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：US5282390A

公开(公告)日：1994-02-01

申请号：US867694

申请日：1992-07-07

申请人： Nobutoshi Torii ,  Akihiro Terada ,  Yasuo Sasaki

发明人： Nobutoshi Torii ,  Akihiro Terada ,  Yasuo Sasaki

IPC分类号： B25J9/06 ,  B25J9/10 ,  B25J19/00 ,  F16H1/18

CPC分类号： B25J9/102 ,  B25J19/00 ,  B25J19/0054 ,  Y10T74/18712 ,  Y10T74/19991 ,  Y10T74/20305 ,  Y10T74/2189

摘要： A cooling means for removing heat generated in a portion of a solid ball-and-screw shaft (27) provided for a screw mechanism accommodated in an industrial robot and engaged with a linear motion nut (28) accommodated in the linear motion mechanism. The cooling means permits a cooling medium, typically cooling air, to flow through a cooling medium passage (33) formed in an unthreaded end portion of the shaft (27) and having an end connected to a rotative drive motor (M), to flow through a radial hole (34) having one end connected to the cooling medium passage (33) and the other end opening into an annular space surrounding an external surface of the shaft formed with a screw thread (27a), and to flow through the annular space along the surface of the threaded portion of the shaft (27), to thereby remove heat generated at the threaded portion engaged with the linear motion nut (28).

摘要翻译： PCT No.PCT / JP91 / 01493 Sec。 371日期：1992年7月7日 102（e）日期1992年7月7日PCT 1991年10月31日PCT。一种冷却装置，用于除去设置在容纳在工业机器人中的螺杆机构的实心滚珠丝杠轴（27）的一部分中产生的热量 并且与容纳在直线运动机构中的直线运动螺母（28）接合。 冷却装置允许冷却介质（通常为冷却空气）流过形成在轴（27）的无螺纹端部中的冷却介质通道（33），并且具有连接到旋转驱动马达（M）的端部以流动 通过径向孔（34），其一端连接到冷却介质通道（33），另一端开口形成围绕形成有螺纹（27a）的轴的外表面的环形空间，并且流过环形 沿着轴（27）的螺纹部分的表面的空间，从而消除在与直线运动螺母（28）接合的螺纹部分处产生的热量。

公开(公告)号：US5093552A

公开(公告)日：1992-03-03

申请号：US635492

申请日：1991-01-02

申请人： Nobutoshi Torii ,  Susumu Ito ,  Akihiro Terada

发明人： Nobutoshi Torii ,  Susumu Ito ,  Akihiro Terada

IPC分类号： B25J19/06 ,  B23K26/08 ,  B23K26/10 ,  B23K26/42 ,  G05B19/4063 ,  H01S3/104

CPC分类号： B23K26/0884 ,  B23K26/702 ,  G05B19/4063 ,  H01S3/104

摘要： A laser-beam mis-emission preventing method capable of improving safety of a laser robot. Upon supply of power to the laser robot, a processor of a robot control unit (10) compares a predetermined value with an angle (.delta.) formed between a horizontal plane (XY plane) and an axis (8a) of a laser nozzle (8) and computed based on joint angles (W, U, r, .beta.) (S1-S3). When the laser nozzle angle (.delta.) is less than the predetermined value, an interlock signal delivered to the laser oscillator (30) is set to turn off the power of the laser oscillator, thereby bringing the laser oscillator into a condition incapable of laser oscillation (S5). This prevents mis-emission of the laser beam which occurs due to deficiency of a robot operating program, erroneous manual operation, etc., and which can damage the human body or peripheral devices.

公开(公告)号：US5085619A

公开(公告)日：1992-02-04

申请号：US602226

申请日：1990-10-30

申请人： Nobutoshi Torii ,  Susumu Ito ,  Akihiro Terada

发明人： Nobutoshi Torii ,  Susumu Ito ,  Akihiro Terada

IPC分类号： B25J17/00 ,  B25J9/04 ,  B25J9/10 ,  B25J17/02 ,  F16H57/12

CPC分类号： B25J9/1045 ,  B25J17/0241 ,  B25J9/103 ,  F16H57/12 ,  F16H2057/121 ,  Y10T74/19623

摘要： A joint structure for an industrial robot is provided with a gear transmission mechanism to drive movable robot element, such as a swivel body (14), of an industrial robot. The joint structure comprises a driven gear (26) connected to the movable robot element, two drive pinions (28, 30) in mesh with the driven gear (26), respectively, at different positions on the driven gear (26), a belt transmission mechanism (28a, 30a, 32) operatively connecting the two drive pinions (28, 20), a tensioner (36) for adjusting the tension in the power transmission belt (32) of the belt transmission mechanism (28a, 30a, 32), and a rotative drive source (34) connected to one (28) of the two drive pinions (28, 30). The position of the tensioner (36) is adjusted to adjust the tension in the power transmission belt (32), to thereby eliminate backlash between the respective meshing teeth of the two drive pinions (28, 30) and the driven gear (26), by pressing the respective teeth of the drive pinions (28, 30) against the corresponding teeth of the driven gear (26), respectively, in opposite directions.

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：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.