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1. 发明授权

US4508953A Method of multi-layer welding 失效
标题翻译：多层焊接方法
公开(公告)号：US4508953A
公开(公告)日：1985-04-02
申请号：US487687
申请日：1983-04-22
申请人： Tsudoi Murakami , Shoji Nasu , Kazuaki Tatsumi , Yasuhide Nagahama
发明人： Tsudoi Murakami , Shoji Nasu , Kazuaki Tatsumi , Yasuhide Nagahama
IPC分类号： B23K9/02 , B23K9/12
CPC分类号： B23K9/0216
摘要： A method of multi-layer welding in which the welding operation is performed according to a path of welding defined by interpolating a plurality of instructed points by a suitable line, the method being characterized by storing in a memory device the coordinates actually passed by a welding torch in the welding operation of the first layer at the instructed points and determining the welding path of the second and succeeding layers by adding a predetermined amount of shift to the actual detected coordinates stored in the memory device at the instructed points and interpolating the shifted coordinates by a suitable line. According to another aspect of the present invention, therefor provided is a method for controlling the locus of operation in the second and succeeding layers in a multi-layer welding operation by a teach/playback type robot including an arithmetic control mechanism the method being characterized by teaching an arcuate locus of operation of the first layer; utilizing as a parameter a shift width corresponding to the arcuate bead to be formed in the second and succeeding layers through an external input member; determining the direction of shift of the second and succeeding layers by calculating the inner product of the directional vector of a welding torch according to the teaching data of the first layer and a directional vector from a point on the arcuate locus of operation to the center of the arc; and calculating the locus of operation of the second or a succeeding layer from the shift direction and width by the arithmetic control mechanism.
摘要翻译：一种多层焊接方法，其中根据通过适当的线插入多个指示点所限定的焊接路径执行焊接操作，该方法的特征在于，在存储装置中存储通过焊接实际通过的坐标在指示点处焊接第一层的焊炬，并且通过在指示点处对存储在存储装置中的实际检测到的坐标加上预定量的位移来确定第二层和后层的焊接路径，并且内插移位的坐标通过合适的线。根据本发明的另一方面，提供了一种用于通过包括算术控制机构的教导/重放型机器人在多层焊接操作中控制第二层和后层中的操作轨迹的方法，该方法的特征在于教授第一层的弧形轨迹; 利用与通过外部输入构件形成在第二层和后层中的弓形凸缘相对应的移位宽度作为参数; 通过根据第一层的教学数据计算焊炬的方向矢量的内积和从弓形操作轨迹上的点到方向矢量的方向矢量来确定第二层和后层的移位方向电弧并且通过算术控制机构从移位方向和宽度计算第二层或后层的工作轨迹。

2. 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。

3. 发明授权

US4624621A Wrist mechanism for industrial robots and the like 失效
标题翻译：工业机器人手腕机构等
公开(公告)号：US4624621A
公开(公告)日：1986-11-25
申请号：US511236
申请日：1983-07-06
申请人： Tsudoi Murakami , Yasuhide Nagahama
发明人： Tsudoi Murakami , Yasuhide Nagahama
IPC分类号： B25J9/06 , B25J9/10 , B25J17/02
CPC分类号： B25J17/0258 , B25J9/06 , B25J9/1025 , Y10T74/19
摘要： A flexible wrist mechanism for industrial robots, manipulators and the like, the wrist mechanism having in series two or more wrist articulates each consisting of at least a first wrist element located on a drive side and a second wrist element located on a driven side swingably relative to the first wrist element, characterized in that the wrist mechanism includes a coupling shaft disposed perpendicular to the axes of the first and second wrist elements and connecting the first and second elements pivotally relative to each other; a reducer interposed between the second wrist element and the coupling shaft to restrict the pivoting angle of the second wrist element relative to the first wrist element; and a rotation transfer mechanism rotationally connecting the coupling shafts of adjacent wrist articulates.
摘要翻译：一种用于工业机器人，操纵器等的柔性手腕机构，所述手腕机构具有串联的两个或更多个手腕关节，每个腕关节至少包括位于驱动侧的第一腕部元件和位于从动侧的第二腕部元件其特征在于，所述手腕机构包括：垂直于所述第一和第二腕部的轴线设置的联接轴，并且将所述第一和第二元件相对于彼此枢转地连接; 介于所述第二腕部元件与所述联结轴之间的减速器，以限制所述第二腕部相对于所述第一腕部的转动角度; 以及旋转传递机构，其旋转地连接相邻腕关节的联接轴。

4. 发明授权

US4541062A Method of interlockingly controlling a robot and positioner 失效
标题翻译：互锁控制机器人和定位器的方法
公开(公告)号：US4541062A
公开(公告)日：1985-09-10
申请号：US488808
申请日：1983-04-26
申请人： Hironosuke Kada , Teruyoshi Sekino , Hirogazu Murayama , Iazuaki Tatsumi , Tsudoi Murakami
发明人： Hironosuke Kada , Teruyoshi Sekino , Hirogazu Murayama , Iazuaki Tatsumi , Tsudoi Murakami
IPC分类号： B23K9/032 , B23K37/04 , G05B19/418 , G05B19/423 , G06F15/46 , G05B19/42
CPC分类号： B23K37/0461 , B23K9/032 , G05B19/41825 , G05B19/423 , Y02P90/087
摘要： A method of interlockingly controlling a robot and a positioner which includes operating manually or automatically a teaching roller along a weld line of a workpiece fixed to a rotatable positioner, teaching the position of the weld line, storing the positional data thereby obtained, and performing a welding operation automatically on the basis of the stored data during playback, in which, during teaching, the positioner is rotated at any desired speed, the robot is moved manually or automatically while maintaining a welding torch in a proper welding position with respect to the weld line and positional data on each shaft of the robot and that on a rotating shaft of the positioner are stored each time the teaching roller advances by a predetermined distance, while during playback the welding speed is kept constant by controlling the moving speed of the robot and the rotating speed of the positioner simultaneously while controlling a relative positional relation between the positioner and the robot on the basis of the positional data on each shaft of the robot and that on the rotating shaft of the positioner.
摘要翻译：一种联锁地控制机器人和定位器的方法，其包括沿着固定到可旋转定位器的工件的焊接线手动或自动地操作示教辊，指示焊接线的位置，存储由此获得的位置数据，并执行在回放期间根据存储的数据自动进行焊接操作，其中在教学期间，定位器以任何所需的速度旋转，机器人手动或自动地移动，同时将焊枪保持在相对于焊缝的适当焊接位置每当教导辊前进预定距离时，机器人的每个轴上的线和位置数据被存储在定位器的旋转轴上，而在回放期间，通过控制机器人的移动速度来保持焊接速度恒定，并且定位器的旋转速度同时控制定位器a之间的相对位置关系基于机器人的每个轴上的位置数据和定位器的旋转轴上的位置数据来发现机器人。

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