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公开(公告)号：US5204598A
公开(公告)日：1993-04-20
申请号：US773593
申请日：1991-11-21
申请人： Nobutoshi Torii , Susumu Ito , Masayuki Hamura , Tamotsu Sakai
发明人： Nobutoshi Torii , Susumu Ito , Masayuki Hamura , Tamotsu Sakai
CPC分类号： B25J19/06 , B25J9/1674 , B25J9/1676 , G05B2219/45083 , G05B2219/49142
摘要： An industrial robot having a plurality of axes drivable by respective servomotors is stopped in operation after detecting a collision of the industrial robot with foreign matter. The monitoring of a position error of a servomotor for the axis with respect to which the collision is detected is stopped (S11), and the speed command for that axis is set to "0" (S12). A reverse torque is generated (S13) to decelerate and stop the servomotor. After elapse of a predetermined period of time (S14), the monitoring of a position error is resumed (S15). If the position error exceeds a predetermined value (S31), then an alarm is activated (S32). Then, currents supplied to all the servomotors are cut off (S33), thus stopping the operation of the robot in a short period of time.
摘要翻译： PCT No.PCT / JP91 / 00353 Sec。 371日期1991年11月21日 102（e）日期1991年11月21日PCT 1991年3月13日PCT公布。 出版物WO91 / 14544 日期为1991年10月3日。在检测到工业机器人与异物的碰撞后，停止具有由各个伺服电动机驱动的多个轴的工业机器人。 检测到相对于检测到碰撞的轴的伺服电机的位置误差的停止（S11），将该轴的速度指令设定为“0”（S12）。 产生逆转矩（S13），使伺服电机减速停止。 在经过预定时间段（S14）之后，恢复对位置误差的监视（S15）。 如果位置误差超过预定值（S31），则报警被激活（S32）。 然后，切断供给所有伺服电动机的电流（S33），从而在短时间内停止机器人的动作。
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公开(公告)号：US5185512A
公开(公告)日：1993-02-09
申请号：US720821
申请日：1991-07-15
申请人： Nobutoshi Torii , Susumu Ito , Akihiro Terada , Yasuo Sasaki
发明人： Nobutoshi Torii , Susumu Ito , Akihiro Terada , Yasuo Sasaki
CPC分类号： B23K26/0884 , B23K26/703 , B25J19/00 , B25J19/0054
摘要： A heat eliminator intercepts a heat transmission in a laser robot which has a robot base (12), a robot arm (16) joined for swing motion to a robot swivel post (14) set upright on the robot base (12), a laser beam projecting unit (20) attached to an extreme end of the robot arm (16), and a drive motor (Mv) for driving the robot arm (16) for a swing motion through a precision transmission mechanism (30, 32, 34) inserted between the robot swivel post and the robot arm, from the drive motor to the precision transmission mechanism. The heat eliminator is provided with a bracket member (26) arranged between the precision transmission mechanism (30, 32, 34) and the drive motor (Mv) with one end in contact with the end surface of the drive motor on the side of the output shaft thereof and the other end in contact with the precision transmission mechanism, and an annular cooling water passage (50) formed in the bracket member (26). Cooling water is supplied into the annular cooling water passage (50) formed in the bracket member (26) from a cooling water source (70) for supplying cooling water to the laser beam conduit lines of the robot arm (16) to cool the bracket member (26) to absorb heat generated by the drive motor (Mv) by the bracket member (26), so that the heat transmission to the precision transmission mechanism (30, 32, 34) is intercepted.
摘要翻译： PCT No.PCT / JP90 / 01627 Sec。 371日期1991年7月15日 102（e）日期1991年7月15日PCT 1990年12月12日PCT PCT。 公开号WO91 / 08858 日期：1991年6月27日。一种除热器拦截了具有机器人基座（12）的机器人基座（12），机器人手臂（16），用于摆动运动的机器人旋转支架（14）上的热传递。 基座（12），安装在机器人手臂（16）的前端的激光束投影单元（20），以及用于通过精密传动机构驱动机器人手臂（16）进行摆动的驱动马达（Mv） （30,32,34），其从所述驱动马达到所述精密传动机构插入所述机器人旋转柱和所述机器人手臂之间。 除热器设置有布置在精密传动机构（30,32,34）和驱动马达（Mv）之间的托架构件（26），其一端与驱动马达的端面相接触 输出轴，另一端与精密传动机构接触，以及形成在支架构件（26）中的环形冷却水通道（50）。 冷却水从用于向机器人手臂（16）的激光束导管供给冷却水的冷却水源（70）供给到形成在支架构件（26）中的环形冷却水通道（50）中，以冷却支架 构件（26），用于吸收由支架构件（26）由驱动电动机（Mv）产生的热量，使得对精密传动机构（30,32,34）的传热被截断。
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公开(公告)号：US5151608A
公开(公告)日：1992-09-29
申请号：US613751
申请日：1990-12-11
申请人： Nobutoshi Torii , Hiroshi Wakio
发明人： Nobutoshi Torii , Hiroshi Wakio
IPC分类号： G01C3/06 , B23K9/095 , B23K9/127 , B25J19/02 , G01B11/24 , G01S17/06 , G01S17/46 , G01S17/89
CPC分类号： G01S17/48 , B23K9/0956 , G01S17/06 , G01S17/89
摘要： An optical distance sensor superior in measuring accuracy and simple in construction is mounted to, e.g., a welding torch of an arc welding robot. A laser beam from a laser oscillator (1) is moved on a workpiece (100) in a direction perpendicular to a weld line, with angular movement of a mirror (2). Primary reflected light, secondary reflected light and spatter light, except for arc light intercepted by a filter (5), are incident via a lens (4) on light receiving cells of a light receiving section (3) composed of a one-dimensional charge-coupled device. At scanning of the light receiving section, outputs of the light receiving cells depending on incident light quantities are successively sent, and data specifying those light receiving cells which generate predetermined level outputs are written in one of memory buffers (12, 13). The light-receiving-cell output is applied to a peak detection circuit (18) via an analog switch (17), only when data indicating that the light receiving cell output in the preceding scanning period is at the predetermined level is read from the other memory buffer, to thereby eliminate the spatter light.
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公开(公告)号：US5140129A
公开(公告)日：1992-08-18
申请号：US668498
申请日：1991-03-18
申请人： Nobutoshi Torii , Susumu Ito , Akihiro Terada
发明人： Nobutoshi Torii , Susumu Ito , Akihiro Terada
CPC分类号： B23K26/0884 , B25J19/0037
摘要： A laser beam passage (10) arranged outside a robot unit of a multi-articulated arm type industrial laser robot has a base (71), a swivel body (72), a first robot arm (74) supported for swing motion, a second robot arm (76) pivotally joined to the first robot arm (74), and a robot wrist (80) attached to an front end of the second robot arm (76) and provided with a laser beam emitting head (79) to connect a laser oscillator (12) to a laser beam receiving unit (77) provided on a rear end of the second robot arm (76). The laser beam passage means (10) has a first laser beam shifting system (20) routing a laser beam emitted by the laser oscillator (12) to an extremity thereof, and having a plurality of rotary joints (R.sub.1, R.sub.2), one telescopic linear-motion joint (S.sub.1), a plurality of laser beam conduits (24, 26) and built-in laser beam reflecting mirrors (25, 27); and a second laser beam shifting system (30) routing the laser beam from the extremity of the first laser beam shifting system (20) toward the laser beam receiving unit (77) attached to the rear end of the second robot arm (76), and having a plurality of rotary joints (R.sub.4 to R.sub.6), a plurality of laser beam conduits (32, 35, 37) and built-in laser beam reflecting mirrors (34, 36).
摘要翻译： PCT No.PCT / JP90 / 00920 Sec。 371日期1991年3月18日 102（e）1991年3月18日PCT PCT 1990年7月17日PCT公布。 公开号WO91 / 01194 日本专利公报2001年2月7日。一种设置在多关节臂式工业激光机器人的机器人单元外侧的激光束通路（10）具有基座（71），旋转体（72），第一机器人手臂（74） 支撑摆动运动的第二机器人臂（76）和枢轴连接到第一机器人手臂（74）的第二机器人手臂（76）和安装在第二机器人手臂（76）前端的机械手腕（80） 头部（79）将激光振荡器（12）连接到设置在第二机器人臂（76）的后端上的激光束接收单元（77）。 激光束通道装置（10）具有将由激光振荡器（12）发射的激光束路由到其末端的第一激光束移动系统（20），并且具有多个旋转接头（R1，R2），一个伸缩 线性运动接头（S1），多个激光束导管（24,26）和内置的激光束反射镜（25,27）; 以及将激光束从第一激光束移动系统（20）的末端引导到附接到第二机器人臂（76）的后端的激光束接收单元（77）的第二激光束移动系统（30） 并具有多个旋转接头（R4〜R6），多个激光束导管（32,35,37）和内置激光束反射镜（34,36）。
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公开(公告)号：US5132887A
公开(公告)日：1992-07-21
申请号：US499339
申请日：1990-06-15
申请人： Nobutoshi Torii , Susumu Ito , Akihiro Terada , Yasuo Sasaki
发明人： Nobutoshi Torii , Susumu Ito , Akihiro Terada , Yasuo Sasaki
CPC分类号： B23K26/0884 , B25J17/0283 , B25J18/04 , B25J19/0037
摘要： A multi-articulation type robot for a laser operation by emitting a beam of laser into a desired position in a three-dimensional space, and provided with a first hollow robot arm (16) swingably pivoted to an upper end of a robot swivel body (14) mounted on a robot base (12), a second hollow robot arm (18) swingably pivoted to a front end of the first robot arm (16) and rotatable about a central axis of the second robot arm per se, and a robot wrist (20) mounted on a front end of the second robot arm (18) and provided with a laser beam collecting unit (22) having a laser beam emitting outlet (22a), the robot wrist (20) being provided with motion transmitting mechanisms for converting first and second rotative inputs transmitted by a first and second hollow rotatable drive shafts (30a and 30b) arranged inside the second robot arm (18) into motions by which the laser beam collecting unit (22) is rotated about an axis orthogonal to an axis along which a laser beam is emitted, and to move the unit (22) forward and back along the axis of the laser emission.
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公开(公告)号：US5105136A
公开(公告)日：1992-04-14
申请号：US465115
申请日：1990-02-20
申请人： Nobutoshi Torii , Susumu Ito , Masayuki Hamura , Akira Tanaka
发明人： Nobutoshi Torii , Susumu Ito , Masayuki Hamura , Akira Tanaka
CPC分类号： B25J9/0009 , B25J18/02 , Y10T74/18856 , Y10T74/19181
摘要： A gear box (30) housing a reduction gear unit (24) and supporting a drive motor (22), and a elongated screw shaft (12) is fitted over a base plate (14) so that an area of a shaft supporter (10) projected in a plane perpendicular to a longitudinal direction of the elongated screw shaft is reduced, which supporter supports both ends of the elongaged screw shaft (12) for moving a movable element such as an arm of an industrial robot in a predetermined direction. Furthermore, a circular boss portion (32b) provided at the lower face of the gear box (30) and a hole (14a) provided at the base plate (14) are used for positioning the gear box on the base plate (14), and the positioning in a height direction is achieved by positioning elements (40) having a predetermined height dimension when the gear box (30) is attached to the base plate (14).
摘要翻译： PCT No.PCT / JP89 / 00619 Sec。 371日期1990年2月20日 102（e）1990年2月20日PCT PCT。 WO89 / 12531 PCT出版物 日期：1989年12月28日。一个容纳减速齿轮单元（24）并支撑驱动马达（22）的齿轮箱（30）和细长的螺杆轴（12），装在基板（14）上， 在垂直于细长螺杆轴的纵向的平面中突出的轴支撑件（10）的面积减小，该支撑件支撑延伸螺纹轴（12）的两端，用于移动诸如工业的臂的可移动元件 机器人沿预定方向。 此外，设置在齿轮箱（30）的下表面处的圆形凸台部分（32b）和设置在基板（14）上的孔（14a）用于将齿轮箱定位在基板（14）上， 并且当齿轮箱（30）附接到基板（14）时，通过定位具有预定高度尺寸的元件（40）来实现高度方向上的定位。
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公开(公告)号：US4827782A
公开(公告)日：1989-05-09
申请号：US50303
申请日：1987-06-11
申请人： Nobutoshi Torii , Ryo Nihei
发明人： Nobutoshi Torii , Ryo Nihei
CPC分类号： B25J19/0004 , F16D55/00 , F16D2121/20 , Y10T74/18696 , Y10T74/19637 , Y10T74/20317
摘要： An industrial robot brake apparatus for braking a mechanism that drives a support shaft supporting an arm in a freely extendable manner is capable of forming a clearance between a fixed brake member, which is for stopping rotation of a screw rod that extends and retracts the support shaft, thereby positioning the working plane of the arm, and a movable brake, thereby facilitating replacement of a belt and inspection of the brake mechanism, such as a brake shoe.
摘要翻译： PCT No.PCT / JP86 / 00461 Sec。 371日期：1987年6月11日 102（e）日期1987年6月11日PCT提交1986年9月10日PCT公布。 第WO87 / 01326号公报 日期：1987年3月12日。用于制动以可自由延伸的方式驱动支撑臂的支撑轴的机构的工业机器人制动装置能够在固定的制动构件之间形成间隙，所述固定制动构件用于阻止螺杆的旋转 从而使支撑轴伸出并缩回，从而将臂的工作平面和可动制动器定位，从而便于皮带的更换和诸如制动蹄的制动机构的检查。
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公开(公告)号：US4576537A
公开(公告)日：1986-03-18
申请号：US714345
申请日：1985-03-21
申请人： Hajimu Inaba , Nobutoshi Torii
发明人： Hajimu Inaba , Nobutoshi Torii
摘要： A robot system for use with a machine tool having a spindle, comprising a robot having a body for being mounted on the machine tool, an arm pivotally mounted on the body and rotatable in a plane transverse to an axial direction of the spindle of the machine tool, and a hand mounted on a distal end of said arm for gripping a workpiece for transfer to the machine tool, and a workpiece feeder disposed adjacent to the robot and movably supporting a succession of pallets for carrying unmachined and machined workpieces thereon. The workpiece feeder includes a first mechanism for moving the pallets along a path on the workpiece feeder and for positioning the pallets one at a time in a position in which an unmachined workpiece can be picked up from the pallet by the hand or a machined workpiece can be unloaded from the hand onto the pallet, and a second mechanism for moving the pallet toward the hand in the position for allowing the and to pick up the unmachined workpiece and to unload the machined workpiece, and for moving the pallet away from the hand.
摘要翻译： 一种与具有主轴的机床一起使用的机器人系统，包括具有安装在机床上的主体的机器人，枢转地安装在本体上并在与机器主轴的轴向方向横切的平面中可旋转的臂 工具，以及安装在所述臂的远端上的手，用于抓握用于传送到机床的工件，以及邻近机器人设置的工件进给器，并可移动地支撑用于在其上承载未加工和加工的工件的一系列托盘。 工件进给器包括用于沿着工件进给器上的路径移动托盘的第一机构，并且用于将托盘一次一个地定位在可以通过手或加工的工件罐从托盘拾取未加工的工件的位置 从手上卸载到托盘上，以及第二机构，用于将托板朝向手移动到用于允许和拾取未加工工件并卸载加工的工件的位置，以及用于将托盘从手上移开。
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公开(公告)号：US4569549A
公开(公告)日：1986-02-11
申请号：US582660
申请日：1984-02-23
CPC分类号： B25J15/0266 , B25J15/0475 , B25J15/103
摘要： A robot hand adapted to be secured to the extremity of a robot arm or a robot wrist of an industrial robot has a finger operating unit provided with a fluid pressure operated piston reciprocating in a cylinder body and a piston rod integral with the piston and having a finger mount, and at least two finger units detachably attached to the finger operating unit. Each finger unit has a fixed finger member and a movable finger member.
摘要翻译： 适于固定在工业机器人的机器人手臂或机器人手腕的末端的机器人手具有手指操作单元，该手指操作单元设置有在缸体中往复运动的流体压力操作的活塞和与活塞成一体的活塞杆， 手指安装，以及可拆卸地附接到手指操作单元的至少两个手指单元。 每个指状单元具有固定指状构件和可动指状构件。
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公开(公告)号：US4495453A
公开(公告)日：1985-01-22
申请号：US391396
申请日：1982-06-23
CPC分类号： B25J17/02 , B25J9/1612
摘要： A system for controlling an industrial robot having a wrist (1) driven to rotate by a direct-current motor (2) having a servomechanism, wherein stroke-limit position control (6) of the wrist and rotational control (7) of the wrist can be selectively carried out.
摘要翻译： 一种用于控制具有由具有伺服机构的直流电动机（2）驱动旋转的手腕（1）的工业机器人的系统，其中手腕的行程限位位置控制（6）和手腕的旋转控制（7） 可以选择性地进行。
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