公开(公告)号：US5008832A

公开(公告)日：1991-04-16

申请号：US415209

申请日：1989-09-05

申请人： Nobutoshi Torii ,  Hitoshi Mizuno ,  Katsuyuki Muraki

发明人： Nobutoshi Torii ,  Hitoshi Mizuno ,  Katsuyuki Muraki

IPC分类号： B25J9/16 ,  B25J13/00 ,  G05B19/18 ,  G05B19/4063 ,  G05B19/408 ,  G05B19/42

CPC分类号： G05B19/4083 ,  G05B19/4063 ,  G05B19/42 ,  G05B2219/36513

摘要： An industrial robot is able to automatically set the operating conditions thereof depending on a position of installation. The motion of a robot unit is input and controlled by a robot control unit. A first data storage portion of the robot control unit is provided with a storage region preliminarily storing (a) data about installation positions of the robot unit with respect to a reference installation position of the same robot unit, and (b) date about operating conditions with respect to the positions of installation. When data about an installation position upon the use of the robot is input to the robot control unit, the data of the operating conditions, in response to the input data of the position of installation, is read from the first data storage unit, and is automatically set in a second data storage unit to control the motion of the robot unit in accordance with the operating conditions set in the second data storage unit.

公开(公告)号：US4813844A

公开(公告)日：1989-03-21

申请号：US21059

申请日：1987-01-29

申请人： Nobutoshi Torii ,  Ryo Nihei ,  Hitoshi Mizuno

发明人： Nobutoshi Torii ,  Ryo Nihei ,  Hitoshi Mizuno

IPC分类号： B25J9/10 ,  B25J9/16 ,  B25J9/00 ,  B25J19/00

CPC分类号： B25J9/10 ,  B25J9/1692

摘要： An apparatus for setting an industrial robot at the standard position comprises a block (19) to be measured, which is attached to a top end portion (18) of a wrist of the industrial robot, and a supporting member (23) for the measurement, which is attached to a fixing base (11) of the industrial robot. The block has three planes (20, 21, 22), orthogonal to one another, to be measured, and the block is positioned to the top end portion of the wrist so that the three planes to be measured are set at predetermined positions relative to the top end portion of the wrist. The supporting member has three frames (24, 25, 26) orthogonal to one another, and the supporting member is positioned relative to the fixing base so that the three frames take predetermined positions relative to three-axis orthogonal coordinates predetermined on the basis of the fixing base. By a plurality of dial gauges (27 through 32; 37 through 42), the positions of the planes of the block are measured. The dial gauges display predetermined values only when the planes to be measured of the block are set at predetermined positions relative to the frames of the supporting member.

摘要翻译： PCT No.PCT / JP86 / 00273 Sec。 371日期1987年1月29日 102（e）日期1987年1月29日PCT申请日1986年5月30日PCT公布。 出版物WO86 / 06998 日期：1986年12月4日。用于将工业机器人设置在标准位置的设备包括附接到工业机器人手腕的顶端部分（18）上的被测量块（19）和支撑 用于测量的构件（23），其附接到工业机器人的固定基座（11）。 块具有彼此正交的三个平面（20,21,22），被测量，并且块被定位到手腕的顶端部分，使得待测量的三个平面相对于 手腕的顶端部分。 所述支撑构件具有彼此正交的三个框架（24,25,26），并且所述支撑构件相对于所述固定基座定位，使得所述三个框架相对于基于所述固定基准预定的三轴正交坐标取预定位置 固定底座 通过多个拨号盘（27至32; 37至42），测量块的平面位置。 仅当待测量的平面相对于支撑构件的框架被设定在预定位置时，表盘才显示预定值。

公开(公告)号：US4728247A

公开(公告)日：1988-03-01

申请号：US834274

申请日：1986-02-20

申请人： Seiichiro Nakashima ,  Kenichi Toyoda ,  Nobutoshi Torii ,  Hitoshi Mizuno

发明人： Seiichiro Nakashima ,  Kenichi Toyoda ,  Nobutoshi Torii ,  Hitoshi Mizuno

IPC分类号： B25J9/04 ,  B25J19/00 ,  B66C23/72

CPC分类号： B25J19/0016 ,  B25J9/046 ,  Y10T16/53834

摘要： The industrial robot comprises a lower arm (13) provided on a robot body (12) pivotably about a first horizontal axis (C1). The lower arm (13) has provided thereon a forearm (14) pivotably about a second horizontal axis (C2). The forearm (14) is rotationally driven by a drive such as a motor (16). The robot body (12) has provided thereon a rotating disk (17) interlocked with the pivoting of the forearm (14) about the second axis (C2) and rotatable about the first axis (C1). Also the rotating disk (17) has secured thereon a first wheel (18) and coaxial therewith, the diameter of which is smaller than that of the disk. There is further provided a tension spring assembly (19) having one end thereof connected to the robot body (12) and which has rotatably mounted at the other end thereof a second wheel (21) having nearly the same diameter as that of the first wheel. Also provided is a chain (22) having one end thereof connected to the rotating disk (17) and the other end engaged on the first wheel (18). This chain (22) is engaged on the outer circumference of the second wheel (21) while pulling the tension spring assembly (19). The one end of the chain (22) is so disposed on the rotating disk (17) that when the upper end of the forearm (14) is directed normally downward, the chain portion (22b) between the rotating disk (17) and the second wheel (21) is substantially parallel to the chain portion (22c) between the first and second wheels (18) and (21).

摘要翻译： PCT No.PCT / JP85 / 00366 Sec。 一九八六年二月二十日 102（e）日期1986年2月20日PCT提交1985年6月28日PCT公布。 出版物WO86 / 日期1986年1月16日。工业机器人包括设置在机器人主体（12）上的可绕第一水平轴线（C1）枢转的下臂（13）。 下臂（13）在其上设置有绕第二水平轴线（C2）可枢转的前臂（14）。 前臂（14）由诸如马达（16）的驱动器旋转驱动。 机器人主体（12）上设置有旋转盘（17），该旋转盘与前臂（14）围绕第二轴线（C2）枢转并且可围绕第一轴线（C1）旋转。 此外，旋转盘（17）固定有第一轮（18）并与其同轴，其直径小于盘的直径。 另外还设置有一个拉伸弹簧组件（19），其一端连接到机器人本体（12），并且其另一端可旋转地安装有与第一轮几乎相同直径的第二轮（21） 。 还设置有一个链条（22），其一端连接到旋转盘（17），另一端接合在第一轮（18）上。 该链条（22）在拉动拉伸弹簧组件（19）的同时在第二轮（21）的外圆周上接合。 链条（22）的一端设置在旋转盘（17）上，当前臂（14）的上端正常向下定位时，旋转盘（17）和 第二轮（21）基本上平行于第一和第二轮（18）和（21）之间的链条部分（22c）。

公开(公告)号：US5249479A

公开(公告)日：1993-10-05

申请号：US841208

申请日：1992-02-27

申请人： Nobutoshi Torii ,  Hitoshi Mizuno ,  Kyozi Iwasaki

发明人： Nobutoshi Torii ,  Hitoshi Mizuno ,  Kyozi Iwasaki

IPC分类号： B25J17/02 ,  B25J19/00

CPC分类号： B25J19/0029 ,  B25J17/0283 ,  Y10T74/20201 ,  Y10T74/20207 ,  Y10T74/20402

摘要： A wrist mechanism comprising a pipe 52 extended in relation to a front .alpha.-axis among the three axes of motion (.alpha.-axis, .beta.-axis, .gamma.-axis) of a wrist, on a center axis A--A of turning motion through the center of an .alpha.-axis reduction gear, a universal pipe coupling 61 provided in relation to a .beta.-axis on the center axis B--B of motion, a pipe 51 having one end connected to the pipe 52 and the other end connected to the pipe coupling 61, and a hose 4 extended along a support arm 3 and connected through the pipe coupling 61 to the pipe 51. The wrist mechanism is incorporated into a robot for work in which a fluid is used, such as an application of an adhesive and sealant.

摘要翻译： 一种手腕机构，包括在手腕的三个运动轴线（α轴，β轴，γ轴）中相对于前侧的α轴延伸的管52，其位于通过中心的转动运动的中心轴线AA上 的α轴减速齿轮，相对于运动中心轴线BB上的β轴设置的通用管接头61，一端连接到管52并且另一端连接到管接头61的管51 ，以及沿着支撑臂3延伸并通过管接头61连接到管51的软管4.手腕机构结合到使用流体的工作机器人中，例如施加粘合剂和密封剂。

公开(公告)号：US5127282A

公开(公告)日：1992-07-07

申请号：US809046

申请日：1991-12-16

申请人： Nobutoshi Torii ,  Hitoshi Mizuno ,  Kyozi Iwasaki

发明人： Nobutoshi Torii ,  Hitoshi Mizuno ,  Kyozi Iwasaki

IPC分类号： B25J9/10 ,  B25J17/02 ,  F16C35/06 ,  F16H1/14

CPC分类号： B25J9/1005 ,  B25J17/0258 ,  B25J9/103 ,  F16H1/14 ,  Y10T74/1913 ,  Y10T74/19665 ,  Y10T74/19688

摘要： A bevel gear unit comprising a bevel gear (11), a ball bearing (B.sub.1) coaxially mounted on the shaft of the bevel gear (11) and in contact with the back surface (17) thereof, a double spacer including an inner race spacer (12) and an outer race spacer (13) and mounted on the shaft of the bevel gear (11) behind the ball bearing (B.sub.1), ball bearings (B.sub.2, B.sub.3) mounted on the shaft of the bevel gear (11) behind the double spacer, and a bearing nut (15) screwed onto a threaded portion of the shaft of the bevel gear (11) behind the ball bearings (B.sub.2, B.sub.3). The axial length (l.sub.1) of the inner race spacer (12) is made smaller than the axial length (l.sub.2) of the outer race spacer (13) by a preloading allowance (.delta.), and the outer race spacer (13) is provided with threaded holes (t.sub.1) in the rear surface (f.sub.1) thereof. When applied to a mechanism having a plurality of coaxial bevel gears, particularly, to a wrist mechanism for an industrial robot, the bevel gear unit facilitates the preloading of the bearings.

公开(公告)号：US4877973A

公开(公告)日：1989-10-31

申请号：US117195

申请日：1987-10-05

申请人： Nobutoshi Torii ,  Hitoshi Mizuno ,  Kyoji Iwasaki

发明人： Nobutoshi Torii ,  Hitoshi Mizuno ,  Kyoji Iwasaki

IPC分类号： B25J19/00 ,  H01R35/00 ,  H01R35/02 ,  H02G11/00

CPC分类号： B25J19/0029 ,  H01R35/00 ,  H01R35/02 ,  H02G11/00

摘要： An apparatus for guiding a cable of an industrial robot having a support casing and a swivel casing axially supported by a swivel shaft bearing includes a cable guide. The guide has an end of an upper arm axially supported on a swivel axis inside the swivel casing, and an end of a lower arm axially supported on the swivel axis inside the support casing. A back column formed between the upper and lower arms guide passes through first and second arcuate cut-out portions provided in the swivel casing and support casing. A cable is passed from the support casing into the swivel casing along the cable guide back column, and moves proportionately to angular movement of the swivel casing.

公开(公告)号：US4828094A

公开(公告)日：1989-05-09

申请号：US32455

申请日：1987-04-08

申请人： Nobutoshi Torii ,  Ryo Nihei ,  Hitoshi Mizuno

发明人： Nobutoshi Torii ,  Ryo Nihei ,  Hitoshi Mizuno

IPC分类号： B25J19/00 ,  B25J9/10 ,  B25J17/02 ,  B25J19/06

CPC分类号： B25J9/101 ,  B25J17/0241 ,  B25J19/0091 ,  B25J19/06 ,  Y10T74/2063

摘要： An apparatus for limiting range of motion of an industrial robot in accordance with the invention includes an indicating section (7) for indicating e.g. angles of rotation provided on a stationary side (1) of the swivel portion of an axis about which swiveling motion is possible. A range limiting member (6) having a dog and a stopper is movably disposed on the indicating section (7). When the industrial robot attempts to rotate beyond a stipulated range of rotation during operation, a limit member (81) provided on a movable side (2) of the axis portion contacts the dog (61) on the stationary side (1) to detect overtravel, whereby a warning is issued to the effect that the stipulated range of rotation has been exceeded. When the robot attempts to rotate further due to inertia, a shock absorber (82) strikes a stopper mechanism (62) to prevent excessive rotation.

公开(公告)号：US4931617A

公开(公告)日：1990-06-05

申请号：US313970

申请日：1989-02-02

申请人： Kenichi Toyoda ,  Nobutoshi Torii ,  Hitoshi Mizuno ,  Masanao Miyawaki

发明人： Kenichi Toyoda ,  Nobutoshi Torii ,  Hitoshi Mizuno ,  Masanao Miyawaki

IPC分类号： B23K9/28 ,  B25J19/00 ,  H02K11/02

CPC分类号： B25J19/0075 ,  B23K9/287 ,  H02K11/022

摘要： An industrial robot for use in TIG arc welding or the like includes plastic covers for motors or the like. The plastic covers having an electrically conductive coating, and thus have an electrically conductive property, and are connected to a robot body, to thereby obtain a shielding effect similar to that of iron plate covers or the like.

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).

公开(公告)号：US5292066A

公开(公告)日：1994-03-08

申请号：US945976

申请日：1992-11-04

申请人： Nobutoshi Torii ,  Tatsuo Karakama ,  Hitoshi Mizuno

发明人： Nobutoshi Torii ,  Tatsuo Karakama ,  Hitoshi Mizuno

IPC分类号： F16J15/02 ,  B05B12/12 ,  B05C11/10 ,  G05B19/42 ,  B05B17/04

CPC分类号： G05B19/42 ,  B05B12/126 ,  B05C11/1013 ,  B05C11/1023 ,  G05B2219/25405 ,  G05B2219/34387 ,  G05B2219/45065 ,  G05B2219/49056

摘要： A sealing gun (31) of a sealant application unit, which controls the flow of the sealant in accordance with the value of an input signal, is attached to the end of a robot arm. The value of a signal applied to the sealant application unit (30) is controlled in association with acceleration/deceleration control of the moving speed of the sealing gun. The moving speed (TSA) of the sealing gun and the flow (SC) of the sealant discharged from the sealing gun are in direct proportion; therefore, the bead width becomes uniform independently of the moving speed (TSA) of the sealing gun.

摘要翻译： 根据输入信号的值控制密封剂的流动的密封剂施加单元的密封枪（31）附接到机器人手臂的端部。 关于密封剂施加单元（30）的信号的值与密封枪的移动速度的加速/减速控制相关联地进行控制。 密封枪的移动速度（TSA）和从密封枪排出的密封剂的流量（SC）是直接比例的; 因此，独立于密封枪的移动速度（TSA），胎圈宽度变得均匀。