公开(公告)号：US5111019A

公开(公告)日：1992-05-05

申请号：US613781

申请日：1990-11-19

申请人： Nobutoshi Torii ,  Yasuo Naito ,  Kunio Ueda

发明人： Nobutoshi Torii ,  Yasuo Naito ,  Kunio Ueda

IPC分类号： B25J15/00 ,  B23K11/11 ,  B23K11/31

CPC分类号： B23K11/312 ,  B23K11/314

摘要： A variable pitch spot welding gun assembly for a welding robot has a fixed base (16) directly attached to the robot wrist (12) of an industrial welding robot, welding transformers (24, 26) fixed to the fixed base (16), a fixed spot welding gun (22) provided apart from the welding transformers (24, 26), a movable spot welding gun (20) provided apart from the welding transfomers (24, 26) and capable of being moved relative to the fixed spot welding gun (22), to adjust a pitch between the fixed spot welding gun (22) and the movable spot welding gun (20), and secondary conductors (44a to 44e) connecting the fixed and movable spot welding guns (22, 90) respectively to the welding transformers (24, 26).

摘要翻译： PCT No.PCT / JP90 / 00366 Sec。 371日期1990年11月19日 102（e）1990年11月19日PCT PCT 1990年3月19日PCT公布。 出版物WO90 / 11160 日期：1990年10月4日。焊接机器人的可变节点点焊枪组件具有直接附接到工业焊接机器人的机器人手腕（12）上的固定基座（16），固定在工件焊接机器人上的焊接变压器（24,26） 固定基座（16），与焊接变压器（24,26）分开设置的固定点焊枪（22），与焊接变形体（24,26）分开设置并能够移动的可动点焊枪（20） 相对于固定点焊枪（22），调节固定点焊枪（22）和可动点焊枪（20）之间的间距，以及连接固定点焊枪和可移动点焊枪的辅助导体（44a至44e） （22,90）分别连接到焊接变压器（24,26）。

公开(公告)号：US5107716A

公开(公告)日：1992-04-28

申请号：US474040

申请日：1990-04-11

申请人： Nobutoshi Torii ,  Susumu Ito ,  Masayuki Hamura ,  Akira Tanaka

发明人： Nobutoshi Torii ,  Susumu Ito ,  Masayuki Hamura ,  Akira Tanaka

IPC分类号： B25J9/02 ,  B25J9/04 ,  B25J9/10 ,  B25J18/02

CPC分类号： B25J9/042 ,  B25J18/02 ,  B25J9/02 ,  B25J9/102 ,  Y10T403/32155 ,  Y10T403/7015 ,  Y10T74/18648 ,  Y10T74/20317

摘要： In a horizontal revolute robot, an upper end of a ball screw (21) of a direct-acting actuator (100) is rotatably supported by a top plate of a column (10), and the lower end thereof is coupled to a drive unit (40) disposed on a base plate of the column. A first link (220) is pivotally coupled to a coupling member (210) of a manipulator (200) fixed to a slider (30) of the actuator, and a second link (240) is pivotally coupled to the first link. The ball screw is rotated by the drive unit to move the manipulator along the ball screw in unison with the slider, and servomotors (230, 250) of the manipulator are driven to turn both the links within a horizontal plane, so that a wrist portion of the robot is positioned in a robot installation space for robot operation. Since no base is required to turnably support the actuator, the robot is small-sized, light in weight, and low-priced. Since the lower movement limit position of the manipulator is low, the range of action of the robot is wide.

摘要翻译： PCT No.PCT / JP89 / 00820 Sec。 371日期1990年04月11日 102（e）1990年4月11日PCT PCT 1989年8月11日PCT。 WO90 / 01403 PCT出版物 日本1990年2月22日。在水平旋转机器人中，直动式致动器（100）的滚珠丝杠（21）的上端由柱（10）的顶板可旋转地支撑，下端 其连接到设置在所述塔的基板上的驱动单元（40）。 第一连杆（220）枢转地联接到固定到致动器的滑块（30）的操纵器（200）的联接构件（210），并且第二连杆（240）枢转地联接到第一连杆。 滚珠丝杠通过驱动单元旋转，以使滑块与滚珠丝杠一致地移动操纵器，并且驱动操纵器的伺服马达（230,250），使两个连杆在水平面内转动，使得腕部 的机器人位于机器人操作的机器人安装空间中。 由于不需要底座可转动地支撑执行机构，机器人体积小巧，重量轻，价格低廉。 由于机械手的下移动极限位置较低，所以机器人的动作范围很宽。

公开(公告)号：US5093552A

公开(公告)日：1992-03-03

申请号：US635492

申请日：1991-01-02

申请人： Nobutoshi Torii ,  Susumu Ito ,  Akihiro Terada

发明人： Nobutoshi Torii ,  Susumu Ito ,  Akihiro Terada

IPC分类号： B25J19/06 ,  B23K26/08 ,  B23K26/10 ,  B23K26/42 ,  G05B19/4063 ,  H01S3/104

CPC分类号： B23K26/0884 ,  B23K26/702 ,  G05B19/4063 ,  H01S3/104

摘要： A laser-beam mis-emission preventing method capable of improving safety of a laser robot. Upon supply of power to the laser robot, a processor of a robot control unit (10) compares a predetermined value with an angle (.delta.) formed between a horizontal plane (XY plane) and an axis (8a) of a laser nozzle (8) and computed based on joint angles (W, U, r, .beta.) (S1-S3). When the laser nozzle angle (.delta.) is less than the predetermined value, an interlock signal delivered to the laser oscillator (30) is set to turn off the power of the laser oscillator, thereby bringing the laser oscillator into a condition incapable of laser oscillation (S5). This prevents mis-emission of the laser beam which occurs due to deficiency of a robot operating program, erroneous manual operation, etc., and which can damage the human body or peripheral devices.

公开(公告)号：US5085619A

公开(公告)日：1992-02-04

申请号：US602226

申请日：1990-10-30

申请人： Nobutoshi Torii ,  Susumu Ito ,  Akihiro Terada

发明人： Nobutoshi Torii ,  Susumu Ito ,  Akihiro Terada

IPC分类号： B25J17/00 ,  B25J9/04 ,  B25J9/10 ,  B25J17/02 ,  F16H57/12

CPC分类号： B25J9/1045 ,  B25J17/0241 ,  B25J9/103 ,  F16H57/12 ,  F16H2057/121 ,  Y10T74/19623

摘要： A joint structure for an industrial robot is provided with a gear transmission mechanism to drive movable robot element, such as a swivel body (14), of an industrial robot. The joint structure comprises a driven gear (26) connected to the movable robot element, two drive pinions (28, 30) in mesh with the driven gear (26), respectively, at different positions on the driven gear (26), a belt transmission mechanism (28a, 30a, 32) operatively connecting the two drive pinions (28, 20), a tensioner (36) for adjusting the tension in the power transmission belt (32) of the belt transmission mechanism (28a, 30a, 32), and a rotative drive source (34) connected to one (28) of the two drive pinions (28, 30). The position of the tensioner (36) is adjusted to adjust the tension in the power transmission belt (32), to thereby eliminate backlash between the respective meshing teeth of the two drive pinions (28, 30) and the driven gear (26), by pressing the respective teeth of the drive pinions (28, 30) against the corresponding teeth of the driven gear (26), respectively, in opposite directions.

公开(公告)号：US5006035A

公开(公告)日：1991-04-09

申请号：US346280

申请日：1989-03-31

申请人： Seiichiro Nakashima ,  Kenichi Toyoda ,  Nobutoshi Torii

发明人： Seiichiro Nakashima ,  Kenichi Toyoda ,  Nobutoshi Torii

IPC分类号： B25J9/04 ,  B25J9/06 ,  B25J9/10 ,  B25J9/12 ,  B25J19/00 ,  G05B19/23

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）。

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.

公开(公告)号：US4857700A

公开(公告)日：1989-08-15

申请号：US243564

申请日：1988-08-09

申请人： Kenichi Toyoda ,  Tohru Mizuno ,  Nobutoshi Torii ,  Yuichi Kanda ,  Shigehiro Morikawa

发明人： Kenichi Toyoda ,  Tohru Mizuno ,  Nobutoshi Torii ,  Yuichi Kanda ,  Shigehiro Morikawa

IPC分类号： B23K9/12 ,  B23K9/127

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.

公开(公告)号：US4728247A

公开(公告)日：1988-03-01

申请号：US834274

申请日：1986-02-20

申请人： Seiichiro Nakashima ,  Kenichi Toyoda ,  Nobutoshi Torii ,  Hitoshi Mizuno

发明人： Seiichiro Nakashima ,  Kenichi Toyoda ,  Nobutoshi Torii ,  Hitoshi Mizuno

IPC分类号： B25J9/04 ,  B25J19/00 ,  B66C23/72

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）。

公开(公告)号：US4492301A

公开(公告)日：1985-01-08

申请号：US390560

申请日：1982-06-21

申请人： Hajimu Inaba ,  Nobutoshi Torii

发明人： Hajimu Inaba ,  Nobutoshi Torii

IPC分类号： B23Q7/03 ,  B23Q7/04 ,  B23Q7/14 ,  B25J9/00 ,  B65G37/00

CPC分类号： B23Q7/04 ,  B23Q7/1452

摘要： A workpiece feeder for successively feeding workpieces to a predetermined workpiece gripping station of the robot's hand. The workpiece feeder includes a conveyor having a plurality of interspaced pallets traveling on a table. Each pallet comprises a lower plate having a central opening and an upper plate which is detachably mounted on the lower plate. The workpiece feeder is provided with a lifting means having a vertically movable platform which ascends through the central opening in the lower plate to lift the upper plate away from the lower plate, thereby elevating the workpiece on the pallet up to the level of the gripping position of the robot's hand. The workpiece feeder further comprises a stop mechanism for limiting the topmost position of the platform. The workpiece feeder according to the invention is particularly suitable for use with an industrial robot of the simplified type in which the upright stand enabling the robot's hand to perform vertical translational movement is omitted.

摘要翻译： 用于将工件连续地供给到机器人手的预定工件夹紧台的工件进给器。 工件进给器包括具有在桌子上行进的多个间隔托盘的输送机。 每个托盘包括具有中心开口的下板和可拆卸地安装在下板上的上板。 工件给料器设置有提升装置，该提升装置具有可垂直移动的平台，该平台通过下板中的中心开口上升，以将上板提升离开下板，从而将托盘上的工件提升到抓握位置的高度 的机器人的手。 工件进给器还包括用于限制平台的最高位置的止动机构。 根据本发明的工件给料器特别适用于简单类型的工业机器人，其中能够使机器人的手执行垂直平移运动的立柱支架被省略。

公开(公告)号：US5249479A

公开(公告)日：1993-10-05

申请号：US841208

申请日：1992-02-27

申请人： Nobutoshi Torii ,  Hitoshi Mizuno ,  Kyozi Iwasaki

发明人： Nobutoshi Torii ,  Hitoshi Mizuno ,  Kyozi Iwasaki

IPC分类号： B25J17/02 ,  B25J19/00

CPC分类号： B25J19/0029 ,  B25J17/0283 ,  Y10T74/20201 ,  Y10T74/20207 ,  Y10T74/20402

摘要： A wrist mechanism comprising a pipe 52 extended in relation to a front .alpha.-axis among the three axes of motion (.alpha.-axis, .beta.-axis, .gamma.-axis) of a wrist, on a center axis A--A of turning motion through the center of an .alpha.-axis reduction gear, a universal pipe coupling 61 provided in relation to a .beta.-axis on the center axis B--B of motion, a pipe 51 having one end connected to the pipe 52 and the other end connected to the pipe coupling 61, and a hose 4 extended along a support arm 3 and connected through the pipe coupling 61 to the pipe 51. The wrist mechanism is incorporated into a robot for work in which a fluid is used, such as an application of an adhesive and sealant.

摘要翻译： 一种手腕机构，包括在手腕的三个运动轴线（α轴，β轴，γ轴）中相对于前侧的α轴延伸的管52，其位于通过中心的转动运动的中心轴线AA上 的α轴减速齿轮，相对于运动中心轴线BB上的β轴设置的通用管接头61，一端连接到管52并且另一端连接到管接头61的管51 ，以及沿着支撑臂3延伸并通过管接头61连接到管51的软管4.手腕机构结合到使用流体的工作机器人中，例如施加粘合剂和密封剂。