公开(公告)号：US20120065781A1

公开(公告)日：2012-03-15

申请号：US13233472

申请日：2011-09-15

申请人： Koichiro IKEDA ,  Mitsuaki Nakanishi

发明人： Koichiro IKEDA ,  Mitsuaki Nakanishi

IPC分类号： G05B15/00

CPC分类号： B25J9/1674 ,  G05B19/4065 ,  G05B2219/37252 ,  G05B2219/37434 ,  G05B2219/37525 ,  G05B2219/39194 ,  G05B2219/39261 ,  G05B2219/41121 ,  G05B2219/41152

摘要： The invention provides a method and a device capable of precisely and simply extracting data used for abnormality determination and life diagnosis of a drive system of an industrial robot while executing a normal action program. Regarding a torque signal Tf outputted from a motor driver for controlling a motor in accordance with a position command Xs generated based on an operation program of a robot to the motor, a highpass filter is applied after gravity compensating torque and interference torque due to other shafts of the robot are removed from the torque signal Tf, and an abnormality in a reducer is determined based on an extracted oscillating component of the reducer.

摘要翻译： 本发明提供了一种方法和装置，其能够在执行正常动作程序的同时精确地简单地提取用于工业机器人的驱动系统的异常判定和寿命诊断的数据。 关于从基于机器人的运转程序生成的位置指令Xs向电动机输出的用于控制电动机的电动机驱动器输出的转矩信号Tf，由于其他轴由重力补偿扭矩和干涉扭矩施加高通滤波器 从转矩信号Tf除去机器人，并且基于所提取的减速器的振荡分量来确定减速器中的异常。

公开(公告)号：US09321177B2

公开(公告)日：2016-04-26

申请号：US13233472

申请日：2011-09-15

申请人： Koichiro Ikeda ,  Mitsuaki Nakanishi

发明人： Koichiro Ikeda ,  Mitsuaki Nakanishi

IPC分类号： G05B15/00 ,  B25J9/16 ,  G05B19/4065

CPC分类号： B25J9/1674 ,  G05B19/4065 ,  G05B2219/37252 ,  G05B2219/37434 ,  G05B2219/37525 ,  G05B2219/39194 ,  G05B2219/39261 ,  G05B2219/41121 ,  G05B2219/41152

摘要： The invention provides a method and a device capable of precisely and simply extracting data used for abnormality determination and life diagnosis of a drive system of an industrial robot while executing a normal action program. Regarding a torque signal Tf outputted from a motor driver for controlling a motor in accordance with a position command Xs generated based on an operation program of a robot to the motor, a highpass filter is applied after gravity compensating torque and interference torque due to other shafts of the robot are removed from the torque signal Tf, and an abnormality in a reducer is determined based on an extracted oscillating component of the reducer.

摘要翻译： 本发明提供了一种方法和装置，其能够在执行正常动作程序的同时精确地简单地提取用于工业机器人的驱动系统的异常判定和寿命诊断的数据。 关于从基于机器人的运转程序生成的位置指令Xs向电动机输出的用于控制电动机的电动机驱动器输出的转矩信号Tf，由于其他轴由重力补偿扭矩和干涉扭矩施加高通滤波器 从转矩信号Tf除去机器人，并且基于所提取的减速器的振荡分量来确定减速器中的异常。

公开(公告)号：US07234483B2

公开(公告)日：2007-06-26

申请号：US10859028

申请日：2004-06-02

申请人： Masakuni Kainuma ,  Toshikazu Aoki ,  Keiji Tamaki ,  Katsuo Uematsu ,  Tomomasa Fujita ,  Hiroshi Chinda ,  Akihiro Hayashi ,  Mitsuaki Nakanishi

发明人： Masakuni Kainuma ,  Toshikazu Aoki ,  Keiji Tamaki ,  Katsuo Uematsu ,  Tomomasa Fujita ,  Hiroshi Chinda ,  Akihiro Hayashi ,  Mitsuaki Nakanishi

IPC分类号： F15B13/044 ,  G05D16/06

CPC分类号： G05D16/2093 ,  G05D16/0672 ,  Y10T137/2409 ,  Y10T137/261 ,  Y10T137/7764

摘要： An electro-pneumatic air pressure regulator includes a primary pressure introduction port, a secondary pressure output port, a pilot pressure chamber, a main valve for opening and closing a communicating conduit, a floating piston which actuates the main valve, a nozzle conduit via which the pilot pressure chamber is communicatively connected to the atmosphere, a flapper which includes a leaf spring facing an open end of the nozzle conduit, and an electromagnetic drive system which deforms the leaf spring to vary a position of the flapper relative to the open end of the nozzle conduit in accordance with the magnitude of an analogue input signal. The flapper includes a conical projection which projects toward the open end of the nozzle conduit. A conical recess corresponding to the conical projection is formed on an end face of the nozzle conduit around the open end thereof.

摘要翻译： 电动空气压力调节器包括主压力引入口，二次压力输出口，先导压力室，用于打开和关闭连通导管的主阀，致动主阀的浮动活塞，喷嘴导管， 先导压力室与大气连通地连接，挡板包括面向喷嘴导管的开口端的板簧，以及电磁驱动系统，其使板簧变形以改变挡板相对于开口端的位置 喷嘴导管根据模拟输入信号的大小。 挡板包括朝向喷嘴导管的开口端突出的锥形突起。 在喷嘴导管的围绕其开口端的端面上形成有与圆锥形突起相对应的锥形凹部。

公开(公告)号：US08316735B2

公开(公告)日：2012-11-27

申请号：US12718996

申请日：2010-03-07

申请人： Kazuyoshi Nogami ,  Mitsuaki Nakanishi ,  Keita Ogoh ,  Tomohiro Matsuo

发明人： Kazuyoshi Nogami ,  Mitsuaki Nakanishi ,  Keita Ogoh ,  Tomohiro Matsuo

IPC分类号： B25J17/00 ,  B25J17/02 ,  B25J18/00

CPC分类号： B25J9/10 ,  B25J9/104 ,  B25J9/126 ,  B25J19/0004 ,  Y10T74/20305 ,  Y10T74/20317

摘要： An industrial robot includes a hollow chamber rotatably supported by a base, an arm rotatably supported by the hollow chamber, and drive devices provided in the hollow chamber and configured to drive the arm.

摘要翻译： 工业机器人包括由基座可旋转地支撑的中空室，由中空室可旋转地支撑的臂以及设置在中空室中并构造成驱动臂的驱动装置。

公开(公告)号：US20080098731A1

公开(公告)日：2008-05-01

申请号：US11663935

申请日：2005-09-22

申请人： Hiroshi Chinda ,  Mitsuaki Nakanishi

发明人： Hiroshi Chinda ,  Mitsuaki Nakanishi

IPC分类号： G05D16/20 ,  F15B11/06 ,  F15B15/00

CPC分类号： F16D3/74 ,  F16D2003/745 ,  G05D16/2066 ,  Y10T137/7762

摘要： It is an object of the present invention to provide a load control system capable of controlling pressure generated by a pneumatic device with a high degree of accuracy and further capable of reacting to variations of the pressure without delay.A pressure regulating screw (61), which is adopted to set a secondary pressure of compressed air output from a pressure regulator body (60) for supplying compressed air at the secondary pressure to a pneumatic cylinder device (10), is coupled to a motor shaft (42) of a rotational driving device (41) via bowl-shaped members (51) and (52) having flexibility in a direction in which the bowl-shaped members move toward and away from each other, and a drive control circuit (30) which receives a pressure signal output from a pressure sensor (14a) of the pneumatic cylinder device (10) rotates the pressure regulating screw (61) via the motor shaft (42) of the rotational driving device (41) and the flexible bowl-shaped members (51) and (52) so that the pressure signal holds a set value.

摘要翻译： 本发明的目的是提供一种负载控制系统，其能够以高精度控制由气动装置产生的压力，并且能够不间断地对压力的变化作出反应。 用于设定从压力调节器主体（60）输出的压缩空气二次压力的压力调节螺钉（61），用于将二次压缩的压缩空气供应到气缸装置（10），该调压螺钉 旋转驱动装置（41）的轴（42）经由碗状构件（51）和（52）在碗状构件朝向和远离的方向具有柔性的驱动控制电路（ 接收从气动缸装置（10）的压力传感器（14a）输出的压力信号的动力传感器（30）经由旋转驱动装置（41）的马达轴（42）旋转压力调节螺钉（61） 碗状构件（51）和（52），使得压力信号保持设定值。

公开(公告)号：US08948915B2

公开(公告)日：2015-02-03

申请号：US13602202

申请日：2012-09-03

申请人： Mitsuaki Nakanishi

发明人： Mitsuaki Nakanishi

IPC分类号： B25J9/00 ,  B25J13/00 ,  B25J9/16 ,  B25J17/02 ,  B25J9/10

CPC分类号： B25J9/1623 ,  B25J9/0051 ,  B25J9/108 ,  B25J9/1674 ,  B25J17/0266 ,  B25J17/0275 ,  B25J17/0283 ,  G05B2219/37214 ,  G05B2219/42311

摘要： A parallel link robot includes a base, three servo motors disposed in the base, three arms, and a robot controller. Each of the three arms includes a first link and a second link that respectively include a first joint and a second joint. Each of the three arms is driven by a corresponding one of the three servo motors. The robot controller determines whether or not any of the first and second joints of the arms is dislocated on the basis of the torques of the three servo motors.

摘要翻译： 平行连杆机器人包括基座，设置在基座中的三个伺服电动机，三个臂和机器人控制器。 三个臂中的每一个包括分别包括第一接头和第二接头的第一连杆和第二连杆。 三个臂中的每一个由三​​个伺服电动机中的相应一个驱动。 机器人控制器基于三个伺服电动机的转矩来确定臂的第一和第二关节中的任何一个是否脱位。

公开(公告)号：US08423189B2

公开(公告)日：2013-04-16

申请号：US12538167

申请日：2009-08-10

申请人： Mitsuaki Nakanishi ,  Makoto Wada

发明人： Mitsuaki Nakanishi ,  Makoto Wada

IPC分类号： G05B19/048

CPC分类号： B25J9/1676 ,  G05B2219/42288 ,  G05B2219/49162 ,  G05B2219/50103 ,  G05B2219/50112

摘要： A robot system includes a robot arm driven by a motor, a collision detector that detects a collision between the robot arm and an obstacle, which is provided on the robot arm, and a stopping method selector that controls the robot arm by selecting any one of all stopping methods on the basis of the information obtained by the collision detector, thereby selecting a stopping method in accordance with the status of the collision.

摘要翻译： 机器人系统包括由马达驱动的机器人手臂，检测机器人手臂与设置在机器人手臂上的障碍物之间的碰撞的碰撞检测器，以及通过选择任意一个来控制机器人手臂的停止方法选择器 基于由碰撞检测器获得的信息的所有停止方法，从而根据碰撞状态选择停止方法。

公开(公告)号：US20100229670A1

公开(公告)日：2010-09-16

申请号：US12718996

申请日：2010-03-07

申请人： Kazuyoshi Nogami ,  Mitsuaki Nakanishi ,  Keita Ogoh ,  Tomohiro Matsuo

发明人： Kazuyoshi Nogami ,  Mitsuaki Nakanishi ,  Keita Ogoh ,  Tomohiro Matsuo

IPC分类号： B25J18/00 ,  B25J13/00

CPC分类号： B25J9/10 ,  B25J9/104 ,  B25J9/126 ,  B25J19/0004 ,  Y10T74/20305 ,  Y10T74/20317

摘要： An industrial robot includes a hollow chamber rotatably supported by a base, an arm rotatably supported by the hollow chamber, and drive devices provided in the hollow chamber and configured to drive the arm.

摘要翻译： 工业机器人包括由基座可旋转地支撑的中空室，由中空室可旋转地支撑的臂以及设置在中空室中并构造成驱动臂的驱动装置。

公开(公告)号：US4858279A

公开(公告)日：1989-08-22

申请号：US230183

申请日：1988-08-09

申请人： Yoshinori Kato ,  Mitsuaki Nakanishi ,  Yasushi Fujita ,  Nobuo Takagi

发明人： Yoshinori Kato ,  Mitsuaki Nakanishi ,  Yasushi Fujita ,  Nobuo Takagi

IPC分类号： F16L33/03

CPC分类号： F16L33/03 ,  Y10T24/1457 ,  Y10T24/148 ,  Y10T24/1484

摘要： A hose clamp made from a unitary, spring steel band formed into a generally cylindrical configuration. The clamp has a support piece extending radially outwardly from one end of the spring steel band, a slot opening formed in the one end adjacent the support piece and extending a predetermined length in a circumferential direction of the spring steel band, a projecting piece formed at the other end of the spring steel band and fitting in circumferential relationship in the slot opening, and an upstanding tab formed at the distal end of the projecting piece and extending radially outwardly of the spring steel band. With this arrangement, when the spring steel band is deflected to its expanded position, the tab is retained on the support piece so as to temporarily lock the spring steel band in its open or expanded position.