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公开(公告)号：US20070017910A1
公开(公告)日：2007-01-25
申请号：US10558826
申请日：2004-05-26
IPC分类号： B23K9/12
CPC分类号： B23K9/287
摘要： A welding torch and a welding robot are provided in which a conduit cable and a cooling water hose do not interfere with peripheral devices or the like. A welding torch (21) having a flange portion (22) to be coupled to a wrist (3) of a robot, a shock sensor (23) attached to the flange portion (22), and a nozzle (24) attached to the shock sensor (23), the welding torch (21) comprising: a wire feeding pipe socket (24) arranged at a center of the flange portion (22); a cooling pipe socket (26) arranged at a position offset from a central portion of the flange portion (22); and a cooling hose (27) for feeding cooling water from the flange portion (22) to the nozzle (24) while bypassing the shock sensor (23). Moreover, an industrial robot has the welding torch (21) at a hollow wrist portion (3) thereof, and a welding wire and the cooling water are fed to the welding torch (21) through the hollow wrist portion (3).
摘要翻译： 提供一种焊枪和焊接机器人，其中导管电缆和冷却水软管不会干扰外围设备等。 一种具有耦合到机器人的手腕（3）的凸缘部分（22）的焊枪（21），附接到所述凸缘部分（22）的冲击传感器（23）和附接到所述凸缘部分 冲击传感器（23），所述焊炬（21）包括：布置在所述凸缘部分（22）的中心处的送丝管插座（24）; 布置在偏离所述凸缘部分（22）的中心部分的位置处的冷却管插座（26）; 以及用于在绕过所述冲击传感器（23）的同时将冷却水从所述凸缘部分（22）供给到所述喷嘴（24）的冷却软管（27）。 此外，工业机器人在其中空腕部（3）具有焊炬（21），焊丝和冷却水通过中空腕部（3）供给到焊炬（21）。
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公开(公告)号：US07326880B2
公开(公告)日：2008-02-05
申请号：US10558826
申请日：2004-05-26
IPC分类号： B23K9/12
CPC分类号： B23K9/287
摘要： A welding torch having a flange portion to be coupled to a wrist of a robot. A shock sensor is attached to the flange portion. A nozzle is attached to the shock sensor. The welding torch includes a wire feeding pipe socket arranged at a center of the flange portion. A cooling pipe socket is arranged at a position offset from a central portion of the flange portion. A cooling hose for feeding cooling water from the flange portion to the nozzle is provided while bypassing the shock sensor.
摘要翻译： 一种具有法兰部分的焊枪，该法兰部分将联接到机器人的腕部。 冲击传感器连接到凸缘部分。 喷嘴连接到震动传感器。 焊枪包括布置在凸缘部分的中心处的送丝管插座。 冷却管插座布置在偏离凸缘部分的中心部分的位置处。 在绕过冲击传感器的同时提供用于将冷却水从凸缘部分喷射到喷嘴的冷却软管。
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公开(公告)号：US08863606B2
公开(公告)日：2014-10-21
申请号：US13283713
申请日：2011-10-28
CPC分类号： B25J17/0283 , B25J19/0025 , Y10S901/15 , Y10S901/29 , Y10S901/42 , Y10T74/20305 , Y10T74/20311 , Y10T74/20317 , Y10T74/20335
摘要： A robot wrist structure includes a first wrist arm rotatable about a first axis, a second wrist arm provided in a tip end portion of the first wrist arm and configured to swing about a second axis substantially intersecting the first axis, a wrist flange provided in a tip end portion of the second wrist arm and configured to rotate about a third axis in a skew position with respect to the second axis, an intermediate member fixed to the wrist flange, and a cable bundle connected to an end effector fixed to the intermediate member. The cable bundle extends through the second wrist arm, the wrist flange and the intermediate member and drawn out from the intermediate member to reach the end effector.
摘要翻译： 机器人手腕结构包括可围绕第一轴线旋转的第一手腕臂，设置在第一手腕臂的末端部分中并且构造成围绕与第一轴线基本相交的第二轴线摆动的第二手腕臂， 所述第二手腕臂的前端部分构造成围绕相对于所述第二轴线的偏斜位置的第三轴线旋转，固定到所述腕部凸缘的中间构件和连接到固定到所述中间构件的端部执行器的电缆束 。 电缆束延伸穿过第二腕臂，腕部凸缘和中间构件，并从中间构件拉出以到达末端执行器。
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公开(公告)号：US20120111135A1
公开(公告)日：2012-05-10
申请号：US13283713
申请日：2011-10-28
CPC分类号： B25J17/0283 , B25J19/0025 , Y10S901/15 , Y10S901/29 , Y10S901/42 , Y10T74/20305 , Y10T74/20311 , Y10T74/20317 , Y10T74/20335
摘要： A robot wrist structure includes a first wrist arm rotatable about a first axis, a second wrist arm provided in a tip end portion of the first wrist arm and configured to swing about a second axis substantially intersecting the first axis, a wrist flange provided in a tip end portion of the second wrist arm and configured to rotate about a third axis in a skew position with respect to the second axis, an intermediate member fixed to the wrist flange, and a cable bundle connected to an end effector fixed to the intermediate member. The cable bundle extends through the second wrist arm, the wrist flange and the intermediate member and drawn out from the intermediate member to reach the end effector.
摘要翻译： 机器人手腕结构包括可围绕第一轴线旋转的第一手腕臂，设置在第一手腕臂的末端部分中并且构造成围绕与第一轴线基本相交的第二轴线摆动的第二手腕臂， 所述第二手腕臂的前端部分构造成围绕相对于所述第二轴线的偏斜位置的第三轴线旋转，固定到所述腕部凸缘的中间构件和连接到固定到所述中间构件的端部执行器的电缆束 。 电缆束延伸穿过第二腕臂，腕部凸缘和中间构件，并从中间构件拉出以到达末端执行器。
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公开(公告)号：US20070137370A1
公开(公告)日：2007-06-21
申请号：US10580551
申请日：2004-08-27
IPC分类号： B25J18/00
CPC分类号： B25J9/103 , B25J19/0025 , Y10T74/20305
摘要： It is an object of the invention to provide an arm mechanism for an industrial robot in which backlash can be reduced, a transmission loss of a driving force in a reduction gear can be reduced, and attachment dimensions of a feeding apparatus in the case where a conduit cable is disposed can be made small. According to the invention, the mechanism has: a driving portion 10 which is separated from an R axis and disposed in a one-end side 3a of an arm portion 3, and in which a harmonic drive reduction gear 9 is coupled to an output shaft of an R-axis motor 8; a driven gear 11 which is supported to be rotatable around the R axis, and which is connected to another end side 3b of the arm portion 3; a passing hole 13 which is disposed along the R axis, and which is passed through the driven gear 11 in a manner that the hole is opened to the outside of the one-end side 3a of the arm portion 3, to communicate with the other-end side 3b of the arm portion 3; and a scissors gear 12 which is disposed on the output shaft of the harmonic drive reduction gear 9, and which meshes with the driven gear 11.
摘要翻译： 本发明的目的是提供一种用于工业机器人的臂机构，其中可以减少齿隙，减小齿轮中的驱动力的传动损失可以减小，并且在 导线电缆的布置可以做得很小。 根据本发明，该机构具有：驱动部分10，其从R轴分离并且设置在臂部3的一端侧3a中，并且其中谐波驱动减速齿轮9耦合到输出 R轴电动机8的轴; 被驱动齿轮11，其被支撑为能够围绕R轴旋转，并且连接到臂部3的另一端侧3b; 通孔13，其沿着R轴设置，并且以从孔齿轮11的一端侧3a的外侧开口的方式穿过从动齿轮11，与通孔13连通。 臂部3的另一端侧3b; 以及设置在谐波驱动减速齿轮9的输出轴上并与从动齿轮11啮合的剪刀齿轮12。
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6.发明授权公开(公告)号：US06734367B2
公开(公告)日：2004-05-11
申请号：US10203271
申请日：2002-08-08
IPC分类号： H01B700
CPC分类号： H02G11/006 , B25J19/0025 , F16F1/12 , H02G3/0481 , H02G11/00
摘要： The present invention intends to provide a cable protection spring capable of being attached and fixed through one-touch operation without requiring an ironmongery goods or a tool for fixing. In order to attain this object, according to the present invention, in the cable protection spring which is arranged in a manner that a wiring cable is passed within and through a coil spring 5 to protect the wiring cable from mechanical damage, the coil spring 5 is provided with a portion 5a having a diameter larger than a diameter of remaining portion thereof.
摘要翻译： 本发明旨在提供一种电缆保护弹簧，其能够通过一次性操作而被附接和固定，而不需要熨烫用品或固定工具。为了达到该目的，根据本发明，在电缆保护弹簧 其布置方式使得布线电缆穿过螺旋弹簧5并通过螺旋弹簧5以保护布线电缆免受机械损坏，螺旋弹簧5设置有直径大于其剩余部分直径的部分5a。
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公开(公告)号：US20110219906A1
公开(公告)日：2011-09-15
申请号：US13115992
申请日：2011-05-26
CPC分类号： B25J9/06 , B25J9/0087 , B25J9/08 , B25J9/126 , B25J17/025 , B25J19/0029 , Y10T74/20311 , Y10T74/20317 , Y10T74/20329
摘要： An articulated manipulator includes a base body, a first arm body, a second arm body having a second arm center axis, and a third arm body. A first joint part connects the base body and a first end portion of the first arm body rotatably around a first rotation axis. A second joint part connects a second end portion of the first arm body and a third end portion of the second arm body rotatably around a second rotation axis. A third joint part connects a fourth end portion of the second arm body and a fifth end portion of the third arm body rotatably around the third rotation axis. When the first, second and third arm bodies are all erected with respect to a installation surface, the first rotation axis, the second arm center axis, and the third rotation axis are substantially aligned with each other.
摘要翻译： 关节式操纵器包括基体，第一臂体，具有第二臂中心轴线的第二臂体和第三臂体。 第一接合部分围绕第一旋转轴线可旋转地连接基体和第一臂体的第一端部。 第二接合部分围绕第二旋转轴线可旋转地连接第一臂体的第二端部和第二臂体的第三端部。 第三关节部分可绕第三旋转轴线可转动地连接第二臂体的第四端部和第三臂体的第五端部。 当第一，第二和第三臂体全部相对于安装表面竖立时，第一旋转轴线，第二臂中心轴线和第三旋转轴线基本上彼此对准。
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公开(公告)号：US20050150883A1
公开(公告)日：2005-07-14
申请号：US10502540
申请日：2003-02-03
申请人： Kazuhiro Tomiyasu , Koji Muragaki , Seigo Nishikawa , Kazuhiro Haniya , Atsushi Ichibangase , Shunsuke Maeda , Kazuhiko Nishimura
发明人： Kazuhiro Tomiyasu , Koji Muragaki , Seigo Nishikawa , Kazuhiro Haniya , Atsushi Ichibangase , Shunsuke Maeda , Kazuhiko Nishimura
CPC分类号： H01R13/005 , B23K9/32 , H01R13/562
摘要： An arc welding cable that is resistant to bending and twisting and can give a long life is provided. For this purpose, an arc welding cable (65) for supplying a welding current, a welding wire and a sealed gas from a wire feeding device (61) to a welding torch (64), has a passage (4) for the welding wire (2) and sealed gas is located at a center of the arc welding cable and a plurality of conductors (5) are arranged apart from one another on a circumference around the passage (4). The space between the plurality of conductor (5) may be filled with a cushion material such as cotton or elastic synthetic resin.
摘要翻译： 提供耐弯曲和扭转并且可以延长使用寿命的电弧焊接电缆。 为此，用于将焊接电流提供的电弧焊接电缆（65），焊丝和从送丝装置（61）到焊枪（64）的密封气体具有用于焊丝的通道（4） （2），并且密封气体位于电弧焊接电缆的中心，并且多个导体（5）在围绕通道（4）的圆周上彼此分开布置。 多个导体（5）之间的空间可以填充有诸如棉或弹性合成树脂的缓冲材料。
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公开(公告)号：US5577414A
公开(公告)日：1996-11-26
申请号：US232056
申请日：1994-04-28
CPC分类号： B25J19/063 , B25J9/04 , B25J9/1065 , Y10S414/13 , Y10T74/20317
摘要： An articulated robot comprises a parallelogrammic linkage comprising a fixed base (1) having a horizontal upper surface, a first arm (2) pivotally supported for turning about an axis perpendicular to the upper surface of the fixed base (1), a first auxiliary link (3) parallel to the first arm (2), and a second auxiliary link (4) pivotally joined to the respective extremities of the first arm (2) and the first auxiliary link (3); and a second arm (5) supported on the second auxiliary link (4) for turning about an axis parallel to the axis perpendicular to the upper surface of the fixed base (1). The motion of the second arm (5) is not restricted by the first arm (2), and the articulated robot is capable of moving a work between two separate points at a high speed.
摘要翻译： PCT No.PCT / JP93 / 01345 Sec。 371日期1994年04月28日 102（e）日期1994年4月28日PCT提交1993年9月20日PCT公布。 公开号WO95 / 06546 日期：1995年3月9日铰接式机器人包括平行四边形连杆机构，该平行四边形连杆机构包括具有水平上表面的固定基座（1），枢转地支撑用于围绕垂直于固定基座（1）的上表面转动的轴线的第一臂（2） ，平行于第一臂（2）的第一辅助连杆（3）和枢转地连接到第一臂（2）和第一辅助连杆（3）的各个末端的第二辅助连杆（4）; 以及第二臂（5），其支撑在所述第二辅助连杆（4）上，用于围绕与所述固定基座（1）的上表面垂直的轴线平行的轴线转动。 第二臂（5）的运动不受第一臂（2）的限制，铰接的机器人能够以高速在两个分开的点之间移动工件。
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公开(公告)号：US07971504B2
公开(公告)日：2011-07-05
申请号：US12088283
申请日：2006-09-14
IPC分类号： B25J17/00
CPC分类号： B25J9/06 , B25J9/0087 , B25J9/08 , B25J9/126 , B25J17/025 , B25J19/0029 , Y10T74/20311 , Y10T74/20317 , Y10T74/20329
摘要： This invention provides a manipulator that can facilitate a teaching method, improve the operation speed of an arm, and mount a heavy load in a narrow space. The manipulator includes a plurality of arm bodies provided in series, joint parts rotatably connecting two adjacent arm bodies, and the joint parts in which slope of rotation axes of the adjacent joints are 90 degrees, at least one linear body disposed in the joint parts coaxially with the rotation axes. The joint parts are composed of a servo motor, and a speed-reduction mechanism. The rotation axes of the servo motor, the speed-reduction mechanism and the joint parts become the same axis.
摘要翻译： 本发明提供了一种能够促进教学方法，提高手臂的操作速度和将重负载安装在狭窄空间中的操纵器。 操纵器包括多个串联设置的臂体，可连接两个相邻的臂体的接合部分和相邻接头的旋转轴线的倾斜度为90度的接合部分，至少一个直线体同轴设置在接合部分中 与旋转轴。 接合部由伺服电动机和减速机构构成。 伺服电机的旋转轴，减速机构和接头部件成为同一轴。
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