公开(公告)号：US20060049159A1

公开(公告)日：2006-03-09

申请号：US11218501

申请日：2005-09-06

申请人： Ryo Nihei ,  Toshihiko Inoue ,  Kazutaka Nakayama ,  Takatoshi Iwayama

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

IPC分类号： B23K9/32

CPC分类号： B25J9/0018 ,  B23K9/1336 ,  B23K9/28 ,  B23K9/287 ,  B23K37/02

摘要： A robot base 15 is installed on a ceiling 100, and a first wrist element 11 is attached to a front arm base 10 to be rotatable about a first axis A. A second wrist element 12 is attached to the first wrist element 11 to be rotatable about a second axis B, and a welding torch 2 is supported via a transmission mechanism 13 to be rotatable about an offset axis C. The welding torch 2 is attached so that a tip end thereof is directed downward in the illustrated posture of the robot. A linear guide 6a and a slider 7 are provided via a support base 5, and an intermediate portion of a torch cable 3 (or a welding wire delivery device 4) is fixed thereto to draw a tensioning device 80. Such a structure is applicable to a wall-hanging type robot. Thereby, a structure for treating a torch cable is realized in an arc welding robot of a ceiling-suspension type/a wall-hanging type, capable of maintaining the behavior of the torch cable in a stable state as well as minimizing the interference of the torch cable with other objects.

摘要翻译： 机器人基座15安装在天花板100上，第一腕部11安装在前臂基座10上，以可围绕第一轴线A旋转。第二腕部12安装在第一腕部11上以可旋转 围绕第二轴线B，并且焊炬2经由传动机构13被支撑以能够围绕偏移轴线C旋转。焊枪2被附接成使得其末端在机器人的所示姿势中向下指向。 经由支撑基座5设置有直线引导件6a和滑块7，并且将炬电缆3（或焊丝输送装置4）的中间部分固定在其上以拉伸张紧装置80。 这种结构适用于挂挂式机器人。 因此，在天花板悬挂式/挂墙式电弧焊机器人中实现了一种用于处理割炬电缆的结构，能够将焊炬电缆的行为保持在稳定状态，并且能够最小化 火炬电缆与其他物体。

公开(公告)号：US07145100B2

公开(公告)日：2006-12-05

申请号：US11203289

申请日：2005-08-15

申请人： Ryo Nihei ,  Toshihiko Inoue ,  Takatoshi Iwayama

发明人： Ryo Nihei ,  Toshihiko Inoue ,  Takatoshi Iwayama

IPC分类号： B23K26/08

CPC分类号： B23K26/0884 ,  B23K26/042 ,  B25J19/0037

摘要： A laser processing robot including a manipulator; a laser processing tool attached to the manipulator; an optical fiber for transmitting a laser beam to the laser processing tool; and a line passage formed inside the arm section to accommodate the optical fiber. The arm section includes a first member disposed fixedly about a first control axis and a second member supported on the first member rotatably about the first control axis. The line passage is formed continuously within the first and second members, an optical fiber inlet port thereof being provided in the first member and an optical fiber outlet port thereof being provided in the wrist portion. The laser processing tool includes an attachment section attached to the wrist portion rotatably about a second control axis perpendicular to the first control axis; a nozzle section extending from the attachment section and provided with a laser beam passage.

摘要翻译： 一种激光加工机器人，包括机械手; 连接到操纵器的激光加工工具; 用于将激光束传送到激光加工工具的光纤; 以及在臂部中形成以容纳光纤的线通道。 臂部分包括围绕第一控制轴线固定设置的第一构件和围绕第一控制轴线可旋转地支撑在第一构件上的第二构件。 线路通道在第一和第二构件内连续地形成，其光纤入口设置在第一构件中，并且光纤出口设置在腕部。 激光加工工具包括附接部分，该连接部分围绕垂直于第一控制轴线的第二控制轴线可旋转地附接到腕部; 喷嘴部分，其从所述附接部分延伸并设置有激光束通道。

公开(公告)号：US20060104791A1

公开(公告)日：2006-05-18

申请号：US11143498

申请日：2005-06-03

申请人： Ryo Nihei ,  Toshihiko Inoue ,  Takatoshi Iwayama

发明人： Ryo Nihei ,  Toshihiko Inoue ,  Takatoshi Iwayama

IPC分类号： B66C23/08

CPC分类号： B25J19/0025

摘要： An umbilical member managing system for an industrial robot. The system is provided with a manipulator including a forearm having a first longitudinal axis, the forearm including a base, a first wrist member joined to the base rotatably about the first axis and a second wrist member joined to the first wrist member rotatably about a second axis generally perpendicular to the first axis; a working tool mounted to the second wrist member of the forearm of the manipulator; an umbilical member laid outside the forearm between the base and the second wrist member and connected to the working tool; an umbilical member guiding section provided in the forearm and including a guide passage extending generally parallel to the first axis to accommodate the umbilical member in a guidable manner; and an umbilical member retaining section provided in the second wrist member for retaining the umbilical member at a proper position relative to the working tool. The umbilical member guiding section is configured to follow a rotating motion of the first wrist member about the first axis and to shift about the first axis. The umbilical member retaining section is configured to follow a rotating motion of the second wrist member about the second axis and to bend the umbilical member in a radius not less than an allowable bend radius between the umbilical member guiding section and the second wrist member.

摘要翻译： 用于工业机器人的脐带管理系统。 该系统设置有包括具有第一纵向轴线的前臂的操纵器，前臂包括基座，第一腕部构件，其围绕第一轴线可旋转地接合到基座;第二腕构件，其可绕第二纵向轴线旋转地连接到第一腕部构件 大致垂直于第一轴的轴线; 安装在操纵器的前臂的第二腕部件上的加工工具; 将前臂放置在基座和第二腕部件之间并连接到作业工具的脐部件; 脐部构件引导部，设置在所述前臂中，并且包括大致平行于所述第一轴线延伸的引导通道，以可引导方式容纳所述脐部构件; 以及设置在所述第二腕部件中的用于将所述脐带部件保持在相对于所述作业工具的适当位置的脐部件保持部。 脐部件引导部分被配置成跟随第一腕部件围绕第一轴线的旋转运动并围绕第一轴线移动。 脐部件保持部被构造为沿着第二腕部绕第二轴线的旋转运动，并且以不小于脐部件引导部和第二腕部件之间的容许弯曲半径的半径弯曲脐部件。

公开(公告)号：US07703349B2

公开(公告)日：2010-04-27

申请号：US10653969

申请日：2003-09-04

申请人： Ryo Nihei ,  Toshihiko Inoue ,  Jun Ibayashi ,  Takatoshi Iwayama

发明人： Ryo Nihei ,  Toshihiko Inoue ,  Jun Ibayashi ,  Takatoshi Iwayama

IPC分类号： B25J19/06 ,  H05K9/00

CPC分类号： H05K9/0098 ,  B25J13/085 ,  B25J19/0029 ,  B25J19/0075 ,  B25J19/023 ,  Y10T74/20311

摘要： A cable laying structure for a robot, which does not interfere with external devices in a periphery of a forearm. Camera and hand control cables and motor control cables are drawn into a robot mechanism through a connection panel of a base of a robot main body. While allowing the motor control cables to sequentially diverge, the control cables are arranged in a robot arm along an upper arm portion and guided to the forearm. The control cables are introduced into the forearm with a shield and a sheath removed. After reaching an end effector-mounting face, the control cables are connected to a camera and a hand. The forearm is formed of conductive material and grounded on the base of the robot main body to have the same electric potential as the base by using an earth cable, and therefore the forearm is utilized in replacement of the shield.

摘要翻译： 一种用于机器人的电缆敷设结构，其不干扰前臂周围的外部装置。 相机和手控电缆和电机控制电缆通过机器人主体的底座的连接面板被拉入机器人机构。 在允许电动机控制电缆顺序发散的同时，控制电缆沿着上臂部分布置在机器人臂中并被引导到前臂。 控制电缆被引入前臂，其中屏蔽层和护套被移除。 到达末端执行器安装面后，控制电缆连接到相机和手上。 前臂由导电材料形成，并且在机器人主体的基部上接地，通过使用接地电缆与基座具有相同的电位，因此前臂用于替换屏蔽。

公开(公告)号：US20060037950A1

公开(公告)日：2006-02-23

申请号：US11203289

申请日：2005-08-15

申请人： Ryo Nihei ,  Toshihiko Inoue ,  Takatoshi Iwayama

发明人： Ryo Nihei ,  Toshihiko Inoue ,  Takatoshi Iwayama

IPC分类号： B23K26/08

CPC分类号： B23K26/0884 ,  B23K26/042 ,  B25J19/0037

摘要： A laser processing robot including a manipulator; a laser processing tool attached to the manipulator; an optical fiber for transmitting a laser beam to the laser processing tool; and a line passage formed inside the arm section to accommodate the optical fiber. The arm section includes a first member disposed fixedly about a first control axis and a second member supported on the first member rotatably about the first control axis. The line passage is formed continuously within the first and second members, an optical fiber inlet port thereof being provided in the first member and an optical fiber outlet port thereof being provided in the wrist portion. The laser processing tool includes an attachment section attached to the wrist portion rotatably about a second control axis perpendicular to the first control axis; a nozzle section extending from the attachment section and provided with a laser beam passage extending to intersect the second control axis; and a reflecting section arranged within the attachment section for reflecting a laser beam emitted from the optical fiber to direct it toward the laser beam passage. The emitting end face of the optical fiber is positioned between the optical fiber outlet port and the reflecting section.

摘要翻译： 一种激光加工机器人，包括机械手; 连接到操纵器的激光加工工具; 用于将激光束传送到激光加工工具的光纤; 以及在臂部中形成以容纳光纤的线通道。 臂部分包括围绕第一控制轴线固定设置的第一构件和围绕第一控制轴线可旋转地支撑在第一构件上的第二构件。 线路通道在第一和第二构件内连续地形成，其光纤入口设置在第一构件中，并且光纤出口设置在腕部。 激光加工工具包括附接部分，该连接部分围绕垂直于第一控制轴线的第二控制轴线可旋转地附接到腕部; 喷嘴部分，其从所述附接部分延伸并设置有延伸以与所述第二控制轴线相交的激光束通道; 以及布置在所述附接部分内的反射部分，用于反射从所述光纤发射的激光束以将其引向所述激光束通道。 光纤的发射端面位于光纤出口和反射部之间。

公开(公告)号：US08051741B2

公开(公告)日：2011-11-08

申请号：US12385656

申请日：2009-04-15

申请人： Toshihiko Inoue ,  Kazutaka Nakayama ,  Takatoshi Iwayama

发明人： Toshihiko Inoue ,  Kazutaka Nakayama ,  Takatoshi Iwayama

IPC分类号： B25J18/04

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。

公开(公告)号：US20060278622A1

公开(公告)日：2006-12-14

申请号：US11439964

申请日：2006-05-25

申请人： Toshihiko Inoue ,  Kazutaka Nakayama ,  Takatoshi Iwayama

发明人： Toshihiko Inoue ,  Kazutaka Nakayama ,  Takatoshi Iwayama

IPC分类号： B23K9/12

CPC分类号： B23K37/0452

摘要： A positioner for arc welding having a few movable members and a simple structure, an arc welding robot system including the positioner and an arc welding robot, whereby the orientation of the workpiece corresponding to a welding site of the workpiece may be suitably changed by a minimum motion of the positioner. The positioner includes a pair of support members, a first member having two ends supported by the pair of support members such that the first member is rotatable about a first axis parallel to an installation surface of the positioner, a second member having two ends supported by a pair of supporting portions arranged on the first member such that the second member is rotatable about a second axis perpendicular to the first axis, and a workpiece fixing part for fixing the workpiece to the second member.

摘要翻译： 一种电弧焊接定位器，具有几个可移动部件和简单的结构，包括定位器和电弧焊机器人的电弧焊机器人系统，由此可以适当地改变与工件的焊接部位相对应的工件的取向最小 定位器的运动。 定位器包括一对支撑构件，第一构件具有由一对支撑构件支撑的两端，使得第一构件能够围绕平行于定位器的安装表面的第一轴线旋转，第二构件具有由 布置在所述第一构件上的一对支撑部分，使得所述第二构件能够围绕垂直于所述第一轴线的第二轴线旋转;以及工件固定部件，用于将所述工件固定到所述第二构件。

公开(公告)号：US08288687B2

公开(公告)日：2012-10-16

申请号：US12488760

申请日：2009-06-22

申请人： Toshihiko Inoue ,  Kazutaka Nakayama ,  Takatoshi Iwayama

发明人： Toshihiko Inoue ,  Kazutaka Nakayama ,  Takatoshi Iwayama

IPC分类号： B23K9/00

CPC分类号： B23K9/295

摘要： An arc welding robot having a welding wire conduit which has a bend radius above a certain level and arranged so that disadvantageous stress is not applied to the conduit by the motion of the robot arm. A conduit for a welding wire is inserted through a hole of a robot pedestal from the rear side of the robot, is supported by a second support member arranged on the pedestal, extends near the front side of a rotating body of the robot, and is supported by a first support member on the upper part of the rotating body while having a required minimum bend radius. The conduit after passing through the first support member is introduced to the rear side of the upper arm and is connected to a connector at the rear side of a wire feeder while having the required minimum radius, whereby the conduit presents a generally S-shape.

摘要翻译： 一种具有焊丝导管的电弧焊机器人，其具有高于一定水平的弯曲半径并且被布置成使得通过机器人臂的运动不对导管施加不利的应力。 用于焊丝的导管从机器人的后侧通过机器人基座的孔插入，由布置在基座上的第二支撑构件支撑，在机器人的旋转体的前侧附近延伸，并且 由旋转体的上部的第一支撑构件支撑，同时具有所需的最小弯曲半径。 通过第一支撑构件的导管被引入到上臂的后侧，并且在具有所需的最小半径的同时在导线器的后侧连接到连接器，由此导管呈现大致S形。

公开(公告)号：US08020466B2

公开(公告)日：2011-09-20

申请号：US12169951

申请日：2008-07-09

申请人： Toshihiko Inoue ,  Kazutaka Nakayama ,  Takatoshi Iwayama

发明人： Toshihiko Inoue ,  Kazutaka Nakayama ,  Takatoshi Iwayama

IPC分类号： B25J19/00

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

摘要： An umbilical-member processing structure for an industrial robot which includes a forearm having a tool managing and relaying device and a wrist with proximal end rotatably connected to the forearm and having a work tool mounted on the distal end thereof, with an umbilical-member connected to the work tool being disposed to run along the wrist via the tool managing and relaying device: wherein the forearm has a first reduction gear which reduces the rotational speed of a driving source to drive the forearm in rotation; the first reduction gear having a first insertion hole for passing the umbilical-member therein; and wherein the wrist comprises a first wrist element having a through-path in communication with the first insertion hole and rotatably connected to the forearm, and a second wrist element having a second insertion hole in communication with the through-path and rotatably connected to the first wrist element.

摘要翻译： 一种用于工业机器人的脐部件处理结构，其包括具有工具管理和中继装置的前臂和具有可旋转地连接到前臂的近端的腕部，并且具有安装在其远端上的工作工具，脐部件连接 所述工具被布置成经由所述工具管理和中继装置沿着所述手腕行进;其中所述前臂具有第一减速齿轮，所述第一减速齿轮降低驱动源的旋转速度以驱动所述前臂旋转; 所述第一减速齿轮具有用于使所述脐部件在其中通过的第一插入孔; 并且其中所述手腕包括具有与所述第一插入孔连通并且可旋转地连接到所述前臂的通路的第一腕部元件，以及具有与所述通路连通并且可转动地连接到所述前臂的第二插入孔的第二腕部元件 第一腕表。

公开(公告)号：US20100032420A1

公开(公告)日：2010-02-11

申请号：US12488760

申请日：2009-06-22

申请人： Toshihiko Inoue ,  Kazutaka Nakayama ,  Takatoshi Iwayama

发明人： Toshihiko Inoue ,  Kazutaka Nakayama ,  Takatoshi Iwayama

IPC分类号： B23K9/00

CPC分类号： B23K9/295

摘要： An arc welding robot having a welding wire conduit which has a bend radius above a certain level and arranged so that disadvantageous stress is not applied to the conduit by the motion of the robot arm. A conduit for a welding wire is inserted through a hole of a robot pedestal from the rear side of the robot, is supported by a second support member arranged on the pedestal, extends near the front side of a rotating body of the robot, and is supported by a first support member on the upper part of the rotating body while having a required minimum bend radius. The conduit after passing through the first support member is introduced to the rear side of the upper arm and is connected to a connector at the rear side of a wire feeder while having the required minimum radius, whereby the conduit presents a generally S-shape.

摘要翻译： 一种具有焊丝导管的电弧焊机器人，其具有高于一定水平的弯曲半径并且被布置成使得通过机器人臂的运动不对导管施加不利的应力。 用于焊丝的导管从机器人的后侧通过机器人基座的孔插入，由布置在基座上的第二支撑构件支撑，在机器人的旋转体的前侧附近延伸，并且 由旋转体的上部的第一支撑构件支撑，同时具有所需的最小弯曲半径。 通过第一支撑构件的导管被引入到上臂的后侧，并且在具有所需的最小半径的同时在导线器的后侧连接到连接器，由此导管呈现大致S形。