公开(公告)号：US20040167001A1

公开(公告)日：2004-08-26

申请号：US10784158

申请日：2004-02-24

申请人： FANUC LTD

发明人： Masahiro Hagihara ,  Masaaki Saito ,  Takeshi Tsumura ,  Toshihiko Inoue

IPC分类号： B23Q003/155

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。

公开(公告)号：US20040052630A1

公开(公告)日：2004-03-18

申请号：US10653969

申请日：2003-09-04

申请人： FANUC LTD.

发明人： Byo Nihei ,  Toshihiko Inoue ,  Jun Ibayashi ,  Takatoshi Iwayama

IPC分类号： B25J011/00

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 (or force sensor) and hand control cables and motor control cables CB 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 CB are arranged in a robot arm along an upper arm portion and guided to the forearm. The control cables CB are introduced into the forearm with a shield and a sheath removed, and clamped at an appropriate position. After reaching an end effector-mounting face, the control cables CB are connected to a camera (or force sensor) C/S and a hand. The forearm is formed of conductive material and grounded on the base of the robot main body so as to have the same electric potential as the base by using means such as an earth cable or the like, 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。 摄像机（或力传感器）和手控电缆和电机控制电缆CB通过机器人主体的基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CB沿着上臂部分布置在机器人手臂中并被引导到前臂。 控制电缆CB被引入前臂中，其中屏蔽层和护套被移除，并被夹紧在适当的位置。 在到达末端执行器安装面之后，控制电缆CB连接到相机（或力传感器）C / S和手。 前臂由导电材料形成，并且在机器人主体的基部上接地，以便通过使用诸如地电缆等的装置与基座具有相同的电位，因此使用前臂来代替 屏蔽。

公开(公告)号：US20040261563A1

公开(公告)日：2004-12-30

申请号：US10869962

申请日：2004-06-18

申请人： FANUC LTD.

发明人： Toshihiko Inoue ,  Kazutaka Nakayama

IPC分类号： B25J017/00

CPC分类号： B25J19/0025 ,  Y10T74/20317

摘要： The present invention provides a robot that can use an inexpensive connector and keep the connector assembly dust-free and safe. A base of a robot mechanical unit has a hollow structure. An opening is provided on a lateral surface of the base, a through-hole is provided on a closing member that covers the opening, and a cable mounting member provided with a through-hole is fixed on the closing member. A connecting cable from a control unit passes through the through-holes and is connected to robot mechanical unit-internal cables by a cable connector inside the base. The robot mechanical unit-internal cables are fixed by a cable clamp inside the base and a swivel body. The connector is installed inside the base and suspended in space, providing superior dust-proofing. No external force is applied, and so an inexpensive configuration can be achieved that does not require an especially strong connector. Moreover, the connector can be connected and disconnected easily.

摘要翻译： 本发明提供一种能够使用便宜的连接器并保持连接器组件无尘和安全的机器人。 机器人机械单元的基座具有中空结构。 在基座的侧面设置有开口，在封闭构件上设置有贯通孔，该封闭构件覆盖开口，并且在封闭构件上固定设置有通孔的电缆安装构件。 来自控制单元的连接电缆通过通孔，并通过基座内的电缆连接器连接到机器人机械单元内部电缆。 机器人机械单元内部电缆由基座内的电缆夹和旋转体固定。 连接器安装在基座内并悬挂在空间中，提供卓越的防尘。 不施加外力，因此可以实现不需要特别强的连接器的便宜的构造。 此外，连接器可以容易地连接和断开。

公开(公告)号：US20040144764A1

公开(公告)日：2004-07-29

申请号：US10753565

申请日：2004-01-09

申请人： FANUC LTD.

发明人： Toshihiko Inoue ,  Kazutaka Nakayama ,  Masahiro Hagihara ,  Takeshi Tsumura

IPC分类号： B23K009/12

CPC分类号： H02G11/00 ,  B23K9/1336 ,  B23K9/28 ,  B23K9/287 ,  B23K37/02 ,  B25J19/0025

摘要： A first wrist element is provided at a distal end of a front arm of an arc welding robot rotatably about a first axial line, a second wrist element is provided on the first wrist element rotatably about a second axial line, and a welding torch is supported on the second wrist element about a third axial line. A slide mechanism which can reciprocate in a direction approximately parallel to the first axial line is provided at a proper position from an upper portion of the front arm to an upper portion of the first wrist element and a wire feeding apparatus is mounted on the slide mechanism. By sliding the position of the wire feeding apparatus in response to the attitude of the welding torch, an extending state of the torch cable can be maintained properly.

摘要翻译： 第一腕部元件设置在围绕第一轴线旋转的弧焊机器人的前臂的远端处，第二腕部元件围绕第二轴线可旋转地设置在第一腕部上，并且支撑焊炬 在第二腕部上围绕第三轴线。 在从前臂的上部到第一腕部的上部的适当位置设置有能够在大致平行于第一轴线的方向上往复运动的滑动机构，并且在滑动机构上安装送丝装置 。 通过根据焊炬的姿态滑动送丝装置的位置，可以适当地保持炬电缆的延伸状态。