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11. 发明授权

US5466909A Laser robot with approach time from origin to a starting position minimized 失效
标题翻译：激光机器人从原点到起始位置的接近时间最小化
公开(公告)号：US5466909A
公开(公告)日：1995-11-14
申请号：US284431
申请日：1994-08-10
申请人： Ryo Nihei , Akihiro Terada , Yasuo Sasaki
发明人： Ryo Nihei , Akihiro Terada , Yasuo Sasaki
IPC分类号： B23K26/08 , B23K26/00 , B23K26/02 , B23K26/10 , B25J9/10 , G05B19/416
CPC分类号： B23K26/0884 , B23K26/02 , G05B19/4166 , G05B2219/43152 , G05B2219/45165 , G05B2219/50117
摘要： In carrying out precision laser-beam machining by using a laser-beam machining head driven by an additional motion-axis means 8 of a laser robot unit 1, a CPU accommodated in a robot controller 10 calculates time A+B necessary for a laser beam projecting nozzle to travel a distance between a position corresponding to a position of origin OR of a machining locus and a position corresponding to a starting point E on the machining locus at a quick-feed speed, and time C necessary for the laser beam projecting nozzle to travel the same distance in a laser-beam machining mode not including quick-feed operation, compares the times A+B and C, and provides feed motors MA and MB accommodated in the additional motion-axis means 8 with an automatic quick-feed command, when the time A+B is shorter than the time C to thereby enhance an efficiency of the laser machining operation.
摘要翻译： PCT No.PCT / JP93 / 01798 Sec。 371日期：1994年8月10日 102（e）日期1994年8月10日PCT提交1993年12月10日PCT公布。第WO94 / 13425号公报日期：1994年6月23日。在通过使用由激光机器人单元1的附加运动轴装置8驱动的激光束加工头进行精密激光束加工的情况下，容纳在机器人控制器10中的CPU计算时间A 激光束投影喷嘴在加速轨迹上与加工轨迹相对应的位置相对应的位置与加工轨迹上的起始点E之间的距离以快速进给速度运行所需的+ B，时间C 激光束投影喷嘴在不包括快速进给操作的激光束加工模式中行进相同距离所必需的，比较时间A + B和C，并且提供容纳在附加运动轴装置中的进给马达MA和MB 如图8所示，当A + B时间比时间C短时，自动快进指令，从而提高激光加工操作的效率。

12. 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.

13. 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.

14. 发明授权

US5639204A Positioning device for an industrial robot 失效
标题翻译：工业机器人定位装置
公开(公告)号：US5639204A
公开(公告)日：1997-06-17
申请号：US362499
申请日：1995-01-11
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： B25J9/10 , B25J9/16 , B25J13/00 , B25J19/00 , B25J9/06
CPC分类号： B25J9/1692 , B25J9/1005 , G05B2219/39026 , G05B2219/39027 , G05B2219/39048
摘要： A positioning device for positioning a robot unit (30) of a multi-articulated type industrial robot at an origin reference position having a polygonal male jig (52) attached to an extremity of the robot unit (30), and a polygonal female jig (58) suitable for being mated with the polygonal male jig (52), and the flat surfaces of the polygonal male jig (52) are brought into contact with the flat surfaces of the polygonal female jig (58) to position the robot unit (30) at the origin reference position. When mating the male jig (52) and the female jig (58) with each other in close surface-to-surface contact, the male jig (52) is pressed by pressing means (64) to bring the predetermined flat surfaces of the polygonal male jig (52) into close contact with the predetermined flat surfaces of the female jig (58).
摘要翻译： PCT No.PCT / JP93 / 00769 Sec。 371 1995年1月11日第 102（e）日期1995年1月11日PCT 1994年5月12日PCT PCT。出版物WO94 / 26475 日期1994年11月24日一种用于将多关节型工业机器人的机器人单元（30）定位在具有附接到机器人单元（30）的末端的多边形阳夹具（52）的原始基准位置的定位装置，以及多边形阴夹具（58）适于与多边形阳夹具（52）配合，并且多边形阳夹具（52）的平坦表面与多边形阴夹具（58）的平坦表面接触以定位机器人单元（30）处于原始参考位置。当雄性夹具（52）和阴型夹具（58）以紧密的表面接触方式彼此配合时，阳型夹具（52）被按压装置（64）按压以使多边形的预定平坦表面阳夹具（52）与阴夹具（58）的预定平坦表面紧密接触。

15. 发明授权

US5484982A Beam axis adjusting method for a laser robot 失效
标题翻译：激光机器人的光轴调整方法
公开(公告)号：US5484982A
公开(公告)日：1996-01-16
申请号：US119162
申请日：1993-09-24
申请人： Ryo Nihei , Akihiro Terada , Hiroshi Takamatsu
发明人： Ryo Nihei , Akihiro Terada , Hiroshi Takamatsu
IPC分类号： B23K26/02 , B23K26/04 , B25J19/00 , G01B11/27
CPC分类号： B23K26/04 , B23K26/035 , B23K26/042 , B23K26/043
摘要： A beam axis adjusting method of a laser robot including the steps of splitting a visible laser beam traveling along a laser beam pathway within the robot unit of the laser robot into a first laser beam traveling further along the laser beam pathway and a second laser beam traveling outside the robot unit, receiving the second laser beam by a target plate made of a semitransparent plate and mounted on the robot unit to form a light spot Sp on the front surface of the target plate, adjusting a relevant reflecting mirror unit disposed in the robot unit for the adjustment of the beam axis of the laser robot, and visually observing the light spot Sp from behind the back surface of the target plate while the relevant joint of the robot unit is in motion.
摘要翻译： PCT No.PCT / JP93 / 00097 Sec。 371日期：1993年9月23日 102（e）1993年9月23日PCT 1993年1月27日PCT公布。公开号WO93 / 14899 日期：1993年8月5日。一种激光机器人的光束轴调整方法，包括以下步骤：将沿着激光机器人的机器人单元内的激光束路径行进的可见激光束分割成沿着激光束进一步行进的第一激光束路径和第二激光束在机器人单元外行进，由由半透明板制成的目标板接收第二激光束并安装在机器人单元上，以在目标板的前表面上形成光点Sp，调整相关的设置在机器人单元中的反射镜单元，用于调整激光机器人的光束轴线，并且在机器人单元的相关关节运动时从目标板的后表面后方目视观察光点Sp。

16. 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).

17. 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).

18. 发明授权

US06279413B1 Articulated robot 失效
标题翻译：铰接式机器人
公开(公告)号：US06279413B1
公开(公告)日：2001-08-28
申请号：US09434160
申请日：1999-11-04
申请人： Akihiro Terada , Toshinari Tamura , Hisashi Ogawa , Takahiro Hase
发明人： Akihiro Terada , Toshinari Tamura , Hisashi Ogawa , Takahiro Hase
IPC分类号： B25J1800
CPC分类号： B25J19/0029 , Y10S414/13 , Y10S414/131 , Y10T74/20311 , Y10T74/20317 , Y10T74/20329
摘要： A first arm (3) of a articulated robot has a double arm structure composed of a first arm piece (3a) and a second arm piece (3b). The first arm piece (3a) transmits a drive force, and a housing (4a) of a second arm (4) is rotatably mounted to the first arm piece (3a) at the end thereof. The second arm piece (3b) houses cables and pipes or the like, and a cover (4b) of the housing (4a) is rotatably mounted to the second arm piece at the end thereof. The cover (4b) is fixed to the housing (4a) through a fixing tool (6). The housing (4a) is permitted to be opened by separating the housing (4a) and the cover (4b) from each other by causing the second arm piece (3b) to rotate relatively to the first arm piece (3a) after the removal of the fixing tool (6).
摘要翻译：铰接机器人的第一臂（3）具有由第一臂片（3a）和第二臂片（3b）组成的双臂结构。第一臂片（3a）传递驱动力，第二臂（4）的壳体（4a）在其末端可旋转地安装到第一臂片（3a）。第二臂片（3b）容纳电缆和管子等，并且壳体（4a）的盖子（4b）在其末端可旋转地安装到第二臂片。盖（4b）通过固定工具（6）固定到壳体（4a）上。通过使第二臂片（3b）相对于第一臂片（3a）相对于第一臂片（3a）旋转，通过使壳体（4a）和盖（4b）彼此分离来允许壳体（4a）打开，固定工具（6）。

19. 发明授权

US06763284B2 Robot teaching apparatus 有权
标题翻译：机器人教学仪器
公开(公告)号：US06763284B2
公开(公告)日：2004-07-13
申请号：US10001991
申请日：2001-12-05
申请人： Atsushi Watanabe , Tetsuya Kosaka , Katsutoshi Takizawa , Fumikazu Warashina , Kazunori Ban , Makoto Yamada , Akihiro Terada , Mitsuhiro Okuda
发明人： Atsushi Watanabe , Tetsuya Kosaka , Katsutoshi Takizawa , Fumikazu Warashina , Kazunori Ban , Makoto Yamada , Akihiro Terada , Mitsuhiro Okuda
IPC分类号： G05B1900
CPC分类号： B25J9/1697 , G05B19/4202 , G05B2219/35506 , G05B2219/36415 , G05B2219/37288 , G05B2219/37571 , G05B2219/37572 , G05B2219/40005
摘要： An image of a reference object is captured using a camera and displayed. A measurement starting point is pointed by an image position pointing device. A corresponding view line is obtained using a position on the image and a position and a direction of the camera, a robot approaches to the reference object such that it does not deviate from a projecting direction to move to a position suitable for measurement. A light is projected on the reference object and measurement of an inclination of a face of the object in the vicinity of a measuring point is started. An image including a bright line image on the reference object is photographed and 3-dimensional positions of points sequentially measured along a working line. A movement path of a robot is created using these positions as teaching points for a working robot.
摘要翻译：使用相机拍摄参考对象的图像并进行显示。测量起点由图像位置指示装置指向。使用图像上的位置和相机的位置和方向获得对应的视线，机器人接近参考对象，使得其不偏离投影方向移动到适合于测量的位置。光照射在基准对象上，开始测量对象附近的测量点的面的倾斜度。拍摄包括参考物体上的亮线图像的图像，并沿着工作线顺序地测量点的3维位置。使用这些位置创建机器人的移动路径作为工作机器人的教导点。

20. 发明授权

US06555784B2 Laser machining apparatus 失效
标题翻译：激光加工设备
公开(公告)号：US06555784B2
公开(公告)日：2003-04-29
申请号：US09832206
申请日：2001-04-11
申请人： Nobuaki Iehisa , Norio Karube , Akihiro Terada , Atsushi Watanabe , Mitsuhiro Okuda
发明人： Nobuaki Iehisa , Norio Karube , Akihiro Terada , Atsushi Watanabe , Mitsuhiro Okuda
IPC分类号： B23K2636
CPC分类号： B23K26/0613 , B23K26/0604 , B23K26/067
摘要： A laser machining apparatus with a simplified laser beam transmitting network. Respective laser beams form laser generators LS#11 to LS#25 divided into groups of G1 and G2 are aggregated to fiber-optic cables H1 and H2 by confluence devices HC1 and HC2 and transmitted to a most upstream laser beam outlet OP1. The laser beams are further aggregated to a fiber-optic cable H3 and distributed to a branch fiber-optic cable HH1 by the laser beam outlet OP1, and then distributed by laser beam outlet OP2 to OP8 to branch fiber-optic cables HH2 to HH8. The laser beams distributed to branch fiber-optic cables are focused by the machining tools TL1 to TL8 attached to robots RB1 to RB8 for laser machining. By controlling output levels of the laser generators with different oscillation wavelengths and different polarization characteristics, blend ratio of the laser beams can be adjusted. Distribution ratios of the laser beams at the laser beam outlets OP1 to OP8 are adjustable.
摘要翻译：激光加工设备，具有简化的激光束传输网络。各激光束形成分为G1和G2组的激光发生器LS＃11至LS＃25通过汇流装置HC1和HC2聚集到光纤电缆H1和H2并传输到最上游的激光束出口OP1。激光束进一步聚集到光纤电缆H3，并由激光束出口OP1分配到分支光纤电缆HH1，然后由激光束出口OP2分配到OP8以分支光纤电缆HH2至HH8。分配到分支光纤电缆的激光束由机器人RB1至RB8附加的加工工具TL1至TL8聚焦，用于激光加工。通过控制具有不同振荡波长和不同极化特性的激光发生器的输出电平，可以调整激光束的混合比。激光束出口OP1至OP8处的激光束的分布比是可调节的。

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