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公开(公告)号：US20100092273A1
公开(公告)日：2010-04-15
申请号：US12571567
申请日：2009-10-01
申请人： Masaru ODA , Toru Shirahata , Toshihiko Inoue , Takatoshi Iwayama , Masaaki Uematsu , Kentarou Ootani
发明人： Masaru ODA , Toru Shirahata , Toshihiko Inoue , Takatoshi Iwayama , Masaaki Uematsu , Kentarou Ootani
IPC分类号： B66C23/00
摘要： A workpiece transfer robot system including a machine tool provided with a workpiece support section and a robot capable of transferring a workpiece relative to the workpiece support section of the machine tool. The machine tool includes a cover surrounding at least the workpiece support section. The cover includes a first side wall provided with a first opening usable for a workpiece transferring task of the robot. The robot includes a track member defining a traveling axis extending in a direction perpendicular to the first side wall of the cover of the machine tool; a slider attached to the track member and capable of traveling along the traveling axis; a first arm attached to the slider and capable of swinging about a first swing axis; a second arm attached to the first arm and capable of swinging about a second swing axis parallel to the first swing axis; and a workpiece hold section provided on the second arm and capable of accessing the workpiece support section through the first opening of the cover of the machine tool.
摘要翻译： 一种工件传送机器人系统，包括具有工件支撑部的机床和能够相对于机床的工件支撑部传送工件的机器人。 机床包括至少围绕工件支撑部分的盖。 盖包括设置有可用于机器人的工件传送任务的第一开口的第一侧壁。 机器人包括：轨道构件，其限定沿与机床的盖的第一侧壁垂直的方向延伸的行进轴; 滑块，其附接到所述轨道构件并且能够沿着所述行进轴线行进; 第一臂附接到滑块并且能够围绕第一摆动轴线摆动; 附接到所述第一臂并能够围绕平行于所述第一摆动轴线的第二摆动轴线摆动的第二臂; 以及工件保持部，其设置在所述第二臂上并且能够通过所述机床的所述盖的所述第一开口进入所述工件支撑部。
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公开(公告)号：US20090200432A1
公开(公告)日：2009-08-13
申请号：US12385656
申请日：2009-04-15
CPC分类号： B25J19/0025 , Y10T74/20305
摘要： A managing structure for an umbilical member includes a flexible conduit for leading an umbilical member inserted therein from a front arm of a robot to a working tool mounted on a wrist of the robot, a first conduit mounting portion provided adjacent to the front arm, and a second conduit mounting portion provided adjacent to a point where the umbilical member is connected to the working tool. One end of the conduit is attached to the first conduit mounting portion, while the other end of the conduit is attached to the second conduit mounting portion. The conduit is laid so that a section thereof between the first conduit mounting portion and the second conduit mounting portion does not contact the body of the robot.
摘要翻译： 一种用于脐带构件的管理结构包括用于将从机器人的前臂插入其中的脐带构件引导到安装在机器人手腕上的作业工具的柔性导管，邻近前臂设置的第一导管安装部分，以及 第二导管安装部分，其邻近于脐带构件连接到工作工具的点设置。 导管的一端连接到第一导管安装部分，而导管的另一端附接到第二导管安装部分。 导管被放置成使得其第一导管安装部分和第二导管安装部分之间的部分不接触机器人的主体。
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公开(公告)号：US07495192B2
公开(公告)日：2009-02-24
申请号：US11332230
申请日：2006-01-17
IPC分类号： B23K9/12
CPC分类号： B23K9/28 , B23K9/124 , B23K9/1336
摘要： An arc welding apparatus includes a single-electrode type welding torch, a single wire feeder supplied with a plurality of welding wires and having a plurality of wire drivers for driving the plurality of welding wires, and a welding controller for controlling operations of the welding torch and the wire feeder. The welding controller selectively operates any one of the plurality of wire drivers to feed only a single welding wire to the welding torch and performs the arc welding. An arc welding robot system includes the arc welding apparatus, a robot mechanical part for holding the welding torch of the arc welding apparatus, and a robot controller for controlling operation of the robot mechanical part.
摘要翻译： 一种电弧焊接装置，包括单电极式焊炬，单线焊机，供给多根焊丝，并具有多个用于驱动多根焊丝的焊丝驱动器，以及用于控制焊炬操作的焊接控制器 和送丝机。 焊接控制器选择性地操作多个线驱动器中的任何一个，仅将一根焊丝仅供给焊炬并进行电弧焊接。 电弧焊机器人系统包括电弧焊接装置，用于保持电弧焊接装置的焊炬的机器人机械部，以及用于控制机器人机械部的动作的机器人控制装置。
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公开(公告)号：US07419351B2
公开(公告)日：2008-09-02
申请号：US11131202
申请日：2005-05-18
申请人： Ryo Nihei , Toshihiko Inoue , Kazutaka Nakayama
发明人： Ryo Nihei , Toshihiko Inoue , Kazutaka Nakayama
IPC分类号： B25J17/02
CPC分类号： B25J19/0025
摘要： A managing structure for an umbilical member of an industrial robot, the umbilical member being for supplying air and electric energy to a work tool attached to an end of a wrist of the robot, in which the umbilical member is properly moved and interference between the umbilical member and a peripheral object or a forearm of the robot is prevented. The umbilical member elastically contacts a guide surface of a guide plate attached to a second wrist element 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 before the umbilical member is connected to the work tool. The thickness of the guide plate may be gradually reduced or constant toward a free end of the guide plate. The rotational motion about a third axis of the work tool by a final axis of the robot is converted to the rotational motion about a fourth axis via a transmission, 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.
摘要翻译： 一种用于工业机器人的脐带构件的管理结构，所述脐构件用于将空气和电能供应到附接到机器人手腕的端部的工作工具，其中脐带构件被适当地移动，并且脐带 防止机器人的构件和周边物体或前臂。 脐部件弹性地接触安装在机器人的第二腕部件上的引导板的引导表面，而不会从机器人突出。 引导脐部件，使得脐带部件的延伸方向在脐带部件连接到工作工具之前通常与导向板的纵向方向重合。 引导板的厚度可以朝着引导板的自由端逐渐减小或恒定。 通过机器人的最终轴围绕作业工具的第三轴线的旋转运动经由变速器被转换为围绕第四轴线的旋转运动，以便旋转工作工具。 即使当工作工具旋转时，脐带构件被适当地移动。 工作工具也可绕第三轴旋转。
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公开(公告)号：US20080034920A1
公开(公告)日：2008-02-14
申请号：US11889118
申请日：2007-08-09
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 supported in cantilever fashion rotatably about a first axis; a second wrist element 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 intersecting the first axis; a third wrist element supported in cantilever fashion at a distal end side of the second wrist element rotatably about a third axis intersecting the second axis; two driving motors provided in the first wrist element for driving the second wrist element and the third wrist element, respectively; and two gear sets for reducing a rotational speed of the two driving motors in predetermined reduction ratios. Each of the gear sets has a driving gear driven by one of the two driving motors and a driven ring gear 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，其具有：围绕第一轴线以可旋转的方式支撑的第一腕部元件; 第二腕部元件以悬臂方式枢转地支撑在第一腕部元件的远端侧，其近端作为与第一轴线相交的第二轴线的支撑点; 第三腕部元件，以与所述第二轴相交的第三轴线可旋转地支撑在所述第二腕部的远端侧; 设置在第一腕部上的两个驱动马达分别用于驱动第二腕部和第三腕部; 以及用于以预定的减速比降低两个驱动马达的转速的两个齿轮组。 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和与驱动齿轮啮合的从动齿圈。 两个齿轮组的两个从动齿圈与第二轴线同轴设置。 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。
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公开(公告)号：US20060163225A1
公开(公告)日：2006-07-27
申请号：US11332230
申请日：2006-01-17
IPC分类号： B23K9/12
CPC分类号： B23K9/28 , B23K9/124 , B23K9/1336
摘要： An arc welding apparatus includes a single-electrode type welding torch, a single wire feeder supplied with a plurality of welding wires and having a plurality of wire driving means for driving the plurality of welding wires, and a welding controller for controlling operations of the welding torch and the wire feeder. The welding controller selectively operates any one of the plurality of wire driving means to feed only a single welding wire to the welding torch and performs the arc welding. An arc welding robot system includes the arc welding apparatus, a robot mechanical part for holding the welding torch of the arc welding apparatus, and a robot controller for controlling operation of the robot mechanical part.
摘要翻译： 一种电弧焊接装置，包括：单电极型焊炬，由多条焊丝供给的单线式给料机，具有多条用于驱动多根焊丝的丝线驱动装置;以及焊接控制装置， 手电筒和送丝器。 焊接控制器选择性地操作多个线驱动装置中的任何一个，仅将一根焊丝馈送到焊炬并执行电弧焊接。 电弧焊机器人系统包括电弧焊接装置，用于保持电弧焊接装置的焊炬的机器人机械部，以及用于控制机器人机械部的动作的机器人控制装置。
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公开(公告)号：US20060104790A1
公开(公告)日：2006-05-18
申请号：US11142497
申请日：2005-06-02
IPC分类号： B66C23/08
CPC分类号： B25J19/0025 , Y10T74/20305
摘要： A managing structure for an umbilical member includes a flexible conduit for leading an umbilical member inserted therein from a front arm of a robot to a working tool mounted on a wrist of the robot, a first conduit mounting portion provided adjacent to the front arm, and a second conduit mounting portion provided adjacent to a point where the umbilical member is connected to the working tool. One end of the conduit is attached to the first conduit mounting portion, while the other end of the conduit is attached to the second conduit mounting portion. The conduit is laid so that a section thereof between the first conduit mounting portion and the second conduit mounting portion does not contact the body of the robot.
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公开(公告)号：US20060000817A1
公开(公告)日：2006-01-05
申请号：US11165350
申请日：2005-06-24
IPC分类号： B23K9/12
CPC分类号： B25J17/0283 , B23K9/1336 , B23K37/02 , B25J19/0025
摘要： A first wrist element 11 is rotatably provided around an axis line A, on the front end of a forearm base 10 of a robot 1. A second wrist element 12 is rotatably provided around a second axis line B, on the first wrist element 11. A welding torch 2 is rotatably supported around a line C via a transmission mechanism 13. The third axis line C is disposed approximately perpendicularly to the axis line B and is remote from the axis line A by a predetermined distance. A wire feeder 4 is disposed at a position (on a mounting table 8, an upper arm, or a rotating body) other than a forearm. A torch cable 3 is fitted to a slider 6b that is movably fitted along a direction approximately parallel with the first axis line A, with an intermediate fitting section 3a. A slider 6b can be pulled backward by returning a wire 81 connected to a tension generator 80 using a pulley 82. In place of the fitting section 3a, an intermediate guiding section can be provided, and the torch cable 3 can be movably guided along a direction approximately parallel with the first axis line A. With this arrangement, an excessive looseness or tension of the torch cable and an occurrence of interference with the wire feeder can be prevented.
摘要翻译： 在机器人1的前臂基座10的前端上，绕轴线A可旋转地设置有第一腕部11。第一腕部12可旋转地设置在第二轴线B的第一腕部11上。 焊枪2经由传动机构13绕线C可旋转地支撑。第三轴线C大致垂直于轴线B设置，并且远离轴线A预定的距离。 送丝器4设置在前臂以外的位置（安装台8，上臂或旋转体）上。 手柄电缆3装配到沿着与第一轴线A大致平行的方向可移动地配合的滑块6b和中间装配部分3a。 通过使用滑轮82返回与张力发生器80连接的线81，可以向后拉动滑块6b。代替安装部分3a，可以设置中间引导部分，并且可以可动地引导炬电缆3 沿着与第一轴线A大致平行的方向。通过这种布置，可以防止割炬电缆的过度松动或张力以及与送丝机的干扰的发生。
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公开(公告)号：US06930275B2
公开(公告)日：2005-08-16
申请号：US10412907
申请日：2003-04-14
IPC分类号： B23K26/00 , B23K26/08 , G05B19/4103 , G05B19/416 , G05B19/423
CPC分类号： B23K26/08 , B23K26/0884 , G05B2219/39578 , G05B2219/45041
摘要： At the time of execution of concurrent six-axes cylindrical interpolation instruction wherein a start point, an intermediate point, an end point and feed speed are instructed in a machining program PRO, a machining data computing portion 59 computes angular velocity of first, second, and third rotational axis directions and moving speed of first, second and third axial directions so as to correspond the feed speed of a torch with respect to a workpiece with the feed speed instructed in the machining program PRO, and the machining control portion 55 simultaneously controls the first, second and third axes and the first, second and third rotational axes on the basis of the angular velocity and the moving speed which are computed so as to rotate a chuck holding the workpiece and to move the torch, so that machining on the workpiece is executed.
摘要翻译： 在执行并行六轴圆柱插补指令的时刻，在加工程序PRO中指示起点，中点，终点和进给速度，加工数据计算部59计算第一，第二， 以及第一，第二和第三轴向方向的第三旋转轴方向和移动速度，以便与加工程序PRO中指示的进给速度相对应于手电筒相对于工件的进给速度，并且加工控制部分55同时控制 基于角速度和移动速度来计算第一，第二和第三轴线以及第一，第二和第三旋转轴线，以便使夹持工件的卡盘旋转并移动割炬，从而在 工件被执行。
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公开(公告)号：US06772041B2
公开(公告)日：2004-08-03
申请号：US10154991
申请日：2002-05-24
申请人： Toshihiko Inoue , Masaki Itoh , Toshihiko Asari , Naoomi Miyagawa
发明人： Toshihiko Inoue , Masaki Itoh , Toshihiko Asari , Naoomi Miyagawa
IPC分类号： B23K2600
CPC分类号： G05B19/4099 , B23K26/352 , C21D1/09 , C21D2261/00 , G05B2219/36248 , G05B2219/49015 , Y10T483/17
摘要： A nozzle holding means (13) having a nozzle (19) being free to eject laser beam from its top end is provided being free to move along a guide means among a plurality of machine tools. Nozzle holding means operation control means (6, 33) for controlling hardening operation on a workpiece by the nozzle are provided, and communication control means (6, 33) are provided for exchanging information necessary for hardening operation on a workpiece to be machined with each machine tool between the control means and a control means of each machine tool. The nozzle moves among the machine tools and hardening operation is performed on workpieces (29, 30) in the respective machine tools, thereby it is not necessary to provide a hardening unit for exclusive use every each machine tool, and it is possible to provide a hardening equipment having high working ratio.
摘要翻译： 提供具有可自由地从其顶端喷射激光束的喷嘴（19）的喷嘴保持装置（13），其沿着多个机床中的引导装置自由移动。 提供了用于通过喷嘴控制对工件的淬火操作的喷嘴保持装置操作控制装置（6,33），并且提供通信控制装置（6,33），用于将要加工的工件上的硬化操作所需的信息与每个 控制装置与各机床的控制装置之间的机床。 喷嘴在机床之间移动，并且在相应机床中的工件（29,30）上执行硬化操作，因此不需要为每个机床提供专用的淬火单元，并且可以提供 具有高加工率的淬火设备。
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