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公开(公告)号：USD280203S
公开(公告)日：1985-08-20
申请号：US482189
申请日：1983-04-05
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公开(公告)号：US4610598A
公开(公告)日：1986-09-09
申请号：US527863
申请日：1983-08-30
CPC分类号： B25J9/044 , B25J19/0029 , B25J9/042 , B25J9/1045
摘要： An industrial robot comprising: a base; a stand rigidly erected on the base; a shoulder securely mounted on the stand; a first arm consisting of upper and lower levers with the base portion pivoted to the shoulder so that the arm can be turned about a first vertical axis; a second arm having its one end pivoted to the other end of the first arm between the upper and lower levers so that the second arm can be turned about a second vertical axis; a vertically movable shaft so supported by the second arm as to allow the linear movement of the shaft along a third vertical axis; a rack parallel to the vertically movable shaft; a guide means for guiding the rack relative to the second arm in only the vertical direction; a coupling means for connecting the vertically movable shaft and the rack at their both ends; a first drive means secured to the shoulder to rotate, through a first power transmission means, the first arm about the first vertical axis; a second drive means secured to the shoulder to rotate, through a second power transmission means, the second arm about the second vertical axis; and a third drive means secured to the second arm to drive the rack in vertical direction through a third power transmission means.
摘要翻译： 一种工业机器人，包括：基座; 在基地上竖立的立场; 一个牢固地安装在支架上的肩膀; 第一臂由上下杆构成，其中基部枢转到肩部，使得臂能够围绕第一垂直轴线转动; 第二臂，其一端枢转到第一臂的另一端在上下杆之间，使得第二臂能绕第二垂直轴转动; 一个由第二臂支撑的可垂直移动的轴，以允许轴沿着第三垂直轴的直线运动; 平行于垂直移动轴的齿条; 用于仅在垂直方向上相对于第二臂引导齿条的引导装置; 用于在其两端连接可垂直移动的轴和齿条的联接装置; 第一驱动装置，其通过第一动力传递装置固定到所述肩部以使所述第一臂围绕所述第一竖直轴线旋转; 通过第二动力传递装置固定到肩部以使第二臂围绕第二垂直轴线旋转的第二驱动装置; 以及第三驱动装置，其固定到所述第二臂，以通过第三动力传递装置在垂直方向上驱动所述齿条。
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公开(公告)号：US4594671A
公开(公告)日：1986-06-10
申请号：US458998
申请日：1983-01-18
IPC分类号： B25J9/16 , B25J9/18 , B25J13/08 , G05B19/416 , G05B19/407 , B25J9/00 , G05B11/32
CPC分类号： G05B19/416 , G05B2219/43188 , G05B2219/43203
摘要： A method of controlling an industrial robot wherein velocities of the actuators for the robot are based on the velocity of a robot hand moving along a predetermined path of travel. When the velocity of any single actuator exceeds its ability, the velocities of the actuators are revised so as to bring the velocities of all the actuators within their abilities, thereby revising the velocity of the robot hand along its path of travel. Calculation of the velocity of each actuator may be carried out based on the position and posture of the robot hand and a Jacobian matrix.
摘要翻译： 一种控制工业机器人的方法，其中用于机器人的致动器的速度基于沿着预定行进路径移动的机器人手的速度。 当任何单个致动器的速度超过其能力时，执行器的速度被修正，以便使所有致动器的速度达到其能力，从而修正机器人手沿其行进路径的速度。 可以基于机器人手和雅可比矩阵的位置和姿态来执行每个致动器的速度的计算。
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公开(公告)号：US4674947A
公开(公告)日：1987-06-23
申请号：US777289
申请日：1985-09-18
CPC分类号： B25J9/044 , B25J9/042 , B25J9/1065
摘要： There is disclosed in this application an industrial robot comprising: a first arm pivotally supported at its one end for rotation around a first axis; a second arm pivotally supported at its one end by the other end of the first arm for rotation around a second axis parallel to the first axis; a wrist mechanism carried by the free end of the second arm and having at least one degree of freedom; and driving motors for driving the first arm, the second arm and the wrist mechanism, respectively; wherein at least one of the first arm and the second arm is connected to the drive motor through a double link mechanism having a phase difference.
摘要翻译： 在本申请中公开了一种工业机器人，其包括：第一臂，其一端枢转地支撑，以围绕第一轴线旋转; 第二臂在其一端处由第一臂的另一端枢转地支撑，以围绕平行于第一轴线的第二轴线旋转; 由第二臂的自由端承载并具有至少一个自由度的手腕机构; 以及用于分别驱动第一臂，第二臂和手腕机构的驱动马达; 其中所述第一臂和所述第二臂中的至少一个通过具有相位差的双连杆机构连接到所述驱动马达。
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