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1.发明授权
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。
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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
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).
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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
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.
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公开(公告)号：US4829840A
公开(公告)日：1989-05-16
申请号：US50302
申请日：1987-06-11
申请人： Nobutoshi Torii , Ryo Nihei
发明人： Nobutoshi Torii , Ryo Nihei
CPC分类号： B23Q37/00 , B25J18/025 , B25J9/042 , B25J9/08 , Y10T74/20207 , Y10T74/20317
摘要： An industrial robot having replaceable modules assembled on a bed (2) housing a drive mechanism therein is composed of blocks (1, 3, 4, 5, 9) which comprise members of compatible common structures that can be selected and assembled as modules. The blocks have engagement portions compatible with those of modules of other specifications. Therefore, different robot specifications can easily be met, and the modules can be replaced with those modules which are effective in a wide range. The blocks of the industrial robot can easily be assembled and disassembled.
摘要翻译： PCT No.PCT / JP86 / 00467 Sec。 371日期：1987年6月11日 102（e）日期1987年6月11日PCT提交1986年9月11日PCT公布。 出版物WO87 / 01644 日期：1987年3月26日。具有组装在其上容纳驱动机构的床（2）上的可更换模块的工业机器人由块（1,3,4,5,9）组成，其包括可兼容的共同结构的构件 选择和组装为模块。 这些块具有与其他规格的模块兼容的接合部分。 因此，可以容易地满足不同的机器人规格，并且可以用在广泛范围内有效的那些模块来代替模块。 工业机器人的块可以轻松组装和拆卸。
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公开(公告)号：US5444612A
公开(公告)日：1995-08-22
申请号：US368711
申请日：1995-01-03
申请人： Nobutoshi Torii , Ryo Nihei , Tetsuaki Kato
发明人： Nobutoshi Torii , Ryo Nihei , Tetsuaki Kato
CPC分类号： G05B19/19 , B25J9/1638 , G05B13/042 , G05B2219/34047 , G05B2219/41367 , G05B2219/42037 , G05B2219/42153 , G05B2219/42155
摘要： An adaptive proportional-plus-integral control system for controlling a robot or a machine tool which is subject to large load variation. The PI control system comprises a speed control loop and a pre-compensator provided in the speed control loop. The pre-compensator is equivalent to a system which is the combination of a reference model and an inverse system of a servomotor, and has adaptivity. Since the pre-compensator is incorporated into the speed control loop, robust control can be made even if the inertia of a load is largely variable.
摘要翻译： 一种用于控制承受较大负载变化的机器人或机床的自适应比例加整体控制系统。 PI控制系统包括速度控制回路和速度控制回路中提供的预补偿器。 预补偿器相当于伺服电机的参考模型和反向系统的组合的系统，具有适应性。 由于预补偿器被并入到速度控制回路中，所以即使负载的惯性在很大程度上是可变的，也可以进行鲁棒的控制。
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公开(公告)号：US5337148A
公开(公告)日：1994-08-09
申请号：US952501
申请日：1992-12-02
申请人： Nobutoshi Torii , Ryo Nihei , Hiroshi Wakio
发明人： Nobutoshi Torii , Ryo Nihei , Hiroshi Wakio
CPC分类号： G01J1/18 , B23K9/10 , G01N2021/157 , G01N2021/5957 , G01N2201/12753
摘要： The purpose of the invention is to properly determine the replacement time of a guard window of an arc sensor using an original function of the arc sensor.The apparatus for monitoring a guard window of an arc sensor according to the present invention is provided with an arc sensor guard window (28) mounted on an arc sensor unit (20) and a standard reflecting plate (30) located at a position a determined distance from the front surface of the guard window (28). And the apparatus detects the reflected light (27) from the standard reflecting plate (30) when a laser beam (26) scans the standard reflecting plate (30), before the guard window (28) is used for an arc welding operation. The apparatus memorizes the quantity of detected light reception as the first quantity. The apparatus then detects the reflected light (27) from the standard reflecting plate (30) in the same way as before, after the guard window (28) is used for an arc welding operation. The apparatus memorizes the quantity of detected light reception as the second quantity of detected light reception as the second quantity. Based on the difference between the first quantity and the second quantity, the condition of the guard window (28) is checked and it is determined whether or not the guard window (28) should be replaced.
摘要翻译： PCT No.PCT / JP92 / 00409 Sec。 371日期1992年12月2日 102（e）日期1992年12月2日PCT提交1992年4月2日PCT公布。 出版物WO92 / 17754 日期为1992年10月15日。本发明的目的是使用电弧传感器的原始功能来适当地确定电弧传感器的防护窗的更换时间。 根据本发明的用于监测电弧传感器的防护窗的装置设置有安装在电弧传感器单元（20）和标准反射板（30）上的电弧传感器防护窗（28），该标准反射板位于确定的位置 距保护窗（28）前表面的距离。 并且当激光束（26）在保护窗（28）用于电弧焊接操作之前扫描标准反射板（30）时，该装置从标准反射板（30）检测反射光（27）。 该装置将检测到的光接收量存储为第一数量。 然后，在将防护窗（28）用于电弧焊接操作之后，装置以与之前相同的方式从标准反射板（30）检测反射光（27）。 该装置将检测到的光接收量作为第二数量存储为第二检测光接收量。 基于第一数量和第二数量之间的差异，检查保护窗（28）的状况，并确定是否应更换防护窗（28）。
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公开(公告)号：US5251500A
公开(公告)日：1993-10-12
申请号：US859371
申请日：1992-05-26
申请人： Nobutoshi Torii , Ryo Nihei , Mitsuhiro Yasumura
发明人： Nobutoshi Torii , Ryo Nihei , Mitsuhiro Yasumura
CPC分类号： B25J18/04 , Y10T74/20317
摘要： A compound drive mechanism (30) according to the invention is capable of driving an output element (10, 40) of an industrial robot for a linear motion along an axis and of rotating the output element (10, 40) independently of the linear motion of the output element (10, 40). The mechanism includes a linear-motion drive motor (M.sub.1) for driving the output element (10, 40) for linear motion, a rotation drive motor (M.sub.2) for driving the output element (10, 40) for a rotational motion arranged at a fixed position, a linear motion transmitting system (12 and 14; 42 and 44) for transmitting a linear motion to the output element (10, 40) a rotational motion transmitting system (18 and 20; 48 and 50) for transmitting a rotational motion to the output element (10, 40), and a rolling contact bearing (18, 46) interconnecting the linear motion transmitting means (12 and 14; 42 and 44) the rotational motion transmitting means (18 and 20; 48 and 50) to thereby obviate interference between those transmission systems.
摘要翻译： PCT No.PCT / JP91 / 01290 Sec。 371日期：1992年5月26日 102（e）日期1992年5月26日PCT 1991年9月27日PCT PCT。 出版物WO92 / 05921 根据本发明的复合驱动机构（30）能够驱动工业机器人的沿着轴线的直线运动的输出元件（10,40），并且使输出元件（10， 40），与输出元件（10,40）的线性运动无关。 该机构包括用于驱动用于直线运动的输出元件（10,40）的直线运动驱动马达（M1），用于驱动输出元件（10,40）的旋转驱动马达（M2），用于旋转运动 固定位置，用于向所述输出元件（10,40）传送线性运动的线性运动传递系统（12和14; 42和44）;用于传送旋转运动的旋转运动传递系统（18和20; 48和50） 以及将所述线性运动传递装置（12和14; 42和44）将所述旋转运动传递装置（18和20; 48和50）互连到所述输出元件（10,40）的滚动接触轴承（18,46） 从而避免这些传输系统之间的干扰。
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公开(公告)号：US5191272A
公开(公告)日：1993-03-02
申请号：US776418
申请日：1991-11-25
申请人： Nobutoshi Torii , Ryo Nihei , Tetsuaki Kato
发明人： Nobutoshi Torii , Ryo Nihei , Tetsuaki Kato
CPC分类号： G05B13/0265 , G05B13/024 , H02P23/16
摘要： The feedback gain for motor control for a control system in which the inertia of a load is greatly variable is adjusted. First, a feedback gain (K1) is determined. The value of feedback gain is calculated from a servomotor itself or the like, and selected so that the control loop will not oscillate (S1). A feed-forward gain (K) is determined according to a learning process with the feedback gain (K1) (S2). Then, a feedback gain (K1) is calculated from the feed-forward gain (K) (S3). Thereafter, a feed-forward gain (K) is determined again according to a learning process based on the feedback gain (S4). The second feed-forward gain (K) and the feedback gain (K1) are used to establish a control system. In this manner, a control system having an optimum feed-forward gain and an optimum feedback gain can be established.
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公开(公告)号：US4988934A
公开(公告)日：1991-01-29
申请号：US332272
申请日：1989-03-22
申请人： Kenichi Toyoda , Nobutoshi Torii , Ryo Nihei , Jun Kikuchi
发明人： Kenichi Toyoda , Nobutoshi Torii , Ryo Nihei , Jun Kikuchi
CPC分类号： G05B19/416 , G05B19/42 , G05B2219/36471 , G05B2219/41189 , G05B2219/43056 , G05B2219/43057 , G05B2219/43063 , G05B2219/43095 , G05B2219/43099 , G05B2219/43107
摘要： The robot control apparatus according to the present invention is so adapted that, with regard to all kinds of motions commanded of a robot, the maximum velocity and time constant conforming to the type of robot motion can be designated for respective robot control axes (3) by a controller (1) which includes a selection table memory (4).
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10.发明授权
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.
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