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51. 发明授权

US4836048A Industrial robot having dust-proof structure 失效
标题翻译：工业机器人具有防尘结构
公开(公告)号：US4836048A
公开(公告)日：1989-06-06
申请号：US80509
申请日：1987-07-02
申请人： Nobutoshi Torii , Susumu Ito , Hiroshi Wakio , Kyoji Iwasaki
发明人： Nobutoshi Torii , Susumu Ito , Hiroshi Wakio , Kyoji Iwasaki
IPC分类号： B25J19/00 , B25J9/02
CPC分类号： B25J19/0029 , B25J19/0079 , Y10T74/219
摘要： An industrial robot having a dust-proof structure is equipped with at least one dust cover having an opening at one end thereof and a linearly movable unit extending through the opening of the dust cover and movable back and forth in the longitudinal direction thereof. Suction is exerted by a suction unit inside the dust cover so that air is flows from outside the dust cover into the same through the opening. A ring member is disposed at the opening of the dust cover in such a manner as to encompass the outer periphery of the linearly moving unit through a gap. At least one annular groove for reserving air is disposed on the inner peripheral surface of the ring member so as to encompass the outer periphery of the linearly moving unit.

52. 发明授权

US5341078A Sliding mode control method for a machine having an operating section operatively coupled to a servomotor and wherein a switching variable is determined based on a torsion amount and a torsion speed 失效
标题翻译：一种用于机器的滑动模式控制方法，其具有可操作地联接到伺服电机的操作部分，并且其中基于扭转量和扭转速度来确定切换变量
公开(公告)号：US5341078A
公开(公告)日：1994-08-23
申请号：US110212
申请日：1993-08-23
申请人： Nobutoshi Torii , Ryo Nihei , Tetsukai Kato
发明人： Nobutoshi Torii , Ryo Nihei , Tetsukai Kato
IPC分类号： B25J9/12 , B25J9/18 , G05B13/00 , G05B13/04 , G05B19/19 , G05D3/12 , G05B19/405
CPC分类号： G05B19/19 , B25J9/1641 , G05B2219/37356 , G05B2219/39186 , G05B2219/41112 , G05B2219/41251 , G05B2219/41367 , G05B2219/42344 , G05B2219/42352
摘要： A sliding mode control method is provided capable of improving the following ability of a control system with respect to a command at the time of change in the operating condition of a machine, and preventing vibration which tends to occur by the action of a spring element of the machine at the time of change in the operating condition. The processor of a servo circuit derives position deviation (.epsilon.) and speed deviation (.epsilon.) based on a command position (.theta.r) and an actual position (.theta.), estimates an torsion amount (.epsilon.n) and torsion speed (.epsilon.n) by effecting observer processing (Steps 100 to 101), and derives a switching variable (s) (102). The processor derives each of the first to fourth terms of the switching input in dependence on the positive or negative sign of the switching variable, and the positive or negative sign of a corresponding one of the position deviation, the second derivative of the command position, the torsion amount, and the torsion speed (103 to 129), and then derives, on the basis of the switching input derived by adding the four terms together, a torque command (T) sufficient to cause the switching variable to converge on 0 (130, 131). The servo system properly follows the command even when nonlinear parameters associated with the spring element of the machine have varied, thereby preventing vibration of the machine.
摘要翻译：提供一种滑动模式控制方法，其能够提高控制系统相对于机器的操作状态的变化时的指令的跟随能力，并且防止由于弹簧元件的作用而倾向于发生的振动机器在运行状态发生变化时。伺服电路的处理器基于命令位置（θr）和实际位置（θ）导出位置偏差（ε）和速度偏差（ε），估计扭转量（εn）和扭转速度（εn）通过进行观察者处理（步骤100至101），并导出切换变量（102）。处理器根据切换变量的正或负符号导出开关输入的第一至第四项中的每一个，并且位置偏差，指令位置的二阶导数中的相应一个的正或负符号，扭转量和扭转速度（103〜129），然后基于通过将四个项相加而导出的切换输入导出足以使切换变量收敛于0的转矩指令（T） 130，131）。即使与机器的弹簧元件相关的非线性参数变化，伺服系统也适当地遵循该命令，从而防止机器的振动。

53. 发明授权

US5292224A Apparatus for holding stacked workpieces and feeding the same 失效
标题翻译：用于保持堆叠的工件并将其进给的装置
公开(公告)号：US5292224A
公开(公告)日：1994-03-08
申请号：US820674
申请日：1992-01-28
申请人： Nobutoshi Torii , Shigemi Inagaki , Ryo Nihei , Mitsuhiro Yasumura
发明人： Nobutoshi Torii , Shigemi Inagaki , Ryo Nihei , Mitsuhiro Yasumura
IPC分类号： B23Q7/04 , B23Q7/10 , B65G59/02 , B65G61/00
CPC分类号： B23Q7/10 , B23Q7/04 , Y10S414/114
摘要： An apparatus for holding a plurality of workpieces (W) in a stack on a pallet (22), supporting the workpieces (W) in place on the pallet (22) by a plurality of workpiece support rods (26), and transporting and transferring the uppermost workpiece by a workpiece gripping hand (50) provided with gripping fingers (54) to a desired position, is provided with elastic lifting springs (32) for continuously biasing the workpiece support rods (26) upward to support the workpieces (W) stably in place by the upright work support rods (26). The workpiece gripping hand (50) grips the uppermost workpiece (W) with the gripping fingers (54) without interference, after depressing the workpiece support rods (26) with a depressing plate (56) provided on the back side of the gripping fingers (54) so that the uppermost workpiece (W) is exposed above the upper ends of the workpiece support rods (26), and then transports the workpiece (W) to a desired position. When placing the workpiece (W) on the pallet (22) by the work gripping hand ( 50), the gripping fingers (54) release the workpiece (W) after the workpiece support rods (26) are depressed with the depressing plate (56).
摘要翻译： PCT No.PCT / JP91 / 00704 Sec。 371日期1992年1月28日 102（e）日期1992年1月28日PCT提交1991年5月27日PCT公布。 WO91 / 18812PC公报。日期：1991年12月12日。一种用于将堆叠中的多个工件（W）保持在托盘（22）上的装置，通过多个工件支撑杆（22）将工件（W）放置在托盘（22）上的适当位置 26），并且通过设置有夹持指（54）的工件夹持手（50）将最上面的工件传送到所需位置，设置有弹性提升弹簧（32），用于将工件支撑杆（26）向上通过直立工作支撑杆（26）稳定地支撑工件（W）。工件夹持手（50）在夹持指状物（54）的后侧设置有一个压板（56）压下工件支撑杆（26）之后，用夹持指（54）无夹紧握住最上面的工件（W） 54），使得最上面的工件（W）暴露在工件支撑杆（26）的上端之上，然后将工件（W）输送到期望的位置。当通过工作夹持手（50）将工件（W）放置在托盘（22）上时，夹紧指（54）在用压板（56）压下工件支撑杆（26）之后释放工件（W））。

54. 发明授权

US5233202A Method of adjusting an optical path followed by a laser beam in a laser robot and an apparatus for carrying out the same 失效
标题翻译：用激光机器人激光束调整光路的方法及其实施方法
公开(公告)号：US5233202A
公开(公告)日：1993-08-03
申请号：US867107
申请日：1992-07-02
申请人： Nobutoshi Torii , Akihiro Terada
发明人： Nobutoshi Torii , Akihiro Terada
IPC分类号： B23K26/04 , B23K26/08 , B23K26/10
CPC分类号： B23K26/0884 , B23K26/04 , B23K26/043
摘要： When an adjustment of an optical path followed by a laser beam is performed by using an adjusting laser beam emitted by a laser oscillating source to obtain a condition such that the laser beam introduced in a robot unit of a laser robot is correctly directed to a light condensing device (36) provided at an extremetity of the robot unit after changing the direction thereof due to a reflection by light reflecting mirrors arranged at respective joints in the robot unit, a position of the optical path of the adjusting laser beam projected by the light condensing device (36) in the interior of the robot unit (30) is detected by an optical sensor (46), and a different position of the optical path of the adjusting laser beam is simultaneously detected by a separate optical sensor (45) arranged at a position on the optical path for the laser beam located upstream with respect to the light condensing device (36), and an adjustment is carried out so that the center of movement of each of the joints of the robot unit (30) is in alignment with the optical path to be followed by the laser beam when detected at the two detecting positions.

55. 发明授权

US5225648A Industrial robot with cable arrangement system 失效
标题翻译：带电缆布置系统的工业机器人
公开(公告)号：US5225648A
公开(公告)日：1993-07-06
申请号：US772361
申请日：1991-11-06
申请人： Nobutoshi Torii , Susumu Ito , Akihiro Terada , Toshihiko Inoue
发明人： Nobutoshi Torii , Susumu Ito , Akihiro Terada , Toshihiko Inoue
IPC分类号： B23K26/08 , B23K26/10 , B25J19/00
CPC分类号： B23K26/0884 , B25J19/0029 , B25J19/0037
摘要： An industrial robot provided with a cable arrangement system in which a hollow shaft (3) is arranged to extend vertically from a robot base (1) into a rotational trunk (2) about a rotational axis thereof, and a plurality of cables (7) are arranged to be spaced from one another around the outer periphery of the hollow shaft (3) by cable clamps (4) mounted on the outer periphery of the hollow shaft (3) and having a plurality of cable receiving grooves (41).

56. 发明授权

US5189351A Corrective positioning method in a robot 失效
标题翻译：机器人中的校正定位方法
公开(公告)号：US5189351A
公开(公告)日：1993-02-23
申请号：US566464
申请日：1990-08-16
申请人： Nobutoshi Torii , Ryo Nihei , Mitsuhiro Yasumura
发明人： Nobutoshi Torii , Ryo Nihei , Mitsuhiro Yasumura
IPC分类号： B25J9/10 , B25J9/16 , B25J9/18 , B25J13/00 , G05D3/12
CPC分类号： B25J9/1692 , G05B2219/39007
摘要： A corrective positioning method in a robot, capable of eliminating degraded positioning accuracy attributable to inherent errors in the robot. By using displayed rotary angles of first and second links (1, 2) determined by a mastering sequence associated with known points, a simultaneous equation including, as unknowns, link length errors (.DELTA.11, .DELTA.12) and actual rotary angles (.theta.1, .theta.2) of the links is solved, to thereby determine the link length errors, errors (.DELTA.X0, .DELTA.y0) of a pivotal center position of an arm, and errors (.DELTA..theta.10, .DELTA..theta.20) of rotary angles of the links. During a robot operation, X-axis and Y-axis target moving positions of a distal end of the arm, which are specified by a program, are corrected by using the pivotal center position error, and the actual link lengths are calculated by using the link length errors, and further rotary angles of servomotors respectively associated with the first and second links are determined by a coordinate conversion process performed on the basis of the corrected moving positions, the actual link lengths and the link rotary angle errors.

57. 发明授权

US5187996A Industrial articulated robot provided with a driving linkage 失效
标题翻译：工业机器人提供驱动链接
公开(公告)号：US5187996A
公开(公告)日：1993-02-23
申请号：US768757
申请日：1991-10-15
申请人： Nobutoshi Torii , Yasuo Naito , Satoshi Kinoshita
发明人： Nobutoshi Torii , Yasuo Naito , Satoshi Kinoshita
IPC分类号： B25J9/06 , B25J9/04 , B25J9/10
CPC分类号： B25J9/046 , B25J9/1065 , Y10S414/13 , Y10T74/20207
摘要： The present invention is intended to expand the operating region of a driven robot component of a robot by a provision of a driving linkage system for transmitting a drive torque of a drive source unit to the driven robot component, the driving linkage system having two spatially separated linkages, which are different from each other in the phase of motion thereof, to thereby transmit the drive torque from the drive source unit to the driven robot component by at least one of the two linkages even if the other linkage is brought to a dead center state, whereby the torque can be continuously transmitted to the driven robot component.
摘要翻译： PCT No.PCT / JP91 / 00186 Sec。 371日期1991年10月15日 102（e）日期1991年10月15日PCT 1991年2月15日提交PCT公布。公开号WO91 / 12117 日本1991年8月22日。本发明旨在通过提供用于将驱动源单元的驱动转矩传递到被驱动机器人部件的驱动联动系统来扩展机器人的从动机器人部件的操作区域，驱动联动系统具有两个在其运动阶段彼此不同的空间分离的联动装置，从而通过两个连杆中的至少一个将驱动力单元从驱动源单元传递到从动机器人部件，即使另一个连杆被带到死角状态，由此可以将扭矩连续地传递到从动机器人部件。

58. 发明授权

US4953992A Industrial robot swivel shaft apparatus 失效
标题翻译：工业机器人旋转轴装置
公开(公告)号：US4953992A
公开(公告)日：1990-09-04
申请号：US210515
申请日：1988-04-21
申请人： Nobutoshi Torii , Kazuhisa Otsuka
发明人： Nobutoshi Torii , Kazuhisa Otsuka
IPC分类号： B25J17/00 , B25J17/02 , B25J19/00
CPC分类号： B25J17/0241 , B25J19/0075
摘要： An industrial robot rotation shaft apparatus according to the invention has a waterproof structure obtained by providing the outer surface of a rotatable support (3) with an integrally formed, peripheral skirt portion (3c). A stationary support (2) is provided with a complementary, projecting collar portion (7b) substantially conforming to the inner surface of the skirt portion. The two complementary elements oppose each other while maintaining a small clearance therebetween. This makes it possible to shut out dust, water droplets and the like which would otherwise penetrate the interior of the robot from outside. As a result, rusting of the internal parts and the motor due to water droplets and debris penetrating the same is prevented.

59. 发明授权

US4916636A System for controlling acceleration and deceleration of horizontally articulated robot 失效
标题翻译：用于控制水平关节机器人的加速和减速的系统
公开(公告)号：US4916636A
公开(公告)日：1990-04-10
申请号：US49860
申请日：1987-06-11
申请人： Nobutoshi Torii , Susumu Ito , Akihiro Terada
发明人： Nobutoshi Torii , Susumu Ito , Akihiro Terada
IPC分类号： B25J9/16 , B25J9/18 , B25J13/00 , G05B19/416
CPC分类号： G05B19/416 , G05B2219/43061
摘要： A system for controlling acceleration and deceleration of a horizontally articulated robot computes the distance from the center of rotation of the robot (A) having a plurality of arms (3, 5) angularly movable in horizontal planes to a reference position such as a wrist (51) at the distal end of the arms (3, 5), and establishes an acceleration for the movement of the distal end of the arms (3, 5). A servomotor for angularly moving the arms (3,5) can effectively be utilized and the arms (3, 5) can quickly and smoothly be moved.

60. 发明授权

US4782713A Industrial robot shaft supporting mechanism 失效
标题翻译：工业机器人轴支撑机构
公开(公告)号：US4782713A
公开(公告)日：1988-11-08
申请号：US50301
申请日：1987-06-11
申请人： Nobutoshi Torii , Ryo Nihei
发明人： Nobutoshi Torii , Ryo Nihei
IPC分类号： B25J19/00 , B23Q1/58 , B25J9/04 , B25J9/06 , B25J9/08 , B25J18/02 , F16H25/24 , B25J11/00 , F16C29/02
CPC分类号： B25J9/042 , B23Q1/58 , B25J18/025 , B25J9/08 , Y10T74/20317
摘要： A shaft supporting mechanism of an industrial robot in which an arm is supported by a freely extendable support shaft inside a hollow post and a working plane of a working arm is variably set is provided, with plural sets of linear support guides in opposed relation about a drive mechanism of the support shaft. As a result, the support shaft is held in the post stably and balanced in the vertical direction even if an external force attempting to tilt the support shaft is applied during up-and-down movement of the support shaft or operation of the working arm.
摘要翻译： PCT No.PCT / JP86 / 00462 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10日PCT公布。出版物WO87 / 01327 日期：1987年3月12日。一种工业机器人的轴支撑机构，其中臂被可变地设置在中空柱内的可自由延伸的支撑轴支撑并且工作臂的工作平面可变地设置，具有多组线性相对于支撑轴的驱动机构的支撑引导件。结果，即使在支撑轴的上下运动或工作臂的操作期间施加试图使支撑轴倾斜的外力，支撑轴也可以稳定地保持在竖直方向上平衡。

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