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1. 发明授权

EP1632304B1 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：EP1632304B1
公开(公告)日：2008-08-20
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

2. 发明公开

EP1625920A1 Managing structure for umbilical member of industrial robot 有权
标题翻译： Einem Industrieroboter的Führungsvorrichtungfüreine Versorgungsleitung
公开(公告)号：EP1625920A1
公开(公告)日：2006-02-15
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
摘要： A managing structure, for an umbilical member (6,60) for a work tool of a robot (10), capable of stabilizing the motion of the umbilical member during the operation of a wrist of the robot and making the work of modifying the system of the robot easier. The umbilical member is introduced into an opening (26) formed at the back of a base (14) of a forearm. The umbilical member extends through a hollow portion of a speed reducer (30) and is drawn from a first opening (21) formed on the side of a first wrist element (15). A cable (62) for welding current and a tube (63) for supplying shield gas, constituting the umbilical member, are directly connected to a welding torch (19) rotatable about a third axis (C). A welding wire (61) is guided and fed by a feed roller (51) of a wire feeder (50) and, then, is connected to the welding torch (19) with the cable (62) and the tube (63). The feed roller (51) is driven by a motor (52) contained within the first wrist element (15).
摘要翻译：一种用于机器人（10）的工作工具的脐带构件（6,60）的管理结构，能够在机器人的手腕操作期间稳定脐带构件的运动，并且进行修改系统的机器人更容易。脐部件被引入形成在前臂的基部（14）的后部的开口（26）中。脐带构件延伸穿过减速器（30）的中空部分并且从形成在第一腕部（15）侧的第一开口（21）拉出。用于焊接电流的电缆（62）和用于供应构成脐带部件的屏蔽气体的管（63）直接连接到可围绕第三轴线（C）旋转的焊炬（19）。焊丝（61）由送丝器（50）的进给辊（51）引导并供给，然后用电缆（62）和管（63）连接到焊枪（19）。进给辊（51）由包含在第一腕部（15）内的马达（52）驱动。

3. 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

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。

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