专利快速检索-快速检索全球专利，免费商用专利数据库-IPRDB

51. 发明申请

WO1991001194A1 ARTICULATED ARM TYPE INDUSTRIAL LASER ROBOT 审中-公开
标题翻译： ARTICULATED ARM型工业激光机器人
公开(公告)号：WO1991001194A1
公开(公告)日：1991-02-07
申请号：PCT/JP1990000920
申请日：1990-07-17
申请人： FANUC LTD , TORII, Nobutoshi , ITO, Susumu , TERADA, Akihiro
发明人： FANUC LTD
IPC分类号： B23K26/08
CPC分类号： B23K26/0884 , B25J19/0037
摘要： An articulated arm type industrial laser robot utilizing laser robot beam passage means for bypassing a beam around a robot body, which is provided with a plurality of rotary joints having a plurality of axes of rotation which are disposed orthogonally to one another and one contractile joint on the laser beam source side, a first laser beam path changing system with a built-in laser beam reflection mirror, a plurality of rotary joints having a plurality of axes of rotation disposed orthogonally on the end side of the second arm, and a second laser beam path changing system with a built-in beam reflection mirror, for coupling and introducing the laser beam emitted from the first laser beam path changing system with and into the end portion of the robot arm on the first arm side. Accordingly, machining and assembling can be made with a desired accuracy of the beam path system as the laser beam path means. Furthermore, even during the robot operation process, the robot operation can be followed up without being affected by various errors inherent in movable portions such as the robot arm, and the laser beam can be introduced accurately into a laser beam emission portion of the wrist.

52. 发明申请

WO1990001732A1 IMPINGEMENT DETECTION/DRIVING STOP METHOD IN MACHINE DRIVEN BY SERVO MOTOR 审中-公开
标题翻译：伺服电机驱动机器中的冲击检测/驱动停止方法
公开(公告)号：WO1990001732A1
公开(公告)日：1990-02-22
申请号：PCT/JP1989000821
申请日：1989-08-11
申请人： FANUC LTD , TORII, Nobutoshi , NAITO, Yasuo , HAMURA, Masayuki , OTSUKA, Kazuhisa
发明人： FANUC LTD
IPC分类号： G05B09/02
CPC分类号： G05B19/4061 , G05B2219/34047 , G05B2219/36399 , G05B2219/37624 , G05B2219/49162 , G05B2219/50179
摘要： This invention relates to an impingement detection/driving stop method which can quickly detect the impingement of a machine operation portion driven by a servo motor against foreign matters, can quickly stop driving of the machine operation portion when the impingement is detected and can prevent or reduce damage to the machine due to the impingement. A digital signal processor of a shaft controller constituting a software servo calculates (S2) periodically a speed difference (εv) on the basis of a command speed (Vc) calculated on the basis of the instruction from a main computer and an actual motor speed (V) from a pulse coder of a servo motor, judges (S3) whether or not the absolute value (|εv - εV'|) of the difference between the speed difference in the current servo control period and the speed difference in the preceding period is smaller than the impingement judgement reference value (ERR), displays an alarm, delivers a torque command of a value of 0 and stops the rotation of the servo motor when the absolute value is greater than the judgement reference value (S8, S9).

53. 发明申请

WO1989006180A1 INDUSTRIAL ROBOT CAPABLE OF AUTOMATICALLY CHANGING OPERATING CONDITIONS DEPENDING ON ITS ATTITUDE OF INSTALLATION 审中-公开
标题翻译：工业机器人可根据其安装方式自动更改操作条件
公开(公告)号：WO1989006180A1
公开(公告)日：1989-07-13
申请号：PCT/JP1989000016
申请日：1989-01-09
申请人： FANUC LTD , TORII, Nobutoshi , MIZUNO, Hitoshi , MURAKI, Katsuyuki
发明人： FANUC LTD
IPC分类号： B25J09/16
CPC分类号： G05B19/4083 , G05B19/4063 , G05B19/42 , G05B2219/36513
摘要： In an industrial robot system, movements of a robot (10) is taught and controlled by a robot controller (26). The controller (26) has a storage (30) including an area which contains the data of possible attitudes of the robot with respect to a reference attitude as well as the data of the operating conditions for the possible attitudes. In operation, when the data of the current attitude are input to the robot controller (26), the data of operating conditions corresponding to the input data are read from the first data storage unit (30) and are automatically loaded in a second data storage (32). Operation of the robot body (10) is then controlled depending on the operation conditions in the second data storage (32).

54. 发明申请

WO1987002927A1 INDUSTRIAL ROBOT HAVING DUST-PROOF STRUCTURE 审中-公开
标题翻译：具有防尘结构的工业机器人
公开(公告)号：WO1987002927A1
公开(公告)日：1987-05-21
申请号：PCT/JP1986000562
申请日：1986-11-06
申请人： FANUC LTD , TORII, Nobutoshi , ITO, Susumu , WAKIO, Hiroshi , IWASAKI, Kyoji
发明人： FANUC LTD
IPC分类号： B25J19/00
CPC分类号： B25J19/0029 , B25J19/0079 , Y10T74/219
摘要： An industrial robot having a dust-proof structure is equipped with at least one dust cover (33, 47) having an opening (34, 48) at one of its end portions and with a straightly moving unit (19, 37) extending through the opening of the dust cover and moved back and forth in a longitudinal direction. Suction is made by a suction unit (50) inside the dust cover so that the flow of air occurs from outside the dust cover into the same through the opening. A ring member (52, 56) is disposed at the opening of the dust cover in such a manner as to encompass the outer periphery of the straightly moving unit through a gap. At least one annular groove (55, 57) for air reservoir is disposed on the inner peripheral surface of the ring member so as to encompass the outer circumference of the straightly moving unit.

55. 发明申请

WO1986000846A1 INDUSTRIAL ROBOT HAVING HOLLOW ARM STRUCTURE 审中-公开
标题翻译：具有中空臂结构的工业机器人
公开(公告)号：WO1986000846A1
公开(公告)日：1986-02-13
申请号：PCT/JP1985000424
申请日：1985-07-26
申请人： FANUC LTD , NAKASHIMA, Seiichiro , TOYODA, Kenichi , TORII, Nobutoshi , TERADA, Akihiro , MIZUNO, Hitoshi
发明人： FANUC LTD
IPC分类号： B25J17/00
CPC分类号： B25J9/047 , B25J17/02 , B25J18/00 , B25J19/063
摘要： One end of a hollow robot arm (10), which consists of a plurality of tubes (12, 14, 16) arranged concentrically, and driving gears (18a, 21a, 24a), (18b, 24b) supported rotatably on both end portions of these tubes (12, 14, 16), is connected to a robot joint (30), and the other end thereof to a hollow wrist (56), to form a hollow arm structure. In an industrial robot provided with this hollow arm structure, sealing pipes (50, 58a, 58b, 58c) are provided at the portions of the hollow robot arm (10) at which the tubes (12, 14, 16) and driving gears (18a, 21a, 24a), (18b, 24b) are combined with each other, and a coating material supply pipe and a welding supply wire are inserted through these sealing pipes (50, 58a, 58b, 58c). Also, shear binding pins or bolts (20b, 26b) are provided at the joint portions of the tubes (12, 14, 16) and wrist (56) so as to protect the constituent parts of the robot against excessive load.
摘要翻译：中空机器人臂（10）的一端由多个同心设置的管（12,14,16）组成，以及可旋转地支撑在两个端部上的驱动齿轮（18a，21a，24a），（18b，24b）这些管（12,14,16）连接到机器人关节（30），并且其另一端连接到空心腕（56），以形成中空臂结构。在具有该中空臂结构的工业机器人中，密封管（50,58a，58b，58c）设置在中空机械臂（10）的管（12,14,16）和驱动齿轮（ 18a，21a，24a），（18b，24b）彼此组合，并且通过这些密封管（50,58a，58b，58c）插入涂料供给管和焊接供给线。此外，在管（12,14,16）和腕（56）的接合部分处设置剪切装订销或螺栓（20b，26b），以保护机器人的组成部分免受过度负载。

56. 发明申请

WO1986000558A1 INDUSTRIAL ROBOT 审中-公开
标题翻译：工业机器人
公开(公告)号：WO1986000558A1
公开(公告)日：1986-01-30
申请号：PCT/JP1985000378
申请日：1985-07-04
申请人： FANUC LTD , NAKASHIMA, Seiichiro , TOYODA, Kenichi , TORII, Nobutoshi
发明人： FANUC LTD
IPC分类号： B25J19/06
CPC分类号： G05B19/4063 , B25J9/046 , B25J9/1035 , B25J19/0079 , B25J19/06
摘要： A body of an industrial robot includes a fixed constituent part (11), and a plurality of movable constituent parts (12, 13, 14). The robot has air-tight chambers (15, 16, 17) in which at least some of the fixed and movable constituent parts are communicated with each other, and the pressure in which should be maintained at a level not lower than the level of the pressure of the external atmosphere. The air-tight chambers are provided therein with motors (18-23) for driving the movable constituent parts. A means (27) for driving and controlling the motors is connected thereto via electric cables provided in the air-tight chambers. The pressure switches (25) are adapted to detect the pressures in the air-tight chambers, and output a motor-stopping signal to the motor driving and control means when the pressure in the air-tight chambers drop below a predetermided level.
摘要翻译：工业机器人的主体包括固定部件（11）和多个可移动部件（12,13,14）。该机器人包括气密空腔（15,16,17），其中至少一些移动部件和固定部件相互连通，并且其中压力必须在不低于外部大气压力。发动机（18-23）内设有气密空腔，用于致动组成部件。用于致动和控制电机的装置（27）通过位于气密腔中的电线连接到它们。压力开关（25）适于检测气密腔中的压力，并且当气密腔中的压力传送发动机停止信号给发动机致动和控制装置时低于预定水平。

57. 发明申请

WO1986000255A1 INDUSTRIAL ROBOT 审中-公开
标题翻译：工业机器人
公开(公告)号：WO1986000255A1
公开(公告)日：1986-01-16
申请号：PCT/JP1985000366
申请日：1985-06-28
申请人： FANUC LTD , NAKASHIMA, Seiichiro , TOYODA, Kenichi , TORII, Nobutoshi , MIZUNO, Hitoshi
发明人： FANUC LTD
IPC分类号： B25J09/06
CPC分类号： B25J19/0016 , B25J9/046 , Y10T16/53834
摘要： An industrial robot has a lower arm (13) which is provided so that it can be turned around a first horizontal axis (C1) extending horizontally with respect to a robot body (12). A front arm (14) is provided on the lower arm so that the front arm can be turned around a second horizontal axis (C2). The front arm is turned by a driving unit, such as a motor (16). The robot body is provided with a pivotable disc (17) so that the disc can be turned around the first axis in accordance with the pivotal movement of the front arm around the second axis. A first wheel (18), the diameter of which is smaller than that of the pivotable disc, is fixed concentrically thereto. A second wheel (21), the diameter of which is substantially equal to that of the first wheel, is connected pivotably to one end of a tension spring unit (19) the other end of which is joined to the robot body. A wire (22), one end of which is connected to the pivotable disc, and the other end portion of which is engaged with the outer circumference of the first wheel and retained by the first wheel, is engaged with the outer circumference of the second wheel with the tension spring unit pulled by the wire. The wire is arranged at its one end on the pivotable disc so that, when the distal end of the front arm is directed perpendicularly downward, the portion (22b) of the wire which extends between the pivotable plate and second wheel becomes substantially parallel to the portion (22c) thereof which extends between the first and second wheels.
摘要翻译：工业机器人具有可绕着相对于机器人主体（12）水平延伸的第一水平轴线（C1）可旋转地设置的上臂（13）。前臂（14）布置在下臂上以便可绕第二水平轴线（C2）旋转。前臂通过诸如电机（16）的驱动单元旋转。机器人本体设置有枢转盘（17），使得盘能够围绕第一轴线旋转，与前臂绕第二轴线的枢转运动一致。第一轮（18）的直径小于枢转盘的直径，同心地固定在第一轮上。其直径基本上等于第一轮的直径的第二轮（21）枢转地连接到拉伸弹簧单元（19）的一端，另一端连接到机器人本体。一端连接到枢转盘并且其另一端与第一轮的外圆周接合并由其保持的缆绳（22）在第二轮的外圆周中与张紧弹簧单元拉动电缆。它的末端安装在旋转盘上，使得当前臂的远端垂直向下时，电缆的在旋转板和第二轮之间延伸的部分（22b）变得基本平行于在第一和第二轮之间延伸的部分（22c）。

58. 发明申请

WO1992008583A1 INDUSTRIAL ROBOT WITH MEANS FOR COOLING BALL SCREW SHAFT 审中-公开
标题翻译：用于冷却球螺旋桨的工业机器人
公开(公告)号：WO1992008583A1
公开(公告)日：1992-05-29
申请号：PCT/JP1991001493
申请日：1991-10-31
申请人： FANUC LTD , TORII, Nobutoshi , TERADA, Akihiro , SASAKI, Yasuo
发明人： FANUC LTD
IPC分类号： B25J19/00
CPC分类号： B25J9/102 , B25J19/00 , B25J19/0054 , Y10T74/18712 , Y10T74/19991 , Y10T74/20305 , Y10T74/2189
摘要： A cooling device, in which a coolant, or typically a cooling air, is temporarily passed into a coolant path (33) formed in a shaft end having a non-threaded portion of a ball screw shaft (27) formed of a solid shaft body provided on an industrial robot, said non-threaded portion being coupled to a rotary driving motor (M) of the industrial robot, the outlet (34) of the coolant path (33) is opened in a region of a terminal end of the outer peripheral portion where screw threads (27a) of the ball screw shaft are provided, the coolant is discharged via the outlet (34) of the coolant path, and subsequently, the coolant is caused to flow along the outer surface of the screw threads (27a) of the ball screw shaft, whereby heat generated on the outer surface of a portion screwed to a ball screw nut (28) is taken away.

59. 发明申请

WO1990009872A1 ARTICULATION STRUCTURE FOR INDUSTRIAL ROBOTS 审中-公开
标题翻译：工业机器人的结构
公开(公告)号：WO1990009872A1
公开(公告)日：1990-09-07
申请号：PCT/JP1990000238
申请日：1990-02-27
申请人： FANUC LTD , TORII, Nobutoshi , ITO, Susumu , TERADA, Akihiro
发明人： FANUC LTD
IPC分类号： B25J17/00
CPC分类号： B25J9/1045 , B25J9/103 , B25J17/0241 , F16H57/12 , F16H2057/121 , Y10T74/19623
摘要： An articulation structure for industrial robots, adapted to drive a movable element, such as a rotatable trunk (14), via a driving gear, and provided with a driven gear (26) connected to the movable element, two driving pinions (28, 30) meshed with two different teeth of the driven gear (26), a driving belt mechanism (28a, 30a, 32) connecting the two driving pinions (28, 30) together, a tensioner (36) engaged with the driving belt mechanism (28a, 30a, 32) so as to apply the tension of the driving belt (32) regulatably to the rolls (28a, 30a), and a driving power source (34) connected to one pinion (28) out of the two driving pinions (28, 30). In this articulation structure, mutually opposite-direction pre-loaded meshed portions are formed in advance between the meshed tooth surfaces of the driving pinions (28, 30) and driven gear (26) via the driving belt mechanism (28a, 30a, 32) by regulating the tensioner (36), to remove a backlash.

60. 发明申请

WO1990009864A1 METHOD AND APPARATUS FOR LASER MACHINING USING NON-AXISYMMETRIC PARABOLIC REFLECTOR 审中-公开
标题翻译：使用非轴对称抛物面反射器的激光加工的方法和装置
公开(公告)号：WO1990009864A1
公开(公告)日：1990-09-07
申请号：PCT/JP1990000254
申请日：1990-02-28
申请人： FANUC LTD , TORII, Nobutoshi , ITO, Susumu , TERADA, Akihiro
发明人： FANUC LTD
IPC分类号： B23K26/08
CPC分类号： B23K26/08 , B23K26/0884
摘要： A laser machining apparatus includes laser beam paths (20, 42, 46) for guiding a laser beam from a source of laser beam to a predetermined entrance path, non-axisymmetric parabolic reflectors (22, 50) having a parabolic reflecting plane (24) for receiving an incident laser beam from the laser beam paths (20, 42, 46), holding members (74, 90) for maintaining the parabolic reflectors (22, 50) in a predetermined attitude and a predetermined bearing, and drive means (80, M6, M7) for moving the parabolic reflectors (22, 50) held by the holding members (74, 90) along a circular locus in a plane including the optical axis of the incident laser beam or another plane being in parallel with the above plane. The focal point of the laser beam reflected by the parabolic reflectors (22, 50) is moved on the surface (32) to be machined along the circular locus having the same diameter as that of the moving circular locus of the parabolic reflectors (22, 50).

你已经成功收藏专利！

检索式保存成功!

IPRDB

热门服务

关于我们

友情链接

联系方式