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公开(公告)号：US4574655A
公开(公告)日：1986-03-11
申请号：US630952
申请日：1984-07-16
申请人： Kaoru Kimura , Shunji Sato , Junichiro Ogawa , Mitsuyoshi Nakano
发明人： Kaoru Kimura , Shunji Sato , Junichiro Ogawa , Mitsuyoshi Nakano
CPC分类号： F16H1/006 , B25J17/0283 , B25J9/1025 , Y10T74/19 , Y10T74/19051
摘要： The present invention provides a wrist mechanism with three degrees of freedom for an industrial robot, which is compactly formed and to which a tool is mounted. The first degree of freedom is associated with a first input shaft for rotating a wrist portion at a low speed. The second and third degrees of freedom are associated with rotating the tool or tilting the wrist. In order to attain these motions, second and third input shafts concentrically arranged relative to the first input shaft are used for transmitting motion to, through bevel gears, speed reduction mechanisms each symmetrically disposed at right and left sides, and the outputs therefrom are used to drive the tool and wrist.
摘要翻译： 本发明提供了一种用于工业机器人的三自由度的手腕机构，其紧凑地形成并且工具被安装到该自动机构上。 第一自由度与用于以低速旋转腕部的第一输入轴相关联。 第二和第三自由度与旋转工具或倾斜手腕相关联。 为了获得这些运动，相对于第一输入轴同心地配置的第二和第三输入轴用于通过锥齿轮将运动传递到每个对称地设置在右侧和左侧的减速机构，并且其输出用于 驱动工具和手腕。
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公开(公告)号：US4461936A
公开(公告)日：1984-07-24
申请号：US359446
申请日：1982-03-18
申请人： Kaoru Kimura , Mitsuyoshi Nakano
发明人： Kaoru Kimura , Mitsuyoshi Nakano
CPC分类号： B23K9/287 , B23K37/00 , B25J19/063 , H01H3/168
摘要： This invention discloses a contact sensing device for detecting the contact of a moving element such as a welding torch attached to a robot arm with a fixed body. The contact sensing device substantially comprises a support-side member, a work-side member, a spherical bearing mounted on either the support-side member or work-side member, a slide shaft slidably mounted on the spherical bearing, the slide shaft being slidable in an axial direction, an elastic member mounted on the slide shaft for making the work-side member biasingly come into contact with the support-side member, at least three rollers mounted on a first surface of either the support-side member or the work-side member, the rollers capable of coming into contact with a second surface of either the support-side member or the work-side member which opposes the first surface, at least one roller engaging member mounted on the second surface on which one of the rollers runs, and a limit switch actuated by the displacement of the slide shaft.
摘要翻译： 本发明公开了一种接触检测装置，用于检测附接到机器人手臂的固定体等移动元件的接触。 接触检测装置基本上包括支撑侧构件，工作侧构件，安装在支撑侧构件或工作侧构件上的球面轴承，可滑动地安装在球面轴承上的滑动轴，滑动轴可滑动 在轴向方向上，安装在滑动轴上的用于使工作侧构件与支撑侧构件偏压接触的弹性构件，安装在支撑侧构件或工件的第一表面上的至少三个辊 能够与支撑侧构件或与第一表面相对的工作侧构件的第二表面接触的辊，至少一个安装在第二表面上的辊接合构件，其中， 滚子运行，以及由滑动轴的位移致动的限位开关。
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公开(公告)号：US08878061B2
公开(公告)日：2014-11-04
申请号：US13008062
申请日：2011-01-18
CPC分类号： B25J19/0029 , H02G11/00
摘要： In a positioner according to the present invention, the rotating table and a hollow shaft is rotated by a motor via a speed reduction gear. In such a configuration, an air tube and a cable which supplies the air or electric power used to operate a jib on the rotating table are provided via the rotary joint arranged at one end of the shaft. A communication device may be provided on the rotating table by detaching the rotary joint and arranging a composite curl cord. The communication device may be provided by the rotary joint and a wireless communication device without using the composite curl cord.
摘要翻译： 在根据本发明的定位器中，旋转台和空心轴由电动机经由减速齿轮旋转。 在这种构造中，通过布置在轴的一端的旋转接头提供用于将旋转台上的起重臂用于操作起重臂的空气或电力的空气管和电缆。 可以通过拆卸旋转接头并布置复合卷曲帘线将通信装置设置在旋转台上。 通信设备可以由旋转接头和无线通信设备提供，而不使用复合卷曲线。
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公开(公告)号：US20110174793A1
公开(公告)日：2011-07-21
申请号：US12973926
申请日：2010-12-21
申请人： Keisuke Shiraga , Masaaki Hara , Mitsuyoshi Nakano
发明人： Keisuke Shiraga , Masaaki Hara , Mitsuyoshi Nakano
IPC分类号： B23K9/00
CPC分类号： B25J9/0096 , B25J9/0084
摘要： A robot system includes a work object, a robot that carries out work on the work object, and a positioner that positions the work object, and the robot is mounted on a mount of the positioner.
摘要翻译： 机器人系统包括工作对象，在工件上执行工作的机器人，以及定位工件，并将机器人安装在定位器的安装件上。
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公开(公告)号：US20090200722A1
公开(公告)日：2009-08-13
申请号：US11630623
申请日：2005-05-23
CPC分类号： B25J19/0029 , H02G11/00
摘要： In a positioner according to the present invention, the rotating table and a hollow shaft is rotated by a motor via a speed reduction gear. In such a configuration, an air tube and a cable which supplies the air or electric power used to operate a jib on the rotating table are provided via the rotary joint arranged at one end of the shaft. A communication device may be provided on the rotating table by detaching the rotary joint and arranging a composite curl cord. The communication device may be provided by the rotary joint and a wireless communication device without using the composite curl cord.
摘要翻译： 在根据本发明的定位器中，旋转台和空心轴由电动机经由减速齿轮旋转。 在这种构造中，通过布置在轴的一端的旋转接头提供用于将旋转台上的起重臂用于操作起重臂的空气或电力的空气管和电缆。 可以通过拆卸旋转接头并布置复合卷曲帘线将通信装置设置在旋转台上。 通信设备可以由旋转接头和无线通信设备提供，而不使用复合卷曲线。
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公开(公告)号：US07905472B2
公开(公告)日：2011-03-15
申请号：US11630623
申请日：2005-05-23
IPC分类号： B25B1/22
CPC分类号： B25J19/0029 , H02G11/00
摘要： In a positioner according to the present invention, the rotating table and a hollow shaft is rotated by a motor via a speed reduction gear. In such a configuration, an air tube and a cable which supplies the air or electric power used to operate a jib on the rotating table are provided via the rotary joint arranged at one end of the shaft. A communication device may be provided on the rotating table by detaching the rotary joint and arranging a composite curl cord. The communication device may be provided by the rotary joint and a wireless communication device without using the composite curl cord.
摘要翻译： 在根据本发明的定位器中，旋转台和空心轴由电动机经由减速齿轮旋转。 在这种构造中，通过布置在轴的一端的旋转接头提供用于将旋转台上的起重臂用于操作起重臂的空气或电力的空气管和电缆。 可以通过拆卸旋转接头并布置复合卷曲帘线将通信装置设置在旋转台上。 通信设备可以由旋转接头和无线通信设备提供，而不使用复合卷曲线。
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