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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

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

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

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.

5. 发明授权

US5983744A Robot apparatus for installing both a robot movable section and a robot controller 失效
标题翻译：用于安装机器人可移动部分和机器人控制器的机器人装置
公开(公告)号：US5983744A
公开(公告)日：1999-11-16
申请号：US855574
申请日：1997-05-13
申请人： Atsushi Watanabe , Ryo Nihei , Akihiro Terada , Masatoshi Ito
发明人： Atsushi Watanabe , Ryo Nihei , Akihiro Terada , Masatoshi Ito
IPC分类号： B25J19/00 , B25J9/00 , B25J13/06
CPC分类号： B25J9/00 , B25J13/06 , B25J19/00 , Y10T74/20305 , Y10T74/20311
摘要： A robot apparatus having no need for securing a space for installing both a robot movable section and a robot controller. The robot apparatus includes a frame having strength enough to support the robot movable section, and containing the robot controller therein. The robot movable section is installed on the frame. The robot controller and the robot movable section are electrically connected to each other via a coupling cable passing through a hole formed inside. Over the base of the robot movable section, first, second and another arms are provided via rotating mechanism portions. The distal end of the third arm constitutes a wrist portion of a robot. Various types of hands are attached to this wrist portion. Thus, the robot movable section can be installed on the frame containing the robot controller.
摘要翻译：一种机器人装置，不需要固定用于安装机器人可移动部分和机器人控制器的空间。机器人装置包括具有足以支撑机器人可移动部分的强度的框架，并且在其中容纳机器人控制器。机器人可移动部分安装在框架上。机器人控制器和机器人可移动部分通过穿过内部形成的孔的耦合电缆彼此电连接。在机器人可移动部分的基部上，通过旋转机构部分设置第一和第二臂。第三臂的远端构成机器人的腕部。各种手指附着在该腕部上。因此，机器人可移动部分可以安装在包含机器人控制器的框架上。

6. 发明授权

US5558196A Device for detecting limits of rotational motion in a robot 失效
标题翻译：用于检测机器人中的旋转运动极限的装置
公开(公告)号：US5558196A
公开(公告)日：1996-09-24
申请号：US319103
申请日：1994-10-06
申请人： Ryo Nihei , Akihiro Terada , Kyozi Iwasaki , Masatoshi Ito
发明人： Ryo Nihei , Akihiro Terada , Kyozi Iwasaki , Masatoshi Ito
IPC分类号： B25J13/08 , B25J9/10 , B25J19/00 , B25J13/00
CPC分类号： B25J9/101
摘要： A device for detecting the limits of the rotational motion of a rotating member in an industrial robot is provided. The rotating member rotates in a first and a second rotational direction about an axis relative to a fixed member. The device comprises a limit switch provided on one of the members and a contact piece, provided on the fixed member, for activating the limit switch. The contact piece is rotatable between first and second angular position about an axis parallel to the axis of rotating member.
摘要翻译：提供一种用于检测工业机器人中的旋转构件的旋转运动的限制的装置。旋转构件围绕相对于固定构件的轴线在第一和第二旋转方向上旋转。该装置包括设置在其中一个构件上的限位开关和设置在固定构件上用于启动限位开关的接触片。接触件可以围绕平行于旋转构件的轴线的轴线在第一和第二角位置之间旋转。

7. 发明授权

US5520062A Window mechanism for sensor in industrial robot 失效
标题翻译：工业机器人传感器的窗口机构
公开(公告)号：US5520062A
公开(公告)日：1996-05-28
申请号：US412123
申请日：1995-03-28
申请人： Atsushi Watanabe , Ryo Nihei , Akihiro Terada , Takahiro Hase
发明人： Atsushi Watanabe , Ryo Nihei , Akihiro Terada , Takahiro Hase
IPC分类号： B25J9/16 , B23K9/127 , B25J19/00 , B25J19/02 , G01M19/00
CPC分类号： B23K9/1274 , B25J19/0058 , B25J19/02
摘要： A window mechanism for a sensor provided at the distal end of a robot arm of an industrial robot comprises a housing for enclosing the sensor which housing includes an opening, a glass plate for closing the opening, wiper for wiping the outer surface of the glass plate, a holder plate for slidably holding the glass plate member on the housing, and an exchanger for exchanging the plate member held by the holder with a new glass plate.
摘要翻译：设置在工业机器人的机器人臂的远端处的传感器的窗口机构包括用于封闭传感器的壳体，该壳体包括开口，用于封闭开口的玻璃板，用于擦拭玻璃板的外表面的擦拭器，用于将玻璃板构件可滑动地保持在壳体上的保持板，以及用于将由保持器保持的板构件与新玻璃板更换的换热器。

8. 发明授权

US5570609A Industrial robot provided with means for setting reference positions for respective axes 失效
标题翻译：工业机器人设有用于设置各个轴的参考位置的装置
公开(公告)号：US5570609A
公开(公告)日：1996-11-05
申请号：US295790
申请日：1995-03-08
申请人： Ryo Nihei , Akihiro Terada , Kyozi Iwasaki , Hikaru Yamashiro
发明人： Ryo Nihei , Akihiro Terada , Kyozi Iwasaki , Hikaru Yamashiro
IPC分类号： B25J17/00 , B25J9/10 , B25J9/16 , B25J19/00
CPC分类号： B25J9/10 , B25J9/1692 , Y10T74/20329
摘要： An articulated industrial robot provided with a reference position setting means which includes two positioning contact parts 22 and 24, and the reference position setting means is provided for each joint 16 of a robot unit 10 in such a manner that the positioning contact parts 22 and 24 are brought into contact with each other so as to perform determination of a geometrical reference position for each joint drive source after the replacement of a defective drive motor or a defective reduction gear of the joint drive source. The determined geometrical reference position regarding each of the joint axes are stored in the robot controller to thereby achieve a single-axis mastering,and thus the reference position setting means simplifies single-axis mastering with respect to each joint axis of the robot unit without being subject to any spatial restrictions.
摘要翻译： PCT No.PCT / JP94 / 00040 Sec。 371日期：1995年3月8日 102（e）1995年3月8日PCT PCT 1994年1月13日PCT公布。第WO94 / 15761号公报日期1994年7月21日具有基准位置设定装置的关节式工业机器人包括两个定位接触部分22和24，并且以机器人单元10的每个接头16设置基准位置设定装置，接触部22和24彼此接触，以便在更换有缺陷的驱动马达或关节驱动源的有缺陷的减速齿轮之后，确定每个关节驱动源的几何参考位置。关于每个关节轴的确定的几何参考位置被存储在机器人控制器中，从而实现单轴母盘制作，因此基准位置设置装置简化了相对于机器人单元的每个关节轴线的单轴母盘制作，而不是受到任何空间限制。

9. 发明授权

US5549018A Small-locus machining apparatus 失效
标题翻译：小轨迹加工设备
公开(公告)号：US5549018A
公开(公告)日：1996-08-27
申请号：US182068
申请日：1994-01-13
申请人： Ryo Nihei , Akihiro Terada , Yasuo Sasaki
发明人： Ryo Nihei , Akihiro Terada , Yasuo Sasaki
IPC分类号： B25J9/06 , B25J9/10 , G05G15/00
CPC分类号： B25J9/107 , Y10T74/20317
摘要： A small-locus machining apparatus is attached to the distal end of a wrist of a robot but operable independently of a robot body. First and second drives of the apparatus are mounted on a base in such a manner that respective output spindles are parallel with each other. First and second rotational arms are coupled to the output spindles through decelerators, which are directly connected to the drives, allowing rotation in a plane orthogonal to the output spindles. These rotational arms and links interconnecting the rotational arms constitute a link mechanism having, for example, five joints. A tool is attached to this link mechanism, and the rotational amounts of the first and second arms are detected to determine the coordinate position of the tool.
摘要翻译： PCT No.PCT / JP93 / 00584 Sec。 371日期1994年1月13日 102（e）日期1994年1月13日PCT提交1993年4月3日PCT公布。公开号WO93 / 24285 日期：1993年12月9日一种小型轨迹加工装置安装在机器人手腕的远端，但可独立于机器人主体进行操作。装置的第一和第二驱动装置以相应的输出主轴彼此平行的方式安装在基座上。第一和第二旋转臂通过减速器联接到输出主轴，减速器直接连接到驱动器，允许在与输出主轴正交的平面中旋转。互连旋转臂的这些旋转臂和链节构成具有例如五个接头的连杆机构。工具附接到该连杆机构，并且检测第一和第二臂的旋转量以确定工具的坐标位置。

10. 发明授权

US5489758A Height-sensing device for a laser robot 失效
标题翻译：激光机器人的高度感测装置
公开(公告)号：US5489758A
公开(公告)日：1996-02-06
申请号：US295794
申请日：1994-09-14
申请人： Ryo Nihei , Akihiro Terada , Yasuo Sasaki , Hiroshi Takamatsu
发明人： Ryo Nihei , Akihiro Terada , Yasuo Sasaki , Hiroshi Takamatsu
IPC分类号： B23K26/00 , B23K26/04 , B23K26/08 , B23K26/10 , B25J9/10 , B25J19/02 , B23K26/02
CPC分类号： B23K26/0884 , B23K26/046 , B23K26/048 , B25J19/021
摘要： A laser robot having a height sensing device (13) arranged at a position very close to a laser-beam projecting machining head (9) so that the axis of the height-sensing device (13) is parallel to the longitudinal axis of the machining head (9), the three-dimensional distance data representing the positional relationship between the laser projecting nozzle (9a) of the machining head (9) and the measuring end (13a) of the height-sensing device (13) being stored in advance in the robot controller (10), the longitudinal distance between the height-sensing device (13) and a starting point of laser-beam machining being automatically measured from directly above the starting point, and a longitudinal distance between the laser beam projecting nozzle (9a) of the machining head (9) and the machining starting point being corrected on the basis of the three-dimensional distance data and the longitudinal distance measured by the height sensing device (13) to thereby accurately locate the machining head at a position corresponding to the starting point for the laser machining operation.
摘要翻译： PCT No.PCT / JP94 / 00049 Sec。 371日期：1994年9月14日 102（e）1994年9月14日PCT 1994年1月14日PCT PCT。第WO94 / 15748号PCT公开日期：1994年7月21日。一种激光机器人，其具有布置在非常接近激光束投影加工头（9）的位置处的高度感测装置（13），使得高度感测装置（13）的轴线平行相对于加工头（9）的纵轴，表示加工头（9）的激光投射喷嘴（9a）与高度感测装置的测量端（13a）之间的位置关系的三维距离数据（13）被预先存储在机器人控制器（10）中，高度感测装置（13）与激光束加工的起始点之间的纵向距离从起始点的正上方自动测量，并且纵向距离基于三维距离数据和由高度感测装置（13）测量的纵向距离来校正加工头部（9）的激光束突出喷嘴（9a）和加工起始点之间的精确度在与激光加工操作的起始点相对应的位置处加工加工头。

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