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1. 发明授权

US4907467A Structure of first arm of industrial robot having articulated horizontal arms 失效
标题翻译：具有铰接水平臂的工业机器人的第一臂的结构
公开(公告)号：US4907467A
公开(公告)日：1990-03-13
申请号：US246825
申请日：1988-08-12
申请人： Kenichi Toyoda , Nobutoshi Toril , Ryo Nihei , Akihiro Terada
发明人： Kenichi Toyoda , Nobutoshi Toril , Ryo Nihei , Akihiro Terada
IPC分类号： B25J9/06 , B25J9/04 , B25J19/00 , H02K7/102 , H02K7/20
CPC分类号： B25J9/042 , B25J19/0004 , Y10T74/20317
摘要： Provided is a compact first arm (12) of an industrial robot having articulated horizontal arms, which first arm has a direct drive motor (19), an electromagnetic brake (25), and a rotary encoder (34, 36) disposed close to each other concentrically between the first arm (12) and a base post (10) supporting the first arm (12), and has another direct drive motor (39), another electromagnetic brake (45), and another rotary encoder (54, 56) disposed close to each other concentrically between the first arm (12) and a second arm (14) rotatably supported by the first arm (12).

2. 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.

3. 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.

4. 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).

5. 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).

6. 发明授权

US4688984A Wrist driving mechanism for industrial robot 失效
标题翻译：工业机器人手腕驱动机构
公开(公告)号：US4688984A
公开(公告)日：1987-08-25
申请号：US767583
申请日：1985-08-13
申请人： Seiichiro Nakashima , Kenichi Toyoda , Ryo Nihei , Hitoshi Mizuno
发明人： Seiichiro Nakashima , Kenichi Toyoda , Ryo Nihei , Hitoshi Mizuno
IPC分类号： B25J9/10 , B25J15/00 , B25J17/02
CPC分类号： B25J9/1025 , B25J17/0283 , Y10T74/1906
摘要： A wrist driving mechanism for an industrial robot has a first base wrist unit (13) supported on the free end of a robot arm (11) and capable of rotating about a first axis (.gamma.). The first base wrist unit (13) is mounted with a second base wrist unit (14) capable of rotating about a second axis (.beta.). The second base wrist unit (14) is mounted with a fore wrist unit (15) capable of rotating about a third axis (.alpha.). The robot arm (11) is provided along the longitudinal direction thereof with a first power transmitting unit (16) for transmitting a rotative power to the first base wrist unit (13). A second power transmitting unit (19) for transmitting a rotative power to the second base wrist unit (14) is formed along the robot arm (11) and the first base wrist unit (13). A motor (25) for driving the fore wrist unit (15) for rotation is mounted on the first base wrist unit (13). The driving shaft of the motor (25) is coupled with a first transmission shaft (26) extended along the second axis (.beta.). The first transmission shaft (26) is connected through a gear train (27) to the second transmission shaft (28) extended along the third axis (.alpha.) and the second transmission shaft (28) is connected to the fore wrist unit (15). The second transmission shaft (28) is associated with a reduction gear mechanism (31).
摘要翻译： PCT No.PCT / JP84 / 00595 Sec。 371日期1985年8月13日 102（e）日期1985年8月13日PCT提交1984年12月14日PCT公布。第WO85 / 02576号公报日期：1985年6月20日。一种用于工业机器人的手腕驱动机构具有支撑在机器人手臂（11）的自由端上并能够绕第一轴线（γ）旋转的第一基部腕部单元（13）。第一基部腕部（13）安装有能够围绕第二轴线（β）旋转的第二基部腕部单元（14）。第二基部腕部（14）安装有能够围绕第三轴线（α）旋转的前腕单元（15）。机器人手臂（11）沿着其长度方向设置有用于将旋转动力传递到第一基准腕部（13）的第一动力传递单元（16）。沿机器人手臂（11）和第一基准腕部（13）形成有用于将旋转动力传递到第二基准腕部（14）的第二动力传递部（19）。用于驱动前腕部（15）旋转的马达（25）安装在第一基座腕部（13）上。马达（25）的驱动轴与沿着第二轴线（β）延伸的第一传动轴（26）联接。第一传动轴（26）通过齿轮系（27）连接到沿着第三轴线（α）延伸的第二传动轴（28），第二传动轴（28）连接到前腕部（15）。第二传动轴（28）与减速齿轮机构（31）相关联。

7. 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。

8. 发明授权

US4732526A Explosion-proof industrial robot 失效
标题翻译：防爆工业机器人
公开(公告)号：US4732526A
公开(公告)日：1988-03-22
申请号：US848378
申请日：1986-02-27
申请人： Seiichiro Nakashima , Kenichi Toyoda , Akihiro Terada , Hitoshi Mizuno
发明人： Seiichiro Nakashima , Kenichi Toyoda , Akihiro Terada , Hitoshi Mizuno
IPC分类号： B25J9/04 , B25J9/10 , B25J19/00 , B25J3/00
CPC分类号： B25J9/046 , B25J19/0029 , B25J19/0079 , B25J9/1035
摘要： An electric industrial robot comprises a movable robot assembly (10) forming therein an airtight chamber, and an electric drive unit for driving the robot assembly. The electric drive unit comprises a plurality of motors (36-41). The respective casings (36a-41a) of the motors are disposed within the airtight chamber (30) of the robot assembly. Electric cables (57-62) connected to the motors, respectively, are led through the airtight chamber into a fixed pipe (67) connected to the robot assembly. The interior of the motors and the interior of the airtight chamber are kept at a pressure higher than an atmospheric pressure outside the robot assembly.
摘要翻译： PCT No.PCT / JP85 / 00365 Sec。一九六六年四月二十九日 102（e）日期1986年4月29日PCT Filed 1985年6月28日PCT公布。公开号WO86 / 00256 日本1986年1月16日。电动工业机器人包括在其中形成气密室的可移动机器人组件（10）和用于驱动机器人组件的电驱动单元。电驱动单元包括多个电动机（36-41）。电动机的各个壳体（36a-41a）设置在机器人组件的气密室（30）内。分别连接到电动机的电缆（57-62）通过气密室被引导到连接到机器人组件的固定管（67）中。电动机的内部和气密室的内部保持在机器人组件外部的压力高于大气压力。

9. 发明授权

US4750858A Wrist assembly for an industrial robot 失效
标题翻译：工业机器人手腕组件
公开(公告)号：US4750858A
公开(公告)日：1988-06-14
申请号：US768537
申请日：1985-08-19
申请人： Seiichiro Nakashima , Kenichi Toyoda , Akihiro Terada
发明人： Seiichiro Nakashima , Kenichi Toyoda , Akihiro Terada
IPC分类号： B25J17/02 , B66C1/00
CPC分类号： B25J17/0258
摘要： The two-axes wrist assembly of the chain-drive system for an industrial robot has a base wrist unit (12) disposed on one side of the robot arm (11). A hollow shaft (13) is fixed at one end thereof to the base wrist unit and is supported at the same end on one side wall of the free end of the robot arm so as to be rotatable about a first axis (.beta.) intersecting the longitudinal axis of the robot arm at right angles. The other end of the hollow shaft is positioned opposite to the inner surface of the other side wall of the free end of the robot arm. A fore wrist unit (16) is supported on the base wrist so as to be rotatable about a second axis (.alpha.) intersecting the first axis at right angles. A through shaft (17) is provided rotatably within and coaxially with the hollow shaft. The fore wrist unit is interlocked with the hollow shaft by a pair of bevel gears (18, 19). A first sprocket (22) is provided on the other end of the hollow shaft coaxially with the same within the free end of the robot arm. A second sprocket (23) is disposed provided on and coaxially with the through shaft adjacent to the first sprocket within the free end of the robot arm. The first and second sprockets engage first an second chains (26, 27) for power transmission, respectively.
摘要翻译： PCT No.PCT / JP84 / 00623 Sec。 371日期1985年8月19日 102（e）日期1985年8月19日PCT提交1984年12月27日PCT公布。公开号WO85 / 02808 日期：1985年7月4日。用于工业机器人的链驱动系统的双轴腕部组件具有设置在机器人手臂（11）一侧的基座腕部（12）。空心轴（13）的一端固定在基座腕部上，并在同一端支撑在机器人手臂的自由端的一个侧壁上，以便围绕与第一轴机器人臂的纵向轴线成直角。空心轴的另一端与机器人臂的自由端的另一侧壁的内表面相对定位。前腕部（16）被支撑在基部手腕上，以能够以与第一轴成直角相交的第二轴线（α）旋转。通孔（17）可旋转地设置在空心轴内并且与中空轴同轴。前腕单元通过一对锥齿轮（18,19）与中空轴互锁。第一链轮（22）在与机器人臂的自由端内同轴的空心轴的另一端上设置。第二链轮（23）设置在与机器人臂的自由端内的与第一链轮相邻的贯穿轴同轴的同轴上。第一和第二链轮分别与用于动力传递的第二链条（26,27）接合。

10. 发明授权

US4969795A Industrial robot equipped with a cable extending means 失效
标题翻译：工业机器人配备有电缆延伸装置
公开(公告)号：US4969795A
公开(公告)日：1990-11-13
申请号：US246822
申请日：1988-09-09
申请人： Kenichi Toyoda , Nobutoshi Torii , Hitoshi Mizuno , Kyozi Iwasaki , Masano Miyawaki
发明人： Kenichi Toyoda , Nobutoshi Torii , Hitoshi Mizuno , Kyozi Iwasaki , Masano Miyawaki
IPC分类号： B25J9/04 , B25J9/06 , B25J19/00 , H01R35/04 , H02G11/00
CPC分类号： B25J9/047 , B25J19/0025 , Y10S414/131 , Y10T74/20311
摘要： An industrial robot (10) comprising a cylindrical fixed robot body (14), a swivel body (26) mounted on the fixed robot body (14), a robot arm mechanism (60, 64) pivotally joined to the swivel body (26), and a robot wrist (66) connected to the robot arm mechanism is provided with a cable guide member (30). The cable guide member (30) is extended along the outside of the fixed robot body (14) and has a lower end pivotally joined to the fixed robot body (14) by a lower bearing member (42) and an upper end pivotally joined to the swivel body (26) by an upper bearing member (40). The cables (50) of the industrial robot (10) extending from the lower end of the fixed robot body (14) are held by cable holding section (32) formed in the middle portion of the cable guide member (30) and are extended from the upper end of the cable holding member (30) through the swivel body (26) toward the robot arm mechanism.

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