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1.发明授权Method and apparatus for searching for a fiducial point of machining relating to C-axis 失效用于搜索与C轴相关的加工基准点的方法和装置
公开(公告)号：US4736325A
公开(公告)日：1988-04-05
申请号：US847316
申请日：1986-04-02
IPC分类号： B23Q17/22 , B23Q16/00 , G05B19/401 , G06F15/00
CPC分类号： G05B19/401 , G05B2219/49119 , G05B2219/49121 , Y10S82/903
摘要： A method of and apparatus for searching for a fiducial point of machining in relation to the C-axis in a lathe capable of carrying out machining by C-axis control based on the C-axis origin. In a machining work applied to a workpiece having a C-axis-value-prescribed configuration whose C-axis value in relation to the fiducial point of machining is prescribed by a first angle, and second and third angles between the C-axis origin and each point of measurement located on the opposite sides of the C-axis-value-prescribed configuration facing the C-axis are measured, the angle between the fiducial point of machining and the C-axis origin is obtained on the basis of the second and third angles measured and the first angle prescribed between the C-axis-value-prescribed configuration and the fiducial point of machining, thus detecting the fiducial point of machining with respect to the workpiece having the C-axis-value-prescribed configuration.
摘要翻译： 一种用于在车床中相对于C轴进行加工的基准点的方法和装置，其能够通过基于C轴原点的C轴控制进行加工。 在对具有C轴值规定构造的C轴值相对于加工基准点规定第一角度的C轴值的第二角度和C轴原点与 测量位于面向C轴的C轴值规定构造的相对侧上的每个测量点，基于第二和第二轴获得加工基准点与C轴原点之间的角度，并且 测量第三角度和C轴值规定构造与基准加工点之间规定的第一角度，从而检测相对于具有C轴值规定构造的工件的基准点。
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公开(公告)号：US08288687B2
公开(公告)日：2012-10-16
申请号：US12488760
申请日：2009-06-22
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。
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公开(公告)号：US08020466B2
公开(公告)日：2011-09-20
申请号：US12169951
申请日：2008-07-09
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。
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公开(公告)号：US20100032420A1
公开(公告)日：2010-02-11
申请号：US12488760
申请日：2009-06-22
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。
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公开(公告)号：US20080264871A1
公开(公告)日：2008-10-30
申请号：US11990739
申请日：2006-08-17
申请人： Shinji Tokunaga , Yoshiaki Koga , Toshihiko Inoue
发明人： Shinji Tokunaga , Yoshiaki Koga , Toshihiko Inoue
IPC分类号： C02F1/56
CPC分类号： C02F1/56 , C02F1/5236 , C02F1/5245 , C02F1/66 , C02F9/00 , C02F2101/10
摘要： In a process for treatment of powdery fumed silica, fumed silica to be discarded is collected by dispersing the fumed silica in water. Disclosed is a method for treatment of a fumed silica-containing wastewater collected in the process. The method comprises the steps of: adding an inorganic coagulant containing a metal to a fumed silica-containing wastewater in an amount of 15 to 300 mg/l. in terms of the metal, wherein the wastewater is either a wastewater containing fumed silica at a concentration of 0.05 to 3.0% by mass or a wastewater whose fumed silica content is adjusted to 0.05 to 3.0% by mass; and adding an organic polymeric coagulant to the mixture.
摘要翻译： 在粉末状热解法二氧化硅的处理方法中，通过将热解二氧化硅分散在水中来收集待废弃的热解法二氧化硅。 本发明公开了一种处理在该方法中收集的含有气相二氧化硅的废水的方法。 该方法包括以下步骤：将含有金属的无机凝结剂加入到含热解法二氧化硅的废水中，其量为15-300mg / l。 在金属方面，其中废水是含有浓度为0.05〜3.0质量％的热解法二氧化硅的废水或其煅制二氧化硅含量调节至0.05〜3.0质量％的废水; 并向混合物中加入有机聚合物凝结剂。
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公开(公告)号：US20080236324A1
公开(公告)日：2008-10-02
申请号：US12071222
申请日：2008-02-19
CPC分类号： B25J19/0025 , B25J9/046 , Y10T74/20311 , Y10T74/20335
摘要： In an umbilical member processing mechanism of a robot, a working tool managing unit umbilical member (50) for supplying at least one of the power, the signal and the material to a working tool managing unit (34), is guided from a rotary barrel in the longitudinal direction of an upper arm on a side face of the upper arm (14) located on the opposite side to the side attached to the rotary barrel (12) and then guided onto a front side (18b) of a front arm (18). Next, the working tool managing unit umbilical member (50) is connected to the working tool managing unit (34) through a side of the front arm located on the opposite side to the side on which the upper arm is attached. Further, the working tool managing unit umbilical member is connected to the working tool managing unit being relayed by an umbilical member junction portion (39) attached to a side or a front side of the front arm. Due to the foregoing, even in an arm posture in which a front arm rear portion having the working tool managing unit passes through inside the upper arm, the umbilical member or the working tool managing unit does not interfere with the upper arm.
摘要翻译： 在机器人的脐部件处理机构中，将用于将功率，信号和材料中的至少一个供给到加工工具管理部（34）的作业工具管理部脐部件（50）从旋转筒 在上臂（14）的位于与安装在旋转筒（12）的一侧相反侧的侧面上的上臂的纵向方向上，并且被引导到前臂的前侧（18b） （18）。 接下来，工作工具管理单元脐部件50通过位于与上臂相连的一侧的前臂的一侧连接到作业工具管理单元34。 此外，工作工具管理单元脐部件连接到工作工具管理单元，该工作工具管理单元由附接到前臂的侧面或前侧的脐带构件连接部分（39）中继。 由于上述原因，即使在具有加工工具管理单元的前臂后部通过上臂内部的臂姿态中，脐带构件或作业工具管理单元也不干扰上臂。
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公开(公告)号：US07217229B2
公开(公告)日：2007-05-15
申请号：US10784158
申请日：2004-02-24
IPC分类号： B23Q3/155
CPC分类号： B23K26/1482 , B23K9/32 , B23K9/328 , B23K11/3072 , B23K26/0884 , Y10T483/13 , Y10T483/15 , Y10T483/17 , Y10T483/1873
摘要： An apparatus for automatically changing a tool tip member for a robot includes a tip member changing jig disposed in an operational area of the robot. The tip member changing jig includes a base member, a rotating member supported by the base member so as to be rotatable about a rotation axis, and tip member holding means disposed at positions that are offset from the rotation axis of the rotating member. The tip member holding means holds the tool tip member so that a central axis of relative rotation, for threadedly mounting or demounting the tool tip member on or from the tool body, extends substantially parallel to the rotation axis of the rotating member and so that rotation of the tool tip member, with respect to the rotating member, is locked.
摘要翻译： 一种用于自动改变机器人工具头部件的装置，包括设置在机器人的操作区域中的尖端部件更换夹具。 顶端部件更换夹具包括基部构件，由基部构件支撑以能够围绕旋转轴线旋转的旋转构件，以及设置在偏离旋转构件的旋转轴线的位置处的末端构件保持装置。 尖端构件保持装置保持工具尖端构件，使得用于将工具末端构件螺纹地安装或拆卸在工具主体上或从工具主体上旋转的中心轴线基本上平行于旋转构件的旋转轴线延伸，并且使得旋转 相对于旋转构件的工具末端构件被锁定。
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公开(公告)号：US20060240961A1
公开(公告)日：2006-10-26
申请号：US11472270
申请日：2006-06-22
IPC分类号： B23Q3/155
CPC分类号： B23K26/1482 , B23K9/32 , B23K9/328 , B23K11/3072 , B23K26/0884 , Y10T483/13 , Y10T483/15 , Y10T483/17 , Y10T483/1873
摘要： An apparatus for automatically changing a tool tip member for a robot includes a tip member changing jig disposed in an operational area of the robot. The tip member changing jig includes a base member, a rotating member supported by the base member so as to be rotatable about a rotation axis, and tip member holding means disposed at positions that are offset from the rotation axis of the rotating member. The tip member holding means holds the tool tip member so that a central axis of relative rotation, for threadedly mounting or demounting the tool tip member on or from the tool body, extends substantially parallel to the rotation axis of the rotating member and so that rotation of the tool tip member, with respect to the rotating member, is locked.
摘要翻译： 一种用于自动改变机器人工具头部件的装置，包括设置在机器人的操作区域中的尖端部件更换夹具。 顶端部件更换夹具包括基部构件，由基部构件支撑以能够围绕旋转轴线旋转的旋转构件，以及设置在偏离旋转构件的旋转轴线的位置处的末端构件保持装置。 尖端构件保持装置保持工具尖端构件，使得用于将工具末端构件螺纹地安装或拆卸在工具主体上或从工具主体上旋转的中心轴线基本上平行于旋转构件的旋转轴线延伸，并且使得旋转 相对于旋转构件的工具末端构件被锁定。
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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。
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公开(公告)号：US20060070985A1
公开(公告)日：2006-04-06
申请号：US11241938
申请日：2005-10-04
IPC分类号： B23K9/12
CPC分类号： B23K9/28
摘要： An arc welding device, having a simple structure, in which a welding torch does not interfere with external equipment. A Y-shaped torch cable includes first and second wire liners and a junction block having a Y-shaped liner section having two inlets connected to the wire liners and one outlet. A welding wire selectively fed from one of two wire feeders extends in the first or second wire liner and reaches the outlet of the liner section. Therefore, as one of plural kinds of welding wires may be selected and fed to a single-electrode welding torch, the plurality of welding wires being used for welding, nevertheless the welding torch does not interfere with external equipment.
摘要翻译： 一种具有简单结构的电弧焊装置，其中焊炬不会干扰外部设备。 Y形焊炬电缆包括第一和第二线缆和具有Y形衬套部分的连接块，其具有连接到线缆和两个出口的两个入口。 从两个送丝机之一选择性地供给的焊丝在第一或第二丝线衬里中延伸并到达衬套部分的出口。 因此，作为多种焊丝中的一种可以选择并供给到单电极焊枪，多根焊丝用于焊接，但是焊炬也不会干扰外部设备。
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