公开(公告)号：US4903539A

公开(公告)日：1990-02-27

申请号：US275180

申请日：1988-09-27

申请人： Kenichi Toyoda ,  Nobutoshi Torii ,  Ryo Nihei ,  Akihiro Terada ,  Jun Kikuchi

发明人： Kenichi Toyoda ,  Nobutoshi Torii ,  Ryo Nihei ,  Akihiro Terada ,  Jun Kikuchi

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

CPC分类号： B25J19/0004 ,  B25J9/042 ,  B25J9/126 ,  Y10T74/20305

摘要： A direct-drive-type multi-articulated robot comprising: a stationary support shaft (14), a cylindrical rotary casing (16) surrounding the stationary support shaft (14), a first robot arm (18) joined to the upper end (16a) of the rotary casing (16), a second robot arm (20) pivotally joined to the extremity of the first robot arm (18), a direct-drive motor (M.theta.) interposed between the lower end of the rotary casing (16) and the lower end of the stationary support shaft (14) to drive the rotary casing (16) and the first robot arm (18) together for turning motion, a brake gear (24) interposed between the upper end (14a) of the stationary support shaft (14) and the first robot arm (18) to arrest the turning motion of the first robot arm (18), and an encoder (26) for detecting turning motion, interposed between the upper end (14a) of the stationary support shaft (14) and the first robot arm (18).

公开(公告)号：US4984175A

公开(公告)日：1991-01-08

申请号：US347965

申请日：1989-02-10

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 ,  B25J9/12 ,  B25J9/22 ,  G05B19/423

CPC分类号： B25J9/044 ,  B25J9/042 ,  B25J9/12 ,  G05B19/423 ,  G05B2219/36422 ,  G05B2219/36429

摘要： An articulated industrial robot has an articulated horizontal arm assembly which includes horizontal arms (20), a vertically movable shaft (20) mounted on the extremity of the horizontal arm assembly, and a motor for driving the vertically movable shaft. When directly teaching motions to the vertically movable shaft through a direct teaching operation by an operator, the current control unit of a motor control unit for driving the motor for driving the vertically movable shaft is disconnected from a signal line connected to a robot control unit, and a torque calculating circuit is provided for deciding a motor torque corresponding to the sum of the weight of the vertically movable shaft and the respective variable weights of an end effector attached to the lower end of the vertically movable shaft. A workpiece held by the end effector is connected to the current control unit to compensate the load torque of the vertically movable shaft with the torque of the motor so that the operator is able to carry out the direct teaching operation while substantially no load is imposed on the operator.

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.

公开(公告)号：US4970448A

公开(公告)日：1990-11-13

申请号：US408512

申请日：1989-08-23

申请人： Nobutoshi Torii ,  Ryo Nihei ,  Akihiro Terada

发明人： Nobutoshi Torii ,  Ryo Nihei ,  Akihiro Terada

IPC分类号： B25J19/02 ,  B25J19/06 ,  G05B19/18 ,  G05B19/19 ,  G05B19/4062

CPC分类号： G05B19/4062 ,  G05B2219/35402 ,  G05B2219/37285 ,  G05B2219/45083

摘要： In an industrial robot employing electric motors (Mz, M.theta., Mu, Mw) as drive sources for driving functional robot units for movement respectively about articulatory axes (Z, .theta., U, W), electric drive currents supplied to the electric motors (Mz, M.theta., Mu, Mw) associated with the articulatory axes (Z, .theta., U, W) are detected by a current detecting unit (30), the detected electric drive current supplied to the electric motor (Mz, M.theta., Mu, Mw) associated with one selected articulatory axis among the articulatory axes (Z, .theta., U, W) is sampled every predetermined minute sampling time in a period between a first time and a second time in a robot control program for controlling the motions of the functional robot units respectively about the articulatory axes (Z, .theta., W), computing means (CPU) calculates the ratio of the root-mean-square value of the electric current supplied to the electric motor (Mz, M.theta., Mu, Mw) in the period between the first time and the second time to the rated current of the same electric motor, the root-mean-square values ratios each of the root-mean-square value to the rated current are displayed on a display (40 ) to enable an operator to ascertain the propriety of the motions of the functional robot units (16, 18, 20, 22, 24,) including robot arms.

摘要翻译： PCT No.PCT / JP89 / 00017 Sec。 371日期1989年8月23日 102（e）日期1989年8月23日PCT提交1989年1月9日PCT公布。 出版物WO89 / 06182 日期：1989年7月13日。在使用电动机（Mz，Mθ，Mu，Mw）的工业机器人作为用于驱动功能性机器人单元的驱动源，分别绕着关节轴（Z，θ，U，W），电驱动 提供给与发音轴（Z，θ，U，W）相关联的电动机（Mz，Mθ，Mu，Mw）的电流由电流检测单元（30）检测，检测到的电驱动电流被提供给电 在发音轴（Z，θ，U，W）中与一个选定的发音轴相关联的电动机（Mz，Mθ，Mu，Mw）在每个预定的微小采样时间在第一时间和第二时间之间的时段内被采样 机器人控制程序用于分别控制功能机器人单元关于发音轴（Z，θ，W）的运动，计算装置（CPU）计算提供给电动机的电流的均方根值的比率 （Mz，M theta，Mu，Mw）在f 第一次和第二次达到相同电动机的额定电流，将均方根值与额定电流的均方根值进行比较，显示在显示器（40）上，以使操作者能够 确定包括机器人手臂的功能机器人单元（16,18,20,22,24）的运动的适当性。

公开(公告)号：US4859139A

公开(公告)日：1989-08-22

申请号：US162387

申请日：1988-02-01

申请人： Nobutoshi Torii ,  Ryo Nihei ,  Akihiro Terada

发明人： Nobutoshi Torii ,  Ryo Nihei ,  Akihiro Terada

IPC分类号： B25J9/06 ,  B25J9/00 ,  B25J9/04 ,  B25J18/00

CPC分类号： B25J9/0009 ,  B25J18/00 ,  B25J9/042 ,  Y10T74/20 ,  Y10T74/20207

摘要： An arm structure for an industrial robot, comprising a first robot arm (16) supported on top of a vertical robot shaft (14), and a second robot arm (20) pivotally joined through a transmission-reduction gear box (18) to the free end of the first robot arm (16). A plurality of coupling bolts (22) are extended through the interior of the first robot arm (16), each coupling bolt (22) has one end (22b) fastened to the flange (18b) of the transmission-reduction gear box (18) and the other end (22a) projecting from and fastened to the rear end of the first robot arm (16). Fastening nuts (24) each engage at least one end (22a or 22b) of each coupling bolt (22) to couple the first robot arm (16) and the transmission-reduction gear box (18) so as to preload the first robot arm (16) by a compressive force.

公开(公告)号：US4907467A

公开(公告)日：1990-03-13

申请号：US246825

申请日：1988-08-12

申请人： Kenichi Toyoda ,  Nobutoshi Toril ,  Ryo Nihei ,  Akihiro Terada

发明人： Kenichi Toyoda ,  Nobutoshi Toril ,  Ryo Nihei ,  Akihiro Terada

IPC分类号： B25J9/06 ,  B25J9/04 ,  B25J19/00 ,  H02K7/102 ,  H02K7/20

CPC分类号： B25J9/042 ,  B25J19/0004 ,  Y10T74/20317

摘要： Provided is a compact first arm (12) of an industrial robot having articulated horizontal arms, which first arm has a direct drive motor (19), an electromagnetic brake (25), and a rotary encoder (34, 36) disposed close to each other concentrically between the first arm (12) and a base post (10) supporting the first arm (12), and has another direct drive motor (39), another electromagnetic brake (45), and another rotary encoder (54, 56) disposed close to each other concentrically between the first arm (12) and a second arm (14) rotatably supported by the first arm (12).

公开(公告)号：US5233202A

公开(公告)日：1993-08-03

申请号：US867107

申请日：1992-07-02

申请人： Nobutoshi Torii ,  Akihiro Terada

发明人： Nobutoshi Torii ,  Akihiro Terada

IPC分类号： B23K26/04 ,  B23K26/08 ,  B23K26/10

CPC分类号： B23K26/0884 ,  B23K26/04 ,  B23K26/043

摘要： When an adjustment of an optical path followed by a laser beam is performed by using an adjusting laser beam emitted by a laser oscillating source to obtain a condition such that the laser beam introduced in a robot unit of a laser robot is correctly directed to a light condensing device (36) provided at an extremetity of the robot unit after changing the direction thereof due to a reflection by light reflecting mirrors arranged at respective joints in the robot unit, a position of the optical path of the adjusting laser beam projected by the light condensing device (36) in the interior of the robot unit (30) is detected by an optical sensor (46), and a different position of the optical path of the adjusting laser beam is simultaneously detected by a separate optical sensor (45) arranged at a position on the optical path for the laser beam located upstream with respect to the light condensing device (36), and an adjustment is carried out so that the center of movement of each of the joints of the robot unit (30) is in alignment with the optical path to be followed by the laser beam when detected at the two detecting positions.

公开(公告)号：US5225648A

公开(公告)日：1993-07-06

申请号：US772361

申请日：1991-11-06

申请人： Nobutoshi Torii ,  Susumu Ito ,  Akihiro Terada ,  Toshihiko Inoue

发明人： Nobutoshi Torii ,  Susumu Ito ,  Akihiro Terada ,  Toshihiko Inoue

IPC分类号： B23K26/08 ,  B23K26/10 ,  B25J19/00

CPC分类号： B23K26/0884 ,  B25J19/0029 ,  B25J19/0037

摘要： An industrial robot provided with a cable arrangement system in which a hollow shaft (3) is arranged to extend vertically from a robot base (1) into a rotational trunk (2) about a rotational axis thereof, and a plurality of cables (7) are arranged to be spaced from one another around the outer periphery of the hollow shaft (3) by cable clamps (4) mounted on the outer periphery of the hollow shaft (3) and having a plurality of cable receiving grooves (41).

公开(公告)号：US4916636A

公开(公告)日：1990-04-10

申请号：US49860

申请日：1987-06-11

申请人： Nobutoshi Torii ,  Susumu Ito ,  Akihiro Terada

发明人： Nobutoshi Torii ,  Susumu Ito ,  Akihiro Terada

IPC分类号： B25J9/16 ,  B25J9/18 ,  B25J13/00 ,  G05B19/416

CPC分类号： G05B19/416 ,  G05B2219/43061

摘要： A system for controlling acceleration and deceleration of a horizontally articulated robot computes the distance from the center of rotation of the robot (A) having a plurality of arms (3, 5) angularly movable in horizontal planes to a reference position such as a wrist (51) at the distal end of the arms (3, 5), and establishes an acceleration for the movement of the distal end of the arms (3, 5). A servomotor for angularly moving the arms (3,5) can effectively be utilized and the arms (3, 5) can quickly and smoothly be moved.

公开(公告)号：US4565400A

公开(公告)日：1986-01-21

申请号：US605027

申请日：1984-04-10

申请人： Seiichiro Nakashima ,  Nobutoshi Torii ,  Akihiro Terada

发明人： Seiichiro Nakashima ,  Nobutoshi Torii ,  Akihiro Terada

IPC分类号： B25J15/08 ,  B23Q7/04 ,  B25J15/00 ,  B25J15/02 ,  B25J15/04

CPC分类号： B25J15/04 ,  B25J15/0052 ,  B25J15/0213

摘要： A double hand for an industrial robot comprises a hand body, two sets of work clamping units and two sets of actuators to drive the work clamping units, respectively, for opening and closing motions. The hand body has a rear end attachable to the free end of the robot wrist of an industrial robot, a front end and opposite sides extending between the front end and the rear end. Each work clamping unit has a pair of gripping fingers and the pairs of gripping fingers of the two sets of work gripping units are supported pivotally at the roots thereof on the opposite sides of the hand body for turning motion. The paired gripping fingers are turned about the respective roots thereof in opposite directions by the associated actuator.

摘要翻译： PCT No.PCT / JP83 / 00262 Sec。 371日期1984年4月10日 102（e）日期1984年4月10日PCT提交1983年8月11日PCT公布。 出版物WO84 / 00713 1984年3月1日。工业机器人的双手包括手柄，两套夹紧装置和两套执行器，用于分别驱动夹紧装置，用于打开和关闭运动。 手柄具有可连接到工业机器人的机器人手腕的自由端的后端，前端和在前端和后端之间延伸的相对侧。 每个工件夹紧单元具有一对夹持指状物，并且两组夹紧单元的夹持爪对在其根部处可旋转地支撑在手柄的相对侧上，用于转动。 成对的夹持爪通过相关联的致动器在相反的方向围绕其相应的根部转动。