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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

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）。

4. 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。

5. 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。

6. 发明申请

WO1997018928A1 WRIST MECHANISM FOR ARTICULATED ROBOT 审中-公开
标题翻译：用于机器人机器人的机构
公开(公告)号：WO1997018928A1
公开(公告)日：1997-05-29
申请号：PCT/JP1996003311
申请日：1996-11-11
申请人： KABUSHIKI KAISHA YASKAWA DENKI , ICHIBANGASE, Atsushi
发明人： KABUSHIKI KAISHA YASKAWA DENKI
IPC分类号： B25J17/02
CPC分类号： B25J17/0283
摘要： A wrist mechanism for an articulated robot wherein an inclined arm (101) inclined relative to a longitudinal direction of an arm (1) and a mounting seat (103) parallel to a rotating axis (R) are provided, respectively, at the leading end of the arm (1) and on a side face on a side confronting the rotating axis (R), wherein a housing (102) is fixed to the leading end of the inclined arm (101), wherein a driving portion for driving a wrist portion (2) is constituted by a driving motor (5) fixed to the inside of the inclined arm (101) along an inclined direction and a reduction gear (4) mounted on the mounting seat (13) of the housing (102) and wherein an output shaft (51) of the driving motor (5) and an input shaft (42) of the reduction gear (4) are coupled to each other by two bevel gears (52, 43) in mesh engagement with each other. This provides a wrist mechanism for an articulated robot in which the wrist portion is not offset, and which has a high rigidity and is simple in construction.
摘要翻译：一种用于关节式机器人的手腕机构，其分别在前端设置有相对于臂（1）的纵向方向倾斜的倾斜臂（101）和与旋转轴线（R）平行的安装座（103）（1）的侧面和面对旋转轴线（R）的一侧的侧面，其中，壳体（102）固定到倾斜臂（101）的前端，其中驱动手腕部分（2）由沿倾斜方向固定在倾斜臂（101）的内侧的驱动电动机（5）和安装在壳体（102）的安装座（13）上的减速齿轮（4）构成;以及其中所述驱动马达（5）的输出轴（51）和所述减速齿轮（4）的输入轴（42）通过彼此啮合的两个锥齿轮（52,43）彼此联接。这提供了一种用于关节式机器人的手腕机构，其中腕部未被偏移，并且具有高刚性并且结构简单。

7. 发明申请

WO1994022643A1 ARTICULATED ROBOT 审中-公开
标题翻译：结构机器人
公开(公告)号：WO1994022643A1
公开(公告)日：1994-10-13
申请号：PCT/JP1994000504
申请日：1994-03-29
申请人： KABUSHIKI KAISHA YASKAWA DENKI , NISHI, Masanori , WATANABE, Hideaki
发明人： KABUSHIKI KAISHA YASKAWA DENKI
IPC分类号： B25J09/06
CPC分类号： B25J9/04 , B25J9/1065 , Y10S414/13 , Y10T74/20305
摘要： A parallel link mechanism is formed by a lower arm (2) supported on a lower base (1) so that the lower arm (2) can be tilted longitudinally, a connecting link (21) extending in parallel with the lower arm (2) and supported on the lower base (1) so that the connecting link (21) can be tilted longitudinally, and an upper base (22) to which the upper end portions of the lower arm (2) and connecting link (21) are connected pivotably. The upper base (22) supports thereon a swing member (3) adapted to be swung horizontally, and an upper arm (4) provided in a position offset from an axis Z &cir& _ of swinging movement of the swing member (3) so that the upper arm (4) can be tilted vertically. Accordingly, the upper and lower arms do not interfere with each other, and the range of working of the upper arm can be increased.
摘要翻译：平行连杆机构由支撑在下基座（1）上的下臂（2）形成，使得下臂（2）能够纵向倾斜，与下臂（2）平行延伸的连接杆（21）并且支撑在下基部（1）上，使得连接杆（21）能够纵向倾斜，并且下臂（2）和连接杆（21）的上端部分连接到的上基座（22）枢。上基座（22）在其上支撑适于水平摆动的摆动构件（3）和设置在偏离摆动构件（3）的摆动运动的轴线Z'的位置的上臂（4），使得上臂（4）可以垂直倾斜。因此，上臂和下臂不会彼此干涉，并且可以增加上臂的工作范围。

8. 发明申请

WO1993009920A1 ROBOT CONTROL METHOD AND APPARATUS 审中-公开
标题翻译：机器人控制方法和装置
公开(公告)号：WO1993009920A1
公开(公告)日：1993-05-27
申请号：PCT/JP1992001512
申请日：1992-11-19
申请人： KABUSHIKI KAISHA YASKAWA DENKI , TOUNAI, Shuichi , NISHI, Masanori , OKAMURA, Kunihiro
发明人： KABUSHIKI KAISHA YASKAWA DENKI
IPC分类号： B25J13/00
CPC分类号： B25J9/1641 , G05B2219/39179 , G05B2219/42231 , G05B2219/45083 , G05B2219/49289
摘要： A method of controlling a robot having shafts of one or more degrees of freedom, wherein at least one of these shafts, on which a dynamic load works, is driven by servomotor via a speed reducer. When the robot is stopped, the shaft on which a dynamic load works is moved in the direction in which the load works, and then stopped. This invention is based on the fact that the transmission efficiency (positive efficiency) of the speed reducer from the servomotor to an arm (shaft) is the reciprocal of the transmission efficiency (inverse efficiency) of the speed reducer from the arm to the servomotor. The condition of transmission of a load from an arm to the servomotor is generated forcibly, and the load is balanced with the torque generated by the servomotor, whereby the consumption of power and heat dissipation are reduced. Consequently, a load on the servomotor during the stoppage of the arm decreases, and power consumption becomes smaller, heat dissipation also decreasing. The reduction of the capacity of the servomotor also becomes possible.
摘要翻译：一种控制具有一个或多个自由度的轴的机器人的方法，其中动态负载工作的这些轴中的至少一个由伺服电动机通过减速器驱动。当机器人停止时，动态负载工作的轴沿负载工作方向移动，然后停止。本发明是基于以下事实：减速器从伺服电动机到臂（轴）的传动效率（正效率）是减速器从臂向伺服电动机的传动效率（反效率）的倒数。强制地产生从臂向伺服电动机传递负载的状态，并且负载与由伺服电动机产生的转矩平衡，从而减少功率消耗和散热。因此，在臂停止期间伺服电动机上的负载减小，功耗变小，散热也降低。伺服电动机的容量的降低也变得可能。

9. 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。

10. 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。

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