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31. 发明授权

US4813844A Apparatus for setting industrial robot at standard position 失效
标题翻译：将工业机器人设置在标准位置的设备
公开(公告)号：US4813844A
公开(公告)日：1989-03-21
申请号：US21059
申请日：1987-01-29
申请人： Nobutoshi Torii , Ryo Nihei , Hitoshi Mizuno
发明人： Nobutoshi Torii , Ryo Nihei , Hitoshi Mizuno
IPC分类号： B25J9/10 , B25J9/16 , B25J9/00 , B25J19/00
CPC分类号： B25J9/10 , B25J9/1692
摘要： An apparatus for setting an industrial robot at the standard position comprises a block (19) to be measured, which is attached to a top end portion (18) of a wrist of the industrial robot, and a supporting member (23) for the measurement, which is attached to a fixing base (11) of the industrial robot. The block has three planes (20, 21, 22), orthogonal to one another, to be measured, and the block is positioned to the top end portion of the wrist so that the three planes to be measured are set at predetermined positions relative to the top end portion of the wrist. The supporting member has three frames (24, 25, 26) orthogonal to one another, and the supporting member is positioned relative to the fixing base so that the three frames take predetermined positions relative to three-axis orthogonal coordinates predetermined on the basis of the fixing base. By a plurality of dial gauges (27 through 32; 37 through 42), the positions of the planes of the block are measured. The dial gauges display predetermined values only when the planes to be measured of the block are set at predetermined positions relative to the frames of the supporting member.
摘要翻译： PCT No.PCT / JP86 / 00273 Sec。 371日期1987年1月29日 102（e）日期1987年1月29日PCT申请日1986年5月30日PCT公布。出版物WO86 / 06998 日期：1986年12月4日。用于将工业机器人设置在标准位置的设备包括附接到工业机器人手腕的顶端部分（18）上的被测量块（19）和支撑用于测量的构件（23），其附接到工业机器人的固定基座（11）。块具有彼此正交的三个平面（20,21,22），被测量，并且块被定位到手腕的顶端部分，使得待测量的三个平面相对于手腕的顶端部分。所述支撑构件具有彼此正交的三个框架（24,25,26），并且所述支撑构件相对于所述固定基座定位，使得所述三个框架相对于基于所述固定基准预定的三轴正交坐标取预定位置固定底座通过多个拨号盘（27至32; 37至42），测量块的平面位置。仅当待测量的平面相对于支撑构件的框架被设定在预定位置时，表盘才显示预定值。

32. 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）。

33. 发明授权

US4549846A Automatic hand changing device for industrial robots 失效
标题翻译：工业机器人自动换手装置
公开(公告)号：US4549846A
公开(公告)日：1985-10-29
申请号：US488079
申请日：1983-04-25
申请人： Nobutoshi Torii , Ryo Nihei
发明人： Nobutoshi Torii , Ryo Nihei
IPC分类号： B25J15/04
CPC分类号： B25J15/04 , Y10T24/45466 , Y10T24/45487
摘要： A robot hand changer for industrial robots, having a changer unit mounted fixedly on the industrial robots and a changer adapter holding a robot hand and being detachably fitted in the change unit. The changer unit has a fluid-operated piston and clamping balls urged toward a clamping position by the fluid-operated piston. The changer adapter is fitted in the changer unit and clamped by the agency of the clamping piston. A plurality of such changer adapters holding different kinds of robot hand are prepared.
摘要翻译：一种用于工业机器人的机器人换手器，具有固定地安装在工业机器人上的更换器单元和容纳机器人手并且可拆卸地安装在更换单元中的更换器适配器。更换器单元具有流体操作的活塞，并且由流体操作的活塞推动朝向夹紧位置的夹紧球。更换器适配器安装在更换单元中，由夹紧活塞的机构夹紧。准备了多个保持不同种类的机器人手的变换器适配器。

34. 发明授权

US4492301A Workpiece feeder 失效
标题翻译：工件馈线
公开(公告)号：US4492301A
公开(公告)日：1985-01-08
申请号：US390560
申请日：1982-06-21
申请人： Hajimu Inaba , Nobutoshi Torii
发明人： Hajimu Inaba , Nobutoshi Torii
IPC分类号： B23Q7/03 , B23Q7/04 , B23Q7/14 , B25J9/00 , B65G37/00
CPC分类号： B23Q7/04 , B23Q7/1452
摘要： A workpiece feeder for successively feeding workpieces to a predetermined workpiece gripping station of the robot's hand. The workpiece feeder includes a conveyor having a plurality of interspaced pallets traveling on a table. Each pallet comprises a lower plate having a central opening and an upper plate which is detachably mounted on the lower plate. The workpiece feeder is provided with a lifting means having a vertically movable platform which ascends through the central opening in the lower plate to lift the upper plate away from the lower plate, thereby elevating the workpiece on the pallet up to the level of the gripping position of the robot's hand. The workpiece feeder further comprises a stop mechanism for limiting the topmost position of the platform. The workpiece feeder according to the invention is particularly suitable for use with an industrial robot of the simplified type in which the upright stand enabling the robot's hand to perform vertical translational movement is omitted.
摘要翻译：用于将工件连续地供给到机器人手的预定工件夹紧台的工件进给器。工件进给器包括具有在桌子上行进的多个间隔托盘的输送机。每个托盘包括具有中心开口的下板和可拆卸地安装在下板上的上板。工件给料器设置有提升装置，该提升装置具有可垂直移动的平台，该平台通过下板中的中心开口上升，以将上板提升离开下板，从而将托盘上的工件提升到抓握位置的高度的机器人的手。工件进给器还包括用于限制平台的最高位置的止动机构。根据本发明的工件给料器特别适用于简单类型的工业机器人，其中能够使机器人的手执行垂直平移运动的立柱支架被省略。

35. 发明授权

US5337148A Apparatus for monitoring a guard window of an arc sensor 失效
标题翻译：用于监测电弧传感器的防护窗的装置
公开(公告)号：US5337148A
公开(公告)日：1994-08-09
申请号：US952501
申请日：1992-12-02
申请人： Nobutoshi Torii , Ryo Nihei , Hiroshi Wakio
发明人： Nobutoshi Torii , Ryo Nihei , Hiroshi Wakio
IPC分类号： B23K9/32 , B23K9/10 , G01J1/00 , G01J1/04 , G01J1/18 , G01J1/42 , G01N21/15 , G01N21/59
CPC分类号： G01J1/18 , B23K9/10 , G01N2021/157 , G01N2021/5957 , G01N2201/12753
摘要： The purpose of the invention is to properly determine the replacement time of a guard window of an arc sensor using an original function of the arc sensor.The apparatus for monitoring a guard window of an arc sensor according to the present invention is provided with an arc sensor guard window (28) mounted on an arc sensor unit (20) and a standard reflecting plate (30) located at a position a determined distance from the front surface of the guard window (28). And the apparatus detects the reflected light (27) from the standard reflecting plate (30) when a laser beam (26) scans the standard reflecting plate (30), before the guard window (28) is used for an arc welding operation. The apparatus memorizes the quantity of detected light reception as the first quantity. The apparatus then detects the reflected light (27) from the standard reflecting plate (30) in the same way as before, after the guard window (28) is used for an arc welding operation. The apparatus memorizes the quantity of detected light reception as the second quantity of detected light reception as the second quantity. Based on the difference between the first quantity and the second quantity, the condition of the guard window (28) is checked and it is determined whether or not the guard window (28) should be replaced.
摘要翻译： PCT No.PCT / JP92 / 00409 Sec。 371日期1992年12月2日 102（e）日期1992年12月2日PCT提交1992年4月2日PCT公布。出版物WO92 / 17754 日期为1992年10月15日。本发明的目的是使用电弧传感器的原始功能来适当地确定电弧传感器的防护窗的更换时间。根据本发明的用于监测电弧传感器的防护窗的装置设置有安装在电弧传感器单元（20）和标准反射板（30）上的电弧传感器防护窗（28），该标准反射板位于确定的位置距保护窗（28）前表面的距离。并且当激光束（26）在保护窗（28）用于电弧焊接操作之前扫描标准反射板（30）时，该装置从标准反射板（30）检测反射光（27）。该装置将检测到的光接收量存储为第一数量。然后，在将防护窗（28）用于电弧焊接操作之后，装置以与之前相同的方式从标准反射板（30）检测反射光（27）。该装置将检测到的光接收量作为第二数量存储为第二检测光接收量。基于第一数量和第二数量之间的差异，检查保护窗（28）的状况，并确定是否应更换防护窗（28）。

36. 发明授权

US5251500A Industrial robot with a compound drive mechanism 失效
标题翻译：具有复合驱动机构的工业机器人
公开(公告)号：US5251500A
公开(公告)日：1993-10-12
申请号：US859371
申请日：1992-05-26
申请人： Nobutoshi Torii , Ryo Nihei , Mitsuhiro Yasumura
发明人： Nobutoshi Torii , Ryo Nihei , Mitsuhiro Yasumura
IPC分类号： B25J9/02 , B25J18/04 , F16H25/20 , B25J18/00
CPC分类号： B25J18/04 , Y10T74/20317
摘要： A compound drive mechanism (30) according to the invention is capable of driving an output element (10, 40) of an industrial robot for a linear motion along an axis and of rotating the output element (10, 40) independently of the linear motion of the output element (10, 40). The mechanism includes a linear-motion drive motor (M.sub.1) for driving the output element (10, 40) for linear motion, a rotation drive motor (M.sub.2) for driving the output element (10, 40) for a rotational motion arranged at a fixed position, a linear motion transmitting system (12 and 14; 42 and 44) for transmitting a linear motion to the output element (10, 40) a rotational motion transmitting system (18 and 20; 48 and 50) for transmitting a rotational motion to the output element (10, 40), and a rolling contact bearing (18, 46) interconnecting the linear motion transmitting means (12 and 14; 42 and 44) the rotational motion transmitting means (18 and 20; 48 and 50) to thereby obviate interference between those transmission systems.
摘要翻译： PCT No.PCT / JP91 / 01290 Sec。 371日期：1992年5月26日 102（e）日期1992年5月26日PCT 1991年9月27日PCT PCT。出版物WO92 / 05921 根据本发明的复合驱动机构（30）能够驱动工业机器人的沿着轴线的直线运动的输出元件（10,40），并且使输出元件（10， 40），与输出元件（10,40）的线性运动无关。该机构包括用于驱动用于直线运动的输出元件（10,40）的直线运动驱动马达（M1），用于驱动输出元件（10,40）的旋转驱动马达（M2），用于旋转运动固定位置，用于向所述输出元件（10,40）传送线性运动的线性运动传递系统（12和14; 42和44）;用于传送旋转运动的旋转运动传递系统（18和20; 48和50）以及将所述线性运动传递装置（12和14; 42和44）将所述旋转运动传递装置（18和20; 48和50）互连到所述输出元件（10,40）的滚动接触轴承（18,46）从而避免这些传输系统之间的干扰。

37. 发明授权

US5249479A Wrist mechanism for an industrial robot 失效
标题翻译：工业机器人手腕机构
公开(公告)号：US5249479A
公开(公告)日：1993-10-05
申请号：US841208
申请日：1992-02-27
申请人： Nobutoshi Torii , Hitoshi Mizuno , Kyozi Iwasaki
发明人： Nobutoshi Torii , Hitoshi Mizuno , Kyozi Iwasaki
IPC分类号： B25J17/02 , B25J19/00
CPC分类号： B25J19/0029 , B25J17/0283 , Y10T74/20201 , Y10T74/20207 , Y10T74/20402
摘要： A wrist mechanism comprising a pipe 52 extended in relation to a front .alpha.-axis among the three axes of motion (.alpha.-axis, .beta.-axis, .gamma.-axis) of a wrist, on a center axis A--A of turning motion through the center of an .alpha.-axis reduction gear, a universal pipe coupling 61 provided in relation to a .beta.-axis on the center axis B--B of motion, a pipe 51 having one end connected to the pipe 52 and the other end connected to the pipe coupling 61, and a hose 4 extended along a support arm 3 and connected through the pipe coupling 61 to the pipe 51. The wrist mechanism is incorporated into a robot for work in which a fluid is used, such as an application of an adhesive and sealant.
摘要翻译：一种手腕机构，包括在手腕的三个运动轴线（α轴，β轴，γ轴）中相对于前侧的α轴延伸的管52，其位于通过中心的转动运动的中心轴线AA上的α轴减速齿轮，相对于运动中心轴线BB上的β轴设置的通用管接头61，一端连接到管52并且另一端连接到管接头61的管51 ，以及沿着支撑臂3延伸并通过管接头61连接到管51的软管4.手腕机构结合到使用流体的工作机器人中，例如施加粘合剂和密封剂。

38. 发明授权

US5214531A Operation control system for a scanning galvanometer 失效
标题翻译：扫描电视仪的操作控制系统
公开(公告)号：US5214531A
公开(公告)日：1993-05-25
申请号：US834566
申请日：1992-02-14
申请人： Nobutoshi Torii , Hiroshi Wakio
发明人： Nobutoshi Torii , Hiroshi Wakio
IPC分类号： G02B26/10 , B23K9/127
CPC分类号： B23K9/1274
摘要： An operation control system for a scanning galvanometer associated with an arc sensor (20) of a welding robot for sensing a weld line, and having a swing mirror (23) integral therewith for a laser beam scanning. A memory (43) stores waveform data of a galvanometer drive command current obtained by synthesizing a constant-speed command current and an acceleration/deceleration command current, and an address circuit (42) causes the waveform data to be output from the memory (43) at predetermined intervals. A D/A converter (44) converts the output of the memory (43) to an analog value, and a scanner drive circuit (45) drives the galvanometer (22), which swings the swing mirror (23) to detect the weld line. Accordingly, the scanning galvanometer (22) is driven in accordance with the waveform of the galvanometer drive command current in such a manner that it is driven at a constant angular velocity in swing angle regions other than turning points, and at a constant angular acceleration in the vicinity of the turning points. Therefore, the swing angle is accurately controlled over the entire operating range, and the change of direction of the swing angle at the turning points is effected in a very short time. Further, overshoot does not occur at the turning points of the triangular wave, and as a result, the measurement for detecting the weld line by a laser beam scanning can be effectively executed.
摘要翻译： PCT No.PCT / JP91 / 00744 Sec。 371日期：1992年2月14日 102（e）日期1992年2月14日PCT提交1991年5月28日PCT公布。出版物WO92 / 00542 日期1992年1月9日。一种与用于感测焊接线的焊接机器人的电弧传感器（20）相关联的扫描检流计的操作控制系统，并且具有与其一体的用于激光束扫描的摆动反射镜（23）。存储器（43）存储通过合成恒速指令电流和加速/减速指令电流而获得的电流计驱动指令电流的波形数据，并且地址电路（42）使波形数据从存储器（43）输出）。 D / A转换器（44）将存储器（43）的输出转换为模拟值，扫描器驱动电路（45）驱动振荡器（22），其使摆动反射镜（23）摆动以检测焊接线。因此，根据检流计驱动指令电流的波形，扫描电流计（22）以除了转向点以外的摆动角度区域以恒定的角速度驱动，并以恒定的角加速度转折点附近。因此，在整个操作范围内精确地控制摆动角度，并且在非常短的时间内实现转弯点处的摆动角度的方向的变化。此外，在三角波的转折点处不会发生过冲，结果，可以有效地执行通过激光束扫描来检测焊接线的测量。

39. 发明授权

US5127282A Bevel gear unit and a wrist mechanism for an industrial robot incorporating the same 失效
标题翻译：锥齿轮减速器和用于其结合的工业机器人的手腕机构
公开(公告)号：US5127282A
公开(公告)日：1992-07-07
申请号：US809046
申请日：1991-12-16
申请人： Nobutoshi Torii , Hitoshi Mizuno , Kyozi Iwasaki
发明人： Nobutoshi Torii , Hitoshi Mizuno , Kyozi Iwasaki
IPC分类号： B25J9/10 , B25J17/02 , F16C35/06 , F16H1/14
CPC分类号： B25J9/1005 , B25J17/0258 , B25J9/103 , F16H1/14 , Y10T74/1913 , Y10T74/19665 , Y10T74/19688
摘要： A bevel gear unit comprising a bevel gear (11), a ball bearing (B.sub.1) coaxially mounted on the shaft of the bevel gear (11) and in contact with the back surface (17) thereof, a double spacer including an inner race spacer (12) and an outer race spacer (13) and mounted on the shaft of the bevel gear (11) behind the ball bearing (B.sub.1), ball bearings (B.sub.2, B.sub.3) mounted on the shaft of the bevel gear (11) behind the double spacer, and a bearing nut (15) screwed onto a threaded portion of the shaft of the bevel gear (11) behind the ball bearings (B.sub.2, B.sub.3). The axial length (l.sub.1) of the inner race spacer (12) is made smaller than the axial length (l.sub.2) of the outer race spacer (13) by a preloading allowance (.delta.), and the outer race spacer (13) is provided with threaded holes (t.sub.1) in the rear surface (f.sub.1) thereof. When applied to a mechanism having a plurality of coaxial bevel gears, particularly, to a wrist mechanism for an industrial robot, the bevel gear unit facilitates the preloading of the bearings.

40. 发明授权

US5075534A Arc sensor provided with a transparent objective window having a contamination preventing construction 失效
标题翻译： ARC传感器提供了一个具有预防污染的透明目标窗口
公开(公告)号：US5075534A
公开(公告)日：1991-12-24
申请号：US571584
申请日：1990-08-29
申请人： Nobutoshi Torii , Hiroshi Wakio , Masahiro Hagihara
发明人： Nobutoshi Torii , Hiroshi Wakio , Masahiro Hagihara
IPC分类号： B23K9/095 , B23K9/127 , G01B11/00
CPC分类号： G01B11/00 , B23K9/0956 , B23K9/127 , B23K9/1274
摘要： An arc sensor (10) to be attached to an arc welding torch for detecting a welding spot is provided with an optical detecting system having an optical position detector (14), an objective lens (18), and a transparent objective window (20) arranged in front of the objective lens, and a plurality of arc light screening plates (22 and 24) made of an opaque material, and having a light transmitting apertures (22a and 24a), the plurality of arc light screening plates (22 and 24) being arranged in front of the transparent objective window (20) and spaced from one another for screening an arc light but permitting the detecting light beam to pass therethrough.

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