公开(公告)号：US5647554A

公开(公告)日：1997-07-15

申请号：US343789

申请日：1994-11-22

申请人： Masashi Ikegami ,  Toshihiko Matsuhashi ,  Yoshiya Yamaue ,  Takashi Tanaka ,  Katsunori Hayashi ,  Daizo Takaoka

发明人： Masashi Ikegami ,  Toshihiko Matsuhashi ,  Yoshiya Yamaue ,  Takashi Tanaka ,  Katsunori Hayashi ,  Daizo Takaoka

IPC分类号： B25J19/00 ,  B65H75/34 ,  B65H75/42 ,  H02G11/00 ,  H02G11/02 ,  B25J5/00

CPC分类号： B65H75/4463 ,  B25J19/0025 ,  B65H75/38 ,  B65H75/42 ,  B65H75/4484 ,  B65H75/4486 ,  H02G11/00 ,  H02G11/02 ,  B65H2701/34 ,  Y10S414/122

摘要： An electric working apparatus includes a movable body which is driven by a movement mechanism, and the movable body is provided with a working mechanism such as an articulated robot. The movement mechanism, the working mechanism and etc. are driven by an electric power which is supplied through a power supply cord being extended from a cord reel mechanism fixed on a wall or floor within a working space of the movable body to be connected to the movable body. When the movable body moves in a manner that the movable body goes away from the cord reel mechanism, a tension detection switch is turned-off by a lever, a reel motor is turned-off, and clutch plates are released, and therefore, the power supply cord is wound from the cord reel mechanism by necessary length. When the movable body moves in a manner that the movable body approaches to the cord reel mechanism, the tension detection switch is turned-on by the lever and the clutch plates are engaged to each other, and therefore, the cord reel is rotated by the reel motor to wind the power supply cord.

摘要翻译： 一种电动加工装置，包括由移动机构驱动的移动体，并且可动体设置有诸如关节式机器人的工作机构。 移动机构，工作机构等由电力驱动，该电力通过电源线被提供，该电源线从固定在可移动体的工作空间内的墙壁或地板上的绳索机构延伸以连接到 移动体。 当移动体以可移动体离开绳索卷轴机构的方式移动时，张力检测开关通过杆关闭，卷轴电动机关闭，离合器板被释放，因此， 电源线从电缆卷轴机构以必要的长度缠绕。 当可移动体以可移动体接近绳索卷轴机构的方式移动时，张力检测开关由杠杆接通并且离合器板彼此接合，因此，绳索卷轴旋转 卷轴电机缠绕电源线。

公开(公告)号：US5402051A

公开(公告)日：1995-03-28

申请号：US35593

申请日：1993-03-23

申请人： Yoshimori Fujiwara ,  Kazuhiro Hiratsuka ,  Yoshiya Yamaue ,  Hiroaki Arakawa ,  Daizo Takaoka ,  Ryuji Suzuki

发明人： Yoshimori Fujiwara ,  Kazuhiro Hiratsuka ,  Yoshiya Yamaue ,  Hiroaki Arakawa ,  Daizo Takaoka ,  Ryuji Suzuki

IPC分类号： A47L11/00 ,  A47L11/40 ,  B08B3/02 ,  B25J5/00 ,  B25J13/00 ,  B60S3/00 ,  B65F7/00 ,  G05D1/02 ,  G05D1/00

CPC分类号： A47L11/4011 ,  A47L11/4061 ,  B60S3/008 ,  G05D1/0255 ,  G05D1/0272 ,  G05D1/0274 ,  A47L2201/04 ,  G05D2201/0203

摘要： A robot for cleaning a floor of a railroad vehicle has a robot body equipped with a cleaning mechanism and includes a travel mechanism controllable for locomotion in a desired direction. The robot also includes a distance detecting arrangement directed at least toward the front and opposite sides of the robot body for measuring the distance to an obstacle or a wall, and a map storing arrangement which has stored therein a cleaning region of the floor previously as a two-dimensional map. The robot also includes a path storing arrangement which has stored therein a predetermined path of travel for cleaning the floor as expressed in coordinates on the map. A first control arrangement is provided for recognizing the coordinates of the position of the robot body on the map based on outputs from the distance detecting arrangement when the robot body is placed at an end portion of the floor. A second control arrangement is also provided for correcting the course of the robot body based on outputs from the distance detecting arrangement while the robot body travels from the coordinate position recognized by the first control arrangement along the predetermined path.

摘要翻译： 用于清洁铁路车辆的地板的机器人具有装备有清洁机构的机器人主体，并且包括可在期望的方向上移动的可移动的行进机构。 机器人还包括至少朝向机器人主体的前侧和相对侧引导的距离检测装置，用于测量到障碍物或墙壁的距离，以及地图存储装置，其中预先将地板的清洁区域作为 二维地图。 机器人还包括路径存储装置，其在其中存储有如地图上的坐标表示的用于清洁地板的预定行进路线。 提供第一控制装置，用于当机器人主体放置在地板的端部处时，基于来自距离检测装置的输出来识别地图上的机器人主体的位置的坐标。 还提供了第二控制装置，用于根据来自距离检测装置的输出校正机器人主体的路线，同时机器人主体沿着预定路径从第一控制装置识别的坐标位置行进。

公开(公告)号：US5001635A

公开(公告)日：1991-03-19

申请号：US290159

申请日：1988-12-27

申请人： Fumio Yasutomi ,  Daizo Takaoka ,  Naoto Tojo ,  Yoshiya Yamaue ,  Makoto Yamada ,  Kazuyoshi Tsukamoto

发明人： Fumio Yasutomi ,  Daizo Takaoka ,  Naoto Tojo ,  Yoshiya Yamaue ,  Makoto Yamada ,  Kazuyoshi Tsukamoto

IPC分类号： A47L11/40 ,  G05D1/02

CPC分类号： A47L11/4011 ,  A47L11/4061 ,  G05D1/0255 ,  G05D1/0272 ,  G05D1/0274 ,  A47L2201/04 ,  G05D2201/0203

摘要： A vehicle which is capable of recognizing shapes in a predetermined area, comprising: a plurality of ultrasonic sensors, an encoder, map drawing means for sequentially and continuously drawing a map of the prescribed area determined by information received from the encoder and ultrasonic sensors, memory means for storing the map drawn by the map drawing means and control means for instructing rectilinear movement, starting stopping and turning of the vehicle so as to move in a serpentine fashion, wherein the ultrasonic sensors, encoder and map drawing means are operated by the control means, the memory means writes and stores a history of its own movements in the area and as information is received remembers detected information from the encoder, and a change of direction of the vehicle which is instructed by the control means is determined by information on the map as well as the areas through which the vehicle has previously passed.

摘要翻译： 一种能够识别预定区域中的形状的车辆，包括：多个超声波传感器，编码器，地图绘制装置，用于连续和连续地绘制由从编码器接收的信息和超声波传感器确定的规定区域的映射，存储器 用于存储由地图绘制装置绘制的地图和用于指示直线运动，开始车辆停止和转动以便以蛇形方式移动的控制装置的装置，其中超声波传感器，编码器和地图绘制装置由控制器 意味着，存储装置在该区域中写入并存储其自身运动的历史，并且当接收到的信息记录来自编码器的检测到的信息时，由控制装置指示的车辆的方向改变由关于 地图以及车辆以前通过的地区。