Industrial robot provided with means for setting reference positions for
respective axes
    21.
    发明授权
    Industrial robot provided with means for setting reference positions for respective axes 失效
    工业机器人设有用于设置各个轴的参考位置的装置

    公开(公告)号:US5570609A

    公开(公告)日:1996-11-05

    申请号:US295790

    申请日:1995-03-08

    摘要: An articulated industrial robot provided with a reference position setting means which includes two positioning contact parts 22 and 24, and the reference position setting means is provided for each joint 16 of a robot unit 10 in such a manner that the positioning contact parts 22 and 24 are brought into contact with each other so as to perform determination of a geometrical reference position for each joint drive source after the replacement of a defective drive motor or a defective reduction gear of the joint drive source. The determined geometrical reference position regarding each of the joint axes are stored in the robot controller to thereby achieve a single-axis mastering,and thus the reference position setting means simplifies single-axis mastering with respect to each joint axis of the robot unit without being subject to any spatial restrictions.

    摘要翻译: PCT No.PCT / JP94 / 00040 Sec。 371日期:1995年3月8日 102(e)1995年3月8日PCT PCT 1994年1月13日PCT公布。 第WO94 / 15761号公报 日期1994年7月21日具有基准位置设定装置的关节式工业机器人包括两个定位接触部分22和24,并且以机器人单元10的每个接头16设置基准位置设定装置, 接触部22和24彼此接触,以便在更换有缺陷的驱动马达或关节驱动源的有缺陷的减速齿轮之后,确定每个关节驱动源的几何参考位置。 关于每个关节轴的确定的几何参考位置被存储在机器人控制器中,从而实现单轴母盘制作,因此基准位置设置装置简化了相对于机器人单元的每个关节轴线的单轴母盘制作,而不是 受到任何空间限制。

    Small-locus machining apparatus
    22.
    发明授权
    Small-locus machining apparatus 失效
    小轨迹加工设备

    公开(公告)号:US5549018A

    公开(公告)日:1996-08-27

    申请号:US182068

    申请日:1994-01-13

    IPC分类号: B25J9/06 B25J9/10 G05G15/00

    CPC分类号: B25J9/107 Y10T74/20317

    摘要: A small-locus machining apparatus is attached to the distal end of a wrist of a robot but operable independently of a robot body. First and second drives of the apparatus are mounted on a base in such a manner that respective output spindles are parallel with each other. First and second rotational arms are coupled to the output spindles through decelerators, which are directly connected to the drives, allowing rotation in a plane orthogonal to the output spindles. These rotational arms and links interconnecting the rotational arms constitute a link mechanism having, for example, five joints. A tool is attached to this link mechanism, and the rotational amounts of the first and second arms are detected to determine the coordinate position of the tool.

    摘要翻译: PCT No.PCT / JP93 / 00584 Sec。 371日期1994年1月13日 102(e)日期1994年1月13日PCT提交1993年4月3日PCT公布。 公开号WO93 / 24285 日期:1993年12月9日一种小型轨迹加工装置安装在机器人手腕的远端,但可独立于机器人主体进行操作。 装置的第一和第二驱动装置以相应的输出主轴彼此平行的方式安装在基座上。 第一和第二旋转臂通过减速器联接到输出主轴,减速器直接连接到驱动器,允许在与输出主轴正交的平面中旋转。 互连旋转臂的这些旋转臂和链节构成具有例如五个接头的连杆机构。 工具附接到该连杆机构,并且检测第一和第二臂的旋转量以确定工具的坐标位置。

    Height-sensing device for a laser robot
    23.
    发明授权
    Height-sensing device for a laser robot 失效
    激光机器人的高度感测装置

    公开(公告)号:US5489758A

    公开(公告)日:1996-02-06

    申请号:US295794

    申请日:1994-09-14

    摘要: A laser robot having a height sensing device (13) arranged at a position very close to a laser-beam projecting machining head (9) so that the axis of the height-sensing device (13) is parallel to the longitudinal axis of the machining head (9), the three-dimensional distance data representing the positional relationship between the laser projecting nozzle (9a) of the machining head (9) and the measuring end (13a) of the height-sensing device (13) being stored in advance in the robot controller (10), the longitudinal distance between the height-sensing device (13) and a starting point of laser-beam machining being automatically measured from directly above the starting point, and a longitudinal distance between the laser beam projecting nozzle (9a) of the machining head (9) and the machining starting point being corrected on the basis of the three-dimensional distance data and the longitudinal distance measured by the height sensing device (13) to thereby accurately locate the machining head at a position corresponding to the starting point for the laser machining operation.

    摘要翻译: PCT No.PCT / JP94 / 00049 Sec。 371日期:1994年9月14日 102(e)1994年9月14日PCT 1994年1月14日PCT PCT。 第WO94 / 15748号PCT公开 日期:1994年7月21日。一种激光机器人,其具有布置在非常接近激光束投影加工头(9)的位置处的高度感测装置(13),使得高度感测装置(13)的轴线平行 相对于加工头(9)的纵轴,表示加工头(9)的激光投射喷嘴(9a)与高度感测装置的测量端(13a)之间的位置关系的三维距离数据 (13)被预先存储在机器人控制器(10)中,高度感测装置(13)与激光束加工的起始点之间的纵向距离从起始点的正上方自动测量,并且纵向距离 基于三维距离数据和由高度感测装置(13)测量的纵向距离来校正加工头部(9)的激光束突出喷嘴(9a)和加工起始点之间的精确度 在与激光加工操作的起始点相对应的位置处加工加工头。

    Gear mechanism improved to remove backlash
    24.
    发明授权
    Gear mechanism improved to remove backlash 失效
    齿轮机构改善以消除间隙

    公开(公告)号:US5588328A

    公开(公告)日:1996-12-31

    申请号:US499504

    申请日:1995-07-07

    摘要: A gear mechanism comprises a housing, an input gear of helical gear supported by the housing for rotation in first and second rotational directions and adapted to be connected to a rotational power source, an output gear of a helical gear supported by the housing for rotation, a first gear train for transmitting the rotational power from the input gear to the output gear when the input gear rotates in the first rotational direction, a second gear train for transmitting the rotational power from the input gear to the output gear when the input gear rotates in the second rotational direction.

    摘要翻译: 齿轮机构包括壳体,由所述壳体支撑的斜齿轮的输入齿轮,用于在第一和第二旋转方向上旋转并且适于连接到旋转动力源,由所述壳体支撑以旋转的斜齿轮的输出齿轮, 当所述输入齿轮沿所述第一旋转方向旋转时,将所述旋转动力从所述输入齿轮传递到所述输出齿轮的第一齿轮系,当所述输入齿轮旋转时将所述旋转动力从所述输入齿轮传递到所述输出齿轮的第二齿轮系 在第二旋转方向上。

    Laser robot with approach time from origin to a starting position
minimized
    25.
    发明授权
    Laser robot with approach time from origin to a starting position minimized 失效
    激光机器人从原点到起始位置的接近时间最小化

    公开(公告)号:US5466909A

    公开(公告)日:1995-11-14

    申请号:US284431

    申请日:1994-08-10

    摘要: In carrying out precision laser-beam machining by using a laser-beam machining head driven by an additional motion-axis means 8 of a laser robot unit 1, a CPU accommodated in a robot controller 10 calculates time A+B necessary for a laser beam projecting nozzle to travel a distance between a position corresponding to a position of origin OR of a machining locus and a position corresponding to a starting point E on the machining locus at a quick-feed speed, and time C necessary for the laser beam projecting nozzle to travel the same distance in a laser-beam machining mode not including quick-feed operation, compares the times A+B and C, and provides feed motors MA and MB accommodated in the additional motion-axis means 8 with an automatic quick-feed command, when the time A+B is shorter than the time C to thereby enhance an efficiency of the laser machining operation.

    摘要翻译: PCT No.PCT / JP93 / 01798 Sec。 371日期:1994年8月10日 102(e)日期1994年8月10日PCT提交1993年12月10日PCT公布。 第WO94 / 13425号公报 日期:1994年6月23日。在通过使用由激光机器人单元1的附加运动轴装置8驱动的激光束加工头进行精密激光束加工的情况下,容纳在机器人控制器10中的CPU计算时间A 激光束投影喷嘴在加速轨迹上与加工轨迹相对应的位置相对应的位置与加工轨迹上的起始点E之间的距离以快速进给速度运行所需的+ B,时间C 激光束投影喷嘴在不包括快速进给操作的激光束加工模式中行进相同距离所必需的,比较时间A + B和C,并且提供容纳在附加运动轴装置中的进给马达MA和MB 如图8所示,当A + B时​​间比时间C短时,自动快进指令,从而提高激光加工操作的效率。

    Robot control apparatus for monitoring load on robot
    26.
    发明授权
    Robot control apparatus for monitoring load on robot 失效
    用于监控机器人负载的机器人控制装置

    公开(公告)号:US5587635A

    公开(公告)日:1996-12-24

    申请号:US446713

    申请日:1995-05-30

    摘要: A robot control apparatus in which a load exerted on a driving system of a robot is detected to make it easy to judge a time for preventive maintenance or overhaul, and life of the robot driving system. A driving torque Ta outputted to the driving system is found by subtracting a torque which is spent in a motor itself for accelerating or decelerating a rotor from an output torque T of a motor M for driving each axis of the robot. Further, an average torque of the driving torque Ta and an average speed of an output shaft of the motor M are found and displayed. An average torque of an output torque of a speed reducer and an average speed of an output shaft of the speed reducer are obtained, and, based on these values, the life of the speed reducer is determined. Then a ratio of the determined life to a rated life is obtained and displayed. An actual load exerted on the driving system is monitored, so that the time for the preventive maintenance or overhaul, and life of the driving system is easily judged. Also, the life of the speed reducer is easily predicted.

    摘要翻译: PCT No.PCT / JP94 / 01582 Sec。 371日期:1995年5月30日 102(e)日期1995年5月30日PCT 1994年9月27日PCT公布。 公开号WO95 / 09479 日期1995年4月6日一种机器人控制装置,其中检测到施加在机器人的驱动系统上的负载,以便容易地判断用于预防性维护或大修的时间以及机器人驱动系统的寿命。 通过从用于驱动机器人的每个轴的电动机M的输出转矩T减去用于电动机本身用于加速或减速转子的转矩,找到驱动系统输出的驱动转矩Ta。 此外,找到并显示驱动转矩Ta的平均转矩和电动机M的输出轴的平均速度。 获得减速器的输出转矩的平均转矩和减速器的输出轴的平均转速,并根据这些值确定减速机的寿命。 然后获得并显示确定的寿命与额定寿命的比率。 对驱动系统施加的实际负载进行监控,以便容易地判断驾驶系统的预防性维护或大修时间和使用寿命。 此外,减速器的寿命也容易预测。

    Positioning device for an industrial robot
    27.
    发明授权
    Positioning device for an industrial robot 失效
    工业机器人定位装置

    公开(公告)号:US5639204A

    公开(公告)日:1997-06-17

    申请号:US362499

    申请日:1995-01-11

    摘要: A positioning device for positioning a robot unit (30) of a multi-articulated type industrial robot at an origin reference position having a polygonal male jig (52) attached to an extremity of the robot unit (30), and a polygonal female jig (58) suitable for being mated with the polygonal male jig (52), and the flat surfaces of the polygonal male jig (52) are brought into contact with the flat surfaces of the polygonal female jig (58) to position the robot unit (30) at the origin reference position. When mating the male jig (52) and the female jig (58) with each other in close surface-to-surface contact, the male jig (52) is pressed by pressing means (64) to bring the predetermined flat surfaces of the polygonal male jig (52) into close contact with the predetermined flat surfaces of the female jig (58).

    摘要翻译: PCT No.PCT / JP93 / 00769 Sec。 371 1995年1月11日第 102(e)日期1995年1月11日PCT 1994年5月12日PCT PCT。 出版物WO94 / 26475 日期1994年11月24日一种用于将多关节型工业机器人的机器人单元(30)定位在具有附接到机器人单元(30)的末端的多边形阳夹具(52)的原始基准位置的定位装置,以及 多边形阴夹具(58)适于与多边形阳夹具(52)配合,并且多边形阳夹具(52)的平坦表面与多边形阴夹具(58)的平坦表面接触以定位 机器人单元(30)处于原始参考位置。 当雄性夹具(52)和阴型夹具(58)以紧密的表面接触方式彼此配合时,阳型夹具(52)被按压装置(64)按压以使多边形的预定平坦表面 阳夹具(52)与阴夹具(58)的预定平坦表面紧密接触。

    Beam axis adjusting method for a laser robot
    28.
    发明授权
    Beam axis adjusting method for a laser robot 失效
    激光机器人的光轴调整方法

    公开(公告)号:US5484982A

    公开(公告)日:1996-01-16

    申请号:US119162

    申请日:1993-09-24

    摘要: A beam axis adjusting method of a laser robot including the steps of splitting a visible laser beam traveling along a laser beam pathway within the robot unit of the laser robot into a first laser beam traveling further along the laser beam pathway and a second laser beam traveling outside the robot unit, receiving the second laser beam by a target plate made of a semitransparent plate and mounted on the robot unit to form a light spot Sp on the front surface of the target plate, adjusting a relevant reflecting mirror unit disposed in the robot unit for the adjustment of the beam axis of the laser robot, and visually observing the light spot Sp from behind the back surface of the target plate while the relevant joint of the robot unit is in motion.

    摘要翻译: PCT No.PCT / JP93 / 00097 Sec。 371日期:1993年9月23日 102(e)1993年9月23日PCT 1993年1月27日PCT公布。 公开号WO93 / 14899 日期:1993年8月5日。一种激光机器人的光束轴调整方法,包括以下步骤:将沿着激光机器人的机器人单元内的激光束路径行进的可见激光束分割成沿着激光束进一步行进的第一激光束 路径和第二激光束在机器人单元外行进,由由半透明板制成的目标板接收第二激光束并安装在机器人单元上,以在目标板的前表面上形成光点Sp,调整相关的 设置在机器人单元中的反射镜单元,用于调整激光机器人的光束轴线,并且在机器人单元的相关关节运动时从目标板的后表面后方目视观察光点Sp。

    Explosion-proof industrial robot
    29.
    发明授权
    Explosion-proof industrial robot 失效
    防爆工业机器人

    公开(公告)号:US4732526A

    公开(公告)日:1988-03-22

    申请号:US848378

    申请日:1986-02-27

    摘要: 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.

    摘要翻译: PCT No.PCT / JP85 / 00365 Sec。 一九六六年四月二十九日 102(e)日期1986年4月29日PCT Filed 1985年6月28日PCT公布。 公开号WO86 / 00256 日本1986年1月16日。电动工业机器人包括在其中形成气密室的可移动机器人组件(10)和用于驱动机器人组件的电驱动单元。 电驱动单元包括多个电动机(36-41)。 电动机的各个壳体(36a-41a)设置在机器人组件的气密室(30)内。 分别连接到电动机的电缆(57-62)通过气密室被引导到连接到机器人组件的固定管(67)中。 电动机的内部和气密室的内部保持在机器人组件外部的压力高于大气压力。

    Wrist assembly for an industrial robot
    30.
    发明授权
    Wrist assembly for an industrial robot 失效
    工业机器人手腕组件

    公开(公告)号:US4750858A

    公开(公告)日:1988-06-14

    申请号:US768537

    申请日:1985-08-19

    IPC分类号: B25J17/02 B66C1/00

    CPC分类号: B25J17/0258

    摘要: 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. A second sprocket (23) is disposed provided on and coaxially with the through shaft adjacent to the first sprocket within the free end of the robot arm. The first and second sprockets engage first an second chains (26, 27) for power transmission, respectively.

    摘要翻译: PCT No.PCT / JP84 / 00623 Sec。 371日期1985年8月19日 102(e)日期1985年8月19日PCT提交1984年12月27日PCT公布。 公开号WO85 / 02808 日期:1985年7月4日。用于工业机器人的链驱动系统的双轴腕部组件具有设置在机器人手臂(11)一侧的基座腕部(12)。 空心轴(13)的一端固定在基座腕部上,并在同一端支撑在机器人手臂的自由端的一个侧壁上,以便围绕与第一轴 机器人臂的纵向轴线成直角。 空心轴的另一端与机器人臂的自由端的另一侧壁的内表面相对定位。 前腕部(16)被支撑在基部手腕上,以能够以与第一轴成直角相交的第二轴线(α)旋转。 通孔(17)可旋转地设置在空心轴内并且与中空轴同轴。 前腕单元通过一对锥齿轮(18,19)与中空轴互锁。 第一链轮(22)在与机器人臂的自由端内同轴的空心轴的另一端上设置。 第二链轮(23)设置在与机器人臂的自由端内的与第一链轮相邻的贯穿轴同轴的同轴上。 第一和第二链轮分别与用于动力传递的第二链条(26,27)接合。