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    Direct-drive-type multi-articulated robot
    1.
    发明授权
    Direct-drive-type multi-articulated robot 失效
    直驱型多关节机器人

    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).

    Method of directly teaching a horizontal arm type multi-articulated robot and an apparatus for carrying out same
    2.
    发明授权
    Method of directly teaching a horizontal arm type multi-articulated robot and an apparatus for carrying out same 失效
    直接教导水平臂式多关节机器人的方法及其执行装置

    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.

    Method of and apparatus for ascertaining motion abilities of industrial robot
    5.
    发明授权
    Method of and apparatus for ascertaining motion abilities of industrial robot 失效
    确定工业机器人运动能力的方法和装置

    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。

    Arm structure for an industrial robot
    6.
    发明授权
    Arm structure for an industrial robot 失效
    工业机器人臂结构

    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.

    Industrial robot of the articulated arm type
    7.
    发明授权
    Industrial robot of the articulated arm type 失效
    铰接臂式工业机器人

    公开(公告)号：US4637773A

    公开(公告)日：1987-01-20

    申请号：US691301

    申请日：1984-12-31

    申请人： Seiichiro Nakashima ,  Kenichi Toyoda ,  Nobutoshi Torii ,  Ryo Nihei

    发明人： Seiichiro Nakashima ,  Kenichi Toyoda ,  Nobutoshi Torii ,  Ryo Nihei

    IPC分类号： B25J17/00 ,  B25J9/10 ,  B25J17/02 ,  B25J9/00

    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。

    Cable guiding apparatus for industrial robot
    8.
    发明授权
    Cable guiding apparatus for industrial robot 失效
    工业机器人电缆导引装置

    公开(公告)号：US4906121A

    公开(公告)日：1990-03-06

    申请号：US93021

    申请日：1987-08-05

    申请人： Nobutoshi Torii ,  Ryo Nihei ,  Hitoshi Mizuno

    发明人： Nobutoshi Torii ,  Ryo Nihei ,  Hitoshi Mizuno

    IPC分类号： B25J9/06 ,  B25J19/00 ,  H02G11/00

    CPC分类号： B25J19/0029 ,  Y10T403/32213 ,  Y10T403/32557 ,  Y10T403/32975

    摘要： A cable arranging device for an industrial robot has a cylindrical support casing (2), a swing casing (3) supported on the support casing (2) and swingable about the axis of a swing shaft, and cables (5) interconnecting the swing casing (3) and the support casing (2). One end of a substantially C-shaped cable guide (4) is pivotally supported in the swing casing on the axis of the swing shaft, the other end of the cable guide is pivotally supported in the support casing on the axis of the swing shaft. Spaces for allowing the cable guide (4) to swing therein through a prescribed angle are defined respectively in the swing casing (3) and the support casing (2).

    Industrial robot with replaceable module
    9.
    发明授权
    Industrial robot with replaceable module 失效
    具有可更换模块的工业机器人

    公开(公告)号：US4829840A

    公开(公告)日：1989-05-16

    申请号：US50302

    申请日：1987-06-11

    申请人： Nobutoshi Torii ,  Ryo Nihei

    发明人： Nobutoshi Torii ,  Ryo Nihei

    IPC分类号： B25J9/06 ,  B23Q37/00 ,  B25J9/04 ,  B25J9/08 ,  B25J18/02

    CPC分类号： B23Q37/00 ,  B25J18/025 ,  B25J9/042 ,  B25J9/08 ,  Y10T74/20207 ,  Y10T74/20317

    摘要： An industrial robot having replaceable modules assembled on a bed (2) housing a drive mechanism therein is composed of blocks (1, 3, 4, 5, 9) which comprise members of compatible common structures that can be selected and assembled as modules. The blocks have engagement portions compatible with those of modules of other specifications. Therefore, different robot specifications can easily be met, and the modules can be replaced with those modules which are effective in a wide range. The blocks of the industrial robot can easily be assembled and disassembled.

    摘要翻译： PCT No.PCT / JP86 / 00467 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11日PCT公布。 出版物WO87 / 01644 日期：1987年3月26日。具有组装在其上容纳驱动机构的床（2）上的可更换模块的工业机器人由块（1,3,4,5,9）组成，其包括可兼容的共同结构的构件 选择和组装为模块。 这些块具有与其他规格的模块兼容的接合部分。 因此，可以容易地满足不同的机器人规格，并且可以用在广泛范围内有效的那些模块来代替模块。 工业机器人的块可以轻松组装和拆卸。

    Adaptive PI control system
    10.
    发明授权
    Adaptive PI control system 失效
    自适应PI控制系统

    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。