公开(公告)号：US20160101526A1

公开(公告)日：2016-04-14

申请号：US14972089

申请日：2015-12-17

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Hiroshi SAITO ,  Atsushi ICHIBANGASE ,  Kentaro TANAKA

IPC: B25J13/08 ,  B25J17/02 ,  B25J18/00

CPC classification number: B25J13/088 ,  B25J17/02 ,  B25J18/00

Abstract: A robot according to an aspect of an embodiment includes a driving body, a driven body that is rotatably coupled to the driving body, a driving device that drives the driven body and is provided on the driven body, and an encoder that is attached to a final output shaft of the driving device.

Abstract translation: 根据实施例的一个方面的机器人包括驱动体，可旋转地联接到驱动体的从动体，驱动被驱动体并设置在被驱动体上的驱动装置和附接到驱动体的编码器 驱动装置的最终输出轴。

公开(公告)号：US20160031095A1

公开(公告)日：2016-02-04

申请号：US14811798

申请日：2015-07-28

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Shingo TSUTSUMI ,  Kentaro TANAKA ,  Atsushi ICHIBANGASE

IPC: B25J19/00

CPC classification number: B25J19/0012 ,  B25J9/047 ,  B25J19/0008 ,  B25J19/0016 ,  Y10S901/48

Abstract: A robot includes: a base portion to be installed on an installation surface; an arm portion having a base end coupled to the base portion, the base end being rotatable around a rotation shaft disposed approximately parallel to the installation surface; and a balancer having one side rotatably coupled to the base portion and another side rotatably coupled to the arm portion. The arm portion includes a pair of arm constituting plates each coupled to the rotation shaft and facing each other, and at least a part of the balancer is arranged between the pair of arm constituting plates.

Abstract translation: 机器人包括：安装在安装面上的基部; 臂部具有联接到基部的基端，所述基端可围绕大体平行于安装表面设置的旋转轴旋转; 以及平衡器，其具有可旋转地联接到所述基部的一侧和可旋转地联接到所述臂部的另一侧。 臂部包括一对臂构成板，每个臂构成板各自联接到旋转轴并且彼此面对，并且平衡器的至少一部分布置在一对臂构成板之间。

公开(公告)号：US20140224057A1

公开(公告)日：2014-08-14

申请号：US14174851

申请日：2014-02-07

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Kentaro TANAKA ,  Atsushi ICHIBANGASE ,  Hiroshi SAITO

IPC: B25J17/00

CPC classification number: B25J17/00 ,  B25J9/102 ,  B25J17/0283 ,  B25J19/0004 ,  Y10T74/20329

Abstract: A joint mechanism includes a first unit and a second unit. The first unit has a motor unit and a speed reducer which are coaxially arranged on a hollow first shaft. The second unit has a brake unit and an encoder unit which are coaxially arranged on a second shaft separated from the first shaft. Further, the joint mechanism includes a power delivery unit configured to interconnect the first unit and the second unit.

Abstract translation: 关节机构包括第一单元和第二单元。 第一单元具有同轴地布置在中空的第一轴上的马达单元和减速器。 第二单元具有同轴布置在与第一轴分离的第二轴上的制动单元和编码器单元。 另外，关节机构包括被配置为使第一单元和第二单元相互连接的动力输送单元。

公开(公告)号：US20160101518A1

公开(公告)日：2016-04-14

申请号：US14970540

申请日：2015-12-16

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Hiroshi SAITO ,  Atsushi ICHIBANGASE ,  Kentaro TANAKA

IPC: B25J9/10 ,  B25J18/00 ,  B25J17/00 ,  B25J9/12

CPC classification number: B25J9/102 ,  B25J9/0009 ,  B25J9/104 ,  B25J9/126 ,  B25J17/00 ,  B25J18/00 ,  Y10S901/21 ,  Y10S901/23 ,  Y10S901/25

Abstract: A robot according to an aspect of the embodiment includes a driving body including a driving device that drives a driven body. The driving device includes a plurality of hollow shafts and a plurality of driving units. The plurality of hollow shafts are disposed concentrically. The plurality of driving units are disposed along a circumferential direction of the hollow shafts. The output shafts of the driving units are connected to the hollow shafts via gears.

Abstract translation: 根据实施例的一个方面的机器人包括：驱动体，其包括驱动被驱动体的驱动装置。 驱动装置包括多个空心轴和多个驱动单元。 多个中空轴同心地设置。 多个驱动单元沿着空心轴的圆周方向设置。 驱动单元的输出轴通过齿轮与中空轴连接。

公开(公告)号：US20160031094A1

公开(公告)日：2016-02-04

申请号：US14811795

申请日：2015-07-28

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Shingo TSUTSUMI ,  Kentaro TANAKA ,  Atsushi ICHIBANGASE

IPC: B25J19/00

CPC classification number: B25J19/0012 ,  B25J19/0008 ,  B25J19/0016 ,  Y10S901/21 ,  Y10S901/48

Abstract: A robot includes: a base portion to be installed on an installation surface; an arm portion having a base end coupled to the base portion, the base end being rotatable around a rotation shaft disposed approximately parallel to the installation surface; a balancer having one side rotatably coupled to the base portion and another side rotatably coupled to the arm portion; and a one-side coupling part positioned on a tip side of the arm portion with respect to the rotation shaft in the base portion, the one-side coupling part coupling the one side of the balancer.

Abstract translation: 机器人包括：安装在安装面上的基部; 臂部具有联接到基部的基端，所述基端可围绕大体平行于安装表面设置的旋转轴旋转; 平衡器，其一侧可旋转地联接到基部，另一侧可旋转地联接到臂部; 以及在所述基部中相对于所述旋转轴定位在所述臂部的前端侧的单侧联接部，所述单侧联接部联接所述平衡器的一侧。

公开(公告)号：US20160271806A1

公开(公告)日：2016-09-22

申请号：US15068956

申请日：2016-03-14

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Kentaro TANAKA ,  Ryuta KAGAWA

IPC: B25J19/00

CPC classification number: B25J19/0012 ,  B25J9/047 ,  B25J19/007 ,  Y10S901/48

Abstract: A robot includes a robot arm, a balancer, and a first mounting portion and a second mounting portion. The balancer is pressurized in advance by a predetermined amount of pressure and contracted to a dimension smaller than a predetermined mounting dimension of the robot arm. The first mounting portion and the second mounting portion are disposed on the robot arm to respectively accept a first end and a second end of the balancer so that the first end and the second end of the balancer are mounted on the robot arm. At least one mounting portion among the first mounting portion and the second mounting portion accepts the corresponding end, among the first end and the second end, of the balancer in a direction approximately parallel to a direction in which the balancer is expanded and contracted.

Abstract translation: 机器人包括机器人臂，平衡器以及第一安装部和第二安装部。 平衡器预先加压预定量的压力并收缩到小于机器人手臂的预定安装尺寸的尺寸。 第一安装部分和第二安装部分设置在机器人臂上以分别接纳平衡器的第一端和第二端，使得平衡器的第一端和第二端安装在机器人手臂上。 第一安装部和第二安装部中的至少一个安装部在大致平行于平衡器伸缩的方向的方向上接纳平衡器的第一端部和第二端部中的相应端部。

公开(公告)号：US20160031093A1

公开(公告)日：2016-02-04

申请号：US14813124

申请日：2015-07-30

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Ryuichiro TOMINAGA ,  Atsushi ICHIBANGASE ,  Kentaro TANAKA

IPC: B25J19/00 ,  B25J9/10

CPC classification number: B25J19/0004 ,  B25J9/102 ,  B25J9/126 ,  B25J19/0029 ,  Y10S901/20

Abstract: A robot includes a lower arm, an upper arm, an actuator, and a brake. The upper arm is supported by the lower arm, and includes a bottom portion having a through hole and an arm portion extending from the bottom portion avoiding the through hole. The actuator includes an output shaft and a rotor coupled thereto. The brake is installed on the end surface of the actuator opposite to the side from which the output shaft projects and acts on a part of the rotor to brake the actuator. Virtual space is obtained by parallel displacement of a region corresponding to the through hole in the extending direction of the arm portion. The actuator is installed on the arm portion on the side of the virtual space, with the posture of the actuator being such that the virtual space and the brake do not overlap each other.

Abstract translation: 机器人包括下臂，上臂，致动器和制动器。 上臂由下臂支撑，并且包括具有通孔的底部和从底部延伸而避开通孔的臂部。 致动器包括输出轴和与其连接的转子。 制动器安装在致动器的与输出轴突出的一侧相对的端面上，并作用在转子的一部分上以制动致动器。 通过在臂部的延伸方向上对应于通孔的区域的平行位移获得虚拟空间。 致动器安装在虚拟空间侧的臂部分上，致动器的姿态使得虚拟空间和制动器彼此不重叠。

公开(公告)号：US20170252920A1

公开(公告)日：2017-09-07

申请号：US15604655

申请日：2017-05-25

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Youichi MOTOMURA ,  Kentaro TANAKA

IPC: B25J9/10

CPC classification number: B25J9/102 ,  B25J9/0009 ,  B25J17/0258 ,  B25J19/0025 ,  Y10S901/23 ,  Y10S901/26

Abstract: A robot arm includes a first holder and a second holder. The first holder includes a first base portion and a first distal portion. The first distal portion has a first distal thickness smaller than a thickness of the first base portion. The second holder includes a second base and a second distal portion. The second distal portion has a second distal thickness smaller than a thickness of the second base portion. A first rotator is supported by the first distal portion and the second distal portion. A second rotator is supported by the first rotator. A first bevel gear is provided in the first distal portion. Another first bevel gear is provided in the second distal portion. A second bevel gear engages with the first bevel gear and the another first bevel gear.

公开(公告)号：US20140224058A1

公开(公告)日：2014-08-14

申请号：US14178177

申请日：2014-02-11

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Kentaro TANAKA ,  Atsushi ICHIBANGASE ,  Shingo TSUTSUMI

IPC: B25J17/00

CPC classification number: B25J17/00 ,  B25J9/102 ,  Y10S901/28 ,  Y10T74/20329

Abstract: A joint mechanism includes a motor including a motor shaft and a hypoid pinion provided at a tip end of the motor shaft and a speed reducer configured to reduce a rotation speed of the motor at a speed reduction ratio. The speed reducer includes a screw-shaped input shaft and a ring-shaped gear meshing with the screw-shaped input shaft and three-dimensionally intersecting the screw-shaped input shaft at a right angle. Further, the screw-shaped input shaft includes a shaft body provided with a screw portion and a hypoid gear arranged at one end of the screw-shaped input shaft and configured to mesh with the hypoid pinion. Furthermore, the screw-shaped input shaft has an axis three-dimensionally intersecting the motor shaft at a right angle.

Abstract translation: 关节机构包括：电动机，其包括电动机轴和设置在电动机轴的前端的准双曲面小齿轮;以及减速器，其构造为以减速比降低电动机的转速。 减速机包括螺旋形输入轴和与螺旋形输入轴啮合的环形齿轮，并且与螺旋形输入轴成直角地相交。 此外，螺旋形输入轴包括设置有螺纹部分的轴体和布置在螺旋形输入轴的一端处的配置为与准双曲面齿轮啮合的准双曲面齿轮。 此外，螺旋形输入轴具有与电机轴成三维相交的轴线。