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    Wrist mechanism for an industrial robot
    2.
    发明授权
    Wrist mechanism for an industrial robot 失效
    工业机器人手腕机构

    公开(公告)号：US5249479A

    公开(公告)日：1993-10-05

    申请号：US841208

    申请日：1992-02-27

    申请人： Nobutoshi Torii ,  Hitoshi Mizuno ,  Kyozi Iwasaki

    发明人： Nobutoshi Torii ,  Hitoshi Mizuno ,  Kyozi Iwasaki

    IPC分类号： B25J17/02 ,  B25J19/00

    CPC分类号： B25J19/0029 ,  B25J17/0283 ,  Y10T74/20201 ,  Y10T74/20207 ,  Y10T74/20402

    摘要： A wrist mechanism comprising a pipe 52 extended in relation to a front .alpha.-axis among the three axes of motion (.alpha.-axis, .beta.-axis, .gamma.-axis) of a wrist, on a center axis A--A of turning motion through the center of an .alpha.-axis reduction gear, a universal pipe coupling 61 provided in relation to a .beta.-axis on the center axis B--B of motion, a pipe 51 having one end connected to the pipe 52 and the other end connected to the pipe coupling 61, and a hose 4 extended along a support arm 3 and connected through the pipe coupling 61 to the pipe 51. The wrist mechanism is incorporated into a robot for work in which a fluid is used, such as an application of an adhesive and sealant.

    摘要翻译： 一种手腕机构，包括在手腕的三个运动轴线（α轴，β轴，γ轴）中相对于前侧的α轴延伸的管52，其位于通过中心的转动运动的中心轴线AA上 的α轴减速齿轮，相对于运动中心轴线BB上的β轴设置的通用管接头61，一端连接到管52并且另一端连接到管接头61的管51 ，以及沿着支撑臂3延伸并通过管接头61连接到管51的软管4.手腕机构结合到使用流体的工作机器人中，例如施加粘合剂和密封剂。

    Bevel gear unit and a wrist mechanism for an industrial robot incorporating the same
    3.
    发明授权
    Bevel gear unit and a wrist mechanism for an industrial robot incorporating the same 失效
    锥齿轮减速器和用于其结合的工业机器人的手腕机构

    公开(公告)号：US5127282A

    公开(公告)日：1992-07-07

    申请号：US809046

    申请日：1991-12-16

    申请人： Nobutoshi Torii ,  Hitoshi Mizuno ,  Kyozi Iwasaki

    发明人： Nobutoshi Torii ,  Hitoshi Mizuno ,  Kyozi Iwasaki

    IPC分类号： B25J9/10 ,  B25J17/02 ,  F16C35/06 ,  F16H1/14

    CPC分类号： B25J9/1005 ,  B25J17/0258 ,  B25J9/103 ,  F16H1/14 ,  Y10T74/1913 ,  Y10T74/19665 ,  Y10T74/19688

    摘要： A bevel gear unit comprising a bevel gear (11), a ball bearing (B.sub.1) coaxially mounted on the shaft of the bevel gear (11) and in contact with the back surface (17) thereof, a double spacer including an inner race spacer (12) and an outer race spacer (13) and mounted on the shaft of the bevel gear (11) behind the ball bearing (B.sub.1), ball bearings (B.sub.2, B.sub.3) mounted on the shaft of the bevel gear (11) behind the double spacer, and a bearing nut (15) screwed onto a threaded portion of the shaft of the bevel gear (11) behind the ball bearings (B.sub.2, B.sub.3). The axial length (l.sub.1) of the inner race spacer (12) is made smaller than the axial length (l.sub.2) of the outer race spacer (13) by a preloading allowance (.delta.), and the outer race spacer (13) is provided with threaded holes (t.sub.1) in the rear surface (f.sub.1) thereof. When applied to a mechanism having a plurality of coaxial bevel gears, particularly, to a wrist mechanism for an industrial robot, the bevel gear unit facilitates the preloading of the bearings.

    Industrial robot
    5.
    发明授权
    Industrial robot 失效
    工业机器人

    公开(公告)号：US4728247A

    公开(公告)日：1988-03-01

    申请号：US834274

    申请日：1986-02-20

    申请人： Seiichiro Nakashima ,  Kenichi Toyoda ,  Nobutoshi Torii ,  Hitoshi Mizuno

    发明人： Seiichiro Nakashima ,  Kenichi Toyoda ,  Nobutoshi Torii ,  Hitoshi Mizuno

    IPC分类号： B25J9/04 ,  B25J19/00 ,  B66C23/72

    CPC分类号： B25J19/0016 ,  B25J9/046 ,  Y10T16/53834

    摘要： The industrial robot comprises a lower arm (13) provided on a robot body (12) pivotably about a first horizontal axis (C1). The lower arm (13) has provided thereon a forearm (14) pivotably about a second horizontal axis (C2). The forearm (14) is rotationally driven by a drive such as a motor (16). The robot body (12) has provided thereon a rotating disk (17) interlocked with the pivoting of the forearm (14) about the second axis (C2) and rotatable about the first axis (C1). Also the rotating disk (17) has secured thereon a first wheel (18) and coaxial therewith, the diameter of which is smaller than that of the disk. There is further provided a tension spring assembly (19) having one end thereof connected to the robot body (12) and which has rotatably mounted at the other end thereof a second wheel (21) having nearly the same diameter as that of the first wheel. Also provided is a chain (22) having one end thereof connected to the rotating disk (17) and the other end engaged on the first wheel (18). This chain (22) is engaged on the outer circumference of the second wheel (21) while pulling the tension spring assembly (19). The one end of the chain (22) is so disposed on the rotating disk (17) that when the upper end of the forearm (14) is directed normally downward, the chain portion (22b) between the rotating disk (17) and the second wheel (21) is substantially parallel to the chain portion (22c) between the first and second wheels (18) and (21).

    摘要翻译： PCT No.PCT / JP85 / 00366 Sec。 一九八六年二月二十日 102（e）日期1986年2月20日PCT提交1985年6月28日PCT公布。 出版物WO86 / 日期1986年1月16日。工业机器人包括设置在机器人主体（12）上的可绕第一水平轴线（C1）枢转的下臂（13）。 下臂（13）在其上设置有绕第二水平轴线（C2）可枢转的前臂（14）。 前臂（14）由诸如马达（16）的驱动器旋转驱动。 机器人主体（12）上设置有旋转盘（17），该旋转盘与前臂（14）围绕第二轴线（C2）枢转并且可围绕第一轴线（C1）旋转。 此外，旋转盘（17）固定有第一轮（18）并与其同轴，其直径小于盘的直径。 另外还设置有一个拉伸弹簧组件（19），其一端连接到机器人本体（12），并且其另一端可旋转地安装有与第一轮几乎相同直径的第二轮（21） 。 还设置有一个链条（22），其一端连接到旋转盘（17），另一端接合在第一轮（18）上。 该链条（22）在拉动拉伸弹簧组件（19）的同时在第二轮（21）的外圆周上接合。 链条（22）的一端设置在旋转盘（17）上，当前臂（14）的上端正常向下定位时，旋转盘（17）和 第二轮（21）基本上平行于第一和第二轮（18）和（21）之间的链条部分（22c）。

    Cable guiding apparatus for industrial robot
    6.
    发明授权
    Cable guiding apparatus for industrial robot 失效
    工业机器人电缆导引装置

    公开(公告)号：US4906121A

    公开(公告)日：1990-03-06

    申请号：US93021

    申请日：1987-08-05

    申请人： Nobutoshi Torii ,  Ryo Nihei ,  Hitoshi Mizuno

    发明人： Nobutoshi Torii ,  Ryo Nihei ,  Hitoshi Mizuno

    IPC分类号： B25J9/06 ,  B25J19/00 ,  H02G11/00

    CPC分类号： B25J19/0029 ,  Y10T403/32213 ,  Y10T403/32557 ,  Y10T403/32975

    摘要： A cable arranging device for an industrial robot has a cylindrical support casing (2), a swing casing (3) supported on the support casing (2) and swingable about the axis of a swing shaft, and cables (5) interconnecting the swing casing (3) and the support casing (2). One end of a substantially C-shaped cable guide (4) is pivotally supported in the swing casing on the axis of the swing shaft, the other end of the cable guide is pivotally supported in the support casing on the axis of the swing shaft. Spaces for allowing the cable guide (4) to swing therein through a prescribed angle are defined respectively in the swing casing (3) and the support casing (2).

    Industrial robot
    7.
    发明授权
    Industrial robot 失效
    工业机器人

    公开(公告)号：US5006035A

    公开(公告)日：1991-04-09

    申请号：US346280

    申请日：1989-03-31

    申请人： Seiichiro Nakashima ,  Kenichi Toyoda ,  Nobutoshi Torii

    发明人： Seiichiro Nakashima ,  Kenichi Toyoda ,  Nobutoshi Torii

    IPC分类号： B25J9/04 ,  B25J9/06 ,  B25J9/10 ,  B25J9/12 ,  B25J19/00 ,  G05B19/23

    CPC分类号： B25J9/046 ,  B25J19/0029 ,  B25J19/005 ,  B25J9/1035 ,  B25J9/12 ,  G05B19/23 ,  G05B2219/45083 ,  G05B2219/50078 ,  G05B2219/50084

    摘要： An industrial robot has a robot unit (10) comprising a fixed base (12) and movable robot components (16, 18, 20) operatively controlled by driving motors (M.theta., MW, MU, M.alpha., M.beta., M.gamma.) provided with absolute position detecting encoders (EC.theta., ECW, ECU, EC.alpha., EC.beta., EC.gamma.). The swivel body (16) among the movable robot components, mounted on the fixed base (12) is mounted, on its mount, with the driving motor (M.theta.) for operatively controlling the same, and is mounted with and holds a battery (46) for supplying a backup voltage to the encoders of the driving motors (MW, MU, M.alpha., M.beta., M.gamma.) for operatively controlling the movable robot components (18, 20). The battery is connected electrically by cables (48, 49) to the encoders (EC.theta., ECW, ECU, EC.alpha., EC.beta., EC.gamma.).

    摘要翻译： 工业机器人具有机器人单元（10），其包括固定基座（12）和通过驱动马达（Mθ，MW，MU，Mα，Mβ，Mγ）可操作地控制的可移动机器人部件（16,18,20） 提供绝对位置检测编码器（EC theta，ECW，ECU，EC alpha，EC beta，EC gamma）。 安装在固定基座（12）上的可移动机器人部件中的旋转体（16）在其安装件上安装有用于可操作地控制其的驱动电动机（Mθ），并且安装并保持电池 46，用于向驱动电动机（MW，MU，Mα，Mβ，Mγ）的编码器提供备用电压，用于可操作地控制可移动机器人部件（18,20）。 电池通过电缆（48,49）电连接到编码器（ECθ，ECW，ECU，EC alpha，EC beta，EC gamma）。

    Direct-drive-type multi-articulated robot
    9.
    发明授权
    Direct-drive-type multi-articulated robot 失效
    直驱型多关节机器人

    公开(公告)号：US4903539A

    公开(公告)日：1990-02-27

    申请号：US275180

    申请日：1988-09-27

    申请人： Kenichi Toyoda ,  Nobutoshi Torii ,  Ryo Nihei ,  Akihiro Terada ,  Jun Kikuchi

    发明人： Kenichi Toyoda ,  Nobutoshi Torii ,  Ryo Nihei ,  Akihiro Terada ,  Jun Kikuchi

    IPC分类号： B25J9/06 ,  B25J9/04 ,  B25J9/12 ,  B25J19/00

    CPC分类号： B25J19/0004 ,  B25J9/042 ,  B25J9/126 ,  Y10T74/20305

    摘要： A direct-drive-type multi-articulated robot comprising: a stationary support shaft (14), a cylindrical rotary casing (16) surrounding the stationary support shaft (14), a first robot arm (18) joined to the upper end (16a) of the rotary casing (16), a second robot arm (20) pivotally joined to the extremity of the first robot arm (18), a direct-drive motor (M.theta.) interposed between the lower end of the rotary casing (16) and the lower end of the stationary support shaft (14) to drive the rotary casing (16) and the first robot arm (18) together for turning motion, a brake gear (24) interposed between the upper end (14a) of the stationary support shaft (14) and the first robot arm (18) to arrest the turning motion of the first robot arm (18), and an encoder (26) for detecting turning motion, interposed between the upper end (14a) of the stationary support shaft (14) and the first robot arm (18).