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公开(公告)号：US07204792B2
公开(公告)日：2007-04-17
申请号：US11472270
申请日：2006-06-22
IPC分类号： B23Q3/155
CPC分类号： B23K26/1482 , B23K9/32 , B23K9/328 , B23K11/3072 , B23K26/0884 , Y10T483/13 , Y10T483/15 , Y10T483/17 , Y10T483/1873
摘要： An apparatus for automatically changing a tool tip member for a robot includes a tip member changing jig disposed in an operational area of the robot. The tip member changing jig includes a base member, a rotating member supported by the base member so as to be rotatable about a rotation axis, and tip member holding means disposed at positions that are offset from the rotation axis of the rotating member. The tip member holding means holds the tool tip member so that a central axis of relative rotation, for threadedly mounting or demounting the tool tip member on or from the tool body, extends substantially parallel to the rotation axis of the rotating member and so that rotation of the tool tip member, with respect to the rotating member, is locked.
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公开(公告)号：US07217229B2
公开(公告)日：2007-05-15
申请号：US10784158
申请日：2004-02-24
IPC分类号： B23Q3/155
CPC分类号： B23K26/1482 , B23K9/32 , B23K9/328 , B23K11/3072 , B23K26/0884 , Y10T483/13 , Y10T483/15 , Y10T483/17 , Y10T483/1873
摘要： An apparatus for automatically changing a tool tip member for a robot includes a tip member changing jig disposed in an operational area of the robot. The tip member changing jig includes a base member, a rotating member supported by the base member so as to be rotatable about a rotation axis, and tip member holding means disposed at positions that are offset from the rotation axis of the rotating member. The tip member holding means holds the tool tip member so that a central axis of relative rotation, for threadedly mounting or demounting the tool tip member on or from the tool body, extends substantially parallel to the rotation axis of the rotating member and so that rotation of the tool tip member, with respect to the rotating member, is locked.
摘要翻译： 一种用于自动改变机器人工具头部件的装置，包括设置在机器人的操作区域中的尖端部件更换夹具。 顶端部件更换夹具包括基部构件，由基部构件支撑以能够围绕旋转轴线旋转的旋转构件，以及设置在偏离旋转构件的旋转轴线的位置处的末端构件保持装置。 尖端构件保持装置保持工具尖端构件，使得用于将工具末端构件螺纹地安装或拆卸在工具主体上或从工具主体上旋转的中心轴线基本上平行于旋转构件的旋转轴线延伸，并且使得旋转 相对于旋转构件的工具末端构件被锁定。
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公开(公告)号：US20060240961A1
公开(公告)日：2006-10-26
申请号：US11472270
申请日：2006-06-22
IPC分类号： B23Q3/155
CPC分类号： B23K26/1482 , B23K9/32 , B23K9/328 , B23K11/3072 , B23K26/0884 , Y10T483/13 , Y10T483/15 , Y10T483/17 , Y10T483/1873
摘要： An apparatus for automatically changing a tool tip member for a robot includes a tip member changing jig disposed in an operational area of the robot. The tip member changing jig includes a base member, a rotating member supported by the base member so as to be rotatable about a rotation axis, and tip member holding means disposed at positions that are offset from the rotation axis of the rotating member. The tip member holding means holds the tool tip member so that a central axis of relative rotation, for threadedly mounting or demounting the tool tip member on or from the tool body, extends substantially parallel to the rotation axis of the rotating member and so that rotation of the tool tip member, with respect to the rotating member, is locked.
摘要翻译： 一种用于自动改变机器人工具头部件的装置，包括设置在机器人的操作区域中的尖端部件更换夹具。 顶端部件更换夹具包括基部构件，由基部构件支撑以能够围绕旋转轴线旋转的旋转构件，以及设置在偏离旋转构件的旋转轴线的位置处的末端构件保持装置。 尖端构件保持装置保持工具尖端构件，使得用于将工具末端构件螺纹地安装或拆卸在工具主体上或从工具主体上旋转的中心轴线基本上平行于旋转构件的旋转轴线延伸，并且使得旋转 相对于旋转构件的工具末端构件被锁定。
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公开(公告)号：US07105771B2
公开(公告)日：2006-09-12
申请号：US10753565
申请日：2004-01-09
IPC分类号： B23K9/12
CPC分类号： H02G11/00 , B23K9/1336 , B23K9/28 , B23K9/287 , B23K37/02 , B25J19/0025
摘要： A first wrist element is provided at a distal end of a front arm of an arc welding robot rotatably about a first axial line, a second wrist element is provided on the first wrist element rotatably about a second axial line, and a welding torch is supported on the second wrist element about a third axial line. A slide mechanism which can reciprocate in a direction approximately parallel to the first axial line is provided at a proper position from an upper portion of the front arm to an upper portion of the first wrist element and a wire feeding apparatus is mounted on the slide mechanism. By sliding the position of the wire feeding apparatus in response to the attitude of the welding torch, an extending state of the torch cable can be maintained properly.
摘要翻译： 第一腕部元件设置在围绕第一轴线旋转的弧焊机器人的前臂的远端处，第二腕部元件围绕第二轴线可旋转地设置在第一腕部上，并且支撑焊炬 在第二腕部上围绕第三轴线。 在从前臂的上部到第一腕部的上部的适当位置设置有能够在大致平行于第一轴线的方向上往复运动的滑动机构，并且在滑动机构上安装送丝装置 。 通过根据焊炬的姿态滑动送丝装置的位置，可以适当地保持炬电缆的延伸状态。
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公开(公告)号：US4729660A
公开(公告)日：1988-03-08
申请号：US841896
申请日：1986-03-20
申请人： Toshihiro Tsumura , Takeshi Tsumura
发明人： Toshihiro Tsumura , Takeshi Tsumura
CPC分类号： G05D1/0244 , G01S17/06 , G01S17/875 , G05D1/0242
摘要： Light reflecting means 2R and 2L provided on both sides of a road 1 each reflect an incident light at the same angle as the angle of incidence with respect to the plane of incidence. Lights 8R and 8L emitted from a moving vehicle 3 are reflected from the light reflecting means 2R and 2L and returned again to the light emitting source and accordingly they are detected by light receivers 75R and 75L. The position of the moving vehicle 3 is calculated geometrically based on the moving distance of the moving vehicle 3 in a period obtained from the difference between the light receiving time of the light receiver 75R and that of the light receiver 75L or the light receiving angle as well as the moving direction of the moving vehicle 3 and the positions where the light reflecting means 2R and 2L are installed.
摘要翻译： 设置在道路1两侧的光反射装置2R和2L各自以相对于入射角的入射角以相同的角度反射入射光。 从移动车辆3发射的光8R和8L从光反射装置2R和2L反射并再次返回到发光源，因此它们被光接收器75R和75L检测。 基于从受光器75R的光接收时间和光接收器75L的光接收时间之间的差或光接收角度获得的周期内的移动车辆3的移动距离，几何地计算移动车辆3的位置， 以及移动车辆3的移动方向以及光反射装置2R和2L的安装位置。
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