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1. 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。

2. 发明授权

US4859139A Arm structure for an industrial robot 失效
标题翻译：工业机器人臂结构
公开(公告)号：US4859139A
公开(公告)日：1989-08-22
申请号：US162387
申请日：1988-02-01
申请人： Nobutoshi Torii , Ryo Nihei , Akihiro Terada
发明人： Nobutoshi Torii , Ryo Nihei , Akihiro Terada
IPC分类号： B25J9/06 , B25J9/00 , B25J9/04 , B25J18/00
CPC分类号： B25J9/0009 , B25J18/00 , B25J9/042 , Y10T74/20 , Y10T74/20207
摘要： An arm structure for an industrial robot, comprising a first robot arm (16) supported on top of a vertical robot shaft (14), and a second robot arm (20) pivotally joined through a transmission-reduction gear box (18) to the free end of the first robot arm (16). A plurality of coupling bolts (22) are extended through the interior of the first robot arm (16), each coupling bolt (22) has one end (22b) fastened to the flange (18b) of the transmission-reduction gear box (18) and the other end (22a) projecting from and fastened to the rear end of the first robot arm (16). Fastening nuts (24) each engage at least one end (22a or 22b) of each coupling bolt (22) to couple the first robot arm (16) and the transmission-reduction gear box (18) so as to preload the first robot arm (16) by a compressive force.

3. 发明授权

US5282390A Industrial robot with means for cooling a linear motion nut and screw shaft 失效
标题翻译：工业机器人，具有用于冷却直线运动螺母和螺杆轴的装置
公开(公告)号：US5282390A
公开(公告)日：1994-02-01
申请号：US867694
申请日：1992-07-07
申请人： Nobutoshi Torii , Akihiro Terada , Yasuo Sasaki
发明人： Nobutoshi Torii , Akihiro Terada , Yasuo Sasaki
IPC分类号： B25J9/06 , B25J9/10 , B25J19/00 , F16H1/18
CPC分类号： B25J9/102 , B25J19/00 , B25J19/0054 , Y10T74/18712 , Y10T74/19991 , Y10T74/20305 , Y10T74/2189
摘要： A cooling means for removing heat generated in a portion of a solid ball-and-screw shaft (27) provided for a screw mechanism accommodated in an industrial robot and engaged with a linear motion nut (28) accommodated in the linear motion mechanism. The cooling means permits a cooling medium, typically cooling air, to flow through a cooling medium passage (33) formed in an unthreaded end portion of the shaft (27) and having an end connected to a rotative drive motor (M), to flow through a radial hole (34) having one end connected to the cooling medium passage (33) and the other end opening into an annular space surrounding an external surface of the shaft formed with a screw thread (27a), and to flow through the annular space along the surface of the threaded portion of the shaft (27), to thereby remove heat generated at the threaded portion engaged with the linear motion nut (28).
摘要翻译： PCT No.PCT / JP91 / 01493 Sec。 371日期：1992年7月7日 102（e）日期1992年7月7日PCT 1991年10月31日PCT。一种冷却装置，用于除去设置在容纳在工业机器人中的螺杆机构的实心滚珠丝杠轴（27）的一部分中产生的热量并且与容纳在直线运动机构中的直线运动螺母（28）接合。冷却装置允许冷却介质（通常为冷却空气）流过形成在轴（27）的无螺纹端部中的冷却介质通道（33），并且具有连接到旋转驱动马达（M）的端部以流动通过径向孔（34），其一端连接到冷却介质通道（33），另一端开口形成围绕形成有螺纹（27a）的轴的外表面的环形空间，并且流过环形沿着轴（27）的螺纹部分的表面的空间，从而消除在与直线运动螺母（28）接合的螺纹部分处产生的热量。

4. 发明授权

US5093552A Method of preventing mis-emission of a laser beam in a laser robot 失效
标题翻译：在激光机器人中防止激光束的发射的方法
公开(公告)号：US5093552A
公开(公告)日：1992-03-03
申请号：US635492
申请日：1991-01-02
申请人： Nobutoshi Torii , Susumu Ito , Akihiro Terada
发明人： Nobutoshi Torii , Susumu Ito , Akihiro Terada
IPC分类号： B25J19/06 , B23K26/08 , B23K26/10 , B23K26/42 , G05B19/4063 , H01S3/104
CPC分类号： B23K26/0884 , B23K26/702 , G05B19/4063 , H01S3/104
摘要： A laser-beam mis-emission preventing method capable of improving safety of a laser robot. Upon supply of power to the laser robot, a processor of a robot control unit (10) compares a predetermined value with an angle (.delta.) formed between a horizontal plane (XY plane) and an axis (8a) of a laser nozzle (8) and computed based on joint angles (W, U, r, .beta.) (S1-S3). When the laser nozzle angle (.delta.) is less than the predetermined value, an interlock signal delivered to the laser oscillator (30) is set to turn off the power of the laser oscillator, thereby bringing the laser oscillator into a condition incapable of laser oscillation (S5). This prevents mis-emission of the laser beam which occurs due to deficiency of a robot operating program, erroneous manual operation, etc., and which can damage the human body or peripheral devices.

5. 发明授权

US5085619A Dual pinion anti-backlash tensioner for a robot 失效
标题翻译：机器人的双PIN抗反击拉伸机
公开(公告)号：US5085619A
公开(公告)日：1992-02-04
申请号：US602226
申请日：1990-10-30
申请人： Nobutoshi Torii , Susumu Ito , Akihiro Terada
发明人： Nobutoshi Torii , Susumu Ito , Akihiro Terada
IPC分类号： B25J17/00 , B25J9/04 , B25J9/10 , B25J17/02 , F16H57/12
CPC分类号： B25J9/1045 , B25J17/0241 , B25J9/103 , F16H57/12 , F16H2057/121 , Y10T74/19623
摘要： A joint structure for an industrial robot is provided with a gear transmission mechanism to drive movable robot element, such as a swivel body (14), of an industrial robot. The joint structure comprises a driven gear (26) connected to the movable robot element, two drive pinions (28, 30) in mesh with the driven gear (26), respectively, at different positions on the driven gear (26), a belt transmission mechanism (28a, 30a, 32) operatively connecting the two drive pinions (28, 20), a tensioner (36) for adjusting the tension in the power transmission belt (32) of the belt transmission mechanism (28a, 30a, 32), and a rotative drive source (34) connected to one (28) of the two drive pinions (28, 30). The position of the tensioner (36) is adjusted to adjust the tension in the power transmission belt (32), to thereby eliminate backlash between the respective meshing teeth of the two drive pinions (28, 30) and the driven gear (26), by pressing the respective teeth of the drive pinions (28, 30) against the corresponding teeth of the driven gear (26), respectively, in opposite directions.

6. 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).

7. 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.

8. 发明授权

US5233202A Method of adjusting an optical path followed by a laser beam in a laser robot and an apparatus for carrying out the same 失效
标题翻译：用激光机器人激光束调整光路的方法及其实施方法
公开(公告)号：US5233202A
公开(公告)日：1993-08-03
申请号：US867107
申请日：1992-07-02
申请人： Nobutoshi Torii , Akihiro Terada
发明人： Nobutoshi Torii , Akihiro Terada
IPC分类号： B23K26/04 , B23K26/08 , B23K26/10
CPC分类号： B23K26/0884 , B23K26/04 , B23K26/043
摘要： When an adjustment of an optical path followed by a laser beam is performed by using an adjusting laser beam emitted by a laser oscillating source to obtain a condition such that the laser beam introduced in a robot unit of a laser robot is correctly directed to a light condensing device (36) provided at an extremetity of the robot unit after changing the direction thereof due to a reflection by light reflecting mirrors arranged at respective joints in the robot unit, a position of the optical path of the adjusting laser beam projected by the light condensing device (36) in the interior of the robot unit (30) is detected by an optical sensor (46), and a different position of the optical path of the adjusting laser beam is simultaneously detected by a separate optical sensor (45) arranged at a position on the optical path for the laser beam located upstream with respect to the light condensing device (36), and an adjustment is carried out so that the center of movement of each of the joints of the robot unit (30) is in alignment with the optical path to be followed by the laser beam when detected at the two detecting positions.

9. 发明授权

US5225648A Industrial robot with cable arrangement system 失效
标题翻译：带电缆布置系统的工业机器人
公开(公告)号：US5225648A
公开(公告)日：1993-07-06
申请号：US772361
申请日：1991-11-06
申请人： Nobutoshi Torii , Susumu Ito , Akihiro Terada , Toshihiko Inoue
发明人： Nobutoshi Torii , Susumu Ito , Akihiro Terada , Toshihiko Inoue
IPC分类号： B23K26/08 , B23K26/10 , B25J19/00
CPC分类号： B23K26/0884 , B25J19/0029 , B25J19/0037
摘要： An industrial robot provided with a cable arrangement system in which a hollow shaft (3) is arranged to extend vertically from a robot base (1) into a rotational trunk (2) about a rotational axis thereof, and a plurality of cables (7) are arranged to be spaced from one another around the outer periphery of the hollow shaft (3) by cable clamps (4) mounted on the outer periphery of the hollow shaft (3) and having a plurality of cable receiving grooves (41).

10. 发明授权

US4916636A System for controlling acceleration and deceleration of horizontally articulated robot 失效
标题翻译：用于控制水平关节机器人的加速和减速的系统
公开(公告)号：US4916636A
公开(公告)日：1990-04-10
申请号：US49860
申请日：1987-06-11
申请人： Nobutoshi Torii , Susumu Ito , Akihiro Terada
发明人： Nobutoshi Torii , Susumu Ito , Akihiro Terada
IPC分类号： B25J9/16 , B25J9/18 , B25J13/00 , G05B19/416
CPC分类号： G05B19/416 , G05B2219/43061
摘要： A system for controlling acceleration and deceleration of a horizontally articulated robot computes the distance from the center of rotation of the robot (A) having a plurality of arms (3, 5) angularly movable in horizontal planes to a reference position such as a wrist (51) at the distal end of the arms (3, 5), and establishes an acceleration for the movement of the distal end of the arms (3, 5). A servomotor for angularly moving the arms (3,5) can effectively be utilized and the arms (3, 5) can quickly and smoothly be moved.

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