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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：US4920248A
公开(公告)日：1990-04-24
申请号：US261966
申请日：1988-09-22
CPC分类号： B23K9/127 , B23K9/0956
摘要： An automatic welding apparatus carrying out an arc sensing operation is provided with a memory (2) storing parameters for arc sensing, and these parameters being rewritten by a manual input before beginning the welding, by an input from an on-line computer during the welding, or at a predetermined time by a program which outputs commands to the automatic welding apparatus (FIG. 6).
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公开(公告)号：US4906814A
公开(公告)日：1990-03-06
申请号：US272840
申请日：1988-09-22
CPC分类号： B23K9/127
摘要： A method of starting arc sensing applicable to automatic welding apparatuses carrying out an arc sensing operation, which is a control operation comprising: detecting deviations of a welding electrode from a predetermined path in an up or down direction and right or left direction, by variations of a welding current while welding with a weaving operation; and correcting the deviation.In this method of starting arc sensing, the welding electrode is held in the dwell state while the arc is extremely unstable just after the arc is first generated, a weaving is carried out from a first predetermined time (T.sub.1) after the extreme instability of the arc has been eliminated, a detection and correction by an arc sensing of a deviation in the right and left direction only are carried out from a second predetermined time (T.sub.2) after the arc has become stable in the weaving state; anda detection and a correction by an arc sensing of a deviation in an up and down direction are carried out in addition to the arc sensing in the right and left direction, from a third predetermined time (T.sub.3) after the correction by the arc sensing of the deivation in the right and left direction only has been carried out (FIG. 7).
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公开(公告)号：US4904911A
公开(公告)日：1990-02-27
申请号：US283991
申请日：1988-11-15
申请人： Kenichi Toyoda , Nobutoshi Torii , Ryo Nihei , Akihiro Terada
发明人： Kenichi Toyoda , Nobutoshi Torii , Ryo Nihei , Akihiro Terada
IPC分类号： B25J9/04 , B25J9/18 , B25J13/08 , B25J19/06 , G05B19/4062
CPC分类号： B25J9/044 , B25J13/085 , B25J19/063 , B25J9/042 , G05B19/4062
摘要： A system for controlling a robot includes a control portion (7) for supplying a control signal to and receiving a control signal from a servo unit (6) for carrying out a signal supply and a signal feedback to an electric motor (5) for driving a shaft executing a Z-axis linear motion, and threshold value supply portion (8) for supplying a threshold value to the control portion. Based on a comparison between a motor torque instruction value and a threshold value supplied from the threshold value supplying portion, an alarm is delivered and the process subsequently proceeds to a step of dealing with an abnormal condition when said motor torque instruction value becomes greater than a predetermined threshold value.
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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：US4697979A
公开(公告)日：1987-10-06
申请号：US782714
申请日：1985-09-23
CPC分类号： B25J19/06
摘要： A safety method in a robot system including at least a robot (1), peripheral equipment (2-5) serviced by the robot, a robot control unit (6) which causes the robot to execute predetermined services for the peripheral equipment, and a teach control panel (9). A door (11) is provided at the entrance to a robot operating zone, and the door is provided with a safety switch (12) for terminating automatic operation of the robot when the robot is in an automatic operating state. When the safety switch is actuated by opening the door, robot motion in the automatic operating state is decelerated and stopped. During the time that the safety switch is in the actuated state, the robot is placed in a playback operation state to enable control that is performed through the teach control panel.
摘要翻译： PCT No.PCT / JP85 / 00039 Sec。 371日期：1985年9月23日 102（e）1985年9月23日PCT 1985年1月31日PCT PCT。 出版物WO85 / 03472 日期：1985年8月15日。一种机器人系统中的安全方法，至少包括由机器人服务的机器人（1），外围设备（2-5），机器人控制单元（6），其使机器人执行预定的服务 用于外围设备和教学控制面板（9）。 在机器人操作区的入口处设置门（11），并且门设有安全开关（12），用于当机器人处于自动操作状态时终止机器人的自动操作。 当通过打开门来启动安全开关时，自动运行状态下的机器人运动减速停止。 在安全开关处于启动状态的时候，将机器人置于重放操作状态，以使能通过教导控制面板执行的控制。
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公开(公告)号：US4637773A
公开(公告)日：1987-01-20
申请号：US691301
申请日：1984-12-31
CPC分类号： B25J17/0258 , B25J9/1045 , Y10T74/18832
摘要： An industrial robot of the articulated arm type comprises a movable robot body (11) arranged on a base (10). An upper arm (13) having root and tip portions is rotatably pivoted to the robot body (11) at the root portion thereof. A forearm (16) having rear and front ends is rotatably pivoted to the tip portion of the upper arm (13) at a portion between the rear and front ends. Preferably, a wrist assembly (20) includes two moving elements (21,22) which are rotatable about different axes in relation to the front end of the forearm (16). The moving elements (21,22) of the wrist assembly (20) are rotated about the corresponding axes by means of wrist drive units (27, 28), respectively. The wrist drive units (27, 28) include first sprockets (29, 36), respectively, each rotatably arranged in the rear end of the forearm (16). Drive motors (31, 37), each rotating the first sprockets (33, 39), are arranged on the rear end of the forearm (16 ), respectively. Second sprockets (33, 39) are operatively coupled with the wrist assembly (20) and arranged in the front end of the forearm (16). Rotational movements of the first sprockets (29, 36) are transmitted through wrapping connectors (34, 45) to the second sprockets (33, 39), respectively. The wrapping connectors (34, 45) are of endless assemblies which include chains (46, 47) and rods (48, 49), respectively.
摘要翻译： PCT No.PCT / JP84 / 00218 Sec。 371日期1984年12月31日 102（e）1984年12月31日PCT PCT 1984年4月27日PCT公布。 公开号WO84 / 04269 日期：1984年11月8日。铰接臂型工业机器人包括设置在基座（10）上的可动机器人本体（11）。 具有根部和顶端部分的上臂（13）在其根部可旋转地枢转到机器人主体（11）。 具有后端和前端的前臂（16）在后端和前端之间的部分处可旋转地枢转到上臂（13）的末端部分。 优选地，腕部组件（20）包括两个相对于前臂（16）的前端围绕不同轴线旋转的移动元件（21,22）。 手腕组件（20）的移动元件（21,22）分别通过手腕驱动单元（27,28）围绕对应的轴线旋转。 手腕驱动单元（27,28）分别包括可旋转地布置在前臂（16）的后端中的第一链轮（29,36）。 各自旋转第一链轮（33,39）的驱动马达（31,37）分别设置在前臂（16）的后端。 第二链轮（33,39）与腕部组件（20）可操作地联接并布置在前臂（16）的前端。 第一链轮（29,36）的旋转运动分别通过包裹连接器（34,45）传递到第二链轮（33,39）。 包裹连接器（34,45）分别是包括链条（46,47）和杆（48,49）的环形组件。
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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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