公开(公告)号：US5520951A

公开(公告)日：1996-05-28

申请号：US187726

申请日：1994-01-28

申请人： Masateru Yasuhara

发明人： Masateru Yasuhara

IPC分类号： B05C5/02 ,  B05D1/12

CPC分类号： B05C5/0216

摘要： In a sealant applying apparatus, a three-axis orthogonal type robot is installed at any location, and the three-axis orthogonal type robot is provided with an X axis arm, a Y axis arm and a Z axis arm. The Z axis arm has fixed thereto a reversing unit inclinable about the axis thereof. A workpiece is fixed to the reversing unit, and the surface of the workpiece to which a sealant is to be applied can be made substantially horizontal by the driving of the reversing unit. A sealant discharging apparatus is provided in such a manner that a discharge nozzle is positioned above the workpiece, and the sealant discharging apparatus is fixed by a support arm.

摘要翻译： 在密封剂涂布装置中，三轴正交型机器人安装在任何位置，三轴正交型机器人设置有X轴臂，Y轴臂和Z轴臂。 Z轴臂固定有可绕其轴线倾斜的反转单元。 工件被固定到反转单元，并且要施加密封剂的工件的表面可以通过反转单元的驱动大致水平。 密封剂排出装置以排出喷嘴位于工件上方的方式设置，密封剂排出装置由支撑臂固定。

公开(公告)号：US5357598A

公开(公告)日：1994-10-18

申请号：US946791

申请日：1992-09-18

申请人： Katsumi Ishihara ,  Masateru Yasuhara

发明人： Katsumi Ishihara ,  Masateru Yasuhara

IPC分类号： B25J9/10 ,  B25J9/16 ,  B25J9/18 ,  B25J13/00 ,  G05D3/12 ,  G05B19/18

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。

公开(公告)号：US5232331A

公开(公告)日：1993-08-03

申请号：US668912

申请日：1991-03-13

申请人： Shozo Kasai ,  Takeo Tanita ,  Masateru Yasuhara ,  Yusaku Azuma ,  Toshihiro Yamamoto ,  Norio Nikaido ,  Ryohei Inaba ,  Mitsuo Arai

发明人： Shozo Kasai ,  Takeo Tanita ,  Masateru Yasuhara ,  Yusaku Azuma ,  Toshihiro Yamamoto ,  Norio Nikaido ,  Ryohei Inaba ,  Mitsuo Arai

IPC分类号： B23P19/00 ,  B23Q7/10 ,  B23Q7/14 ,  B65G65/00

CPC分类号： B65G65/00 ,  B23P19/001 ,  B23Q7/10 ,  B23Q7/1494 ,  Y10S414/105

摘要： A method for stocking a plurality of containers in a stocking device and feeding one container at a time to a robot includes the steps of separately supporting each container in a vertically moveable frame and moving the frame to align a selected container at a drawing position. The selected container is withdrawn from the frame and a lid of a pallet on the withdrawn frame is removed. The articles are then supplied to the robot.

摘要翻译： 一种用于在放养装置中放养多个容器并一次将一个容器供给机器人的方法包括以下步骤：将每个容器分别支撑在可垂直移动的框架中并移动框架以使所选择的容器在绘图位置对齐。 将选定的容器从框架中取出，取出框架上的托盘盖。 然后将物品提供给机器人。

公开(公告)号：US5136222A

公开(公告)日：1992-08-04

申请号：US594698

申请日：1990-10-09

申请人： Toshihiro Yamamoto ,  Masateru Yasuhara

发明人： Toshihiro Yamamoto ,  Masateru Yasuhara

IPC分类号： G05B19/18 ,  G05B19/414

CPC分类号： G05B19/4148 ,  G05B2219/33106 ,  G05B2219/33342 ,  G05B2219/34328 ,  G05B2219/36133

摘要： A controller for an automated apparatus includes a plurality of operating units which operate independently while cooperating with one another, each operating unit driving a plurality of input/output elements. The controller includes a program control device for programmatically controlling the plurality of operating units, a direct designating device which, when the program control device controls the plurality of operating units independent from an external unit, is for directly designating individual input/output elements by an exclusive first set of numbers within the automated apparatus, an external interface device for interfacing an external unit, and an indirect designating device which, when the program control device communicates with the external unit via the interface device, is for indirectly designating individual input/output elements by a mutually exclusive second set of numbers within each of the operating units. The indirect designating device has a converting device for converting the second set of numbers into the first set of numbers.

摘要翻译： 一种用于自动化设备的控制器包括多个操作单元，它们在彼此协作的同时独立地操作，每个操作单元驱动多个输入/输出元件。 该控制器包括用于对多个操作单元进行编程控制的程序控制装置，当程序控制装置控制独立于外部单元的多个操作单元时，直接指定装置用于通过以下操作直接指定各个输入/输出元件： 自动化装置内的排​​他的第一组数字，用于与外部单元进行接口的外部接口装置，以及间接指定装置，当程序控制装置经由接口装置与外部装置通信时，间接指定装置用于间接指定各个输入/输出 元件通过每个操作单元内的相互排斥的第二组数字。 间接指定装置具有用于将第二组数字转换为第一组数字的转换装置。

公开(公告)号：US5046915A

公开(公告)日：1991-09-10

申请号：US541924

申请日：1990-06-21

申请人： Yusaku Azuma ,  Takeo Tanita ,  Toshihiro Yamamoto ,  Shozo Kasai ,  Masateru Yasuhara ,  Yasuhiro Sawada

发明人： Yusaku Azuma ,  Takeo Tanita ,  Toshihiro Yamamoto ,  Shozo Kasai ,  Masateru Yasuhara ,  Yasuhiro Sawada

IPC分类号： B25J9/04 ,  B25J9/10 ,  F16H13/02

CPC分类号： B25J9/044 ,  B25J9/04 ,  B25J9/042 ,  B25J9/108 ,  F16H13/02

摘要： A rotational driving apparatus with frictional engagement includes a base, a rotating member having rigidity and axially supported on the base, at least one frictional roller having rigidity and at least one driving roller which are in rolling contact with the rotating member, a motor for rotating the driving roller, and a pressing mechanism for pressing the frictional and driving rollers against the rotating member, thereby transmitting a driving force of the driving roller to the rotating member to rotate it.

公开(公告)号：US5032975A

公开(公告)日：1991-07-16

申请号：US227551

申请日：1988-08-03

申请人： Toshihiro Yamamoto ,  Yusaku Azuma ,  Masateru Yasuhara ,  Takeo Tanita ,  Shozo Kasai

发明人： Toshihiro Yamamoto ,  Yusaku Azuma ,  Masateru Yasuhara ,  Takeo Tanita ,  Shozo Kasai

IPC分类号： G05B19/418 ,  G05B15/00 ,  G06F15/46

CPC分类号： G05B19/41835 ,  Y02P90/04 ,  Y02P90/12

摘要： A controller for an automatic assembling apparatus consisting of a plurality of operation units each of which has a variety of devices to be driven and which perform independent, different operations under the program control is disclosed. This controller includes a host control unit expressing a sequence control portion of program control for the plurality of operation units by multitask program control, a plurality of lower-order control units having control programs for controlling an independent operation of each of the plurality of devices to be driven, and a shared memory which is connected to the host control unit and the plurality of lower-order control units, and is shared and accessed by the host control unit and the lower-order control units.

摘要翻译： 公开了一种由多个操作单元组成的自动组装装置的控制器，每个操作单元具有各种要驱动的装置，并且在程序控制下执行独立的不同操作。 该控制器包括通过多任务程序控制表示多个操作单元的程序控制的序列控制部分的主机控制单元，具有用于控制多个设备中的每一个的独立操作的控制程序的多个下位控制单元， 以及共享存储器，其连接到主机控制单元和多个下位控制单元，并且由主机控制单元和下位控制单元共享和访问。

公开(公告)号：US20090205849A1

公开(公告)日：2009-08-20

申请号：US12372287

申请日：2009-02-17

申请人： Akihiro Kimura ,  Masateru Yasuhara ,  Shigeto Kamata

发明人： Akihiro Kimura ,  Masateru Yasuhara ,  Shigeto Kamata

IPC分类号： H05K5/06

CPC分类号： H05K5/061

摘要： A hermetic envelope includes a first plate, a second plate, and a frame provided between the first plate and the second plate to form an interior space. A first bonding part is provided between the frame and the first plate to bond the frame and the first plate to each other, and a first abutting part is provided between the frame and the first plate, and positioned closer to the interior space than the first bonding part. A second bonding part is provided between the frame and the second plate to bond the frame and the second plate to each other, and a second abutting part is provided between the frame and the second plate and positioned closer to the interior space than the second bonding part. The second bonding part is positioned closer to the interior space than the first bonding part.

摘要翻译： 密封壳包括第一板，第二板和设置在第一板和第二板之间以形成内部空间的框架。 第一接合部设置在框架和第一板之间，以将框架和第一板彼此接合，并且第一邻接部分设置在框架和第一板之间，并且位于比第一板更接近内部空间的位置 粘接部分。 第二接合部设置在框架和第二板之间，以将框架和第二板彼此接合，并且第二抵接部分设置在框架和第二板之间，并且定位成比第二接合更靠近内部空间 部分。 第二接合部位于比第一接合部更靠近内部空间的位置。

公开(公告)号：US5513946A

公开(公告)日：1996-05-07

申请号：US321922

申请日：1994-10-12

申请人： Yasuhiro Sawada ,  Yusaku Azuma ,  Masateru Yasuhara

发明人： Yasuhiro Sawada ,  Yusaku Azuma ,  Masateru Yasuhara

IPC分类号： B25J9/04 ,  B25J9/10 ,  B25J19/00 ,  B25J18/00

CPC分类号： B25J9/042 ,  B25J19/0029 ,  B25J19/0075 ,  B25J9/1045 ,  B25J9/106

摘要： A clean robot capable of a linear conveying motion comprises a base, a first arm rotatably supported by the base, a second arm rotatably supported by the first arm, and a third arm rotatably supported by the second arm. Also provided are a first driving unit for rotating the first arm with respect to the base in a first rotational direction at a first angular velocity, a second driving unit for rotating the second arm with respect to the first arm in a second rotational direction reverse to the first rotational direction at a doubled angular velocity of the first angular velocity, and a third driving unit for rotating the third arm with respect to the second arm in the first rotational direction at the first angular velocity.

摘要翻译： 一种能够进行线性输送运动的清洁机器人，包括基座，由基座可旋转地支撑的第一臂，由第一臂可旋转地支撑的第二臂和由第二臂可旋转地支撑的第三臂。 还提供了第一驱动单元，用于以第一角速度在第一旋转方向上相对于基座旋转第一臂;第二驱动单元，用于相对于第一臂在第二旋转方向上相对于第一旋转方向旋转第二臂 以第一角速度的双倍角速度的第一旋转方向，以及第三驱动单元，用于以第一角速度在第一旋转方向上相对于第二臂旋转第三臂。

公开(公告)号：US5380138A

公开(公告)日：1995-01-10

申请号：US140964

申请日：1993-10-25

申请人： Shozo Kasai ,  Takeo Tanita ,  Masateru Yasuhara ,  Yusaku Azuma ,  Toshihiro Yamamoto ,  Norio Nikaido ,  Ryohei Inaba ,  Mitsuo Arai

发明人： Shozo Kasai ,  Takeo Tanita ,  Masateru Yasuhara ,  Yusaku Azuma ,  Toshihiro Yamamoto ,  Norio Nikaido ,  Ryohei Inaba ,  Mitsuo Arai

IPC分类号： B23P19/00 ,  B23Q7/10 ,  B23Q7/14 ,  B65G65/00 ,  B65G1/06

CPC分类号： B23P19/001 ,  B23Q7/10 ,  B23Q7/1494 ,  B65G65/00

摘要： An article feeding apparatus which feeds articles from a feed source to a section to be subjected to feeding includes a stocker for stocking a plurality of pallets retaining a plurality of articles in units of types of articles, with the stocker being capable of moving one pallet to a predetermined position, and a take-out unit for taking the pallet moved to the predetermined position outside the stocker in order to transfer articles to the section to be subjected to feeding. In addition, a buffer receives replacement of the pallets retaining the articles from external equipment and temporarily stores the plurality of pallets, and a replacing unit replaces the pallets in the stocker with the pallets in the buffer in accordance with a decrease in number of articles in the pallet in the stocker to a predetermined value as the articles are fed to the feeding section.

摘要翻译： 将来自进料源的物品从供给源供给到供给部的物品供给装置包括：储料器，用于以多个物品为单位容纳保持多个物品的多个托盘，储料器能够将一个托盘移动到 预定位置，以及用于将托盘移动到存储器外部的预定位置的取出单元，以便将物品转移到要进行供给的区段。 此外，缓冲器接收从外部设备保持物品的托盘的更换并暂时存储多个托盘，并且更换单元根据缓冲器中的托盘数量的减少将托盘中的托盘替换为缓冲器中的托盘 当物品被馈送到供给部时，储盘架中的托盘达到预定值。

公开(公告)号：US5250886A

公开(公告)日：1993-10-05

申请号：US902499

申请日：1992-06-23

申请人： Masateru Yasuhara ,  Katsumi Ishihara ,  Toshihiro Yamamoto

发明人： Masateru Yasuhara ,  Katsumi Ishihara ,  Toshihiro Yamamoto

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