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公开(公告)号：US4495453A
公开(公告)日：1985-01-22
申请号：US391396
申请日：1982-06-23
CPC分类号： B25J17/02 , B25J9/1612
摘要： A system for controlling an industrial robot having a wrist (1) driven to rotate by a direct-current motor (2) having a servomechanism, wherein stroke-limit position control (6) of the wrist and rotational control (7) of the wrist can be selectively carried out.
摘要翻译： 一种用于控制具有由具有伺服机构的直流电动机（2）驱动旋转的手腕（1）的工业机器人的系统，其中手腕的行程限位位置控制（6）和手腕的旋转控制（7） 可以选择性地进行。
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公开(公告)号：US4540332A
公开(公告)日：1985-09-10
申请号：US486083
申请日：1983-04-18
CPC分类号： B25J17/02 , B25J19/0029 , B25J9/046
摘要： A swivel device for supporting a swivel unit thereon, including a hollow main frame and a comparatively slender rotatable shaft disposed upright within the hollow frame, connectable to the swivel unit at the upper end thereof and connected to a driving source at the lower end thereof through a transmission mechanism. All control cables and conduits for controlling the mechanisms mounted on the swivel unit are accommodated in the space formed within the hollow frame around the upright shaft.
摘要翻译： 一种用于在其上支撑旋转单元的旋转装置，包括中空主框架和竖直设置在中空框架内的相对细长的可旋转轴，其可连接到其上端处的旋转单元，并在其下端连接到驱动源 传输机制。 用于控制安装在旋转单元上的机构的所有控制电缆和导管容纳在围绕竖立轴的中空框架内形成的空间中。
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公开(公告)号：US4274802A
公开(公告)日：1981-06-23
申请号：US5773
申请日：1979-01-23
申请人： Hajimu Inaba , Shigemi Inagaki
发明人： Hajimu Inaba , Shigemi Inagaki
CPC分类号： B25J9/101 , B25J17/0241 , B25J9/148
摘要： An automated device comprising an arm, a supporting case mounted on the end of the arm, a rotary actuator mounted on the end of the supporting case and a wrist with a hand rotatably held by the rotary actuator, wherein the rotary actuator has a replaceable stopper on the shaft thereof, and the supporting case has a pair of static members for setting the rotational range of the stopper. In the device, the rotary actuator stops rotating at two positions, i.e., the hand stops rotating at two positions.
摘要翻译： 一种自动化装置，包括臂，安装在臂的端部上的支撑壳体，安装在支撑壳体的端部上的旋转致动器和具有由旋转致动器可旋转地保持的手腕的手腕，其中旋转致动器具有可更换的塞子 在其轴上，支撑壳体具有用于设定止动件的旋转范围的一对静止部件。 在该装置中，旋转执行器在两个位置停止旋转，即手停止在两个位置旋转。
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公开(公告)号：US4502830A
公开(公告)日：1985-03-05
申请号：US304267
申请日：1981-09-21
申请人： Hajimu Inaba , Seiichiro Nakashima , Shigemi Inagaki , Susumu Ito
发明人： Hajimu Inaba , Seiichiro Nakashima , Shigemi Inagaki , Susumu Ito
摘要： An industrial robot having a trunk mounted for vertical and rotational movement on a stationary base is provided with two arm members extensible from the said trunk having a robot wrist mechanism attached to their ends. The extending and contracting movements of the arm members, rotational movement of the wrist and swinging movement of the wrist are controlled, respectively, by three electric servo motors mounted in a mounting compartment positioned on the side of the trunk opposite to the extensible arms.
摘要翻译： 具有安装用于在固定基座上进行垂直和旋转运动的行李箱的工业机器人设置有从所述躯干延伸的两个臂构件，其具有附接到其端部的机器人手腕机构。 手臂构件的伸缩运动，手腕的旋转运动和手腕的摆动分别通过安装在与可伸缩臂相对的一侧的安装隔间中的三个电动伺服电机来控制。
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公开(公告)号：US4479754A
公开(公告)日：1984-10-30
申请号：US394773
申请日：1982-07-02
申请人： Hajimu Inaba , Shigemi Inagaki
发明人： Hajimu Inaba , Shigemi Inagaki
CPC分类号： B25J9/101 , B23Q1/488 , B23Q7/048 , B25J11/00 , B25J18/00 , B25J19/0091 , B25J9/1005
摘要： An industrial robot, mountable on a machine tool for carrying a workpiece to a spindle of the machine tool, and having an arm, one end of which is equipped with a wrist having a gripping device for gripping a workpiece. The robot further includes a main body having first and second rods with perpendicular spanning plates movably mounted on the machine tool rotatably connected to the second rod, first driving means provided on the main body for moving the arm axially of the spindle on the machine tool, and second driving means for allowing movement axially of the spindle for rotating the arm in a plane perpendicular to the axis of the spindle, with the other end of the arm serving as the center of rotation about the first rod.
摘要翻译： 一种工业机器人，可安装在用于将工件运送到机床的主轴上的机床上，并具有臂，其一端配备有具有用于夹持工件的夹紧装置的腕部。 机器人还包括具有第一和第二杆的主体，该第一和第二杆具有可移动地安装在机器上的可旋转地连接到第二杆的垂直跨接板，第一驱动装置设置在主体上，用于使主轴轴向移动到机床上， 以及用于允许主轴轴向移动的第二驱动装置，用于在垂直于心轴的轴线的平面中旋转臂，臂的另一端作为围绕第一杆的旋转中心。
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公开(公告)号：US4431366A
公开(公告)日：1984-02-14
申请号：US307329
申请日：1981-09-30
申请人： Hajimu Inaba , Seiichiro Nakashima , Shigemi Inagaki , Susumu Ito
发明人： Hajimu Inaba , Seiichiro Nakashima , Shigemi Inagaki , Susumu Ito
CPC分类号： B25J9/041 , B25J17/0258 , B25J18/025 , B25J9/1025 , Y10T74/19
摘要： A wrist mechanism for an industrial robot having a robot casing, robot arms capable of extending from and contracting to the robot casing, a robot hand for gripping a workpiece, and a wrist arranged between the robot arms and the robot hand, comprises: two reduction gears with a high reduction ratio connected respectively to each of two high speed rotational driving motors, the two reduction gears cooperating with one another for generating two individual reduced rotational outputs, and; two transmitting mechanisms, connectable to the hand, for transmitting respectively the two reduced rotational outputs to the hand, thereby causing respectively rotational motion and swinging motion of the hand.
摘要翻译： 一种用于具有机器人壳体的工业机器人的手腕机构，能够从机器人壳体延伸和收缩的机器人手臂，用于夹持工件的机器人手臂和布置在机器人手臂和机器人手之间的手腕，包括：两个缩小 具有高减速比的齿轮分别连接到两个高速旋转驱动电机中的每一个，所述两个减速齿轮彼此协作以产生两个单独的减小的旋转输出; 两个传递机构，可连接到手上，用于将两个减小的旋转输出分别传递到手中，从而分别引起手的旋转运动和摆动运动。
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公开(公告)号：US4538639A
公开(公告)日：1985-09-03
申请号：US391447
申请日：1982-06-23
申请人： Hajimu Inaba , Shigemi Inagaki , Susumu Ito
发明人： Hajimu Inaba , Shigemi Inagaki , Susumu Ito
CPC分类号： B25J19/0029 , B25J15/0052 , B25J15/04 , B25J17/02 , Y10T137/86268
摘要： A robot wrist of an industrial robot having a wrist housing supporting two orthogonally arranged rotating output shafts therein, each of the shafts being connected to a robot hand, and a built-in fluid conveying means provided for distributing pressurized air introduced from the outside of the robot wrist toward the robot hand attached to one of the rotating cutput shafts. An output end of each of the two rotating output shafts may either be plugged by a plug element or closed by a stop valve when the output end is not connected to the robot hand.
摘要翻译： 工业机器人的机器人手腕具有手腕壳体，其支撑两个正交布置的旋转输出轴，每个轴连接到机器人手，以及内置流体输送装置，用于分配从外部引入的加压空气 机器人手腕朝向机器人手，连接到旋转的切割轴之一。 当输出端未连接到机器人手时，两个旋转输出轴中的每一个的输出端可以由插塞元件堵塞或由截止阀封闭。
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公开(公告)号：US4299529A
公开(公告)日：1981-11-10
申请号：US5800
申请日：1979-01-23
申请人： Hajimu Inaba , Shigemi Inagaki
发明人： Hajimu Inaba , Shigemi Inagaki
CPC分类号： B25J9/101 , B25J17/02 , B25J17/0208 , B25J17/0241
摘要： An automated device comprising an arm, a wrist which is rotatably held by the arm at predetermined angles and a hand which is rotatably held by the wrist, wherein the wrist includes an apparatus for varying the angle of the axis of the wrist with respect to the axis of the arm, and the varying apparatus has a device for adjusting the angle. In the above device, the wrist may be bent in all directions.
摘要翻译： 一种自动装置，包括臂，手腕，其以预定角度由臂可旋转地保持，手由手腕可旋转地保持，其中手腕包括用于改变手腕的轴线相对于手腕的角度的装置 并且变化的装置具有用于调节角度的装置。 在上述装置中，手腕可以在各个方向弯曲。
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公开(公告)号：US4466769A
公开(公告)日：1984-08-21
申请号：US389882
申请日：1982-06-18
申请人： Hajimu Inaba , Seiichiro Nakajima , Shigemi Inagaki , Susumu Ito
发明人： Hajimu Inaba , Seiichiro Nakajima , Shigemi Inagaki , Susumu Ito
CPC分类号： B25J18/02 , B25J19/0029 , Y10T74/18648
摘要： An industrial robot having a robot hand attached to a robot arm, a rotary motion unit supporting therein the robot arm, a vertical motion unit on which the rotary motion unit is disposed, and a vertical hollow structure extending through the vertical and rotary motion units and defining therein a vertically extending wiring and piping space.
摘要翻译： 一种具有机器人手的机器人，其具有附接到机器人臂的机器人手柄，支撑在其中的旋转运动单元，机器人臂，设置有旋转运动单元的垂直运动单元，以及延伸穿过垂直和旋转运动单元的垂直中空结构， 在其中限定垂直延伸的布线和管道空间。
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公开(公告)号：US4465424A
公开(公告)日：1984-08-14
申请号：US391397
申请日：1982-06-23
申请人： Hajimu Inaba , Seiichiro Nakashima , Shigemi Inagaki , Susumu Ito
发明人： Hajimu Inaba , Seiichiro Nakashima , Shigemi Inagaki , Susumu Ito
CPC分类号： B25J19/0012
摘要： An industrial robot, having a manipulative robot hand for mounted on a vertically movable portion thereof moved by a vertical drive, provided with a load reducing pneumatic cylinder for applying a constant upward force to the vertically movable portion during the vertical movement of the portion and an air storage tank or tanks directly connected to the pneumatic cylinder for continuously supplying air under a desired fixed pressure. The upward force contributes to reducing a load applied to the vertical drive. The air storage tank or tanks contributes to ensuring mechanical rigidity of the industrial robot.
摘要翻译： 一种工业机器人，其具有操纵机器人手，其安装在通过垂直驱动器移动的可垂直运动的部分上，设置有减压气缸，用于在所述部分的垂直运动期间向所述垂直运动部分施加恒定的向上的力，以及 直接连接到气缸的储气罐或储罐，以在期望的固定压力下连续供应空气。 向上的力有助于减小施加到垂直驱动器的负载。 储气罐或储罐有助于确保工业机器人的机械刚性。
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