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1. 发明授权

US5093552A Method of preventing mis-emission of a laser beam in a laser robot 失效
标题翻译：在激光机器人中防止激光束的发射的方法
公开(公告)号：US5093552A
公开(公告)日：1992-03-03
申请号：US635492
申请日：1991-01-02
申请人： Nobutoshi Torii , Susumu Ito , Akihiro Terada
发明人： Nobutoshi Torii , Susumu Ito , Akihiro Terada
IPC分类号： B25J19/06 , B23K26/08 , B23K26/10 , B23K26/42 , G05B19/4063 , H01S3/104
CPC分类号： B23K26/0884 , B23K26/702 , G05B19/4063 , H01S3/104
摘要： A laser-beam mis-emission preventing method capable of improving safety of a laser robot. Upon supply of power to the laser robot, a processor of a robot control unit (10) compares a predetermined value with an angle (.delta.) formed between a horizontal plane (XY plane) and an axis (8a) of a laser nozzle (8) and computed based on joint angles (W, U, r, .beta.) (S1-S3). When the laser nozzle angle (.delta.) is less than the predetermined value, an interlock signal delivered to the laser oscillator (30) is set to turn off the power of the laser oscillator, thereby bringing the laser oscillator into a condition incapable of laser oscillation (S5). This prevents mis-emission of the laser beam which occurs due to deficiency of a robot operating program, erroneous manual operation, etc., and which can damage the human body or peripheral devices.

2. 发明授权

US5085619A Dual pinion anti-backlash tensioner for a robot 失效
标题翻译：机器人的双PIN抗反击拉伸机
公开(公告)号：US5085619A
公开(公告)日：1992-02-04
申请号：US602226
申请日：1990-10-30
申请人： Nobutoshi Torii , Susumu Ito , Akihiro Terada
发明人： Nobutoshi Torii , Susumu Ito , Akihiro Terada
IPC分类号： B25J17/00 , B25J9/04 , B25J9/10 , B25J17/02 , F16H57/12
CPC分类号： B25J9/1045 , B25J17/0241 , B25J9/103 , F16H57/12 , F16H2057/121 , Y10T74/19623
摘要： A joint structure for an industrial robot is provided with a gear transmission mechanism to drive movable robot element, such as a swivel body (14), of an industrial robot. The joint structure comprises a driven gear (26) connected to the movable robot element, two drive pinions (28, 30) in mesh with the driven gear (26), respectively, at different positions on the driven gear (26), a belt transmission mechanism (28a, 30a, 32) operatively connecting the two drive pinions (28, 20), a tensioner (36) for adjusting the tension in the power transmission belt (32) of the belt transmission mechanism (28a, 30a, 32), and a rotative drive source (34) connected to one (28) of the two drive pinions (28, 30). The position of the tensioner (36) is adjusted to adjust the tension in the power transmission belt (32), to thereby eliminate backlash between the respective meshing teeth of the two drive pinions (28, 30) and the driven gear (26), by pressing the respective teeth of the drive pinions (28, 30) against the corresponding teeth of the driven gear (26), respectively, in opposite directions.

3. 发明授权

US5225648A Industrial robot with cable arrangement system 失效
标题翻译：带电缆布置系统的工业机器人
公开(公告)号：US5225648A
公开(公告)日：1993-07-06
申请号：US772361
申请日：1991-11-06
申请人： Nobutoshi Torii , Susumu Ito , Akihiro Terada , Toshihiko Inoue
发明人： Nobutoshi Torii , Susumu Ito , Akihiro Terada , Toshihiko Inoue
IPC分类号： B23K26/08 , B23K26/10 , B25J19/00
CPC分类号： B23K26/0884 , B25J19/0029 , B25J19/0037
摘要： An industrial robot provided with a cable arrangement system in which a hollow shaft (3) is arranged to extend vertically from a robot base (1) into a rotational trunk (2) about a rotational axis thereof, and a plurality of cables (7) are arranged to be spaced from one another around the outer periphery of the hollow shaft (3) by cable clamps (4) mounted on the outer periphery of the hollow shaft (3) and having a plurality of cable receiving grooves (41).

4. 发明授权

US4916636A System for controlling acceleration and deceleration of horizontally articulated robot 失效
标题翻译：用于控制水平关节机器人的加速和减速的系统
公开(公告)号：US4916636A
公开(公告)日：1990-04-10
申请号：US49860
申请日：1987-06-11
申请人： Nobutoshi Torii , Susumu Ito , Akihiro Terada
发明人： Nobutoshi Torii , Susumu Ito , Akihiro Terada
IPC分类号： B25J9/16 , B25J9/18 , B25J13/00 , G05B19/416
CPC分类号： G05B19/416 , G05B2219/43061
摘要： A system for controlling acceleration and deceleration of a horizontally articulated robot computes the distance from the center of rotation of the robot (A) having a plurality of arms (3, 5) angularly movable in horizontal planes to a reference position such as a wrist (51) at the distal end of the arms (3, 5), and establishes an acceleration for the movement of the distal end of the arms (3, 5). A servomotor for angularly moving the arms (3,5) can effectively be utilized and the arms (3, 5) can quickly and smoothly be moved.

5. 发明授权

US5185512A Laser robot with heat eliminating means 失效
标题翻译：具有热消除手段的激光机器人
公开(公告)号：US5185512A
公开(公告)日：1993-02-09
申请号：US720821
申请日：1991-07-15
申请人： Nobutoshi Torii , Susumu Ito , Akihiro Terada , Yasuo Sasaki
发明人： Nobutoshi Torii , Susumu Ito , Akihiro Terada , Yasuo Sasaki
IPC分类号： B23K26/08 , B23K26/10 , B23K26/42 , B25J19/00
CPC分类号： B23K26/0884 , B23K26/703 , B25J19/00 , B25J19/0054
摘要： A heat eliminator intercepts a heat transmission in a laser robot which has a robot base (12), a robot arm (16) joined for swing motion to a robot swivel post (14) set upright on the robot base (12), a laser beam projecting unit (20) attached to an extreme end of the robot arm (16), and a drive motor (Mv) for driving the robot arm (16) for a swing motion through a precision transmission mechanism (30, 32, 34) inserted between the robot swivel post and the robot arm, from the drive motor to the precision transmission mechanism. The heat eliminator is provided with a bracket member (26) arranged between the precision transmission mechanism (30, 32, 34) and the drive motor (Mv) with one end in contact with the end surface of the drive motor on the side of the output shaft thereof and the other end in contact with the precision transmission mechanism, and an annular cooling water passage (50) formed in the bracket member (26). Cooling water is supplied into the annular cooling water passage (50) formed in the bracket member (26) from a cooling water source (70) for supplying cooling water to the laser beam conduit lines of the robot arm (16) to cool the bracket member (26) to absorb heat generated by the drive motor (Mv) by the bracket member (26), so that the heat transmission to the precision transmission mechanism (30, 32, 34) is intercepted.
摘要翻译： PCT No.PCT / JP90 / 01627 Sec。 371日期1991年7月15日 102（e）日期1991年7月15日PCT 1990年12月12日PCT PCT。公开号WO91 / 08858 日期：1991年6月27日。一种除热器拦截了具有机器人基座（12）的机器人基座（12），机器人手臂（16），用于摆动运动的机器人旋转支架（14）上的热传递。基座（12），安装在机器人手臂（16）的前端的激光束投影单元（20），以及用于通过精密传动机构驱动机器人手臂（16）进行摆动的驱动马达（Mv）（30,32,34），其从所述驱动马达到所述精密传动机构插入所述机器人旋转柱和所述机器人手臂之间。除热器设置有布置在精密传动机构（30,32,34）和驱动马达（Mv）之间的托架构件（26），其一端与驱动马达的端面相接触输出轴，另一端与精密传动机构接触，以及形成在支架构件（26）中的环形冷却水通道（50）。冷却水从用于向机器人手臂（16）的激光束导管供给冷却水的冷却水源（70）供给到形成在支架构件（26）中的环形冷却水通道（50）中，以冷却支架构件（26），用于吸收由支架构件（26）由驱动电动机（Mv）产生的热量，使得对精密传动机构（30,32,34）的传热被截断。

6. 发明授权

US5140129A Multi-articulated arm type industrial laser robot 失效
标题翻译：多功能ARM型工业激光机器人
公开(公告)号：US5140129A
公开(公告)日：1992-08-18
申请号：US668498
申请日：1991-03-18
申请人： Nobutoshi Torii , Susumu Ito , Akihiro Terada
发明人： Nobutoshi Torii , Susumu Ito , Akihiro Terada
IPC分类号： B23K26/08 , B23K26/10 , B25J19/00
CPC分类号： B23K26/0884 , B25J19/0037
摘要： A laser beam passage (10) arranged outside a robot unit of a multi-articulated arm type industrial laser robot has a base (71), a swivel body (72), a first robot arm (74) supported for swing motion, a second robot arm (76) pivotally joined to the first robot arm (74), and a robot wrist (80) attached to an front end of the second robot arm (76) and provided with a laser beam emitting head (79) to connect a laser oscillator (12) to a laser beam receiving unit (77) provided on a rear end of the second robot arm (76). The laser beam passage means (10) has a first laser beam shifting system (20) routing a laser beam emitted by the laser oscillator (12) to an extremity thereof, and having a plurality of rotary joints (R.sub.1, R.sub.2), one telescopic linear-motion joint (S.sub.1), a plurality of laser beam conduits (24, 26) and built-in laser beam reflecting mirrors (25, 27); and a second laser beam shifting system (30) routing the laser beam from the extremity of the first laser beam shifting system (20) toward the laser beam receiving unit (77) attached to the rear end of the second robot arm (76), and having a plurality of rotary joints (R.sub.4 to R.sub.6), a plurality of laser beam conduits (32, 35, 37) and built-in laser beam reflecting mirrors (34, 36).
摘要翻译： PCT No.PCT / JP90 / 00920 Sec。 371日期1991年3月18日 102（e）1991年3月18日PCT PCT 1990年7月17日PCT公布。公开号WO91 / 01194 日本专利公报2001年2月7日。一种设置在多关节臂式工业激光机器人的机器人单元外侧的激光束通路（10）具有基座（71），旋转体（72），第一机器人手臂（74）支撑摆动运动的第二机器人臂（76）和枢轴连接到第一机器人手臂（74）的第二机器人手臂（76）和安装在第二机器人手臂（76）前端的机械手腕（80）头部（79）将激光振荡器（12）连接到设置在第二机器人臂（76）的后端上的激光束接收单元（77）。激光束通道装置（10）具有将由激光振荡器（12）发射的激光束路由到其末端的第一激光束移动系统（20），并且具有多个旋转接头（R1，R2），一个伸缩线性运动接头（S1），多个激光束导管（24,26）和内置的激光束反射镜（25,27）; 以及将激光束从第一激光束移动系统（20）的末端引导到附接到第二机器人臂（76）的后端的激光束接收单元（77）的第二激光束移动系统（30）并具有多个旋转接头（R4〜R6），多个激光束导管（32,35,37）和内置激光束反射镜（34,36）。

7. 发明授权

US5132887A Multi-articulation type robot for laser operation 失效
标题翻译：用于激光操作的多功能型机器人
公开(公告)号：US5132887A
公开(公告)日：1992-07-21
申请号：US499339
申请日：1990-06-15
申请人： Nobutoshi Torii , Susumu Ito , Akihiro Terada , Yasuo Sasaki
发明人： Nobutoshi Torii , Susumu Ito , Akihiro Terada , Yasuo Sasaki
IPC分类号： B25J17/00 , B23K26/08 , B23K26/10 , B25J17/02 , B25J18/04 , B25J19/00
CPC分类号： B23K26/0884 , B25J17/0283 , B25J18/04 , B25J19/0037
摘要： A multi-articulation type robot for a laser operation by emitting a beam of laser into a desired position in a three-dimensional space, and provided with a first hollow robot arm (16) swingably pivoted to an upper end of a robot swivel body (14) mounted on a robot base (12), a second hollow robot arm (18) swingably pivoted to a front end of the first robot arm (16) and rotatable about a central axis of the second robot arm per se, and a robot wrist (20) mounted on a front end of the second robot arm (18) and provided with a laser beam collecting unit (22) having a laser beam emitting outlet (22a), the robot wrist (20) being provided with motion transmitting mechanisms for converting first and second rotative inputs transmitted by a first and second hollow rotatable drive shafts (30a and 30b) arranged inside the second robot arm (18) into motions by which the laser beam collecting unit (22) is rotated about an axis orthogonal to an axis along which a laser beam is emitted, and to move the unit (22) forward and back along the axis of the laser emission.

8. 发明授权

US5111709A Industrial robot with a telescopic horizontal arm 失效
标题翻译：具有伸缩水平臂的工业机器人
公开(公告)号：US5111709A
公开(公告)日：1992-05-12
申请号：US589836
申请日：1990-09-26
申请人： Nobutoshi Torii , Susumu Ito , Masayuki Hamura , Akira Tanaka
发明人： Nobutoshi Torii , Susumu Ito , Masayuki Hamura , Akira Tanaka
IPC分类号： B25J18/02 , F02B75/02
CPC分类号： B25J18/025 , F02B2075/025 , Y10T74/18672
摘要： An industrial robot with a horizontal telescopic arm unit having an arm casing horizontally slidably mounted on a vertical upright column, a telescopic arm encased in the arm casing to be telescopically moved with respect to the arm casing and in synchronism with the horizontal sliding movement of the arm casing, and a common drive motor causing the horizontal linear sliding movement of the arm casing and the telescopic movement of the telescopic arm via a rotation to linear movement converting mechanism.
摘要翻译：一种具有水平伸缩臂单元的工业机器人，其具有水平可滑动地安装在垂直立柱上的臂壳体，包围在臂壳体中的伸缩臂相对于臂壳体可伸缩地移动并且与水平滑动运动同步臂壳体和公共驱动马达，其使臂壳体的水平线性滑动运动和伸缩臂的伸缩运动经由旋转到线性运动转换机构。

9. 发明授权

US4836048A Industrial robot having dust-proof structure 失效
标题翻译：工业机器人具有防尘结构
公开(公告)号：US4836048A
公开(公告)日：1989-06-06
申请号：US80509
申请日：1987-07-02
申请人： Nobutoshi Torii , Susumu Ito , Hiroshi Wakio , Kyoji Iwasaki
发明人： Nobutoshi Torii , Susumu Ito , Hiroshi Wakio , Kyoji Iwasaki
IPC分类号： B25J19/00 , B25J9/02
CPC分类号： B25J19/0029 , B25J19/0079 , Y10T74/219
摘要： An industrial robot having a dust-proof structure is equipped with at least one dust cover having an opening at one end thereof and a linearly movable unit extending through the opening of the dust cover and movable back and forth in the longitudinal direction thereof. Suction is exerted by a suction unit inside the dust cover so that air is flows from outside the dust cover into the same through the opening. A ring member is disposed at the opening of the dust cover in such a manner as to encompass the outer periphery of the linearly moving unit through a gap. At least one annular groove for reserving air is disposed on the inner peripheral surface of the ring member so as to encompass the outer periphery of the linearly moving unit.

10. 发明授权

US5107716A Horizontal revolute robot 失效
标题翻译：水平革命机器人
公开(公告)号：US5107716A
公开(公告)日：1992-04-28
申请号：US474040
申请日：1990-04-11
申请人： Nobutoshi Torii , Susumu Ito , Masayuki Hamura , Akira Tanaka
发明人： Nobutoshi Torii , Susumu Ito , Masayuki Hamura , Akira Tanaka
IPC分类号： B25J9/02 , B25J9/04 , B25J9/10 , B25J18/02
CPC分类号： B25J9/042 , B25J18/02 , B25J9/02 , B25J9/102 , Y10T403/32155 , Y10T403/7015 , Y10T74/18648 , Y10T74/20317
摘要： In a horizontal revolute robot, an upper end of a ball screw (21) of a direct-acting actuator (100) is rotatably supported by a top plate of a column (10), and the lower end thereof is coupled to a drive unit (40) disposed on a base plate of the column. A first link (220) is pivotally coupled to a coupling member (210) of a manipulator (200) fixed to a slider (30) of the actuator, and a second link (240) is pivotally coupled to the first link. The ball screw is rotated by the drive unit to move the manipulator along the ball screw in unison with the slider, and servomotors (230, 250) of the manipulator are driven to turn both the links within a horizontal plane, so that a wrist portion of the robot is positioned in a robot installation space for robot operation. Since no base is required to turnably support the actuator, the robot is small-sized, light in weight, and low-priced. Since the lower movement limit position of the manipulator is low, the range of action of the robot is wide.
摘要翻译： PCT No.PCT / JP89 / 00820 Sec。 371日期1990年04月11日 102（e）1990年4月11日PCT PCT 1989年8月11日PCT。 WO90 / 01403 PCT出版物日本1990年2月22日。在水平旋转机器人中，直动式致动器（100）的滚珠丝杠（21）的上端由柱（10）的顶板可旋转地支撑，下端其连接到设置在所述塔的基板上的驱动单元（40）。第一连杆（220）枢转地联接到固定到致动器的滑块（30）的操纵器（200）的联接构件（210），并且第二连杆（240）枢转地联接到第一连杆。滚珠丝杠通过驱动单元旋转，以使滑块与滚珠丝杠一致地移动操纵器，并且驱动操纵器的伺服马达（230,250），使两个连杆在水平面内转动，使得腕部的机器人位于机器人操作的机器人安装空间中。由于不需要底座可转动地支撑执行机构，机器人体积小巧，重量轻，价格低廉。由于机械手的下移动极限位置较低，所以机器人的动作范围很宽。

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