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31. 发明授权

US4859139A Arm structure for an industrial robot 失效
标题翻译：工业机器人臂结构
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.

32. 发明授权

US4829840A Industrial robot with replaceable module 失效
标题翻译：具有可更换模块的工业机器人
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
IPC分类号： B25J9/06 , B23Q37/00 , B25J9/04 , B25J9/08 , B25J18/02
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。

33. 发明授权

US4489821A Workpiece feeder 失效
标题翻译：工件馈线
公开(公告)号：US4489821A
公开(公告)日：1984-12-25
申请号：US390658
申请日：1982-06-21
申请人： Hajimu Inaba , Nobutoshi Torii
发明人： Hajimu Inaba , Nobutoshi Torii
IPC分类号： B65G47/90 , B23Q7/00 , B23Q7/04 , B23Q7/14 , B65G37/00
CPC分类号： B23Q7/1452 , B23Q7/04
摘要： An apparatus for feeding workpieces to a workpiece gripping position of a hand of an industrial robot, especially a workpiece feeder used for a limited axis robot, comprising a conveyor which is mounted on a table and has a plurality of pallets, the workpieces placed on the pallets moved intermittently to a predetermined area of the robot, characterized in that the table has a window, that each of the pallets comprises a lower plate having a central opening and an upper plate mounted on the lower plate, and that there is provided a lifting means movable vertically through the window in the table and the central opening in the lower plate, causing the upper plate to move and to lift the workpiece placed on the upper plate up to a workpiece gripping position of a hand of the robot.
摘要翻译：一种用于将工件馈送到工业机器人的手的工件夹持位置的设备，特别是用于有限轴机器人的工件供给器，包括安装在工作台上并具有多个托盘的输送机，工件放置在托盘间歇地移动到机器人的预定区域，其特征在于，所述工作台具有窗口，每个托盘包括具有中心开口的下板和安装在下板上的上板，并且提供提升可垂直移动通过桌子中的窗口和下板中的中心开口，使上板移动并将放置在上板上的工件提升到机器人手的工件夹持位置。

34. 发明授权

US5282390A Industrial robot with means for cooling a linear motion nut and screw shaft 失效
标题翻译：工业机器人，具有用于冷却直线运动螺母和螺杆轴的装置
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。

35. 发明授权

US5111019A Variable-pitch spot welding gun assembly for a welding robot 失效
标题翻译：用于焊接机器人的可变点焊枪组件
公开(公告)号：US5111019A
公开(公告)日：1992-05-05
申请号：US613781
申请日：1990-11-19
申请人： Nobutoshi Torii , Yasuo Naito , Kunio Ueda
发明人： Nobutoshi Torii , Yasuo Naito , Kunio Ueda
IPC分类号： B25J15/00 , B23K11/11 , B23K11/31
CPC分类号： B23K11/312 , B23K11/314
摘要： A variable pitch spot welding gun assembly for a welding robot has a fixed base (16) directly attached to the robot wrist (12) of an industrial welding robot, welding transformers (24, 26) fixed to the fixed base (16), a fixed spot welding gun (22) provided apart from the welding transformers (24, 26), a movable spot welding gun (20) provided apart from the welding transfomers (24, 26) and capable of being moved relative to the fixed spot welding gun (22), to adjust a pitch between the fixed spot welding gun (22) and the movable spot welding gun (20), and secondary conductors (44a to 44e) connecting the fixed and movable spot welding guns (22, 90) respectively to the welding transformers (24, 26).
摘要翻译： PCT No.PCT / JP90 / 00366 Sec。 371日期1990年11月19日 102（e）1990年11月19日PCT PCT 1990年3月19日PCT公布。出版物WO90 / 11160 日期：1990年10月4日。焊接机器人的可变节点点焊枪组件具有直接附接到工业焊接机器人的机器人手腕（12）上的固定基座（16），固定在工件焊接机器人上的焊接变压器（24,26）固定基座（16），与焊接变压器（24,26）分开设置的固定点焊枪（22），与焊接变形体（24,26）分开设置并能够移动的可动点焊枪（20）相对于固定点焊枪（22），调节固定点焊枪（22）和可动点焊枪（20）之间的间距，以及连接固定点焊枪和可移动点焊枪的辅助导体（44a至44e）（22,90）分别连接到焊接变压器（24,26）。

36. 发明授权

US5107716A Horizontal revolute robot 失效
标题翻译：水平革命机器人
公开(公告)号：US5107716A
公开(公告)日：1992-04-28
申请号：US474040
申请日：1990-04-11
申请人： Nobutoshi Torii , Susumu Ito , Masayuki Hamura , Akira Tanaka
发明人： Nobutoshi Torii , Susumu Ito , Masayuki Hamura , Akira Tanaka
IPC分类号： B25J9/02 , B25J9/04 , B25J9/10 , B25J18/02
CPC分类号： B25J9/042 , B25J18/02 , B25J9/02 , B25J9/102 , Y10T403/32155 , Y10T403/7015 , Y10T74/18648 , Y10T74/20317
摘要： In a horizontal revolute robot, an upper end of a ball screw (21) of a direct-acting actuator (100) is rotatably supported by a top plate of a column (10), and the lower end thereof is coupled to a drive unit (40) disposed on a base plate of the column. A first link (220) is pivotally coupled to a coupling member (210) of a manipulator (200) fixed to a slider (30) of the actuator, and a second link (240) is pivotally coupled to the first link. The ball screw is rotated by the drive unit to move the manipulator along the ball screw in unison with the slider, and servomotors (230, 250) of the manipulator are driven to turn both the links within a horizontal plane, so that a wrist portion of the robot is positioned in a robot installation space for robot operation. Since no base is required to turnably support the actuator, the robot is small-sized, light in weight, and low-priced. Since the lower movement limit position of the manipulator is low, the range of action of the robot is wide.
摘要翻译： PCT No.PCT / JP89 / 00820 Sec。 371日期1990年04月11日 102（e）1990年4月11日PCT PCT 1989年8月11日PCT。 WO90 / 01403 PCT出版物日本1990年2月22日。在水平旋转机器人中，直动式致动器（100）的滚珠丝杠（21）的上端由柱（10）的顶板可旋转地支撑，下端其连接到设置在所述塔的基板上的驱动单元（40）。第一连杆（220）枢转地联接到固定到致动器的滑块（30）的操纵器（200）的联接构件（210），并且第二连杆（240）枢转地联接到第一连杆。滚珠丝杠通过驱动单元旋转，以使滑块与滚珠丝杠一致地移动操纵器，并且驱动操纵器的伺服马达（230,250），使两个连杆在水平面内转动，使得腕部的机器人位于机器人操作的机器人安装空间中。由于不需要底座可转动地支撑执行机构，机器人体积小巧，重量轻，价格低廉。由于机械手的下移动极限位置较低，所以机器人的动作范围很宽。

37. 发明授权

US5093552A Method of preventing mis-emission of a laser beam in a laser robot 失效
标题翻译：在激光机器人中防止激光束的发射的方法
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.

38. 发明授权

US5085619A Dual pinion anti-backlash tensioner for a robot 失效
标题翻译：机器人的双PIN抗反击拉伸机
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.

39. 发明授权

US4549846A Automatic hand changing device for industrial robots 失效
标题翻译：工业机器人自动换手装置
公开(公告)号：US4549846A
公开(公告)日：1985-10-29
申请号：US488079
申请日：1983-04-25
申请人： Nobutoshi Torii , Ryo Nihei
发明人： Nobutoshi Torii , Ryo Nihei
IPC分类号： B25J15/04
CPC分类号： B25J15/04 , Y10T24/45466 , Y10T24/45487
摘要： A robot hand changer for industrial robots, having a changer unit mounted fixedly on the industrial robots and a changer adapter holding a robot hand and being detachably fitted in the change unit. The changer unit has a fluid-operated piston and clamping balls urged toward a clamping position by the fluid-operated piston. The changer adapter is fitted in the changer unit and clamped by the agency of the clamping piston. A plurality of such changer adapters holding different kinds of robot hand are prepared.
摘要翻译：一种用于工业机器人的机器人换手器，具有固定地安装在工业机器人上的更换器单元和容纳机器人手并且可拆卸地安装在更换单元中的更换器适配器。更换器单元具有流体操作的活塞，并且由流体操作的活塞推动朝向夹紧位置的夹紧球。更换器适配器安装在更换单元中，由夹紧活塞的机构夹紧。准备了多个保持不同种类的机器人手的变换器适配器。

40. 发明授权

US4492301A Workpiece feeder 失效
标题翻译：工件馈线
公开(公告)号：US4492301A
公开(公告)日：1985-01-08
申请号：US390560
申请日：1982-06-21
申请人： Hajimu Inaba , Nobutoshi Torii
发明人： Hajimu Inaba , Nobutoshi Torii
IPC分类号： B23Q7/03 , B23Q7/04 , B23Q7/14 , B25J9/00 , B65G37/00
CPC分类号： B23Q7/04 , B23Q7/1452
摘要： A workpiece feeder for successively feeding workpieces to a predetermined workpiece gripping station of the robot's hand. The workpiece feeder includes a conveyor having a plurality of interspaced pallets traveling on a table. Each pallet comprises a lower plate having a central opening and an upper plate which is detachably mounted on the lower plate. The workpiece feeder is provided with a lifting means having a vertically movable platform which ascends through the central opening in the lower plate to lift the upper plate away from the lower plate, thereby elevating the workpiece on the pallet up to the level of the gripping position of the robot's hand. The workpiece feeder further comprises a stop mechanism for limiting the topmost position of the platform. The workpiece feeder according to the invention is particularly suitable for use with an industrial robot of the simplified type in which the upright stand enabling the robot's hand to perform vertical translational movement is omitted.
摘要翻译：用于将工件连续地供给到机器人手的预定工件夹紧台的工件进给器。工件进给器包括具有在桌子上行进的多个间隔托盘的输送机。每个托盘包括具有中心开口的下板和可拆卸地安装在下板上的上板。工件给料器设置有提升装置，该提升装置具有可垂直移动的平台，该平台通过下板中的中心开口上升，以将上板提升离开下板，从而将托盘上的工件提升到抓握位置的高度的机器人的手。工件进给器还包括用于限制平台的最高位置的止动机构。根据本发明的工件给料器特别适用于简单类型的工业机器人，其中能够使机器人的手执行垂直平移运动的立柱支架被省略。

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