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21. 发明授权

US4482968A Method and apparatus for robot control 失效
标题翻译：机器人控制的方法和装置
公开(公告)号：US4482968A
公开(公告)日：1984-11-13
申请号：US334928
申请日：1981-12-28
申请人： Hajimu Inaba , Shinsuke Sakakibara
发明人： Hajimu Inaba , Shinsuke Sakakibara
IPC分类号： G05B19/42 , B25J9/16 , B25J9/18 , G05B19/19 , G05B19/4093 , G05B19/425 , G06F15/46
CPC分类号： B25J9/1676 , G05B19/425 , G05B2219/40477 , G05B2219/49143 , G05B2219/49157
摘要： A robot control method and apparatus of the type in which robot operations are taught in advance and the robot is subsequently actuated in accordance with the robot instruction data so taught. Areas in which the robot is forbidden to enter are established and the resulting information is stored in a memory. During the teaching of the robot operations the robot instruction data is created by moving the robot without regard to the forbidden areas. Thereafter, the robot instruction data so created is modified using the forbidden area information, the robot being controlled on the basis of the data so modified.
摘要翻译：预先教导机器人操作的类型的机器人控制方法和装置，并且随后根据如此教导的机器人指令数据来致动机器人。建立机器人被禁止进入的区域，并将所得到的信息存储在存储器中。在机器人操作的教导期间，通过移动机器人而不考虑禁止的区域来创建机器人指令数据。此后，使用禁止区域信息修改如此创建的机器人指令数据，基于如此修改的数据来控制机器人。

22. 发明授权

US4423998A Gripping device 失效
标题翻译：夹紧装置
公开(公告)号：US4423998A
公开(公告)日：1984-01-03
申请号：US283184
申请日：1981-07-14
申请人： Hajimu Inaba , Shinsuke Sakakibara
发明人： Hajimu Inaba , Shinsuke Sakakibara
IPC分类号： B25J15/00 , B25J15/08 , B25J19/02 , B66C1/00
CPC分类号： B25J19/025 , Y10S294/907
摘要： A gripping device on an industrial robot is provided with a plurality of light-emitting members for generating a plurality of light beams that intersect at predetermined angles, and with a plurality of light-receiving elements for receiving the light beams. When the gripping device moves relative to an object that is to be gripped, the object intercepts the light beams, on the basis of which the position of the object relative to the gripping device is detected. This permits even an object which is not precisely located at a predetermined position to be gripped accurately by the gripping device following detection of the object position.
摘要翻译：工业机器人上的夹持装置设置有多个用于产生以预定角度相交的多个光束的发光部件，以及用于接收光束的多个光接收元件。当夹持装置相对于待抓握的物体移动时，物体截取光束，基于该光束检测物体相对于夹持装置的位置。这允许在检测到物体位置之后，即使在精确定位在预定位置处的物体也能够被夹持装置精确地夹紧。

23. 发明授权

US4396987A Machine tool and robot control apparatus 失效
标题翻译：机床和机器人控制装置
公开(公告)号：US4396987A
公开(公告)日：1983-08-02
申请号：US172300
申请日：1980-07-25
申请人： Hajimu Inaba , Hideo Miyashita , Shinsuke Sakakibara , Atsushi Watanabe
发明人： Hajimu Inaba , Hideo Miyashita , Shinsuke Sakakibara , Atsushi Watanabe
IPC分类号： B25J9/16 , G05B19/18 , G05B19/414 , G05B19/418 , G06F15/46 , G05B19/42
CPC分类号： G05B19/41825 , G05B2219/45213 , Y02P90/087
摘要： A machine tool and robot control apparatus, for use in a system having a machine tool, a numerical control device for controlling the machine tool, an industrial robot and a robot control device for controlling the industrial robot, has the numerical control device and the robot control device connected to each other by means of a data transfer line. Each of the numerical control device and the robot control device is provided with a circuit for transmitting and receiving data which are exchanged through the data transfer line. The robot command data for controlling the robot, as well as the machining data for controlling the machine tool, are stored in a non-volatile memory device provided only in the numerical control device, through the data transfer line and respective circuits for transmitting and receiving data. The robot command data are successively read out from the non-volatile memory device and are transferred to the robot control device through respective data transmitting and receiving circuits and the data transfer line, thereby to control the robot.
摘要翻译：一种用于具有机床的系统的机床和机器人控制装置，用于控制机床的数控装置，工业机器人和用于控制工业机器人的机器人控制装置，具有数控装置和机器人控制装置通过数据传输线相互连接。数字控制装置和机器人控制装置中的每一个设置有用于发送和接收通过数据传输线交换的数据的电路。用于控制机器人的机器人命令数据以及用于控制机床的加工数据被存储在仅通过数据传输线和用于发送和接收的各个电路的数字控制装置中提供的非易失性存储装置中数据。机器人命令数据从非易失性存储装置连续地读出，并通过各自的数据发送接收电路和数据传送线路传送到机器人控制装置，从而控制机器人。

24. 发明授权

US4466769A Industrial robot 失效
标题翻译：工业机器人
公开(公告)号：US4466769A
公开(公告)日：1984-08-21
申请号：US389882
申请日：1982-06-18
申请人： Hajimu Inaba , Seiichiro Nakajima , Shigemi Inagaki , Susumu Ito
发明人： Hajimu Inaba , Seiichiro Nakajima , Shigemi Inagaki , Susumu Ito
IPC分类号： B25J1/00 , B25J9/00 , B25J9/04 , B25J18/02 , B25J19/00 , B66C23/00
CPC分类号： B25J18/02 , B25J19/0029 , Y10T74/18648
摘要： An industrial robot having a robot hand attached to a robot arm, a rotary motion unit supporting therein the robot arm, a vertical motion unit on which the rotary motion unit is disposed, and a vertical hollow structure extending through the vertical and rotary motion units and defining therein a vertically extending wiring and piping space.
摘要翻译：一种具有机器人手的机器人，其具有附接到机器人臂的机器人手柄，支撑在其中的旋转运动单元，机器人臂，设置有旋转运动单元的垂直运动单元，以及延伸穿过垂直和旋转运动单元的垂直中空结构，在其中限定垂直延伸的布线和管道空间。

25. 发明授权

US4352620A Industrial robot 失效
标题翻译：工业机器人
公开(公告)号：US4352620A
公开(公告)日：1982-10-05
申请号：US162878
申请日：1980-06-25
申请人： Hajimu Inaba , Seiichiro Nakajima , Shigemi Inagaki
发明人： Hajimu Inaba , Seiichiro Nakajima , Shigemi Inagaki
IPC分类号： B23Q7/04 , B25J9/00 , B25J9/04 , B25J9/06 , B25J3/00
CPC分类号： B23Q7/046 , B25J9/00 , B25J9/045
摘要： An industrial robot having two rotative mechanisms that are adapted to rotate two arms relative to the axial directions thereof and which are interconnected such that their longitudinal axes intersect at right angles. An arm which belongs to the first rotative mechanism is secured to the base of the robot, and a gripping member is attached to the end of a free arm which belongs to the second rotative mechanism. This permits the gripping member to be moved in a plane which is parallel to the X-Z plane, and then in a plane which is parallel to the Y-Z plane, so that a workpiece or tool replacement can be moved along the perpendicular side walls of a machine tool frame. The degrees of freedom can be increased by providing the robot arms with additional mechanisms, particularly between the second rotative mechanism and the gripping member, such as a rotative mechanism for rotating the gripping member about the arm, an extendible shaft for extending the arm, or a linear drive mechanism for moving the gripping member at right angles to the longitudinal axis of the arm. Servo mechanisms may constitute the means for driving the rotative mechanisms, the exendible shaft and the linear drive mechanism.
摘要翻译：一种具有两个旋转机构的工业机器人，所述两个旋转机构适于相对于其轴向方向旋转两个臂，并且互相连接使得它们的纵向轴线以直角相交。属于第一旋转机构的臂固定在机器人的基座上，并且夹持构件附接到属于第二旋转机构的自由臂的端部。这允许夹持构件在与XZ平面平行的平面中移动，然后在平行于YZ平面的平面中移动，使得工件或工具更换可以沿着机器的垂直侧壁移动工具架。通过为机器人臂提供额外的机构，特别是在第二旋转机构和夹持构件之间，例如用于使抓握构件围绕臂旋转的旋转机构，用于延伸臂的可伸长轴，或者用于使夹持构件与臂的纵向轴线成直角移动的线性驱动机构。伺服机构可构成用于驱动旋转机构，可变轴和线性驱动机构的装置。

26. 发明授权

US4576537A Robot system 失效
标题翻译：机器人系统
公开(公告)号：US4576537A
公开(公告)日：1986-03-18
申请号：US714345
申请日：1985-03-21
申请人： Hajimu Inaba , Nobutoshi Torii
发明人： Hajimu Inaba , Nobutoshi Torii
IPC分类号： B25J9/00 , B23Q7/04 , B23Q7/10
CPC分类号： B23Q7/10 , B23Q7/04
摘要： A robot system for use with a machine tool having a spindle, comprising a robot having a body for being mounted on the machine tool, an arm pivotally mounted on the body and rotatable in a plane transverse to an axial direction of the spindle of the machine tool, and a hand mounted on a distal end of said arm for gripping a workpiece for transfer to the machine tool, and a workpiece feeder disposed adjacent to the robot and movably supporting a succession of pallets for carrying unmachined and machined workpieces thereon. The workpiece feeder includes a first mechanism for moving the pallets along a path on the workpiece feeder and for positioning the pallets one at a time in a position in which an unmachined workpiece can be picked up from the pallet by the hand or a machined workpiece can be unloaded from the hand onto the pallet, and a second mechanism for moving the pallet toward the hand in the position for allowing the and to pick up the unmachined workpiece and to unload the machined workpiece, and for moving the pallet away from the hand.
摘要翻译：一种与具有主轴的机床一起使用的机器人系统，包括具有安装在机床上的主体的机器人，枢转地安装在本体上并在与机器主轴的轴向方向横切的平面中可旋转的臂工具，以及安装在所述臂的远端上的手，用于抓握用于传送到机床的工件，以及邻近机器人设置的工件进给器，并可移动地支撑用于在其上承载未加工和加工的工件的一系列托盘。工件进给器包括用于沿着工件进给器上的路径移动托盘的第一机构，并且用于将托盘一次一个地定位在可以通过手或加工的工件罐从托盘拾取未加工的工件的位置从手上卸载到托盘上，以及第二机构，用于将托板朝向手移动到用于允许和拾取未加工工件并卸载加工的工件的位置，以及用于将托盘从手上移开。

27. 发明授权

US4274802A Automated device 失效
标题翻译：自动装置
公开(公告)号：US4274802A
公开(公告)日：1981-06-23
申请号：US5773
申请日：1979-01-23
申请人： Hajimu Inaba , Shigemi Inagaki
发明人： Hajimu Inaba , Shigemi Inagaki
IPC分类号： B25J19/00 , B25J9/10 , B25J9/14 , B25J11/00 , B25J17/02 , B25J9/00 , B25J13/00 , B25J17/00
CPC分类号： B25J9/101 , B25J17/0241 , B25J9/148
摘要： An automated device comprising an arm, a supporting case mounted on the end of the arm, a rotary actuator mounted on the end of the supporting case and a wrist with a hand rotatably held by the rotary actuator, wherein the rotary actuator has a replaceable stopper on the shaft thereof, and the supporting case has a pair of static members for setting the rotational range of the stopper. In the device, the rotary actuator stops rotating at two positions, i.e., the hand stops rotating at two positions.
摘要翻译：一种自动化装置，包括臂，安装在臂的端部上的支撑壳体，安装在支撑壳体的端部上的旋转致动器和具有由旋转致动器可旋转地保持的手腕的手腕，其中旋转致动器具有可更换的塞子在其轴上，支撑壳体具有用于设定止动件的旋转范围的一对静止部件。在该装置中，旋转执行器在两个位置停止旋转，即手停止在两个位置旋转。

28. 发明授权

US4580941A Industrial robot hand-holding device 失效
标题翻译：工业机器人手持装置
公开(公告)号：US4580941A
公开(公告)日：1986-04-08
申请号：US471268
申请日：1983-03-02
申请人： Hajimu Inaba , Nobutoshi Torii
发明人： Hajimu Inaba , Nobutoshi Torii
IPC分类号： B25J15/04 , B25J19/06 , B66C1/00
CPC分类号： B25J19/063 , B25J15/04
摘要： An industrial robot hand-holding device having a hand-holding unit attached to the extremity of the robot wrist, a hand-attaching unit having mounted thereon one of a plurality of diverse robot hands and being detachably attached to the hand-holding unit, and a safeguard unit provided between the extremity of the robot wrist and the hand-holding unit so as to safeguard the robot hand against an extraordinary force applied to or acting on the robot hand.
摘要翻译：一种工业机器人握持装置，其具有附接到机器人手腕的末端的手持单元，其上安装有多个多样的机器人手中的一个并且可拆卸地附接到手持单元的手持单元，以及设置在机器人手腕的末端与手持单元之间的保护单元，以保护机器人手免受施加于或作用在机器人手上的非凡力。

29. 发明授权

US4538639A Robot wrist of an industrial robot 失效
标题翻译：工业机器人的机械手腕
公开(公告)号：US4538639A
公开(公告)日：1985-09-03
申请号：US391447
申请日：1982-06-23
申请人： Hajimu Inaba , Shigemi Inagaki , Susumu Ito
发明人： Hajimu Inaba , Shigemi Inagaki , Susumu Ito
IPC分类号： B25J9/14 , B25J15/00 , B25J15/04 , B25J17/02 , B25J19/00 , F16L27/00
CPC分类号： B25J19/0029 , B25J15/0052 , B25J15/04 , B25J17/02 , Y10T137/86268
摘要： A robot wrist of an industrial robot having a wrist housing supporting two orthogonally arranged rotating output shafts therein, each of the shafts being connected to a robot hand, and a built-in fluid conveying means provided for distributing pressurized air introduced from the outside of the robot wrist toward the robot hand attached to one of the rotating cutput shafts. An output end of each of the two rotating output shafts may either be plugged by a plug element or closed by a stop valve when the output end is not connected to the robot hand.
摘要翻译：工业机器人的机器人手腕具有手腕壳体，其支撑两个正交布置的旋转输出轴，每个轴连接到机器人手，以及内置流体输送装置，用于分配从外部引入的加压空气机器人手腕朝向机器人手，连接到旋转的切割轴之一。当输出端未连接到机器人手时，两个旋转输出轴中的每一个的输出端可以由插塞元件堵塞或由截止阀封闭。

30. 发明授权

US4475160A Method of sensing abnormal condition in robot control apparatus 失效
标题翻译：感测机器人控制装置异常情况的方法
公开(公告)号：US4475160A
公开(公告)日：1984-10-02
申请号：US334926
申请日：1981-12-28
申请人： Hajimu Inaba
发明人： Hajimu Inaba
IPC分类号： G05B9/02 , B25J9/18 , G05B19/4062 , G05B23/02 , G06F15/46
CPC分类号： G05B19/4062 , G05B2219/37285 , G05B2219/37525 , G05B2219/42268 , G05B2219/45083
摘要： Disclosed is a method of sensing an overload abnormality in a robot control apparatus for controlling a robot on the basis of instructive data. A motor for driving the robot has the upper and lower limits of its drive current or of its driving power set in advance. Then, when the robot is operating in the playback mode, the value of the drive current or power is monitored, and an operation is performed to check whether the value of the motor drive current or power is within the range of the set limit values, enabling an overload abnormality to be sensed. In accordance with the inventive method an instruction for checking the motor drive current or power is inserted beforehand at a proper location in the instructive data. When said instruction is read, a discrimination operation is performed to determine whether the drive current or power is within the range of the limit values.
摘要翻译：公开了一种基于指导数据来检测用于控制机器人的机器人控制装置中的过载异常的方法。用于驱动机器人的电动机的驱动电流或其驱动功率的上限和下限预先设定。然后，当机器人在重放模式下操作时，监视驱动电流或功率的值，并且执行操作以检查电动机驱动电流或功率的值是否在设定极限值的范围内，使得能够感测到过载异常。根据本发明的方法，用于检查电动机驱动电流或功率的指令被预先插入在指导数据中的适当位置处。当读取所述指令时，执行判别操作以确定驱动电流或功率是否在极限值的范围内。

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