公开(公告)号：US5444612A

公开(公告)日：1995-08-22

申请号：US368711

申请日：1995-01-03

申请人： Nobutoshi Torii ,  Ryo Nihei ,  Tetsuaki Kato

发明人： Nobutoshi Torii ,  Ryo Nihei ,  Tetsuaki Kato

IPC分类号： B25J9/16 ,  G05B13/04 ,  G05B19/19 ,  G05B11/42 ,  G06F19/00

CPC分类号： G05B19/19 ,  B25J9/1638 ,  G05B13/042 ,  G05B2219/34047 ,  G05B2219/41367 ,  G05B2219/42037 ,  G05B2219/42153 ,  G05B2219/42155

摘要： An adaptive proportional-plus-integral control system for controlling a robot or a machine tool which is subject to large load variation. The PI control system comprises a speed control loop and a pre-compensator provided in the speed control loop. The pre-compensator is equivalent to a system which is the combination of a reference model and an inverse system of a servomotor, and has adaptivity. Since the pre-compensator is incorporated into the speed control loop, robust control can be made even if the inertia of a load is largely variable.

摘要翻译： 一种用于控制承受较大负载变化的机器人或机床的自适应比例加整体控制系统。 PI控制系统包括速度控制回路和速度控制回路中提供的预补偿器。 预补偿器相当于伺服电机的参考模型和反向系统的组合的系统，具有适应性。 由于预补偿器被并入到速度控制回路中，所以即使负载的惯性在很大程度上是可变的，也可以进行鲁棒的控制。

公开(公告)号：US5337148A

公开(公告)日：1994-08-09

申请号：US952501

申请日：1992-12-02

申请人： Nobutoshi Torii ,  Ryo Nihei ,  Hiroshi Wakio

发明人： Nobutoshi Torii ,  Ryo Nihei ,  Hiroshi Wakio

IPC分类号： B23K9/32 ,  B23K9/10 ,  G01J1/00 ,  G01J1/04 ,  G01J1/18 ,  G01J1/42 ,  G01N21/15 ,  G01N21/59

CPC分类号： G01J1/18 ,  B23K9/10 ,  G01N2021/157 ,  G01N2021/5957 ,  G01N2201/12753

摘要： The purpose of the invention is to properly determine the replacement time of a guard window of an arc sensor using an original function of the arc sensor.The apparatus for monitoring a guard window of an arc sensor according to the present invention is provided with an arc sensor guard window (28) mounted on an arc sensor unit (20) and a standard reflecting plate (30) located at a position a determined distance from the front surface of the guard window (28). And the apparatus detects the reflected light (27) from the standard reflecting plate (30) when a laser beam (26) scans the standard reflecting plate (30), before the guard window (28) is used for an arc welding operation. The apparatus memorizes the quantity of detected light reception as the first quantity. The apparatus then detects the reflected light (27) from the standard reflecting plate (30) in the same way as before, after the guard window (28) is used for an arc welding operation. The apparatus memorizes the quantity of detected light reception as the second quantity of detected light reception as the second quantity. Based on the difference between the first quantity and the second quantity, the condition of the guard window (28) is checked and it is determined whether or not the guard window (28) should be replaced.

摘要翻译： PCT No.PCT / JP92 / 00409 Sec。 371日期1992年12月2日 102（e）日期1992年12月2日PCT提交1992年4月2日PCT公布。 出版物WO92 / 17754 日期为1992年10月15日。本发明的目的是使用电弧传感器的原始功能来适当地确定电弧传感器的防护窗的更换时间。 根据本发明的用于监测电弧传感器的防护窗的装置设置有安装在电弧传感器单元（20）和标准反射板（30）上的电弧传感器防护窗（28），该标准反射板位于确定的位置 距保护窗（28）前表面的距离。 并且当激光束（26）在保护窗（28）用于电弧焊接操作之前扫描标准反射板（30）时，该装置从标准反射板（30）检测反射光（27）。 该装置将检测到的光接收量存储为第一数量。 然后，在将防护窗（28）用于电弧焊接操作之后，装置以与之前相同的方式从标准反射板（30）检测反射光（27）。 该装置将检测到的光接收量作为第二数量存储为第二检测光接收量。 基于第一数量和第二数量之间的差异，检查保护窗（28）的状况，并确定是否应更换防护窗（28）。

公开(公告)号：US5251500A

公开(公告)日：1993-10-12

申请号：US859371

申请日：1992-05-26

申请人： Nobutoshi Torii ,  Ryo Nihei ,  Mitsuhiro Yasumura

发明人： Nobutoshi Torii ,  Ryo Nihei ,  Mitsuhiro Yasumura

IPC分类号： B25J9/02 ,  B25J18/04 ,  F16H25/20 ,  B25J18/00

CPC分类号： B25J18/04 ,  Y10T74/20317

摘要： A compound drive mechanism (30) according to the invention is capable of driving an output element (10, 40) of an industrial robot for a linear motion along an axis and of rotating the output element (10, 40) independently of the linear motion of the output element (10, 40). The mechanism includes a linear-motion drive motor (M.sub.1) for driving the output element (10, 40) for linear motion, a rotation drive motor (M.sub.2) for driving the output element (10, 40) for a rotational motion arranged at a fixed position, a linear motion transmitting system (12 and 14; 42 and 44) for transmitting a linear motion to the output element (10, 40) a rotational motion transmitting system (18 and 20; 48 and 50) for transmitting a rotational motion to the output element (10, 40), and a rolling contact bearing (18, 46) interconnecting the linear motion transmitting means (12 and 14; 42 and 44) the rotational motion transmitting means (18 and 20; 48 and 50) to thereby obviate interference between those transmission systems.

摘要翻译： PCT No.PCT / JP91 / 01290 Sec。 371日期：1992年5月26日 102（e）日期1992年5月26日PCT 1991年9月27日PCT PCT。 出版物WO92 / 05921 根据本发明的复合驱动机构（30）能够驱动工业机器人的沿着轴线的直线运动的输出元件（10,40），并且使输出元件（10， 40），与输出元件（10,40）的线性运动无关。 该机构包括用于驱动用于直线运动的输出元件（10,40）的直线运动驱动马达（M1），用于驱动输出元件（10,40）的旋转驱动马达（M2），用于旋转运动 固定位置，用于向所述输出元件（10,40）传送线性运动的线性运动传递系统（12和14; 42和44）;用于传送旋转运动的旋转运动传递系统（18和20; 48和50） 以及将所述线性运动传递装置（12和14; 42和44）将所述旋转运动传递装置（18和20; 48和50）互连到所述输出元件（10,40）的滚动接触轴承（18,46） 从而避免这些传输系统之间的干扰。

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。

公开(公告)号：US5214531A

公开(公告)日：1993-05-25

申请号：US834566

申请日：1992-02-14

申请人： Nobutoshi Torii ,  Hiroshi Wakio

发明人： Nobutoshi Torii ,  Hiroshi Wakio

IPC分类号： G02B26/10 ,  B23K9/127

CPC分类号： B23K9/1274

摘要： An operation control system for a scanning galvanometer associated with an arc sensor (20) of a welding robot for sensing a weld line, and having a swing mirror (23) integral therewith for a laser beam scanning. A memory (43) stores waveform data of a galvanometer drive command current obtained by synthesizing a constant-speed command current and an acceleration/deceleration command current, and an address circuit (42) causes the waveform data to be output from the memory (43) at predetermined intervals. A D/A converter (44) converts the output of the memory (43) to an analog value, and a scanner drive circuit (45) drives the galvanometer (22), which swings the swing mirror (23) to detect the weld line. Accordingly, the scanning galvanometer (22) is driven in accordance with the waveform of the galvanometer drive command current in such a manner that it is driven at a constant angular velocity in swing angle regions other than turning points, and at a constant angular acceleration in the vicinity of the turning points. Therefore, the swing angle is accurately controlled over the entire operating range, and the change of direction of the swing angle at the turning points is effected in a very short time. Further, overshoot does not occur at the turning points of the triangular wave, and as a result, the measurement for detecting the weld line by a laser beam scanning can be effectively executed.

摘要翻译： PCT No.PCT / JP91 / 00744 Sec。 371日期：1992年2月14日 102（e）日期1992年2月14日PCT提交1991年5月28日PCT公布。 出版物WO92 / 00542 日期1992年1月9日。一种与用于感测焊接线的焊接机器人的电弧传感器（20）相关联的扫描检流计的操作控制系统，并且具有与其一体的用于激光束扫描的摆动反射镜（23）。 存储器（43）存储通过合成恒速指令电流和加速/减速指令电流而获得的电流计驱动指令电流的波形数据，并且地址电路（42）使波形数据从存储器（43）输出 ）。 D / A转换器（44）将存储器（43）的输出转换为模拟值，扫描器驱动电路（45）驱动振荡器（22），其使摆动反射镜（23）摆动以检测焊接线。 因此，根据检流计驱动指令电流的波形，扫描电流计（22）以除了转向点以外的摆动角度区域以恒定的角速度驱动，并以恒定的角加速度 转折点附近。 因此，在整个操作范围内精确地控制摆动角度，并且在非常短的时间内实现转弯点处的摆动角度的方向的变化。 此外，在三角波的转折点处不会发生过冲，结果，可以有效地执行通过激光束扫描来检测焊接线的测量。

公开(公告)号：US5191272A

公开(公告)日：1993-03-02

申请号：US776418

申请日：1991-11-25

申请人： Nobutoshi Torii ,  Ryo Nihei ,  Tetsuaki Kato

发明人： Nobutoshi Torii ,  Ryo Nihei ,  Tetsuaki Kato

IPC分类号： G05B11/32 ,  G05B13/02 ,  H02P23/00 ,  H02P29/00

CPC分类号： G05B13/0265 ,  G05B13/024 ,  H02P23/16

摘要： The feedback gain for motor control for a control system in which the inertia of a load is greatly variable is adjusted. First, a feedback gain (K1) is determined. The value of feedback gain is calculated from a servomotor itself or the like, and selected so that the control loop will not oscillate (S1). A feed-forward gain (K) is determined according to a learning process with the feedback gain (K1) (S2). Then, a feedback gain (K1) is calculated from the feed-forward gain (K) (S3). Thereafter, a feed-forward gain (K) is determined again according to a learning process based on the feedback gain (S4). The second feed-forward gain (K) and the feedback gain (K1) are used to establish a control system. In this manner, a control system having an optimum feed-forward gain and an optimum feedback gain can be established.

公开(公告)号：US5127282A

公开(公告)日：1992-07-07

申请号：US809046

申请日：1991-12-16

申请人： Nobutoshi Torii ,  Hitoshi Mizuno ,  Kyozi Iwasaki

发明人： Nobutoshi Torii ,  Hitoshi Mizuno ,  Kyozi Iwasaki

IPC分类号： B25J9/10 ,  B25J17/02 ,  F16C35/06 ,  F16H1/14

CPC分类号： B25J9/1005 ,  B25J17/0258 ,  B25J9/103 ,  F16H1/14 ,  Y10T74/1913 ,  Y10T74/19665 ,  Y10T74/19688

摘要： A bevel gear unit comprising a bevel gear (11), a ball bearing (B.sub.1) coaxially mounted on the shaft of the bevel gear (11) and in contact with the back surface (17) thereof, a double spacer including an inner race spacer (12) and an outer race spacer (13) and mounted on the shaft of the bevel gear (11) behind the ball bearing (B.sub.1), ball bearings (B.sub.2, B.sub.3) mounted on the shaft of the bevel gear (11) behind the double spacer, and a bearing nut (15) screwed onto a threaded portion of the shaft of the bevel gear (11) behind the ball bearings (B.sub.2, B.sub.3). The axial length (l.sub.1) of the inner race spacer (12) is made smaller than the axial length (l.sub.2) of the outer race spacer (13) by a preloading allowance (.delta.), and the outer race spacer (13) is provided with threaded holes (t.sub.1) in the rear surface (f.sub.1) thereof. When applied to a mechanism having a plurality of coaxial bevel gears, particularly, to a wrist mechanism for an industrial robot, the bevel gear unit facilitates the preloading of the bearings.

公开(公告)号：US5119006A

公开(公告)日：1992-06-02

申请号：US432743

申请日：1989-10-25

申请人： Nobutoshi Torii ,  Yasuo Naito ,  Masayuki Hamura ,  Tetsuaki Kato

发明人： Nobutoshi Torii ,  Yasuo Naito ,  Masayuki Hamura ,  Tetsuaki Kato

IPC分类号： B25J9/16 ,  B25J19/06 ,  G05B19/19 ,  G05D1/02

CPC分类号： B25J19/06 ,  B25J19/063 ,  B25J9/1676

摘要： A collision detecting method is provided which is capable of promptly detecting a collision of robot operating parts driven by servomotors, e.g., robot arms, with a foreign object. Prompt detection of such collisions aids in preventing or limiting damage to a machine, etc. by the collision. A digital signal processor of an axis controller (2) of FIG. 1, as part of a software servo system, calculates a velocity command and a torque command in accordance with a movement command supplied from a main computer (1), to periodically carry out servo control for individual axes of the robot. The digital signal processor also determines whether the torque command or a velocity deviation between the velocity command and an actual velocity of a servomotor (13b) is greater than a respective predetermined value. When the torque command or velocity deviation becomes greater than the respective predetermined value, the collision detecting method determines that a collision of the robot operating part (13a) with a foreign object or the like has occurred, and the operation of the servomotor is stopped.

摘要翻译： PCT No.PCT / JP89 / 00245 Sec。 371日期：1989年10月25日 102（e）日期1989年10月25日PCT 1989年3月7日PCT公布。 出版物WO89 / 08538 日期：1989年9月21日。提供了一种碰撞检测方法，其能够及时检测由伺服电动机（例如机器人手臂）驱动的机器人操作部件与异物的碰撞。 快速检测这种碰撞有助于防止或限制碰撞对机器等造成的损坏。 图1的轴控制器（2）的数字信号处理器。 如图1所示，作为软件伺服系统的一部分，根据从主计算机（1）提供的移动指令计算速度指令和转矩指令，周期性地对机器人的各个轴进行伺服控制。 数字信号处理器还确定扭矩指令或速度指令与伺服电动机（13b）的实际速度之间的速度偏差是否大于相应的预定值。 当转矩指令或速度偏差大于相应的预定值时，碰撞检测方法确定机器人操作部件（13a）与异物等的碰撞已经发生，并且停止伺服电动机的操作。

公开(公告)号：US5111709A

公开(公告)日：1992-05-12

申请号：US589836

申请日：1990-09-26

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： B25J18/02 ,  F02B75/02

CPC分类号： B25J18/025 ,  F02B2075/025 ,  Y10T74/18672

摘要： An industrial robot with a horizontal telescopic arm unit having an arm casing horizontally slidably mounted on a vertical upright column, a telescopic arm encased in the arm casing to be telescopically moved with respect to the arm casing and in synchronism with the horizontal sliding movement of the arm casing, and a common drive motor causing the horizontal linear sliding movement of the arm casing and the telescopic movement of the telescopic arm via a rotation to linear movement converting mechanism.

摘要翻译： 一种具有水平伸缩臂单元的工业机器人，其具有水平可滑动地安装在垂直立柱上的臂壳体，包围在臂壳体中的伸缩臂相对于臂壳体可伸缩地移动并且与水平滑动运动同步 臂壳体和公共驱动马达，其使臂壳体的水平线性滑动运动和伸缩臂的伸缩运动经由旋转到线性运动转换机构。

公开(公告)号：US5075534A

公开(公告)日：1991-12-24

申请号：US571584

申请日：1990-08-29

申请人： Nobutoshi Torii ,  Hiroshi Wakio ,  Masahiro Hagihara

发明人： Nobutoshi Torii ,  Hiroshi Wakio ,  Masahiro Hagihara

IPC分类号： B23K9/095 ,  B23K9/127 ,  G01B11/00

CPC分类号： G01B11/00 ,  B23K9/0956 ,  B23K9/127 ,  B23K9/1274

摘要： An arc sensor (10) to be attached to an arc welding torch for detecting a welding spot is provided with an optical detecting system having an optical position detector (14), an objective lens (18), and a transparent objective window (20) arranged in front of the objective lens, and a plurality of arc light screening plates (22 and 24) made of an opaque material, and having a light transmitting apertures (22a and 24a), the plurality of arc light screening plates (22 and 24) being arranged in front of the transparent objective window (20) and spaced from one another for screening an arc light but permitting the detecting light beam to pass therethrough.