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21. 发明申请

US20050055132A1 Robot collaboration control system 有权
标题翻译：机器人协调控制系统
公开(公告)号：US20050055132A1
公开(公告)日：2005-03-10
申请号：US10494583
申请日：2002-11-07
申请人： Naoyuki Matsumoto , Masatoshi Sano , Tsuyoshi Maehara , Nobuyasu Shimomura , Takahiro Ueno
发明人： Naoyuki Matsumoto , Masatoshi Sano , Tsuyoshi Maehara , Nobuyasu Shimomura , Takahiro Ueno
IPC分类号： B25J9/16 , B25J9/18 , B25J9/22 , B25J13/00 , G06F19/00
CPC分类号： B25J9/1682 , G05B2219/33097 , G05B2219/39051 , G05B2219/39124 , G05B2219/39141
摘要： The present invention has a communication connection means (21) which mutually connects communicatably control units (Ca, Cb) for individually controlling operations of robots (Ra, Rb) to constitute a network, input means (37a, 37b) which are respectively installed in the control units and input operation instructions of the robots, and timing signal generation means (69a, 69b). The control units are selectively set to any one of an independent function execution mode, a master function execution mode, and a slave function execution mode, and among the control units, the control unit (Ca) to perform a master operation is set to the master function execution mode, and the residual control unit (Cb) is set to the slave function execution mode, and by correcting a minimum interruption period (Ts(b)) of the slave side control unit (Cb), a control time (ta11, ta12, ta13) to the master robot (Ra) of the master side control unit (Ca) is delayed by a predetermined time (T) to perform the cooperative operation. By doing this, the control units are always kept in the synchronized state, thus the operations of the robots can be prevented from variations.
摘要翻译：本发明具有通信连接装置（21），其连接用于单独控制机器人（Ra，Rb）的操作的可通信控制单元（Ca，Cb）以构成网络，输入装置（37a，37b）分别安装在机器人的控制单元和输入操作指令，以及定时信号生成装置（69a，69b）。控制单元被选择性地设置为独立功能执行模式，主功能执行模式和从功能执行模式中的任何一个，并且在控制单元中，执行主操作的控制单元（Ca）被设置为主功能执行模式，剩余控制单元（Cb）被设定为从功能执行模式，并且通过校正从侧控制单元（Cb）的最小中断周期（Ts（b）），控制时间（ta11 ，ta12，ta13）到主控制单元（Ca）的主机器人（Ra）延迟预定时间（T）以执行协作操作。通过这样做，控制单元总是保持在同步状态，从而可以防止机器人的操作变化。

22. 发明授权

US06069338A Method and apparatus for controlling spot welding robot 失效
标题翻译：点焊机器人控制方法及装置
公开(公告)号：US06069338A
公开(公告)日：2000-05-30
申请号：US307790
申请日：1999-05-10
申请人： Masatoshi Sano , Naoyuki Matsumoto
发明人： Masatoshi Sano , Naoyuki Matsumoto
IPC分类号： B23K11/24 , B23K11/11 , B23K11/31 , G05B19/18 , G05B19/404 , B23K37/02
CPC分类号： B23K11/314
摘要： The disclosed spot welding robot controlling method and apparatus is able to carry out an operation for pressurizing a spot welding gun without a dead time of a spot welding robot which has the spot welding gun driven by a fluid pressure. The control method includes the steps of measuring a gun closing time, measuring an axial coincidence time, calculating a time difference between the time point of the command position axial coincidence and the output time point of the pressurization command in an actual welding operation using the gun closing time and the axial coincidence time, and outputting the pressurization command to the spot welding gun at a time point which is derived by subtracting the time difference from the time point of the command position axial coincidence in the actual welding operation.
摘要翻译：所公开的点焊机器人控制方法和装置能够进行点焊装置的加压操作，而没有由流体压力驱动的点焊枪的点焊机器人的死区时间。控制方法包括以下步骤：在使用枪的实际焊接操作中测量枪关闭时间，测量轴向重合时间，计算指令位置轴向一致的时间点与加压命令的输出时间点之间的时间差关闭时间和轴向一致时间，并且在通过从实际焊接操作中的指令位置轴向一致的时间点减去时间差而导出的时间点，向点焊枪输出加压指令。

23. 发明授权

US4866297A Processing circuit for use with DC-voltage-output type sensors 失效
标题翻译：用于直流电压输出型传感器的处理电路
公开(公告)号：US4866297A
公开(公告)日：1989-09-12
申请号：US81731
申请日：1987-08-05
申请人： Naoyuki Matsumoto
发明人： Naoyuki Matsumoto
IPC分类号： G01J5/14 , G01K7/02 , H03F1/30 , H03F3/34
CPC分类号： H03F1/303
摘要： A processing circuit for use with DC-voltage-output type sensors comprising: a preamplifier; an automatic polarity-switching means coupled to the sensor and the preamplifier for switching the connection condition between a non-polarity-inversion condition and a polarity-inversion condition; and a controlling-measuring means for controlling the automatic polarity-switching means in carrying out the switching alternately between the non-polarity-inversion condition and the polarity-inversion condition, and for measuring the difference between the output of the preamplifier under the non-polarity-inversion condition and the output of the preamplifier under the polarity-inversion condition, thereby cancelling the effects of the input offset voltage of the preamplifier and the offset voltage of the preamplifier and the offset voltage generated by the input bias current and the resistance of said DC-voltage-output type sensor.
摘要翻译：一种用于直流电压输出型传感器的处理电路，包括：前置放大器; 耦合到传感器和前置放大器的自动极性切换装置，用于在非极性反转状态和极性反转状态之间切换连接状态; 以及控制测量装置，用于控制自动极性切换装置在非极性反转状态和极性反转状态之间交替执行切换，并且用于测量非极性反转条件下的前置放大器的输出之间的差异，极性反转条件和前置放大器在极性反转条件下的输出，从而消除前置放大器的输入失调电压和前置放大器的偏移电压以及由输入偏置电流产生的偏移电压和所述直流电压输出型传感器。

24. 发明授权

US07925382B2 Robot controller and robot control method 有权
标题翻译：机器人控制器和机器人控制方法
公开(公告)号：US07925382B2
公开(公告)日：2011-04-12
申请号：US11294441
申请日：2005-12-06
申请人： Tetsuya Kubota , Jun Fujimori , Naoyuki Matsumoto , Tetsuhiko Nishimura
发明人： Tetsuya Kubota , Jun Fujimori , Naoyuki Matsumoto , Tetsuhiko Nishimura
IPC分类号： G05B19/404
CPC分类号： B25J9/1638
摘要： An input unit enters angular displacements by which drive shafts of a robot arm are to be turned as teaching data into a control unit. The control unit converts the input angular displacements into position-attitude data, namely, converted commands, indicating a position of the free end of the robot arm and an attitude of the robot in a rectangular coordinate system through forward conversion. The control unit corrects the position-attitude data on the basis of inherent errors in the robot to provide corrected position-attitude data. The control unit converts the corrected position-attitude data into corrected angular displacements through inverse conversion and gives the corrected angular displacements to an actuator included in the robot. The inherent errors in the robot include mechanismic errors resulting from machining errors and assembling errors, installation errors and errors in the origins of axes.
摘要翻译：输入单元进入角位移，通过该位移将机器人手臂的驱动轴作为示教数据转动到控制单元中。控制单元将输入角位移转换成位置姿态数据，即转换后的指令，通过正向转换指示机器人手臂的自由端的位置和机器人在直角坐标系中的姿态。控制单元基于机器人中的固有误差校正位置姿态数据，以提供校正的位置姿态数据。控制单元通过反向转换将校正的位置姿态数据转换成校正的角位移，并将校正的角位移给予包括在机器人中的致动器。机器人的固有误差包括由于加工误差和组装误差，安装误差和轴原点误差而导致的机械误差。

25. 发明授权

US07594173B2 Document control apparatus, document control system, document control method and storage medium 失效
标题翻译：文件控制装置，文件控制系统，文件控制方法和存储介质
公开(公告)号：US07594173B2
公开(公告)日：2009-09-22
申请号：US11153373
申请日：2005-06-16
申请人： Naoyuki Matsumoto
发明人： Naoyuki Matsumoto
IPC分类号： G06F17/00
CPC分类号： G06Q10/10 , G06F21/10
摘要： To provide a document control apparatus, a document control system, a document control method and a storage medium that are capable of providing more certain access control by the unit of document and a system (service) for allowing access in the form of charging additional charge with a fixed grace period, and are capable of supporting more flexible and certain storing service. The document control system includes a Web server, a session control part for controlling access, a job control part for controlling job execution, a document registration processing part for registering, updating and deleting a document, a document search processing part for searching an accumulated and controlled document, a document transfer processing part for transmitting and receiving document data, a user control part for controlling user information, a database control part for controlling document data, registration user, charge information and document access histories, and databases.
摘要翻译：提供能够通过文档单元提供更多特定访问控制的文档控制装置，文档控制系统，文档控制方法和存储介质以及用于允许以附加费用的形式进行访问的系统（服务）具有固定的宽限期，并且能够支持更灵活和一定的存储服务。文档控制系统包括Web服务器，用于控制访问的会话控制部分，用于控制作业执行的作业控制部分，用于注册，更新和删除文档的文档注册处理部分，用于搜索累积和控制文档，用于发送和接收文档数据的文档传送处理部分，用于控制用户信息的用户控制部分，用于控制文档数据的数据库控制部分，注册用户，费用信息和文档访问历史以及数据库。

26. 发明授权

US07304759B2 Document registration system, method thereof, program thereof and storage medium thereof 有权
标题翻译：文件登记系统及其方法，程序及其存储介质
公开(公告)号：US07304759B2
公开(公告)日：2007-12-04
申请号：US10235571
申请日：2002-09-06
申请人： Hiroyuki Kiyono , Naoyuki Matsumoto , Naobumi Fukudome , Atsushi Kashioka
发明人： Hiroyuki Kiyono , Naoyuki Matsumoto , Naobumi Fukudome , Atsushi Kashioka
IPC分类号： G06F3/12 , G06F15/00 , G06K1/00
CPC分类号： H04N1/32128
摘要： A FAX document image is acquired from an external device having a FAX receiving function, a telephone number of a transmission source of the FAX document image is acquired, a folder of a document management system as a destination of registration is automatically determined based on a mapping table showing a mapping between the telephone number of the transmission source and the registration destination folder, and the acquired telephone number of the transmission source, the FAX document image is registered in the folder of the document management system as the destination of registration in a way that attaches an index to the FAX document image.
摘要翻译：从具有FAX接收功能的外部设备获取传真文档图像，获取传真文档图像的传输源的电话号码，作为登记目的地的文档管理系统的文件夹基于映射自动确定表示发送源的电话号码与注册目的地文件夹之间的映射表以及所获取的发送源的电话号码，FAX文档图像以某种方式登记在文档管理系统的文件夹中作为注册的目的地它将索引附加到传真文档图像。

27. 发明申请

US20060197486A1 Robot controller 有权
公开(公告)号：US20060197486A1
公开(公告)日：2006-09-07
申请号：US11360420
申请日：2006-02-24
申请人： Hitoshi Kubo , Naoyuki Matsumoto
发明人： Hitoshi Kubo , Naoyuki Matsumoto
IPC分类号： B25J5/00
CPC分类号： G05B19/4155 , B25J9/1664 , G05B2219/40519
摘要： A robot hand is moved at a moving speed in direct movement from a start position to an end position. When the robot hand passes through a setting position on a movement route from the start position to the end position, a setting position passing signal is outputted. At this time, a robot controller does not lower the moving speed of the robot hand before and after arrival at the setting position. Therefore, the reduction in the moving speed of the robot hand due to existence of the setting position can be prevented and the movement time of the robot hand can be prevented from undesired prolongation. By doing this, the cycle time can be shortened and the operability of the robot can be improved.

28. 发明授权

US07071470B2 Multi-component analyzing apparatus 失效
标题翻译：多分量分析仪
公开(公告)号：US07071470B2
公开(公告)日：2006-07-04
申请号：US10659436
申请日：2003-09-11
申请人： Toshiyuki Nomura , Hiroji Kohsaka , Kennosuke Kojima , Ichiro Asano , Naoyuki Matsumoto
发明人： Toshiyuki Nomura , Hiroji Kohsaka , Kennosuke Kojima , Ichiro Asano , Naoyuki Matsumoto
IPC分类号： G01N21/35
CPC分类号： G01N21/3504
摘要： A multi-component analyzing apparatus in which infrared light is irradiated to a measuring-subject sample S which is constituted by either measuring-subject components whose sorts or quantities are limited or by a mixed article made of said measuring-subject components; intensity of infrared light having respective wavelength ranges which are fitted to infrared absorption spectra of the respective measuring-subject components among such infrared light penetrated through the measuring-subject sample S is measured by employing a plurality of detectors 4a to 4g corresponding thereto; and said multi-component analyzing apparatus is comprised of a calculation processing unit 6 for analyzing the infrared light intensity of the respective wavelength ranges so as to acquire concentration x1 to x7 of the respective measuring-subject components; wherein the calculation processing unit 6 is capable of executing an analyzing process program P for executing analysis operations of the concentration x1 to x7 of the respective measuring-subject components by solving simultaneous equations which are constituted by equations having mutual interference correction terms used to correct interference adverse influences occurred among the respective measuring-subject components.
摘要翻译：一种多组分分析装置，其中红外光照射到由测量对象部件或其数量受限制的测量对象样品S或由所述测量对象部件制成的混合物体; 通过使用与其对应的多个检测器4a〜4g来测量具有各自的波长范围的红外光的强度，该红外光适合于通过测量对象样品S穿透的红外光中的各测量对象成分的红外吸收光谱; 并且所述多分量分析装置包括：计算处理单元6，用于分析各个波长范围的红外光强度，以获得浓度x 1至x 7 的各个测量对象部件; 其中计算处理单元6能够执行分析处理程序P，用于通过求解各个测量对象分量来执行浓度x 1至x 7的分析操作在相应的测量对象分量之间发生由用于校正干扰不利影响的相互干扰校正项的等式构成的联立方程。

29. 发明申请

US20050235204A1 Document control apparatus, document control system, document control method and storage medium 失效
公开(公告)号：US20050235204A1
公开(公告)日：2005-10-20
申请号：US11153373
申请日：2005-06-16
申请人： Naoyuki Matsumoto
发明人： Naoyuki Matsumoto
IPC分类号： G06F17/21 , G06F17/30 , G06F21/10 , G06Q30/04 , G06Q30/06 , G06Q50/00 , G06Q50/10 , G06K9/36
CPC分类号： G06Q10/10 , G06F21/10
摘要： To provide a document control apparatus, a document control system, a document control method and a storage medium that are capable of providing more certain access control by the unit of document and a system (service) for allowing access in the form of charging additional charge with a fixed grace period, and are capable of supporting more flexible and certain storing service. The document control system includes a Web server, a session control part for controlling access, a job control part for controlling job execution, a document registration processing part for registering, updating and deleting a document, a document search processing part for searching an accumulated and controlled document, a document transfer processing part for transmitting and receiving document data, a user control part for controlling user information, a database control part for controlling document data, registration user, charge information and document access histories, and databases.

30. 发明授权

US06429617B1 Drive-controlling method and apparatus and robot having the apparatus 有权
标题翻译：具有该装置的驱动控制方法和装置以及机器人
公开(公告)号：US06429617B1
公开(公告)日：2002-08-06
申请号：US09692870
申请日：2000-10-20
申请人： Masatoshi Sano , Tsuyoshi Maehara , Tetsuhiko Nishimura , Hiroaki Kagaya , Naoyuki Matsumoto
发明人： Masatoshi Sano , Tsuyoshi Maehara , Tetsuhiko Nishimura , Hiroaki Kagaya , Naoyuki Matsumoto
IPC分类号： G05B1101
CPC分类号： B25J9/1676 , B25J9/1666 , G05B19/406 , G05B2219/37285 , G05B2219/37632 , G05B2219/40476 , G05B2219/40497
摘要： Provided is a drive-controlling method and apparatus and a robot having the apparatus for precisely detecting a collision of a arm being driven by a robot with obstacles, and for keeping damages of the arm from the collision minimum: storing a route of the arm being driven by the robot in a memory; detecting a collision by comparing a current value of a servo motor which drives the arm and a reference current value; and controlling the robot such that the arm leaves a predetermined distance from the obstacle based on the stored route, backing up the arm along the same route as before the collision.
摘要翻译：提供一种驱动控制方法和装置以及机器人，其具有用于精确地检测由机器人驱动的臂与障碍物的碰撞并且用于保持臂的碰撞最小化的装置的装置：将臂的路径保持为由机器人在记忆体中驱动; 通过比较驱动臂的伺服电动机的电流值和参考电流值来检测碰撞; 并且控制机器人使得臂基于存储的路线离开障碍物预定的距离，沿着与碰撞之前相同的路线备份臂。

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