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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：US07765890B2
公开(公告)日：2010-08-03
申请号：US12139729
申请日：2008-06-16
IPC分类号： B25J17/00
CPC分类号： B25J19/0029 , Y10T74/20305 , Y10T74/20311 , Y10T74/20335
摘要： An industrial robot has an arm, a wrist element rotatably interconnected to the arm, a work tool mounted on a distal end of the wrist element, and a motor mounted on the wrist element. An umbilical-member connected to the work tool and a flat cable connected to the motor are disposed to run along the wrist element from the arm side to the work tool or to the motor. A pipe member extending in a direction of a rotation axis of the wrist element is provided inside the arm and the umbilical-member connected to the work tool is passed inside the pipe member. The flat cable connected to the motor is wound around outside of the pipe member, with the flat cable arranged to become slack in a rotating direction of the wrist element.
摘要翻译： 工业机器人具有臂，可旋转地互连到臂的腕部元件，安装在腕部元件的远端上的作业工具和安装在腕部元件上的马达。 连接到工作工具的脐部构件和连接到电动机的扁平电缆被设置为沿着手腕一侧到达工作工具或电动机的方向行进。 在臂部的内部设置有沿着腕部的旋转轴的方向延伸的管构件，并且连接到作业工具的脐部构件穿过管构件。 连接到电动机的扁平电缆缠绕在管构件的外部，扁平电缆被布置成在腕部元件的旋转方向上变得松弛。
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公开(公告)号：US20080315820A1
公开(公告)日：2008-12-25
申请号：US12139729
申请日：2008-06-16
IPC分类号： B25J9/00
CPC分类号： B25J19/0029 , Y10T74/20305 , Y10T74/20311 , Y10T74/20335
摘要： An industrial robot having: an arm, a wrist element rotatably interconnected to the arm, a work tool mounted on a distal end of the wrist element, and a motor mounted on the wrist element; wherein an umbilical-member connected to the work tool and a flat cable connected to the motor are disposed to run along the wrist element from the arm side to aid work tool or to the motor, characterized in that a pipe member extending in a direction of a rotation axis of the wrist element is provided inside the arm, the umbilical-member connected to the work tool being passed inside the pipe member, the flat cable connected to the motor being wound around outside of the pipe member, with the flat cable slacked in a rotating direction of the wrist element.
摘要翻译： 一种工业机器人，其具有：手臂，与所述臂可旋转地相互连接的腕部元件，安装在所述腕部元件的前端的作业工具，以及安装在所述腕部元件上的马达; 其特征在于，连接到所述作业工具的脐部构件和连接到所述电动机的扁平电缆被布置成沿着所述腕部元件从所述臂侧延伸以辅助工作工具或所述电动机，其特征在于， 腕部的旋转轴设置在臂的内部，连接到作业工具的脐部件通过管构件内部，连接到电动机的扁平电缆被卷绕在管构件的外部，扁平电缆松弛 在腕部元件的旋转方向上。
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公开(公告)号：US07173213B2
公开(公告)日：2007-02-06
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 is rotatably provided on the front end of a forearm base of a robot. A second wrist element is rotatably provided on the first wrist element. A welding torch is rotatably supported via a transmission mechanism. A wire feeder is disposed at a position other than a forearm. A torch cable is fitted to a slider with an intermediate fitting section. A slider can be pulled backward by returning a wire connected to a tension generator using a pulley. In place of the fitting section, an intermediate guiding section can be provided.
摘要翻译： 第一腕部可旋转地设置在机器人的前臂基座的前端。 第二腕部可旋转地设置在第一腕部上。 焊枪通过传动机构可旋转地支撑。 送丝机配置在前臂以外的位置。 手电筒电缆安装在具有中间配件部分的滑块上。 通过使用滑轮返回连接到张力发生器的电线，可以向后拉动滑块。 可以设置中间引导部，代替嵌合部。
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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：US08051741B2
公开(公告)日：2011-11-08
申请号：US12385656
申请日：2009-04-15
IPC分类号： B25J18/04
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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10.发明申请Positioner for arc welding and arc welding robot system having the positioner 审中-公开具有定位器的电弧焊和电弧焊机器人系统定位器公开(公告)号：US20060278622A1
公开(公告)日：2006-12-14
申请号：US11439964
申请日：2006-05-25
IPC分类号： B23K9/12
CPC分类号： B23K37/0452
摘要： A positioner for arc welding having a few movable members and a simple structure, an arc welding robot system including the positioner and an arc welding robot, whereby the orientation of the workpiece corresponding to a welding site of the workpiece may be suitably changed by a minimum motion of the positioner. The positioner includes a pair of support members, a first member having two ends supported by the pair of support members such that the first member is rotatable about a first axis parallel to an installation surface of the positioner, a second member having two ends supported by a pair of supporting portions arranged on the first member such that the second member is rotatable about a second axis perpendicular to the first axis, and a workpiece fixing part for fixing the workpiece to the second member.
摘要翻译： 一种电弧焊接定位器，具有几个可移动部件和简单的结构，包括定位器和电弧焊机器人的电弧焊机器人系统，由此可以适当地改变与工件的焊接部位相对应的工件的取向最小 定位器的运动。 定位器包括一对支撑构件，第一构件具有由一对支撑构件支撑的两端，使得第一构件能够围绕平行于定位器的安装表面的第一轴线旋转，第二构件具有由 布置在所述第一构件上的一对支撑部分，使得所述第二构件能够围绕垂直于所述第一轴线的第二轴线旋转;以及工件固定部件，用于将所述工件固定到所述第二构件。
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