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    Sealing device for joint section of robot and articulated robot having the same
    3.
    发明公开
    Sealing device for joint section of robot and articulated robot having the same 有权
    具有密封装置的机器人的铰链区和具有多关节型机器人这样的

    公开(公告)号：EP1894684A1

    公开(公告)日：2008-03-05

    申请号：EP07016828.1

    申请日：2007-08-28

    申请人： Fanuc Ltd

    发明人： Tamura, Toshinari ,  Kurebayashi, Hidenori ,  Aizawa, Atsushi ,  Tanaka,Yasuyoshi ,  Fujimoto, Katsumi

    IPC分类号： B25J19/00

    CPC分类号： B25J19/0075 ,  Y10T74/20305 ,  Y10T74/20329 ,  Y10T74/20335

    摘要： A sealing device provided to a joint section (16) of a robot (12). The sealing device includes overlapped seal portions having a multi-stage configuration, provided for a driving mechanism (34) incorporated into the joint section. The overlapped seal portions include a first seal portion (116) including a first contact seal element (122) sealing a first inter-member gap (120) defined adjacent to a lubricant retaining section provided in the driving mechanism; and a second seal portion (118) arranged outside the first seal portion and including a second contact seal element (126) sealing a second inter-member gap (124) defined in a circumferential wall of the joint section, the circumferential wall defining an accommodation space for accommodating the driving mechanism.

    摘要翻译： 提供给机器人（12）的接合部分（16）的密封装置。 该密封装置包括具有多级结构，提供了一种用于结合到关节部的驱动机构（34）重叠的密封部分。 重叠密封部包括具有第一接触密封元件（122）密封限定相邻于驱动机构提供了一种润滑剂保持部分的第一构件间间隙（120）的第一密封部（116）; 和所述第一密封部外部布置在第二密封部（118）和包括在接合部分的周壁限定的第二接触密封元件（126）密封的第二构件间间隙（124），住宿的周壁限定 用于容纳驱动机构的空间。

    Cable distribution and support equipment for sensor in robot system
    4.
    发明公开
    Cable distribution and support equipment for sensor in robot system 有权
    在einem Roboter的Sensorkabelverteilungs- undStützvorrichtung

    公开(公告)号：EP1531029A1

    公开(公告)日：2005-05-18

    申请号：EP04026933.4

    申请日：2004-11-12

    申请人： FANUC LTD

    发明人： Inoue, Toshihiko ,  Tamura, Toshinari ,  Aizawa, Atsushi

    IPC分类号： B25J19/00

    CPC分类号： B25J19/021 ,  B25J19/0029 ,  Y10T74/20311

    摘要： Cable distribution and support equipment (56) for a sensor (14), in a robot system including a robot (10) and the sensor attached to the wrist region of the robot, to lay a sensor cable (64a) connected to the sensor in the robot. The cable distribution and support equipment includes a sensor cable (64a) comprised of a signal cable (68) and a power cable (70), an umbilical member (64b-64e) comprised of at least one of a control cable of a drive motor of a wrist axis of a robot, a control cable of hand attached to the robot and a pneumatic-mechanism driving compressed-air hose; and a protective tube (60) through which the sensor cable and the umbilical member are passed. The protective tube (60) is configured to be laid through a cavity formed in a hollow forearm (32) of the robot. The signal cable (68) may be comprised of an image signal cable and a control signal cable, provided for a visual sensor. Alternatively, the signal cable may be comprised of a detection-data transmission signal cable of strain gauge provided for a force sensor.

    摘要翻译： 在包括机器人（10）的机器人系统和附接到机器人的手腕区域的传感器的传感器（14）的电缆分配和支撑设备（56）中，布置连接到传感器的传感器电缆（64a） 机器人。 电缆分配和支持设备包括由信号电缆（68）和电力电缆（70）组成的传感器电缆（64a），由至少一个驱动电机的控制电缆组成的脐带部件（64b-64e） 机器人的手腕轴线，附接到机器人的手的控制电缆和驱动压缩空气软管的气动机构; 以及传感器电缆和脐带构件通过的保护管（60）。 保护管（60）构造成通过形成在机器人的空心前臂（32）中的空腔铺设。 信号电缆（68）可以由为视觉传感器提供的图像信号电缆和控制信号电缆组成。 或者，信号电缆可以由为力传感器提供的应变仪的检测数据传输信号电缆组成。