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公开(公告)号：US4050837A
公开(公告)日：1977-09-27
申请号：US703368
申请日：1976-07-08
CPC分类号： B23B39/205 , B23Q3/15534 , Y10T29/5155 , Y10T408/37
摘要： A drilling machine with an automatic tool changer (A.T.C.) comprising a driving motor for a spindle head and a tool magazine rotatably supported by the spindle head and provided with a plurality of tool arbors for holding tools, one of the tools being interchanged with another of the tools by intermittent rotation of the tool magazine, and wherein the tool arbors are supported for swinging movement between a protrusion position and a retraction position so as not to obstruct the machining operation.
摘要翻译： 一种具有自动换刀器（ATC）的钻孔机，包括用于主轴头的驱动电机和由主轴头可旋转地支撑的工具仓，并具有用于保持工具的多个工具轴承座，其中一个工具与另一个 所述工具通过所述工具仓的间歇旋转，并且其中所述工具支座被支撑以在突出位置和缩回位置之间摆动，以便不妨碍所述加工操作。
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公开(公告)号：US5006035A
公开(公告)日：1991-04-09
申请号：US346280
申请日：1989-03-31
CPC分类号： B25J9/046 , B25J19/0029 , B25J19/005 , B25J9/1035 , B25J9/12 , G05B19/23 , G05B2219/45083 , G05B2219/50078 , G05B2219/50084
摘要： 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.).
摘要翻译： 工业机器人具有机器人单元（10），其包括固定基座（12）和通过驱动马达（Mθ，MW，MU，Mα，Mβ，Mγ）可操作地控制的可移动机器人部件（16,18,20） 提供绝对位置检测编码器（EC theta，ECW，ECU，EC alpha，EC beta，EC gamma）。 安装在固定基座（12）上的可移动机器人部件中的旋转体（16）在其安装件上安装有用于可操作地控制其的驱动电动机（Mθ），并且安装并保持电池 46，用于向驱动电动机（MW，MU，Mα，Mβ，Mγ）的编码器提供备用电压，用于可操作地控制可移动机器人部件（18,20）。 电池通过电缆（48,49）电连接到编码器（ECθ，ECW，ECU，EC alpha，EC beta，EC gamma）。
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公开(公告)号：US4990729A
公开(公告)日：1991-02-05
申请号：US265863
申请日：1988-10-03
申请人： Kenichi Toyoda , Nobutoshi Torii , Susumu Ito , Akira Tanaka
发明人： Kenichi Toyoda , Nobutoshi Torii , Susumu Ito , Akira Tanaka
IPC分类号： G05B19/42 , B25J9/22 , B25J13/02 , B25J13/06 , G05B19/408 , G05B19/409 , H01H3/12 , H01H9/02
CPC分类号： B25J13/02 , H01H2300/026 , H01H3/122 , H01H9/0214
摘要： Disclosed is a console panel for a robot, which is provided with a dead-man switch always firmly actuated and easy to hold by the hand and does not cause substantial fatigue of the hand. In this console panel, a pressing plate 9 of a dead-man switch having an elliptical recess 91 on the back surface of the console panel at a position where the tips of the respective fingers simultaneously touch when the console panel is held from the side portion thereof, and this console panel is used for various electrically operated industrial robots.
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34.发明授权Structure of first arm of industrial robot having articulated horizontal arms 失效具有铰接水平臂的工业机器人的第一臂的结构
公开(公告)号：US4907467A
公开(公告)日：1990-03-13
申请号：US246825
申请日：1988-08-12
申请人： Kenichi Toyoda , Nobutoshi Toril , Ryo Nihei , Akihiro Terada
发明人： Kenichi Toyoda , Nobutoshi Toril , Ryo Nihei , Akihiro Terada
CPC分类号： B25J9/042 , B25J19/0004 , Y10T74/20317
摘要： Provided is a compact first arm (12) of an industrial robot having articulated horizontal arms, which first arm has a direct drive motor (19), an electromagnetic brake (25), and a rotary encoder (34, 36) disposed close to each other concentrically between the first arm (12) and a base post (10) supporting the first arm (12), and has another direct drive motor (39), another electromagnetic brake (45), and another rotary encoder (54, 56) disposed close to each other concentrically between the first arm (12) and a second arm (14) rotatably supported by the first arm (12).
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公开(公告)号：US4903539A
公开(公告)日：1990-02-27
申请号：US275180
申请日：1988-09-27
申请人： Kenichi Toyoda , Nobutoshi Torii , Ryo Nihei , Akihiro Terada , Jun Kikuchi
发明人： Kenichi Toyoda , Nobutoshi Torii , Ryo Nihei , Akihiro Terada , Jun Kikuchi
CPC分类号： B25J19/0004 , B25J9/042 , B25J9/126 , Y10T74/20305
摘要： A direct-drive-type multi-articulated robot comprising: a stationary support shaft (14), a cylindrical rotary casing (16) surrounding the stationary support shaft (14), a first robot arm (18) joined to the upper end (16a) of the rotary casing (16), a second robot arm (20) pivotally joined to the extremity of the first robot arm (18), a direct-drive motor (M.theta.) interposed between the lower end of the rotary casing (16) and the lower end of the stationary support shaft (14) to drive the rotary casing (16) and the first robot arm (18) together for turning motion, a brake gear (24) interposed between the upper end (14a) of the stationary support shaft (14) and the first robot arm (18) to arrest the turning motion of the first robot arm (18), and an encoder (26) for detecting turning motion, interposed between the upper end (14a) of the stationary support shaft (14) and the first robot arm (18).
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公开(公告)号：US4857700A
公开(公告)日：1989-08-15
申请号：US243564
申请日：1988-08-09
CPC分类号： B23K9/127
摘要： The arc current is divided into two areas each corresponding to a 1/4 period of weaving, the two areas are compared with each other, and an area corresponding to a predetermined time period at the end portion of the larger area is substrated from the larger area and another area comparison is performed. The movement of the welding torch is compensated in accordance with the predetermined correction function, so that, even when an actual weld line of base metals to be welded deviates from an instructed weld line, the welding torch is correctly moved along the weld line of the base materials and arc welding is performed.
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公开(公告)号：US4750858A
公开(公告)日：1988-06-14
申请号：US768537
申请日：1985-08-19
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。
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公开(公告)号：US4728247A
公开(公告)日：1988-03-01
申请号：US834274
申请日：1986-02-20
CPC分类号： B25J19/0016 , B25J9/046 , Y10T16/53834
摘要： 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). This chain (22) is engaged on the outer circumference of the second wheel (21) while pulling the tension spring assembly (19). The one end of the chain (22) is so disposed on the rotating disk (17) that when the upper end of the forearm (14) is directed normally downward, the chain portion (22b) between the rotating disk (17) and the second wheel (21) is substantially parallel to the chain portion (22c) between the first and second wheels (18) and (21).
摘要翻译： PCT No.PCT / JP85 / 00366 Sec。 一九八六年二月二十日 102（e）日期1986年2月20日PCT提交1985年6月28日PCT公布。 出版物WO86 / 日期1986年1月16日。工业机器人包括设置在机器人主体（12）上的可绕第一水平轴线（C1）枢转的下臂（13）。 下臂（13）在其上设置有绕第二水平轴线（C2）可枢转的前臂（14）。 前臂（14）由诸如马达（16）的驱动器旋转驱动。 机器人主体（12）上设置有旋转盘（17），该旋转盘与前臂（14）围绕第二轴线（C2）枢转并且可围绕第一轴线（C1）旋转。 此外，旋转盘（17）固定有第一轮（18）并与其同轴，其直径小于盘的直径。 另外还设置有一个拉伸弹簧组件（19），其一端连接到机器人本体（12），并且其另一端可旋转地安装有与第一轮几乎相同直径的第二轮（21） 。 还设置有一个链条（22），其一端连接到旋转盘（17），另一端接合在第一轮（18）上。 该链条（22）在拉动拉伸弹簧组件（19）的同时在第二轮（21）的外圆周上接合。 链条（22）的一端设置在旋转盘（17）上，当前臂（14）的上端正常向下定位时，旋转盘（17）和 第二轮（21）基本上平行于第一和第二轮（18）和（21）之间的链条部分（22c）。
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公开(公告)号：US4355446A
公开(公告)日：1982-10-26
申请号：US81794
申请日：1979-10-04
CPC分类号： B23B39/205 , B23Q3/15534 , G05B19/182 , G05B19/232 , G05B2219/43179 , G05B2219/50171 , G05B2219/50249 , Y10T29/5107 , Y10T408/08 , Y10T408/37 , Y10T409/300896 , Y10T483/1771
摘要： A vertical-type machining center having a spindle carrier which travels in the vertical direction and a turret capable of both rotation and upward and downward movement provided on the spindle carrier, wherein tools are automatically changed over through rotation of the turret caused by relative movement between the turret and the spindle carrier when the upward movement of the turret is checked by a restraining member. A Z-axis position pulse generator is provided on a spindle mechanism drive member, such as the vertical drive motor or a screw shaft, and is adapted to generate a pulse for each revolution of the drive member. The pulses are counted by a counter which delivers a counted value for use in computing the vertical position of the spindle mechanism. The arrangement is such that the rotational speed of the vertical drive motor is controlled so as to move the spindle mechanism at an optimum speed suitable for the vertical position thereof.
摘要翻译： 一种具有在垂直方向上行进的主轴托架的垂直型加工中心和设置在主轴托架上的能够同时旋转和向上和向下运动的转台，其中工具通过由于相对运动 通过限制构件检查转台的向上运动时的转塔和主轴托架。 Z轴位置脉冲发生器设置在诸如垂直驱动电机或螺杆轴的主轴机构驱动构件上，并且适于为驱动构件的每转产生脉冲。 脉冲由计数器计数，该计数器输出用于计算主轴机构的垂直位置的计数值。 该配置使得垂直驱动马达的旋转速度被控制成使主轴机构以适合其垂直位置的最佳速度移动。
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