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11. 发明授权

US4813844A Apparatus for setting industrial robot at standard position 失效
标题翻译：将工业机器人设置在标准位置的设备
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。

12. 发明授权

US4877973A Apparatus for dealing with cables in industrial robots 失效
标题翻译：用于处理工业机器人电缆的设备
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.

13. 发明授权

US4828094A Motion range limiting apparatus for industrial robots 失效
标题翻译：工业机器人运动范围限制装置
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.

14. 发明授权

US4988934A Robot control apparatus 失效
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
IPC分类号： B25J9/16 , B25J9/18 , G05B19/18 , G05B19/416 , G05B19/42 , G05D3/12
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).

15. 发明授权

US4984175A Method of directly teaching a horizontal arm type multi-articulated robot and an apparatus for carrying out same 失效
标题翻译：直接教导水平臂式多关节机器人的方法及其执行装置
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.

16. 发明授权

US4706001A Industrial robot 失效
标题翻译：工业机器人
公开(公告)号：US4706001A
公开(公告)日：1987-11-10
申请号：US845276
申请日：1986-03-03
申请人： Seiichiro Nakashima , Kenichi Toyoda , Nobutoshi Torii
发明人： Seiichiro Nakashima , Kenichi Toyoda , Nobutoshi Torii
IPC分类号： G05B9/02 , B25J9/04 , B25J9/10 , B25J9/18 , B25J19/00 , B25J19/06 , G05B19/18 , G05B19/4063 , G05B19/10
CPC分类号： G05B19/4063 , B25J19/0079 , B25J19/06 , B25J9/046 , B25J9/1035
摘要： The robot assembly of an industrial robot comprises a stationary robot component (11) and a plurality of movable robot components (12, 13, 14). At least parts of the stationary robot component and the movable robot components have airtight chambers (15, 16, 17) communicating with each other and intended to be kept at a pressure higher than a predetermined level which is higher than an external atmospheric pressure. Robot driving motors (18 to 23) for driving the movable robot components are arranged within the airtight chambers. A driving motor controller (27) for driving and controlling the robot driving motors is connected to the robot driving motors by means of electric cables arranged within the airtight chambers. Pressure switches (25) supply signals to the driving motor controller to stop the robot driving motors, respectively, upon detection of the pressure in the airtight chambers when the pressure in the airtight chambers drops below the predetermined level.
摘要翻译： PCT No.PCT / JP85 / 00378 Sec。一九八六年三月三日 102（e）日期1986年3月3日PCT提交1985年7月4日PCT公布。公开号WO86 / 00558 日期：1986年1月30日。工业机器人的机器人组件包括固定机器人部件（11）和多个可移动机器人部件（12,13,14）。固定机器人部件和可移动机器人部件的至少一部分具有彼此连通且旨在保持在比外部大气压高的预定水平的压力的气密室（15,16,17）。用于驱动可移动机器人部件的机器人驱动马达（18至23）布置在气密室内。用于驱动和控制机器人驱动电动机的驱动电动机控制器（27）通过布置在气密室内的电缆连接到机器人驱动电动机。当气密室中的压力下降到预定水平以下时，压力开关（25）在检测到气密室中的压力时分别向驱动马达控制器提供信号以停止机器人驱动马达。

17. 发明授权

US4835362A System for converting welding conditions of welding robot 失效
标题翻译：焊接机器人焊接条件转换系统
公开(公告)号：US4835362A
公开(公告)日：1989-05-30
申请号：US153556
申请日：1988-02-03
申请人： Seiichiro Nakashima , Kenichi Toyoda , Nobutoshi Torii
发明人： Seiichiro Nakashima , Kenichi Toyoda , Nobutoshi Torii
IPC分类号： B23K9/032 , B23K9/095 , B23K9/12 , G05B19/42
CPC分类号： G05B19/42 , B23K9/032 , B23K9/0953 , B23K9/0956 , B23K9/12 , G05B2219/36495 , G05B2219/45104
摘要： A system for converting the welding conditions of a welding robot includes a numerical control unit, which is for controlling the welding robot (8) and a welding machine (7). A memory (3) is included for storing a calculation sequence of a general expression of a given straight line obtained from an X value of a point (U=0) on the given straight line and the slope of the given straight line on a plane in which a welding condition input value is plotted along the X axis and a command value delivered to a digital/analog converter that applies commands to the welding machine is plotted along the Y axis. A value is obtained by substituting a welding condition input value, which is applied when the welding robot is taught, into the general expression stored in the memory (3), the value obtained being adapted as an output value supplied to the digital/analog converter.
摘要翻译：用于转换焊接机器人的焊接条件的系统包括用于控制焊接机器人（8）和焊接机（7）的数控单元。包括存储器（3），用于存储从给定直线上的点（U = 0）的X值获得的给定直线的一般表达式的计算顺序和在平面上的给定直线的斜率其中沿着X轴绘制焊接条件输入值，并且沿着Y轴绘制递送到对焊接机施加命令的数字/模拟转换器的命令值。通过将焊接机器人被教导时施加的焊接条件输入值代入存储在存储器（3）中的一般表达式中，获得的值被适应为提供给数字/模拟转换器的输出值，。

18. 发明授权

US4920248A ARC sensing welding apparatus controlled by program 失效
标题翻译： ARC感应焊接设备由程序控制
公开(公告)号：US4920248A
公开(公告)日：1990-04-24
申请号：US261966
申请日：1988-09-22
申请人： Kenichi Toyoda , Toru Mizuno , Nobutoshi Torii , Yuichi Kanda , Shigehiro Morikawa
发明人： Kenichi Toyoda , Toru Mizuno , Nobutoshi Torii , Yuichi Kanda , Shigehiro Morikawa
IPC分类号： B23K9/095 , B23K9/12 , B23K9/127
CPC分类号： B23K9/127 , B23K9/0956
摘要： An automatic welding apparatus carrying out an arc sensing operation is provided with a memory (2) storing parameters for arc sensing, and these parameters being rewritten by a manual input before beginning the welding, by an input from an on-line computer during the welding, or at a predetermined time by a program which outputs commands to the automatic welding apparatus (FIG. 6).

19. 发明授权

US4906814A Method of starting arc sensing 失效
标题翻译：启动电弧感测的方法
公开(公告)号：US4906814A
公开(公告)日：1990-03-06
申请号：US272840
申请日：1988-09-22
申请人： Kenichi Toyoda , Toru Mizuno , Nobutoshi Torii , Yuichi Kanda , Shigehiro Morikawa
发明人： Kenichi Toyoda , Toru Mizuno , Nobutoshi Torii , Yuichi Kanda , Shigehiro Morikawa
IPC分类号： B23K9/12 , B23K9/127
CPC分类号： B23K9/127
摘要： A method of starting arc sensing applicable to automatic welding apparatuses carrying out an arc sensing operation, which is a control operation comprising: detecting deviations of a welding electrode from a predetermined path in an up or down direction and right or left direction, by variations of a welding current while welding with a weaving operation; and correcting the deviation.In this method of starting arc sensing, the welding electrode is held in the dwell state while the arc is extremely unstable just after the arc is first generated, a weaving is carried out from a first predetermined time (T.sub.1) after the extreme instability of the arc has been eliminated, a detection and correction by an arc sensing of a deviation in the right and left direction only are carried out from a second predetermined time (T.sub.2) after the arc has become stable in the weaving state; anda detection and a correction by an arc sensing of a deviation in an up and down direction are carried out in addition to the arc sensing in the right and left direction, from a third predetermined time (T.sub.3) after the correction by the arc sensing of the deivation in the right and left direction only has been carried out (FIG. 7).

20. 发明授权

US4904911A System for controlling robot 失效
标题翻译：用于控制机器人
公开(公告)号：US4904911A
公开(公告)日：1990-02-27
申请号：US283991
申请日：1988-11-15
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 , B25J9/18 , B25J13/08 , B25J19/06 , G05B19/4062
CPC分类号： B25J9/044 , B25J13/085 , B25J19/063 , B25J9/042 , G05B19/4062
摘要： A system for controlling a robot includes a control portion (7) for supplying a control signal to and receiving a control signal from a servo unit (6) for carrying out a signal supply and a signal feedback to an electric motor (5) for driving a shaft executing a Z-axis linear motion, and threshold value supply portion (8) for supplying a threshold value to the control portion. Based on a comparison between a motor torque instruction value and a threshold value supplied from the threshold value supplying portion, an alarm is delivered and the process subsequently proceeds to a step of dealing with an abnormal condition when said motor torque instruction value becomes greater than a predetermined threshold value.

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