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公开(公告)号：US5250886A
公开(公告)日：1993-10-05
申请号：US902499
申请日：1992-06-23
IPC分类号： B25J9/18 , G05B19/425 , G05B19/00
CPC分类号： G05B19/425
摘要： In a method of storing teaching points of a robot, when teaching points for a plurality of moving units are input, information for identifying the moving units associated with the teaching points is input, and the teaching points and the identification data are stored in a single area of a memory.
摘要翻译： 在存储机器人的教学点的方法中，当输入多个移动单元的教导点时，输入用于识别与教学点相关联的移动单元的信息，并将教学点和识别数据存储在单个 记忆区域
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公开(公告)号：US5357598A
公开(公告)日：1994-10-18
申请号：US946791
申请日：1992-09-18
CPC分类号： B25J9/1676 , G05B2219/34388 , G05B2219/36031 , G05B2219/39084 , G05B2219/39088 , G05B2219/40397 , G05B2219/41275 , G05B2219/49143
摘要： There are provided method and apparatus for controlling a robot, in which when the robot is continuously controlled in different directions such that from the movement in the horizontal direction to the movement in the vertical direction, the movements in the horizontal and vertical directions from a predetermined position are executed in parallel during the movement in the horizontal direction. In the method, target movement positions in the horizontal and vertical directions are input, a first distance which is necessary to move the robot in only the vertical direction is input, and the predetermined position is determined on the basis of the target movement positions in the horizontal and vertical directions and the first distance. The movements in the horizontal and vertical directions include the equal acceleration motion and the equal deceleration motion. With this method, the operator can easily perform the programming and teaching of the robot such that the robot can reach a desired final target position while avoiding obstacles without colliding therewith in the shortest time.
摘要翻译： 提供了一种用于控制机器人的方法和装置，其中当机器人在不同方向上被连续地控制时，使得从水平方向的运动到垂直方向上的运动，水平和垂直方向上的运动都是从预定的 在水平方向移动期间平行执行位置。 在该方法中，输入水平和垂直方向上的目标移动位置，输入仅在垂直方向上移动机器人所需的第一距离，并且基于目标移动位置确定预定位置 水平和垂直方向和第一距离。 水平和垂直方向上的运动包括相等的加速运动和相等的减速运动。 通过这种方法，操作者可以容易地执行机器人的编程和教导，使得机器人能够在最短时间内避免障碍物而不与其碰撞而达到期望的最终目标位置。
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3.发明授权Robot apparatus with an electrical driver for controlling a detachable rotor hand 失效具有用于控制可拆卸机器人手的电驱动器的机器人装置
公开(公告)号：US5425133A
公开(公告)日：1995-06-13
申请号：US101820
申请日：1993-08-04
CPC分类号： B25J15/04 , B25J9/1612 , G05B2219/33254 , G05B2219/39468
摘要： A robot apparatus includes a robot arm, a robot hand, an electrical/electronic device mounted on the robot hand for operating the robot hand, and a hand attaching/detaching device, arranged between the robot arm and the robot hand, for detachably mounting the robot hand on the robot arm. A signal transmission path, is connected to an external robot controller at one end thereof and to the electrical/electronic device at the other end thereof, extends through the hand attaching/detaching device, and is able to be disconnected between the robot hand side and the robot arm side in the hand attaching/detaching device. The signal transmission path drives the robot hand, and allows a plurality of kinds of signals for the electrical/electronic device to pass therethrough in a multiplexed serial format; a first signal conversion circuit, arranged on a robot hand side, converts the multiplexed serial format signal into original parallel signals, and output the parallel signals to the electrical/electronic device, or converts signals from the electrical/electronic device into a multiplexed serial format signals, and outputs the multiplexed serial signal to a robot controller.
摘要翻译： 机器人装置包括机器人手臂，机器人手，安装在机器人手上用于操作机器人手的电气/电子设备，以及设置在机器人手臂与机器人手之间的手动安装/拆卸装置，用于可拆卸地安装 机器人手在机器人手臂上。 信号传输路径在其一端连接到外部机器人控制器，并且在另一端连接到电气/电子设备，延伸穿过手持/拆卸装置，并且能够在机器人手侧和 机器人手臂侧在手上安装/拆卸装置。 信号传输路径驱动机器人手，并允许电子/电子设备的多种信号以多路复用的串行格式通过; 设置在机器人手侧的第一信号转换电路将多路复用串行格式信号转换为原始并行信号，并将并行信号输出到电气/电子设备，或将来自电气/电子设备的信号转换成多路复用串行格式 信号，并将多路复用的串行信号输出到机器人控制器。
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公开(公告)号：US5205701A
公开(公告)日：1993-04-27
申请号：US709028
申请日：1991-05-31
CPC分类号： B25J9/044 , B25J19/0025 , B25J19/0029 , B25J9/0009 , Y10S285/903 , Y10S414/131 , Y10T403/593 , Y10T403/604 , Y10T403/67
摘要： A bundle of wiring and piping lines, for supplying a control signal and working a first arm from a control unit to a hand, passes through a first flexible pipe, one end of which is connected onto a fixing jig attached to a base unit and the other end of which is connected onto a second arm, a second flexible pipe, one end of which is connected onto the second arm and the other end of which is connected onto a hollow third arm, and the third arm. One end of the bundle is connected to the control unit and the other end thereof is connected to the hand.
摘要翻译： 用于提供控制信号并将第一臂从控制单元操作到手的一束布线和管线穿过第一柔性管，第一柔性管的一端连接到安装在基座单元上的固定夹具上， 其另一端连接到第二臂上，第二柔性管的一端连接到第二臂上，另一端连接到中空的第三臂和第三臂上。 束的一端连接到控制单元，并且其另一端连接到手上。
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5.发明申请Work working method and apparatus, cassette, and unit for printing apparatus 审中-公开工作方法和装置，盒式磁带和打印装置的单元公开(公告)号：US20050085177A1
公开(公告)日：2005-04-21
申请号：US10959124
申请日：2004-10-07
CPC分类号： H01L21/67173 , H01L21/67236 , H01L21/67282
摘要： In a working method of performing work on a workpiece, a plurality of work chambers corresponding to work steps for the workpiece are consecutively arrayed, and a cleanliness with respect to dust particles is independently controlled in each of the work chambers. The workpiece is transferred to the respective work chambers, and working is performed in each of the work chambers in which a cleanliness is maintained below a predetermined cleanliness corresponding to the type of work on the workpiece.
摘要翻译： 在对工件进行加工的工作方法中，连续排列对应于工件的工作台面的多个工作室，并且在每个工作室中独立地控制相对于灰尘颗粒的清洁度。 工件被传送到相应的工作室，并且在其中清洁度保持低于对应于工件上的工件类型的预定清洁度的每个工作室中进行加工。
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公开(公告)号：US5409095A
公开(公告)日：1995-04-25
申请号：US97023
申请日：1993-07-27
CPC分类号： B65G47/844 , B07C5/362 , B65G2207/36
摘要： A change-over device is provided for a sorting conveyor. Projected members of slats forming the sorting conveyor are made of ferromagnetic substance such as iron alloy. Those projected members are guided by a guide rail which is installed on the rear side of the conveyor. The guide rail is made up of a main rail and a branch rail. The side wall of the branch rail is partially omitted near at the inlet of the branching portion of the guide rail where the branch rail branches from the main rail, and instead an upper side wall and a lower side wall are formed there by an electromagnet and a permanent magnet, respectively. When the electromagnet is energized, each projected member is attracted towards the upper side wall, and is then allowed to move along the lower side wall, thus being led into the branch rail. Thus, the articles on the conveyor are suitably sorted while being conveyed to the selected branch conveying path.
摘要翻译： 为分选输送机提供了转换装置。 形成分选输送机的板条的投影件由铁合金等铁磁性物质制成。 那些突出的构件由安装在输送机后侧的导轨引导。 导轨由主轨和分支轨道组成。 在导轨的分支部分的入口附近部分地省略了分支轨道的侧壁，其中分支轨道从主轨道分支，而代之以上侧壁和下侧壁由电磁体形成， 永磁体。 当电磁铁通电时，每个突出构件被吸引到上侧壁，然后被允许沿着下侧壁移动，从而被引导到分支轨道中。 因此，输送机上的物品在输送到所选择的分支输送路径的同时被适当地分类。
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公开(公告)号：US5090113A
公开(公告)日：1992-02-25
申请号：US503745
申请日：1990-04-03
申请人： Sachio Umetsu , Toshio Tsuda , Yusaku Azuma , Toshihiko Miura , Katsumi Ishihara , Teiji Ohsaka
发明人： Sachio Umetsu , Toshio Tsuda , Yusaku Azuma , Toshihiko Miura , Katsumi Ishihara , Teiji Ohsaka
IPC分类号： B23P19/00
CPC分类号： B23P19/001 , Y10T29/53039 , Y10T29/53061 , Y10T29/53348 , Y10T29/53361
摘要： There is disclosed an apparatus for feeding articles, containing a tape transporting apparatus, including a transporting member having plural container portions in succession, a cover tape for covering the apertures of the container portions of the transporting member, a first reel on which ends of the transporting member and the cover tape are fixed, for simultaneously winding the transporting member and the cover tape, a second reel on which the other end of the transporting member is fixed, for winding the transporting member only, a third reel on which the other end of the cover tape is fixed, for winding the cover tape only, a drive assembly for rotating the first, second and third reels, intermittent drive unit for intermittently driving the transporting member by engaging with successive perforations formed on the transporting member, a control unit for driving the drive assembly and intermittent drive unit, an aperture for loading or removing the articles into or from the container portions of the transporting member, a first detector provided in the vicinity of the aperture, for detecting the presence or absence of an article in a container portion, and a guide member for defining the position to an article assembling apparatus or an article manufacturing apparatus, wherein each of these apparatus is provided with a robot hand and a main control unit to be connected to the control unit mentioned above.
摘要翻译： 公开了一种包含带输送装置的物品的装置，该装置包括连续地具有多个容器部分的传送部件，覆盖传送部件的容器部分的孔的盖带，第一卷轴， 传送构件和盖带固定，用于同时卷绕传送构件和盖带;传送构件的另一端固定在其上的第二卷轴，用于卷绕传送构件;第三卷轴，其另一端 的盖带固定，用于仅缠绕盖带;驱动组件，用于旋转第一，第二和第三卷轴;间歇驱动单元，用于通过与形成在传送构件上的连续穿孔接合来间歇地驱动传送构件;控制单元 用于驱动驱动组件和间歇驱动单元，用于将物品装入或从其中取出物品的孔 设置在孔附近的用于检测容器部分中物品的存在或不存在的第一检测器和用于限定物品组装设备或物品制造设备的位置的引导件 其中，这些装置中的每一个设置有要连接到上述控制单元的机器人手和主控制单元。
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公开(公告)号：US06840594B2
公开(公告)日：2005-01-11
申请号：US10408120
申请日：2003-04-08
CPC分类号： H01L21/67173 , H01L21/67236 , H01L21/67282
摘要： In a working method of performing work on a workpiece, a plurality of work chambers corresponding to work steps for the workpiece are consecutively arrayed, and a cleanliness with respect to dust particles is independently controlled in each of the work chambers. The workpiece is transferred to the respective work chambers, and working is performed in each of the work chambers in which a cleanliness is maintained below a predetermined cleanliness corresponding to the type of work on the workpiece.
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公开(公告)号：US5418890A
公开(公告)日：1995-05-23
申请号：US898549
申请日：1992-06-15
申请人： Katsumi Ishihara , Takeo Tanita , Yasuhiro Sawada
发明人： Katsumi Ishihara , Takeo Tanita , Yasuhiro Sawada
CPC分类号： B25J9/1692
摘要： An arm origin calibrating method for an articulated robot is capable of implementing highly accurate calibration without requiring special high-precision measuring devices. A round bar is mounted on a first arm and a round hole is provided in a second arm. A rotation angle of the second arm is detected when, with the first arm being fixed, the second arm is rotated in the first direction until the round bar comes in contact with the inner surface of the round hole. A rotation angle of the second arm is detected when, with the first arm being fixed, the second arm is rotated in the second direction reverse to the first direction until the round bar comes in contact with the inner surface of the round hole. An offset angle of the second arm is detected on the basis of the two detected rotation angles.
摘要翻译： 关节式机器人的手臂原点校准方法能够实现高精度校准，而不需要特殊的高精度测量装置。 在第一臂上安装有圆棒，在第二臂上设置有圆孔。 当第一臂被固定时第二臂在第一方向上旋转直到圆棒与圆孔的内表面接触时，检测第二臂的旋转角度。 当第一臂被固定时，第二臂在与第一方向相反的第二方向上旋转直到圆棒与圆孔的内表面接触的方式来检测第二臂的旋转角度。 基于两个检测到的旋转角度来检测第二臂的偏移角。
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公开(公告)号：US5350269A
公开(公告)日：1994-09-27
申请号：US820808
申请日：1992-01-15
申请人： Yusaku Azuma , Katsumi Ishihara , Masaru Shibata
发明人： Yusaku Azuma , Katsumi Ishihara , Masaru Shibata
CPC分类号： B25J9/1697 , G05B2219/37572 , G05B2219/45063 , G05B2219/49114 , G05B2219/50151
摘要： A work pick-up apparatus which picks up an object work out of a plurality of works held on a container case through visual recognition of the position of the object work by a visual sensor. The apparatus comprises: a memory circuit for storing shape characteristic information concerning the shape characteristic of the object work; an input circuit for externally inputting approximate position information representing an approximate position of the object work on the case, the approximate position information being expressed in terms of a coordinate system associated with the work pick-up apparatus; and a measuring circuit for measuring the pick-up position of the work in terms of the coordinate system associated with the pick-up apparatus, by processing the image information concerning the work obtained through the visual sensor in accordance with the approximate position information and the shape characteristic information.
摘要翻译： 通过视觉传感器对目标作品的位置的视觉识别，拾取物体的工作拾取装置从保持在容器壳体上的多个作品中工作。 该装置包括：存储电路，用于存储关于对象工作的形状特征的形状特征信息; 输入电路，用于从外部输入表示所述对象工作的大致位置的大致位置信息，所述近似位置信息以与所述工作拾取装置相关联的坐标系表示; 以及测量电路，用于根据与拾取装置相关联的坐标系测量工件的拾取位置，通过根据大致位置信息处理关于通过视觉传感器获得的作品的图像信息，以及 形状特征信息。
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