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1. 发明授权

US4988934A Robot control apparatus 失效
公开(公告)号：US4988934A
公开(公告)日：1991-01-29
申请号：US332272
申请日：1989-03-22
申请人： Kenichi Toyoda , Nobutoshi Torii , Ryo Nihei , Jun Kikuchi
发明人： Kenichi Toyoda , Nobutoshi Torii , Ryo Nihei , Jun Kikuchi
IPC分类号： B25J9/16 , B25J9/18 , G05B19/18 , G05B19/416 , G05B19/42 , G05D3/12
CPC分类号： G05B19/416 , G05B19/42 , G05B2219/36471 , G05B2219/41189 , G05B2219/43056 , G05B2219/43057 , G05B2219/43063 , G05B2219/43095 , G05B2219/43099 , G05B2219/43107
摘要： The robot control apparatus according to the present invention is so adapted that, with regard to all kinds of motions commanded of a robot, the maximum velocity and time constant conforming to the type of robot motion can be designated for respective robot control axes (3) by a controller (1) which includes a selection table memory (4).

2. 发明授权

US4903539A Direct-drive-type multi-articulated robot 失效
标题翻译：直驱型多关节机器人
公开(公告)号：US4903539A
公开(公告)日：1990-02-27
申请号：US275180
申请日：1988-09-27
申请人： Kenichi Toyoda , Nobutoshi Torii , Ryo Nihei , Akihiro Terada , Jun Kikuchi
发明人： Kenichi Toyoda , Nobutoshi Torii , Ryo Nihei , Akihiro Terada , Jun Kikuchi
IPC分类号： B25J9/06 , B25J9/04 , B25J9/12 , B25J19/00
CPC分类号： B25J19/0004 , B25J9/042 , B25J9/126 , Y10T74/20305
摘要： A direct-drive-type multi-articulated robot comprising: a stationary support shaft (14), a cylindrical rotary casing (16) surrounding the stationary support shaft (14), a first robot arm (18) joined to the upper end (16a) of the rotary casing (16), a second robot arm (20) pivotally joined to the extremity of the first robot arm (18), a direct-drive motor (M.theta.) interposed between the lower end of the rotary casing (16) and the lower end of the stationary support shaft (14) to drive the rotary casing (16) and the first robot arm (18) together for turning motion, a brake gear (24) interposed between the upper end (14a) of the stationary support shaft (14) and the first robot arm (18) to arrest the turning motion of the first robot arm (18), and an encoder (26) for detecting turning motion, interposed between the upper end (14a) of the stationary support shaft (14) and the first robot arm (18).

3. 发明授权

US4984175A Method of directly teaching a horizontal arm type multi-articulated robot and an apparatus for carrying out same 失效
标题翻译：直接教导水平臂式多关节机器人的方法及其执行装置
公开(公告)号：US4984175A
公开(公告)日：1991-01-08
申请号：US347965
申请日：1989-02-10
申请人： Kenichi Toyoda , Nobutoshi Torii , Ryo Nihei , Akihiro Terada
发明人： Kenichi Toyoda , Nobutoshi Torii , Ryo Nihei , Akihiro Terada
IPC分类号： B25J9/04 , B25J9/12 , B25J9/22 , G05B19/423
CPC分类号： B25J9/044 , B25J9/042 , B25J9/12 , G05B19/423 , G05B2219/36422 , G05B2219/36429
摘要： An articulated industrial robot has an articulated horizontal arm assembly which includes horizontal arms (20), a vertically movable shaft (20) mounted on the extremity of the horizontal arm assembly, and a motor for driving the vertically movable shaft. When directly teaching motions to the vertically movable shaft through a direct teaching operation by an operator, the current control unit of a motor control unit for driving the motor for driving the vertically movable shaft is disconnected from a signal line connected to a robot control unit, and a torque calculating circuit is provided for deciding a motor torque corresponding to the sum of the weight of the vertically movable shaft and the respective variable weights of an end effector attached to the lower end of the vertically movable shaft. A workpiece held by the end effector is connected to the current control unit to compensate the load torque of the vertically movable shaft with the torque of the motor so that the operator is able to carry out the direct teaching operation while substantially no load is imposed on the operator.

4. 发明授权

US4904911A System for controlling robot 失效
标题翻译：用于控制机器人
公开(公告)号：US4904911A
公开(公告)日：1990-02-27
申请号：US283991
申请日：1988-11-15
申请人： Kenichi Toyoda , Nobutoshi Torii , Ryo Nihei , Akihiro Terada
发明人： Kenichi Toyoda , Nobutoshi Torii , Ryo Nihei , Akihiro Terada
IPC分类号： B25J9/04 , B25J9/18 , B25J13/08 , B25J19/06 , G05B19/4062
CPC分类号： B25J9/044 , B25J13/085 , B25J19/063 , B25J9/042 , G05B19/4062
摘要： A system for controlling a robot includes a control portion (7) for supplying a control signal to and receiving a control signal from a servo unit (6) for carrying out a signal supply and a signal feedback to an electric motor (5) for driving a shaft executing a Z-axis linear motion, and threshold value supply portion (8) for supplying a threshold value to the control portion. Based on a comparison between a motor torque instruction value and a threshold value supplied from the threshold value supplying portion, an alarm is delivered and the process subsequently proceeds to a step of dealing with an abnormal condition when said motor torque instruction value becomes greater than a predetermined threshold value.

5. 发明授权

US4637773A Industrial robot of the articulated arm type 失效
标题翻译：铰接臂式工业机器人
公开(公告)号：US4637773A
公开(公告)日：1987-01-20
申请号：US691301
申请日：1984-12-31
申请人： Seiichiro Nakashima , Kenichi Toyoda , Nobutoshi Torii , Ryo Nihei
发明人： Seiichiro Nakashima , Kenichi Toyoda , Nobutoshi Torii , Ryo Nihei
IPC分类号： B25J17/00 , B25J9/10 , B25J17/02 , B25J9/00
CPC分类号： B25J17/0258 , B25J9/1045 , Y10T74/18832
摘要： An industrial robot of the articulated arm type comprises a movable robot body (11) arranged on a base (10). An upper arm (13) having root and tip portions is rotatably pivoted to the robot body (11) at the root portion thereof. A forearm (16) having rear and front ends is rotatably pivoted to the tip portion of the upper arm (13) at a portion between the rear and front ends. Preferably, a wrist assembly (20) includes two moving elements (21,22) which are rotatable about different axes in relation to the front end of the forearm (16). The moving elements (21,22) of the wrist assembly (20) are rotated about the corresponding axes by means of wrist drive units (27, 28), respectively. The wrist drive units (27, 28) include first sprockets (29, 36), respectively, each rotatably arranged in the rear end of the forearm (16). Drive motors (31, 37), each rotating the first sprockets (33, 39), are arranged on the rear end of the forearm (16 ), respectively. Second sprockets (33, 39) are operatively coupled with the wrist assembly (20) and arranged in the front end of the forearm (16). Rotational movements of the first sprockets (29, 36) are transmitted through wrapping connectors (34, 45) to the second sprockets (33, 39), respectively. The wrapping connectors (34, 45) are of endless assemblies which include chains (46, 47) and rods (48, 49), respectively.
摘要翻译： PCT No.PCT / JP84 / 00218 Sec。 371日期1984年12月31日 102（e）1984年12月31日PCT PCT 1984年4月27日PCT公布。公开号WO84 / 04269 日期：1984年11月8日。铰接臂型工业机器人包括设置在基座（10）上的可动机器人本体（11）。具有根部和顶端部分的上臂（13）在其根部可旋转地枢转到机器人主体（11）。具有后端和前端的前臂（16）在后端和前端之间的部分处可旋转地枢转到上臂（13）的末端部分。优选地，腕部组件（20）包括两个相对于前臂（16）的前端围绕不同轴线旋转的移动元件（21,22）。手腕组件（20）的移动元件（21,22）分别通过手腕驱动单元（27,28）围绕对应的轴线旋转。手腕驱动单元（27,28）分别包括可旋转地布置在前臂（16）的后端中的第一链轮（29,36）。各自旋转第一链轮（33,39）的驱动马达（31,37）分别设置在前臂（16）的后端。第二链轮（33,39）与腕部组件（20）可操作地联接并布置在前臂（16）的前端。第一链轮（29,36）的旋转运动分别通过包裹连接器（34,45）传递到第二链轮（33,39）。包裹连接器（34,45）分别是包括链条（46,47）和杆（48,49）的环形组件。

6. 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。

7. 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））。

8. 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.

9. 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。

10. 发明授权

US4970448A Method of and apparatus for ascertaining motion abilities of industrial robot 失效
标题翻译：确定工业机器人运动能力的方法和装置
公开(公告)号：US4970448A
公开(公告)日：1990-11-13
申请号：US408512
申请日：1989-08-23
申请人： Nobutoshi Torii , Ryo Nihei , Akihiro Terada
发明人： Nobutoshi Torii , Ryo Nihei , Akihiro Terada
IPC分类号： B25J19/02 , B25J19/06 , G05B19/18 , G05B19/19 , G05B19/4062
CPC分类号： G05B19/4062 , G05B2219/35402 , G05B2219/37285 , G05B2219/45083
摘要： In an industrial robot employing electric motors (Mz, M.theta., Mu, Mw) as drive sources for driving functional robot units for movement respectively about articulatory axes (Z, .theta., U, W), electric drive currents supplied to the electric motors (Mz, M.theta., Mu, Mw) associated with the articulatory axes (Z, .theta., U, W) are detected by a current detecting unit (30), the detected electric drive current supplied to the electric motor (Mz, M.theta., Mu, Mw) associated with one selected articulatory axis among the articulatory axes (Z, .theta., U, W) is sampled every predetermined minute sampling time in a period between a first time and a second time in a robot control program for controlling the motions of the functional robot units respectively about the articulatory axes (Z, .theta., W), computing means (CPU) calculates the ratio of the root-mean-square value of the electric current supplied to the electric motor (Mz, M.theta., Mu, Mw) in the period between the first time and the second time to the rated current of the same electric motor, the root-mean-square values ratios each of the root-mean-square value to the rated current are displayed on a display (40 ) to enable an operator to ascertain the propriety of the motions of the functional robot units (16, 18, 20, 22, 24,) including robot arms.
摘要翻译： PCT No.PCT / JP89 / 00017 Sec。 371日期1989年8月23日 102（e）日期1989年8月23日PCT提交1989年1月9日PCT公布。出版物WO89 / 06182 日期：1989年7月13日。在使用电动机（Mz，Mθ，Mu，Mw）的工业机器人作为用于驱动功能性机器人单元的驱动源，分别绕着关节轴（Z，θ，U，W），电驱动提供给与发音轴（Z，θ，U，W）相关联的电动机（Mz，Mθ，Mu，Mw）的电流由电流检测单元（30）检测，检测到的电驱动电流被提供给电在发音轴（Z，θ，U，W）中与一个选定的发音轴相关联的电动机（Mz，Mθ，Mu，Mw）在每个预定的微小采样时间在第一时间和第二时间之间的时段内被采样机器人控制程序用于分别控制功能机器人单元关于发音轴（Z，θ，W）的运动，计算装置（CPU）计算提供给电动机的电流的均方根值的比率（Mz，M theta，Mu，Mw）在f 第一次和第二次达到相同电动机的额定电流，将均方根值与额定电流的均方根值进行比较，显示在显示器（40）上，以使操作者能够确定包括机器人手臂的功能机器人单元（16,18,20,22,24）的运动的适当性。

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