Patents by Inventor Seiichiro Nakashima

Seiichiro Nakashima has filed for patents to protect the following inventions. This listing includes patent applications that are pending as well as patents that have already been granted by the United States Patent and Trademark Office (USPTO).

  • Publication number: 20190292630
    Abstract: An object of the present invention is to recover a minor metal and/or rare-earth metal. The present invention provides a method for recovering a minor metal and/or rare-earth metal from a post-chlorination residue in titanium smelting. The minor metal and/or rare-earth metal is one or more metal selected from the group consisting of Sc, V, Nb, Zr, Y, La, Ce, Pr, and Nd.
    Type: Application
    Filed: May 12, 2017
    Publication date: September 26, 2019
    Applicants: JX NIPPON MINING & METALS CORPORATION, TOHO TITANIUM CO., LTD.
    Inventors: Kota NAKASHIMA, Akira YOSHIMURA, Seiichiro TANI
  • Patent number: 5006035
    Abstract: An industrial robot has a robot unit (10) comprising a fixed base (12) and movable robot components (16, 18, 20) operatively controlled by driving motors (M.theta., MW, MU, M.alpha., M.beta., M.gamma.) provided with absolute position detecting encoders (EC.theta., ECW, ECU, EC.alpha., EC.beta., EC.gamma.). The swivel body (16) among the movable robot components, mounted on the fixed base (12) is mounted, on its mount, with the driving motor (M.theta.) for operatively controlling the same, and is mounted with and holds a battery (46) for supplying a backup voltage to the encoders of the driving motors (MW, MU, M.alpha., M.beta., M.gamma.) for operatively controlling the movable robot components (18, 20). The battery is connected electrically by cables (48, 49) to the encoders (EC.theta., ECW, ECU, EC.alpha., EC.beta., EC.gamma.).
    Type: Grant
    Filed: March 31, 1989
    Date of Patent: April 9, 1991
    Assignee: Fanuc, Ltd.
    Inventors: Seiichiro Nakashima, Kenichi Toyoda, Nobutoshi Torii
  • Patent number: 4835362
    Abstract: A system for converting the welding conditions of a welding robot includes a numerical control unit, which is for controlling the welding robot (8) and a welding machine (7). A memory (3) is included for storing a calculation sequence of a general expression of a given straight line obtained from an X value of a point (U=0) on the given straight line and the slope of the given straight line on a plane in which a welding condition input value is plotted along the X axis and a command value delivered to a digital/analog converter that applies commands to the welding machine is plotted along the Y axis. A value is obtained by substituting a welding condition input value, which is applied when the welding robot is taught, into the general expression stored in the memory (3), the value obtained being adapted as an output value supplied to the digital/analog converter.
    Type: Grant
    Filed: February 3, 1988
    Date of Patent: May 30, 1989
    Assignee: Fanuc Ltd
    Inventors: Seiichiro Nakashima, Kenichi Toyoda, Nobutoshi Torii
  • Patent number: 4773813
    Abstract: An industrial robot comprises a robot body having an operating portion (13), a driving motor (19) for driving the operating portion (13) and the a handle (29). A casing (21) of the driving motor (19) is secured to an outer wall of the robot body by bolts (25), and an output shaft (26) of the driving motor (19) is connected to the operating portion (13). An inner brake device of the driving motor (19) secures the output shaft (26) to the casing (21) when the driving motor (19) is stopped. If the driving motor (19) is stopped by a malfunction or the like, the bolts (25) are taken out and the handle (29) is attached to the casing (21) of the driving motor (19). By operating the handle (29), the output shaft (26) of the driving motor (19) is rotated together with the casing (21) and the operating portion (13) of the robot is moved.
    Type: Grant
    Filed: February 24, 1987
    Date of Patent: September 27, 1988
    Assignee: Fanuc Ltd.
    Inventors: Seiichiro Nakashima, Kenichi Toyoda, Shigemi Inagaki, Susumu Ito
  • Patent number: 4771222
    Abstract: A system for setting a tool coordinate system brings directions ( , , ) of respective basic axes of the tool coordinate system into coincidence with directions (X, Y, Z) of basic axes of a robot reference coordinate system. A tool center point (TCP) serves as an origin, and the system causes a robot to memorize metric values on each motion axis of the robot at the moment of coincidence as setting information for setting the tool coordinate system. The system uses this setting information as information for subsequent robot motion. With the present invention, the setting of tool coordinates, which was a troublesome operation in the prior art, can be performed easily and accurately through a simple method.
    Type: Grant
    Filed: March 4, 1986
    Date of Patent: September 13, 1988
    Assignee: Fanuc Ltd
    Inventors: Seiichiro Nakashima, Kenichi Toyoda, Shinsuke Sakakibara, Tatsuo Karakama
  • Patent number: 4754392
    Abstract: A uniform velocity control method for rotating a first movable element (3) at a uniform velocity in a rectilinear-to-rotational motion converting mechanism, in which a second movable element (2c) is moved along a linear shaft (2a) and the first movable element is rotated in dependence upon rectilinear movement of the second movable element. The uniform velocity control method includes (1) a second step of monitoring a position of the second movable element along the linear shaft; (2) a second step of calculating a traveling velocity of the second movable element, which traveling velocity is for rotating the first movable element at a uniform velocity, in dependence upon the position of the second movable element along the linear shaft; and (3) a third step of moving the second movable element at the calculated traveling velocity to make the rotational velocity of the first movable element uniform.
    Type: Grant
    Filed: October 17, 1985
    Date of Patent: June 28, 1988
    Assignee: Fanuc Ltd
    Inventors: Seiichiro Nakashima, Kenichi Toyoda, Shinsuke Sakakibara, Haruyuki Ishikawa
  • Patent number: 4750858
    Abstract: The two-axes wrist assembly of the chain-drive system for an industrial robot has a base wrist unit (12) disposed on one side of the robot arm (11). A hollow shaft (13) is fixed at one end thereof to the base wrist unit and is supported at the same end on one side wall of the free end of the robot arm so as to be rotatable about a first axis (.beta.) intersecting the longitudinal axis of the robot arm at right angles. The other end of the hollow shaft is positioned opposite to the inner surface of the other side wall of the free end of the robot arm. A fore wrist unit (16) is supported on the base wrist so as to be rotatable about a second axis (.alpha.) intersecting the first axis at right angles. A through shaft (17) is provided rotatably within and coaxially with the hollow shaft. The fore wrist unit is interlocked with the hollow shaft by a pair of bevel gears (18, 19). A first sprocket (22) is provided on the other end of the hollow shaft coaxially with the same within the free end of the robot arm.
    Type: Grant
    Filed: August 19, 1985
    Date of Patent: June 14, 1988
    Assignee: Fanuc Ltd.
    Inventors: Seiichiro Nakashima, Kenichi Toyoda, Akihiro Terada
  • Patent number: 4742207
    Abstract: A scaling method in an automatic welding machine equipped with a robot control unit for controlling a robot grasping a welding torch. The robot control unit obtains subsequent taught positions on the basis of taught position data indicative of primary welding points (P1, . . . Pn)) of a welding workpiece. The scaling method includes computing the direction of a normal vector (N) of the surface of the workpiece (WK) based on position data (Q1, Q2, Q3) indicative of any three points on the surface of the workpiece (WK), and obtaining, by correction, scaling points corresponding to the primary welding points on the basis of the direction of the normal vector N.
    Type: Grant
    Filed: October 15, 1985
    Date of Patent: May 3, 1988
    Assignee: Fanuc Ltd.
    Inventors: Seiichiro Nakashima, Kenichi Toyoda, Shinsuke Sakakibara, Tatsuo Karakama
  • Patent number: 4732526
    Abstract: An electric industrial robot comprises a movable robot assembly (10) forming therein an airtight chamber, and an electric drive unit for driving the robot assembly. The electric drive unit comprises a plurality of motors (36-41). The respective casings (36a-41a) of the motors are disposed within the airtight chamber (30) of the robot assembly. Electric cables (57-62) connected to the motors, respectively, are led through the airtight chamber into a fixed pipe (67) connected to the robot assembly. The interior of the motors and the interior of the airtight chamber are kept at a pressure higher than an atmospheric pressure outside the robot assembly.
    Type: Grant
    Filed: February 27, 1986
    Date of Patent: March 22, 1988
    Assignee: Fanuc Ltd.
    Inventors: Seiichiro Nakashima, Kenichi Toyoda, Akihiro Terada, Hitoshi Mizuno
  • Patent number: 4728247
    Abstract: The industrial robot comprises a lower arm (13) provided on a robot body (12) pivotably about a first horizontal axis (C1). The lower arm (13) has provided thereon a forearm (14) pivotably about a second horizontal axis (C2). The forearm (14) is rotationally driven by a drive such as a motor (16). The robot body (12) has provided thereon a rotating disk (17) interlocked with the pivoting of the forearm (14) about the second axis (C2) and rotatable about the first axis (C1). Also the rotating disk (17) has secured thereon a first wheel (18) and coaxial therewith, the diameter of which is smaller than that of the disk. There is further provided a tension spring assembly (19) having one end thereof connected to the robot body (12) and which has rotatably mounted at the other end thereof a second wheel (21) having nearly the same diameter as that of the first wheel. Also provided is a chain (22) having one end thereof connected to the rotating disk (17) and the other end engaged on the first wheel (18).
    Type: Grant
    Filed: February 20, 1986
    Date of Patent: March 1, 1988
    Assignee: Fanuc Ltd.
    Inventors: Seiichiro Nakashima, Kenichi Toyoda, Nobutoshi Torii, Hitoshi Mizuno
  • Patent number: 4712972
    Abstract: The cable supporting arrangement inside the base body of an industrial robot supports at least a cable (14) led through the interior of the base body (10) having a cylindrical inner surface (11) into the movable body (13) provided atop the base body pivotably about the axis (X) of the base body. An inner cylinder (15) is provided and fixed concentrically inside the base body. An annular space is defined between the inner cylinder and the base body. The resilient strip members (19, 20) have one end (21, 30) thereof fixed to the inner surface of the base body, and the other end (22, 31) fixed to the cylindrical outer face (16) of the inner cylinder. The strip member is curved at a selected portion such that the strip member sections before and after the curved portion are opposite to each other, and is forced under its own resilience onto the inner surface of the base body and the outer face of the inner cylinder when the movable body is in a selected pivoting position.
    Type: Grant
    Filed: February 12, 1986
    Date of Patent: December 15, 1987
    Assignee: Fanuc Ltd.
    Inventors: Seiichiro Nakashima, Kenichi Toyoda, Shigemi Inagaki, Kazuhisa Otsuka
  • Patent number: 4706003
    Abstract: An acceleration and deceleration system smoothly controls acceleration and deceleration of an electric motor for driving a movable member of a machine tool or a robot. The acceleration and deceleration system has a linear acceleration and deceleration circuit (3) for receiving interpolation data issued from a pulse distributor (5) and effecting a linear acceleration and deceleration computation on the received data, and an exponential acceleration and deceleration circuit (4) for receiving an output signal from the linear acceleration and deceleration circuit (3) and effecting an exponential acceleration and deceleration computation on the output signal, the circuits (3), (4) being connected in series with each other.
    Type: Grant
    Filed: March 4, 1986
    Date of Patent: November 10, 1987
    Assignee: Fanuc Ltd.
    Inventors: Seiichiro Nakashima, Kenichi Toyoda, Shinsuke Sakakibara
  • Patent number: 4706001
    Abstract: The robot assembly of an industrial robot comprises a stationary robot component (11) and a plurality of movable robot components (12, 13, 14). At least parts of the stationary robot component and the movable robot components have airtight chambers (15, 16, 17) communicating with each other and intended to be kept at a pressure higher than a predetermined level which is higher than an external atmospheric pressure. Robot driving motors (18 to 23) for driving the movable robot components are arranged within the airtight chambers. A driving motor controller (27) for driving and controlling the robot driving motors is connected to the robot driving motors by means of electric cables arranged within the airtight chambers. Pressure switches (25) supply signals to the driving motor controller to stop the robot driving motors, respectively, upon detection of the pressure in the airtight chambers when the pressure in the airtight chambers drops below the predetermined level.
    Type: Grant
    Filed: March 3, 1986
    Date of Patent: November 10, 1987
    Assignee: Fanuc Ltd.
    Inventors: Seiichiro Nakashima, Kenichi Toyoda, Nobutoshi Torii
  • Patent number: 4702665
    Abstract: A method and a device for determining the reference positions of an industrial robot, in which datum surfaces (1a, 1b) are formed in the fixed base (1) of an industrial robot having a plurality of degrees of freedom of motion. The reference positions with respect to directions corresponding to the degrees of freedom of motion of the wrist base (5) and the wrist front section (7) are determined relatively to the fixed base (1) by means of a jig body (11) located fixedly on the datum surfaces, and measuring instruments (14 to 19) attached to the fixed base (1) at predetermined reference positions thereon, and the determined reference positions are given and taught to the NC unit of the industrial robot.
    Type: Grant
    Filed: March 11, 1985
    Date of Patent: October 27, 1987
    Assignee: Fanuc Ltd.
    Inventors: Seiichiro Nakashima, Kenichi Toyoda, Shigemi Inagaki, Susumu Ito
  • Patent number: 4697979
    Abstract: A safety method in a robot system including at least a robot (1), peripheral equipment (2-5) serviced by the robot, a robot control unit (6) which causes the robot to execute predetermined services for the peripheral equipment, and a teach control panel (9). A door (11) is provided at the entrance to a robot operating zone, and the door is provided with a safety switch (12) for terminating automatic operation of the robot when the robot is in an automatic operating state. When the safety switch is actuated by opening the door, robot motion in the automatic operating state is decelerated and stopped. During the time that the safety switch is in the actuated state, the robot is placed in a playback operation state to enable control that is performed through the teach control panel.
    Type: Grant
    Filed: September 23, 1985
    Date of Patent: October 6, 1987
    Assignee: Fanuc Ltd.
    Inventors: Seiichiro Nakashima, Kenichi Toyoda, Shinsuke Sakakibara, Nobutoshi Torii
  • Patent number: 4688984
    Abstract: A wrist driving mechanism for an industrial robot has a first base wrist unit (13) supported on the free end of a robot arm (11) and capable of rotating about a first axis (.gamma.). The first base wrist unit (13) is mounted with a second base wrist unit (14) capable of rotating about a second axis (.beta.). The second base wrist unit (14) is mounted with a fore wrist unit (15) capable of rotating about a third axis (.alpha.). The robot arm (11) is provided along the longitudinal direction thereof with a first power transmitting unit (16) for transmitting a rotative power to the first base wrist unit (13). A second power transmitting unit (19) for transmitting a rotative power to the second base wrist unit (14) is formed along the robot arm (11) and the first base wrist unit (13). A motor (25) for driving the fore wrist unit (15) for rotation is mounted on the first base wrist unit (13). The driving shaft of the motor (25) is coupled with a first transmission shaft (26) extended along the second axis (.beta.
    Type: Grant
    Filed: August 13, 1985
    Date of Patent: August 25, 1987
    Assignee: Fanuc Ltd.
    Inventors: Seiichiro Nakashima, Kenichi Toyoda, Ryo Nihei, Hitoshi Mizuno
  • Patent number: 4652203
    Abstract: A hand changing device for industrial robots, having a changer body (10) designed to be attached to the robot arm (92) and a changer adapter (50) carrying a robot hand. The changer body (10) and the changer adapter (50) are separate components designed to be coupled detachably. The changer adapter (50) carrying the robot hand (74) is clamped by the changer body (10) by the engagement of a plurality of clamping balls retained within the changer body (10) and a ball engaging part formed in the changer adapter (50). The changer body (10) is provided with a fluid-driven piston (20) to move the clamping balls between two positions, namely, the clamping position and the idle position.
    Type: Grant
    Filed: November 21, 1984
    Date of Patent: March 24, 1987
    Assignee: Fanuc Ltd.
    Inventors: Seiichiro Nakashima, Nobutoshi Torii, Masayuki Hamura
  • Patent number: 4647753
    Abstract: A welding method in an automatic welding machine in which welding is performed by impressing a voltage across a wire, which is transported along a welding path by a robot, and a workpiece to produce an arc at the tip of the wire, and transporting the wire tip along the welding path by the robot while the wire is successively laid out in small increments. The method includes storing a number of welding conditions in memory which conditions comprise welding voltage, wire feed speed, preflow duration, crater processing duration and postflow duration selecting prescribed welding conditions by the program, jetting a gas toward the workpiece for the preflow duration; thereafter generating a selected welding voltage and laying out the wire at a selected wire feed speed to start welding.
    Type: Grant
    Filed: March 17, 1986
    Date of Patent: March 3, 1987
    Assignee: Fanuc Ltd.
    Inventors: Seiichiro Nakashima, Nobutoshi Torii
  • Patent number: 4637773
    Abstract: An industrial robot of the articulated arm type comprises a movable robot body (11) arranged on a base (10). An upper arm (13) having root and tip portions is rotatably pivoted to the robot body (11) at the root portion thereof. A forearm (16) having rear and front ends is rotatably pivoted to the tip portion of the upper arm (13) at a portion between the rear and front ends. Preferably, a wrist assembly (20) includes two moving elements (21,22) which are rotatable about different axes in relation to the front end of the forearm (16). The moving elements (21,22) of the wrist assembly (20) are rotated about the corresponding axes by means of wrist drive units (27, 28), respectively. The wrist drive units (27, 28) include first sprockets (29, 36), respectively, each rotatably arranged in the rear end of the forearm (16). Drive motors (31, 37), each rotating the first sprockets (33, 39), are arranged on the rear end of the forearm (16 ), respectively.
    Type: Grant
    Filed: December 31, 1984
    Date of Patent: January 20, 1987
    Assignee: Fanuc Ltd.
    Inventors: Seiichiro Nakashima, Kenichi Toyoda, Nobutoshi Torii, Ryo Nihei
  • Patent number: 4628778
    Abstract: A compact industrial robot for mounting on a lathe includes a traveling body transported along an axis (Z axis) parallel to the axis of a spindle provided on a lathe, a column provided on the traveling body for extending and retracting in a vertical direction (Y axis), a first rotating mechanism provided on the column for rotation about an axis (C axis) parallel to the spindle axis, and a second rotating mechanism provided on the rotary shaft of the first rotating mechanism and having a hand. The hand, having a double-hand configuration, is swung by the first rotating mechanism in a plane orthogonal to the spindle axis, and is swiveled by the second rotating mechanism about the longitudinal axis (.alpha. axis) of the second rotating mechanism.
    Type: Grant
    Filed: February 12, 1986
    Date of Patent: December 16, 1986
    Assignee: Fanuc Ltd
    Inventors: Seiichiro Nakashima, Shigemi Inagaki, Susumu Ito, Yasuo Naito, Kazuhisa Otsuka