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11. 发明授权

US4920248A ARC sensing welding apparatus controlled by program 失效
标题翻译： ARC感应焊接设备由程序控制
公开(公告)号：US4920248A
公开(公告)日：1990-04-24
申请号：US261966
申请日：1988-09-22
申请人： Kenichi Toyoda , Toru Mizuno , Nobutoshi Torii , Yuichi Kanda , Shigehiro Morikawa
发明人： Kenichi Toyoda , Toru Mizuno , Nobutoshi Torii , Yuichi Kanda , Shigehiro Morikawa
IPC分类号： B23K9/095 , B23K9/12 , B23K9/127
CPC分类号： B23K9/127 , B23K9/0956
摘要： An automatic welding apparatus carrying out an arc sensing operation is provided with a memory (2) storing parameters for arc sensing, and these parameters being rewritten by a manual input before beginning the welding, by an input from an on-line computer during the welding, or at a predetermined time by a program which outputs commands to the automatic welding apparatus (FIG. 6).

12. 发明授权

US4906814A Method of starting arc sensing 失效
标题翻译：启动电弧感测的方法
公开(公告)号：US4906814A
公开(公告)日：1990-03-06
申请号：US272840
申请日：1988-09-22
申请人： Kenichi Toyoda , Toru Mizuno , Nobutoshi Torii , Yuichi Kanda , Shigehiro Morikawa
发明人： Kenichi Toyoda , Toru Mizuno , Nobutoshi Torii , Yuichi Kanda , Shigehiro Morikawa
IPC分类号： B23K9/12 , B23K9/127
CPC分类号： B23K9/127
摘要： A method of starting arc sensing applicable to automatic welding apparatuses carrying out an arc sensing operation, which is a control operation comprising: detecting deviations of a welding electrode from a predetermined path in an up or down direction and right or left direction, by variations of a welding current while welding with a weaving operation; and correcting the deviation.In this method of starting arc sensing, the welding electrode is held in the dwell state while the arc is extremely unstable just after the arc is first generated, a weaving is carried out from a first predetermined time (T.sub.1) after the extreme instability of the arc has been eliminated, a detection and correction by an arc sensing of a deviation in the right and left direction only are carried out from a second predetermined time (T.sub.2) after the arc has become stable in the weaving state; anda detection and a correction by an arc sensing of a deviation in an up and down direction are carried out in addition to the arc sensing in the right and left direction, from a third predetermined time (T.sub.3) after the correction by the arc sensing of the deivation in the right and left direction only has been carried out (FIG. 7).

13. 发明授权

US4697979A Robot system safety method 失效
标题翻译：机器人系统安全方法
公开(公告)号：US4697979A
公开(公告)日：1987-10-06
申请号：US782714
申请日：1985-09-23
申请人： Seiichiro Nakashima , Kenichi Toyoda , Shinsuke Sakakibara , Nobutoshi Torii
发明人： Seiichiro Nakashima , Kenichi Toyoda , Shinsuke Sakakibara , Nobutoshi Torii
IPC分类号： G05B9/02 , B25J9/16 , B25J9/22 , B25J19/06 , G05B19/19 , G05B19/4063 , G05B19/42 , B25J9/00
CPC分类号： B25J19/06
摘要： A safety method in a robot system including at least a robot (1), peripheral equipment (2-5) serviced by the robot, a robot control unit (6) which causes the robot to execute predetermined services for the peripheral equipment, and a teach control panel (9). A door (11) is provided at the entrance to a robot operating zone, and the door is provided with a safety switch (12) for terminating automatic operation of the robot when the robot is in an automatic operating state. When the safety switch is actuated by opening the door, robot motion in the automatic operating state is decelerated and stopped. During the time that the safety switch is in the actuated state, the robot is placed in a playback operation state to enable control that is performed through the teach control panel.
摘要翻译： PCT No.PCT / JP85 / 00039 Sec。 371日期：1985年9月23日 102（e）1985年9月23日PCT 1985年1月31日PCT PCT。出版物WO85 / 03472 日期：1985年8月15日。一种机器人系统中的安全方法，至少包括由机器人服务的机器人（1），外围设备（2-5），机器人控制单元（6），其使机器人执行预定的服务用于外围设备和教学控制面板（9）。在机器人操作区的入口处设置门（11），并且门设有安全开关（12），用于当机器人处于自动操作状态时终止机器人的自动操作。当通过打开门来启动安全开关时，自动运行状态下的机器人运动减速停止。在安全开关处于启动状态的时候，将机器人置于重放操作状态，以使能通过教导控制面板执行的控制。

14. 发明授权

US5006035A Industrial robot 失效
标题翻译：工业机器人
公开(公告)号：US5006035A
公开(公告)日：1991-04-09
申请号：US346280
申请日：1989-03-31
申请人： Seiichiro Nakashima , Kenichi Toyoda , Nobutoshi Torii
发明人： Seiichiro Nakashima , Kenichi Toyoda , Nobutoshi Torii
IPC分类号： B25J9/04 , B25J9/06 , B25J9/10 , B25J9/12 , B25J19/00 , G05B19/23
CPC分类号： B25J9/046 , B25J19/0029 , B25J19/005 , B25J9/1035 , B25J9/12 , G05B19/23 , G05B2219/45083 , G05B2219/50078 , G05B2219/50084
摘要： An industrial robot has a robot unit (10) comprising a fixed base (12) and movable robot components (16, 18, 20) operatively controlled by driving motors (M.theta., MW, MU, M.alpha., M.beta., M.gamma.) provided with absolute position detecting encoders (EC.theta., ECW, ECU, EC.alpha., EC.beta., EC.gamma.). The swivel body (16) among the movable robot components, mounted on the fixed base (12) is mounted, on its mount, with the driving motor (M.theta.) for operatively controlling the same, and is mounted with and holds a battery (46) for supplying a backup voltage to the encoders of the driving motors (MW, MU, M.alpha., M.beta., M.gamma.) for operatively controlling the movable robot components (18, 20). The battery is connected electrically by cables (48, 49) to the encoders (EC.theta., ECW, ECU, EC.alpha., EC.beta., EC.gamma.).
摘要翻译：工业机器人具有机器人单元（10），其包括固定基座（12）和通过驱动马达（Mθ，MW，MU，Mα，Mβ，Mγ）可操作地控制的可移动机器人部件（16,18,20）提供绝对位置检测编码器（EC theta，ECW，ECU，EC alpha，EC beta，EC gamma）。安装在固定基座（12）上的可移动机器人部件中的旋转体（16）在其安装件上安装有用于可操作地控制其的驱动电动机（Mθ），并且安装并保持电池 46，用于向驱动电动机（MW，MU，Mα，Mβ，Mγ）的编码器提供备用电压，用于可操作地控制可移动机器人部件（18,20）。电池通过电缆（48,49）电连接到编码器（ECθ，ECW，ECU，EC alpha，EC beta，EC gamma）。

15. 发明授权

US4990729A Teaching console panel for robot 失效
标题翻译：机器人教学台面板
公开(公告)号：US4990729A
公开(公告)日：1991-02-05
申请号：US265863
申请日：1988-10-03
申请人： Kenichi Toyoda , Nobutoshi Torii , Susumu Ito , Akira Tanaka
发明人： Kenichi Toyoda , Nobutoshi Torii , Susumu Ito , Akira Tanaka
IPC分类号： G05B19/42 , B25J9/22 , B25J13/02 , B25J13/06 , G05B19/408 , G05B19/409 , H01H3/12 , H01H9/02
CPC分类号： B25J13/02 , H01H2300/026 , H01H3/122 , H01H9/0214
摘要： Disclosed is a console panel for a robot, which is provided with a dead-man switch always firmly actuated and easy to hold by the hand and does not cause substantial fatigue of the hand. In this console panel, a pressing plate 9 of a dead-man switch having an elliptical recess 91 on the back surface of the console panel at a position where the tips of the respective fingers simultaneously touch when the console panel is held from the side portion thereof, and this console panel is used for various electrically operated industrial robots.

16. 发明授权

US4857700A Control apparatus for automatic arc welding machine 失效
标题翻译：自动弧焊机控制装置
公开(公告)号：US4857700A
公开(公告)日：1989-08-15
申请号：US243564
申请日：1988-08-09
申请人： Kenichi Toyoda , Tohru Mizuno , Nobutoshi Torii , Yuichi Kanda , Shigehiro Morikawa
发明人： Kenichi Toyoda , Tohru Mizuno , Nobutoshi Torii , Yuichi Kanda , Shigehiro Morikawa
IPC分类号： B23K9/12 , B23K9/127
CPC分类号： B23K9/127
摘要： The arc current is divided into two areas each corresponding to a 1/4 period of weaving, the two areas are compared with each other, and an area corresponding to a predetermined time period at the end portion of the larger area is substrated from the larger area and another area comparison is performed. The movement of the welding torch is compensated in accordance with the predetermined correction function, so that, even when an actual weld line of base metals to be welded deviates from an instructed weld line, the welding torch is correctly moved along the weld line of the base materials and arc welding is performed.

17. 发明授权

US4728247A Industrial robot 失效
标题翻译：工业机器人
公开(公告)号：US4728247A
公开(公告)日：1988-03-01
申请号：US834274
申请日：1986-02-20
申请人： Seiichiro Nakashima , Kenichi Toyoda , Nobutoshi Torii , Hitoshi Mizuno
发明人： Seiichiro Nakashima , Kenichi Toyoda , Nobutoshi Torii , Hitoshi Mizuno
IPC分类号： B25J9/04 , B25J19/00 , B66C23/72
CPC分类号： B25J19/0016 , B25J9/046 , Y10T16/53834
摘要： The industrial robot comprises a lower arm (13) provided on a robot body (12) pivotably about a first horizontal axis (C1). The lower arm (13) has provided thereon a forearm (14) pivotably about a second horizontal axis (C2). The forearm (14) is rotationally driven by a drive such as a motor (16). The robot body (12) has provided thereon a rotating disk (17) interlocked with the pivoting of the forearm (14) about the second axis (C2) and rotatable about the first axis (C1). Also the rotating disk (17) has secured thereon a first wheel (18) and coaxial therewith, the diameter of which is smaller than that of the disk. There is further provided a tension spring assembly (19) having one end thereof connected to the robot body (12) and which has rotatably mounted at the other end thereof a second wheel (21) having nearly the same diameter as that of the first wheel. Also provided is a chain (22) having one end thereof connected to the rotating disk (17) and the other end engaged on the first wheel (18). This chain (22) is engaged on the outer circumference of the second wheel (21) while pulling the tension spring assembly (19). The one end of the chain (22) is so disposed on the rotating disk (17) that when the upper end of the forearm (14) is directed normally downward, the chain portion (22b) between the rotating disk (17) and the second wheel (21) is substantially parallel to the chain portion (22c) between the first and second wheels (18) and (21).
摘要翻译： PCT No.PCT / JP85 / 00366 Sec。一九八六年二月二十日 102（e）日期1986年2月20日PCT提交1985年6月28日PCT公布。出版物WO86 / 日期1986年1月16日。工业机器人包括设置在机器人主体（12）上的可绕第一水平轴线（C1）枢转的下臂（13）。下臂（13）在其上设置有绕第二水平轴线（C2）可枢转的前臂（14）。前臂（14）由诸如马达（16）的驱动器旋转驱动。机器人主体（12）上设置有旋转盘（17），该旋转盘与前臂（14）围绕第二轴线（C2）枢转并且可围绕第一轴线（C1）旋转。此外，旋转盘（17）固定有第一轮（18）并与其同轴，其直径小于盘的直径。另外还设置有一个拉伸弹簧组件（19），其一端连接到机器人本体（12），并且其另一端可旋转地安装有与第一轮几乎相同直径的第二轮（21）。还设置有一个链条（22），其一端连接到旋转盘（17），另一端接合在第一轮（18）上。该链条（22）在拉动拉伸弹簧组件（19）的同时在第二轮（21）的外圆周上接合。链条（22）的一端设置在旋转盘（17）上，当前臂（14）的上端正常向下定位时，旋转盘（17）和第二轮（21）基本上平行于第一和第二轮（18）和（21）之间的链条部分（22c）。

18. 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。

19. 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。

20. 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。

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