公开(公告)号：US4972735A

公开(公告)日：1990-11-27

申请号：US356658

申请日：1989-05-17

申请人： Nobutoshi Torii ,  Hitoshi Mizuno ,  Kyoji Iwasaki

发明人： Nobutoshi Torii ,  Hitoshi Mizuno ,  Kyoji Iwasaki

IPC分类号： B25J17/02

CPC分类号： B25J17/0283 ,  Y10T74/1913

摘要： The wrist assembly of an industrial robot comprises a first wrist portion (21) provided on the free end of the robot arm (20) and having a pair of projections (22, 23) in parallel with each other on the fore-end thereof. A second wrist portion (24) is provided between the projections of the first wrist portion and supported on both of the projections so as to be rotatable about a first axis (.beta.) intersecting a longitudinal axis of the robot arm at a right angle. A third wrist portion (25) is supported on the second wrist portion so as to be rotatable about a second axis (.alpha.) intersecting the first axis at a right angle, and constructed to allow work attachments to be attached to the front end thereof. A first motor (45) and a second motor (55) are used for driving the second wrist portion and the third wrist portion. A first power transmission mechanism (I) for transmitting a driving force of the first motor to the second wrist portion includes a pair of first hypoid gears (35, 36) provided in one of the projection of the first wrist portion and meshed with each other. A second transmission mechanism (II) for transmitting a driving force of the second motor to the third wrist portion includes a pair of second hypoid gears (51, 52) provided in the other projection of the first wrist portion and meshed with each other.

公开(公告)号：US4842474A

公开(公告)日：1989-06-27

申请号：US150429

申请日：1988-01-25

申请人： Nobutoshi Torii ,  Hitoshi Mizuno ,  Kyoji Iwasaki

发明人： Nobutoshi Torii ,  Hitoshi Mizuno ,  Kyoji Iwasaki

IPC分类号： B25J17/00 ,  B25J9/04 ,  B25J9/06 ,  B25J9/10 ,  B25J19/00

CPC分类号： B25J9/047 ,  B25J9/102 ,  Y10T74/20207

摘要： A vertical milti-articulated robot comprises a base (11) secured to a plane (10) of installation. The base (11) is provided with a turning body (12) which is rotatable relative to a reference position of the base about a first axis (.theta.) perpendicular to the plane of installation within an angular range of nearly 90 degrees to the right and to the left, respectively. The turning body (12) is rotated by a body drive motor (14) about the first axis. An upper arm (16) having a base end and a tip is coupled at the base end thereof to the turning body (12) so as to be rotatable relative to the turning body about a second horizontal axis (W) from a nearly vertical attitude toward the front of the turning body. A forearm (19) having at the front end thereof a wrist assembly (20) is coupled to the tip of the upper arm so as to be rotatable relative to the upper arm about a third axis (U) which is parallel to the second axis. The upper arm ( 16) is provided with an upper arm drive motor for driving and rotating the upper arm relative to the turning body about the second axis and a forearm drive motor for driving and rotating the forearm relative to the upper arm about the third axis. The upper arm drive motor and the forearm drive motor are arranged at the back of a first plane (A-A) including the second and third axes so that the rotational axes of these motors are located on a second plane (B-B) which intersects the second axis at a right angle.

公开(公告)号：US4877973A

公开(公告)日：1989-10-31

申请号：US117195

申请日：1987-10-05

申请人： Nobutoshi Torii ,  Hitoshi Mizuno ,  Kyoji Iwasaki

发明人： Nobutoshi Torii ,  Hitoshi Mizuno ,  Kyoji Iwasaki

IPC分类号： B25J19/00 ,  H01R35/00 ,  H01R35/02 ,  H02G11/00

CPC分类号： B25J19/0029 ,  H01R35/00 ,  H01R35/02 ,  H02G11/00

摘要： An apparatus for guiding a cable of an industrial robot having a support casing and a swivel casing axially supported by a swivel shaft bearing includes a cable guide. The guide has an end of an upper arm axially supported on a swivel axis inside the swivel casing, and an end of a lower arm axially supported on the swivel axis inside the support casing. A back column formed between the upper and lower arms guide passes through first and second arcuate cut-out portions provided in the swivel casing and support casing. A cable is passed from the support casing into the swivel casing along the cable guide back column, and moves proportionately to angular movement of the swivel casing.

公开(公告)号：US4836048A

公开(公告)日：1989-06-06

申请号：US80509

申请日：1987-07-02

申请人： Nobutoshi Torii ,  Susumu Ito ,  Hiroshi Wakio ,  Kyoji Iwasaki

发明人： Nobutoshi Torii ,  Susumu Ito ,  Hiroshi Wakio ,  Kyoji Iwasaki

IPC分类号： B25J19/00 ,  B25J9/02

CPC分类号： B25J19/0029 ,  B25J19/0079 ,  Y10T74/219

摘要： An industrial robot having a dust-proof structure is equipped with at least one dust cover having an opening at one end thereof and a linearly movable unit extending through the opening of the dust cover and movable back and forth in the longitudinal direction thereof. Suction is exerted by a suction unit inside the dust cover so that air is flows from outside the dust cover into the same through the opening. A ring member is disposed at the opening of the dust cover in such a manner as to encompass the outer periphery of the linearly moving unit through a gap. At least one annular groove for reserving air is disposed on the inner peripheral surface of the ring member so as to encompass the outer periphery of the linearly moving unit.