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公开(公告)号：US4685862A
公开(公告)日：1987-08-11
申请号：US764674
申请日：1985-08-09
申请人： Masahide Nagai , Kazutoshi Yokose
发明人： Masahide Nagai , Kazutoshi Yokose
CPC分类号： G05B19/42 , B25J19/021 , G05B2219/36431 , G05B2219/50252
摘要： An industrial robot having a controllably movable arm is taught position data for controlling the movable of the arm. A support member is provided on the arm and has a through-hole therein. First, an optical magnifying devices inserted into the through-hole for aligning the arm in a proper position so as to teach the position data to the industrial robot. Thereafter, the optical magnifying device is removed from the through-hole, and a manipulating device is inserted into the same through-hole. The manipulating device is movable together with the arm according to the taught data for sequentially manipulating workpieces.
摘要翻译： 具有可控制的可移动臂的工业机器人被教导用于控制臂的可移动的位置数据。 支撑构件设置在臂上并且在其中具有通孔。 首先，插入到通孔中的光学放大装置，用于将臂对准在适当的位置，以便将位置数据教导到工业机器人。 此后，将光学放大装置从通孔中取出，将操作装置插入同一个通孔中。 操纵装置可以根据所教导的数据与臂一起移动以顺序地操纵工件。
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公开(公告)号：US4717265A
公开(公告)日：1988-01-05
申请号：US860124
申请日：1986-05-06
申请人： Toshimi Shioda , Minoru Noda , Masahide Nagai , Masatoshi Higake , Yutaka Makishima , Kazutoshi Yokose
发明人： Toshimi Shioda , Minoru Noda , Masahide Nagai , Masatoshi Higake , Yutaka Makishima , Kazutoshi Yokose
CPC分类号： F16C29/04 , B23Q11/0025 , F16C31/04 , F16C33/306
摘要： A support mechanism for a cylindrical coordinate type industrial robot comprising a stationary upstanding tubular outer member and a displaceable inner member supported within the outer member to undergo axial displacement in upward and downward directions and angular displacement in clockwise and counterclockwise directions. The supporting mechanism includes a bearing interposed between the inner and outer members, the bearing including a retaining member rollably retaining thereon a plurality of rollable elements. An elastic balancing and restoring device for applying elastic biasing forces in opposite axial directions to the upper and lower ends of the retainer member is operative in the event the retainer member fails to maintain proportionate displacement with the inner member to temporarily increase the magnitude of the force difference between the oppositely directed elastic biasing forces in a direction effective to restore the proportionate displacement.
摘要翻译： 一种用于圆柱形坐标型工业机器人的支撑机构，其包括固定的直立的管状外部构件和支撑在外部构件内的可移动的内部构件，以在上下方向上发生轴向位移并且沿顺时针和逆时针方向发生角位移。 支撑机构包括置于内部和外部构件之间的轴承，该轴承包括可滚动地保持多个可滚动元件的保持构件。 在保持器构件不能保持与内部构件成比例位移的情况下，弹性平衡和恢复装置在与保持构件的上端和下端相反的轴向方向上施加弹性偏压力可操作，以暂时增加力的大小 反向弹性偏置力之间的差异在有效恢复比例位移的方向上。
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公开(公告)号：US4739669A
公开(公告)日：1988-04-26
申请号：US809938
申请日：1985-12-17
申请人： Kazutoshi Yokose , Yutaka Makishima , Masatoshi Higake , Toshimi Shioda , Masahide Nagai , Minoru Noda
发明人： Kazutoshi Yokose , Yutaka Makishima , Masatoshi Higake , Toshimi Shioda , Masahide Nagai , Minoru Noda
CPC分类号： B25J9/108 , B23Q5/404 , B25J18/025 , F16H25/20 , F16H2025/2081 , F16H25/2204 , Y10T74/18656 , Y10T74/1868
摘要： A driving apparatus for effecting linear movement of an industrial robot comprises a slide member axially slidably disposed within a frame, a ball nut secured to the slide member and a ball screw threaded through the ball nut and rotationally driven relative to the ball nut to effect linear movement of the ball nut along the ball screw accompanied by linear movement of the slide shaft. A bracket is adjustably mounted on the frame for rotatably supporting the shaft of the ball screw. The bracket can be displaced relative to the frame in the transverse direction of the slide member to align the axis of the ball screw with the axis of the slide member during assembly of the apparatus. A thrust bearing is disposed between the shaft of the ball screw and the bracket to absorb radial displacement and strain of the ball screw shaft.
摘要翻译： 用于实现工业机器人的线性运动的驱动装置包括轴向可滑动地设置在框架内的滑动构件，固定到滑动构件的滚珠螺母和穿过滚珠螺母的滚珠丝杠，并且相对于滚珠螺母旋转驱动以实现线性 滚珠螺母沿着滚珠丝杠的运动伴随着滑动轴的线性运动。 支架可调节地安装在框架上，用于可旋转地支撑滚珠丝杠的轴。 支架可以在滑动构件的横向方向上相对于框架移位，以在组装装置期间使滚珠丝杠的轴线与滑动构件的轴线对准。 推力轴承设置在滚珠丝杠的轴与支架之间，以吸收滚珠丝杠轴的径向位移和应变。
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公开(公告)号：US4692881A
公开(公告)日：1987-09-08
申请号：US917244
申请日：1986-10-07
申请人： Tsutomu Miyata , Masahide Nagai
发明人： Tsutomu Miyata , Masahide Nagai
CPC分类号： B07C5/34 , G06T7/001 , G06T7/004 , G06T2207/30164
摘要： Parts in a desired attitude are selected, by memorizing the standard shape signal of a certain part and comparing the shape signals of supplied parts on the parts feeder with the memorized shape signal. A plurality of light emitting elements provided on the track of the parts feeder detect the shape signal of the parts serially.
摘要翻译： 通过记忆特定部分的标准形状信号并将部件馈送器上的供给部件的形状信号与存储的形状信号进行比较来选择期望姿态的部件。 设置在部件供给器的轨道上的多个发光元件串行地检测部件的形状信号。
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公开(公告)号：US5102289A
公开(公告)日：1992-04-07
申请号：US351762
申请日：1989-05-15
申请人： Norio Yokoshima , Masahide Nagai , Akira Shimada
发明人： Norio Yokoshima , Masahide Nagai , Akira Shimada
CPC分类号： F16F7/108 , B25J19/0091
摘要： A damper device for a precision assembling robot is capable of dampening the residual vibrations of the robot arm resulting from a lack of rigidity of the arm. The damper device is fixed to the tip of the robot arm to absorb the vibration energy of the swinging robot arm. The damper device includes a cylindrical weight member and a columnar rubber member. The damper device further includes a metallic rod inserted in the columnar rubber member. The length and position of the inserted metallic rod controls the dampening factor of the damper device. Therefore, the precision assembling robot with the damper device is capable of preventing a failure of assembly due to positioning errors resulting from residual vibrations, or nonconformities due to the impact of the robot arm against an object.
摘要翻译： 用于精密组装机器人的阻尼器装置能够抑制由于臂的刚性而导致的机器人手臂的残余振动。 阻尼器装置固定在机器人臂的末端，以吸收摆动机器人手臂的振动能量。 阻尼器装置包括圆柱形配重构件和柱状橡胶构件。 阻尼装置还包括插入柱状橡胶构件的金属杆。 插入的金属杆的长度和位置控制阻尼器装置的阻尼系数。 因此，具有阻尼装置的精密组装机器人能够防止由于由于机器人手臂对物体的冲击而导致的由残余振动引起的定位误差或不整合而导致的组装失败。
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公开(公告)号：US5002242A
公开(公告)日：1991-03-26
申请号：US355550
申请日：1989-05-23
申请人： Masahide Nagai
发明人： Masahide Nagai
CPC分类号： B25J19/0025 , B25J17/0241 , B25J18/02 , Y10S414/131
摘要： An industrial robot having an expansion axis, a turning axis and a vertical axis, wherein the one end of flexible supporting plate supporting an internal wiring and piping system of the robot is fixed to the expansion axis which is capable of making free linear motion for a base plate arranged to the vertical axis. The flexible supporting plate is bent in the form of letter U in parallel to the turning plane of the expansion axis. Therefore, the expansion axis can be located at the sufficient lower position for the base plate, and the strength and accuracy of the drive mechanism can be improved.
摘要翻译： 一种具有伸长轴，转动轴和垂直轴的工业机器人，其中支撑机器人的内部布线和管道系统的柔性支撑板的一端被固定到能够自由线性运动的伸展轴上 基板布置成垂直轴。 柔性支撑板以与膨胀轴的转动平面平行的字母U的形式弯曲。 因此，膨胀轴可以位于底板的足够的下部位置，并且可以提高驱动机构的强度和精度。
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公开(公告)号：US4701100A
公开(公告)日：1987-10-20
申请号：US764676
申请日：1985-08-09
申请人： Masahide Nagai , Minoru Noda , Hitoshi Suzuki
发明人： Masahide Nagai , Minoru Noda , Hitoshi Suzuki
IPC分类号： B25J9/02
CPC分类号： B25J9/023 , Y10S384/912
摘要： An industrial robot has a head movable in first and second orthogonal directions within a working area to manipulate a workpiece. The industrial robot comprises a stationary base extending along the first direction, an intermediary base slidably disposed on the stationary base to move along the first direction, and a slider slidably disposed on the intermediary base and to move along the second direction. The slider has a supporting portion which extends towards the working area and which supports the head thereon so that the supporting portion positions the head within the working area remotely from the stationary base and the intermediary base.
摘要翻译： 工业机器人具有可在工作区域内的第一和第二正交方向上移动的头部，以操纵工件。 工业机器人包括沿着第一方向延伸的固定基座，可滑动地设置在固定基座上以沿着第一方向移动的中间基座和可滑动地设置在中间基座上并沿着第二方向移动的滑块。 滑块具有支撑部分，该支撑部分朝向工作区域延伸并且在其上支撑头部，使得支撑部分将头部远离固定基座和中间基座定位在工作区域内。
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