| Patent Number |
Title Of Patent |
Date Issued |
| 6328523 |
Apparatus for picking up articles using a vision controlled robot |
December 11, 2001 |
| A group of bolts are suppled into a placing surface of a tray, an isolated bolt is searched for by a visual sensor, and its deviation from a standard position at the time of teaching is determined. The isolated bolt is picked up by a robot that has been taught how to pick up an isolated |
| 6324443 |
Robot control apparatus |
November 27, 2001 |
| An robot control apparatus with a teaching operation panel capable of making graphic display. The teaching operation panel comprises a processor, a flash memory, a DRAM, a communication port, a touch panel, a graphic controller for controlling a display device, a key control circuit |
| 6321139 |
Operation line searching method and robot/sensor system having operation line searching function |
November 20, 2001 |
| An operation line searching method in which an operation start position is automatically approached and a robot/sensor system having such function of detecting the operation line. A robot having a laser sensor and an operation tool attached to a distal end thereof approaches an operation |
| 6320344 |
Position control device |
November 20, 2001 |
| It is assumed that an element to be detected 2a in a position sensor is mounted on a rotary shaft with the center O' of the element to be detected eccentric from a center of rotation O by a distance d. When the rotary shaft is rotated at a fixed speed, the positions at angles 0.degree. a |
| 6313974 |
Resistor for a servo amplifier and servo amplifier provided thereof |
November 6, 2001 |
| Leg portions are provided at the four corners of a resistor that generates a large amount of heat and a partition panel is secured to the top of the leg portions through a heat-insulating spacer. A adiabatic layer is formed by an empty space between the resistor and the partition panel. |
| 6313593 |
Motor controller |
November 6, 2001 |
| Provided to the motor controller is means which can alter a conversion ratio with which a current value detected by a current detector is converted into a unit (such as voltage) easily usable in motor current control. According to the maximum current value of the motor and the demagn |
| 6310457 |
Servomotor controller |
October 30, 2001 |
| When contents of a program for machining to be executed by a servomotor indicate a cutting mode, a current command is generated by performing speed loop processing by using a speed loop gain for cutting mode, and moreover, a voltage command to a servo amplifier is generated by perfor |
| 6308141 |
Method of and apparatus for analyzing alarms of an injection molding machine |
October 23, 2001 |
| A method of and an apparatus for analyzing alarms of an injection molding machine, in which the relation between the alarm and the production time can be grasped clearly and also various kinds of statistical processing can be performed in accordance with operator's request. The ratio of |
| 6298283 |
Industrial robot |
October 2, 2001 |
| An industrial robot capable of preventing re-collision after colliding with an obstacle. Disturbing torque exerted on each servomotor for a robot axis is estimated by its associated disturbance estimating observer. When a hand attached to an end of a robot arm collides with an obstacle, |
| 6296472 |
Injection molding machine |
October 2, 2001 |
| An injection molding machine capable of easily moving a body of the injection molding machine and its associated peripheral equipments, and eliminating daily correction of the position of the peripheral equipments. A rest (5) having a peripheral-equipment mounting plate (13) is fixed to |
| 6292363 |
Servo amplifier unit |
September 18, 2001 |
| A semiconductor module is mounted on a printed circuit board so that a heat radiating surface of the module and surfaces of the printed circuit boards are parallel to inner wall surfaces of a unit case. The total thickness of the semiconductor module constituting an inverter essential to |
| 6290403 |
Sequence program execution control system |
September 18, 2001 |
| A memory (1) stores a sequence program (1a) expressed in a step format. Execution control device (2) executes this sequence program (1a), thereby carrying out operation control on the side of a machine (3). Display control device (4) displays the sequence program (1a) on a display screen |
| 6285921 |
Robot control apparatus with function for robot backward operation |
September 4, 2001 |
| A robot control apparatus having an expanded and improved backward operation function. During forward operation according to an operation program, command types, line numbers, robot positions, I/O signal states before execution of related commands, and values before execution of comp |
| 6285915 |
Numerical control device, and screen display and data input and output method for numerical cont |
September 4, 2001 |
| A personal computer incorporated in a numerical control device (CNC) has a function for emulating a CNC display circuit. This personal computer emulates a CNC display circuit and converts a transmitted display command A into a video signal for transmission to display means. The numerical |
| 6285107 |
Stator structure of motor |
September 4, 2001 |
| A stator structure for a motor of high precision by suppressing influence of electromagnetic noise between windings and a distribution pattern layer in a printed board. A shield is provided between the windings and the distribution pattern layer of the printed board to shield the ele |
| 6279413 |
Articulated robot |
August 28, 2001 |
| A first arm (3) of a articulated robot has a double arm structure composed of a first arm piece (3a) and a second arm piece (3b). The first arm piece (3a) transmits a drive force, and a housing (4a) of a second arm (4) is rotatably mounted to the first arm piece (3a) at the end thereof. |
| 6278902 |
Robot control method and robot control system |
August 21, 2001 |
| A DSP of a servo control circuit obtains a movement value of a servomotor for each axis for each position-speed feedback processing cycle in accordance with a move command value for each axis delivered from a main processor with every distribution cycle, and also obtains a position c |
| 6278075 |
Controller of wire electric discharge machine |
August 21, 2001 |
| A controller of a wire electric discharge machine monitoring a change in thickness of a workpiece and a current density in real time, promoting a machining speed by preventing occurrence of disconnection of a wire electrode even when the change in the thickness is caused in the workpiece |
| 6269111 |
Compact laser oscillator |
July 31, 2001 |
| A laser oscillator which allows the length of a light guide path between itself and a laser beam machine to be reduced. This laser oscillator comprises a laser resonator and a reflector for reflecting and turning back a laser beam emitted from the laser resonator. The laser beam emitted |
| 6255797 |
AC motor with reactor interposed between AC motor and power source |
July 3, 2001 |
| A reactor (32) and a switch (35) are interposed in parallel between U-phase, V-phase and W-phase on a power source side (31) and U, V and W terminals on a motor side (33). A changeover switch )37) is interposed between Z, X and Y terminals on the motor side (33) and the U, V and W te |
| 6255644 |
Optical rotary encoder |
July 3, 2001 |
| An optical rotary encoder simple in construction and capable of easily securing an aligned state of a code plate with a rotating shaft A disk DS and an attachment portion DM of a code plate (6) are formed of an integrated plastic molded product, so that the assembly work for the code |
| 6252367 |
Servo controller |
June 26, 2001 |
| A servo controller capable of controlling motors to be driven in different control modes, such as a synchronous motor and an induction motor, irrespectively of the type of the motor, and also capable of carrying out servo control by using incremental feedback signals. A control section |
| 6250174 |
Robot construction |
June 26, 2001 |
| A robot 1A comprises a robot stationary base 1, a first speed reducer mechanism attachment base 11 to which a first axis speed reducer mechanism 12 and a second axis speed reducer mechanism 21 are attached, a first arm AM1, a second speed reducer mechanism attachment base 35 to which a t |
| 6239528 |
Method for coiling a wire around a stator core |
May 29, 2001 |
| A winding of a motor is formed by coiling a wire around a slotless stator core with combination of troidal coiling and array coiling. The toroidal coiling is carried out in a manner such that the wire is coiled without any intersecting turns in one direction for the formation of the wind |
| 6238152 |
Tool clamping mechanism and pull stud |
May 29, 2001 |
| A fixed first sleeve and a movable second sleeve are arranged in a center through hole of a main spindle. Balls at the rear end of the second sleeve engage a recessed slope of the first sleeve and a recessed slope of a draw bar, thereby amplifying the urging force of a spring for urging |
| 6236896 |
Coordinate system setting method using visual sensor |
May 22, 2001 |
| A method of setting a coordinate system to an automatic machine with a stable accuracy in a non-contact manner. The desired coordinate system can be set even if it exists outside a moving range of the automatic machine. The operator operates a robot control device to move a robot to a fi |
| 6232738 |
Vertical axis translation mechanism |
May 15, 2001 |
| A plurality of electrostrictive elements 30 are located about the perimeter section of a table 2. The table is fixed to a table fixing member 3. The table fixing member 3 is prohibited from rotating by guide pins 19. When a servo motor 4' constituting a rotational drive mechanism 4 is dr |
| 6232593 |
Optical encoder |
May 15, 2001 |
| A movable code plate for an optical encoder is given a light path changing function by forming a series of indentations in one or more portions of one surface of the plate. Since these indentation are sufficiently shallow with respect to the thickness of the movable code plate, sufficien |
| 6226181 |
Controller with servo amplifier incorporated in cabinet |
May 1, 2001 |
| A base plate (20) is provided in a standing manner on a center portion of one side surface of a front-surface panel (15), a control unit (3) of a servo amplifier is attached to one surface of the base plate (20), and a heat-radiation unit (19) of the servo amplifier is attached to the ot |
| 6225772 |
Acceleration/deceleration control method for numerical control, and numerical control device |
May 1, 2001 |
| Tool feed speed Fa (mm/min) is calculated for each tool feed step on the basis of a tool feed speed F (mm/rev) specified in advance and the actual rotational speed Sact of the spindle (rev/min). The tool feed speed Fa (mm/min) and the tool feed speed Fold of the previous cycle (initially |
| 6222183 |
Optical encoder |
April 24, 2001 |
| A mobile code plate manufactured, such as by plastic injection molding, encodes input light by the light path alteration function of a first optical bending portion. This is converted into a first output optical flux by perpendicular incidence and optical transmission at the position |
| 6215426 |
Offset correcting circuit for encoder |
April 10, 2001 |
| An offset correcting circuit for an encoder capable of detecting a correct offset value even when a sampling period is long as in the case of a low-speed A/D converter and restraining the influence of noise. The offset correcting circuit for an encoder adapted to output an angle signal b |
| 6209212 |
Centering structure between machine-side spindle and motor shaft and method of using same |
April 3, 2001 |
| A first mounting plate (4) is formed with a ring-shaped projection (6) on its undersurface, facing a through hole (5) in the center. An outer peripheral wall (61) of the projection (6) is finished into the shape of a perfect circle. In mounting a motor (2) on the first mounting plate (4) |
| 6208105 |
Robot controller |
March 27, 2001 |
| A robot controller determines an abnormality in position, velocity or acceleration of an end effector or a rotational axis of a robot. The robot controller includes a servo CPU that periodically writes current position data in a shared RAM with a host CPU. The current position data is |
| 6188341 |
Encoder interpolation circuit which corrects an interpolation angle between a received sine-wave |
February 13, 2001 |
| An encoder interpolation circuit for obtaining interpolation data within one wave from two sine-wave encoder signals of different phases comprises interpolative computation means (2) for receiving two sine-wave encoder signals received and carrying out to interpolative computation within |
| 6188194 |
Controller for automatic machine |
February 13, 2001 |
| An automatic machine has a plurality of axes driven by servo motors. The controller for controlling this automatic machine confirms that a compulsory power disconnection mode is engaged, releases the brakes and starts power supply to servo amplifiers. At a prescribed time after power |
| 6181096 |
Robot controlling system |
January 30, 2001 |
| In a robot controlling system including a robot unit having a robot arm and a servomotor into which the robot ann is incorporated, a servo amplifier unit to drive the servo motor, and a controlling unit to control the robot arm by sending commands to the servo amplifier unit, and transmi |
| 6180898 |
Emergency stop switching mechanism for robot and teaching control panel provided with same |
January 30, 2001 |
| An emergency stop switch mechanism for a robot which can take an emergency position when an external operation force is released and when a strong external operation force is applied. When the robot operation is started, a main lever La is pushed down from the OFF state with a normal ext |
| 6179607 |
Two-platen mold-clamping apparatus |
January 30, 2001 |
| A two-platen mold-clamping apparatus is provided, which requires neither tie bars nor rear platen, and is thus comprised of a reduced number of components, is easy to maintain, and is low-priced. A plurality of ball nuts are mounted on a movable platen so as to be rotatable but axially |
| 6179597 |
Automatic lubricator for injection molding machine |
January 30, 2001 |
| An automatic lubricator for an injection molding machine, capable of performing proper lubrication in accordance with operation environment of the injection molding machine. A lubrication interval Ls is controlled according to length of cycle time S of the injection molding machine so |
| 6177650 |
Arc welding method |
January 23, 2001 |
| An arc welding method capable of easily varying welding conditions such as welding speed, voltage and electric current. The method comprises the steps of teaching a start point to start varying welding conditions such as welding speed, voltage and electric current and an end point to |
| 6167325 |
CNC data correction method |
December 26, 2000 |
| Actual machining positions P1, P2, . . . corresponding to command positions S1, S2, S3 . . . of each block of NC data are obtained by trial machining. Positions that correspond symmetrically to the actual machining positions P1, P2, . . . with respect to the command positions S1, S2, S3 |
| 6163130 |
Injection molding machine |
December 19, 2000 |
| In an injection molding machine whose movable part is driven by an AC servo motor, d-phase current in a direction of magnetic flux produced by a field system and q-phase current orthogonal to the d-phase current are obtained through d-q conversion on the basis of drive current of the AC |
| 6163124 |
Robot controller |
December 19, 2000 |
| A robot controller resolving a path deviation caused in relation to override processing or temporary stop. A motion planning section constituting software of the robot controller forms a motion plan of a robot with no consideration of overriding and outputs it to an interpolation pro |
| 6160414 |
Method for diagnosing abnormality of circuit member of inverter driving controller for driving a |
December 12, 2000 |
| Selected switching devices (e.g., Tra and Trd) of an inverter are turned on to supply a current between selected phases. If the respective inclinations of current waveforms then detected by current detection circuits IR and IS are equal to a reference inclination, it can be concluded |
| 6160324 |
Deadman switch mechanism for emergency stop of robot and teaching operation |
December 12, 2000 |
| A deadman switch mechanism and a teaching operation panel equipped with the deadman switch mechanism, in which possibility of losing a safety function is low even if failure happens in a contact or other elements of a circuit. When an operator grips at least one of grip levers (GL1; GL2) |
| 6157869 |
Machining program checking method for a numerical control device |
December 5, 2000 |
| A machining program checking method is provided for a numerical control device which controls an NC lathe for performing a machining operation with a plurality of tools simultaneously mounted on a turret thereof, wherein interference of the tools with a workpiece or with various parts |
| 6157155 |
Robot path planning method where bending owing to load is taken into consideration |
December 5, 2000 |
| The present invention relates to a robot path planning method for determining the path of a robot, taking into consideration the bending effect of the robot path when heavy tools are load onto the robot. Specifically, straight line P'-Q' to be actually drawn by the distal end of the |
| 6155148 |
Thread cutting method using lathe and numerical controller |
December 5, 2000 |
| A basic spiral operation of a tool is controlled by storing, in a controller, an automatic operation program of a threading cycle which regulates the basic spiral operation of the tool corresponding to a thread shape by specifying a spindle revolving speed RC, a thread lead ZR and a |
| 6153954 |
Motor equipped with a coil temperature sensing element |
November 28, 2000 |
| A temperature sensing element mounted using a guide hole formed in the housing of a motor. The mounting of the temperature sensing element is carried out without additional processing to a coil mounted on a stator, enabling automated mounting of the temperature sensing element. Further, |
