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：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。

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：US5296671A

公开(公告)日：1994-03-22

申请号：US930525

申请日：1992-09-30

申请人： Nobutoshi Torii ,  Akihiro Terada ,  Yasuo Sasaki

发明人： Nobutoshi Torii ,  Akihiro Terada ,  Yasuo Sasaki

IPC分类号： B23K26/08 ,  B23K26/10 ,  B25J17/02

CPC分类号： B23K26/0884

摘要： A piping arrangement in which a plurality of sealing means (70 through 78) are arranged on a sheathing pipe (42) provided as an outer pipe of a robot wrist (18) of a laser robot to thereby define annular chambers (84 through 90); the annular chamber (86 and 90) being used as a gas-carrying annular chamber for transferring an assist gas from one line to another, and a liquid-carrying chamber for transferring a liquid coolant from one line to another; the assist gas and the liquid coolant being supplied and returned through the gas-carrying annular chamber and the liquid-carrying annular chamber (84 and 90). Pipes (22, 24, 26, and 28) are arranged close to and along the outer surfaces of a robot forearm (16) and the robot wrist (18), and predetermined annular chambers (84, 88) other than the gas-carrying annular chamber (86) and the liquid-carrying annular chamber (90) being used as pressure chambers provided with sealing means (70 through 78) arranged thereamong, to thereby prevent leakage of the assist gas from the gas-carrying annular chamber and leakage of the liquid coolant from the liquid-carrying annular chamber.

摘要翻译： PCT No.PCT / JP92 / 00093 Sec。 371日期：1992年9月30日 102（e）1992年9月30日PCT提交1992年1月30日PCT公布。 公开号WO92 / 13669 日期：1992年8月20日。一种管道装置，其中多个密封装置（70至78）布置在设置为激光机器人的机器人手腕（18）的外管的护套管（42）上，从而限定 环形室（84至90）; 环形室（86和90）用作用于将辅助气体从一条线路传送到另一条线路的气体输送环形室，以及用于将液体冷却剂从一条线路转移到另一条线路的液体输送室; 辅助气体和液体冷却剂通过气体输送环形室和液体输送环形室（84和90）被供给和返回。 管道（22,24,26和28）靠近并沿着机器人前臂（16）和机器手腕（18）的外表面布置，以及预定的环形室（84,88），除了气体承载 环形室86和液体输送环状室90被用作设置有密封装置70〜78的压力室，从而防止辅助气体从气体输送环状室泄漏，泄漏 来自液体携带环形室的液体冷却剂。

公开(公告)号：US5185512A

公开(公告)日：1993-02-09

申请号：US720821

申请日：1991-07-15

申请人： Nobutoshi Torii ,  Susumu Ito ,  Akihiro Terada ,  Yasuo Sasaki

发明人： Nobutoshi Torii ,  Susumu Ito ,  Akihiro Terada ,  Yasuo Sasaki

IPC分类号： B23K26/08 ,  B23K26/10 ,  B23K26/42 ,  B25J19/00

CPC分类号： B23K26/0884 ,  B23K26/703 ,  B25J19/00 ,  B25J19/0054

摘要： A heat eliminator intercepts a heat transmission in a laser robot which has a robot base (12), a robot arm (16) joined for swing motion to a robot swivel post (14) set upright on the robot base (12), a laser beam projecting unit (20) attached to an extreme end of the robot arm (16), and a drive motor (Mv) for driving the robot arm (16) for a swing motion through a precision transmission mechanism (30, 32, 34) inserted between the robot swivel post and the robot arm, from the drive motor to the precision transmission mechanism. The heat eliminator is provided with a bracket member (26) arranged between the precision transmission mechanism (30, 32, 34) and the drive motor (Mv) with one end in contact with the end surface of the drive motor on the side of the output shaft thereof and the other end in contact with the precision transmission mechanism, and an annular cooling water passage (50) formed in the bracket member (26). Cooling water is supplied into the annular cooling water passage (50) formed in the bracket member (26) from a cooling water source (70) for supplying cooling water to the laser beam conduit lines of the robot arm (16) to cool the bracket member (26) to absorb heat generated by the drive motor (Mv) by the bracket member (26), so that the heat transmission to the precision transmission mechanism (30, 32, 34) is intercepted.

摘要翻译： PCT No.PCT / JP90 / 01627 Sec。 371日期1991年7月15日 102（e）日期1991年7月15日PCT 1990年12月12日PCT PCT。 公开号WO91 / 08858 日期：1991年6月27日。一种除热器拦截了具有机器人基座（12）的机器人基座（12），机器人手臂（16），用于摆动运动的机器人旋转支架（14）上的热传递。 基座（12），安装在机器人手臂（16）的前端的激光束投影单元（20），以及用于通过精密传动机构驱动机器人手臂（16）进行摆动的驱动马达（Mv） （30,32,34），其从所述驱动马达到所述精密传动机构插入所述机器人旋转柱和所述机器人手臂之间。 除热器设置有布置在精密传动机构（30,32,34）和驱动马达（Mv）之间的托架构件（26），其一端与驱动马达的端面相接触 输出轴，另一端与精密传动机构接触，以及形成在支架构件（26）中的环形冷却水通道（50）。 冷却水从用于向机器人手臂（16）的激光束导管供给冷却水的冷却水源（70）供给到形成在支架构件（26）中的环形冷却水通道（50）中，以冷却支架 构件（26），用于吸收由支架构件（26）由驱动电动机（Mv）产生的热量，使得对精密传动机构（30,32,34）的传热被截断。

公开(公告)号：US5140129A

公开(公告)日：1992-08-18

申请号：US668498

申请日：1991-03-18

申请人： Nobutoshi Torii ,  Susumu Ito ,  Akihiro Terada

发明人： Nobutoshi Torii ,  Susumu Ito ,  Akihiro Terada

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

CPC分类号： B23K26/0884 ,  B25J19/0037

摘要： A laser beam passage (10) arranged outside a robot unit of a multi-articulated arm type industrial laser robot has a base (71), a swivel body (72), a first robot arm (74) supported for swing motion, a second robot arm (76) pivotally joined to the first robot arm (74), and a robot wrist (80) attached to an front end of the second robot arm (76) and provided with a laser beam emitting head (79) to connect a laser oscillator (12) to a laser beam receiving unit (77) provided on a rear end of the second robot arm (76). The laser beam passage means (10) has a first laser beam shifting system (20) routing a laser beam emitted by the laser oscillator (12) to an extremity thereof, and having a plurality of rotary joints (R.sub.1, R.sub.2), one telescopic linear-motion joint (S.sub.1), a plurality of laser beam conduits (24, 26) and built-in laser beam reflecting mirrors (25, 27); and a second laser beam shifting system (30) routing the laser beam from the extremity of the first laser beam shifting system (20) toward the laser beam receiving unit (77) attached to the rear end of the second robot arm (76), and having a plurality of rotary joints (R.sub.4 to R.sub.6), a plurality of laser beam conduits (32, 35, 37) and built-in laser beam reflecting mirrors (34, 36).

摘要翻译： PCT No.PCT / JP90 / 00920 Sec。 371日期1991年3月18日 102（e）1991年3月18日PCT PCT 1990年7月17日PCT公布。 公开号WO91 / 01194 日本专利公报2001年2月7日。一种设置在多关节臂式工业激光机器人的机器人单元外侧的激光束通路（10）具有基座（71），旋转体（72），第一机器人手臂（74） 支撑摆动运动的第二机器人臂（76）和枢轴连接到第一机器人手臂（74）的第二机器人手臂（76）和安装在第二机器人手臂（76）前端的机械手腕（80） 头部（79）将激光振荡器（12）连接到设置在第二机器人臂（76）的后端上的激光束接收单元（77）。 激光束通道装置（10）具有将由激光振荡器（12）发射的激光束路由到其末端的第一激光束移动系统（20），并且具有多个旋转接头（R1，R2），一个伸缩 线性运动接头（S1），多个激光束导管（24,26）和内置的激光束反射镜（25,27）; 以及将激光束从第一激光束移动系统（20）的末端引导到附接到第二机器人臂（76）的后端的激光束接收单元（77）的第二激光束移动系统（30） 并具有多个旋转接头（R4〜R6），多个激光束导管（32,35,37）和内置激光束反射镜（34,36）。