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1. 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）。

2. 发明授权

US5341078A Sliding mode control method for a machine having an operating section operatively coupled to a servomotor and wherein a switching variable is determined based on a torsion amount and a torsion speed 失效
标题翻译：一种用于机器的滑动模式控制方法，其具有可操作地联接到伺服电机的操作部分，并且其中基于扭转量和扭转速度来确定切换变量
公开(公告)号：US5341078A
公开(公告)日：1994-08-23
申请号：US110212
申请日：1993-08-23
申请人： Nobutoshi Torii , Ryo Nihei , Tetsukai Kato
发明人： Nobutoshi Torii , Ryo Nihei , Tetsukai Kato
IPC分类号： B25J9/12 , B25J9/18 , G05B13/00 , G05B13/04 , G05B19/19 , G05D3/12 , G05B19/405
CPC分类号： G05B19/19 , B25J9/1641 , G05B2219/37356 , G05B2219/39186 , G05B2219/41112 , G05B2219/41251 , G05B2219/41367 , G05B2219/42344 , G05B2219/42352
摘要： A sliding mode control method is provided capable of improving the following ability of a control system with respect to a command at the time of change in the operating condition of a machine, and preventing vibration which tends to occur by the action of a spring element of the machine at the time of change in the operating condition. The processor of a servo circuit derives position deviation (.epsilon.) and speed deviation (.epsilon.) based on a command position (.theta.r) and an actual position (.theta.), estimates an torsion amount (.epsilon.n) and torsion speed (.epsilon.n) by effecting observer processing (Steps 100 to 101), and derives a switching variable (s) (102). The processor derives each of the first to fourth terms of the switching input in dependence on the positive or negative sign of the switching variable, and the positive or negative sign of a corresponding one of the position deviation, the second derivative of the command position, the torsion amount, and the torsion speed (103 to 129), and then derives, on the basis of the switching input derived by adding the four terms together, a torque command (T) sufficient to cause the switching variable to converge on 0 (130, 131). The servo system properly follows the command even when nonlinear parameters associated with the spring element of the machine have varied, thereby preventing vibration of the machine.
摘要翻译：提供一种滑动模式控制方法，其能够提高控制系统相对于机器的操作状态的变化时的指令的跟随能力，并且防止由于弹簧元件的作用而倾向于发生的振动机器在运行状态发生变化时。伺服电路的处理器基于命令位置（θr）和实际位置（θ）导出位置偏差（ε）和速度偏差（ε），估计扭转量（εn）和扭转速度（εn）通过进行观察者处理（步骤100至101），并导出切换变量（102）。处理器根据切换变量的正或负符号导出开关输入的第一至第四项中的每一个，并且位置偏差，指令位置的二阶导数中的相应一个的正或负符号，扭转量和扭转速度（103〜129），然后基于通过将四个项相加而导出的切换输入导出足以使切换变量收敛于0的转矩指令（T） 130，131）。即使与机器的弹簧元件相关的非线性参数变化，伺服系统也适当地遵循该命令，从而防止机器的振动。

3. 发明授权

US5292224A Apparatus for holding stacked workpieces and feeding the same 失效
标题翻译：用于保持堆叠的工件并将其进给的装置
公开(公告)号：US5292224A
公开(公告)日：1994-03-08
申请号：US820674
申请日：1992-01-28
申请人： Nobutoshi Torii , Shigemi Inagaki , Ryo Nihei , Mitsuhiro Yasumura
发明人： Nobutoshi Torii , Shigemi Inagaki , Ryo Nihei , Mitsuhiro Yasumura
IPC分类号： B23Q7/04 , B23Q7/10 , B65G59/02 , B65G61/00
CPC分类号： B23Q7/10 , B23Q7/04 , Y10S414/114
摘要： An apparatus for holding a plurality of workpieces (W) in a stack on a pallet (22), supporting the workpieces (W) in place on the pallet (22) by a plurality of workpiece support rods (26), and transporting and transferring the uppermost workpiece by a workpiece gripping hand (50) provided with gripping fingers (54) to a desired position, is provided with elastic lifting springs (32) for continuously biasing the workpiece support rods (26) upward to support the workpieces (W) stably in place by the upright work support rods (26). The workpiece gripping hand (50) grips the uppermost workpiece (W) with the gripping fingers (54) without interference, after depressing the workpiece support rods (26) with a depressing plate (56) provided on the back side of the gripping fingers (54) so that the uppermost workpiece (W) is exposed above the upper ends of the workpiece support rods (26), and then transports the workpiece (W) to a desired position. When placing the workpiece (W) on the pallet (22) by the work gripping hand ( 50), the gripping fingers (54) release the workpiece (W) after the workpiece support rods (26) are depressed with the depressing plate (56).
摘要翻译： PCT No.PCT / JP91 / 00704 Sec。 371日期1992年1月28日 102（e）日期1992年1月28日PCT提交1991年5月27日PCT公布。 WO91 / 18812PC公报。日期：1991年12月12日。一种用于将堆叠中的多个工件（W）保持在托盘（22）上的装置，通过多个工件支撑杆（22）将工件（W）放置在托盘（22）上的适当位置 26），并且通过设置有夹持指（54）的工件夹持手（50）将最上面的工件传送到所需位置，设置有弹性提升弹簧（32），用于将工件支撑杆（26）向上通过直立工作支撑杆（26）稳定地支撑工件（W）。工件夹持手（50）在夹持指状物（54）的后侧设置有一个压板（56）压下工件支撑杆（26）之后，用夹持指（54）无夹紧握住最上面的工件（W） 54），使得最上面的工件（W）暴露在工件支撑杆（26）的上端之上，然后将工件（W）输送到期望的位置。当通过工作夹持手（50）将工件（W）放置在托盘（22）上时，夹紧指（54）在用压板（56）压下工件支撑杆（26）之后释放工件（W））。

4. 发明授权

US5189351A Corrective positioning method in a robot 失效
标题翻译：机器人中的校正定位方法
公开(公告)号：US5189351A
公开(公告)日：1993-02-23
申请号：US566464
申请日：1990-08-16
申请人： Nobutoshi Torii , Ryo Nihei , Mitsuhiro Yasumura
发明人： Nobutoshi Torii , Ryo Nihei , Mitsuhiro Yasumura
IPC分类号： B25J9/10 , B25J9/16 , B25J9/18 , B25J13/00 , G05D3/12
CPC分类号： B25J9/1692 , G05B2219/39007
摘要： A corrective positioning method in a robot, capable of eliminating degraded positioning accuracy attributable to inherent errors in the robot. By using displayed rotary angles of first and second links (1, 2) determined by a mastering sequence associated with known points, a simultaneous equation including, as unknowns, link length errors (.DELTA.11, .DELTA.12) and actual rotary angles (.theta.1, .theta.2) of the links is solved, to thereby determine the link length errors, errors (.DELTA.X0, .DELTA.y0) of a pivotal center position of an arm, and errors (.DELTA..theta.10, .DELTA..theta.20) of rotary angles of the links. During a robot operation, X-axis and Y-axis target moving positions of a distal end of the arm, which are specified by a program, are corrected by using the pivotal center position error, and the actual link lengths are calculated by using the link length errors, and further rotary angles of servomotors respectively associated with the first and second links are determined by a coordinate conversion process performed on the basis of the corrected moving positions, the actual link lengths and the link rotary angle errors.

5. 发明授权

US4782713A Industrial robot shaft supporting mechanism 失效
标题翻译：工业机器人轴支撑机构
公开(公告)号：US4782713A
公开(公告)日：1988-11-08
申请号：US50301
申请日：1987-06-11
申请人： Nobutoshi Torii , Ryo Nihei
发明人： Nobutoshi Torii , Ryo Nihei
IPC分类号： B25J19/00 , B23Q1/58 , B25J9/04 , B25J9/06 , B25J9/08 , B25J18/02 , F16H25/24 , B25J11/00 , F16C29/02
CPC分类号： B25J9/042 , B23Q1/58 , B25J18/025 , B25J9/08 , Y10T74/20317
摘要： A shaft supporting mechanism of an industrial robot in which an arm is supported by a freely extendable support shaft inside a hollow post and a working plane of a working arm is variably set is provided, with plural sets of linear support guides in opposed relation about a drive mechanism of the support shaft. As a result, the support shaft is held in the post stably and balanced in the vertical direction even if an external force attempting to tilt the support shaft is applied during up-and-down movement of the support shaft or operation of the working arm.
摘要翻译： PCT No.PCT / JP86 / 00462 Sec。 371日期：1987年6月11日 102（e）日期1987年6月11日PCT提交1986年9月10日PCT公布。出版物WO87 / 01327 日期：1987年3月12日。一种工业机器人的轴支撑机构，其中臂被可变地设置在中空柱内的可自由延伸的支撑轴支撑并且工作臂的工作平面可变地设置，具有多组线性相对于支撑轴的驱动机构的支撑引导件。结果，即使在支撑轴的上下运动或工作臂的操作期间施加试图使支撑轴倾斜的外力，支撑轴也可以稳定地保持在竖直方向上平衡。

6. 发明授权

US4970448A Method of and apparatus for ascertaining motion abilities of industrial robot 失效
标题翻译：确定工业机器人运动能力的方法和装置
公开(公告)号：US4970448A
公开(公告)日：1990-11-13
申请号：US408512
申请日：1989-08-23
申请人： Nobutoshi Torii , Ryo Nihei , Akihiro Terada
发明人： Nobutoshi Torii , Ryo Nihei , Akihiro Terada
IPC分类号： B25J19/02 , B25J19/06 , G05B19/18 , G05B19/19 , G05B19/4062
CPC分类号： G05B19/4062 , G05B2219/35402 , G05B2219/37285 , G05B2219/45083
摘要： In an industrial robot employing electric motors (Mz, M.theta., Mu, Mw) as drive sources for driving functional robot units for movement respectively about articulatory axes (Z, .theta., U, W), electric drive currents supplied to the electric motors (Mz, M.theta., Mu, Mw) associated with the articulatory axes (Z, .theta., U, W) are detected by a current detecting unit (30), the detected electric drive current supplied to the electric motor (Mz, M.theta., Mu, Mw) associated with one selected articulatory axis among the articulatory axes (Z, .theta., U, W) is sampled every predetermined minute sampling time in a period between a first time and a second time in a robot control program for controlling the motions of the functional robot units respectively about the articulatory axes (Z, .theta., W), computing means (CPU) calculates the ratio of the root-mean-square value of the electric current supplied to the electric motor (Mz, M.theta., Mu, Mw) in the period between the first time and the second time to the rated current of the same electric motor, the root-mean-square values ratios each of the root-mean-square value to the rated current are displayed on a display (40 ) to enable an operator to ascertain the propriety of the motions of the functional robot units (16, 18, 20, 22, 24,) including robot arms.
摘要翻译： PCT No.PCT / JP89 / 00017 Sec。 371日期1989年8月23日 102（e）日期1989年8月23日PCT提交1989年1月9日PCT公布。出版物WO89 / 06182 日期：1989年7月13日。在使用电动机（Mz，Mθ，Mu，Mw）的工业机器人作为用于驱动功能性机器人单元的驱动源，分别绕着关节轴（Z，θ，U，W），电驱动提供给与发音轴（Z，θ，U，W）相关联的电动机（Mz，Mθ，Mu，Mw）的电流由电流检测单元（30）检测，检测到的电驱动电流被提供给电在发音轴（Z，θ，U，W）中与一个选定的发音轴相关联的电动机（Mz，Mθ，Mu，Mw）在每个预定的微小采样时间在第一时间和第二时间之间的时段内被采样机器人控制程序用于分别控制功能机器人单元关于发音轴（Z，θ，W）的运动，计算装置（CPU）计算提供给电动机的电流的均方根值的比率（Mz，M theta，Mu，Mw）在f 第一次和第二次达到相同电动机的额定电流，将均方根值与额定电流的均方根值进行比较，显示在显示器（40）上，以使操作者能够确定包括机器人手臂的功能机器人单元（16,18,20,22,24）的运动的适当性。

7. 发明授权

US4906121A Cable guiding apparatus for industrial robot 失效
标题翻译：工业机器人电缆导引装置
公开(公告)号：US4906121A
公开(公告)日：1990-03-06
申请号：US93021
申请日：1987-08-05
申请人： Nobutoshi Torii , Ryo Nihei , Hitoshi Mizuno
发明人： Nobutoshi Torii , Ryo Nihei , Hitoshi Mizuno
IPC分类号： B25J9/06 , B25J19/00 , H02G11/00
CPC分类号： B25J19/0029 , Y10T403/32213 , Y10T403/32557 , Y10T403/32975
摘要： A cable arranging device for an industrial robot has a cylindrical support casing (2), a swing casing (3) supported on the support casing (2) and swingable about the axis of a swing shaft, and cables (5) interconnecting the swing casing (3) and the support casing (2). One end of a substantially C-shaped cable guide (4) is pivotally supported in the swing casing on the axis of the swing shaft, the other end of the cable guide is pivotally supported in the support casing on the axis of the swing shaft. Spaces for allowing the cable guide (4) to swing therein through a prescribed angle are defined respectively in the swing casing (3) and the support casing (2).

8. 发明授权

US4859139A Arm structure for an industrial robot 失效
标题翻译：工业机器人臂结构
公开(公告)号：US4859139A
公开(公告)日：1989-08-22
申请号：US162387
申请日：1988-02-01
申请人： Nobutoshi Torii , Ryo Nihei , Akihiro Terada
发明人： Nobutoshi Torii , Ryo Nihei , Akihiro Terada
IPC分类号： B25J9/06 , B25J9/00 , B25J9/04 , B25J18/00
CPC分类号： B25J9/0009 , B25J18/00 , B25J9/042 , Y10T74/20 , Y10T74/20207
摘要： An arm structure for an industrial robot, comprising a first robot arm (16) supported on top of a vertical robot shaft (14), and a second robot arm (20) pivotally joined through a transmission-reduction gear box (18) to the free end of the first robot arm (16). A plurality of coupling bolts (22) are extended through the interior of the first robot arm (16), each coupling bolt (22) has one end (22b) fastened to the flange (18b) of the transmission-reduction gear box (18) and the other end (22a) projecting from and fastened to the rear end of the first robot arm (16). Fastening nuts (24) each engage at least one end (22a or 22b) of each coupling bolt (22) to couple the first robot arm (16) and the transmission-reduction gear box (18) so as to preload the first robot arm (16) by a compressive force.

9. 发明授权

US4829840A Industrial robot with replaceable module 失效
标题翻译：具有可更换模块的工业机器人
公开(公告)号：US4829840A
公开(公告)日：1989-05-16
申请号：US50302
申请日：1987-06-11
申请人： Nobutoshi Torii , Ryo Nihei
发明人： Nobutoshi Torii , Ryo Nihei
IPC分类号： B25J9/06 , B23Q37/00 , B25J9/04 , B25J9/08 , B25J18/02
CPC分类号： B23Q37/00 , B25J18/025 , B25J9/042 , B25J9/08 , Y10T74/20207 , Y10T74/20317
摘要： An industrial robot having replaceable modules assembled on a bed (2) housing a drive mechanism therein is composed of blocks (1, 3, 4, 5, 9) which comprise members of compatible common structures that can be selected and assembled as modules. The blocks have engagement portions compatible with those of modules of other specifications. Therefore, different robot specifications can easily be met, and the modules can be replaced with those modules which are effective in a wide range. The blocks of the industrial robot can easily be assembled and disassembled.
摘要翻译： PCT No.PCT / JP86 / 00467 Sec。 371日期：1987年6月11日 102（e）日期1987年6月11日PCT提交1986年9月11日PCT公布。出版物WO87 / 01644 日期：1987年3月26日。具有组装在其上容纳驱动机构的床（2）上的可更换模块的工业机器人由块（1,3,4,5,9）组成，其包括可兼容的共同结构的构件选择和组装为模块。这些块具有与其他规格的模块兼容的接合部分。因此，可以容易地满足不同的机器人规格，并且可以用在广泛范围内有效的那些模块来代替模块。工业机器人的块可以轻松组装和拆卸。

10. 发明授权

US5399870A Position detecting method and apparatus for laser sensor 失效
标题翻译：激光传感器位置检测方法及装置
公开(公告)号：US5399870A
公开(公告)日：1995-03-21
申请号：US961901
申请日：1993-01-08
申请人： Nobitoshi Torii , Ryo Nihei , Yasuo Naito , Hiroshi Wakio , Takashi Iwamoto
发明人： Nobitoshi Torii , Ryo Nihei , Yasuo Naito , Hiroshi Wakio , Takashi Iwamoto
IPC分类号： B25J19/04 , G01B11/00 , G01C3/06 , G01S17/46 , G05D3/12 , G01N21/86
CPC分类号： G01S17/48 , G01B11/00
摘要： The present invention relates to a position detecting method and its apparatus that is capable of improving detecting accuracy in a laser sensor using a Charged Coupled Device (CCD) as a light receiving element. A sum of products of an output C.sub.i of each cell in a light receiving element and a cell position X.sub.i is obtained, and the cell outputs C.sub.i are added. When the cell output C.sub.i exceeds a predetermined threshold value, a counter is reset. When the cell output C.sub.i decreases down below the threshold value, the sample hold signal SH is counted. When the counted value of the counter becomes a predetermined value, a division circuit divides the above-obtained sum of products by the above addition value to obtain a center of gravity of the sum of products as a light receiving position. Then, thus obtained value is stored in a latch buffer. When a plurality of light receiving positions are obtained, the control unit picks out only the light receiving position of primary reflection beam from among them to identify the object position. Accordingly, the accuracy of the position detecting operation can be improved, since resolution in position detecting according to the invention is not determined on the unit of cell, but a light receiving position between adjacent cells in CCD can also be detected.
摘要翻译： PCT No.PCT / JP92 / 00630 Sec。 371日期：1993年1月8日 102（e）日期1993年1月8日PCT提交日期为1992年5月15日PCT公布。 WO92 / 20993 PCT出版物日期：1992年11月26日。本发明涉及一种位置检测方法及其装置，其能够提高使用带电耦合器件（CCD）作为光接收元件的激光传感器的检测精度。获得光接收元件中的每个单元的输出Ci和单元位置Xi的乘积之和，并且增加单元输出Ci。当单元输出Ci超过预定阈值时，计数器被复位。当单元输出Ci降低到低于阈值时，对样本保持信号SH进行计数。当计数器的计数值变为预定值时，除法电路将上述乘积之和除以上述加法值，得到作为光接收位置的乘积之和的重心。然后，将这样获得的值存储在锁存缓冲器中。当获得多个光接收位置时，控制单元从其中仅拾取一次反射光束的光接收位置以识别对象位置。因此，能够提高位置检测动作的精度，因为根据本发明的位置检测的分辨率未以单元为单位，而且还可以检测CCD中的相邻单元之间的光接收位置。

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