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1. 发明授权

US4608651A Control system for direct teaching/playback type robots 失效
标题翻译：直接教学/播放型机器人控制系统
公开(公告)号：US4608651A
公开(公告)日：1986-08-26
申请号：US499880
申请日：1983-06-01
申请人： Tsudoi Murakami , Shoji Nasu , Yasuhide Nagahama , Hironosuke Kada , Teruyoshi Sekino , Hirokazu Murayama , Yoshiaki Munezane , Goro Tuda , Osamu Mizuguchi
发明人： Tsudoi Murakami , Shoji Nasu , Yasuhide Nagahama , Hironosuke Kada , Teruyoshi Sekino , Hirokazu Murayama , Yoshiaki Munezane , Goro Tuda , Osamu Mizuguchi
IPC分类号： B25J9/18 , G05B19/423 , B25J11/00 , F16D21/04 , G05B19/18
CPC分类号： G05B19/423 , G05B2219/37297 , G05B2219/45083 , Y10T477/327
摘要： A control system for a direct teaching/playback type robot, including a low spring constant member connected to a drive source for driving a robot element through a frictional coupling. The control system basically includes a first incremental position detector provided between the robot element and the frictional coupling for detecting the rotational position of the robot element, a second incremental position detector connected to the drive source for detecting the rotational position of the drive source, and a switch for selectively connecting the output terminals of the first and second position detectors to a drive source controller in teaching and playback modes of operation, respectively.
摘要翻译：一种用于直接教学/回放型机器人的控制系统，包括连接到用于通过摩擦联接驱动机器人元件的驱动源的低弹簧常数构件。控制系统基本上包括设置在机器人元件和用于检测机器人元件的旋转位置的摩擦联接器之间的第一增量位置检测器，连接到驱动源的第二增量位置检测器，用于检测驱动源的旋转位置;以及分别用于在教学和重放操作模式下选择性地将第一和第二位置检测器的输出端连接到驱动源控制器的开关。

2. 发明授权

US4508953A Method of multi-layer welding 失效
标题翻译：多层焊接方法
公开(公告)号：US4508953A
公开(公告)日：1985-04-02
申请号：US487687
申请日：1983-04-22
申请人： Tsudoi Murakami , Shoji Nasu , Kazuaki Tatsumi , Yasuhide Nagahama
发明人： Tsudoi Murakami , Shoji Nasu , Kazuaki Tatsumi , Yasuhide Nagahama
IPC分类号： B23K9/02 , B23K9/12
CPC分类号： B23K9/0216
摘要： A method of multi-layer welding in which the welding operation is performed according to a path of welding defined by interpolating a plurality of instructed points by a suitable line, the method being characterized by storing in a memory device the coordinates actually passed by a welding torch in the welding operation of the first layer at the instructed points and determining the welding path of the second and succeeding layers by adding a predetermined amount of shift to the actual detected coordinates stored in the memory device at the instructed points and interpolating the shifted coordinates by a suitable line. According to another aspect of the present invention, therefor provided is a method for controlling the locus of operation in the second and succeeding layers in a multi-layer welding operation by a teach/playback type robot including an arithmetic control mechanism the method being characterized by teaching an arcuate locus of operation of the first layer; utilizing as a parameter a shift width corresponding to the arcuate bead to be formed in the second and succeeding layers through an external input member; determining the direction of shift of the second and succeeding layers by calculating the inner product of the directional vector of a welding torch according to the teaching data of the first layer and a directional vector from a point on the arcuate locus of operation to the center of the arc; and calculating the locus of operation of the second or a succeeding layer from the shift direction and width by the arithmetic control mechanism.
摘要翻译：一种多层焊接方法，其中根据通过适当的线插入多个指示点所限定的焊接路径执行焊接操作，该方法的特征在于，在存储装置中存储通过焊接实际通过的坐标在指示点处焊接第一层的焊炬，并且通过在指示点处对存储在存储装置中的实际检测到的坐标加上预定量的位移来确定第二层和后层的焊接路径，并且内插移位的坐标通过合适的线。根据本发明的另一方面，提供了一种用于通过包括算术控制机构的教导/重放型机器人在多层焊接操作中控制第二层和后层中的操作轨迹的方法，该方法的特征在于教授第一层的弧形轨迹; 利用与通过外部输入构件形成在第二层和后层中的弓形凸缘相对应的移位宽度作为参数; 通过根据第一层的教学数据计算焊炬的方向矢量的内积和从弓形操作轨迹上的点到方向矢量的方向矢量来确定第二层和后层的移位方向电弧并且通过算术控制机构从移位方向和宽度计算第二层或后层的工作轨迹。

3. 发明授权

US4976165A Backlash removing mechanism for industrial robot 失效
标题翻译：工业机器人的间隙去除机构
公开(公告)号：US4976165A
公开(公告)日：1990-12-11
申请号：US379959
申请日：1989-07-14
申请人： Yasuhide Nagahama
发明人： Yasuhide Nagahama
IPC分类号： B25J9/10
CPC分类号： B25J9/1005 , B25J9/103 , Y10T74/19585 , Y10T74/19623 , Y10T74/19665 , Y10T74/20207
摘要： A backlash removing mechanism for an industrial robot wherein operation for adjustment thereof can be made readily with a simplified construction without causing a play. The mechanism comprises a rotational driving means disposed in a casing, a reduction gear for reducing the speed of rotation of the rotational driving means, and a rotary shaft directly coupled at an end thereof to the output side of the reduction gear. The reduction gear is disposed for movement in a direction of an axis of the rotary shaft. A bevel gear mechanism is provided at the other end of the rotary shaft and transmits rotation of the reduced speed from the reduction gear to an output power shaft of the robot. The rotary shaft is supported for rotation by means of a bearing which is disposed for integral movement with the rotary shaft in the axial direction. The bearing is adjustably and securely positioned in the direction of the axis of the rotary shaft in the casing by a positioning mechanism.
摘要翻译：用于工业机器人的间隙去除机构，其中可以以简单的结构容易地进行用于其调节的操作而不引起游隙。该机构包括设置在壳体中的旋转驱动装置，用于降低旋转驱动装置的旋转速度的减速齿轮，以及在其一端直接联接到减速齿轮的输出侧的旋转轴。减速齿轮设置成在旋转轴的轴线方向上移动。伞形齿轮机构设置在旋转轴的另一端，并且将减速器的减速度从减速齿轮传递到机器人的输出动力轴。旋转轴通过轴承被支撑为旋转轴，该轴承设置成与旋转轴沿轴向一体运动。轴承通过定位机构可调节地且可靠地定位在壳体中的旋转轴的轴线方向上。

4. 发明授权

US4624621A Wrist mechanism for industrial robots and the like 失效
标题翻译：工业机器人手腕机构等
公开(公告)号：US4624621A
公开(公告)日：1986-11-25
申请号：US511236
申请日：1983-07-06
申请人： Tsudoi Murakami , Yasuhide Nagahama
发明人： Tsudoi Murakami , Yasuhide Nagahama
IPC分类号： B25J9/06 , B25J9/10 , B25J17/02
CPC分类号： B25J17/0258 , B25J9/06 , B25J9/1025 , Y10T74/19
摘要： A flexible wrist mechanism for industrial robots, manipulators and the like, the wrist mechanism having in series two or more wrist articulates each consisting of at least a first wrist element located on a drive side and a second wrist element located on a driven side swingably relative to the first wrist element, characterized in that the wrist mechanism includes a coupling shaft disposed perpendicular to the axes of the first and second wrist elements and connecting the first and second elements pivotally relative to each other; a reducer interposed between the second wrist element and the coupling shaft to restrict the pivoting angle of the second wrist element relative to the first wrist element; and a rotation transfer mechanism rotationally connecting the coupling shafts of adjacent wrist articulates.
摘要翻译：一种用于工业机器人，操纵器等的柔性手腕机构，所述手腕机构具有串联的两个或更多个手腕关节，每个腕关节至少包括位于驱动侧的第一腕部元件和位于从动侧的第二腕部元件其特征在于，所述手腕机构包括：垂直于所述第一和第二腕部的轴线设置的联接轴，并且将所述第一和第二元件相对于彼此枢转地连接; 介于所述第二腕部元件与所述联结轴之间的减速器，以限制所述第二腕部相对于所述第一腕部的转动角度; 以及旋转传递机构，其旋转地连接相邻腕关节的联接轴。

5. 发明授权

US5075870A Method and device for determining whether or not origin return operation for industrial robot is required 失效
标题翻译：用于确定是否需要工业机器人的原点返回操作的方法和装置
公开(公告)号：US5075870A
公开(公告)日：1991-12-24
申请号：US544623
申请日：1990-06-27
申请人： Kazunobu Kojyo , Yasuhide Nagahama , Manabu Nagata , Toshinao Takayama
发明人： Kazunobu Kojyo , Yasuhide Nagahama , Manabu Nagata , Toshinao Takayama
IPC分类号： B25J9/18 , G05B19/4067
CPC分类号： G05B19/4067
摘要： A method and device determines whether or not an origin return operation is required for an industrial robot, such as an arc welding robot, upon resupplying of power after power cut-off during operation of the robot. The method and device enlarge an applicable range of an origin return elimination technique and also improve the reliability of a rotational angle detecting device. After power cut-off during the operation of the industrial robot, a plurality of position data of the same movable portion of the robot are retrieved, and a determination is made as to whether or not the origin return operation is required upon resupplying of power according to a difference between each position data.
摘要翻译：一种方法和装置在机器人的操作期间在电源切断之后重新供电时，确定工业机器人如电弧焊机器人是否需要原点返回操作。该方法和装置扩大原点返回消除技术的适用范围，并且还提高了旋转角度检测装置的可靠性。在工业机器人的操作期间断电之后，检索机器人的相同可动部分的多个位置数据，并且确定在再次供电时是否需要原点返回操作到每个位置数据之间的差异。

6. 发明授权

US4592697A Gravity balancing device for rocking arm 失效
标题翻译：摇臂重力平衡装置
公开(公告)号：US4592697A
公开(公告)日：1986-06-03
申请号：US488721
申请日：1983-04-26
申请人： Goro Tuda , Hironosuke Kada , Teruyoshi Sekino , Yasuhide Nagahama
发明人： Goro Tuda , Hironosuke Kada , Teruyoshi Sekino , Yasuhide Nagahama
IPC分类号： B25J9/04 , B25J9/10 , B25J19/00
CPC分类号： B25J19/0016 , B25J9/046 , B25J9/1025
摘要： A gravity offsetting device for offsetting the gravitational moment of a rocking arm, mounted between a fixed point located above a pivotal point of the rocking arm at a predetermined distance a and substantially in vertical alignment therewith, and an arbitrary point on the rocking arm, the gravity balancing device including: a compression spring having a spring constant k of a value corresponding to the load W at the arbitrary point as divided by the distance a, and a free length corresponding to the sum of the length l between the fixed and arbitrary points and the initial set length l.sub.s of the compression spring, and adapted to apply a counterbalancing tensile force varying in proportion to the distance between the fixed and arbitrary points.
摘要翻译：一种用于抵消摆臂的重力的重力偏移装置，其安装在位于摇摆臂的枢转点之上的固定点处，预定距离a并且基本上与其垂直对准，以及摇臂上的任意点，重力平衡装置，包括：压缩弹簧，其弹簧常数k与任意点处的载荷W相对应，除以距离a，以及与固定点和任意点之间的长度l之和相对应的自由长度以及压缩弹簧的初始设定长度ls，并且适于施加与固定点和任意点之间的距离成比例变化的平衡张力。

7. 发明授权

US4972131A Method of an apparatus for controlling velocity of industrial robot 失效
标题翻译：用于控制工业机器人速度的装置的方法
公开(公告)号：US4972131A
公开(公告)日：1990-11-20
申请号：US380118
申请日：1989-07-14
申请人： Kazunobu Kojyo , Yasuhide Nagahama , Manabu Nagata
发明人： Kazunobu Kojyo , Yasuhide Nagahama , Manabu Nagata
IPC分类号： B25J9/16 , B25J9/18 , B25J13/00 , B25J19/00 , G05B19/25 , G05B19/416 , G05D13/62
CPC分类号： G05B19/416 , G05B19/251
摘要： A method of and apparatus for controlling the velocity of an industrial robot where the velocity is controlled without producing an edge when an instruction velocity is higher than an allowable velocity and an operator can readily recognize the actual velocity of the robot. The method includes the setting of an allowable velocity for a first step section or each of step sections in an acceleration or deceleration section between taught points for each of the axes of the robot. At the first or each step section an instruction velocity to each axis is compared with a corresponding allowable velocity, and when the former is highter than the latter, a control cycle after which a next trigger signal is to be developed is modified using the allowable and instruction velocities. Upon such first playback operation, data related to a maximum velocity which is reached by modification of the control cycle is stored in memory, and then, in a next playback operation or operations, the maximum velocity is computed in accordance with the stored data. The thus computed maximum velocity is used in place of the instruction velocity and displayed on a display.

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