公开(公告)号：US6166504A

公开(公告)日：2000-12-26

申请号：US437260

申请日：1999-11-10

Applicant: Shinji Iida ,  Koji Kamiya

Inventor： Shinji Iida ,  Koji Kamiya

IPC: B25J9/10 ,  B25J9/16 ,  G05B11/01

CPC classification number: B25J9/1674 ,  G05B2219/39097

Abstract: A robot that stops an arm within a limitation position of a predetermined working area when the arm is going to exceed the predetermined working area. ACPU of controller calculates a position and a speed of an arm at a next sampling time when a present sampling time comes. The CPU calculates an operation a mount which is a distance to be moved till the arm stops when the arm would be decelerated with a predetermined deceleration, and a position of the arm when the arm would operate by the operation amount after the position at the next sampling time. When a stop position as a result of the deceleration exceeds a predetermined limitation position, the CPU stops the arm with the predetermined deceleration. In this way, the CPU obtains the operation speed of the arm each time, and change a position to start to deceleration based on the operation speed, the arm can be stopped around the limitation position of the working area without fail.

Abstract translation: 一种机器人，当手臂将超过预定工作区域时，将手臂停止在预定工作区域的限制位置内。 当当前采样时间到来时，控制器的ACPU在下一个采样时间计算臂的位置和速度。 CPU计算当手臂以预定减速度减速时手臂停止的距离的安装件的操作，以及当臂在下一个位置之后手臂操作操作量时的臂的位置 采样时间。 当作为减速度的停止位置超过预定限制位置时，CPU以预定的减速度停止臂。 以这种方式，CPU每次获得臂的操作速度，并且基于操作速度改变开始减速的位置，可以在工作区域的限制位置周围停止臂。

公开(公告)号：US06444272B1

公开(公告)日：2002-09-03

申请号：US09578922

申请日：2000-05-26

Applicant: Koji Matsuda ,  Yoshimitsu Adachi ,  Tadashi Nakano ,  Shinji Iida

Inventor： Koji Matsuda ,  Yoshimitsu Adachi ,  Tadashi Nakano ,  Shinji Iida

IPC: B05D136

CPC classification number: C09D163/00 ,  C08G59/4042 ,  C08K5/29 ,  Y10T428/31522 ,  Y10T428/31529 ,  C08L63/00

Abstract: The present invention relates to a single-packaged epoxy resin coating composition comprising: (A) an epoxy resin having at least one epoxy group in a molecule and capable of being dissolved in the following organic solvent (D), (B) a ketimines compound having at least two primary amino groups blocked with a carbonyl compound and having no other amino groups than the above blocked amino groups, (C) a dehydrating agent and (D) an organic solvent, wherein the above organic solvent (D) comprises a hydrocarbon base solvent selected from the group consisting of an aliphatic hydrocarbon base solvent and an aromatic hydrocarbon base solvent having a boiling point of 148° C. or higher in a proportion of at least 95% by weight based on the above organic solvent (D).

Abstract translation: 本发明涉及单封装环氧树脂涂料组合物，其包含：（A）在分子中具有至少一个环氧基且能够溶解在以下有机溶剂（D）中的环氧树脂，（B）酮亚胺化合物 具有至少两个被羰基化合物封端的伯氨基并且不具有除上述封闭的氨基以外的其它氨基，（C）脱水剂和（D）有机溶剂，其中上述有机溶剂（D）包含烃 基于上述有机溶剂（D），基于比例为至少95重量％的沸点为148℃以上的脂族烃基溶剂和芳香族烃基溶剂的基础溶剂。

公开(公告)号：US6127792A

公开(公告)日：2000-10-03

申请号：US280452

申请日：1999-03-30

Applicant: Koji Kamiya ,  Shinji Iida

Inventor： Koji Kamiya ,  Shinji Iida

IPC: B25J9/10 ,  B25J9/16 ,  G05D3/12 ,  H02P7/00

CPC classification number: B25J9/1656

Abstract: In cases where every sampling time has elapsed, a position of the joint which will occur at a moment of end of a next sampling time is calculated on the basis of a speed pattern. Calculation is made as to a drive torque designed to move the joint to the calculated position. In cases where the calculated drive torque exceeds a predetermined limit value, a speed change ratio designed to reduce the drive torque is calculated. In addition, calculation is made as to a corrected sampling time on the basis of the calculated speed change ratio. The corrected sampling time is shorter than a normal sampling time. In cases where the calculated drive torque does not exceed the predetermined limit value, the calculated position is set as a command position and the joint is controlled to move to the command position after a predetermined unit control time elapses. In cases where the calculated drive torque exceeds the predetermined limit value, a position of the joint is calculated again while the corrected sampling time is used as the next sampling time. Then, the calculated position is set as a command position and the joint is controlled to move to the command position after the predetermined unit control time elapses.

Abstract translation: 在每次采样时间过去的情况下，基于速度模式来计算在下一个采样时间结束时发生的关节的位置。 计算设计用于将接头移动到计算位置的驱动扭矩。 在计算出的驱动转矩超过预定极限值的情况下，计算设计成减小驱动转矩的变速比。 此外，基于计算的速度变化率来计算校正的采样时间。 校正后的采样时间短于正常采样时间。 在计算出的驱动转矩不超过预定极限值的情况下，将计算出的位置设定为指令位置，并且在经过预定的单位控制时间之后控制关节移动到指令位置。 在计算出的驱动转矩超过预定极限值的情况下，再次计算接头的位置，同时将校正的采样时间用作下一个采样时间。 然后，将计算出的位置设定为指令位置，并且在经过预定单位控制时间之后控制关节移动到指令位置。

公开(公告)号：US4535126A

公开(公告)日：1985-08-13

申请号：US617564

申请日：1984-06-05

Applicant: Shinji Iida

Inventor： Shinji Iida

IPC: C09D123/26 ,  C09D123/28 ,  C09D133/04 ,  C09D151/08 ,  C09D167/00 ,  C09D167/08 ,  C09D183/10 ,  C09D201/02 ,  C09D201/10 ,  C08F8/00

CPC classification number: C09D123/28 ,  C09D151/08 ,  C09D183/10

Abstract: An air drying coating composition comprising a mixture of (A) 9 to 91% by weight of a silicone-modified alkyd resin, a silicone-modified acrylic-grafted alkyd resin and/or a silicone-modified acrylic resin and (B) 91 to 9% by weight of a carboxyl group-containing chlorinated polyolefin resin as a resinous binder.

Abstract translation: 一种空气干燥涂料组合物，其包含（A）9至91重量％的硅氧烷改性的醇酸树脂，硅氧烷改性的丙烯酸接枝的醇酸树脂和/或硅氧烷改性的丙烯酸树脂的混合物和（B）91至 9重量％的含羧基的氯化聚烯烃树脂作为树脂粘合剂。