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公开(公告)号：US08051741B2
公开(公告)日：2011-11-08
申请号：US12385656
申请日：2009-04-15
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。
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2.发明申请Positioner for arc welding and arc welding robot system having the positioner 审中-公开具有定位器的电弧焊和电弧焊机器人系统定位器公开(公告)号：US20060278622A1
公开(公告)日：2006-12-14
申请号：US11439964
申请日：2006-05-25
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。
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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。
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公开(公告)号：US08282333B2
公开(公告)日：2012-10-09
申请号：US12571567
申请日：2009-10-01
申请人： Masaru Oda , Toru Shirahata , Toshihiko Inoue , Takatoshi Iwayama , Masaaki Uematsu , Kentarou Ootani
发明人： Masaru Oda , Toru Shirahata , Toshihiko Inoue , Takatoshi Iwayama , Masaaki Uematsu , Kentarou Ootani
IPC分类号： B25J5/00
摘要： A workpiece transfer robot system including a machine tool provided with a workpiece support section and a robot capable of transferring a workpiece relative to the workpiece support section of the machine tool. The machine tool includes a cover surrounding at least the workpiece support section. The cover includes a first side wall provided with a first opening usable for a workpiece transferring task of the robot. The robot includes a track member defining a traveling axis extending in a direction perpendicular to the first side wall of the cover of the machine tool; a slider attached to the track member and capable of traveling along the traveling axis; a first arm attached to the slider and capable of swinging about a first swing axis; a second arm attached to the first arm and capable of swinging about a second swing axis parallel to the first swing axis; and a workpiece hold section provided on the second arm and capable of accessing the workpiece support section through the first opening of the cover of the machine tool.
摘要翻译： 一种工件传送机器人系统，包括具有工件支撑部的机床和能够相对于机床的工件支撑部传送工件的机器人。 机床包括至少围绕工件支撑部分的盖。 盖包括设置有可用于机器人的工件传送任务的第一开口的第一侧壁。 机器人包括：轨道构件，其限定沿与机床的盖的第一侧壁垂直的方向延伸的行进轴; 滑块，其附接到所述轨道构件并且能够沿着所述行进轴线行进; 第一臂附接到滑块并且能够围绕第一摆动轴线摆动; 附接到所述第一臂并能够围绕平行于所述第一摆动轴线的第二摆动轴线摆动的第二臂; 以及工件保持部，其设置在所述第二臂上并且能够通过所述机床的所述盖的所述第一开口进入所述工件支撑部。
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公开(公告)号：US07765890B2
公开(公告)日：2010-08-03
申请号：US12139729
申请日：2008-06-16
IPC分类号： B25J17/00
CPC分类号： B25J19/0029 , Y10T74/20305 , Y10T74/20311 , Y10T74/20335
摘要： An industrial robot has an arm, a wrist element rotatably interconnected to the arm, a work tool mounted on a distal end of the wrist element, and a motor mounted on the wrist element. An umbilical-member connected to the work tool and a flat cable connected to the motor are disposed to run along the wrist element from the arm side to the work tool or to the motor. A pipe member extending in a direction of a rotation axis of the wrist element is provided inside the arm and the umbilical-member connected to the work tool is passed inside the pipe member. The flat cable connected to the motor is wound around outside of the pipe member, with the flat cable arranged to become slack in a rotating direction of the wrist element.
摘要翻译： 工业机器人具有臂，可旋转地互连到臂的腕部元件，安装在腕部元件的远端上的作业工具和安装在腕部元件上的马达。 连接到工作工具的脐部构件和连接到电动机的扁平电缆被设置为沿着手腕一侧到达工作工具或电动机的方向行进。 在臂部的内部设置有沿着腕部的旋转轴的方向延伸的管构件，并且连接到作业工具的脐部构件穿过管构件。 连接到电动机的扁平电缆缠绕在管构件的外部，扁平电缆被布置成在腕部元件的旋转方向上变得松弛。
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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
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。
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公开(公告)号：US20080315820A1
公开(公告)日：2008-12-25
申请号：US12139729
申请日：2008-06-16
IPC分类号： B25J9/00
CPC分类号： B25J19/0029 , Y10T74/20305 , Y10T74/20311 , Y10T74/20335
摘要： An industrial robot having: an arm, a wrist element rotatably interconnected to the arm, a work tool mounted on a distal end of the wrist element, and a motor mounted on the wrist element; wherein an umbilical-member connected to the work tool and a flat cable connected to the motor are disposed to run along the wrist element from the arm side to aid work tool or to the motor, characterized in that a pipe member extending in a direction of a rotation axis of the wrist element is provided inside the arm, the umbilical-member connected to the work tool being passed inside the pipe member, the flat cable connected to the motor being wound around outside of the pipe member, with the flat cable slacked in a rotating direction of the wrist element.
摘要翻译： 一种工业机器人，其具有：手臂，与所述臂可旋转地相互连接的腕部元件，安装在所述腕部元件的前端的作业工具，以及安装在所述腕部元件上的马达; 其特征在于，连接到所述作业工具的脐部构件和连接到所述电动机的扁平电缆被布置成沿着所述腕部元件从所述臂侧延伸以辅助工作工具或所述电动机，其特征在于， 腕部的旋转轴设置在臂的内部，连接到作业工具的脐部件通过管构件内部，连接到电动机的扁平电缆被卷绕在管构件的外部，扁平电缆松弛 在腕部元件的旋转方向上。
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公开(公告)号：US07173213B2
公开(公告)日：2007-02-06
申请号：US11165350
申请日：2005-06-24
IPC分类号： B23K9/12
CPC分类号： B25J17/0283 , B23K9/1336 , B23K37/02 , B25J19/0025
摘要： A first wrist element is rotatably provided on the front end of a forearm base of a robot. A second wrist element is rotatably provided on the first wrist element. A welding torch is rotatably supported via a transmission mechanism. A wire feeder is disposed at a position other than a forearm. A torch cable is fitted to a slider with an intermediate fitting section. A slider can be pulled backward by returning a wire connected to a tension generator using a pulley. In place of the fitting section, an intermediate guiding section can be provided.
摘要翻译： 第一腕部可旋转地设置在机器人的前臂基座的前端。 第二腕部可旋转地设置在第一腕部上。 焊枪通过传动机构可旋转地支撑。 送丝机配置在前臂以外的位置。 手电筒电缆安装在具有中间配件部分的滑块上。 通过使用滑轮返回连接到张力发生器的电线，可以向后拉动滑块。 可以设置中间引导部，代替嵌合部。
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公开(公告)号：US20100092273A1
公开(公告)日：2010-04-15
申请号：US12571567
申请日：2009-10-01
申请人： Masaru ODA , Toru Shirahata , Toshihiko Inoue , Takatoshi Iwayama , Masaaki Uematsu , Kentarou Ootani
发明人： Masaru ODA , Toru Shirahata , Toshihiko Inoue , Takatoshi Iwayama , Masaaki Uematsu , Kentarou Ootani
IPC分类号： B66C23/00
摘要： A workpiece transfer robot system including a machine tool provided with a workpiece support section and a robot capable of transferring a workpiece relative to the workpiece support section of the machine tool. The machine tool includes a cover surrounding at least the workpiece support section. The cover includes a first side wall provided with a first opening usable for a workpiece transferring task of the robot. The robot includes a track member defining a traveling axis extending in a direction perpendicular to the first side wall of the cover of the machine tool; a slider attached to the track member and capable of traveling along the traveling axis; a first arm attached to the slider and capable of swinging about a first swing axis; a second arm attached to the first arm and capable of swinging about a second swing axis parallel to the first swing axis; and a workpiece hold section provided on the second arm and capable of accessing the workpiece support section through the first opening of the cover of the machine tool.
摘要翻译： 一种工件传送机器人系统，包括具有工件支撑部的机床和能够相对于机床的工件支撑部传送工件的机器人。 机床包括至少围绕工件支撑部分的盖。 盖包括设置有可用于机器人的工件传送任务的第一开口的第一侧壁。 机器人包括：轨道构件，其限定沿与机床的盖的第一侧壁垂直的方向延伸的行进轴; 滑块，其附接到所述轨道构件并且能够沿着所述行进轴线行进; 第一臂附接到滑块并且能够围绕第一摆动轴线摆动; 附接到所述第一臂并能够围绕平行于所述第一摆动轴线的第二摆动轴线摆动的第二臂; 以及工件保持部，其设置在所述第二臂上并且能够通过所述机床的所述盖的所述第一开口进入所述工件支撑部。
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公开(公告)号：US20090200432A1
公开(公告)日：2009-08-13
申请号：US12385656
申请日：2009-04-15
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。
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