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31. 发明授权

US4732526A Explosion-proof industrial robot 失效
标题翻译：防爆工业机器人
公开(公告)号：US4732526A
公开(公告)日：1988-03-22
申请号：US848378
申请日：1986-02-27
申请人： Seiichiro Nakashima , Kenichi Toyoda , Akihiro Terada , Hitoshi Mizuno
发明人： Seiichiro Nakashima , Kenichi Toyoda , Akihiro Terada , Hitoshi Mizuno
IPC分类号： B25J9/04 , B25J9/10 , B25J19/00 , B25J3/00
CPC分类号： B25J9/046 , B25J19/0029 , B25J19/0079 , B25J9/1035
摘要： An electric industrial robot comprises a movable robot assembly (10) forming therein an airtight chamber, and an electric drive unit for driving the robot assembly. The electric drive unit comprises a plurality of motors (36-41). The respective casings (36a-41a) of the motors are disposed within the airtight chamber (30) of the robot assembly. Electric cables (57-62) connected to the motors, respectively, are led through the airtight chamber into a fixed pipe (67) connected to the robot assembly. The interior of the motors and the interior of the airtight chamber are kept at a pressure higher than an atmospheric pressure outside the robot assembly.
摘要翻译： PCT No.PCT / JP85 / 00365 Sec。一九六六年四月二十九日 102（e）日期1986年4月29日PCT Filed 1985年6月28日PCT公布。公开号WO86 / 00256 日本1986年1月16日。电动工业机器人包括在其中形成气密室的可移动机器人组件（10）和用于驱动机器人组件的电驱动单元。电驱动单元包括多个电动机（36-41）。电动机的各个壳体（36a-41a）设置在机器人组件的气密室（30）内。分别连接到电动机的电缆（57-62）通过气密室被引导到连接到机器人组件的固定管（67）中。电动机的内部和气密室的内部保持在机器人组件外部的压力高于大气压力。

32. 发明授权

US08847569B2 Semiconductor integrated circuit for regulator 有权
标题翻译：用于调节器的半导体集成电路
公开(公告)号：US08847569B2
公开(公告)日：2014-09-30
申请号：US13277435
申请日：2011-10-20
申请人： Akihiro Terada , Kohei Sakurai , Yoichi Takano
发明人： Akihiro Terada , Kohei Sakurai , Yoichi Takano
IPC分类号： G05F1/00 , G05F1/573 , G05F1/575
CPC分类号： G05F1/5735 , G05F1/575
摘要： A regulator includes a transistor connected between an input and an output. A feedback voltage controls the transistor to keep the output voltage constant. A first circuit functions as a comparator to compare a detection voltage from the output of the transistor and the feedback voltage when the output current is higher than a predetermined value, and functions as a buffer when the output current is lower than the predetermined value. A second circuit receives a reference voltage, the feedback voltage, and an output from the first circuit, and generates (i) a difference between the feedback voltage and the first circuit output when the reference voltage is lower than the first circuit output, and (ii) a difference voltage between the feedback voltage and the reference voltage when the reference voltage is higher than the first circuit output, and supplies a control voltage to control the output of the transistor.
摘要翻译：调节器包括连接在输入和输出之间的晶体管。反馈电压控制晶体管以保持输出电压恒定。当输出电流高于预定值时，第一电路用作比较器以比较来自晶体管的输出的检测电压和反馈电压，并且当输出电流低于预定值时用作缓冲器。第二电路接收参考电压，反馈电压和来自第一电路的输出，并且当参考电压低于第一电路输出时产生（i）反馈电压与第一电路输出之间的差异，以及（ ii）当参考电压高于第一电路输出时反馈电压和参考电压之间的差值电压，并提供控制电压以控制晶体管的输出。

33. 发明授权

US07345546B2 Amplifier circuit and input circuit 有权
标题翻译：放大器电路和输入电路
公开(公告)号：US07345546B2
公开(公告)日：2008-03-18
申请号：US11066039
申请日：2005-02-25
申请人： Akihiro Terada , Nagayoshi Dobashi
发明人： Akihiro Terada , Nagayoshi Dobashi
IPC分类号： H03G3/30
CPC分类号： H03G1/0088
摘要： A disclosed amplifier circuit is capable of changing a gain to amplify an input signal according to a control signal. The amplifier circuit comprises a differential amplifier circuit adapted to receive and amplify the input signal to output the amplified input signal as an output signal, a first resistance and one or more second resistances connected to the differential amplifier circuit and adapted to set the gain, and one or more gain control circuits adapted to change the gain by controlling one or more electrical couplings of the one or more second resistances according to the control signal.
摘要翻译：所公开的放大器电路能够根据控制信号改变增益以放大输入信号。放大电路包括差分放大器电路，其适于接收和放大输入信号以输出放大的输入信号作为输出信号，第一电阻和连接到差分放大器电路并适于设置增益的一个或多个第二电阻，以及一个或多个增益控制电路，其适于通过根据控制信号控制一个或多个第二电阻的一个或多个电耦合来改变增益。

34. 发明授权

US07092791B2 Robot system and machining method with robot system 失效
标题翻译：机器人系统和机器人系统的加工方法
公开(公告)号：US07092791B2
公开(公告)日：2006-08-15
申请号：US09265432
申请日：1999-03-10
申请人： Akihiro Terada , Toshihiko Inoue , Kazutaka Nakayama
发明人： Akihiro Terada , Toshihiko Inoue , Kazutaka Nakayama
IPC分类号： G06F19/00
CPC分类号： B23K26/0884 , B23K26/103 , B23K26/28 , B23K37/0276 , B23K2101/06
摘要： A robot system and a machining method capable of accurately and simply cutting an end of a pipe into a saddle shape and forming a hole on an outer surface thereof, and further machining a workpiece of a three-dimensional shape which does not have platelike shape. A tool unit is attached to a final axis of a moveable arm of a robot. The tool unit is provided with a first additional variable axis expanding and retracting vertically and a second additional variable axis expanding and retracting in the horizontal direction. By rotating the final axis, a cutting tool (machining nozzle of laser) at a distal end of the tool unit is turned about the final axis to cut a workpiece W of a pipe shape. By driving the first and the second additional variable axes in synchronism with rotation of the final axis, the cutting into a saddle shape and the forming of a hole are carried out. The movable arm of the robot is only for rotating the final axis and the machining accuracy is promoted.
摘要翻译：一种机器人系统和加工方法，其能够将管的端部精确地简单地切割成鞍形，并在其外表面上形成孔，并且进一步加工不具有板状形状的三维形状的工件。机器人的可动臂的最终轴附接有工具单元。工具单元设置有垂直的第一附加可变轴和第二附加可变轴在水平方向上伸缩。通过旋转最终轴线，在工具单元的远端处的切割工具（激光加工喷嘴）围绕最终轴线转动以切割管状的工件W。通过与最终轴的旋转同步地驱动第一和第二附加可变轴，切割成鞍形并形成孔。机器人的可动臂仅用于旋转最终轴，并提高加工精度。

35. 发明授权

US06180898B2 Emergency stop switching mechanism for robot and teaching control panel provided with same 失效
标题翻译：机器人紧急停机开关机构及配备机构的教学操作面板
公开(公告)号：US06180898B2
公开(公告)日：2001-01-30
申请号：US09202724
申请日：1998-12-21
申请人： Akihiro Terada , Mitsuhiro Yasumura , Kenichiro Abe
发明人： Akihiro Terada , Mitsuhiro Yasumura , Kenichiro Abe
IPC分类号： H01H1350
CPC分类号： B25J19/06 , B25J13/02 , B25J13/06 , H01H3/022 , H01H9/0214 , H01H13/506 , H01H2239/066 , H01H2300/026 , H01H2300/028
摘要： An emergency stop switch mechanism for a robot which can take an emergency position when an external operation force is released and when a strong external operation force is applied. When the robot operation is started, a main lever La is pushed down from the OFF state with a normal external operation force. Since an elastic biasing force S2 is sufficiently larger than S1, a second ancillary lever Lc is pushed by a plunger PL and is turned downward together with a first ancillary lever Lb. A movable contact element ME of a contact mechanism section CM is moved to the ON position by the second ancillary lever Lc, so that the ON state (motion permitting state) is established. If emergency stop becomes necessary, the pressure of the main lever La is released from this state, or a specially strong force is applied to the main lever La. When the former is selected, the movable contact element ME is returned to the OFF position. When the latter is selected, a strong torque is applied to an axis AX2, so that the first and second ancillary lever Lb and Lc become in a bent state. As a result, the OFF state is established, by which the robot is stopped.
摘要翻译：一种用于机器人的紧急停止开关机构，当外部操作力被释放并且施加强大的外部操作力时，该紧急停止开关机构能够采取紧急位置。当机器人操作开始时，主杆La以正常的外部操作力从OFF状态下推。由于弹性偏压力S2足够大于S1，所以第二辅助杆Lc被柱塞PL推压，并与第一辅助杆Lb一起向下转动。接触机构部分CM的可动接触元件ME由第二辅助杆Lc移动到ON位置，从而建立ON状态（运动允许状态）。如果需要紧急停止，则主杆La的压力从该状态释放，或者特别强的力施加到主杆La上，当选择前者时，可动接触元件ME返回到OFF位置。当选择后者时，对轴线AX2施加强力矩，使得第一辅助杆Lb和第二辅助杆Lc变为弯曲状态。结果，建立了关闭状态，通过该状态机器人停止。

36. 发明授权

US5587635A Robot control apparatus for monitoring load on robot 失效
标题翻译：用于监控机器人负载的机器人控制装置
公开(公告)号：US5587635A
公开(公告)日：1996-12-24
申请号：US446713
申请日：1995-05-30
申请人： Atsushi Watanabe , Ryo Nihei , Akihiro Terada
发明人： Atsushi Watanabe , Ryo Nihei , Akihiro Terada
IPC分类号： B25J19/06 , G05B19/4065 , H02P29/00 , H02K17/32
CPC分类号： G05B19/4065 , G05B2219/37209 , G05B2219/37344 , G05B2219/45083 , Y02P90/265
摘要： A robot control apparatus in which a load exerted on a driving system of a robot is detected to make it easy to judge a time for preventive maintenance or overhaul, and life of the robot driving system. A driving torque Ta outputted to the driving system is found by subtracting a torque which is spent in a motor itself for accelerating or decelerating a rotor from an output torque T of a motor M for driving each axis of the robot. Further, an average torque of the driving torque Ta and an average speed of an output shaft of the motor M are found and displayed. An average torque of an output torque of a speed reducer and an average speed of an output shaft of the speed reducer are obtained, and, based on these values, the life of the speed reducer is determined. Then a ratio of the determined life to a rated life is obtained and displayed. An actual load exerted on the driving system is monitored, so that the time for the preventive maintenance or overhaul, and life of the driving system is easily judged. Also, the life of the speed reducer is easily predicted.
摘要翻译： PCT No.PCT / JP94 / 01582 Sec。 371日期：1995年5月30日 102（e）日期1995年5月30日PCT 1994年9月27日PCT公布。公开号WO95 / 09479 日期1995年4月6日一种机器人控制装置，其中检测到施加在机器人的驱动系统上的负载，以便容易地判断用于预防性维护或大修的时间以及机器人驱动系统的寿命。通过从用于驱动机器人的每个轴的电动机M的输出转矩T减去用于电动机本身用于加速或减速转子的转矩，找到驱动系统输出的驱动转矩Ta。此外，找到并显示驱动转矩Ta的平均转矩和电动机M的输出轴的平均速度。获得减速器的输出转矩的平均转矩和减速器的输出轴的平均转速，并根据这些值确定减速机的寿命。然后获得并显示确定的寿命与额定寿命的比率。对驱动系统施加的实际负载进行监控，以便容易地判断驾驶系统的预防性维护或大修时间和使用寿命。此外，减速器的寿命也容易预测。

37. 发明授权

US5296671A Piping arrangement for a laser robot wrist 失效
标题翻译：激光机器人手腕的管道布置
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。

38. 发明授权

US5185512A Laser robot with heat eliminating means 失效
标题翻译：具有热消除手段的激光机器人
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。

39. 发明授权

US5140129A Multi-articulated arm type industrial laser robot 失效
标题翻译：多功能ARM型工业激光机器人
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）。

40. 发明授权

US5132887A Multi-articulation type robot for laser operation 失效
标题翻译：用于激光操作的多功能型机器人
公开(公告)号：US5132887A
公开(公告)日：1992-07-21
申请号：US499339
申请日：1990-06-15
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： B25J17/00 , B23K26/08 , B23K26/10 , B25J17/02 , B25J18/04 , B25J19/00
CPC分类号： B23K26/0884 , B25J17/0283 , B25J18/04 , B25J19/0037
摘要： A multi-articulation type robot for a laser operation by emitting a beam of laser into a desired position in a three-dimensional space, and provided with a first hollow robot arm (16) swingably pivoted to an upper end of a robot swivel body (14) mounted on a robot base (12), a second hollow robot arm (18) swingably pivoted to a front end of the first robot arm (16) and rotatable about a central axis of the second robot arm per se, and a robot wrist (20) mounted on a front end of the second robot arm (18) and provided with a laser beam collecting unit (22) having a laser beam emitting outlet (22a), the robot wrist (20) being provided with motion transmitting mechanisms for converting first and second rotative inputs transmitted by a first and second hollow rotatable drive shafts (30a and 30b) arranged inside the second robot arm (18) into motions by which the laser beam collecting unit (22) is rotated about an axis orthogonal to an axis along which a laser beam is emitted, and to move the unit (22) forward and back along the axis of the laser emission.

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