专利快速检索-快速检索全球专利，免费商用专利数据库-IPRDB

1. 发明授权

US4495453A System for controlling an industrial robot 失效
标题翻译：用于控制工业机器人的系统
公开(公告)号：US4495453A
公开(公告)日：1985-01-22
申请号：US391396
申请日：1982-06-23
申请人： Hajimu Inaba , Shinsuke Sakakibara , Shigemi Inagaki , Nobutoshi Torii
发明人： Hajimu Inaba , Shinsuke Sakakibara , Shigemi Inagaki , Nobutoshi Torii
IPC分类号： G05D3/12 , A47C23/00 , A47C27/00 , B25J9/16 , B25J9/18 , B25J13/00 , B25J17/02 , G05B19/42
CPC分类号： B25J17/02 , B25J9/1612
摘要： A system for controlling an industrial robot having a wrist (1) driven to rotate by a direct-current motor (2) having a servomechanism, wherein stroke-limit position control (6) of the wrist and rotational control (7) of the wrist can be selectively carried out.
摘要翻译：一种用于控制具有由具有伺服机构的直流电动机（2）驱动旋转的手腕（1）的工业机器人的系统，其中手腕的行程限位位置控制（6）和手腕的旋转控制（7）可以选择性地进行。

2. 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。

3. 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。

4. 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。

5. 发明授权

US4489821A Workpiece feeder 失效
标题翻译：工件馈线
公开(公告)号：US4489821A
公开(公告)日：1984-12-25
申请号：US390658
申请日：1982-06-21
申请人： Hajimu Inaba , Nobutoshi Torii
发明人： Hajimu Inaba , Nobutoshi Torii
IPC分类号： B65G47/90 , B23Q7/00 , B23Q7/04 , B23Q7/14 , B65G37/00
CPC分类号： B23Q7/1452 , B23Q7/04
摘要： An apparatus for feeding workpieces to a workpiece gripping position of a hand of an industrial robot, especially a workpiece feeder used for a limited axis robot, comprising a conveyor which is mounted on a table and has a plurality of pallets, the workpieces placed on the pallets moved intermittently to a predetermined area of the robot, characterized in that the table has a window, that each of the pallets comprises a lower plate having a central opening and an upper plate mounted on the lower plate, and that there is provided a lifting means movable vertically through the window in the table and the central opening in the lower plate, causing the upper plate to move and to lift the workpiece placed on the upper plate up to a workpiece gripping position of a hand of the robot.
摘要翻译：一种用于将工件馈送到工业机器人的手的工件夹持位置的设备，特别是用于有限轴机器人的工件供给器，包括安装在工作台上并具有多个托盘的输送机，工件放置在托盘间歇地移动到机器人的预定区域，其特征在于，所述工作台具有窗口，每个托盘包括具有中心开口的下板和安装在下板上的上板，并且提供提升可垂直移动通过桌子中的窗口和下板中的中心开口，使上板移动并将放置在上板上的工件提升到机器人手的工件夹持位置。

6. 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。

7. 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。

8. 发明授权

US4299529A Automated device 失效
标题翻译：自动装置
公开(公告)号：US4299529A
公开(公告)日：1981-11-10
申请号：US5800
申请日：1979-01-23
申请人： Hajimu Inaba , Shigemi Inagaki
发明人： Hajimu Inaba , Shigemi Inagaki
IPC分类号： B25J9/10 , B25J17/02 , B25J9/00
CPC分类号： B25J9/101 , B25J17/02 , B25J17/0208 , B25J17/0241
摘要： An automated device comprising an arm, a wrist which is rotatably held by the arm at predetermined angles and a hand which is rotatably held by the wrist, wherein the wrist includes an apparatus for varying the angle of the axis of the wrist with respect to the axis of the arm, and the varying apparatus has a device for adjusting the angle. In the above device, the wrist may be bent in all directions.
摘要翻译：一种自动装置，包括臂，手腕，其以预定角度由臂可旋转地保持，手由手腕可旋转地保持，其中手腕包括用于改变手腕的轴线相对于手腕的角度的装置并且变化的装置具有用于调节角度的装置。在上述装置中，手腕可以在各个方向弯曲。

9. 发明授权

US4530062A Method and apparatus for controlling industrial robots 失效
标题翻译：用于控制工业机器人的方法和装置
公开(公告)号：US4530062A
公开(公告)日：1985-07-16
申请号：US387850
申请日：1982-05-28
申请人： Hajimu Inaba , Shinsuke Sakakibara
发明人： Hajimu Inaba , Shinsuke Sakakibara
IPC分类号： B25J9/16 , B25J9/10 , B25J9/18 , G05B19/23 , G05B19/42 , G05D3/12 , G06F15/46
CPC分类号： G05B19/42 , G05B19/231 , G05B2219/37357 , G05B2219/39176 , G05B2219/42182 , G05B2219/45083 , G05B2219/49169
摘要： An industrial robot control method and apparatus having a pulse distributing circuit for executing a pulse distribution operation on the basis of positional command data from taught data to generate distributed pulses, a pulse coder for generating a feedback pulse each time the industrial robot moves a predetermined amount along the Z-axis, an error register for storing the difference between the number of distributed pulses and the number of feedback pulses, and positional control circuitry for positionally controlling the industrial robot in such a manner that said difference approaches zero, compensation being effected for an amount of bending .DELTA.Z of an arm when a workpiece of weight W is gripped. The industrial robot control apparatus includes a memory for storing an amount of bending .DELTA.Z.sub.o of the arm when a workpiece having a predetermined weight W.sub.o is gripped at an arm length l.sub.o, an arithmetic circuit for computing an amount of bending .DELTA.Z when a workpiece of weight W is gripped at an arm length l, said computation being performed using .DELTA.Z.sub.o, l.sub.o, W.sub.o, l and W, and an adding circuit for adding .DELTA.Z and an incremental commanded amount of movement Z.sub.d along the Z-axis and for delivering the sum of the pulse distributing circuit, the pulse distributing circuit generating distributed pulses corresponding to (Z.sub.d +.DELTA.Z), whereby a positional error due to bending is corrected.
摘要翻译： PCT No.PCT / JP81 / 00274 Sec。 371日期1982年5月28日 102（e）日期1982年5月28日PCT提交1981年10月8日PCT公布。出版物WO82 / 01428 日本1984年4月29日。一种具有脉冲分配电路的工业机器人控制方法和装置，用于根据来自教导数据的位置指令数据执行脉冲分配操作以产生分布式脉冲，每次产生反馈脉冲的脉冲编码器工业机器人沿Z轴移动预定量，用于存储分布脉冲数与反馈脉冲数之间的差异的误差寄存器，以及用于以这样的方式位置控制工业机器人的位置控制电路，接近零时，当握住重量W的工件时，对臂的弯曲量DELTA Z进行补偿。工业机器人控制装置包括用于当具有预定重量Wo的工件被握在臂长度lo上时用于存储臂的弯曲量DELTA Zo的存储器，用于计算当工件的工件时的弯曲量DELTA Z的运算电路重量W被握在臂长度l上，所述计算使用DELTA Zo，lo，Wo，l和W进行，以及加法电路，用于沿Z轴增加DELTA Z和增量指令量的移动量Zd并用于传递脉冲分配电路的和，脉冲分配电路产生对应于（Zd + DELTA Z）的分布脉冲，从而校正由于弯曲引起的位置误差。

10. 发明授权

US4504771A Robot control apparatus 失效
标题翻译：机器人控制装置
公开(公告)号：US4504771A
公开(公告)日：1985-03-12
申请号：US451160
申请日：1982-12-07
申请人： Hajimu Inaba , Shinsuke Sakakibara
发明人： Hajimu Inaba , Shinsuke Sakakibara
IPC分类号： B25J9/16 , B25J9/18 , G05B19/416 , G05B19/42 , G05B13/00
CPC分类号： G05B19/42 , G05B19/416 , G05B2219/42241 , G05B2219/43203 , G05B2219/45083
摘要： Disclosed is a robot control apparatus which drives a rotational drive unit (103) for rotating a robot arm about an axis of rotation. The robot control apparatus includes a rotational speed decision unit (SJC) to assure that the rotational speed of the robot arm driven by the rotational drive unit (103) will not exceed a maximum allowable speed. The rotational speed decision unit (SJC) is adapted to compute an allowable rotational speed (Ft) for an input arm length (Ra), compare the computed allowable rotational speed (Ft) with an input speed (Fin), and produce, as a commanded speed (Fc), the smaller of the two compared speeds.
摘要翻译： PCT No.PCT / JP82 / 00121 Sec。 371日期1982年12月7日 102（e）1982年12月7日PCT PCT卷号1982年4月15日PCT公布。公开号WO82 / 03706 日期：1982年10月28日。公开是一种机器人控制装置，其驱动用于围绕旋转轴线旋转机器人手臂的旋转驱动单元（103）。机器人控制装置包括转速判定单元（SJC），以确保由旋转驱动单元（103）驱动的机器人手臂的转速不会超过最大容许速度。旋转速度决定单元（SJC）适于计算输入臂长度（Ra）的允许转速（Ft），将计算出的允许转速（Ft）与输入速度（Fin）进行比较，并作为指令速度（Fc），两个比较速度中较小的一个。

你已经成功收藏专利！

检索式保存成功!

IPRDB

热门服务

关于我们

友情链接

联系方式