公开(公告)号：US20140196561A1

公开(公告)日：2014-07-17

申请号：US14155361

申请日：2014-01-15

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Shingi TAKAHASHI ,  Takuya OKADA ,  Tomoyuki SHIRAKI

IPC: B25J18/04 ,  B25J17/02

CPC classification number: B25J18/04 ,  B25J9/1035 ,  B25J17/02 ,  B25J17/025 ,  Y10T74/20317 ,  Y10T74/20335

Abstract: A robot according to an embodiment includes a first link, a second link, an actuator, and an external gear. The second link is rotatably connected to the first link. The actuator rotationally drives the second link. The external gear is connected to the actuator. The second link includes an internal gear engaged with the external gear.

Abstract translation: 根据实施例的机器人包括第一连杆，第二连杆，致动器和外部齿轮。 第二连杆可旋转地连接到第一连杆。 致动器旋转地驱动第二连杆。 外部齿轮连接到执行机构。 第二连杆包括与外齿轮接合的内齿轮。

公开(公告)号：US20140196562A1

公开(公告)日：2014-07-17

申请号：US14155364

申请日：2014-01-15

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Shingi TAKAHASHI ,  Takuya OKADA ,  Tomoyuki SHIRAKI

IPC: B25J17/02 ,  B25J18/04

CPC classification number: B25J17/02 ,  B25J9/0024 ,  B25J9/104 ,  B25J18/04 ,  Y10T74/20323 ,  Y10T74/20335

Abstract: A robot includes a first actuator, a first rotating body, a second actuator, and a second rotating body. The first actuator rotationally drives a second wrist that is connected to a first wrist. The first rotating body transmits a drive force of the first actuator to a second wrist. The second actuator rotationally drives a third wrist that is connected to the second wrist. The second rotating body transmits a drive force of the second actuator to the third wrist. The first rotating body and the second rotating body are arranged at positions where rotation axes of the first and second rotating bodies are parallel with each other and do not interfere with each other in such a manner that the position of the first rotating body is within a range of the second rotating body when viewed from a direction perpendicular to the rotation axis of the second rotating body.

Abstract translation: 机器人包括第一致动器，第一旋转体，第二致动器和第二旋转体。 第一执行器旋转地驱动连接到第一腕的第二腕。 第一旋转体将第一致动器的驱动力传递到第二腕部。 第二执行器旋转地驱动连接到第二腕的第三腕。 第二旋转体将第二致动器的驱动力传递到第三腕部。 第一旋转体和第二旋转体配置在第一旋转体和第二旋转体的旋转轴彼此平行的位置，并且不会相互干涉，使得第一旋转体的位置在 当从与第二旋转体的旋转轴线垂直的方向观察时，第二旋转体的范围。

公开(公告)号：US20150039125A1

公开(公告)日：2015-02-05

申请号：US14446304

申请日：2014-07-29

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Shingi TAKAHASHI ,  Tomoyuki SHIRAKI ,  Masato ITO ,  Kaori SAKAKI

IPC: B25J9/16

CPC classification number: B25J9/1628 ,  B25J19/0008 ,  B25J19/0025 ,  Y10S901/14 ,  Y10S901/42

Abstract: A robot includes: a stage unit; a rotation base connected to the stage unit in a rotatable manner around a predetermined rotating axis; an arm unit connected to the rotation base and having a base end rotatable around a first rotation axis that is substantially orthogonal to the rotating axis; a first attachment unit provided to the rotation base, arranged in an outside, in a rotation radius direction, of the rotation base and nearer to the stage unit than the first rotation axis, and formed so that one part of a balancer is attached thereto; and a second attachment unit provided to the arm unit and formed so that another part of the balancer is attached thereto.

Abstract translation: 机器人包括：舞台单元; 旋转基座，围绕预定旋转轴线以可旋转的方式连接到平台单元; 连接到所述旋转基座的臂单元，并且具有可围绕基本上垂直于所述旋转轴线的第一旋转轴线旋转的基端; 第一安装单元，设置在所述旋转底座上，所述旋转基座沿旋转半径方向布置在所述旋转底座的外侧，并且比所述第一旋转轴线更靠近所述台单元，并且形成为使得平衡器的一部分附接到所述第一安装单元; 以及第二安装单元，其设置在所述臂单元上并且形成为使得所述平衡器的另一部分附接到所述臂单元。

公开(公告)号：US20150034698A1

公开(公告)日：2015-02-05

申请号：US14446308

申请日：2014-07-29

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Shingi TAKAHASHI ,  Tomoyuki SHIRAKI ,  Masato ITO ,  Kaori SAKAKI ,  Takahiko KANAMORI

IPC: B23K37/02 ,  B25J19/00 ,  B25J18/02

CPC classification number: B23K37/02 ,  B23K37/0247 ,  B25J18/02 ,  B25J19/0008 ,  B25J19/0025 ,  Y10S901/42 ,  Y10T74/20311 ,  Y10T74/20317

Abstract: A robot includes: a stage unit; a rotation base connected to the stage unit in a rotatable manner around a predetermined rotating axis; an arm unit connected to the rotation base and having a base end rotatable around a first rotation axis that is substantially orthogonal to the rotating axis; a balancer connected to both the rotation base and the arm unit; and a cable arranged along the arm unit outside the balancer while supported by that balancer.

Abstract translation: 机器人包括：舞台单元; 旋转基座，围绕预定旋转轴线以可旋转的方式连接到平台单元; 连接到所述旋转基座的臂单元，并且具有可围绕基本上垂直于所述旋转轴线的第一旋转轴线旋转的基端; 连接到旋转底座和臂单元的平衡器; 以及沿平衡器外侧的臂单元布置的电缆，同时由该平衡器支撑。

公开(公告)号：US20140360307A1

公开(公告)日：2014-12-11

申请号：US14067965

申请日：2013-10-31

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Shingi TAKAHASHI ,  Takuya OKADA ,  Tomoyuki SHIRAKI

IPC: B25J18/00

CPC classification number: B25J9/103 ,  B25J17/02 ,  F16H55/18 ,  Y10S901/25 ,  Y10T74/20329

Abstract: A robot according to embodiments includes a first link, a second link, an actuator, a scissors gear, and a support part. The second link is rotatably connected to the first link. The actuator drives the second link in a rotatable manner. The scissors gear includes a main gear and a sub gear, and outputs driving force from the actuator to the second link. The support part is attached to the first link and rotatably supports the scissors gear. Furthermore, the scissors gear includes a spring that is arranged adjacent to the support part in the direction of the rotational axis of the scissors gear and applies biasing force to the main gear and the sub gear in rotational directions different from each other.

Abstract translation: 根据实施例的机器人包括第一连杆，第二连杆，致动器，剪刀齿轮和支撑部件。 第二连杆可旋转地连接到第一连杆。 致动器以可旋转的方式驱动第二连杆。 剪刀齿轮包括主齿轮和副齿轮，并且将驱动力从致动器输出到第二连杆。 支撑部分附接到第一连杆并可旋转地支撑剪刀齿轮。 此外，剪刀齿轮包括沿着剪刀齿轮的旋转轴线的方向邻近支撑部分布置的弹簧，并且在相对于彼此不同的旋转方向上向主齿轮和副齿轮施加偏压力。

公开(公告)号：US20140196563A1

公开(公告)日：2014-07-17

申请号：US14158229

申请日：2014-01-17

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Shingi TAKAHASHI ,  Takuya OKADA ,  Tomoyuki SHIRAKI

IPC: B25J17/02

CPC classification number: B25J17/02 ,  B25J9/0024 ,  B25J9/047 ,  B25J15/0066 ,  B25J19/0025 ,  Y10T74/20335

Abstract: A robot according to an embodiment includes a lower arm, an upper arm, a wrist, and an actuator that rotationally drives the wrist. The upper arm is connected to the lower arm rotatably about a first rotation axis. The wrist is connected to the upper arm rotatably about a second rotation axis perpendicular to the first rotation axis. The actuator is disposed so that a rotation axis of the actuator is perpendicular to the second rotation axis and is attached to the upper arm so as to extend in a direction of the first rotation axis.

Abstract translation: 根据实施例的机器人包括旋转地驱动腕部的下臂，上臂，腕部和致动器。 上臂可绕第一旋转轴线可转动地连接到下臂。 手腕以与第一旋转轴垂直的第二旋转轴可旋转地连接到上臂。 致动器被设置成使得致动器的旋转轴线垂直于第二旋转轴线并且被附接到上臂，以沿着第一旋转轴线的方向延伸。