公开(公告)号：US4430923A

公开(公告)日：1984-02-14

申请号：US267573

申请日：1981-05-27

申请人： Hajimu Inaba ,  Susumu Ito

发明人： Hajimu Inaba ,  Susumu Ito

IPC分类号： B25J15/02 ,  B23Q16/10 ,  B25J9/10 ,  B25J15/00 ,  B25J17/02 ,  B25J19/00 ,  F15B13/06 ,  F15B21/02

CPC分类号： B23Q16/102 ,  B25J15/00 ,  B25J17/02 ,  B25J9/101

摘要： A wrist mechanism in an industrial robot comprises a wrist, a rotary type actuator which is rotatable in clockwise and counter-clockwise directions, a first positioning board which can define arbitrary angular stopping positions, sensing devices, and a second positioning board which is arranged facing the first positioning board, wherein the sensing devices detect the angular position of the wrist, which is driven by the rotary type actuator, the rotary type actuator is stopped by signals produced by the sensing devices, and the second positioning board with tapered receptacles is pressed to the first positioning board with tapered pins, whereby the positioning of the wrist mechanism is carried out.

摘要翻译： 工业机器人中的手腕机构包括手腕，可沿顺时针和逆时针方向旋转的旋转式致动器，能够限定任意角度停止位置的第一定位板，感测装置以及面向 第一定位板，其中感测装置检测由旋转型致动器驱动的手腕的角位置，旋转型致动器由感测装置产生的信号停止，并且具有锥形插座的第二定位板被按压 到具有锥形销的第一定位板，由此执行腕部机构的定位。

公开(公告)号：US4240016A

公开(公告)日：1980-12-16

申请号：US8518

申请日：1979-02-01

申请人： Hajimu Inaba ,  Hideo Miyashita

发明人： Hajimu Inaba ,  Hideo Miyashita

IPC分类号： B25J9/16 ,  G05B19/18 ,  G05B19/414 ,  G05D3/12 ,  G05D3/20 ,  G05B11/32

CPC分类号： G05B19/4144 ,  G05D3/20

摘要： A single velocity unit is provided in the control unit of an industrial robot, which control unit has a plurality of motors for driving the arm of the industrial robot and a plurality of detectors for detecting the position of the arm. By the operation of the central processing unit, the digital output unit selects one of the axis position control units and one of the motors to be connected to the velocity unit, in accordance with an axis selecting instruction read out from the memory.

摘要翻译： 在工业机器人的控制单元中设置单个速度单元，该控制单元具有用于驱动工业机器人的臂的多个电机和用于检测臂的位置的多个检测器。 通过中央处理单元的操作，数字输出单元根据从存储器读出的轴选择指令，选择一个轴位置控制单元和要连接到速度单元的一个马达。

公开(公告)号：US4542471A

公开(公告)日：1985-09-17

申请号：US334925

申请日：1981-12-28

申请人： Hajimu Inaba ,  Hideo Miyashita

发明人： Hajimu Inaba ,  Hideo Miyashita

IPC分类号： G05B9/02 ,  B25J9/18 ,  G05B19/23 ,  G05B19/4062 ,  G05B23/02

CPC分类号： G05B19/4062 ,  G05B19/232 ,  G05B2219/42268 ,  G05B2219/45083

摘要： Disclosed is a robot control system of the type in which instructive data taught by means of a teaching box is stored in memory and a manipulator such as a robot hand is actuated in accordance with the instructive data so that the robot is made to execute predetermined tasks. The manipulator is so driven by a servo motor as to reduce to zero a deviation between the number of command pulses generated on the basis of the instructive data and the number of feedback pulses generated in accordance with the current position of the manipulator. In accordance with a feature of the invention, the limit values of the deviation are stored in memory in advance and, when the deviation is found to lie outside the range of the limit values during the operation of the robot, such condition is interpreted as an overload and the operation of the robot is halted.

摘要翻译： 公开了一种机器人控制系统，其中通过教学盒教导的指导性数据被存储在存储器中，并且诸如机器人手的操纵器根据指导数据被致动，从而使机器人执行预定任务 。 操纵器由伺服电动机驱动，以根据指导数据产生的指令脉冲数与根据机械手的当前位置产生的反馈脉冲数之间的偏差减小到零。 根据本发明的特征，偏差的极限值预先存储在存储器中，并且当在机器人的操作期间发现偏差超出极限值的范围时，这种条件被解释为 过载，机器人的操作停止。

公开(公告)号：US4466769A

公开(公告)日：1984-08-21

申请号：US389882

申请日：1982-06-18

申请人： Hajimu Inaba ,  Seiichiro Nakajima ,  Shigemi Inagaki ,  Susumu Ito

发明人： Hajimu Inaba ,  Seiichiro Nakajima ,  Shigemi Inagaki ,  Susumu Ito

IPC分类号： B25J1/00 ,  B25J9/00 ,  B25J9/04 ,  B25J18/02 ,  B25J19/00 ,  B66C23/00

CPC分类号： B25J18/02 ,  B25J19/0029 ,  Y10T74/18648

摘要： An industrial robot having a robot hand attached to a robot arm, a rotary motion unit supporting therein the robot arm, a vertical motion unit on which the rotary motion unit is disposed, and a vertical hollow structure extending through the vertical and rotary motion units and defining therein a vertically extending wiring and piping space.

摘要翻译： 一种具有机器人手的机器人，其具有附接到机器人臂的机器人手柄，支撑在其中的旋转运动单元，机器人臂，设置有旋转运动单元的垂直运动单元，以及延伸穿过垂直和旋转运动单元的垂直中空结构， 在其中限定垂直延伸的布线和管道空间。

公开(公告)号：US4465424A

公开(公告)日：1984-08-14

申请号：US391397

申请日：1982-06-23

申请人： Hajimu Inaba ,  Seiichiro Nakashima ,  Shigemi Inagaki ,  Susumu Ito

发明人： Hajimu Inaba ,  Seiichiro Nakashima ,  Shigemi Inagaki ,  Susumu Ito

IPC分类号： B25J1/00 ,  B25J19/00

CPC分类号： B25J19/0012

摘要： An industrial robot, having a manipulative robot hand for mounted on a vertically movable portion thereof moved by a vertical drive, provided with a load reducing pneumatic cylinder for applying a constant upward force to the vertically movable portion during the vertical movement of the portion and an air storage tank or tanks directly connected to the pneumatic cylinder for continuously supplying air under a desired fixed pressure. The upward force contributes to reducing a load applied to the vertical drive. The air storage tank or tanks contributes to ensuring mechanical rigidity of the industrial robot.

摘要翻译： 一种工业机器人，其具有操纵机器人手，其安装在通过垂直驱动器移动的可垂直运动的部分上，设置有减压气缸，用于在所述部分的垂直运动期间向所述垂直运动部分施加恒定的向上的力，以及 直接连接到气缸的储气罐或储罐，以在期望的固定压力下连续供应空气。 向上的力有助于减小施加到垂直驱动器的负载。 储气罐或储罐有助于确保工业机器人的机械刚性。

公开(公告)号：US4462748A

公开(公告)日：1984-07-31

申请号：US394873

申请日：1982-07-02

申请人： Hajimu Inaba ,  Shigemi Inagaki

发明人： Hajimu Inaba ,  Shigemi Inagaki

IPC分类号： B25J9/00 ,  B23Q7/04 ,  B23Q16/02 ,  B25J9/10 ,  B25J11/00

CPC分类号： B23Q16/026 ,  B23Q7/048 ,  B25J9/10 ,  B25J9/1005 ,  Y10T82/2516

摘要： An industrial robot having a hollow arm rotatable in a plane perpendicular to the longitudinal axis of a spindle of a machine tool, a wrist mechanism attached for rotation at one end of the arm, the wrist mechanism having a rotary shaft, and a gripper connected to the rotary shaft of the wrist mechanism for being rotated thereby. There are provided first and second air cylinders colinearly disposed within the arm, the first cylinder being fixed and the second cylinder being movable longitudinally of the arm. A piston rod interconnects the first and second air cylinders, the piston rod having a first piston at one end received in the first cylinder and a second piston at the other end received in the second cylinder. The piston rod is moved longitudinally of the arm by introducing air selectively into the first and second air cylinders. A pulley is affixed to the first cylinder, and a tension member such as a wire or belt is connected between the rotary shaft of the wrist mechanism and the pulley. The second cylinder is connected to the tension member. The tension member is pulled by driving the second cylinder, thereby rotating the rotary shaft, which is capable of being stopped at 0.degree., .+-.90.degree., and 180.degree. positions by the use of a stopping mechanism.

摘要翻译： 一种具有中空臂的工业机器人，该中空臂可在垂直于机床主轴的纵向轴线的平面中旋转，安装用于在臂的一端旋转的腕部机构，具有旋转轴的手腕机构和连接到 手腕机构的旋转轴由此旋转。 提供了共轴设置在臂内的第一和第二气缸，第一气缸是固定的，第二气缸可在臂的纵向移动。 活塞杆将第一和第二气缸互连，活塞杆的一端容纳在第一气缸中的第一活塞和另一端的第二活塞容纳在第二气缸中。 通过将空气选择性地引入第一和第二气缸中，使活塞杆纵向地移动到臂上。 滑轮固定在第一气缸上，并且诸如电线或皮带的张紧构件连接在腕机构的旋转轴和皮带轮之间。 第二气缸连接到张紧构件。 通过驱动第二气缸拉动张力构件，从而通过使用止动机构使能够在0°，+/- 90°和180°位置停止的旋转轴旋转。

公开(公告)号：US4442521A

公开(公告)日：1984-04-10

申请号：US295318

申请日：1981-08-24

申请人： Hajimu Inaba ,  Hideo Miyashita

发明人： Hajimu Inaba ,  Hideo Miyashita

IPC分类号： G05B19/23 ,  B25J9/16 ,  B25J19/00 ,  G05B7/02 ,  G05B9/03 ,  G05B19/4063 ,  G05B23/02 ,  G06F11/00 ,  H04L1/22

CPC分类号： G05B9/03 ,  B25J9/161 ,  G05B19/4063 ,  H04L1/22 ,  G05B2219/33253 ,  G05B2219/36159

摘要： In a transmission system employing a plurality of parallel lines for transmitting serial digital signals, means are provided in each line for detecting and disconnecting any line on which transmission is interrupted comprising a converter for producing two signals of opposite polarity, a receiver for reconverting the signals connected to the converter by a pair of transmission lines, an exclusive OR gate connected to the pair of transmission lines for providing an output when normal signals of opposite polarity are present, and a switch comprising an AND gate converted to the receiver and to the exclusive OR gate which disconnects the receiver when no output is received from the exclusive OR gate. The received signals from each line are combined through a common OR gate.

摘要翻译： 在采用多条并行线路传输串行数字信号的传输系统中，在每行中提供了用于检测和断开传输中断的任何线路的装置，包括用于产生相反极性的两个信号的转换器，用于重新转换信号的接收机 通过一对传输线连接到转换器，连接到该对传输线的异或门，用于在存在相反极性的正常信号时提供输出，以及包括转换到接收器的与门和独占 或门，当不从异或门接收到输出时断开接收器。 来自每条线路的接收信号通过一个公共或门组合。

公开(公告)号：US4422142A

公开(公告)日：1983-12-20

申请号：US160155

申请日：1980-06-17

申请人： Hajimu Inaba ,  Hideo Miyashita ,  Shoichi Otsuka

发明人： Hajimu Inaba ,  Hideo Miyashita ,  Shoichi Otsuka

IPC分类号： G06F12/00 ,  G06F13/18 ,  G06F13/28 ,  G06F13/38 ,  G06F15/16 ,  G06F15/167 ,  G06F15/177 ,  G06T1/20 ,  G06F13/00 ,  G06F9/46

CPC分类号： G06F13/28 ,  G06F13/18 ,  G06F15/167

摘要： A system for controlling a plurality of microprocessors, comprising a common memory which can be selectively switched to exclusive buses which are connected to the plurality of microprocessors, respectively, and a priority control circuit which determines the priority of the microprocessors. According to the system of the present invention, it has a common memory that is selectively connected to the buses, data is transmitted without affecting the operation of the microprocessors on the receiving side, data transfer between the microprocessors having different cycle times is carried out at speeds that are adapted to the cycle times of the individual microprocessors, and the degree of the exclusive use of the bus by the microprocessor is prevented from being reduced when the direct memory access transfer is carried out. Consequently, a system for controlling a plurality of microprocessors having an improved performance is obtained in accordance with the present invention.

摘要翻译： 一种用于控制多个微处理器的系统，包括可以分别选择性地切换到连接到所述多个微处理器的专用总线的公共存储器以及确定所述微处理器的地址的优先级的优先级控制电路。 一种用于控制多个微处理器的系统，包括可以分别选择性地切换到连接到所述多个微处理器的专用总线的公共存储器和确定所述微处理器的优先级的优先级控制电路。 根据本发明的系统，具有选择性地连接到总线的公共存储器，数据传输而不影响接收侧的微处理器的操作，具有不同周期时间的微处理器之间的数据传输在 当执行直接存储器访问转移时，防止微处理器的循环时间适应的速度以及微处理器对总线的专用程度的降低。 因此，根据本发明获得了用于控制具有改进性能的多个微处理器的系统。

公开(公告)号：US4352620A

公开(公告)日：1982-10-05

申请号：US162878

申请日：1980-06-25

申请人： Hajimu Inaba ,  Seiichiro Nakajima ,  Shigemi Inagaki

发明人： Hajimu Inaba ,  Seiichiro Nakajima ,  Shigemi Inagaki

IPC分类号： B23Q7/04 ,  B25J9/00 ,  B25J9/04 ,  B25J9/06 ,  B25J3/00

CPC分类号： B23Q7/046 ,  B25J9/00 ,  B25J9/045

摘要： An industrial robot having two rotative mechanisms that are adapted to rotate two arms relative to the axial directions thereof and which are interconnected such that their longitudinal axes intersect at right angles. An arm which belongs to the first rotative mechanism is secured to the base of the robot, and a gripping member is attached to the end of a free arm which belongs to the second rotative mechanism. This permits the gripping member to be moved in a plane which is parallel to the X-Z plane, and then in a plane which is parallel to the Y-Z plane, so that a workpiece or tool replacement can be moved along the perpendicular side walls of a machine tool frame. The degrees of freedom can be increased by providing the robot arms with additional mechanisms, particularly between the second rotative mechanism and the gripping member, such as a rotative mechanism for rotating the gripping member about the arm, an extendible shaft for extending the arm, or a linear drive mechanism for moving the gripping member at right angles to the longitudinal axis of the arm. Servo mechanisms may constitute the means for driving the rotative mechanisms, the exendible shaft and the linear drive mechanism.

摘要翻译： 一种具有两个旋转机构的工业机器人，所述两个旋转机构适于相对于其轴向方向旋转两个臂，并且互相连接使得它们的纵向轴线以直角相交。 属于第一旋转机构的臂固定在机器人的基座上，并且夹持构件附接到属于第二旋转机构的自由臂的端部。 这允许夹持构件在与XZ平面平行的平面中移动，然后在平行于YZ平面的平面中移动，使得工件或工具更换可以沿着机器的垂直侧壁移动 工具架。 通过为机器人臂提供额外的机构，特别是在第二旋转机构和夹持构件之间，例如用于使抓握构件围绕臂旋转的旋转机构，用于延伸臂的可伸长轴，或者 用于使夹持构件与臂的纵向轴线成直角移动的线性驱动机构。 伺服机构可构成用于驱动旋转机构，可变轴和线性驱动机构的装置。

公开(公告)号：US4289441A

公开(公告)日：1981-09-15

申请号：US076616

申请日：1979-09-18

申请人： Hajimu Inaba ,  Shigemi Inagaki

发明人： Hajimu Inaba ,  Shigemi Inagaki

IPC分类号： B23Q11/00 ,  B25J19/00

CPC分类号： B25J19/0012 ,  B23Q11/001

摘要： An industrial robot, having a robot hand mounted on a vertically movable body which is vertically moved by a vertical feed motor being provided with a load reducing means which includes a cylinder means for applying a constant upward force to the vertically movable body during the vertical movement of the body. The upward force contributes to reducing a load applied to the vertical feed motor.

摘要翻译： 一种工业机器人，其具有安装在垂直移动体上的机器人，所述机器人由垂直进给电动机垂直移动，所述垂直移动体设置有负载减小装置，所述负载减小装置包括用于在垂直运动期间向所述垂直移动体施加恒定向上的力的气缸装置 的身体。 向上的力有助于减小施加到垂直进给电动机的负载。