公开(公告)号：EP1598154A1

公开(公告)日：2005-11-23

申请号：EP05010756.4

申请日：2005-05-18

申请人： FANUC LTD

发明人： Nihei, Ryo ,  Inoue, Toshihiko ,  Nakayama, Kazutaka

IPC分类号： B25J19/00

CPC分类号： B25J19/0025

摘要： A managing structure for an umbilical member (7) of an industrial robot (1), the umbilical member being for supplying air and electric energy to a work tool (H) attached to an end of a wrist of the robot, in which the umbilical member (7) is properly moved and interference between the umbilical member and a peripheral object or a forearm (10) of the robot is prevented. The umbilical member elastically contacts a guide surface (G3) of a guide plate (G) attached to a second wrist element (12) of the robot without widely projecting from the robot. The umbilical member is guided such that the extending direction of the umbilical member generally coincides with the longitudinal direction of the guide plate (G) before the umbilical member is connected to the work tool (H). The thickness of the guide plate may be gradually reduced or constant toward a free end (G1) of the guide plate. The rotational motion of a third wrist element (13) about a third axis (C2) of the robot may be converted to the rotational motion about a fourth axis (C3) via a transmission (R), so as to rotate the work tool. Even when the work tool is rotated, the umbilical member is properly moved. The work tool may also be rotated about the third axis (C2).

摘要翻译： 在线条体（7）的工业机器人（1）的，所述线条体是供给空气和电能在机器人的手腕的一端连接到作业工具（H），A的管理结构，其中，脐 构件（7）被适当地移动，并且线条体和外围物体或机器人的前臂（10）之间的干涉被防止。 附接至所述机器人的第二手腕元件（12），而不从机器人广泛突出的导向板（G）的线条体弹性接触的导向面（G3）。 线条体被引导搜索，DASS模具扩展线条体基因反弹方向与线条体被连接到所述作业工具（H）之前，所述引导板（G）的纵向方向一致。 导向板的厚度可以减小或逐渐向导向板的自由端（G1）是恒定的。 关于机器人的第三轴线（C2）的第三手腕单元（13）的旋转运动可以经由变速器（R）被转换成绕第四轴线（C3）的旋转运动，从而旋转所述作业工具。 甚至当工作工具转动，线条体正常移动。 因此，该工作器具可以围绕所述第三轴线（C2）。

公开(公告)号：EP1574302A1

公开(公告)日：2005-09-14

申请号：EP05004967.5

申请日：2005-03-07

申请人： FANUC LTD

发明人： Inoue, Toshihiko ,  Nakayama, Kazutaka ,  Motokado, Tomoyuki

IPC分类号： B25J19/00

CPC分类号： B25J19/0025

摘要： An umbilical-member managing system for an industrial robot. The embodiment of the umbilical-member managing system provided in an arc welding robot serves to lay and manage, along a manipulator, a torch cable (26) connected to a welding torch (18) attached to the manipulator. This umbilical-member managing system includes a support unit (24) provided on the manipulator movably toward and away from the welding torch (18) to support the torch cable (26); and a biasing mechanism (38) continually biasing the support unit (24) on the manipulator in a direction away from the welding torch (18). In this arrangement, the support unit (24) may be composed of a wire feeding device for feeding a welding wire (25) in the torch cable (26) toward the welding torch. A guide unit (44) is provided on the manipulator, which can guide the wire feeding device in a direction toward and away from the welding torch.

摘要翻译： 用于工业机器人的脐带管理系统。 设置在电弧焊接机器人中的脐部件管理系统的实施例用于沿着操纵器布置和管理连接到附接到操纵器的焊炬（18）的割炬电缆（26）。 该脐部件管理系统包括一个支撑单元（24），该支撑单元（24）设置在可移动地朝向和离开焊炬（18）的机械手上，以支撑炬缆（26）; 以及偏压机构（38），其在远离焊炬（18）的方向上将所述支撑单元（24）连续地偏置在所述操纵器上。 在这种布置中，支撑单元（24）可以由用于将焊丝（25）在焊炬电缆（26）内朝向焊炬进给的送丝装置组成。 引导单元（44）设置在操纵器上，其可以沿着朝向和远离焊炬的方向引导送丝装置。

公开(公告)号：EP1527852A1

公开(公告)日：2005-05-04

申请号：EP04025685.1

申请日：2004-10-28

申请人： FANUC LTD

发明人： Watanabe, Atsushi ,  Nihei, Ryo ,  Inoue, Toshihiko

IPC分类号： B25J19/02

CPC分类号： B25J19/023

摘要： An industrial robot (1), having an end-effector supporting mechanism (11) for holding an end-effector (10) such as a working tool and accommodating an imaging device (20) of a visual sensor, which is free from the interference with the periphery and capable of taking an image of the working position without any trouble. A container-shaped adaptor (40) of the end-effector supporting mechanism is attached to a distal end of a wrist flange (5) provided in a robot wrist supported by a robot arm (7). The adaptor has a first attachment section (41) provided with a first attachment surface to be attached to the wrist flange (5), and a second attachment section (42) provided with a second attachment surface disposed generally parallel to a wrist flange surface (6) at a position apart from the first attachment section (41) by a predetermined distance along a rotary center axis of the wrist flange. On the second attachment surface, a tool holding member (14) of the end-effector supporting mechanism for holding the working tool is attached. The adaptor (40) and the tool holding member (14) may be integral with each other. The imaging device is held by a holding menas such as a screw (44) or a magnetic mechanism (60) so that the rotary center axis of the wrist flange (5) generally coincides with a center line of the visual field and a center of gravity is positioned within the adaptor (40). The wrist flange (5) may be provided with a through-hole (8) for the connector-coupling, and the imaging device may be provided with radio-communication means (51,52).

摘要翻译： 一种工业机器人，其具有用于保持末端执行器并且容纳视觉传感器的成像装置的末端执行器支撑机构，其不受与周边的干涉并能够拍摄工作位置的图像。 末端执行器支撑机构的容器形适配器安装在由机器人手臂支撑的机器手腕中设置的手腕凸缘的远端。 适配器具有设置有附接到腕部凸缘的第一附接表面的第一附接部分和设置有第二附接部分的第二附接部分，该第二附接部分设置有大致平行于手腕凸缘表面的第二附接表面，该第二附接表面在与第一附接部分分开的位置处 沿着腕部凸缘的旋转中心轴线的预定距离。 在第二安装面上安装有用于保持加工工具的端部执行器支撑机构的工具保持构件。

公开(公告)号：EP1491300A1

公开(公告)日：2004-12-29

申请号：EP04253748.0

申请日：2004-06-23

申请人： FANUC LTD

发明人： Inoue, Toshihiko ,  Nakayama, Kazutaka

IPC分类号： B25J19/00

CPC分类号： B25J19/0025 ,  Y10T74/20317

摘要： The present invention provides a robot that can use an inexpensive connector and keep the connector assembly dust-free and safe. A base (4) of a robot mechanical unit (2) has a hollow structure. An opening (4a) is provided on a lateral surface of the base (4), a through-hole (11a) is provided on a closing member (11) that covers the opening (4a), and a cable mounting member (12) provided with a through-hole is fixed on the closing member (11). A connecting cable (3) from a control unit (1) passes through the through-holes and is connected to robot mechanical unit-internal cables (5) by a cable connector (15) inside the base (4). The robot mechanical unit-internal cables (5) are fixed by a cable clamp (8) inside the base and a swivel body (7). The connection (15) is installed inside the base (4) and suspended in space, providing superior dust-proofing. No external force is applied, and so an inexpensive configuration can be achieved that does not require an especially strong connector (15). Moreover, the connector (15) can be connected and disconnected easily.

摘要翻译： 机器人在机器人机械单元（2）中具有中空基座（4）。 闭合单元附接到基座以覆盖基座的开口。 该单元具有通孔或切口，来自控制单元的连接电缆（3）穿过该通孔或切口。 连接器（15）布置在基座内部，用于将连接电缆与机器人机械单元的内部电缆连接。