-
1.发明授权Rotational driving apparatus with frictional engagement and robot using the same 失效具有摩擦接合的旋转驱动装置和使用其的机器人
公开(公告)号：US4951517A
公开(公告)日：1990-08-28
申请号：US262309
申请日：1988-10-25
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
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.
摘要翻译： 具有摩擦接合的旋转驱动装置包括基座，具有刚性并轴向支撑在基座上的旋转构件，具有刚性的至少一个摩擦辊和与旋转构件滚动接触的至少一个驱动辊，用于旋转的马达 驱动辊和用于将摩擦和驱动辊压靠在旋转构件上的按压机构，从而将驱动辊的驱动力传递到旋转构件以使其旋转。
-
2.发明授权Rotational driving apparatus with frictional engagement and robot using the same 失效具有摩擦接合的旋转驱动装置和使用其的机器人
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
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：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
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：US5040427A
公开(公告)日：1991-08-20
申请号：US443363
申请日：1989-11-30
申请人： Takeo Tanita , Yusaku Azuma , Yasuhiro Sawada
发明人： Takeo Tanita , Yusaku Azuma , Yasuhiro Sawada
CPC分类号： B23Q5/385 , F16H19/02 , Y10T74/18072
摘要： A moving mechanism according to the present invention includes a fixed base, a moving member movably provided with respect to the fixed base, a driving motor mounted on the moving member, a driving shaft rotatably supported by the moving member and rotated by the driving motor, a pair of driven wheels to be brought into rolling contact with the driving shaft, a unit for simultaneously bringing the driven wheels into rolling contact with the base, and an abutting unit for causing the driving shaft to abut against the driven wheels so that they are frictionally engaged with each other, and causing the driven wheels to abut against the fixed base so that they are fictionally engaged with each other, wherein the driven wheels are rotated on the fixed base to move the moving member with respect to the fixed base in accordance with rotation of the driving shaft. The moving mechanism further includes a slip detecting unit for detecting slip generated in a driving power transmitting system from the driving shaft to the fixed base, an abuting force adjusting unit, connected to the abutting unit, for adjusting the abutting force of the abutting unit, and a slip control unit for adjusting the abutting force adjusting unit in a direction of eliminating the slip on the basis of the detection result of the slip detecting unit.
摘要翻译： 根据本发明的移动机构包括固定基座，相对于固定基座可移动地设置的移动构件，安装在移动构件上的驱动马达，由可动构件可旋转地支撑并由驱动马达旋转的驱动轴， 与驱动轴滚动的一对从动轮，用于同时使从动轮与基座滚动接触的单元，以及用于使驱动轴抵靠从动轮的邻接单元， 摩擦接合，并使从动轮与固定基座抵接，使得它们相互虚拟接合，其中从动轮在固定基座上旋转，以使移动构件相对于固定基座移动 随着驱动轴的旋转。 移动机构还包括滑动检测单元，用于检测从驱动轴到固定基座的驱动力传递系统中产生的滑移;连接到邻接单元的用于调节邻接单元的抵接力的排气力调节单元， 以及滑移控制单元，用于根据滑移检测单元的检测结果，在消除滑移的方向上调整抵接力调节单元。
-
公开(公告)号：US5271292A
公开(公告)日：1993-12-21
申请号：US797946
申请日：1991-11-26
申请人： Yasuhiro Sawada , Takeo Tanita , Yusaku Azuma , Yasuo Karube
发明人： Yasuhiro Sawada , Takeo Tanita , Yusaku Azuma , Yasuo Karube
CPC分类号： B25J9/044 , B25J9/042 , Y10T74/20323
摘要： An industrial robot is provided with a body, a horizontal arm pivotally supported on the body, and a vertical arm mounted on the tip end portion of the horizontal arm for rotation about its own center axis. The robot includes a drive motor for rotatively driving the vertical arm, speed reduction means for speed-reducing and transmitting the drive force of the drive motor through a first output pulley to a second output pulley, and first and second detected portions mounted on the first and second output pulleys, respectively, with respective predetermined ranges of extension and indicating the original point position of the vertical arm by the difference between the respective phases. In addition, first and second detectors are fixed to the horizontal arm and output first and second detection signals, respectively, as long as they are detecting the first and second detected portions, respectively, and a controller is provided for judging the original point position of the vertical arm on the basis of the output modes of the first and second detection signals from the first and second detectors respectively.
摘要翻译： 工业机器人设有主体，枢转地支撑在主体上的水平臂，以及安装在水平臂的顶端部上的垂直臂，用于围绕其自身的中心轴线旋转。 机器人包括用于旋转驱动垂直臂的驱动马达，减速装置，用于通过第一输出滑轮将驱动马达的驱动力减速并传递到第二输出滑轮;以及第一和第二检测部分，安装在第一 和第二输出皮带轮分别具有相应的预定延伸范围，并且通过各相之间的差指示垂直臂的原点位置。 此外，第一和第二检测器分别固定在水平臂上，并分别输出第一和第二检测信号，只要它们分别检测第一和第二检测部分，并且提供控制器，用于判断原始位置 基于来自第一和第二检测器的第一和第二检测信号的输出模式的垂直臂。
-
公开(公告)号：US5203748A
公开(公告)日：1993-04-20
申请号：US695995
申请日：1991-05-06
申请人： Yasuhiro Sawada , Yusaku Azuma , Takeo Tanita , Yasuo Karube , Teiji Ohsaka
发明人： Yasuhiro Sawada , Yusaku Azuma , Takeo Tanita , Yasuo Karube , Teiji Ohsaka
CPC分类号： F16H13/06 , B25J9/102 , F16H13/04 , Y10T74/20305
摘要： A planetary roller speed reducer includes a sun roller mounted rotatably on a pedestal and a plurality of planetary rollers having a central portion with a narrowed diameter and mounted rotatably on the pedestal. The sun roller circumscribes large-diameter portions of the planetary rollers which work as a first reduction part, and an outer ring working as an output shaft circumscribes a small-diameter portion working as a second reduction part. A rotary driving system comprises a support fixed to the pedestal and disposed within the outer ring on an extension of the sun roller, and a turning angle detector fixed to the outer ring detects a turning angle between the support and the outer ring.
摘要翻译： 行星滚子减速机包括可旋转地安装在基座上的太阳辊和多个行星滚子，所述行星滚子具有直径变窄的中心部分，并且可旋转地安装在基座上。 太阳滚筒围绕作为第一减速部的行星辊的大直径部分，并且作为输出轴工作的外圈围绕作为第二减速部分工作的小直径部分。 旋转驱动系统包括固定到基座并且在太阳辊的延伸部上设置在外环内的支撑件，并且固定到外环的转向角检测器检测支撑件和外圈之间的转动角度。
-
公开(公告)号：US5205701A
公开(公告)日：1993-04-27
申请号：US709028
申请日：1991-05-31
CPC分类号： B25J9/044 , B25J19/0025 , B25J19/0029 , B25J9/0009 , Y10S285/903 , Y10S414/131 , Y10T403/593 , Y10T403/604 , Y10T403/67
摘要： A bundle of wiring and piping lines, for supplying a control signal and working a first arm from a control unit to a hand, passes through a first flexible pipe, one end of which is connected onto a fixing jig attached to a base unit and the other end of which is connected onto a second arm, a second flexible pipe, one end of which is connected onto the second arm and the other end of which is connected onto a hollow third arm, and the third arm. One end of the bundle is connected to the control unit and the other end thereof is connected to the hand.
摘要翻译： 用于提供控制信号并将第一臂从控制单元操作到手的一束布线和管线穿过第一柔性管，第一柔性管的一端连接到安装在基座单元上的固定夹具上， 其另一端连接到第二臂上，第二柔性管的一端连接到第二臂上，另一端连接到中空的第三臂和第三臂上。 束的一端连接到控制单元，并且其另一端连接到手上。
-
公开(公告)号：US5418890A
公开(公告)日：1995-05-23
申请号：US898549
申请日：1992-06-15
申请人： Katsumi Ishihara , Takeo Tanita , Yasuhiro Sawada
发明人： Katsumi Ishihara , Takeo Tanita , Yasuhiro Sawada
CPC分类号： B25J9/1692
摘要： An arm origin calibrating method for an articulated robot is capable of implementing highly accurate calibration without requiring special high-precision measuring devices. A round bar is mounted on a first arm and a round hole is provided in a second arm. A rotation angle of the second arm is detected when, with the first arm being fixed, the second arm is rotated in the first direction until the round bar comes in contact with the inner surface of the round hole. A rotation angle of the second arm is detected when, with the first arm being fixed, the second arm is rotated in the second direction reverse to the first direction until the round bar comes in contact with the inner surface of the round hole. An offset angle of the second arm is detected on the basis of the two detected rotation angles.
摘要翻译： 关节式机器人的手臂原点校准方法能够实现高精度校准，而不需要特殊的高精度测量装置。 在第一臂上安装有圆棒，在第二臂上设置有圆孔。 当第一臂被固定时第二臂在第一方向上旋转直到圆棒与圆孔的内表面接触时，检测第二臂的旋转角度。 当第一臂被固定时，第二臂在与第一方向相反的第二方向上旋转直到圆棒与圆孔的内表面接触的方式来检测第二臂的旋转角度。 基于两个检测到的旋转角度来检测第二臂的偏移角。
-
公开(公告)号：US5265490A
公开(公告)日：1993-11-30
申请号：US853433
申请日：1992-03-18
申请人： Yusaku Azuma , Hiroyuki Kigami , Yasuhiro Sawada
发明人： Yusaku Azuma , Hiroyuki Kigami , Yasuhiro Sawada
CPC分类号： B25J9/041 , B25J9/104 , Y10T74/18832 , Y10T74/20323
摘要： An orthogonal two-axis moving apparatus is provided with a first guide member extending along a vertical direction, a second guide member mounted on the first guide member for movement along the vertical direction and extending along a horizontal direction, and a slide block mounted on the second guide member for movement along the horizontal direction. A timing belt having its opposite ends fixed to the slide block is passed over first and second drive rollers rotatably mounted on the opposite ends of the first guide member and rotatively driven by first and second motors, four idle rollers rotatably supported on one end of the second guide member and two idle rollers rotatably supported on the other end of the second guide member, and a driven roller rotatably supported on the slide block.
摘要翻译： 正交的双轴移动装置设置有沿着垂直方向延伸的第一引导构件，安装在第一引导构件上用于沿着垂直方向移动并沿着水平方向延伸的第二引导构件，以及安装在 第二引导构件，用于沿水平方向移动。 其相对端固定在滑动块上的同步皮带通过第一和第二驱动辊，第一和第二驱动辊可旋转地安装在第一引导件的相对端上并由第一和第二马达旋转驱动，四个空转辊可转动地支撑在 第二引导构件和可旋转地支撑在第二引导构件的另一端上的两个空转辊，以及可旋转地支撑在滑块上的从动辊。
-
公开(公告)号：US08494260B2
公开(公告)日：2013-07-23
申请号：US12666511
申请日：2008-06-24
申请人： Yasuhiro Sawada , XianJi Zhang , Takashi Masuda
发明人： Yasuhiro Sawada , XianJi Zhang , Takashi Masuda
CPC分类号： H04N9/07 , G06T3/4015 , H04N9/045 , H04N2209/046
摘要： An image processing device includes: a coordinate conversion unit (142) which calculates a corresponding sampling coordinate on a color mosaic image corresponding to a pixel position of a color image when a deformation process is performed, according to the pixel position of the color image; a sampling unit (143); a sampling unit (143) which interpolates-generates a pixel value in a sampling coordinate for each of color planes obtained by decomposing the color mosaic image; and a color generation unit (144) which generates a color image by synthesizing interpolation values of the respective color planes. Each pixel value of a color image subjected to a deformation process is obtained as a pixel value of the sampling coordinate from the color mosaic image by interpolation calculation, thereby realizing the color interpolation process for generating a color image from the color mosaic image and a deformation process of the color image by one interpolation calculation.
-
-
-
-
-
-
-
-
-
搜索结果
82 条记录 (耗时 0.032 秒)