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1. 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.

2. 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.

3. 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).

4. 发明授权

US4988934A Robot control apparatus 失效
公开(公告)号：US4988934A
公开(公告)日：1991-01-29
申请号：US332272
申请日：1989-03-22
申请人： Kenichi Toyoda , Nobutoshi Torii , Ryo Nihei , Jun Kikuchi
发明人： Kenichi Toyoda , Nobutoshi Torii , Ryo Nihei , Jun Kikuchi
IPC分类号： B25J9/16 , B25J9/18 , G05B19/18 , G05B19/416 , G05B19/42 , G05D3/12
CPC分类号： G05B19/416 , G05B19/42 , G05B2219/36471 , G05B2219/41189 , G05B2219/43056 , G05B2219/43057 , G05B2219/43063 , G05B2219/43095 , G05B2219/43099 , G05B2219/43107
摘要： The robot control apparatus according to the present invention is so adapted that, with regard to all kinds of motions commanded of a robot, the maximum velocity and time constant conforming to the type of robot motion can be designated for respective robot control axes (3) by a controller (1) which includes a selection table memory (4).

5. 发明授权

US4637773A Industrial robot of the articulated arm type 失效
标题翻译：铰接臂式工业机器人
公开(公告)号：US4637773A
公开(公告)日：1987-01-20
申请号：US691301
申请日：1984-12-31
申请人： Seiichiro Nakashima , Kenichi Toyoda , Nobutoshi Torii , Ryo Nihei
发明人： Seiichiro Nakashima , Kenichi Toyoda , Nobutoshi Torii , Ryo Nihei
IPC分类号： B25J17/00 , B25J9/10 , B25J17/02 , B25J9/00
CPC分类号： B25J17/0258 , B25J9/1045 , Y10T74/18832
摘要： An industrial robot of the articulated arm type comprises a movable robot body (11) arranged on a base (10). An upper arm (13) having root and tip portions is rotatably pivoted to the robot body (11) at the root portion thereof. A forearm (16) having rear and front ends is rotatably pivoted to the tip portion of the upper arm (13) at a portion between the rear and front ends. Preferably, a wrist assembly (20) includes two moving elements (21,22) which are rotatable about different axes in relation to the front end of the forearm (16). The moving elements (21,22) of the wrist assembly (20) are rotated about the corresponding axes by means of wrist drive units (27, 28), respectively. The wrist drive units (27, 28) include first sprockets (29, 36), respectively, each rotatably arranged in the rear end of the forearm (16). Drive motors (31, 37), each rotating the first sprockets (33, 39), are arranged on the rear end of the forearm (16 ), respectively. Second sprockets (33, 39) are operatively coupled with the wrist assembly (20) and arranged in the front end of the forearm (16). Rotational movements of the first sprockets (29, 36) are transmitted through wrapping connectors (34, 45) to the second sprockets (33, 39), respectively. The wrapping connectors (34, 45) are of endless assemblies which include chains (46, 47) and rods (48, 49), respectively.
摘要翻译： PCT No.PCT / JP84 / 00218 Sec。 371日期1984年12月31日 102（e）1984年12月31日PCT PCT 1984年4月27日PCT公布。公开号WO84 / 04269 日期：1984年11月8日。铰接臂型工业机器人包括设置在基座（10）上的可动机器人本体（11）。具有根部和顶端部分的上臂（13）在其根部可旋转地枢转到机器人主体（11）。具有后端和前端的前臂（16）在后端和前端之间的部分处可旋转地枢转到上臂（13）的末端部分。优选地，腕部组件（20）包括两个相对于前臂（16）的前端围绕不同轴线旋转的移动元件（21,22）。手腕组件（20）的移动元件（21,22）分别通过手腕驱动单元（27,28）围绕对应的轴线旋转。手腕驱动单元（27,28）分别包括可旋转地布置在前臂（16）的后端中的第一链轮（29,36）。各自旋转第一链轮（33,39）的驱动马达（31,37）分别设置在前臂（16）的后端。第二链轮（33,39）与腕部组件（20）可操作地联接并布置在前臂（16）的前端。第一链轮（29,36）的旋转运动分别通过包裹连接器（34,45）传递到第二链轮（33,39）。包裹连接器（34,45）分别是包括链条（46,47）和杆（48,49）的环形组件。

6. 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).

7. 发明授权

US4706001A Industrial robot 失效
标题翻译：工业机器人
公开(公告)号：US4706001A
公开(公告)日：1987-11-10
申请号：US845276
申请日：1986-03-03
申请人： Seiichiro Nakashima , Kenichi Toyoda , Nobutoshi Torii
发明人： Seiichiro Nakashima , Kenichi Toyoda , Nobutoshi Torii
IPC分类号： G05B9/02 , B25J9/04 , B25J9/10 , B25J9/18 , B25J19/00 , B25J19/06 , G05B19/18 , G05B19/4063 , G05B19/10
CPC分类号： G05B19/4063 , B25J19/0079 , B25J19/06 , B25J9/046 , B25J9/1035
摘要： The robot assembly of an industrial robot comprises a stationary robot component (11) and a plurality of movable robot components (12, 13, 14). At least parts of the stationary robot component and the movable robot components have airtight chambers (15, 16, 17) communicating with each other and intended to be kept at a pressure higher than a predetermined level which is higher than an external atmospheric pressure. Robot driving motors (18 to 23) for driving the movable robot components are arranged within the airtight chambers. A driving motor controller (27) for driving and controlling the robot driving motors is connected to the robot driving motors by means of electric cables arranged within the airtight chambers. Pressure switches (25) supply signals to the driving motor controller to stop the robot driving motors, respectively, upon detection of the pressure in the airtight chambers when the pressure in the airtight chambers drops below the predetermined level.
摘要翻译： PCT No.PCT / JP85 / 00378 Sec。一九八六年三月三日 102（e）日期1986年3月3日PCT提交1985年7月4日PCT公布。公开号WO86 / 00558 日期：1986年1月30日。工业机器人的机器人组件包括固定机器人部件（11）和多个可移动机器人部件（12,13,14）。固定机器人部件和可移动机器人部件的至少一部分具有彼此连通且旨在保持在比外部大气压高的预定水平的压力的气密室（15,16,17）。用于驱动可移动机器人部件的机器人驱动马达（18至23）布置在气密室内。用于驱动和控制机器人驱动电动机的驱动电动机控制器（27）通过布置在气密室内的电缆连接到机器人驱动电动机。当气密室中的压力下降到预定水平以下时，压力开关（25）在检测到气密室中的压力时分别向驱动马达控制器提供信号以停止机器人驱动马达。

8. 发明授权

US4969795A Industrial robot equipped with a cable extending means 失效
标题翻译：工业机器人配备有电缆延伸装置
公开(公告)号：US4969795A
公开(公告)日：1990-11-13
申请号：US246822
申请日：1988-09-09
申请人： Kenichi Toyoda , Nobutoshi Torii , Hitoshi Mizuno , Kyozi Iwasaki , Masano Miyawaki
发明人： Kenichi Toyoda , Nobutoshi Torii , Hitoshi Mizuno , Kyozi Iwasaki , Masano Miyawaki
IPC分类号： B25J9/04 , B25J9/06 , B25J19/00 , H01R35/04 , H02G11/00
CPC分类号： B25J9/047 , B25J19/0025 , Y10S414/131 , Y10T74/20311
摘要： An industrial robot (10) comprising a cylindrical fixed robot body (14), a swivel body (26) mounted on the fixed robot body (14), a robot arm mechanism (60, 64) pivotally joined to the swivel body (26), and a robot wrist (66) connected to the robot arm mechanism is provided with a cable guide member (30). The cable guide member (30) is extended along the outside of the fixed robot body (14) and has a lower end pivotally joined to the fixed robot body (14) by a lower bearing member (42) and an upper end pivotally joined to the swivel body (26) by an upper bearing member (40). The cables (50) of the industrial robot (10) extending from the lower end of the fixed robot body (14) are held by cable holding section (32) formed in the middle portion of the cable guide member (30) and are extended from the upper end of the cable holding member (30) through the swivel body (26) toward the robot arm mechanism.

9. 发明授权

US4835362A System for converting welding conditions of welding robot 失效
标题翻译：焊接机器人焊接条件转换系统
公开(公告)号：US4835362A
公开(公告)日：1989-05-30
申请号：US153556
申请日：1988-02-03
申请人： Seiichiro Nakashima , Kenichi Toyoda , Nobutoshi Torii
发明人： Seiichiro Nakashima , Kenichi Toyoda , Nobutoshi Torii
IPC分类号： B23K9/032 , B23K9/095 , B23K9/12 , G05B19/42
CPC分类号： G05B19/42 , B23K9/032 , B23K9/0953 , B23K9/0956 , B23K9/12 , G05B2219/36495 , G05B2219/45104
摘要： A system for converting the welding conditions of a welding robot includes a numerical control unit, which is for controlling the welding robot (8) and a welding machine (7). A memory (3) is included for storing a calculation sequence of a general expression of a given straight line obtained from an X value of a point (U=0) on the given straight line and the slope of the given straight line on a plane in which a welding condition input value is plotted along the X axis and a command value delivered to a digital/analog converter that applies commands to the welding machine is plotted along the Y axis. A value is obtained by substituting a welding condition input value, which is applied when the welding robot is taught, into the general expression stored in the memory (3), the value obtained being adapted as an output value supplied to the digital/analog converter.
摘要翻译：用于转换焊接机器人的焊接条件的系统包括用于控制焊接机器人（8）和焊接机（7）的数控单元。包括存储器（3），用于存储从给定直线上的点（U = 0）的X值获得的给定直线的一般表达式的计算顺序和在平面上的给定直线的斜率其中沿着X轴绘制焊接条件输入值，并且沿着Y轴绘制递送到对焊接机施加命令的数字/模拟转换器的命令值。通过将焊接机器人被教导时施加的焊接条件输入值代入存储在存储器（3）中的一般表达式中，获得的值被适应为提供给数字/模拟转换器的输出值，。

10. 发明授权

US4931617A Electrically conductive coating for cover of industrial robot 失效
标题翻译：工业机器人覆盖用导电涂层
公开(公告)号：US4931617A
公开(公告)日：1990-06-05
申请号：US313970
申请日：1989-02-02
申请人： Kenichi Toyoda , Nobutoshi Torii , Hitoshi Mizuno , Masanao Miyawaki
发明人： Kenichi Toyoda , Nobutoshi Torii , Hitoshi Mizuno , Masanao Miyawaki
IPC分类号： B23K9/28 , B25J19/00 , H02K11/02
CPC分类号： B25J19/0075 , B23K9/287 , H02K11/022
摘要： An industrial robot for use in TIG arc welding or the like includes plastic covers for motors or the like. The plastic covers having an electrically conductive coating, and thus have an electrically conductive property, and are connected to a robot body, to thereby obtain a shielding effect similar to that of iron plate covers or the like.

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