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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

US4383455A Arm with gravity-balancing function 失效
标题翻译：手臂具有重力平衡功能
公开(公告)号：US4383455A
公开(公告)日：1983-05-17
申请号：US198132
申请日：1980-10-21
申请人： Goro Tuda , Osamu Mizuguchi
发明人： Goro Tuda , Osamu Mizuguchi
IPC分类号： B25J9/10 , G05G1/04 , B25J17/00
CPC分类号： B25J9/104 , Y10T16/84 , Y10T74/20
摘要： Arm having a gravity-balancing function effective for use in welding robots as well as robots employed in a variety of industrial fields. Projectively provided over the fulcrum of an arm (1) is a rotary sheave (2), whose position is perpendicularly maintained regardless of the vertical swaying of the arm (1). A wire (6) is extended from an action point (A) on a line traced by the center of gravity of the arm (1), to the rotary sheave (2), and is connected to a spring mechanism (3) which may extend by the length of elongation equal to the distance between the action point (A) and the rotary sheave (2), whereby a moment due to the weight of the arm (1) is completely balanced to provide an arm with gravity-balancing.
摘要翻译： PCT No.PCT / JP79 / 00043 Sec。 371日期1980年10月21日 102（e）日期1980年10月21日PCT提交1979年2月22日PCT公布。出版物WO80 / 01774 日期为1980年9月4日。具有重力平衡功能的有效用于焊接机器人以及各种工业领域的机器人。突出设置在臂（1）的支点上的是旋转滑轮（2），其位置垂直保持，而与臂（1）的垂直摆动无关。线（6）从由臂（1）的重心所示的线上的动作点（A）延伸到旋转滑轮（2），并且连接到弹簧机构（3），弹簧机构延伸长度等于作用点（A）和旋转滑轮（2）之间的距离，由此由于臂（1）的重量而产生的力矩完全平衡，以提供具有重力平衡的臂。

3. 发明授权

US4119015A Billet milling equipment 失效
标题翻译：坯料铣削设备
公开(公告)号：US4119015A
公开(公告)日：1978-10-10
申请号：US746894
申请日：1976-12-02
申请人： Goro Tuda , Yoshihisa Sawada , Yasuhiro Mugitani
发明人： Goro Tuda , Yoshihisa Sawada , Yasuhiro Mugitani
IPC分类号： B23C3/14 , B23C1/12 , B23C1/00 , B24B7/00
CPC分类号： B23C3/14 , Y10T409/307672
摘要： Billet milling equipment including first frames which are laid on a traveling path of a billet, a pair of upper and lower clamping frames which are movable so as to follow a deformation of the billet and which are installed on the first frames, and milling cutter units which normally follow a surface of the billet to be cut in correspondence with the deformation of the billet and which are installed on the clamping frames in a manner to be capable of advancing or retreating relative to the surface to-be-cut. On the basis of a signal from a flaw detector, a milling cutter of the milling cutter unit which is following the deformation of the billet is rotated in pressed contact with the surface to-be-cut of the billet, whereby a flaw is removed by the cutting.
摘要翻译：坯料研磨设备，包括放置在坯料行进路径上的第一框架，可移动以跟随坯料变形并且安装在第一框架上的一对上下夹紧框架和铣刀单元其通常沿着与坯料的变形相对应的要切割的坯料的表面，并且以能够相对于待切割表面前进或后退的方式安装在夹持框架上。基于来自探伤仪的信号，铣刀单元的跟随坯料变形的铣刀与坯料的切割表面压接接触地转动，由此通过切割。

4. 发明授权

US4105937A Teach-in method and apparatus for use in an industrial robot 失效
标题翻译：用于工业机器人的教学方法和装置
公开(公告)号：US4105937A
公开(公告)日：1978-08-08
申请号：US689125
申请日：1976-05-24
申请人： Goro Tuda , Katsuhiko Shimizu , Tudoi Murakami , Syouzi Nasu
发明人： Goro Tuda , Katsuhiko Shimizu , Tudoi Murakami , Syouzi Nasu
IPC分类号： G05B19/423 , G05B19/24
CPC分类号： G05B19/423 , G05B2219/36471 , G05B2219/36477 , Y10S700/90
摘要： In a teach-in operation, the working procedure is memorized in an industrial robot in advance of the actual working operation, and the teaching is accomplished by manually guiding the tracing tip of the robot arm along a desired path. The teach-in method comprises the step of attaching, to the end of the arm, the tracing tip having at least a displacement pulse oscillator, which consists of a projector and a phototransistor, and a roller provided with gaps such as holes or slits, the projector and phototransistor being arranged in concentric positions with respect to the respective gaps of the roller so as to form an optical axis between the two optical elements. The tracing tip is then moved along a desired path, so that the location signal of the tracing tip may be obtained by the displacement pulse oscillator, whenever the roller is rotated a certain distance, as a result of the movement of the tracing tip, and such a location signal is memorized in a memory. The tracing tip is then exchanged for a working tip at the end of the arm and the location signal is played back such that the working tip is automatically traced along the predetermined desired path by the memorized location signal, whereby the velocity of the working tip is freely determined independently of the teaching velocity of the tracing tip.Also disclosed is an apparatus for practicing the foregoing teach-in method.
摘要翻译：在教导操作中，在实际工作操作之前将工作程序存储在工业机器人中，并且通过沿期望的路径手动引导机器人手臂的跟踪尖端来实现教学。示教方法包括将具有至少一个由投影仪和光电晶体管组成的至少一个位移脉冲振荡器的跟踪尖端连接到臂的末端的步骤，以及设置有诸如孔或狭缝的间隙的辊，投影仪和光电晶体管相对于辊的相应间隙布置在同心位置，以便在两个光学元件之间形成光轴。跟踪尖端然后沿着期望的路径移动，使得随着跟踪尖端的移动，只要辊子旋转一定距离，跟踪尖端的位置信号可以由位移脉冲振荡器获得，以及这样的位置信号被存储在存储器中。然后在臂的末端更换跟踪尖端用于工作尖端，并且重放位置信号，使得工作尖端沿着预定的所需路径由存储的位置信号自动跟踪，由此工作尖端的速度为独立于跟踪尖端的教学速度自由确定。

5. 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。

6. 发明授权

US4534694A Multi-articulate arm mechanism 失效
标题翻译：多关节臂机构
公开(公告)号：US4534694A
公开(公告)日：1985-08-13
申请号：US458706
申请日：1983-01-17
申请人： Goro Tuda
发明人： Goro Tuda
IPC分类号： B25J9/06 , B25J9/04 , B25J9/14 , B25J17/02 , B66C23/00
CPC分类号： B25J17/0275 , B25J17/0266 , B25J9/046 , B25J9/14 , B66C23/005
摘要： A multi-articulated arm mechanism including a first shaft rotatably mounted on a first base plate; a first arm mounted pivotally only in a plane extending through and parallel with the first shaft; a first positioning mechanism for determining the angle of the first arm with the first shaft; a second arm attached to the first arm and pivotable only in the first plane; a second positioning mechanism for determining the angle of the second arm with the first arm; a slide arm connecting a third fulcrum point on a second base plate located remote from the first plane to a second fixed fulcrum point on the second arm; and a third positioning mechanism for determining the length of the slide arm.
摘要翻译：一种多关节臂机构，包括可旋转地安装在第一基板上的第一轴; 第一臂枢转地安装在延伸穿过并平行于第一轴的平面中; 用于确定第一臂与第一轴的角度的第一定位机构; 附接到所述第一臂并且仅在所述第一平面中枢转的第二臂; 用于确定第二臂与第一臂的角度的第二定位机构; 将位于远离所述第一平面的第二基板上的第三支点连接到所述第二臂上的第二固定支点的滑动臂; 以及用于确定滑动臂的长度的第三定位机构。

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