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公开(公告)号：US07419351B2
公开(公告)日：2008-09-02
申请号：US11131202
申请日：2005-05-18
申请人： Ryo Nihei , Toshihiko Inoue , Kazutaka Nakayama
发明人： Ryo Nihei , Toshihiko Inoue , Kazutaka Nakayama
IPC分类号： B25J17/02
CPC分类号： B25J19/0025
摘要： A managing structure for an umbilical member of an industrial robot, the umbilical member being for supplying air and electric energy to a work tool attached to an end of a wrist of the robot, in which the umbilical member is properly moved and interference between the umbilical member and a peripheral object or a forearm of the robot is prevented. The umbilical member elastically contacts a guide surface of a guide plate attached to a second wrist element of the robot without widely projecting from the robot. The umbilical member is guided such that the extending direction of the umbilical member generally coincides with the longitudinal direction of the guide plate before the umbilical member is connected to the work tool. The thickness of the guide plate may be gradually reduced or constant toward a free end of the guide plate. The rotational motion about a third axis of the work tool by a final axis of the robot is converted to the rotational motion about a fourth axis via a transmission, so as to rotate the work tool. Even when the work tool is rotated, the umbilical member is properly moved. The work tool may also be rotated about the third axis.
摘要翻译： 一种用于工业机器人的脐带构件的管理结构，所述脐构件用于将空气和电能供应到附接到机器人手腕的端部的工作工具，其中脐带构件被适当地移动，并且脐带 防止机器人的构件和周边物体或前臂。 脐部件弹性地接触安装在机器人的第二腕部件上的引导板的引导表面，而不会从机器人突出。 引导脐部件，使得脐带部件的延伸方向在脐带部件连接到工作工具之前通常与导向板的纵向方向重合。 引导板的厚度可以朝着引导板的自由端逐渐减小或恒定。 通过机器人的最终轴围绕作业工具的第三轴线的旋转运动经由变速器被转换为围绕第四轴线的旋转运动，以便旋转工作工具。 即使当工作工具旋转时，脐带构件被适当地移动。 工作工具也可绕第三轴旋转。
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公开(公告)号：US20050281660A1
公开(公告)日：2005-12-22
申请号：US11131202
申请日：2005-05-18
申请人： Ryo Nihei , Toshihiko Inoue , Kazutaka Nakayama
发明人： Ryo Nihei , Toshihiko Inoue , Kazutaka Nakayama
CPC分类号： B25J19/0025
摘要： A managing structure for an umbilical member of an industrial robot, the umbilical member being for supplying air and electric energy to a work tool attached to an end of a wrist of the robot, in which the umbilical member is properly moved and interference between the umbilical member and a peripheral object or a forearm of the robot is prevented. The umbilical member elastically contacts a guide surface of a guide plate attached to a second wrist element of the robot without widely projecting from the robot. The umbilical member is guided such that the extending direction of the umbilical member generally coincides with the longitudinal direction of the guide plate before the umbilical member is connected to the work tool. The thickness of the guide plate may be gradually reduced or constant toward a free end of the guide plate. The rotational motion about a third axis of the work tool by a final axis of the robot is converted to the rotational motion about a fourth axis via a transmission, so as to rotate the work tool. Even when the work tool is rotated, the umbilical member is properly moved. The work tool may also be rotated about the third axis.
摘要翻译： 一种用于工业机器人的脐带构件的管理结构，所述脐构件用于将空气和电能供应到附接到机器人手腕的端部的工作工具，其中脐带构件被适当地移动，并且脐带 防止机器人的构件和周边物体或前臂。 脐部件弹性地接触安装在机器人的第二腕部件上的引导板的引导表面，而不会从机器人突出。 引导脐部件，使得脐带部件的延伸方向在脐带部件连接到工作工具之前通常与导向板的纵向方向重合。 引导板的厚度可以朝着引导板的自由端逐渐减小或恒定。 通过机器人的最终轴围绕作业工具的第三轴线的旋转运动经由变速器被转换为围绕第四轴线的旋转运动，以便旋转工作工具。 即使当工作工具旋转时，脐带构件被适当地移动。 工作工具也可绕第三轴旋转。
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公开(公告)号：US20060049159A1
公开(公告)日：2006-03-09
申请号：US11218501
申请日：2005-09-06
IPC分类号： B23K9/32
CPC分类号： B25J9/0018 , B23K9/1336 , B23K9/28 , B23K9/287 , B23K37/02
摘要： A robot base 15 is installed on a ceiling 100, and a first wrist element 11 is attached to a front arm base 10 to be rotatable about a first axis A. A second wrist element 12 is attached to the first wrist element 11 to be rotatable about a second axis B, and a welding torch 2 is supported via a transmission mechanism 13 to be rotatable about an offset axis C. The welding torch 2 is attached so that a tip end thereof is directed downward in the illustrated posture of the robot. A linear guide 6a and a slider 7 are provided via a support base 5, and an intermediate portion of a torch cable 3 (or a welding wire delivery device 4) is fixed thereto to draw a tensioning device 80. Such a structure is applicable to a wall-hanging type robot. Thereby, a structure for treating a torch cable is realized in an arc welding robot of a ceiling-suspension type/a wall-hanging type, capable of maintaining the behavior of the torch cable in a stable state as well as minimizing the interference of the torch cable with other objects.
摘要翻译： 机器人基座15安装在天花板100上，第一腕部11安装在前臂基座10上，以可围绕第一轴线A旋转。第二腕部12安装在第一腕部11上以可旋转 围绕第二轴线B，并且焊炬2经由传动机构13被支撑以能够围绕偏移轴线C旋转。焊枪2被附接成使得其末端在机器人的所示姿势中向下指向。 经由支撑基座5设置有直线引导件6a和滑块7，并且将炬电缆3（或焊丝输送装置4）的中间部分固定在其上以拉伸张紧装置80。 这种结构适用于挂挂式机器人。 因此，在天花板悬挂式/挂墙式电弧焊机器人中实现了一种用于处理割炬电缆的结构，能够将焊炬电缆的行为保持在稳定状态，并且能够最小化 火炬电缆与其他物体。
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公开(公告)号：US20090200432A1
公开(公告)日：2009-08-13
申请号：US12385656
申请日：2009-04-15
CPC分类号： B25J19/0025 , Y10T74/20305
摘要： A managing structure for an umbilical member includes a flexible conduit for leading an umbilical member inserted therein from a front arm of a robot to a working tool mounted on a wrist of the robot, a first conduit mounting portion provided adjacent to the front arm, and a second conduit mounting portion provided adjacent to a point where the umbilical member is connected to the working tool. One end of the conduit is attached to the first conduit mounting portion, while the other end of the conduit is attached to the second conduit mounting portion. The conduit is laid so that a section thereof between the first conduit mounting portion and the second conduit mounting portion does not contact the body of the robot.
摘要翻译： 一种用于脐带构件的管理结构包括用于将从机器人的前臂插入其中的脐带构件引导到安装在机器人手腕上的作业工具的柔性导管，邻近前臂设置的第一导管安装部分，以及 第二导管安装部分，其邻近于脐带构件连接到工作工具的点设置。 导管的一端连接到第一导管安装部分，而导管的另一端附接到第二导管安装部分。 导管被放置成使得其第一导管安装部分和第二导管安装部分之间的部分不接触机器人的主体。
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公开(公告)号：US20080034920A1
公开(公告)日：2008-02-14
申请号：US11889118
申请日：2007-08-09
CPC分类号： B25J17/0283 , B25J9/104 , Y10T74/1913
摘要： A wrist driving structure for an industrial robot having: a first wrist element supported in cantilever fashion rotatably about a first axis; a second wrist element pivotally supported in cantilever fashion at a distal end side of the first wrist element with a proximal end as a supporting point about a second axis intersecting the first axis; a third wrist element supported in cantilever fashion at a distal end side of the second wrist element rotatably about a third axis intersecting the second axis; two driving motors provided in the first wrist element for driving the second wrist element and the third wrist element, respectively; and two gear sets for reducing a rotational speed of the two driving motors in predetermined reduction ratios. Each of the gear sets has a driving gear driven by one of the two driving motors and a driven ring gear which meshes with the driving gear. Two driven ring gears of the two gear sets are disposed coaxially with the second axis. Two driving gears of the two gear sets are positioned parallel to each other at both sides of the second axis.
摘要翻译： 一种用于工业机器人的手腕驱动结构，其具有：围绕第一轴线以可旋转的方式支撑的第一腕部元件; 第二腕部元件以悬臂方式枢转地支撑在第一腕部元件的远端侧，其近端作为与第一轴线相交的第二轴线的支撑点; 第三腕部元件，以与所述第二轴相交的第三轴线可旋转地支撑在所述第二腕部的远端侧; 设置在第一腕部上的两个驱动马达分别用于驱动第二腕部和第三腕部; 以及用于以预定的减速比降低两个驱动马达的转速的两个齿轮组。 每个齿轮组具有由两个驱动马达中的一个驱动的驱动齿轮和与驱动齿轮啮合的从动齿圈。 两个齿轮组的两个从动齿圈与第二轴线同轴设置。 两个齿轮组的两个驱动齿轮在第二轴的两侧彼此平行地定位。
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公开(公告)号：US20060104790A1
公开(公告)日：2006-05-18
申请号：US11142497
申请日：2005-06-02
IPC分类号： B66C23/08
CPC分类号： B25J19/0025 , Y10T74/20305
摘要： A managing structure for an umbilical member includes a flexible conduit for leading an umbilical member inserted therein from a front arm of a robot to a working tool mounted on a wrist of the robot, a first conduit mounting portion provided adjacent to the front arm, and a second conduit mounting portion provided adjacent to a point where the umbilical member is connected to the working tool. One end of the conduit is attached to the first conduit mounting portion, while the other end of the conduit is attached to the second conduit mounting portion. The conduit is laid so that a section thereof between the first conduit mounting portion and the second conduit mounting portion does not contact the body of the robot.
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公开(公告)号：US20060000817A1
公开(公告)日：2006-01-05
申请号：US11165350
申请日：2005-06-24
IPC分类号： B23K9/12
CPC分类号： B25J17/0283 , B23K9/1336 , B23K37/02 , B25J19/0025
摘要： A first wrist element 11 is rotatably provided around an axis line A, on the front end of a forearm base 10 of a robot 1. A second wrist element 12 is rotatably provided around a second axis line B, on the first wrist element 11. A welding torch 2 is rotatably supported around a line C via a transmission mechanism 13. The third axis line C is disposed approximately perpendicularly to the axis line B and is remote from the axis line A by a predetermined distance. A wire feeder 4 is disposed at a position (on a mounting table 8, an upper arm, or a rotating body) other than a forearm. A torch cable 3 is fitted to a slider 6b that is movably fitted along a direction approximately parallel with the first axis line A, with an intermediate fitting section 3a. A slider 6b can be pulled backward by returning a wire 81 connected to a tension generator 80 using a pulley 82. In place of the fitting section 3a, an intermediate guiding section can be provided, and the torch cable 3 can be movably guided along a direction approximately parallel with the first axis line A. With this arrangement, an excessive looseness or tension of the torch cable and an occurrence of interference with the wire feeder can be prevented.
摘要翻译： 在机器人1的前臂基座10的前端上，绕轴线A可旋转地设置有第一腕部11。第一腕部12可旋转地设置在第二轴线B的第一腕部11上。 焊枪2经由传动机构13绕线C可旋转地支撑。第三轴线C大致垂直于轴线B设置，并且远离轴线A预定的距离。 送丝器4设置在前臂以外的位置（安装台8，上臂或旋转体）上。 手柄电缆3装配到沿着与第一轴线A大致平行的方向可移动地配合的滑块6b和中间装配部分3a。 通过使用滑轮82返回与张力发生器80连接的线81，可以向后拉动滑块6b。代替安装部分3a，可以设置中间引导部分，并且可以可动地引导炬电缆3 沿着与第一轴线A大致平行的方向。通过这种布置，可以防止割炬电缆的过度松动或张力以及与送丝机的干扰的发生。
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公开(公告)号：US08288687B2
公开(公告)日：2012-10-16
申请号：US12488760
申请日：2009-06-22
IPC分类号： B23K9/00
CPC分类号： B23K9/295
摘要： An arc welding robot having a welding wire conduit which has a bend radius above a certain level and arranged so that disadvantageous stress is not applied to the conduit by the motion of the robot arm. A conduit for a welding wire is inserted through a hole of a robot pedestal from the rear side of the robot, is supported by a second support member arranged on the pedestal, extends near the front side of a rotating body of the robot, and is supported by a first support member on the upper part of the rotating body while having a required minimum bend radius. The conduit after passing through the first support member is introduced to the rear side of the upper arm and is connected to a connector at the rear side of a wire feeder while having the required minimum radius, whereby the conduit presents a generally S-shape.
摘要翻译： 一种具有焊丝导管的电弧焊机器人，其具有高于一定水平的弯曲半径并且被布置成使得通过机器人臂的运动不对导管施加不利的应力。 用于焊丝的导管从机器人的后侧通过机器人基座的孔插入，由布置在基座上的第二支撑构件支撑，在机器人的旋转体的前侧附近延伸，并且 由旋转体的上部的第一支撑构件支撑，同时具有所需的最小弯曲半径。 通过第一支撑构件的导管被引入到上臂的后侧，并且在具有所需的最小半径的同时在导线器的后侧连接到连接器，由此导管呈现大致S形。
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公开(公告)号：US08020466B2
公开(公告)日：2011-09-20
申请号：US12169951
申请日：2008-07-09
IPC分类号： B25J19/00
CPC分类号： B25J19/0029 , B25J17/0283 , F16L3/1091 , H02G11/00 , Y10T74/20311 , Y10T74/20335
摘要： An umbilical-member processing structure for an industrial robot which includes a forearm having a tool managing and relaying device and a wrist with proximal end rotatably connected to the forearm and having a work tool mounted on the distal end thereof, with an umbilical-member connected to the work tool being disposed to run along the wrist via the tool managing and relaying device: wherein the forearm has a first reduction gear which reduces the rotational speed of a driving source to drive the forearm in rotation; the first reduction gear having a first insertion hole for passing the umbilical-member therein; and wherein the wrist comprises a first wrist element having a through-path in communication with the first insertion hole and rotatably connected to the forearm, and a second wrist element having a second insertion hole in communication with the through-path and rotatably connected to the first wrist element.
摘要翻译： 一种用于工业机器人的脐部件处理结构，其包括具有工具管理和中继装置的前臂和具有可旋转地连接到前臂的近端的腕部，并且具有安装在其远端上的工作工具，脐部件连接 所述工具被布置成经由所述工具管理和中继装置沿着所述手腕行进;其中所述前臂具有第一减速齿轮，所述第一减速齿轮降低驱动源的旋转速度以驱动所述前臂旋转; 所述第一减速齿轮具有用于使所述脐部件在其中通过的第一插入孔; 并且其中所述手腕包括具有与所述第一插入孔连通并且可旋转地连接到所述前臂的通路的第一腕部元件，以及具有与所述通路连通并且可转动地连接到所述前臂的第二插入孔的第二腕部元件 第一腕表。
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公开(公告)号：US20100032420A1
公开(公告)日：2010-02-11
申请号：US12488760
申请日：2009-06-22
IPC分类号： B23K9/00
CPC分类号： B23K9/295
摘要： An arc welding robot having a welding wire conduit which has a bend radius above a certain level and arranged so that disadvantageous stress is not applied to the conduit by the motion of the robot arm. A conduit for a welding wire is inserted through a hole of a robot pedestal from the rear side of the robot, is supported by a second support member arranged on the pedestal, extends near the front side of a rotating body of the robot, and is supported by a first support member on the upper part of the rotating body while having a required minimum bend radius. The conduit after passing through the first support member is introduced to the rear side of the upper arm and is connected to a connector at the rear side of a wire feeder while having the required minimum radius, whereby the conduit presents a generally S-shape.
摘要翻译： 一种具有焊丝导管的电弧焊机器人，其具有高于一定水平的弯曲半径并且被布置成使得通过机器人臂的运动不对导管施加不利的应力。 用于焊丝的导管从机器人的后侧通过机器人基座的孔插入，由布置在基座上的第二支撑构件支撑，在机器人的旋转体的前侧附近延伸，并且 由旋转体的上部的第一支撑构件支撑，同时具有所需的最小弯曲半径。 通过第一支撑构件的导管被引入到上臂的后侧，并且在具有所需的最小半径的同时在导线器的后侧连接到连接器，由此导管呈现大致S形。
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