Patents by Inventor Toyoji Hamashima

Toyoji Hamashima 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).

  • Patent number: 4677276
    Abstract: A method of controlling a welding robot substantially comprises (i) teaching three points in the neighborhood of a teaching line to define a weaving pattern, and (ii) controlling three basic axes of a welding robot so that a welding torch tip of the robot moves on one of the surfaces of a triangular pillar formed by shifting a triangular plane defined by the above three points along the teaching line, while executing a weaving operation which is determined by a weaving amplitude, a weaving frequency, and a welding velocity. After continuing the above movement until the torch tip arrives at the end point of the teaching line, the weaving operation along the next teaching line is effected utilizing a new triangular plane which is formed by rotating the former triangular plane on an axis defined by the former teaching line and the next teaching line.
    Type: Grant
    Filed: November 23, 1982
    Date of Patent: June 30, 1987
    Assignee: Yaskawa Electric Mfg. Co., Ltd.
    Inventors: Satoru Nio, Toyoji Hamashima, Shinobu Sato
  • Patent number: 4590577
    Abstract: A welding robot controlling method for controlling a welding robot having a welding torch which has a tip thereof directed toward a teaching direction and sensor which intermittently generates a locus correction signal for the tip of the welding torch, comprising, (1) giving the locus correction signal as a resultant vector of an arbitrary number of two-dimensional vectors on a plane which intersects a welding line direction, (2) correcting a locus by controlling the three basic axes of the robot in a direction of a resultant vector which is composed of a predetermined length vector of which direction is parallel to a line connecting two teaching points and which passes through a tip of the welding torch and the locus correction vector, when the locus correction signal is generated, (3) controlling the three basic axes of the robot such that the tip of welding torch moves on a line which is parallel to the line connecting the two teaching points, until a subsequent locus correction signal is again given after
    Type: Grant
    Filed: December 1, 1982
    Date of Patent: May 20, 1986
    Assignee: Yaskawa Electric Mfg. Co., Ltd.
    Inventors: Satoru Nio, Toyoji Hamashima, Shinobu Sato
  • Patent number: 4528632
    Abstract: In a control device for an industrial articulated robot, in the linear interpolation between two specified points, the distance between the two points is divided into segments, and the interpolation increments of the articulation drive axes for each interpolation internal, which correspond to the segments, are calculated for interpolation so that the interpolation increments are distributed uniformly with time.
    Type: Grant
    Filed: March 8, 1982
    Date of Patent: July 9, 1985
    Assignee: Kabushiki Kaisha Yaskawa Denki Seisakusho
    Inventors: Satoru Nio, Shinobu Sato, Shigemi Nobayashi, Toyoji Hamashima
  • Patent number: 4495588
    Abstract: In a robot locus control metod, the coordinates of first three representative points and first work points of an object to be handled by a robot are taught to the robot, when the relative position of the robot and the object is changed, the coordinates of second three representative points corresponding to the first three representative points are taught, and the coordinates of second work points are calculated from the relative position of the first three representative points and the first work points and the second three representative points, thereby to command the robot working locus.
    Type: Grant
    Filed: March 18, 1982
    Date of Patent: January 22, 1985
    Assignee: Kabushiki Kaisha Yaskawa Denki Seisakusho
    Inventors: Satoru Nio, Shinobu Sato, Hajime Fujii, Toyoji Hamashima