H1/10 , F16M13/00 , G05B19/18 , G05B15/00 , G06F19/00
CPC分类号： B25J13/085 , B25J9/107 , B25J15/0616 , B66C1/0243 , B66C23/005 , G05B2219/36429 , G05B2219/39447
摘要： In a control method for a power assist apparatus, a pressing force acting on a workpiece held by a workpiece holding apparatus is detected, a determination is made as to whether or not the detected pressing force exceeds a preset threshold, a determination is made as to whether or not a dead man switch provided on the workpiece holding apparatus is ON, and a determination as to whether or not to release a rotation restriction applied to a joint portion for connecting the workpiece holding apparatus rotatably to an arm is made in accordance with a result of the determination as to whether or not the detected pressing force exceeds the preset threshold and a result of the determination as to whether or not the dead mean switch is ON.
摘要翻译： 在动力辅助装置的控制方法中，检测作用在由工件保持装置保持的工件上的按压力，确定检测到的按压力是否超过预先设定的阈值， 是否设置在工件保持装置上的死人开关是接通的，并且根据一个确定是否释放施加到用于将工件保持装置连接到手臂的接合部分的旋转限制 确定检测到的按压力是否超过预设阈值的结果以及关于死亡平均开关是否为ON的确定结果。
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公开(公告)号：US20090212478A1
公开(公告)日：2009-08-27
申请号：US12392793
申请日：2009-02-25
申请人： Hideyuki Murayama
发明人： Hideyuki Murayama
CPC分类号： B25J9/1674 , B25J9/0018 , B25J13/085 , B66C1/0243 , B66C13/08 , G05B2219/36429
摘要： A method of controlling a power assist device including a workpiece holding device, a handle, a force sensor that measures operating force of a worker that acts on the handle, a robot arm that supports the workpiece holding device, and a control device that controls an action of the robot arm based on a measurement result of the force sensor. The workpiece holding device includes an angle sensor that measures an inclination angle of the workpiece holding device. An action of robot arm is controlled by the control device based on measurement results of the angle sensor and of the force sensor.
摘要翻译： 一种控制动力辅助装置的方法，包括工件保持装置，手柄，测量作用在手柄上的作业者的操作力的力传感器，支撑工件保持装置的机器人手臂，以及控制装置 基于力传感器的测量结果的机器人手臂的动作。 工件保持装置包括测量工件保持装置的倾斜角度的角度传感器。 基于角度传感器和力传感器的测量结果，控制装置控制机器人手臂的动作。
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6.发明授权Power assist apparatus with a controlled brake mechanism for positioning a workpiece and control method thereof 失效具有用于定位工件的受控制动机构的动力辅助装置及其控制方法公开(公告)号：US08226072B2
公开(公告)日：2012-07-24
申请号：US12675662
申请日：2009-04-22
申请人： Hideyuki Murayama
发明人： Hideyuki Murayama
IPC分类号： B66F19/00
CPC分类号： B25J19/0004 , B25J9/1674 , B66C1/0243 , B66C1/0256 , B66C23/005 , Y10T29/53961
摘要： If the rotation angle in a rotation direction allowed by a joint portion detected by the angle sensor is no more than a predetermined lower limit or no less than a predetermined upper limit, the controller maintains the released state of the brake mechanism so that the rotation of the workpiece in the direction is not restricted.
摘要翻译： 如果由角度传感器检测到的由关节部分允许的旋转方向的旋转角度不大于预定的下限或不小于预定的上限，则控制器保持制动机构的释放状态， 工件的方向不受限制。
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公开(公告)号：US20110040411A1
公开(公告)日：2011-02-17
申请号：US12919593
申请日：2009-02-26
IPC分类号： B25J9/02
CPC分类号： B25J13/085 , B25J5/02 , B25J9/1687 , B66C23/005 , G05B19/402 , G05B2219/39002 , G05B2219/39439 , G05B2219/40586 , G05B2219/45025
摘要： A control method for a power assist device provided with an operation handle, a force sensor that detects an operation force applied to the operation handle and an orientation of the operation force, a robot arm, and an actuator. When the orientation of the operation force is detected to be within a predetermined angle range with respect to a preset advancing direction of the operation handle, the actuator is controlled so as to move the operation handle along the advancing direction by employing only a component of the operation force along the advancing direction; and when the orientation of the operation force is detected to be outside the predetermined angle range, the actuator is controlled to move the operation handle by the operation force applied to the operation handle and the orientation of the operation force.
摘要翻译： 一种具有操作手柄的动力辅助装置的控制方法，检测施加到操作手柄的操作力和操作力方位的力传感器，机器人手臂和致动器。 当操作力的取向相对于操作手柄的预设行进方向被检测在预定角度范围内时，致动器被控制成使得操作手柄沿着前进方向移动，仅使用 沿着前进方向的操作力; 并且当检测到操作力的取向在预定角度范围之外时，控制致动器以通过施加到操作手柄的操作力和操作力的取向来移动操作手柄。
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公开(公告)号：US08588980B2
公开(公告)日：2013-11-19
申请号：US12919593
申请日：2009-02-26
CPC分类号： B25J13/085 , B25J5/02 , B25J9/1687 , B66C23/005 , G05B19/402 , G05B2219/39002 , G05B2219/39439 , G05B2219/40586 , G05B2219/45025
摘要： A control method for a power assist device provided with an operation handle, a force sensor that detects an operation force applied to the operation handle and an orientation of the operation force, a robot arm, and an actuator. When the orientation of the operation force is detected to be within a predetermined angle range with respect to a preset advancing direction of the operation handle, the actuator is controlled so as to move the operation handle along the advancing direction by employing only a component of the operation force along the advancing direction; and when the orientation of the operation force is detected to be outside the predetermined angle range, the actuator is controlled to move the operation handle by the operation force applied to the operation handle and the orientation of the operation force.
摘要翻译： 一种具有操作手柄的动力辅助装置的控制方法，检测施加到操作手柄的操作力和操作力方位的力传感器，机器人手臂和致动器。 当操作力的取向相对于操作手柄的预设行进方向被检测在预定角度范围内时，致动器被控制成使得操作手柄沿着前进方向移动，仅使用 沿着前进方向的操作力; 并且当检测到操作力的取向在预定角度范围之外时，控制致动器以通过施加到操作手柄的操作力和操作力的取向来移动操作手柄。
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公开(公告)号：US08291566B2
公开(公告)日：2012-10-23
申请号：US12666692
申请日：2008-07-25
CPC分类号： B62D65/06 , B25J5/02 , B25J9/107 , B25J13/085 , B25J15/0052 , B25J15/0616 , B66C1/0218 , B66C1/0243 , Y10T29/49776 , Y10T29/53539
摘要： According to a work mounting method by the work transfer apparatus of the prior art, a glass plate or a work may fail to abut against a window frame homogeneously at its peripheral edge portion, and the adhesion strength or the sealing property between the glass plate and the window frame may not be retained all over the periphery of the adhered portion. Provided is a work transfer apparatus, which grips a rear glass by its gripping member and mounts the rear glass while pushing the gripped rear glass onto the window frame of a car body by the action of a supporting arm. The work transfer apparatus comprises a control device, and each of absorption pads of the gripping member includes a force detecting sensor for detecting the force to be applied to the absorption pads. The control device controls, when it uses the work transfer apparatus to mount the rear glass on the window frame, the actions of the supporting arm on the basis of the magnitude of the detected value of the force detecting sensor of each absorption pad.
摘要翻译： 根据现有技术的工件传送装置的工件安装方法，玻璃板或工件可能不能在其周边部分均匀地抵靠窗框，并且玻璃板与玻璃板之间的粘合强度或密封性能 窗框可以不被保持在粘附部分的整个周边上。 提供了一种工件传送装置，其通过其夹持构件夹持后玻璃并且通过支撑臂的作用将夹持的后玻璃推压到车体的窗框上并安装后玻璃。 工件传送装置包括控制装置，并且夹持构件的每个吸收垫包括用于检测施加到吸收垫的力的力检测传感器。 控制装置在使用工件传送装置将后玻璃安装在窗框上时，根据每个吸收垫的力检测传感器的检测值的大小来控制支撑臂的动作。
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公开(公告)号：US20100319193A1
公开(公告)日：2010-12-23
申请号：US12666692
申请日：2008-07-25
IPC分类号： B23P19/00
CPC分类号： B62D65/06 , B25J5/02 , B25J9/107 , B25J13/085 , B25J15/0052 , B25J15/0616 , B66C1/0218 , B66C1/0243 , Y10T29/49776 , Y10T29/53539
摘要： According to a work mounting method by the work transfer apparatus of the prior art, a glass plate or a work may fail to abut against a window frame homogeneously at its peripheral edge portion, and the adhesion strength or the sealing property between the glass plate and the window frame may not be retained all over the periphery of the adhered portion. Provided is a work transfer apparatus, which grips a rear glass by its gripping member and mounts the rear glass while pushing the gripped rear glass onto the window frame of a car body by the action of a supporting arm. The work transfer apparatus comprises a control device, and each of absorption pads of the gripping member includes a force detecting sensor for detecting the force to be applied to the absorption pads. The control device controls, when it uses the work transfer apparatus to mount the rear glass on the window frame, the actions of the supporting arm on the basis of the magnitude of the detected value of the force detecting sensor of each absorption pad.
摘要翻译： 根据现有技术的工件传送装置的工件安装方法，玻璃板或工件可能不能在其周边部分均匀地抵靠窗框，并且玻璃板与玻璃板之间的粘合强度或密封性能 窗框可以不被保持在粘附部分的整个周边上。 提供了一种工件传送装置，其通过其夹持构件夹持后玻璃并且通过支撑臂的作用将夹持的后玻璃推压到车体的窗框上并安装后玻璃。 工件传送装置包括控制装置，并且夹持构件的每个吸收垫包括用于检测施加到吸收垫的力的力检测传感器。 控制装置在使用工件传送装置将后玻璃安装在窗框上时，根据每个吸收垫的力检测传感器的检测值的大小来控制支撑臂的动作。
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