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公开(公告)号：US20100046522A1
公开(公告)日：2010-02-25
申请号：US12554609
申请日：2009-09-04
申请人： Kouji Tatsumi , Toshihiko Inoue , Hayato Masuhara , Kazuhisa Shimazaki , Norihisa Uchimoto , Kouichiro Yamada
发明人： Kouji Tatsumi , Toshihiko Inoue , Hayato Masuhara , Kazuhisa Shimazaki , Norihisa Uchimoto , Kouichiro Yamada
IPC分类号： H04L12/56
CPC分类号： H04L12/66 , H04L12/4633 , H04L12/5601 , H04L2012/5618 , H04L2012/5627 , H04L2012/5665
摘要： An ATM-ETHERNET converter (21B) is provided for relaying ATM cells (70) transmitted from a CLAD (22) of an ATM network (2B) to a CLAD (22) of an ATM network (2A) via a wide area Ethernet (3). The ATM-ETHERNET converter (21B) is provided with an ATM-PHY (212) receiving the ATM cells (70) transmitted from the CLAD (22) of the ATM network (2B), a buffer (41) storing the ATM cells (70) thus received, a LAN switch (214) that encapsulates the ATM cells (70) stored in the buffer (41) in a frame (FRD) corresponding to the wide area Ethernet (3) and sends the ATM cells (70) to the wide area Ethernet (3), and a CPU (211) starting discarding the ATM cells (70) stored in the buffer (41) at a predetermined time.
摘要翻译： 提供一个ATM-ETHERNET转换器（21B），用于将ATM网络（2B）的CLAD（22）从ATM网络（2A）的CLAD（22）传送的ATM信元（70）经由广域以太网 3）。 ATM-ETHERNET转换器（21B）具有接收从ATM网络（2B）的CLAD（22）发送的ATM信元（70）的ATM-PHY（212），存储ATM信元的缓冲器（41） 70），将存储在缓冲器（41）中的ATM信元（70）封装在与广域以太网（3）对应的帧（FRD）中的LAN交换机（214），并将ATM信元（70）发送到 广域以太网（3）和CPU（211）在预定时间开始丢弃存储在缓冲器（41）中的ATM信元（70）。
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公开(公告)号：US20090032649A1
公开(公告)日：2009-02-05
申请号：US12169951
申请日：2008-07-09
IPC分类号： F16L3/00
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; and wherein a conduit for passing the umbilical-member from one end to the other end is provided in the first insertion hole of the forearm, in the through-path of the first wrist element, and in the second insertion hole of the second wrist element; and wherein, with one end of the conduit being inserted in the first insertion hole so as to permit movement in an axial direction and in a direction of outer circumference of the conduit, the other end of the conduit is held on the second wrist element in cantilever fashion by a conduit holding member so as to restrict movement of the conduit in the axial direction thereof.
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 第一腕部; 并且其中，在所述前臂的所述第一插入孔，所述第一腕部的贯通路径和所述第二腕部的所述第二插入孔中设置有用于将所述脐部件从一端向另一端通过的导管 ; 并且其中，当所述导管的一端插入所述第一插入孔中以允许在所述导管的轴向方向和外圆周方向上移动时，所述导管的另一端被保持在所述第二腕部上 通过导管保持构件以悬臂方式限制导管沿轴向的移动。
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公开(公告)号：US20080229861A1
公开(公告)日：2008-09-25
申请号：US12076226
申请日：2008-03-14
IPC分类号： B25J17/02
CPC分类号： B25J19/0029 , Y10T74/20305
摘要： A robot including a forearm section with a through passage, a wrist section articulated on the forearm section, and an umbilical member inserted through the through passage of the forearm section and provided along the wrist section. The robot includes a tool managing and relaying unit mounted on the forearm section close to the through passage and provided with a connection part to which the umbilical member is connected, and a mount mechanism carrying the tool managing and relaying unit movably between a first position where the connection part is disposed adjacent to an opening of the through passage and a second position where the connection part is spaced from the opening of the through passage, and releasably securing the tool managing and relaying unit to the forearm section at the first position.
摘要翻译： 一种机器人，包括具有通路的前臂部分，铰接在所述前臂部分上的腕部，以及穿过所述前臂部分的所述通道插入并沿着所述手腕部分设置的脐带部件。 机器人包括安装在靠近通道的前臂部分上的工具管理和中继单元，并且设置有连接脐带部件的连接部分，以及安装机构，其将工具管理和中继单元可移动地移动到第一位置之间， 所述连接部与所述贯通通路的开口相邻设置，所述连接部与所述贯通通路的开口隔开，在所述第一位置将所述工具管理和中继单元可释放地固定在所述前臂部。
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公开(公告)号：US20080056859A1
公开(公告)日：2008-03-06
申请号：US11892084
申请日：2007-08-20
CPC分类号： B25J19/0029
摘要： A drive mechanism for an industrial robot arm, having a simple drive system, in which an extracting part of an umbilical member for a work tool is suitably positioned and a device for the work tool is positioned on the forearm so as not to project out, while the basic configuration of the robot arm may be similar to the prior art. A motor for a first wrist element is positioned in the area between a forearm and an upper arm such that the rotation axis of the motor is perpendicular to a second axis. Further, the motor is positioned at the point shifted toward the wrist element or a front end of the forearm, in relation to a first axis, along the longitudinal direction of the forearm. Therefore, a wide area for a wire feeder may be obtained above a bottom portion of the forearm.
摘要翻译： 一种用于工业机器人手臂的驱动机构，其具有简单的驱动系统，其中用于作业工具的脐带构件的提取部分适当地定位，并且用于工作工具的装置位于前臂上以便不会突出， 而机器人臂的基本构造可以与现有技术相似。 用于第一腕部元件的电动机位于前臂和上臂之间的区域中，使得电动机的旋转轴线垂直于第二轴线。 此外，电动机位于沿前臂的纵向方向相对于第一轴相对于腕部元件或前臂的前端移动的点。 因此，可以在前臂的底部之上获得用于送丝机的广泛区域。
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公开(公告)号：US20070012672A1
公开(公告)日：2007-01-18
申请号：US11457433
申请日：2006-07-13
IPC分类号： B23K9/32
CPC分类号： B25J19/0025
摘要： An umbilical member handling structure for an industrial robot includes a first wrist element arranged rotatably at a forward end of a forearm, a second wrist element arranged rotatably at a forward end of the first wrist element, a working tool arranged at a forward end of the second wrist element, an umbilical member connected to the working tool and arranged along the first wrist element and the second wrist element, a flexible tabular guide member having a first end fixed on the second wrist element and a second end constituting a free end extended in a curve along the first wrist element and the second wrist element in the direction from the second element toward the first wrist element to guide the umbilical member between the first end and the second end, a displacement limiting member mounted at the second end of the flexible tabular guide member to limit the range of displacement of the second end, mainly in a thickness direction of the flexible tabular guide member, and an insertion member arranged near the second end of the flexible tabular guide member on the forearm to have inserted thereinto the umbilical member guided by the flexible tabular guide member.
摘要翻译： 一种用于工业机器人的脐带构件处理结构，包括可旋转地布置在前臂前端的第一腕部元件，可旋转地布置在第一腕部的前端的第二腕部元件， 第二腕部元件，连接到所述作业工具并沿着所述第一腕部和所述第二腕部元件配置的脐带部件，具有固定在所述第二腕部上的第一端部的挠性片状引导部件和构成自由端的第二端部， 沿着第一腕部和第二腕部沿着从第二元件朝向第一腕部的方向的曲线，以将脐带构件引导到第一端和第二端之间，位移限制构件安装在柔性的第二端部 板状引导构件，以限制第二端的位移范围，主要在柔性片状引导构件的厚度方向上， 该排列构件布置在前臂上的柔性平板状引导构件的第二端附近，以将其插入由柔性平板状引导构件引导的脐带构件。
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公开(公告)号：US20060101936A1
公开(公告)日：2006-05-18
申请号：US11202075
申请日：2005-08-12
IPC分类号： B25J18/00
CPC分类号： B25J19/0029 , Y10T74/20305
摘要： A managing structure, for an umbilical member for a work tool of a robot, capable of stabilizing the motion of the umbilical member during the operation of a wrist of the robot and making the work of modifying the system of the robot easier. The umbilical member is introduced into an opening formed at the back of a base of a forearm. The umbilical member extends through a hollow portion of a speed reducer and is drawn from a first opening formed on the side of a first wrist element. A cable for welding current and a tube for supplying shield gas, constituting the umbilical member, are directly connected to a welding torch rotatable about a third axis. A welding wire is guided and fed by a feed roller of a wire feeder and, then, is connected to the welding wire with the cable and the tube. The feed roller is driven by a motor contained within the first wrist element.
摘要翻译： 一种用于机器人工作工具的脐带部件的管理结构，能够在机器人的手腕操作期间稳定脐部件的运动，并且使得更容易地修改机器人的系统的工作。 将脐带构件引入形成在前臂基部背面的开口中。 脐部件延伸穿过减速器的中空部分，并且从形成在第一腕部一侧的第一开口拉出。 用于焊接电流的电缆和用于供应构成脐带构件的保护气体的管直接连接到可围绕第三轴线旋转的焊炬。 焊丝由送丝机的进给辊引导并进给，然后用电缆和管连接到焊丝。 进给辊由包含在第一腕部内的电动机驱动。
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公开(公告)号：US20060049159A1
公开(公告)日：2006-03-09
申请号：US11218501
申请日：2005-09-06
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。
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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。
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公开(公告)号：US06922607B2
公开(公告)日：2005-07-26
申请号：US10995625
申请日：2004-11-23
IPC分类号： G05B19/408 , G06F19/00
CPC分类号： G05B19/4086 , G05B2219/34089 , G05B2219/37323 , G05B2219/41436
摘要： In a numerically controlled method of moving an object to be controlled along a predetermined locus, controlling control axes, the locus is made approximate to a spatial polynomial, a polynomial is converted into a polynomial as time function, the polynomial converted as time function is distributed to each control axis, control command in each control axis is produced on the basis of the polynomial distributed to each axis as time function, and the object to be controlled is moved along the locus, controlling each control axis on the basis of the control command. The velocity, the acceleration and the jerk of the object to be controlled can be easily obtained concerning each control axis in advance by differentiating the polynomial expressed by time function. The object to be controlled is controlled so as to move along the locus expressed by the polynomial, feeding irregularity or position shift is reduced and curved face machining at high accuracy is possible.
摘要翻译： 在控制控制轴的数字控制方法中，使轨迹与空间多项式近似，将多项式转换为多项式作为时间函数，将作为时间函数转换的多项式分布 根据分配给每个轴的多项式作为时间函数产生每个控制轴中的控制命令，并且将要控制的对象沿着轨迹移动，基于控制命令控制每个控制轴 。 通过对由时间函数表示的多项式进行微分，可以容易地获得关于每个控制轴的待控制对象的速度，加速度和加加速度。 控制对象被控制为沿着由多项式表示的轨迹移动，进给不规则或位置偏移减小，并且可以以高精度进行曲面加工。
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50.发明授权Method of controlling hardening with laser beam and laser beam hardening device 失效用激光束和激光束硬化装置控制硬化的方法公开(公告)号：US06922420B2
公开(公告)日：2005-07-26
申请号：US10280385
申请日：2002-10-25
CPC分类号： C21D1/09 , B23K26/0626 , B23K26/082 , B23K26/0846 , B23K26/705 , B23K26/707 , C21D11/00
摘要： A workpiece is irradiated by a laser beam scanned in an oscillating track as the workpiece is advanced along a feed path in a hardening process. Sinusoidal variations in scan velocity are offset by decreasing the laser beam power level at phases in the scanning cycles corresponding to high and low scan displacement peaks, where the scan velocity is least. The beam power is increased near the scanning center line where the scan velocity is highest. The beam energy applied per unit of area is thus equalized over the scanning cycle. The workpiece temperature can be sampled at regular phases by a non-contact temperature sensor in the optical path, and used to control beam power versus phase in a subsequent scanning cycle. Alternatively or in addition, a sinusoidal beam power pattern can be stored and used to offset scan velocity variations as a function of phase.
摘要翻译： 当工件沿着进给路径在硬化过程中前进时，通过在振荡轨道中扫描的激光束照射工件。 扫描速度的正弦变化通过在对应于扫描速度最小的高和低扫描位移峰值的扫描周期中的相位处降低激光束功率电平来抵消。 在扫描速度最高的扫描中心线附近增加光束功率。 因此，在单位面积上施加的光束能量在扫描周期上相等。 可以通过光路中的非接触式温度传感器在常规相位对工件温度进行采样，并用于在随后的扫描周期中控制光束功率对相位。 或者或另外，可以存储正弦波束功率模式并将其用作偏移作为相位的函数的扫描速度变化。
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