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1. 发明公开

EP2006056A1 Industrial robot with an umbilical member and a flat cable disposed along a wrist element 有权转让
标题翻译：具有供电线和一个扁平电缆沿腕部工业机器人
公开(公告)号：EP2006056A1
公开(公告)日：2008-12-24
申请号：EP08010982.0
申请日：2008-06-17
申请人： Fanuc Ltd
发明人： Inoue, Toshihiko , Nakayama, Kazutaka , Iwayama, Takatoshi , Fujita, Junya
IPC分类号： B25J19/00
CPC分类号： B25J19/0029 , Y10T74/20305 , Y10T74/20311 , Y10T74/20335
摘要： An industrial robot having: an arm (17), a wrist element (22) rotatably interconnected to the arm, a work tool (32) mounted on a distal end of the wrist element, and a motor mounted on the wrist element; wherein an umbilical-member (51) connected to the work tool and a flat cable (110) 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 (100) extending in a direction of a rotation axis of the wrist element is provided inside the arm, the umbilical-member (51) connected to the work tool being passed inside the pipe member (100), the flat cable (110) 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：具有工业机器人：臂（17），手腕元件（22）可旋转地互连到差，作业工具（32）安装在手腕单元的前端和安装在手腕单元上的马达; 连接到所述作业工具和连接到所述马达的扁平电缆（110）的worin脐部件（51）被配置为沿着上述手腕单元从穷人侧运行，以帮助工作工具或马达，其特征在于在做了管构件（100），在手腕单元的旋转轴的方向延伸的较差的内部，连接到作业工具脐构件（51）传递的管件（100），所述扁平电缆的内部（110）连接到马达被卷绕在管件的外侧，与所述扁平电缆在手腕单元的转动方向松弛。

2. 发明授权

EP1625920B1 Managing structure for umbilical member of industrial robot 有权
标题翻译：导向装置，用于在工业机器人的供给线
公开(公告)号：EP1625920B1
公开(公告)日：2007-11-21
申请号：EP05017214.7
申请日：2005-08-08
申请人： Fanuc Ltd
发明人： Inoue, Toshihiko , Nakayama, Kazutaka , Iwayama, Takatoshi FANUC Manshonharimomi
IPC分类号： B25J19/00
CPC分类号： B25J19/0029 , Y10T74/20305

3. 发明公开

EP1731259A1 Workpiece positioner for arc welding and arc welding robot system having the positioner 审中-公开
标题翻译： Werkstückpositionniereinrichtungfüreinen Lichtbogenschweissroboter
公开(公告)号：EP1731259A1
公开(公告)日：2006-12-13
申请号：EP06010195.3
申请日：2006-05-17
申请人： FANUC LTD
发明人： Inoue, Toshihiko , Nakayama, Kazutaka , Iwayama, Takatoshi R.12-203, Fanuc Manshonharimomi
IPC分类号： B23K37/04
CPC分类号： B23K37/0452
摘要： A positioner (30) 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 (10), 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 (32), a first member (36) having two ends supported by the pair of support members such that the first member is rotatable about a first axis (34) parallel to an installation surface of the positioner, a second member (42) having two ends supported by a pair of supporting portions (40) arranged on the first member such that the second member is rotatable about a second axis (38) perpendicular to the first axis, and a workpiece fixing part (44) for fixing the workpiece (100) to the second member.
摘要翻译：一种用于电弧焊接的定位器（30），具有几个可移动构件和简单的结构，包括定位器和电弧焊机器人（10）的电弧焊机器人系统，由此对应于工件的焊接位置的工件的取向通过定位器的最小运动适当地改变。定位器包括一对支撑构件（32），第一构件（36），其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（34）旋转，第二构件（42），其具有由布置在所述第一构件上的一对支撑部分（40）支撑的两个端部，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（38）旋转;以及工件固定部件（44），用于将所述工件（100）固定到所述第二构件。

4. 发明公开

EP1632304A1 Arc welding robot attached to a ceiling or a wall including treating torch cable structure 有权
标题翻译：甲设置在盖或具有焊炬缆线处理结构的壁电弧焊接机器人
公开(公告)号：EP1632304A1
公开(公告)日：2006-03-08
申请号：EP05019018.0
申请日：2005-09-01
申请人： FANUC LTD
发明人： Nihei, Ryo , Inoue, Toshihiko , Nakayama, Kazutaka , Iwayama, Takatoshi FANUC Manshonharimomi
IPC分类号： B23K9/133 , B23K9/28 , B23K37/02 , B25J9/06
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 (1). 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 also applicable to a wall-hanging type robot. Thereby, a structure for treating a torch cable (3) is realized in an arc welding robot (1) of a ceiling-suspension type or a wall-hanging type, capable of maintaining the behavior of the torch cable (3) in a stable state as well as minimizing the interference of the torch cable (3) with other objects.
摘要翻译：一种机器人基座（15）被安装在天花板上（100）和第一手腕单元（11）被附着到前臂基座（10）为绕第一轴线可旋转A.基甲第二手腕单元（12）是附连到第一手腕元件（11）是绕第二轴线（B）旋转基体，和一个焊炬（2）通过传动机构（13）被支承为能够旋转的基座即将偏移轴（C）。象其前端在所述机器人（1）的示出的姿势向下指向焊枪（2）附接。通过支撑底座（5）中，在焊炬缆线（3）或焊丝输送装置的中间部分被提供了一种线性引导（6a）和一个滑动件（7）（4）被固定在其上绘制一个张紧装置（80）。这种结构因此适用于壁挂型机器人。由此，用于处理焊炬缆线（3）的结构被实现在电弧焊接机器人（1）在天花板悬挂型或壁挂型，能够在稳定的维护炬电缆（3）的行为的状态以及最小化炬电缆（3）与其他物体的干扰。

5. 发明公开

EP1629950A1 Laser processing robot with a line passage accomodating an optical fiber inside an arm section 有权
标题翻译：激光手电筒einem eine optische Faser在einem ArmbereichführendenKabeldurchgang
公开(公告)号：EP1629950A1
公开(公告)日：2006-03-01
申请号：EP05017870.6
申请日：2005-08-17
申请人： FANUC LTD
发明人： Nihei, Ryo , Inoue, Toshihiko , Iwayama, Takatoshi Room 12-203
IPC分类号： B25J19/00
CPC分类号： B23K26/0884 , B23K26/042 , B25J19/0037
摘要： A laser processing robot (10) including a manipulator (14); a laser processing tool (18) attached to the manipulator; an optical fiber (22) for transmitting a laser beam (L) to the laser processing tool; and a line passage (52) formed inside an arm section (28) to accommodate the optical fiber. The arm section includes a first member (48) disposed fixedly about a first control axis (44) and a second member (50) supported on the first member rotatably about the first control axis. The line passage (52) is formed continuously within the first and second members (48,50), an optical fiber inlet port (54) thereof being provided in the first member and an optical fiber outlet port (56) thereof being provided in the wrist portion. The laser processing tool includes an attachment section (60) attached to the wrist portion rotatably about a second control axis (46) perpendicular to the first control axis (44); a nozzle section (64) extending from the attachment section (60) and provided with a laser beam passage (62) extending to intersect the second control axis (46); and a reflecting section (66) arranged within the attachment section (60), for reflecting a laser beam emitted from the optical fiber to direct it toward the laser beam passage. The emitting end face (22a) of the optical fiber is positioned between the optical fiber outlet port (56) and the reflecting section (66).
摘要翻译：一种包括操纵器（14）的激光加工机器人（10）。附接到所述操纵器的激光加工工具（18）; 用于将激光束（L）传输到所述激光加工工具的光纤（22）; 以及形成在臂部（28）内部以容纳光纤的线路（52）。臂部包括围绕第一控制轴线固定地设置的第一构件（48）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（50）。线路通道（52）在第一和第二构件（48,50）内连续形成，其光纤入口（54）设置在第一构件中，并且光纤出口（56）设置在手腕部分。所述激光加工工具包括附接到所述腕部的安装部分，所述安装部分围绕垂直于所述第一控制轴线（44）的第二控制轴线（46）可旋转地旋转; 喷嘴部分（64），其从所述附接部分（60）延伸并设置有延伸以与所述第二控制轴线（46）相交的激光束通道（62）; 以及布置在所述附接部分（60）内的反射部分（66），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（22a）位于光纤出口（56）和反射部分（66）之间。

6. 发明公开

EP1097786A2 Operation line tracking device using sensor 审中-公开
标题翻译： Bahnführungsvorrichtungmit einem传感器
公开(公告)号：EP1097786A2
公开(公告)日：2001-05-09
申请号：EP00309829.0
申请日：2000-11-06
申请人： FANUC LTD
发明人： Inoue, Toshihiko , Okuda, Mitsuhiro , Terada, Akihiro
IPC分类号： B25J9/16
CPC分类号： B25J9/1684 , G05B2219/37009 , G05B2219/4719
摘要： An operation line tracking device for a robot for performing an operation with a tool mounted on the robot while tracking an operation line using a sensor wherein a detection failure of the sensor is restored by automatically changing or resetting a detecting condition of the sensor when the sensor fails in detecting the operation line. If a detection failure occurs for a cause of excessive or too small quantity of light impinged on light receiving elements of a laser sensor, a laser output intensity is automatically changed. If a detection failure occurs for a cause of basing of the quantity of the impinged light, an orientation of the laser sensor is automatically adjusted. If a detection failure occurs for a cause of biasing of position of the operation line in the visual field of the laser sensor, the position of the laser sensor is automatically adjusted. If a detection failure occurs for a cause of detection of an unexpected line, an algorithm for detecting the operation line is replaced with another one. Thus, the detecting condition is automatically changed or reset in accordance with the cause of the detection failure, and the tracking operation of the robot is automatically restarted.
摘要翻译：一种用于机器人的操作线跟踪装置，用于使用安装在机器人上的工具执行操作，同时使用传感器跟踪操作线，其中当传感器通过自动改变或重置传感器的检测条件来恢复传感器的检测失败检测到操作线路失败。如果由于激光传感器的光接收元件入射的光过多或过少的原因而发生检测失败，则激光输出强度自动变化。如果因撞击光量的基础而发生检测失败，则自动调整激光传感器的方位。如果在激光传感器的视野中操作线的位置偏置的原因发生检测失败，则自动调整激光传感器的位置。如果检测到意外行的检测失败，则用另一个检测操作线的算法进行替换。因此，根据检测失败的原因自动地改变或复位检测条件，并且自动重启机器人的跟踪操作。

7. 发明授权

EP1892064B1 Drive mechanism for industrial robot arm 有权转让
标题翻译：驱动机构的工业机器人手臂
公开(公告)号：EP1892064B1
公开(公告)日：2010-03-03
申请号：EP07015966.0
申请日：2007-08-14
申请人： FANUC LTD
发明人： Inoue, Toshihiko , Nakayama, Kazutaka , Iwayama, Takatoshi
IPC分类号： B25J19/00 , B25J17/00
CPC分类号： B25J19/0029

8. 发明授权

EP1607194B1 Robot system comprising a plurality of robots provided with means for calibrating their relative position 有权转让
标题翻译：机器人系统包括多个与装置的机器人的用于校准它们的相对位置
公开(公告)号：EP1607194B1
公开(公告)日：2008-10-29
申请号：EP05011702.7
申请日：2005-05-31
申请人： FANUC LTD
发明人： Ban, Kazunori , Kanno, Ichiro , Yamada, Makoto , Inoue, Toshihiko
IPC分类号： B25J9/16
CPC分类号： B25J9/1692 , B25J9/1682 , G05B2219/39045 , G05B2219/39046 , G05B2219/39114 , G05B2219/39397

9. 发明公开

EP1743748A1 Guiding structure comprising a flexible tabular guide member for an umbilical member of an industrial robot 有权
标题翻译：在工业机器人的柔性扁平引导部件引导装置的供给线
公开(公告)号：EP1743748A1
公开(公告)日：2007-01-17
申请号：EP06013253.7
申请日：2006-06-27
申请人： FANUC LTD
发明人： Inoue, Toshihiko , Nakayama, Kazutaka , Iwayama, Takatoshi Room 12-203 , Motokado, Tomoyuki Room 10-305 , Abiko, Shunsuke
IPC分类号： B25J19/00
CPC分类号： B25J19/0025
摘要： An umbilical member handling structure for an industrial robot (1) includes a first wrist element (5) arranged rotatably at a forward end of a forearm (4), a second wrist element (6) arranged rotatably at a forward end of the first wrist element, a working tool (8) arranged at a forward end of the second wrist element, an umbilical member (20) connected to the working tool and arranged along the first wrist element and the second wrist element, a flexible tabular guide member (10) having a first end fixed on the second wrist element and a second end constituting a free end extended in a curve along the first wrist element and the second wrist element in the direction from the second element toward the first wrist element to guide the umbilical member between the first end and the second end, a displacement limiting member (15) mounted at the second end of the flexible tabular guide member to limit the range of displacement of the second end, mainly in a thickness direction of the flexible tabular guide member, and an insertion member (14) arranged near the second end of the flexible tabular guide member on the forearm to have inserted thereinto the umbilical member guided by the flexible tabular guide member.
摘要翻译：在工业机器人线条体处理结构的元件（1）包括：（5）在（4），第二手腕单元（6）在第一手腕的前端可旋转地布置一个前臂的前端可旋转地设置的第一手腕元件，连接到工作工具和沿第一手腕单元和第二手腕单元，柔性板状引导构件布置在第二手腕单元向线条体（20）的前端设置在作业工具（8）（10 ），具有第一端固定在第二手腕单元和构成的自由端延伸在沿第一手腕单元和在从朝向在第一手腕单元的第二元件的方向上的第二手腕单元的曲线的第二端上，以指导线条体所述第一端和所述第二端之间，一个位移限制部件（15），其安装在所述柔性板状引导构件的第二端部，以限制所述第二端的位移的范围内，主要在弹性工作的厚度方向近在前臂柔性板状引导构件的第二端部布置BLE板状引导部件和插入部件（14）上已经插入其中由柔性板状引导构件引导的线条体。

10. 发明公开

EP1645353A2 Arc welding and arc welding robot system 审中-公开
标题翻译： Verfahren und Vorrichtung zum Lichtbogenschweissen
公开(公告)号：EP1645353A2
公开(公告)日：2006-04-12
申请号：EP05021639.9
申请日：2005-10-04
申请人： FANUC LTD
发明人： Nakabayashi, Kouji , Inoue, Toshihiko , Nakayama, Kazutaka , Iwayama, Takatoshi Room 12-203
IPC分类号： B23K9/28
CPC分类号： B23K9/28
摘要： An arc welding device, having a simple structure, in which a welding torch does not interfere with external equipment. A Y-shaped torch cable includes first and second wire liners and a junction block having a Y-shaped liner section having two inlets connected to the wire liners and one outlet. A welding wire selectively fed from one of two wire feeders extends in the first or second wire liner and reaches the outlet of the liner section. Therefore, as one of plural kinds of welding wires may be selected and fed to a single-electrode welding torch, the plurality of welding wires being used for welding, nevertheless the welding torch does not interfere with external equipment.
摘要翻译：一种具有简单结构的电弧焊装置，其中焊炬不会干扰外部设备。 Y形焊炬电缆包括第一和第二线缆和具有Y形衬套部分的连接块，其具有连接到线缆和一个出口的两个入口。从两个送丝机之一选择性地供给的焊丝在第一或第二丝线衬里中延伸并到达衬套部分的出口。因此，作为多种焊丝之一可以选择并供给到单电极焊枪，多根焊丝用于焊接，但是焊炬也不会干扰外部设备。

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