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1. 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。

2. 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。

3. 发明授权

US5105136A Structure of shaft supporter in industrial robot 失效
标题翻译：工业机器人轴支架结构
公开(公告)号：US5105136A
公开(公告)日：1992-04-14
申请号：US465115
申请日：1990-02-20
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： B25J9/04 , B25J9/00 , B25J9/02 , B25J18/02
CPC分类号： B25J9/0009 , B25J18/02 , Y10T74/18856 , Y10T74/19181
摘要： A gear box (30) housing a reduction gear unit (24) and supporting a drive motor (22), and a elongated screw shaft (12) is fitted over a base plate (14) so that an area of a shaft supporter (10) projected in a plane perpendicular to a longitudinal direction of the elongated screw shaft is reduced, which supporter supports both ends of the elongaged screw shaft (12) for moving a movable element such as an arm of an industrial robot in a predetermined direction. Furthermore, a circular boss portion (32b) provided at the lower face of the gear box (30) and a hole (14a) provided at the base plate (14) are used for positioning the gear box on the base plate (14), and the positioning in a height direction is achieved by positioning elements (40) having a predetermined height dimension when the gear box (30) is attached to the base plate (14).
摘要翻译： PCT No.PCT / JP89 / 00619 Sec。 371日期1990年2月20日 102（e）1990年2月20日PCT PCT。 WO89 / 12531 PCT出版物日期：1989年12月28日。一个容纳减速齿轮单元（24）并支撑驱动马达（22）的齿轮箱（30）和细长的螺杆轴（12），装在基板（14）上，在垂直于细长螺杆轴的纵向的平面中突出的轴支撑件（10）的面积减小，该支撑件支撑延伸螺纹轴（12）的两端，用于移动诸如工业的臂的可移动元件机器人沿预定方向。此外，设置在齿轮箱（30）的下表面处的圆形凸台部分（32b）和设置在基板（14）上的孔（14a）用于将齿轮箱定位在基板（14）上，并且当齿轮箱（30）附接到基板（14）时，通过定位具有预定高度尺寸的元件（40）来实现高度方向上的定位。

4. 发明授权

US5204598A Method and apparatus for stopping an industrial robot 失效
标题翻译：用于停止工业机器人的方法和装置
公开(公告)号：US5204598A
公开(公告)日：1993-04-20
申请号：US773593
申请日：1991-11-21
申请人： Nobutoshi Torii , Susumu Ito , Masayuki Hamura , Tamotsu Sakai
发明人： Nobutoshi Torii , Susumu Ito , Masayuki Hamura , Tamotsu Sakai
IPC分类号： B25J13/08 , B25J9/06 , B25J9/16 , B25J9/18 , B25J19/06
CPC分类号： B25J19/06 , B25J9/1674 , B25J9/1676 , G05B2219/45083 , G05B2219/49142
摘要： An industrial robot having a plurality of axes drivable by respective servomotors is stopped in operation after detecting a collision of the industrial robot with foreign matter. The monitoring of a position error of a servomotor for the axis with respect to which the collision is detected is stopped (S11), and the speed command for that axis is set to "0" (S12). A reverse torque is generated (S13) to decelerate and stop the servomotor. After elapse of a predetermined period of time (S14), the monitoring of a position error is resumed (S15). If the position error exceeds a predetermined value (S31), then an alarm is activated (S32). Then, currents supplied to all the servomotors are cut off (S33), thus stopping the operation of the robot in a short period of time.
摘要翻译： PCT No.PCT / JP91 / 00353 Sec。 371日期1991年11月21日 102（e）日期1991年11月21日PCT 1991年3月13日PCT公布。出版物WO91 / 14544 日期为1991年10月3日。在检测到工业机器人与异物的碰撞后，停止具有由各个伺服电动机驱动的多个轴的工业机器人。检测到相对于检测到碰撞的轴的伺服电机的位置误差的停止（S11），将该轴的速度指令设定为“0”（S12）。产生逆转矩（S13），使伺服电机减速停止。在经过预定时间段（S14）之后，恢复对位置误差的监视（S15）。如果位置误差超过预定值（S31），则报警被激活（S32）。然后，切断供给所有伺服电动机的电流（S33），从而在短时间内停止机器人的动作。

5. 发明授权

US4990729A Teaching console panel for robot 失效
标题翻译：机器人教学台面板
公开(公告)号：US4990729A
公开(公告)日：1991-02-05
申请号：US265863
申请日：1988-10-03
申请人： Kenichi Toyoda , Nobutoshi Torii , Susumu Ito , Akira Tanaka
发明人： Kenichi Toyoda , Nobutoshi Torii , Susumu Ito , Akira Tanaka
IPC分类号： G05B19/42 , B25J9/22 , B25J13/02 , B25J13/06 , G05B19/408 , G05B19/409 , H01H3/12 , H01H9/02
CPC分类号： B25J13/02 , H01H2300/026 , H01H3/122 , H01H9/0214
摘要： Disclosed is a console panel for a robot, which is provided with a dead-man switch always firmly actuated and easy to hold by the hand and does not cause substantial fatigue of the hand. In this console panel, a pressing plate 9 of a dead-man switch having an elliptical recess 91 on the back surface of the console panel at a position where the tips of the respective fingers simultaneously touch when the console panel is held from the side portion thereof, and this console panel is used for various electrically operated industrial robots.

6. 发明授权

US5214362A Method for detecting a collision and stopping drive of a machine driven by servomotors 失效
标题翻译：用于检测伺服电机驱动的机器的碰撞和停止驱动的方法
公开(公告)号：US5214362A
公开(公告)日：1993-05-25
申请号：US477871
申请日：1990-04-11
申请人： Nobutoshi Torii , Yasuo Naito , Masayuki Hamura , Kazuhisa Otsuka
发明人： Nobutoshi Torii , Yasuo Naito , Masayuki Hamura , Kazuhisa Otsuka
IPC分类号： G05B9/02 , G05B19/4061 , G05D3/00 , G05D3/12
CPC分类号： G05B19/4061 , G05B2219/34047 , G05B2219/36399 , G05B2219/37624 , G05B2219/49162 , G05B2219/50179
摘要： A collision detection/drive stoppage method capable of promptly detecting a collision of machine operating parts driven by servomotors with a foreign object, and of promptly stopping drive of the machine operating parts upon detection of a collision, thereby preventing or lessening damage to a machine, etc., caused by the collision. A digital signal processor of an axis controller, forming a software servo system, periodically calculates a velocity deviation (.epsilon.v) in accordance with a command velocity (Vc) calculated based on a command from a main computer and an actual motor velocity (V) from a pulse coder of the servomotor (S2), determines whether the absolute value (.vertline..epsilon.v-.epsilon.v'.vertline.) of the difference between the velocity deviation of the current servo control period and that of the previous control period is smaller than a collision discriminating reference value (ERR) (S3), and causes an alarm to be displayed and at the same time delivers a torque command having a value of zero to stop rotation of the servomotor (S8, S9) when the absolute value is larger than the reference value.

7. 发明授权

US5119006A Method of detecting a collision of machine operating parts driven by servomotors 失效
标题翻译：检测伺服电机驱动的机器操作部件碰撞的方法
公开(公告)号：US5119006A
公开(公告)日：1992-06-02
申请号：US432743
申请日：1989-10-25
申请人： Nobutoshi Torii , Yasuo Naito , Masayuki Hamura , Tetsuaki Kato
发明人： Nobutoshi Torii , Yasuo Naito , Masayuki Hamura , Tetsuaki Kato
IPC分类号： B25J9/16 , B25J19/06 , G05B19/19 , G05D1/02
CPC分类号： B25J19/06 , B25J19/063 , B25J9/1676
摘要： A collision detecting method is provided which is capable of promptly detecting a collision of robot operating parts driven by servomotors, e.g., robot arms, with a foreign object. Prompt detection of such collisions aids in preventing or limiting damage to a machine, etc. by the collision. A digital signal processor of an axis controller (2) of FIG. 1, as part of a software servo system, calculates a velocity command and a torque command in accordance with a movement command supplied from a main computer (1), to periodically carry out servo control for individual axes of the robot. The digital signal processor also determines whether the torque command or a velocity deviation between the velocity command and an actual velocity of a servomotor (13b) is greater than a respective predetermined value. When the torque command or velocity deviation becomes greater than the respective predetermined value, the collision detecting method determines that a collision of the robot operating part (13a) with a foreign object or the like has occurred, and the operation of the servomotor is stopped.
摘要翻译： PCT No.PCT / JP89 / 00245 Sec。 371日期：1989年10月25日 102（e）日期1989年10月25日PCT 1989年3月7日PCT公布。出版物WO89 / 08538 日期：1989年9月21日。提供了一种碰撞检测方法，其能够及时检测由伺服电动机（例如机器人手臂）驱动的机器人操作部件与异物的碰撞。快速检测这种碰撞有助于防止或限制碰撞对机器等造成的损坏。图1的轴控制器（2）的数字信号处理器。如图1所示，作为软件伺服系统的一部分，根据从主计算机（1）提供的移动指令计算速度指令和转矩指令，周期性地对机器人的各个轴进行伺服控制。数字信号处理器还确定扭矩指令或速度指令与伺服电动机（13b）的实际速度之间的速度偏差是否大于相应的预定值。当转矩指令或速度偏差大于相应的预定值时，碰撞检测方法确定机器人操作部件（13a）与异物等的碰撞已经发生，并且停止伺服电动机的操作。

8. 发明授权

US4652203A Hand changing device for industrial robots 失效
标题翻译：工业机器人换手装置
公开(公告)号：US4652203A
公开(公告)日：1987-03-24
申请号：US681417
申请日：1984-11-21
申请人： Seiichiro Nakashima , Nobutoshi Torii , Masayuki Hamura
发明人： Seiichiro Nakashima , Nobutoshi Torii , Masayuki Hamura
IPC分类号： B23Q1/00 , B25J15/04 , B25J19/06
CPC分类号： B25J19/063 , B23Q1/0018 , B23Q1/0063 , B25J15/04
摘要： A hand changing device for industrial robots, having a changer body (10) designed to be attached to the robot arm (92) and a changer adapter (50) carrying a robot hand. The changer body (10) and the changer adapter (50) are separate components designed to be coupled detachably. The changer adapter (50) carrying the robot hand (74) is clamped by the changer body (10) by the engagement of a plurality of clamping balls retained within the changer body (10) and a ball engaging part formed in the changer adapter (50). The changer body (10) is provided with a fluid-driven piston (20) to move the clamping balls between two positions, namely, the clamping position and the idle position.
摘要翻译： PCT No.PCT / JP84 / 00118 Sec。 371日期1984年11月21日 102（e）1984年11月21日日期PCT提交1984年3月22日PCT公布。出版物WO84 / 03654 日期：1984年9月27日。一种用于工业机器人的换手装置，具有设计成附接到机器人手臂（92）的变换器主体（10）和携带机器人手的变换器适配器（50）。更换器主体（10）和更换器适配器（50）是设计成可拆卸地联接的分离部件。携带机器人手（74）的变换器适配器（50）通过保持在更换器主体（10）内的多个夹紧球与形成在更换器适配器（10）中的球接合部的接合而被变换器主体（10）夹紧 50）。更换器主体（10）设置有流体驱动活塞（20），用于在两个位置（即，夹紧位置和空转位置）之间移动夹紧球。

9. 发明授权

US4557660A Robot hand 失效
标题翻译：机器人手
公开(公告)号：US4557660A
公开(公告)日：1985-12-10
申请号：US558474
申请日：1983-12-06
申请人： Seiichiro Nakashima , Nobutoshi Torii , Masayuki Hamura
发明人： Seiichiro Nakashima , Nobutoshi Torii , Masayuki Hamura
IPC分类号： B25J15/08 , B25J9/14 , B25J15/02
CPC分类号： B25J15/0273 , B25J9/14
摘要： A robot hand provided with fingers driven by a double acting cylinder and supplied working liquid pressure through two, 2-position, 5-port-type, single solenoid, electromagnetic valves, wherein: (a) an outlet of a first electromagnetic valve is connected with the inlet thereof in response to the ON position of the solenoid thereof and is connected with the inlet of a first chamber of the double acting cylinder; (b) an outlet of a second electromagnetic valve is connected with the inlet thereof in response to the OFF position of a second chamber of the double acting cylinder; (c) an outlet of the first electromagnetic valve is connected with the inlet thereof in response to the OFF position of the solenoid thereof and is plugged; (d) an outlet of the second electromagnetic valve is connected with the inlet thereof in response to the ON position of the solenoid thereof and is plugged; and (e) a working liquid pressure source is connected with the inlet of the first and second electromagnetic valves. This robot hand is capable of maintaining an object in a held position even in the event of an electric power supply failure.
摘要翻译：机器人手设置有由双作用气缸驱动的手指，并通过两个2位5通口型单电磁阀电磁阀提供工作液压，其中：（a）第一电磁阀的出口被连接其入口响应于其螺线管的接通位置并与双作用气缸的第一室的入口连接; （b）响应于双作用气缸的第二室的关闭位置，第二电磁阀的出口与其入口连接; （c）第一电磁阀的出口响应于其螺线管的断开位置与其入口连接并被堵塞; （d）第二电磁阀的出口响应于其螺线管的接通位置与其入口连接并被堵塞; 和（e）工作液压源与第一和第二电磁阀的入口连接。即使在电力供应失败的情况下，该机器人手能够将物体保持在保持位置。

10. 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.

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