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公开(公告)号：US07971504B2
公开(公告)日：2011-07-05
申请号：US12088283
申请日：2006-09-14
IPC分类号： B25J17/00
CPC分类号： B25J9/06 , B25J9/0087 , B25J9/08 , B25J9/126 , B25J17/025 , B25J19/0029 , Y10T74/20311 , Y10T74/20317 , Y10T74/20329
摘要： This invention provides a manipulator that can facilitate a teaching method, improve the operation speed of an arm, and mount a heavy load in a narrow space. The manipulator includes a plurality of arm bodies provided in series, joint parts rotatably connecting two adjacent arm bodies, and the joint parts in which slope of rotation axes of the adjacent joints are 90 degrees, at least one linear body disposed in the joint parts coaxially with the rotation axes. The joint parts are composed of a servo motor, and a speed-reduction mechanism. The rotation axes of the servo motor, the speed-reduction mechanism and the joint parts become the same axis.
摘要翻译： 本发明提供了一种能够促进教学方法，提高手臂的操作速度和将重负载安装在狭窄空间中的操纵器。 操纵器包括多个串联设置的臂体，可连接两个相邻的臂体的接合部分和相邻接头的旋转轴线的倾斜度为90度的接合部分，至少一个直线体同轴设置在接合部分中 与旋转轴。 接合部由伺服电动机和减速机构构成。 伺服电机的旋转轴，减速机构和接头部件成为同一轴。
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公开(公告)号：US20050150883A1
公开(公告)日：2005-07-14
申请号：US10502540
申请日：2003-02-03
申请人： Kazuhiro Tomiyasu , Koji Muragaki , Seigo Nishikawa , Kazuhiro Haniya , Atsushi Ichibangase , Shunsuke Maeda , Kazuhiko Nishimura
发明人： Kazuhiro Tomiyasu , Koji Muragaki , Seigo Nishikawa , Kazuhiro Haniya , Atsushi Ichibangase , Shunsuke Maeda , Kazuhiko Nishimura
CPC分类号： H01R13/005 , B23K9/32 , H01R13/562
摘要： An arc welding cable that is resistant to bending and twisting and can give a long life is provided. For this purpose, an arc welding cable (65) for supplying a welding current, a welding wire and a sealed gas from a wire feeding device (61) to a welding torch (64), has a passage (4) for the welding wire (2) and sealed gas is located at a center of the arc welding cable and a plurality of conductors (5) are arranged apart from one another on a circumference around the passage (4). The space between the plurality of conductor (5) may be filled with a cushion material such as cotton or elastic synthetic resin.
摘要翻译： 提供耐弯曲和扭转并且可以延长使用寿命的电弧焊接电缆。 为此，用于将焊接电流提供的电弧焊接电缆（65），焊丝和从送丝装置（61）到焊枪（64）的密封气体具有用于焊丝的通道（4） （2），并且密封气体位于电弧焊接电缆的中心，并且多个导体（5）在围绕通道（4）的圆周上彼此分开布置。 多个导体（5）之间的空间可以填充有诸如棉或弹性合成树脂的缓冲材料。
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3.发明授权公开(公告)号：US06734367B2
公开(公告)日：2004-05-11
申请号：US10203271
申请日：2002-08-08
IPC分类号： H01B700
CPC分类号： H02G11/006 , B25J19/0025 , F16F1/12 , H02G3/0481 , H02G11/00
摘要： The present invention intends to provide a cable protection spring capable of being attached and fixed through one-touch operation without requiring an ironmongery goods or a tool for fixing. In order to attain this object, according to the present invention, in the cable protection spring which is arranged in a manner that a wiring cable is passed within and through a coil spring 5 to protect the wiring cable from mechanical damage, the coil spring 5 is provided with a portion 5a having a diameter larger than a diameter of remaining portion thereof.
摘要翻译： 本发明旨在提供一种电缆保护弹簧，其能够通过一次性操作而被附接和固定，而不需要熨烫用品或固定工具。为了达到该目的，根据本发明，在电缆保护弹簧 其布置方式使得布线电缆穿过螺旋弹簧5并通过螺旋弹簧5以保护布线电缆免受机械损坏，螺旋弹簧5设置有直径大于其剩余部分直径的部分5a。
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公开(公告)号：US08413538B2
公开(公告)日：2013-04-09
申请号：US13115992
申请日：2011-05-26
IPC分类号： B25J18/02
CPC分类号： B25J9/06 , B25J9/0087 , B25J9/08 , B25J9/126 , B25J17/025 , B25J19/0029 , Y10T74/20311 , Y10T74/20317 , Y10T74/20329
摘要： An articulated manipulator includes a base body, a first arm body, a second arm body having a second arm center axis, and a third arm body. A first joint part connects the base body and a first end portion of the first arm body rotatably around a first rotation axis. A second joint part connects a second end portion of the first arm body and a third end portion of the second arm body rotatably around a second rotation axis. A third joint part connects a fourth end portion of the second arm body and a fifth end portion of the third arm body rotatably around the third rotation axis. When the first, second and third arm bodies are all erected with respect to a installation surface, the first rotation axis, the second arm center axis, and the third rotation axis are substantially aligned with each other.
摘要翻译： 关节式操纵器包括基体，第一臂体，具有第二臂中心轴线的第二臂体和第三臂体。 第一接合部分围绕第一旋转轴线可旋转地连接基体和第一臂体的第一端部。 第二接合部分围绕第二旋转轴线可旋转地连接第一臂体的第二端部和第二臂体的第三端部。 第三关节部分可绕第三旋转轴线可转动地连接第二臂体的第四端部和第三臂体的第五端部。 当第一，第二和第三臂体全部相对于安装表面竖起时，第一旋转轴线，第二臂中心轴线和第三旋转轴线基本上彼此对准。
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公开(公告)号：US07135655B2
公开(公告)日：2006-11-14
申请号：US10502540
申请日：2003-02-03
申请人： Kazuhiro Tomiyasu , Koji Muragaki , Seigo Nishikawa , Kazuhiro Haniya , Atsushi Ichibangase , Shunsuke Maeda , Kazuhiko Nishimura
发明人： Kazuhiro Tomiyasu , Koji Muragaki , Seigo Nishikawa , Kazuhiro Haniya , Atsushi Ichibangase , Shunsuke Maeda , Kazuhiko Nishimura
CPC分类号： H01R13/005 , B23K9/32 , H01R13/562
摘要： An arc welding cable that is resistant to bending and twisting and can give a long life is provided. For this purpose, an arc welding cable (65) for supplying a welding current, a welding wire and a sealed gas from a wire feeding device (61) to a welding torch (64), has a passage (4) for the welding wire (2) and sealed gas is located at a center of the arc welding cable and a plurality of conductors (5) are arranged apart from one another on a circumference around the passage (4). The space between the plurality of conductor (5) may be filled with a cushion material such as cotton or elastic synthetic resin.
摘要翻译： 提供耐弯曲和扭转并且可以延长使用寿命的电弧焊接电缆。 为此，用于将焊接电流提供的电弧焊接电缆（65），焊丝和从送丝装置（61）到焊枪（64）的密封气体具有用于焊丝的通道（4） （2），并且密封气体位于电弧焊接电缆的中心，并且多个导体（5）在围绕通道（4）的圆周上彼此分开布置。 多个导体（5）之间的空间可以填充有诸如棉或弹性合成树脂的缓冲材料。
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公开(公告)号：US08020467B2
公开(公告)日：2011-09-20
申请号：US12785790
申请日：2010-05-24
CPC分类号： B25J17/0283 , B25J18/005 , B25J19/0025 , Y10T74/20305 , Y10T74/20311 , Y10T74/20317 , Y10T74/20335
摘要： The present invention is an industrial robot with a cable spanned between and end effector and an upper arm. The cable does not twine around the upper arm or interfere with a peripheral device. A passage opening, through which the cable for supplying power, signals, or materials to an end effector attached to a rotating element is drawn out of a body, is opened at a position where the body intersects the center of a first rotational axis.
摘要翻译： 本发明是一种工业机器人，其具有跨越在其间的电缆和末端执行器和上臂。 电缆不会绕上臂缠绕或干扰外围设备。 通道开口，其中用于向附接到旋转元件的端部执行器提供动力，信号或材料的电缆从主体拉出，在主体与第一旋转轴线的中心相交的位置处被打开。
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公开(公告)号：US07836789B2
公开(公告)日：2010-11-23
申请号：US10493139
申请日：2002-10-22
CPC分类号： B25J17/0283 , B25J18/005 , B25J19/0025 , Y10T74/20305 , Y10T74/20311 , Y10T74/20317 , Y10T74/20335
摘要： The present invention provides an industrial robot, wherein a cable or the like spanned between an end effector and an upper arm has less bending due to a motion of a wrist portion, wherein the cable or the like does not twine around the upper arm, and wherein the cable or the like does not interfere with a peripheral device.A passage opening 25, through which a cable or the like 12 for supplying power, signals or materials to an end effector 9 attached to a rotating element 7 is drawn out of a body 6, is opened at a position, at which the body 6 intersects with a center of a first axis (an R-axis). The cable or the like 12 drawn out of the passage opening 25 is extended to the end effector 9.
摘要翻译： 本发明提供了一种工业机器人，其中跨越端部执行器和上臂的电缆等由于腕部的运动而具有较小的弯曲，其中电缆等不围绕上臂缠绕，并且 其中电缆等不干扰外围设备。 通过开口25，通过其将用于向连接到旋转元件7的端部执行器9提供动力，信号或材料的电缆或类似物12从主体6拉出，在主体6 与第一轴（R轴）的中心相交。 从通道开口25引出的电缆或类似物12延伸到端部执行器9。
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公开(公告)号：US20090114052A1
公开(公告)日：2009-05-07
申请号：US12088283
申请日：2006-09-14
CPC分类号： B25J9/06 , B25J9/0087 , B25J9/08 , B25J9/126 , B25J17/025 , B25J19/0029 , Y10T74/20311 , Y10T74/20317 , Y10T74/20329
摘要： This invention provides a manipulator that can facilitate a teaching method, improve the operation speed of an arm, and mount a heavy load in a narrow space. The manipulator includes a plurality of arm bodies provided in series, joint parts rotatably connecting two adjacent arm bodies, and the joint parts in which slope of rotation axes of the adjacent joints are 90 degrees, at least one linear body disposed in the joint parts coaxially with the rotation axes. The joint parts are composed of a servo motor, and a speed-reduction mechanism. The rotation axes of the servo motor, the speed-reduction mechanism and the joint parts become the same axis.
摘要翻译： 本发明提供了一种能够促进教学方法，提高手臂的操作速度和将重负载安装在狭窄空间中的操纵器。 操纵器包括多个串联设置的臂体，可连接两个相邻的臂体的接合部分和相邻接头的旋转轴线的倾斜度为90度的接合部分，至少一个直线体同轴设置在接合部分中 与旋转轴。 接合部由伺服电动机和减速机构构成。 伺服电机的旋转轴，减速机构和接头部件成为同一轴。
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公开(公告)号：US20070137370A1
公开(公告)日：2007-06-21
申请号：US10580551
申请日：2004-08-27
IPC分类号： B25J18/00
CPC分类号： B25J9/103 , B25J19/0025 , Y10T74/20305
摘要： It is an object of the invention to provide an arm mechanism for an industrial robot in which backlash can be reduced, a transmission loss of a driving force in a reduction gear can be reduced, and attachment dimensions of a feeding apparatus in the case where a conduit cable is disposed can be made small. According to the invention, the mechanism has: a driving portion 10 which is separated from an R axis and disposed in a one-end side 3a of an arm portion 3, and in which a harmonic drive reduction gear 9 is coupled to an output shaft of an R-axis motor 8; a driven gear 11 which is supported to be rotatable around the R axis, and which is connected to another end side 3b of the arm portion 3; a passing hole 13 which is disposed along the R axis, and which is passed through the driven gear 11 in a manner that the hole is opened to the outside of the one-end side 3a of the arm portion 3, to communicate with the other-end side 3b of the arm portion 3; and a scissors gear 12 which is disposed on the output shaft of the harmonic drive reduction gear 9, and which meshes with the driven gear 11.
摘要翻译： 本发明的目的是提供一种用于工业机器人的臂机构，其中可以减少齿隙，减小齿轮中的驱动力的传动损失可以减小，并且在 导线电缆的布置可以做得很小。 根据本发明，该机构具有：驱动部分10，其从R轴分离并且设置在臂部3的一端侧3a中，并且其中谐波驱动减速齿轮9耦合到输出 R轴电动机8的轴; 被驱动齿轮11，其被支撑为能够围绕R轴旋转，并且连接到臂部3的另一端侧3b; 通孔13，其沿着R轴设置，并且以从孔齿轮11的一端侧3a的外侧开口的方式穿过从动齿轮11，与通孔13连通。 臂部3的另一端侧3b; 以及设置在谐波驱动减速齿轮9的输出轴上并与从动齿轮11啮合的剪刀齿轮12。
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公开(公告)号：US6065364A
公开(公告)日：2000-05-23
申请号：US043387
申请日：1998-03-17
CPC分类号： B25J9/101 , Y10T74/20305 , Y10T74/2063
摘要： A stopper includes a frame (51) fixed to a mount base (1) of an industrial robot, a retaining shaft (52) which is fixed to the frame (51) in an upright position in relation to the plane of rotation of the turning base (2), a rod-shaped engagement lever (53) which is supported so as to be able to turn around the retaining shaft (52), a spring (57) for returning the engagement lever (53) to a position where it faces the center of the turning base (2), stoppers (59A, 59B) provided on both inner surfaces of the frame (51) which face the engagement lever (53), and an engagement dog (7) which is fixed to the turning base (2) and is capable of engaging the engagement lever (53). It is possible to provide a stopper for use with an industrial robot which permits setting of the operating angle of the turning base to a value of 360.degree. or more and which ensures a wide range of operation.
摘要翻译： PCT No.PCT / JP96 / 02647 Sec。 371日期：1998年3月17日 102（e）1998年3月17日PCT PCT 1996年9月17日PCT公布。 公开号WO97 / 10933 日期1997年3月27日一种止动器包括：固定到工业机器人的安装基座（1）的框架（51）;固定轴（52），其相对于平面固定在框架（51）上; 所述转动基座（2）的转动，被支撑为能够绕所述保持轴（52）转动的杆状接合杆（53），用于使所述接合杆（53）返回的弹簧（57） 到与转动基座（2）的中心相对的位置，设置在框架（51）的与接合杆（53）相对的两个内表面上的止动件（59A，59B）和接合爪（7） 固定到转动基座（2）上并且能够接合接合杆（53）。 可以提供一种用于工业机器人的止动件，其允许将转动底座的操作角度设定为360度或更大的值，并且确保较宽的操作范围。
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