公开(公告)号：US20050204850A1

公开(公告)日：2005-09-22

申请号：US11079679

申请日：2005-03-15

申请人： Ryo Nihei ,  Takeshi Okada ,  Naoki Shimada

发明人： Ryo Nihei ,  Takeshi Okada ,  Naoki Shimada

IPC分类号： B25J17/00 ,  B25J9/10 ,  F16H1/32

CPC分类号： B25J9/102 ,  F16H1/32 ,  Y10T74/20305

摘要： A joint structure is employed for an articulated type robot in which a speed reducer of one-stage speed reducing structure and a servo motor are directly connected to each other for the joint of the rotary base B1 and the lower arm A1 and for the joint of the lower arm A1 and the upper arm A2. The input shaft 2 of the speed reducer 10 directly connected to the output shaft of the servo motor 1 attached to the first member 8 (B1/A2) is a crank shaft composing a cam, and the external gears 3a, 3b, 3c are meshed with the cam surfaces. When the servo motor 1 is driven and the input shaft 2 is rotated, the external gears 3a, 3b, 3c are eccentrically revolved and rotated while the external gears 3a, 3b, 3c are meshed with the internal gear 4 provided inside the case 5 of the speed reducer 10. The rotation is taken out by a plurality of pin members 6 engaged to the external gears 3a, 3b, 3c and transmitted to the output shaft 7 of the speed reducer 10. Therefore, the second member 9 (A1) is relatively pivoted with respect to the first member 8. Due to the foregoing, the robot structure in which a plurality of joint devices for connecting the adjoining links via the speed reducer are connected in series to each other can be simplified.

摘要翻译： 关节式机器人采用接合结构，其中一级减速结构的减速器和伺服电动机彼此直接连接，用于旋转底座B1和下臂A 1的接头，并且用于 下臂A 1和上臂A 2的关节。 直接连接到安装在第一部件8（B 1 / A 2）上的伺服马达1的输出轴的减速器10的输入轴2是构成凸轮的曲轴，外齿轮3a，3b ，3c与凸轮表面啮合。 当伺服电动机1被驱动并且输入轴2旋转时，外齿轮3a，3b，3c被偏心地旋转并且外齿轮3a，3b，3c与内齿轮4啮合 设置在减速器10的壳体5的内部。 旋转由与外齿轮3a，3b，3c接合的多个销构件6取出并传递到减速器10的输出轴7。 因此，第二构件9（A 1）相对于第一构件8相对枢转。 由于上述原因，可以简化多个用于通过减速器连接邻接连杆的接合装置彼此串联连接的机器人结构。

公开(公告)号：US20050221941A1

公开(公告)日：2005-10-06

申请号：US11056365

申请日：2005-02-14

申请人： Ryo Nihei ,  Takeshi Okada ,  Naoki Shimada

发明人： Ryo Nihei ,  Takeshi Okada ,  Naoki Shimada

IPC分类号： B25J17/00 ,  B25J9/10 ,  F16H1/32

CPC分类号： B25J9/102 ,  F16H1/32

摘要： An eccentric-rotation type planetary differential reduction gear speed reducer (10) includes a cylindrical housing (14). The cylindrical housing (14) is fixed to a first member (3) constituting a link of a robot, and an output shaft (16) of the speed reducer (10) is fixed to a second member (4) constituting a link of the robot. An eccentric shaft (11) constituting an input shaft of the speed reducer (10) is coupled to a motor shaft (2) of a servo motor mounted on the first member (3). Splines are formed directly on the outer peripheral surface of the motor shaft (2) to form a spline shaft (5). The spline shaft is fitted into a spline hole formed in the eccentric shaft (11), so that the motor shaft (2) is directly coupled to the eccentric shaft (11).

摘要翻译： 偏心旋转型行星差动减速齿轮减速器（10）包括圆柱形壳体（14）。 圆柱形壳体（14）固定到构成机器人的连杆的第一构件（3）上，并且减速器（10）的输出轴（16）被固定到第二构件（4），构件 机器人。 构成减速器（10）的输入轴的偏心轴（11）与安装在第一部件（3）上的伺服电动机的电动机轴（2）连接。 花键直接形成在电动机轴（2）的外周面上，形成花键轴（5）。 花键轴装配在形成在偏心轴（11）中的花键孔中，使得马达轴（2）直接联接到偏心轴（11）。

公开(公告)号：USD410477S

公开(公告)日：1999-06-01

申请号：US90586

申请日：1998-07-09

申请人： Ryo Nihei ,  Takeshi Okada ,  Hiroshi Uchida ,  Yoshihiro Tanno

设计人： Ryo Nihei ,  Takeshi Okada ,  Hiroshi Uchida ,  Yoshihiro Tanno

公开(公告)号：US5708342A

公开(公告)日：1998-01-13

申请号：US757340

申请日：1996-11-27

申请人： Ryo Nihei ,  Yasuo Naito ,  Takeshi Okada ,  Tamotsu Sakai

发明人： Ryo Nihei ,  Yasuo Naito ,  Takeshi Okada ,  Tamotsu Sakai

IPC分类号： G05B19/416 ,  G05B13/00

CPC分类号： G05B19/416 ,  G05B2219/43046

摘要： The invention is directed to a method of controlling acceleration and deceleration time constants for a robot wherein the acceleration and deceleration time constants of a servo motor are each set at an optimum value based on the amount of movement, load, etc., thereby achieving a reduction in the operation time of the robot. The control method controls the operation of the robot while setting the acceleration and deceleration time constants at optimum values for each block instruction, and comprises the following five stages: the first stage comprising determining from the distance to the target position whether or not the speed will reach the taught speed (S1), setting the taught speed as velocity V if it is determined that the speed will reach the taught speed (S2), otherwise obtaining an ultimate velocity (S3) and setting the obtained ultimate velocity as velocity V (S4); the second stage comprising obtaining an output torque corresponding to the velocity V from a velocity-torque curve (S5); the third stage comprising obtaining an acceleration torque and a deceleration torque by subtracting a static load torque from the output torque (S6); the fourth stage comprising obtaining the magnitude of acceleration for acceleration and for deceleration (S7); and the fifth stage comprising obtaining an acceleration time constant and a deceleration time constant from the magnitudes of acceleration and the velocity V (S8), and then determining the largest acceleration time constant and largest deceleration time constant in absolute value terms or determining the optimum acceleration time constant and deceleration time constant for each individual axis (S9).

摘要翻译： 本发明涉及一种用于控制机器人的加速和减速时间常数的方法，其中伺服电动机的加速和减速时间常数基于运动量，负载等被设置在最佳值，从而实现 减少机器人的运行时间。 控制方法控制机器人的操作，同时将加速和减速时间常数设置为每个块指令的最佳值，并包括以下五个阶段：第一阶段包括从到目标位置的距离确定速度是否 达到教导速度（S1），如果确定速度达到教导速度（S2），则将教导速度设置为速度V，否则获得最终速度（S3），并将获得的极限速度设置为速度V（S4 ）; 第二级包括从速度 - 转矩曲线获得对应于速度V的输出转矩（S5）; 第三级包括通过从输出转矩减去静态负载转矩来获得加速转矩和减速转矩（S6）; 第四级包括获得用于加速度和减速度的加速度的大小（S7）; 并且第五级包括从加速度和速度V的大小获得加速时间常数和减速时间常数（S8），然后确定绝对值项中的最大加速时间常数和最大减速时间常数或确定最佳加速度 时间常数和减速时间常数（S9）。

公开(公告)号：US5415057A

公开(公告)日：1995-05-16

申请号：US140077

申请日：1993-11-04

申请人： Ryo Nihei ,  Yasuo Naito ,  Takeshi Okada ,  Tsutomu Miyagawa

发明人： Ryo Nihei ,  Yasuo Naito ,  Takeshi Okada ,  Tsutomu Miyagawa

IPC分类号： B25J19/00 ,  B25J18/00 ,  B66C23/72

CPC分类号： B25J19/0012 ,  Y10T16/82 ,  Y10T74/20305

摘要： A balancer device for balancing the moment generated by gravity on a robot arm, which is mounted at the one end thereof for rotation about a rotation axis and having an articulation on the opposite end, comprises a fluid-pressure operated spring means (7), an attachment portion (6) provided on the robot arm near the articulation, a tension transmitting member (2) for applying tension to the robot arm (1) by cooperation with the fluid-pressure operated spring means (7), and a plurality of guide means (3, 4, 5) provided for rotation extending and guiding the tension transmitting member (2). The tension transmitting member (2) is extended so as to pass the plurality of guide means (3, 4, 5) and the attachment portion (6), and to apply tension to the robot arm (1), whereby the balancer device balances the moment by gravity on the robot arm (1).

摘要翻译： PCT No.PCT / JP93 / 00256 Sec。 371日期：1993年11月4日 102（e）日期1993年11月4日PCT 1993年3月1日PCT公布。 公开号WO93 / 17839 日期：1993年9月16日。一种用于平衡由机器人手臂上的重力产生的力矩的平衡装置，该机械手臂的一端安装在其一端围绕旋转轴线旋转并且在相对端具有铰接，包括流体压力 操作弹簧装置（7），设置在机器人臂附近的连接部分上的附接部分（6），用于通过与流体压力操作的弹簧装置（...）协作来向机器人臂（1）施加张力的张力传递部件 7），以及多个引导装置（3,4,5），其设置用于旋转延伸和引导张力传递部件（2）。 张力传递构件（2）延伸以使多个引导装置（3,4,5）和附接部分（6）通过，并且向机械手臂（1）施加张力，由此平衡装置平衡 在机器人手臂（1）上的重力的时刻。

公开(公告)号：US20050113977A1

公开(公告)日：2005-05-26

申请号：US10991446

申请日：2004-11-19

申请人： Ryo Nihei ,  Tetsuaki Kato ,  Takeshi Okada

发明人： Ryo Nihei ,  Tetsuaki Kato ,  Takeshi Okada

IPC分类号： B25J17/00 ,  B25J9/10 ,  F16H1/32 ,  G06F19/00

CPC分类号： B25J9/102 ,  F16H1/32 ,  F16H57/0006

摘要： In an articulation system for a robot according to the present invention, an eccentric rocking type planetary gear speed reducing mechanism is used, but a two-stage speed reducing structure is not employed. Output of an acceleration sensor (11) attached to an output shaft (7) of a speed reducer (10) is passed through a band pass filter (12) to obtain a vibration component. Based on the obtained vibration component and the rotational phase of the motor detected by a pulse coder (13), a vibration suppression correction torque corresponding to the rotational phase of the motor is determined. The vibration suppression correction torque is added to the torque command Tc to correct the torque command and causes the motor (1) to operate in accordance with the corrected torque command. The vibration suppression correction torque is determined by learning processing and is updated until the vibration component is sufficiently reduced. When the vibration component has been sufficiently reduced, this updating operation is stopped, the vibration suppression correction torque is fixed. Further, the torque command is corrected, and operation of the motor (1) is controlled in accordance with the corrected torque command.

摘要翻译： 在根据本发明的用于机器人的铰接系统中，使用偏心摇摆式行星齿轮减速机构，但不采用两级减速结构。 安装在减速机（10）的输出轴（7）上的加速度传感器（11）的输出通过带通滤波器（12），得到振动分量。 基于由脉冲编码器（13）检测到的获得的电机的振动分量和电动机转动相位，确定与电动机的旋转相位对应的振动抑制校正转矩。 将振动抑制校正转矩加到转矩指令Tc上，以校正转矩指令，并使电动机（1）根据校正转矩指令进行动作。 振动抑制校正扭矩由学习处理确定，并且更新直到振动分量充分降低。 当振动分量已被充分减小时，该更新操作停止，振动抑制校正扭矩是固定的。 此外，扭矩指令被校正，并且根据校正的转矩指令来控制电动机（1）的操作。

公开(公告)号：US6059169A

公开(公告)日：2000-05-09

申请号：US981453

申请日：1997-12-22

申请人： Ryo Nihei ,  Takeshi Okada

发明人： Ryo Nihei ,  Takeshi Okada

IPC分类号： B23K11/11 ,  B23K11/31 ,  B23K37/047 ,  B23K37/02 ,  B23K37/00 ,  B25J11/00

CPC分类号： B23K37/047 ,  B23K11/314

摘要： A spot welding system employing parallel link robots arranged densely with one another. When an arrival of a workpiece W being conveyed is detected by a camera CM, a frame moves along guides to start tracking of the workpiece, and a plurality of robots RB1-RB4, each having a parallel link with a plurality of expandable/retractable arms and a wrist mounted on a distal end of the parallel link, start operation. A plurality of points on the workpiece are welded by spot welding guns G1-G4 attached to the wrists of the respective robots. Proximal end portions of the expandable/retractable arms are swingably supported by an upright wall of the frame, and the respective robots are disposed so as to project from the frame. The parallel link robots may be suspended from the frame to be arranged densely.

摘要翻译： PCT No.PCT / JP97 / 01462 Sec。 371 1997年12月22日第 102（e）日期1997年12月22日PCT 1997年4月25日PCT PCT。 WO97 / 39853 PCT出版物 日期1997年10月30日采用平行连杆机器人彼此密集布置的点焊系统。 当通过照相机CM检测到被输送的工件W的到达时，框架沿着引导件移动以开始对工件进行跟踪，并且多个机器人RB1-RB4具有与多个可扩张/伸缩臂 以及安装在所述平行连杆的前端的手腕，开始动作。 工件上的多个点由连接在各机器人的手腕上的点焊枪G1-G4焊接。 可伸缩臂的近侧端部由框架的直立壁可摆动地支撑，并且相应的机器人被设置成从框架突出。 平行连杆机器人可以从框架悬挂以密集地布置。

公开(公告)号：US07667357B2

公开(公告)日：2010-02-23

申请号：US11755041

申请日：2007-05-30

申请人： Takeshi Okada ,  Akitoshi Maeno

发明人： Takeshi Okada ,  Akitoshi Maeno

IPC分类号： H02K37/12

CPC分类号： H02K7/003 ,  H02K5/1732 ,  Y10T29/49009

摘要： A motor includes a shaft including upper and lower shaft members spaced axially away from each other. A shaft connecting member made of electrically insulating material is arranged axially between the upper and lower shaft members. The shaft connecting member is provided with fitting portions to which the upper and lower shaft members are to be fitted. While the upper and lower shaft members are secured to the shaft connecting member, the rotor magnet is integrally formed with the upper and lower shaft members and the shaft connecting member. With this configuration, an axial electric current is prevented from flowing through the shaft by the shaft connecting member.

摘要翻译： 马达包括轴，该轴包括彼此轴向间隔开的上轴和下轴构件。 由电绝缘材料制成的轴连接构件被轴向布置在上部和下部轴构件之间。 轴连接构件设置有配合部分，上轴和下轴构件将被配合到该配合部分。 当上下轴构件固定在轴连接构件上时，转子磁体与上下轴构件和轴连接构件一体地形成。 利用该结构，能够防止由轴连接部件轴向流过轴。

公开(公告)号：US20090247828A1

公开(公告)日：2009-10-01

申请号：US12413001

申请日：2009-03-27

申请人： Katsushi Watanabe ,  Tomoaki Ogawa ,  Takeshi Okada ,  Shigeru Nemoto ,  Shunichi Imai ,  Takeo Suzuki

发明人： Katsushi Watanabe ,  Tomoaki Ogawa ,  Takeshi Okada ,  Shigeru Nemoto ,  Shunichi Imai ,  Takeo Suzuki

IPC分类号： A61B1/005

CPC分类号： A61B1/0052 ,  A61B1/00016 ,  A61B1/00032 ,  A61B1/00039 ,  A61B1/00066 ,  A61B1/00114 ,  A61B1/05

摘要： An endoscope configured to be carried with a hand includes an insertion portion extending in a longitudinally axial direction, and an operation portion coaxially connected to a proximal end portion of the insertion portion and extending in the longitudinally axial direction, the operation portion includes an axially directional grasp portion extending in the longitudinally axial direction, a bending operation portion provided on a more proximal end side than the axially directional grasp portion, and a widely directional grasp portion provided on a more proximal end side than the bending operation portion wherein at least a part of the bending operation portion is located within a widely directional length of the widely directional grasp portion, and the widely directional grasp portion includes a grasp part protruding farther toward one widely directional side than the bending operation portion.

摘要翻译： 构造成用手携带的内窥镜包括沿纵向轴向延伸的插入部分和与插入部分的基端部同轴连接并沿纵向轴向延伸的操作部分，所述操作部分包括轴向定向 沿纵向方向延伸的抓握部分，设置在比轴向方向抓握部分更近端侧的弯曲操作部分，以及设置在比弯曲操作部分更近端侧的广泛定向抓握部分，其中至少一部分 弯曲操作部分位于广泛定向抓握部分的广泛定向长度内，并且广泛定向抓握部分包括比弯曲操作部分朝向一个广泛方向侧更远的突出部分。

公开(公告)号：US07528180B2

公开(公告)日：2009-05-05

申请号：US11220359

申请日：2005-09-06

申请人： Takeshi Okada ,  Kohei Watanabe

发明人： Takeshi Okada ,  Kohei Watanabe

IPC分类号： A61K9/16 ,  B05D1/32 ,  B41J2/01 ,  B41J2/175 ,  C08J3/00 ,  C08K3/20 ,  C08L31/00 ,  C08L33/00 ,  C09D5/02 ,  C09D11/00 ,  G01D11/00

CPC分类号： C09D11/40 ,  Y10S524/906

摘要： Disclosed herein is an ink set for use in ink-jet recording, which comprises at least 2 ink compositions the solid content concentrations of which are different by more than 2% by mass. The at least 2 ink compositions each comprise an aqueous medium, a pigment and a dispersant for dispersing the pigment. The dispersant is an amphiphilic block copolymer having an A segment that is a hydrophobic segment, a B segment that is a nonionic hydrophilic segment, and a C segment that is an ionic hydrophilic segment. The number of unit structures of the B segment of the amphiphilic block copolymer contained in each of the at least 2 ink compositions is smaller in the amphiphilic block copolymer contained in the ink composition having a relatively high solid content concentration than in the amphiphilic block copolymer contained in the ink composition having a relatively low solid content concentration.

摘要翻译： 本文公开了一种用于喷墨记录的油墨组，其包含至少2种固体含量浓度超过2质量％的油墨组合物。 所述至少2种油墨组合物各自包含水性介质，颜料和用于分散颜料的分散剂。 分散剂是具有作为疏水链段的A链段，作为非离子亲水链段的B链段和作为离子性亲水链段的C链段的两亲性嵌段共聚物。 包含在至少两种油墨组合物中的两亲性嵌段共聚物的B链段的单元结构的数量在包含在具有相对高的固体含量浓度的油墨组合物中的两亲嵌段共聚物中比在包含的两亲嵌段共聚物中更小 在具有相对低的固体含量浓度的油墨组合物中。