公开(公告)号：US07145100B2

公开(公告)日：2006-12-05

申请号：US11203289

申请日：2005-08-15

申请人： Ryo Nihei ,  Toshihiko Inoue ,  Takatoshi Iwayama

发明人： Ryo Nihei ,  Toshihiko Inoue ,  Takatoshi Iwayama

IPC分类号： B23K26/08

CPC分类号： B23K26/0884 ,  B23K26/042 ,  B25J19/0037

摘要： A laser processing robot including a manipulator; a laser processing tool attached to the manipulator; an optical fiber for transmitting a laser beam to the laser processing tool; and a line passage formed inside the arm section to accommodate the optical fiber. The arm section includes a first member disposed fixedly about a first control axis and a second member supported on the first member rotatably about the first control axis. The line passage is formed continuously within the first and second members, an optical fiber inlet port thereof being provided in the first member and an optical fiber outlet port thereof being provided in the wrist portion. The laser processing tool includes an attachment section attached to the wrist portion rotatably about a second control axis perpendicular to the first control axis; a nozzle section extending from the attachment section and provided with a laser beam passage.

摘要翻译： 一种激光加工机器人，包括机械手; 连接到操纵器的激光加工工具; 用于将激光束传送到激光加工工具的光纤; 以及在臂部中形成以容纳光纤的线通道。 臂部分包括围绕第一控制轴线固定设置的第一构件和围绕第一控制轴线可旋转地支撑在第一构件上的第二构件。 线路通道在第一和第二构件内连续地形成，其光纤入口设置在第一构件中，并且光纤出口设置在腕部。 激光加工工具包括附接部分，该连接部分围绕垂直于第一控制轴线的第二控制轴线可旋转地附接到腕部; 喷嘴部分，其从所述附接部分延伸并设置有激光束通道。

公开(公告)号：US20060104791A1

公开(公告)日：2006-05-18

申请号：US11143498

申请日：2005-06-03

申请人： Ryo Nihei ,  Toshihiko Inoue ,  Takatoshi Iwayama

发明人： Ryo Nihei ,  Toshihiko Inoue ,  Takatoshi Iwayama

IPC分类号： B66C23/08

CPC分类号： B25J19/0025

摘要： An umbilical member managing system for an industrial robot. The system is provided with a manipulator including a forearm having a first longitudinal axis, the forearm including a base, a first wrist member joined to the base rotatably about the first axis and a second wrist member joined to the first wrist member rotatably about a second axis generally perpendicular to the first axis; a working tool mounted to the second wrist member of the forearm of the manipulator; an umbilical member laid outside the forearm between the base and the second wrist member and connected to the working tool; an umbilical member guiding section provided in the forearm and including a guide passage extending generally parallel to the first axis to accommodate the umbilical member in a guidable manner; and an umbilical member retaining section provided in the second wrist member for retaining the umbilical member at a proper position relative to the working tool. The umbilical member guiding section is configured to follow a rotating motion of the first wrist member about the first axis and to shift about the first axis. The umbilical member retaining section is configured to follow a rotating motion of the second wrist member about the second axis and to bend the umbilical member in a radius not less than an allowable bend radius between the umbilical member guiding section and the second wrist member.

摘要翻译： 用于工业机器人的脐带管理系统。 该系统设置有包括具有第一纵向轴线的前臂的操纵器，前臂包括基座，第一腕部构件，其围绕第一轴线可旋转地接合到基座;第二腕构件，其可绕第二纵向轴线旋转地连接到第一腕部构件 大致垂直于第一轴的轴线; 安装在操纵器的前臂的第二腕部件上的加工工具; 将前臂放置在基座和第二腕部件之间并连接到作业工具的脐部件; 脐部构件引导部，设置在所述前臂中，并且包括大致平行于所述第一轴线延伸的引导通道，以可引导方式容纳所述脐部构件; 以及设置在所述第二腕部件中的用于将所述脐带部件保持在相对于所述作业工具的适当位置的脐部件保持部。 脐部件引导部分被配置成跟随第一腕部件围绕第一轴线的旋转运动并围绕第一轴线移动。 脐部件保持部被构造为沿着第二腕部绕第二轴线的旋转运动，并且以不小于脐部件引导部和第二腕部件之间的容许弯曲半径的半径弯曲脐部件。

公开(公告)号：US07703349B2

公开(公告)日：2010-04-27

申请号：US10653969

申请日：2003-09-04

申请人： Ryo Nihei ,  Toshihiko Inoue ,  Jun Ibayashi ,  Takatoshi Iwayama

发明人： Ryo Nihei ,  Toshihiko Inoue ,  Jun Ibayashi ,  Takatoshi Iwayama

IPC分类号： B25J19/06 ,  H05K9/00

CPC分类号： H05K9/0098 ,  B25J13/085 ,  B25J19/0029 ,  B25J19/0075 ,  B25J19/023 ,  Y10T74/20311

摘要： A cable laying structure for a robot, which does not interfere with external devices in a periphery of a forearm. Camera and hand control cables and motor control cables are drawn into a robot mechanism through a connection panel of a base of a robot main body. While allowing the motor control cables to sequentially diverge, the control cables are arranged in a robot arm along an upper arm portion and guided to the forearm. The control cables are introduced into the forearm with a shield and a sheath removed. After reaching an end effector-mounting face, the control cables are connected to a camera and a hand. The forearm is formed of conductive material and grounded on the base of the robot main body to have the same electric potential as the base by using an earth cable, and therefore the forearm is utilized in replacement of the shield.

摘要翻译： 一种用于机器人的电缆敷设结构，其不干扰前臂周围的外部装置。 相机和手控电缆和电机控制电缆通过机器人主体的底座的连接面板被拉入机器人机构。 在允许电动机控制电缆顺序发散的同时，控制电缆沿着上臂部分布置在机器人臂中并被引导到前臂。 控制电缆被引入前臂，其中屏蔽层和护套被移除。 到达末端执行器安装面后，控制电缆连接到相机和手上。 前臂由导电材料形成，并且在机器人主体的基部上接地，通过使用接地电缆与基座具有相同的电位，因此前臂用于替换屏蔽。

公开(公告)号：US20060049159A1

公开(公告)日：2006-03-09

申请号：US11218501

申请日：2005-09-06

申请人： Ryo Nihei ,  Toshihiko Inoue ,  Kazutaka Nakayama ,  Takatoshi Iwayama

发明人： Ryo Nihei ,  Toshihiko Inoue ,  Kazutaka Nakayama ,  Takatoshi Iwayama

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。

公开(公告)号：US20060037950A1

公开(公告)日：2006-02-23

申请号：US11203289

申请日：2005-08-15

申请人： Ryo Nihei ,  Toshihiko Inoue ,  Takatoshi Iwayama

发明人： Ryo Nihei ,  Toshihiko Inoue ,  Takatoshi Iwayama

IPC分类号： B23K26/08

CPC分类号： B23K26/0884 ,  B23K26/042 ,  B25J19/0037

摘要： A laser processing robot including a manipulator; a laser processing tool attached to the manipulator; an optical fiber for transmitting a laser beam to the laser processing tool; and a line passage formed inside the arm section to accommodate the optical fiber. The arm section includes a first member disposed fixedly about a first control axis and a second member supported on the first member rotatably about the first control axis. The line passage is formed continuously within the first and second members, an optical fiber inlet port thereof being provided in the first member and an optical fiber outlet port thereof being provided in the wrist portion. The laser processing tool includes an attachment section attached to the wrist portion rotatably about a second control axis perpendicular to the first control axis; a nozzle section extending from the attachment section and provided with a laser beam passage extending to intersect the second control axis; and a reflecting section arranged within the attachment section for reflecting a laser beam emitted from the optical fiber to direct it toward the laser beam passage. The emitting end face of the optical fiber is positioned between the optical fiber outlet port and the reflecting section.

摘要翻译： 一种激光加工机器人，包括机械手; 连接到操纵器的激光加工工具; 用于将激光束传送到激光加工工具的光纤; 以及在臂部中形成以容纳光纤的线通道。 臂部分包括围绕第一控制轴线固定设置的第一构件和围绕第一控制轴线可旋转地支撑在第一构件上的第二构件。 线路通道在第一和第二构件内连续地形成，其光纤入口设置在第一构件中，并且光纤出口设置在腕部。 激光加工工具包括附接部分，该连接部分围绕垂直于第一控制轴线的第二控制轴线可旋转地附接到腕部; 喷嘴部分，其从所述附接部分延伸并设置有延伸以与所述第二控制轴线相交的激光束通道; 以及布置在所述附接部分内的反射部分，用于反射从所述光纤发射的激光束以将其引向所述激光束通道。 光纤的发射端面位于光纤出口和反射部之间。

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

IPC分类号： B25J19/00 ,  B66C1/00

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。

公开(公告)号：US20050096792A1

公开(公告)日：2005-05-05

申请号：US10976049

申请日：2004-10-29

申请人： Atsushi Watanabe ,  Ryo Nihei ,  Toshihiko Inoue

发明人： Atsushi Watanabe ,  Ryo Nihei ,  Toshihiko Inoue

IPC分类号： B25J19/04 ,  B23K31/00 ,  B25J19/00 ,  B25J19/02 ,  G06F19/00

CPC分类号： B25J19/023

摘要： An industrial robot, having an end-effector supporting mechanism for holding an end-effector such as a working tool and accommodating an imaging device of a visual sensor, which is free from the interference with the periphery and capable of taking an image of the working position without any trouble. A container-shaped adaptor of the end-effector supporting mechanism is attached to a distal end of a wrist flange provided in a robot wrist supported by a robot arm. The adaptor has a first attachment section provided with a first attachment surface to be attached to the wrist flange, and a second attachment section provided with a second attachment surface disposed generally parallel to a wrist flange surface at a position apart from the first attachment section by a predetermined distance along a rotary center axis of the wrist flange. On the second attachment surface, a tool holding member of the end-effector supporting mechanism for holding the working tool is attached. The adaptor and the tool holding member may be integral with each other. The imaging device is held by a holding means such as a screw or a magnetic mechanism so that the rotary center axis of the wrist flange generally coincides with a center line of the visual field and a center of gravity is positioned within the adaptor. The wrist flange may be provided with a through-hole for the connector-coupling, and the imaging device may be provided with radio-communication means.

摘要翻译： 一种工业机器人，其具有用于保持端部执行器（例如加工工具）并且容纳视觉传感器的成像装置的末端执行器支撑机构，其不受与周边的干涉并能够拍摄工作的图像 位置没有任何麻烦。 末端执行器支撑机构的容器形适配器安装在由机器人手臂支撑的机器手腕中设置的腕部凸缘的远端。 适配器具有第一附接部分，该第一附接部分设置有附接到腕部凸缘的第一附接表面，以及第二附接部分，其设置有第二附接表面，该第二附接表面设置成大致平行于手腕凸缘表面设置在与第一附接部分分开的位置处 沿着腕部凸缘的旋转中心轴线的预定距离。 在第二安装面上安装有用于保持加工工具的端部执行器支撑机构的工具保持部件。 适配器和工具保持构件可以彼此成一体。 成像装置由诸如螺钉或磁性机构的保持装置保持，使得腕部凸缘的旋转中心轴线大致与视野的中心线重合，并且重心位于适配器内。 手腕凸缘可以设置有用于连接器耦合的通孔，并且成像装置可以设置有无线电通信装置。

公开(公告)号：US07715946B2

公开(公告)日：2010-05-11

申请号：US10976049

申请日：2004-10-29

申请人： Atsushi Watanabe ,  Ryo Nihei ,  Toshihiko Inoue

发明人： Atsushi Watanabe ,  Ryo Nihei ,  Toshihiko Inoue

IPC分类号： G06F19/00

CPC分类号： B25J19/023

摘要： An industrial robot, having an end-effector supporting mechanism for holding an end-effector and accommodating an imaging device of a visual sensor, which is free from the interference with the periphery and capable of taking an image of the working position. A container-shaped adaptor of the end-effector supporting mechanism is attached to a distal end of a wrist flange provided in a robot wrist supported by a robot arm. The adaptor has a first attachment section provided with a first attachment surface to be attached to the wrist flange, and a second attachment section provided with a second attachment surface disposed generally parallel to a wrist flange surface at a position apart from the first attachment section by a predetermined distance along a rotary center axis of the wrist flange. On the second attachment surface, a tool holding member of the end-effector supporting mechanism for holding the working tool is attached.

摘要翻译： 一种工业机器人，其具有用于保持末端执行器并且容纳视觉传感器的成像装置的末端执行器支撑机构，其不受与周边的干涉并能够拍摄工作位置的图像。 末端执行器支撑机构的容器形适配器安装在由机器人手臂支撑的机器手腕中设置的腕部凸缘的远端。 适配器具有第一附接部分，该第一附接部分设置有附接到腕部凸缘的第一附接表面，以及第二附接部分，其设置有第二附接表面，该第二附接表面设置成大致平行于手腕凸缘表面设置在与第一附接部分分开的位置处 沿着腕部凸缘的旋转中心轴线的预定距离。 在第二安装面上安装有用于保持加工工具的端部执行器支撑机构的工具保持部件。

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。

公开(公告)号：US09616570B2

公开(公告)日：2017-04-11

申请号：US11447034

申请日：2006-06-06

申请人： Ryo Nihei ,  Tetsuaki Kato ,  Hiroji Nishi

发明人： Ryo Nihei ,  Tetsuaki Kato ,  Hiroji Nishi

IPC分类号： G06F19/00 ,  B25J9/16

CPC分类号： B25J9/1679 ,  B25J9/1656 ,  G05B2219/40584

摘要： A robot controller making a robot execute tasks including several work units in a parallel manner for several workpieces, in accordance with several operation programs for individually commanding the work units. The robot controller includes an information collecting section collecting state information showing, in real time, a state of an environment of the robot; a program selecting section selecting a first executable program satisfying a task starting condition, from operation programs ready to be executed for workpieces, based on the state information; a processing section processing, for execution, the first executable program; and a program-completion judging section judging whether the processing section has completed a processing of the first executable program. The program selecting section selects, based on the state information, a second executable program satisfying the task starting condition, from the operation programs ready to be executed, so as to satisfy a judgment of the program-completion judging section.