公开(公告)号：US20150034698A1

公开(公告)日：2015-02-05

申请号：US14446308

申请日：2014-07-29

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Shingi TAKAHASHI ,  Tomoyuki SHIRAKI ,  Masato ITO ,  Kaori SAKAKI ,  Takahiko KANAMORI

IPC: B23K37/02 ,  B25J19/00 ,  B25J18/02

CPC classification number: B23K37/02 ,  B23K37/0247 ,  B25J18/02 ,  B25J19/0008 ,  B25J19/0025 ,  Y10S901/42 ,  Y10T74/20311 ,  Y10T74/20317

Abstract: A robot includes: a stage unit; a rotation base connected to the stage unit in a rotatable manner around a predetermined rotating axis; an arm unit connected to the rotation base and having a base end rotatable around a first rotation axis that is substantially orthogonal to the rotating axis; a balancer connected to both the rotation base and the arm unit; and a cable arranged along the arm unit outside the balancer while supported by that balancer.

Abstract translation: 机器人包括：舞台单元; 旋转基座，围绕预定旋转轴线以可旋转的方式连接到平台单元; 连接到所述旋转基座的臂单元，并且具有可围绕基本上垂直于所述旋转轴线的第一旋转轴线旋转的基端; 连接到旋转底座和臂单元的平衡器; 以及沿平衡器外侧的臂单元布置的电缆，同时由该平衡器支撑。

公开(公告)号：US20140360307A1

公开(公告)日：2014-12-11

申请号：US14067965

申请日：2013-10-31

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Shingi TAKAHASHI ,  Takuya OKADA ,  Tomoyuki SHIRAKI

IPC: B25J18/00

CPC classification number: B25J9/103 ,  B25J17/02 ,  F16H55/18 ,  Y10S901/25 ,  Y10T74/20329

Abstract: A robot according to embodiments includes a first link, a second link, an actuator, a scissors gear, and a support part. The second link is rotatably connected to the first link. The actuator drives the second link in a rotatable manner. The scissors gear includes a main gear and a sub gear, and outputs driving force from the actuator to the second link. The support part is attached to the first link and rotatably supports the scissors gear. Furthermore, the scissors gear includes a spring that is arranged adjacent to the support part in the direction of the rotational axis of the scissors gear and applies biasing force to the main gear and the sub gear in rotational directions different from each other.

Abstract translation: 根据实施例的机器人包括第一连杆，第二连杆，致动器，剪刀齿轮和支撑部件。 第二连杆可旋转地连接到第一连杆。 致动器以可旋转的方式驱动第二连杆。 剪刀齿轮包括主齿轮和副齿轮，并且将驱动力从致动器输出到第二连杆。 支撑部分附接到第一连杆并可旋转地支撑剪刀齿轮。 此外，剪刀齿轮包括沿着剪刀齿轮的旋转轴线的方向邻近支撑部分布置的弹簧，并且在相对于彼此不同的旋转方向上向主齿轮和副齿轮施加偏压力。

公开(公告)号：US20140196563A1

公开(公告)日：2014-07-17

申请号：US14158229

申请日：2014-01-17

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Shingi TAKAHASHI ,  Takuya OKADA ,  Tomoyuki SHIRAKI

IPC: B25J17/02

CPC classification number: B25J17/02 ,  B25J9/0024 ,  B25J9/047 ,  B25J15/0066 ,  B25J19/0025 ,  Y10T74/20335

Abstract: A robot according to an embodiment includes a lower arm, an upper arm, a wrist, and an actuator that rotationally drives the wrist. The upper arm is connected to the lower arm rotatably about a first rotation axis. The wrist is connected to the upper arm rotatably about a second rotation axis perpendicular to the first rotation axis. The actuator is disposed so that a rotation axis of the actuator is perpendicular to the second rotation axis and is attached to the upper arm so as to extend in a direction of the first rotation axis.

Abstract translation: 根据实施例的机器人包括旋转地驱动腕部的下臂，上臂，腕部和致动器。 上臂可绕第一旋转轴线可转动地连接到下臂。 手腕以与第一旋转轴垂直的第二旋转轴可旋转地连接到上臂。 致动器被设置成使得致动器的旋转轴线垂直于第二旋转轴线并且被附接到上臂，以沿着第一旋转轴线的方向延伸。