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1. 发明申请

WO1995006546A1 ARTICULATED ROBOT 审中-公开
标题翻译：结构机器人
公开(公告)号：WO1995006546A1
公开(公告)日：1995-03-09
申请号：PCT/JP1993001345
申请日：1993-09-20
申请人： KABUSHIKI KAISHA YASKAWA DENKI , OGAWA, Masahiro , TOHNAI, Shuichi , NISHI, Masanori , ICHIBANGASE, Atsushi
发明人： KABUSHIKI KAISHA YASKAWA DENKI
IPC分类号： B25J09/06
CPC分类号： B25J19/063 , B25J9/04 , B25J9/1065 , Y10S414/13 , Y10T74/20317
摘要： An articulated robot having a rhomboidal link mechanism consisting of a fixed base (1) provided with a horizontal upper surface, a first arm (2) supported so that it can be turned around a pivot perpendicular to the upper surface of the fixed base (1), a first auxiliary link (3) parallel to the first arm (2), and a second auxiliary link (4) by which the end portions, which are away from the fixed base, of the first arm (2) and first auxiliary link (3) are coupled so that these end portions can be pivotally moved; and a second arm (5) provided so that it can be turned on the second auxiliary link (4) and around a pivot extending in parallel with that perpendicular to the upper surface of the fixed base (1). The present invention can thus provide an articulated robot capable of moving at a high speed between two distant points without the motion of the second arm (5) limited by the first arm (2).
摘要翻译：一种铰接式机器人，具有由设置有水平上表面的固定基座（1）构成的菱形连杆机构，第一臂（2）被支撑成能够绕垂直于固定基座（1）的上表面的枢轴转动），与第一臂（2）平行的第一辅助连杆（3）和第二辅助连杆（4），第一臂（2）的远离固定基座的端部和第一辅助连杆连杆（3）联接成使得这些端部可以枢转地移动; 以及第二臂（5），其设置成使得其可以在第二辅助连杆（4）上并且围绕与垂直于固定基座（1）的上表面垂直延伸的枢轴围绕。因此，本发明可以提供能够在两个远点之间高速移动的关节式机器人，而不会受到第一臂（2）限制的第二臂（5）的运动。

2. 发明申请

WO1995005270A1 WRIST STRUCTURE FOR ARTICULATED ROBOTS 审中-公开
标题翻译：结构机器人的结构
公开(公告)号：WO1995005270A1
公开(公告)日：1995-02-23
申请号：PCT/JP1994001300
申请日：1994-08-05
申请人： KABUSHIKI KAISHA YASKAWA DENKI , OGAWA, Masahiro , TOHNAI, Shuichi
发明人： KABUSHIKI KAISHA YASKAWA DENKI
IPC分类号： B25J17/02
CPC分类号： B25J9/1065 , B25J17/0241 , B25J19/063
摘要： In a wrist structure for articulated robots, having a work clamping means affixed to a base portion (2) adapted to be turned around a vertical pivot (S-shaft) by an S-shaft driving motor (21) provided on a base (1); a first arm (3) which is a rotary portion (7) capable of being turned around a pivot (T-shaft), which extends perpendicularly with respect to the pivot (B-shaft) of the wrist (6), by a T-shaft driving motor (71) provided on a base portion of the arm (4); a first wrist link (63) which extends on an extension of the arm (4) fixed to the wrist (6), and which is fixed to the outer periphery (67) of the rotary portion (7); a second wrist link (64) fixed to an output shaft (73) of the rotary portion (7); a third wrist link (65) pin-connected to an end portion of the first wrist link (63) so that the third wrist link can be turned; a fourth wrist link (66) pin-connected to end portions of the second and third wrist links (64, 65) and extending in parallel with the first wrist link (63); and a work clamping means (81) fixed to the pivot pin of the third wrist link (65) are provided. A buffer means (9) is provided between the wrist (6) and the first wrist link (63) or second wrist link (64). This invention can provide a wrist structure having non-reinforced arms and a T-shaft driving motor of a small load, capable of being operated at a high speed and kept safe even when the work clamping means collides with an obstruction.
摘要翻译：在用于铰接机器人的手腕结构中，具有固定到适于通过设置在基座（1）上的S轴驱动电机（21）围绕垂直枢轴（S轴）转动的基座部分（2）的工件夹紧装置）; 第一臂（3），其是能够围绕相对于手腕（6）的枢轴（B轴）垂直延伸的枢轴（T轴）转动的旋转部分（3），T 设置在所述臂（4）的基部上的轴驱动电动机（71）; 第一腕部（63），其在固定于腕部（6）的臂（4）的延伸部上延伸，固定在旋转部（7）的外周（67）上。固定到旋转部分（7）的输出轴（73）上的第二腕关节（64）; 第三腕关节（65），其与所述第一腕关节（63）的端部销连接，使得所述第三腕关节能够转动; 与所述第二和第三腕关节（64,65）的端部销连接并与所述第一腕关节（63）平行延伸的第四腕关节（66）; 并且设置固定到第三腕关节（65）的枢轴销的工件夹紧装置（81）。在手腕（6）和第一腕关节（63）或第二腕关节（64）之间设有缓冲装置（9）。本发明可以提供具有非加强臂的手腕结构和小负载的T轴驱动电动机，即使当夹紧装置与障碍物碰撞时，也能够高速运转并保持安全。

3. 发明申请

WO1993007996A1 ARM DRIVING DEVICE OF INDUSTRIAL ROBOT 审中-公开
标题翻译：工业机器人的ARM驱动装置
公开(公告)号：WO1993007996A1
公开(公告)日：1993-04-29
申请号：PCT/JP1991001419
申请日：1991-10-17
申请人： KABUSHIKI KAISHA YASKAWA DENKI , TOHNAI, Shuichi , IWANAGA, Toshiaki
发明人： KABUSHIKI KAISHA YASKAWA DENKI
IPC分类号： B25J09/06
CPC分类号： B25J9/1065 , B25J9/046 , Y10S414/13 , Y10T74/20323
摘要： An arm driving device of an industrial robot, wherein one end of a first arm (2) is fixed to a first rotary shaft (21) rotatably supported on a base (1), one end of a second arm (3) is fixed to a second rotary shaft (31) rotatably suported by the other end of the first arm (2), parallel link rotary shafts (44, 54) concentrically rotatably provided with the first rotary shaft (21) and the second rotary shaft (21) are connected to each other through parallel links (4, 5), and wherein follower bars (41, 51) of the two parallel links (4, 5) are respectively fixed to opposite ends of the second rotary shaft (31) with the first arm (2) interposed therebetween, two connecting bars (42, 52) for connecting driving bars (43, 53) fixed to the parallel link rotary shafts (44, 54) to the follower bars (41, 51) are offset to the outsides of the driving bars (43, 53) and of the follower bars (41, 51). With this arrangement, the parallel links (4, 5) are prevented from interferrring with each other and the operating spaces of the arms (2, 3) can be greatly expanded.
摘要翻译：一种工业机器人的手臂驱动装置，其中第一臂（2）的一端固定在可旋转地支撑在基座（1）上的第一旋转轴（21）上，第二臂（3）的一端固定到由第一臂（2）的另一端旋转的第二旋转轴（31），与第一旋转轴（21）和第二旋转轴（21）同心地可旋转地设置的平行连杆旋转轴（44,45）通过平行连杆（4,5）彼此连接，并且其中两个平行连杆（4,5）的从动杆（41,41）分别固定到第二旋转轴（31）的相对端部，第一臂（2），用于将固定到所述平行连杆旋转轴（44,45）上的驱动杆（43,43）连接到所述从动杆（41,41）的两个连接杆（42,52）偏移到驱动杆（43,43）和从动杆（41,51）。通过这种布置，可以防止平行连杆（4,5）彼此干涉，从而可以大大扩展臂（2,3）的操作空间。

4. 发明申请

WO1997045234A1 METHOD OF COOLING DRIVE MOTOR IN INDUSTRIAL ROBOT 审中-公开
标题翻译：驱动电机在工业机器人中的冷却方法
公开(公告)号：WO1997045234A1
公开(公告)日：1997-12-04
申请号：PCT/JP1997001297
申请日：1997-04-14
申请人： KABUSHIKI KAISHA YASKAWA DENKI , ICHIBANGASE, Atsushi , OGAWA, Masahiro , TAKAHASHI, Masatsugu , SUEYOSHI, Satoshi
发明人： KABUSHIKI KAISHA YASKAWA DENKI
IPC分类号： B25J19/00
CPC分类号： B25J19/0054
摘要： An industrial robot comprises a movable body (40) and a motor (20) for driving the movable body (40), the motor being mounted on a robot structure. Heat generated from the motor (20) for driving is conducted to the robot structure through another path in addition to a path routed through a mount for the motor (20) to thereby cool the motor (20) for driving.
摘要翻译：工业机器人包括用于驱动可移动体（40）的可移动体（40）和马达（20），马达安装在机器人结构上。除了通过用于电动机（20）的安装架的路径之外，还通过另一路径将从用于驱动的电动机（20）产生的热量传导到机器人结构，从而冷却用于驱动的电动机（20）。

5. 发明申请

WO1996017714A1 LEAD WIRE PROCESSING DEVICE FOR INDUSTRIAL ROBOT 审中-公开
标题翻译：工业机器人铅线加工装置
公开(公告)号：WO1996017714A1
公开(公告)日：1996-06-13
申请号：PCT/JP1995002494
申请日：1995-12-06
申请人： KABUSHIKI KAISHA YASKAWA DENKI , ICHIBANGASE, Atsushi , OGAWA, Masahiro
发明人： KABUSHIKI KAISHA YASKAWA DENKI
IPC分类号： B25J19/00
CPC分类号： B25J19/0029 , Y10T74/20311
摘要： A partition plate (16) is provided on an upper surface of a bottom portion (12) of a swivel base (11) radially outwardly of an arm (14) in a space (13), lead wire passing portions (17) are formed in the partition plate (16) at a position higher than the upper surface of the bottom portion (12), lead wire passing holes (18) are formed in the bottom portion (12) radially outwardly of the partition plate (16), lead wires (15) put out of the arm (14) at a lower portion thereof in the space (13) are caused to suspend downwardly through the lead wire passing portions (17), and the lead wires (15) are then upwardly handled so as be caused to pass through the lead wire passing holes (18) to the side of a fixed base. It is possible to simply and securely effect a drip proof protection without widely changing the structure of the swivel base.
摘要翻译：在空间（13）中的臂（14）的径向向外的旋转基座（11）的底部（12）的上表面上设置隔板（16），形成引线通过部（17）在高于底部（12）的上表面的位置处的隔板（16）中，在分隔板（16）的径向向外的底部（12）中形成引线通孔（18），引线通过引线通过部分（17）向下悬置在空间（13）中的其下部从臂（14）伸出的电线（15），然后将引线（15）向上处理使引导线通孔（18）穿过固定基座的一侧。可以简单，安全地实现防滴漏保护，而不会大幅改变旋转底座的结构。

6. 发明申请

WO1998040801A1 POSITION CONTROLLER 审中-公开
标题翻译：位置控制器
公开(公告)号：WO1998040801A1
公开(公告)日：1998-09-17
申请号：PCT/JP1997003147
申请日：1997-09-05
申请人： KABUSHIKI KAISHA YASKAWA DENKI , TSURUTA, Kazuhiro
发明人： KABUSHIKI KAISHA YASKAWA DENKI
IPC分类号： G05D03/12
CPC分类号： G05B19/232 , G05B19/19 , G05B2219/41442 , G05B2219/41444 , G05B2219/42062 , G05B2219/42074
摘要： A position controller which controls the position of a motor comprising a position control unit (12) which controls the position of the motor so that the position of the motor may agree with the position command of a command generator (11), a speed control unit (13) which outputs a torque command and controls the speed of the motor so that the speed of the motor may agree with the speed command of the position control unit (12) and a current control unit (14) which controls the current applied to the motor in accordance with the command of the speed control unit (13). The speed control unit (13) has a speed feedback filter (131) by which the speed is applied to a low-pass filter, a subtracter (132) which subtracts the signal of the speed feedback filter (131) from the speed command to obtain a speed deviation, an integrator (133) which integrates the speed deviation with respect to time to obtain an integrated speed deviation value, a multiplier (136) which multiplies the speed command by a coefficient alpha , an adder/subtracter (135) which adds the signal of the multiplier to the integrated speed deviation value and, further, subtracts the speed from the sum, a multiplier (136) which multiplies the output of the adder/subtracter by a speed loop gain Kv and a torque filter (139) which applies the signal of the multiplier (136) to a low-pass filter.
摘要翻译：一种位置控制器，其控制电动机的位置，该电动机包括位置控制单元（12），其控制电动机的位置，使得电动机的位置可以与命令发生器（11）的位置指令一致;速度控制单元（13），其输出转矩指令并控制电动机的速度，使得电动机的速度可以与位置控制单元（12）的速度指令和控制施加到电机按照速度控制单元（13）的指令。速度控制单元（13）具有速度反馈滤波器（131），速度被施加到低通滤波器，减法器（132）从速度指令减去速度反馈滤波器（131）的信号，获得速度偏差，将速度偏差相对于时间积分以获得积分速度偏差值的积分器（133），将速度指令乘以系数α的乘法器（136），加法器/减法器（135）将乘法器的信号与积分速度偏差值相加，并且进一步从和减去速度，乘法器（136），其将加法器/减法器的输出乘以速度环增益Kv和转矩滤波器（139）其将乘法器（136）的信号应用于低通滤波器。

7. 发明申请

WO1998028835A1 PROTECTING METHOD FOR INRUSH CURRENT PREVENTING RESISTOR 审中-公开
标题翻译：冲击电流防护电阻的保护方法
公开(公告)号：WO1998028835A1
公开(公告)日：1998-07-02
申请号：PCT/JP1997004694
申请日：1997-12-18
申请人： KABUSHIKI KAISHA YASKAWA DENKI , HIROSE, Kenji , ONO, Akihisa
发明人： KABUSHIKI KAISHA YASKAWA DENKI
IPC分类号： H02M07/06
CPC分类号： H02M7/062 , H02H7/008 , H02H9/001 , Y10S323/908 , Y10T307/826
摘要： For the purpose of preventing generation of burning or disconnection of an inrush current preventing resistor (3) when making and breaking of an AC power supply are frequently repeated, energy to be charged to a smoothing capacitor (4) at the time of making the power supply is calculated from the capacitance of the smoothing capacitor (4) of a capacitor-input type rectifying circuit and the value of a rectifying smoothing DC voltage, and a mean power is calculated from the energy and the number of times of power making and breaking within a predetermined period of time. If the mean power exceeds an allowable power of the inrush current preventing resistor (3) for preventing an inrush current at the time of making the power supply, warning by an alarm display or an alarm output and power non-making interlock are carried out, and driving of a load-side device is stopped. In the case where the capacitance of the smoothing capacitor (4) and the value of the rectifying smoothing DC voltage are known in advance, the number of power on/off times within a predetermined period of time is counted. If the number of times exceeds a predetermined number, warning by an alarm display or an alarm output and power non-making interlock are carried out, and driving of the load-side device is stopped.
摘要翻译：为了在频繁地重复交流电源的制动和断路时防止浪涌电流阻止电阻（3）的燃烧或断开的发生，在制动电力时要向平滑电容器（4）充电的能量根据电容器输入型整流电路的平滑电容器（4）的电容和整流平滑直流电压的值来计算电源，并根据能量和发电次数和断电次数计算平均功率在预定时间段内。如果平均功率超过用于防止在进行电力供给时的浪涌电流的浪涌电流阻止电阻器（3）的允许功率，则通过报警显示或报警输出进行警告，并进行非制动互锁，停止负载侧装置的驱动。在平滑电容器（4）的电容和整流平滑DC电压的值预先已知的情况下，对预定时间段内的电源接通/关断次数进行计数。如果次数超过预定数量，则进行报警显示或报警输出和非制动互锁的警告，停止负载侧装置的驱动。

8. 发明申请

WO1997010080A1 TEACHING UNIT FOR ROBOTS 审中-公开
标题翻译：机器人教学单位
公开(公告)号：WO1997010080A1
公开(公告)日：1997-03-20
申请号：PCT/JP1996002638
申请日：1996-09-13
申请人： KABUSHIKI KAISHA YASKAWA DENKI , NAGATA, Hideo , TANAKA, Youichi , INOUE, Yasuyuki , MORITA, Hirotaka
发明人： KABUSHIKI KAISHA YASKAWA DENKI
IPC分类号： B25J09/22
CPC分类号： G05B19/423 , G05B2219/36457 , G05B2219/36473
摘要： A direct teaching unit enabling an operator to teach an industrial robot a working point safely, comprising a teaching tool including a force detector, and a working tool or a special handle fixed to the force detector and gripped by an operator for guiding; a means for calculating a position or a speed instruction on the basis of the information from the force detector and a motion model; a means for calculating the torque generated by a motor adapted to drive a robot on the basis of the position and speed instruction; and a means for limiting the generated torque.
摘要翻译：一种直接教学单元，其使得操作者能够安全地教导工业机器人工作点，其包括教学工具，其包括力检测器，以及固定到力检测器并由操作者抓握以用于引导的工作工具或特殊手柄; 基于来自力检测器和运动模型的信息来计算位置或速度指令的装置; 用于根据位置和速度指令计算由适于驱动机器人的马达产生的扭矩的装置; 以及用于限制所产生的扭矩的装置。

9. 发明申请

WO1996023348A1 METHOD FOR STARTING PERMANENT MAGNET SYNCHRONOUS MOTOR WITH ROTATIONAL POSITION DETECTOR, AND MOTOR CONTROLLER 审中-公开
标题翻译：用旋转位置检测器启动永磁同步电机的方法和电机控制器
公开(公告)号：WO1996023348A1
公开(公告)日：1996-08-01
申请号：PCT/JP1996000144
申请日：1996-01-26
申请人： KABUSHIKI KAISHA YASKAWA DENKI , SAWA, Toshihiro , SONODA, Sumitoshi , FUJII, Syuuichi , YAMAMOTO, Eiji
发明人： KABUSHIKI KAISHA YASKAWA DENKI
IPC分类号： H02P06/00
CPC分类号： H02P6/20 , H02P6/16 , H02P6/17 , H02P2205/01
摘要： A rotational position detector which generates pulse trains of A- and B-phases having a 90-degree phase difference between them and C-phase pulses at a rate of one pulse per rotation is fitted to a permanent magnet synchronous motor, the position where the C-phase pulses are generated agree with the origin of the magnetic pole of a permanent magnet. A motor controller drives a current control loop by an AC current command having a fixed amplitude and a low frequency after the turn-on of the power supply at the initial stage before normal motor drive, supplies an alternating current having a low frequency to the synchronous, motor rotates the rotor of the motor at a low speed from a stop position, detects that a magnetic pole criterion is reached when the controller detects a C-phase pulse, and then determines the rotational angle of the magnetic pole of the rotor, using the numbers of the A- and B-phase pulses counted in accordance with the rotation of the rotor.
摘要翻译：一个旋转位置检测器，其以每旋转一个脉冲的速率产生具有90度相位差和C相脉冲的A相和B相脉冲串，其装配到永磁同步电动机产生C相脉冲与永磁体磁极的原点一致。电动机控制器在正常电动机驱动之前的初始阶段在电源接通之后通过具有固定振幅和低频的AC电流指令来驱动电流控制回路，将具有低频率的交流电提供给同步电机从停止位置以低速旋转电动机的转子，检测到当控制器检测到C相脉冲时达到磁极标准，然后利用转子的磁极确定旋转角度根据转子的旋转计数的A和B相脉冲的数量。

10. 发明申请

WO1996004708A1 MOTOR SPEED CONTROLLER 审中-公开
标题翻译：电机速度控制器
公开(公告)号：WO1996004708A1
公开(公告)日：1996-02-15
申请号：PCT/JP1995001534
申请日：1995-08-02
申请人： KABUSHIKI KAISHA YASKAWA DENKI , NAKAMURA, Hiroshi , TSURUTA, Kazuhiro
发明人： KABUSHIKI KAISHA YASKAWA DENKI
IPC分类号： H02P05/00
CPC分类号： H02P23/16 , H02P6/17
摘要： A motor speed controller which detects the position y(i-k) of a motor at the time K.Ts (k >/= 0, Ts; sampling period) ago from the present time (i) and feedback-controls the speed of the motor by using a motor speed feedback signal vfb calculated based on the signal representing the motor position detected is provided with a means which calculates a torque command u(i) from a speed command and the signal vfb, means which calculates the speed v(i-k) of the motor from the position y(i-k), means which stores the values of the speed v(i-m) (m = k, ..., M') from M' sampling periods before to the time i-K, a predictor which predicts the speed value v*(i+m) (m = -K+2, ..., M) of the motor at the times up to M sampling periods after from the dynamic characteristic model of the motor, the torque command u(i), and position (i-K), and means which finds the speed feedback signal from formula (1) where Wm and W'm represent weight factors.
摘要翻译：电动机速度控制器，从当前时间（i）检测在时间K.Ts（k> = 0，Ts;采样周期）的电动机的位置y（ik），并且反馈控制电动机的速度通过使用基于表示检测到的电动机位置的信号计算的电动机速度反馈信号vfb，设置有从速度指令和信号vfb计算转矩指令u（i）的装置，计算速度v（ik）从位置y（ik）的电动机的M'，存储从时间iK前的M'采样周期的速度v（im）（m = k，...，M'）的值的装置，预测器电动机的动态特性模型后的M个采样周期之后的电动机的速度值v *（i + m）（m = -K + 2，...，M），转矩指令u（ i）和位置（iK），以及找到来自公式（1）的速度反馈信号的装置，其中Wm和W'm表示权重因子。

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