公开(公告)号：US5084826A

公开(公告)日：1992-01-28

申请号：US557074

申请日：1990-07-25

申请人： Kazuo Hariki ,  Tatsuya Koizumi ,  Kazuya Ishiguro ,  Kiyoshi Kanitani ,  Masaki Togitani ,  Kazuyuki Doi ,  Shin-ichi Izumisawa

发明人： Kazuo Hariki ,  Tatsuya Koizumi ,  Kazuya Ishiguro ,  Kiyoshi Kanitani ,  Masaki Togitani ,  Kazuyuki Doi ,  Shin-ichi Izumisawa

IPC分类号： B25J19/06 ,  B25J9/18 ,  G05B19/18 ,  G05B19/4155 ,  G05B19/418 ,  G05B19/42

CPC分类号： G05B19/41815 ,  Y02P90/08

摘要： An industrial robot system comprising a single working machine, and a plurality of robots arranged so as to transfer a work to and from this working machine. The operation of these robots and the working machine is controlled by a single control unit, and the operation of all the robots is controlled in a realtime manner in synchronism with the operation of the working machine, thereby ensuring the smooth operation of the overall system while obviating waiting time of each robot and the working machine without using a conventional mutual interlock system. The control unit is set so that clocks of the robots and the working machine and the system clock are counted up in the same cycle time, simultaneously therewith the original point clock value of the robot or the working machine located on the most upstream side of the system is set as the original clock value of the system, and each of the robots and the working machine is operated as the count of the system clock reaches the original clock value of the robot on the working machine.

摘要翻译： 一种工业机器人系统，包括单个工作机器和多个机器人，其布置成将工件传送到该工作机器和从该工作机器传送工件。 这些机器人和作业机器的操作由单个控制单元控制，并且与作业机器的操作同步地实时地控制所有机器人的操作，从而确保整个系统的平稳运行，同时 无需使用传统的互锁系统，无需每台机器人和作业机器的等待时间。 控制单元被设置为使得机器人，工作机器和系统时钟的时钟在相同的周期时间内被计数，同时机器人或位于最上游侧的工作机器的原点时钟值 系统设置为系统的原始时钟值，并且每个机器人和工作机器都作为系统时钟的计数达到机器人在工作机器上的原始时钟值。

公开(公告)号：US5086262A

公开(公告)日：1992-02-04

申请号：US557071

申请日：1990-07-25

申请人： Kazuo Hariki ,  Tatsuya Koizumi ,  Kazuya Ishiguro ,  Kiyoshi Kanitani

发明人： Kazuo Hariki ,  Tatsuya Koizumi ,  Kazuya Ishiguro ,  Kiyoshi Kanitani

IPC分类号： B25J9/16 ,  B25J9/18 ,  G05B19/18 ,  G05B19/4155 ,  G05B19/42

CPC分类号： B25J9/1682 ,  G05B2219/34314

摘要： An industrial robot system comprising a plurality of robots for conducting a work in cooperation with each other. A system clock is provided in the system, and clocks are provided in the respective robots. These clocks are counted up at the same cycle time, and are set for original points of the respective robots, which are the waiting positions thereof, and the clock values of the robots located in the respective positions during the drive operation. During the drive of the system, the system clock is advanced by adding a predetermined increment value thereto, and the respective robots held under the enabling condition, start the operations by advancing the robot clocks by adding the same increment value as that of the system clock.

摘要翻译： 一种工业机器人系统，包括用于彼此协作进行工作的多个机器人。 在系统中提供系统时钟，在相应的机器人中提供时钟。 这些时钟在相同的周期时间被计数，并且被设置为作为其等待位置的各个机器人的原点以及在驱动操作期间位于各个位置的机器人的时钟值。 在系统的驱动期间，通过向其中添加预定的增量值，并且保持在使能条件下的相应机器来启动系统时钟，通过将与机器人时钟相同的增量值与系统时钟相加来启动机器人时钟 。

公开(公告)号：US5133047A

公开(公告)日：1992-07-21

申请号：US473741

申请日：1990-02-02

申请人： Kazuo Hariki ,  Kazuya Ishiguro ,  Tatsuya Koizumi

发明人： Kazuo Hariki ,  Kazuya Ishiguro ,  Tatsuya Koizumi

IPC分类号： B25J9/16 ,  B25J9/18 ,  B25J13/00 ,  G05B19/418 ,  G05B19/42

CPC分类号： G05B19/4182 ,  Y02P90/083

摘要： A robot control method of the playback type and an apparatus for using the method in which position data and data regarding velocity are taught at a sequence of points for a work program, and a servo system is driven by the use of the taught data to playback or repeat the work program. Phase angles which increase as the robot progresses through the sequence of teaching points are taught as the data regarding the velocity of the work program. At playback, a reference phase angle computed on the basis of a previously-set playback cycle time for the work program. The reference phase angle increases at an advance velocity which decreases with an increase in the playback cycle time. During operation, the reference phase angle is compared with one of the taught phase angles, and the corresponding taught position data is outputted to the servo system when the reference phase angle exceeds the taught phase angle.

摘要翻译： 重放类型的机器人控制方法和使用方法的装置，其中在工作程序的一系列点上教导关于速度的位置数据和数据，并且通过使用所教导的数据来播放伺服系统来驱动 或重复工作程序。 作为机器人通过教学点序列而增加的相角被教导为关于工作程序的速度的数据。 在回放时，基于工作程序的预先设定的回放周期时间计算出的基准相位角。 参考相位角以随着再现周期时间的增加而减小的提前速度增加。 在操作期间，将参考相位角与教导的相位角之一进行比较，并且当参考相位角超过教导的相位角时，相应的教导位置数据被输出到伺服系统。

公开(公告)号：US08763659B2

公开(公告)日：2014-07-01

申请号：US12693606

申请日：2010-01-26

申请人： Kazuya Ishiguro ,  Yoshifumi Koishikawa

发明人： Kazuya Ishiguro ,  Yoshifumi Koishikawa

IPC分类号： B60C11/12

CPC分类号： B60C11/13 ,  B60C11/0304 ,  B60C11/0306 ,  B60C11/033 ,  B60C11/04 ,  B60C11/1369 ,  B60C2011/0369 ,  B60C2011/0383 ,  B60C2011/1209 ,  B60C2011/1295

摘要： Five land portions on tread surface are demarcated by four main grooves that extend in a tire circumferential direction TC. The five land portions include a center land portion between the first main grooves, two middle land portions between the first main grooves and the second main grooves, and two shoulder land portions located toward the outside of the second main grooves in the tire width direction, and sub-grooves and sipes are formed on the land portions. The total groove surface area ratios of the sub-grooves and the sipes in the land portions are different in the center land portion and the shoulder land portion as compared to the middle land portion, with the total groove surface area ratio being lower in the center land portion and the shoulder land portion and being higher in the middle land portion.

摘要翻译： 胎面表面上的五个陆部分由沿轮胎周向TC延伸的四个主槽划定。 五个陆部包括第一主槽之间的中间陆部，第一主槽和第二主槽之间的两个中间陆部，以及沿着轮胎宽度方向朝向第二主槽的外侧设置的两个台阶陆部， 并且在陆部上形成子槽和刀槽花纹。 与中间陆部相比，陆部中的副沟槽和刀槽花纹的总槽面积比在中心陆部和胎肩接地部分不同，其中总槽面积比在中心处较低 陆地部分和肩部陆地部分，在中部陆地部分较高。

公开(公告)号：US20100186861A1

公开(公告)日：2010-07-29

申请号：US12693606

申请日：2010-01-26

申请人： Kazuya Ishiguro ,  Yoshifumi Koishikawa

发明人： Kazuya Ishiguro ,  Yoshifumi Koishikawa

IPC分类号： B60C11/13

CPC分类号： B60C11/13 ,  B60C11/0304 ,  B60C11/0306 ,  B60C11/033 ,  B60C11/04 ,  B60C11/1369 ,  B60C2011/0369 ,  B60C2011/0383 ,  B60C2011/1209 ,  B60C2011/1295

摘要： Five land portions on tread surface are demarcated by four main grooves that extend in a tire circumferential direction TC. The five land portions include a center land portion between the first main grooves, two middle land portions between the first main grooves and the second main grooves, and two shoulder land portions located toward the outside of the second main grooves in the tire width direction, and sub-grooves and sipes are formed on the land portions. The total groove surface area ratios of the sub-grooves and the sipes in the land portions are different in the center land portion and the shoulder land portion as compared to the middle land portion, with the total groove surface area ratio being lower in the center land portion and the shoulder land portion and being higher in the middle land portion.

摘要翻译： 胎面表面上的五个陆部分由沿轮胎周向TC延伸的四个主槽划定。 五个陆部包括第一主槽之间的中间陆部，第一主槽和第二主槽之间的两个中间陆部，以及沿着轮胎宽度方向朝向第二主槽的外侧设置的两个台阶陆部， 并且在陆部上形成子槽和刀槽花纹。 与中间陆部相比，陆部中的副沟槽和刀槽花纹的总槽面积比在中心陆部和胎肩接地部分不同，其中总槽面积比在中心处较低 陆地部分和肩部陆地部分，在中部陆地部分较高。