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    Industrial robot with conduit for an umbilical-member
    32.
    发明公开
    Industrial robot with conduit for an umbilical-member 有权
    Industrieroboter mit einem Schlauchfüreine Versorgunsleitung

    公开(公告)号：EP2022609A1

    公开(公告)日：2009-02-11

    申请号：EP08012301.1

    申请日：2008-07-08

    申请人： Fanuc Ltd

    发明人： Inoue, Toshihiko ,  Nakayama, Kazutaka ,  Iwayama, Takatoshi

    IPC分类号： B25J19/00 ,  F16L3/26 ,  F16L57/00 ,  F16L57/06 ,  H02G11/00 ,  B25J17/02

    CPC分类号： B25J19/0029 ,  B25J17/0283 ,  F16L3/1091 ,  H02G11/00 ,  Y10T74/20311 ,  Y10T74/20335

    摘要： Industrial robot with a conduit holding member (24) holding a conduit (13) with an umbilical member (20) passing therethrough, the industrial robot comprises
    - a forearm (7) having a
    - tool managing and relaying device (12) and
    - a wrist (8-10) with a
    - proximal end rotatably connected to said forearm (7) and having
    - a work tool (15) mounted on a distal end of said wrist, with
    - an umbilical-member (20) connected to said work tool (15)
    being disposed to run along said wrist via said tool managing and relaying device (12), wherein said forearm (7) has
    - a first reduction gear which reduces a rotational speed of a driving source to rotationally drive said forearm (7), the first reduction gear having
    - a first insertion hole (33)
    for passing said umbilical-member into said first insertion hole (33); and,
    - said wrist (8-10) comprises
    - a first wrist element (8) having
    - a through-path (11) in communication with said first insertion hole (33) and rotatably connected to said forearm (7), and
    - a second wrist element (9) having
    - a second insertion hole (39) in communication with said through-path (21) and rotatably connected to said first wrist element (8); and
    - a conduit (13)
    for passing said umbilical-member (20) from one end to the other end is provided in said first insertion hole (33) of said forearm (7), in said through-path (11) of said first wrist element (8), and in said second insertion hole (39) of said second wrist element (9) and,
    one end of said conduit (13) being inserted in said first insertion hole (33) so as to permit movement in an axial direction and in a direction of outer circumference of said conduit (13), an
    - other end of said conduit (13) is held on said second wrist element (9) in a cantilever fashion by a conduit holding member (24) so as to restrict a movement of said conduit (13) in said axial direction of said conduit (13).

    摘要翻译： 工业机器人具有管道保持构件（24），其保持通过其中的脐带构件（20）的导管（13），所述工业机器人包括 - 具有工具管理和中继装置（12）的前臂（7） 手腕（8-10），其具有可旋转地连接到所述前臂（7）的近端，并且具有 - 安装在所述手腕的远端上的作业工具（15）， - 连接到所述工件的脐部件（20） 工具（15）被设置成经由所述工具管理和中继装置（12）沿着所述手腕行进，其中所述前臂（7）具有 - 第一减速齿轮，其减小驱动源的旋转速度以旋转地驱动所述前臂（7） ），所述第一减速齿轮具有用于使所述脐部件进入所述第一插入孔（33）的第一插入孔（33）。 所述手腕（8-10）包括 - 第一腕部元件（8），具有与所述第一插入孔（33）连通并与所述前臂（7）可旋转地连接的通路（11） 第二腕部（9），具有与所述通路（21）连通并与所述第一腕部（8）可旋转地连接的第二插孔（39）。 以及 - 用于将所述脐部件（20）从一端传递到另一端的导管（13）设置在所述前臂（7）的所述第一插入孔（33）中，在所述前臂的所述通路（11）中 第一腕部（8）和所述第二腕部（9）的所述第二插入孔（39）中，并且所述导管（13）的一端插入所述第一插入孔（33）中， 轴向和所述导管（13）的外圆周方向，所述导管（13）的另一端通过导管保持构件（24）以悬臂方式被保持在所述第二腕部（9）上，因此 以限制所述导管（13）在所述导管（13）的所述轴向上的移动。

    Drive mechanism for industrial robot arm
    36.
    发明公开
    Drive mechanism for industrial robot arm 有权
    AntriebsmechanismusfürIndustrieroboterarme

    公开(公告)号：EP1892064A1

    公开(公告)日：2008-02-27

    申请号：EP07015966.0

    申请日：2007-08-14

    申请人： Fanuc Ltd

    发明人： Inoue, Toshihiko ,  Nakayama, Kazutaka ,  Iwayama, Takatoshi

    IPC分类号： B25J19/00 ,  B25J17/00

    CPC分类号： B25J19/0029

    摘要： A drive mechanism for an industrial robot arm, having a simple drive system, in which an extracting part of an umbilical member (54) for a work tool (32) is suitably positioned and a control device (34) for the work tool is positioned on the forearm so as not to project out, while the basic configuration of the robot arm may be similar to the prior art. A motor for a first wrist element (22) is positioned in the area between a forearm and an upper arm such that the rotation axis of the motor is perpendicular to a second axis. Further, the motor is positioned at the point shifted toward the wrist element or a front end of the forearm, in relation to a first axis, along the longitudinal direction of the forearm. Therefore, a wide area for a wire feeder may be obtained above a bottom portion of the forearm.

    摘要翻译： 一种用于工业机器人手臂的驱动机构，具有简单的驱动系统，其中用于工作工具（32）的脐带构件（54）的提取部分被适当地定位，并且用于工作工具的控制装置（34）被定位 在前臂上，以便不突出，而机器人手臂的基本构型可能与现有技术相似。 用于第一腕部元件（22）的电动机位于前臂和上臂之间的区域中，使得电动机的旋转轴线垂直于第二轴线。 此外，电动机位于沿着前臂的纵向方向相对于第一轴线朝向腕部元件或前臂的前端移动的点。 因此，可以在前臂的底部之上获得用于送丝机的广泛区域。

    Wrist driving structure for industrial robot
    37.
    发明公开
    Wrist driving structure for industrial robot 有权
    HandgelenkantriebsstrukturfürIndustrieroboter

    公开(公告)号：EP1886773A1

    公开(公告)日：2008-02-13

    申请号：EP07015611.2

    申请日：2007-08-08

    申请人： Fanuc Ltd

    发明人： Inoue, Toshihiko ,  Nakayama, Kazutaka ,  Iwayama, Takatoshi

    IPC分类号： B25J17/02

    CPC分类号： B25J17/0283 ,  B25J9/104 ,  Y10T74/1913

    摘要： A wrist driving structure for an industrial robot having: a first wrist element (10,10A,10B) supported in cantilever fashion rotatably about a first axis (a); a second wrist element (11) pivotally supported in cantilever fashion at a distal end side of the first wrist element with a proximal end as a supporting point about a second axis (b) intersecting the first axis; a third wrist element (12) supported in cantilever fashion at a distal end side of the second wrist element rotatably about a third axis (c) intersecting the second axis; two driving motors (13,14) provided in the first wrist element for driving the second wrist element and the third wrist element, respectively; and two gear sets (15,20) for reducing a rotational speed of the two driving motors in predetermined reduction ratios. Each of the gear sets has a driving gear (16,21) driven by one of the two driving motors and a driven ring gear (17,22) which meshes with the driving gear. Two driven ring gears of the two gear sets are disposed coaxially with the second axis. Two driving gears of the two gear sets are positioned parallel to each other at both sides of the second axis.

    摘要翻译： 一种用于工业机器人的手腕驱动结构，具有：以悬臂方式围绕第一轴线（a）可旋转地支撑的第一腕部元件（10,10A，10B）; 第二腕部（11）以悬臂的方式枢转地支撑在第一腕部的远端侧，其中近端作为与第一轴相交的第二轴线（b）的支撑点; 第三腕部元件（12），其以与所述第二轴相交的第三轴线（c）可旋转地支撑在所述第二腕部的远端侧; 设置在所述第一腕部上的驱动马达（13,14）分别用于驱动所述第二腕部和所述第三腕部; 以及用于以预定的减速比降低两个驱动电机的转速的两个齿轮组（15,20）。 每个齿轮组具有由两个驱动马达中的一个驱动的驱动齿轮（16,21）和与驱动齿轮啮合的从动齿圈（17,22）。 两个齿轮组的两个从动齿圈与第二轴同轴设置。 两个齿轮组的两个驱动齿轮在第二轴的两侧彼此平行地定位。

    Robot system comprising a plurality of robots provided with means for calibrating their relative position
    40.
    发明公开
    Robot system comprising a plurality of robots provided with means for calibrating their relative position 有权
    机器人系统包括多个与装置的机器人的用于校准它们的相对位置

    公开(公告)号：EP1607194A3

    公开(公告)日：2006-10-04

    申请号：EP05011702.7

    申请日：2005-05-31

    申请人： FANUC LTD

    发明人： Ban, Kazunori ,  Kanno, Ichiro ,  Yamada, Makoto ,  Inoue, Toshihiko

    IPC分类号： B25J9/16

    CPC分类号： B25J9/1692 ,  B25J9/1682 ,  G05B2219/39045 ,  G05B2219/39046 ,  G05B2219/39114 ,  G05B2219/39397

    摘要： A robot system comprising a first robot (R1) with a camera of a visual sensor mounted thereon and a second robot (R2) having a feature portion, is disclosed. The robots (R1, R2) are set in the first initial states (G1), from which the first robot (R1) or the second robot (R2) is moved so that the image of the feature portion assumes a target position or size (G2), thereby to store the present positions (P1, Q1) (G3). The same process is repeated N times (N ≥ 3) while changing the positions of the initial states of the robots (G4). Based on the positions P1,...., PN and Q1,....., QN obtained by the N repetitive above processes, a matrix T indicating the coordinate conversion from Σb to Σb' is determined. One or two robot control units may be provided. As a result, the calibration to determine relative positions between the robots can be carried out easily and with high accuracy, thereby reducing the jig-related cost.