公开(公告)号：US20160023360A1

公开(公告)日：2016-01-28

申请号：US14754704

申请日：2015-06-30

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Hiroshi SAITO ,  Tamon IZAWA ,  Atsushi ICHIBANGASE

IPC: B25J19/00 ,  B25J11/00

CPC classification number: B25J19/0029 ,  B23K9/133 ,  Y10S901/14 ,  Y10S901/15

Abstract: A robot includes a turnable base, a lower arm, an upper arm, a space, and a routing member. The turnable base is coupled to a base fixed to an installation surface. The turnable base is turnable about a first axis. The lower arm has a first base end coupled to the turnable base and rotatable about a second axis approximately orthogonal to the first axis. The upper arm has a second base end coupled to the lower arm and rotatable about a third axis approximately parallel to the second axis. The space is disposed in the lower arm and extends in a length direction of the lower arm. The routing member is routed in the space and has at least two bent portions bent in the space.

Abstract translation: 机器人包括可转动底座，下臂，上臂，空间和路线构件。 可转动底座联接到固定到安装表面的基座。 可转动底座围绕第一轴线转动。 下臂具有联接到可转动底座的第一基端并围绕大致正交于第一轴线的第二轴线旋转。 上臂具有联接到下臂的第二基端并且可围绕大致平行于第二轴线的第三轴线旋转。 该空间设置在下臂中，并且在下臂的长度方向上延伸。 布线构件在该空间中布置并且具有在该空间中弯曲的至少两个弯曲部分。

公开(公告)号：US20160221185A1

公开(公告)日：2016-08-04

申请号：US15006122

申请日：2016-01-26

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Satoshi SUEYOSHI ,  Tamon IZAWA ,  Hiroshi SAITO ,  Takashi SANADA ,  Kazuhiro HANIYA

IPC: B25J9/12

CPC classification number: B25J9/126 ,  B25J9/0009 ,  B25J9/047 ,  B25J9/102 ,  B25J19/0004 ,  Y10S901/23

Abstract: A robot includes a base. A turnable portion is mounted on the base and turnable about a first axis approximately perpendicular to an installation surface on which the base is disposed. An arm is mounted on the turnable portion and swingable about a second axis parallel to the installation surface. A first motor is accommodated in the turnable portion and moves the turnable portion about the first axis. A first motor includes a body and a protrusion. The body has an axial dimension that is in a direction along an output shaft of the first motor and that is smaller than a perpendicular dimension in a direction approximately perpendicular to the output shaft. The protrusion protrudes from a surface of the body in a direction along the output shaft and is displaced from the output shaft. A second motor moves the arm about the second axis.

Abstract translation: 机器人包括一个基座。 可转动部分安装在基座上并围绕大致垂直于设置有基座的安装表面的第一轴线转动。 手臂安装在可转动部分上，并且绕平行于安装表面的第二轴线摆动。 第一电动机容纳在可转动部分中并使可转动部分围绕第一轴线移动。 第一电动机包括主体和突起。 主体具有沿着第一电动机的输出轴的方向的轴向尺寸，并且小于垂直于大致垂直于输出轴的方向的垂直尺寸。 突起从主体的沿着输出轴的方向突出并从输出轴移位。 第二个马达围绕第二个轴移动臂。

公开(公告)号：US20160008905A1

公开(公告)日：2016-01-14

申请号：US14789906

申请日：2015-07-01

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Tamon IZAWA ,  Hiroshi SAITO ,  Atsushi ICHIBANGASE

IPC: B23K9/00 ,  B25J19/00 ,  B23K9/32 ,  B23K9/10 ,  B23K9/12 ,  B25J15/00 ,  B23K9/133

CPC classification number: B23K9/1336 ,  B23K9/287 ,  B25J15/0019 ,  B25J19/0025 ,  B25J19/0029 ,  Y10S901/42

Abstract: A robot includes: a mounting portion on which a welding torch is mountable; an arm portion having a tip portion, the arm portion swingably supporting the mounting portion at the tip portion; an arm supporting portion having a tip portion, the arm supporting portion supporting the arm portion rotatably around a first rotation axis at the tip portion, the first rotation axis being perpendicular to a swinging axis of the mounting portion; and a feeding device arranged in a space to intersect with an axis line of the first rotation axis, the space being formed between the tip portion and a base end portion of the arm portion along an axis line of the first rotation axis, the feeding device being configured to feed a wire to the welding torch mounted on the mounting portion.

Abstract translation: 机器人包括：可安装焊炬的安装部分; 具有尖端部分的臂部分，所述臂部可摆动地将所述安装部分支撑在所述尖端部分; 臂支撑部分，其具有尖端部分，所述臂支撑部分在所述尖端部分围绕第一旋转轴线可旋转地支撑所述臂部分，所述第一旋转轴线垂直于所述安装部分的摆动轴线; 以及馈送装置，其布置在与所述第一旋转轴线的轴线相交的空间中，所述空间沿着所述第一旋转轴线的轴线形成在所述前端部分和所述臂部分的基端部分之间，所述馈送装置 被配置为将电线馈送到安装在安装部分上的焊炬。

公开(公告)号：US20160023359A1

公开(公告)日：2016-01-28

申请号：US14788800

申请日：2015-07-01

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Hiroshi SAITO ,  Tamon IZAWA ,  Atsushi ICHIBANGASE

IPC: B25J17/02

CPC classification number: B25J17/0258 ,  B25J17/0241 ,  B25J19/0029 ,  Y10S901/29

Abstract: A robot joint mechanism includes a fixed base, a turnable portion, a first routing member, and a second routing member. The fixed base has a base bottom surface and a side wall. The base bottom surface and the side wall define an inner space. The turnable portion is disposed in the inner space and turnable about a vertical axis approximately perpendicular to the base bottom surface. The first routing member includes a first bent portion bent in a first bending direction along a bottom surface of the turnable portion and routed between the turnable portion and the side wall. The second routing member is routed through a position inner than the first bent portion, and includes a second bent portion bent in a second bending direction different from the first bending direction.

Abstract translation: 机器人关节机构包括固定基座，可转动部分，第一路线构件和第二路线构件。 固定底座具有底部底面和侧壁。 底部底部表面和侧壁限定内部空间。 可转动部分设置在内部空间中并且可绕垂直于基底底面的垂直轴线转动。 第一布线构件包括沿着可转动部分的底表面沿第一弯曲方向弯曲并在可转动部分和侧壁之间布置的第一弯曲部分。 第二布线构件穿过比第一弯曲部分内的位置，并且包括在与第一弯曲方向不同的第二弯曲方向上弯曲的第二弯曲部。

公开(公告)号：US20160023358A1

公开(公告)日：2016-01-28

申请号：US14788799

申请日：2015-07-01

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Hiroshi SAITO ,  Tamon IZAWA ,  Atsushi ICHIBANGASE

IPC: B25J15/00 ,  F16H19/00

CPC classification number: F16H19/005 ,  B23K9/133 ,  B25J19/0029 ,  Y10S901/14 ,  Y10S901/15

Abstract: A robot includes a turnable base, a lower arm, an upper arm, first and second spaces, and first and second routing members. The turnable base is coupled to a base fixed to an installation surface, and is turnable about a first axis. The lower arm includes a first base end coupled to the turnable base and rotatable about a second axis approximately orthogonal to the first axis. The upper arm includes a second base end coupled to the lower arm and rotatable about a third axis approximately parallel to the second axis. The first and second spaces are disposed in the lower arm, and face each other and extend in a length direction of the lower arm. The first and second routing members are respectively routed in the first and second spaces, and each include at least two bent portions bent in the first and second spaces.

Abstract translation: 机器人包括可转动底座，下臂，上臂，第一和第二空间以及第一和第二路线构件。 可转动底座联接到固定到安装表面的基座，并且可围绕第一轴线转动。 下臂包括联接到可转动底座的第一基端并围绕大致正交于第一轴线的第二轴线旋转。 上臂包括联接到下臂并可围绕第三轴线大致平行于第二轴线旋转的第二基端。 第一和第二空间设置在下臂中，并且彼此面对并在下臂的长度方向上延伸。 第一和第二布线构件分别在第一和第二空间中布置，并且每个包括在第一和第二空间中弯曲的至少两个弯曲部分。