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1. 发明专利

DE69213313D1 未知
公开(公告)号：DE69213313D1
公开(公告)日：1996-10-10
申请号：DE69213313
申请日：1992-03-09
申请人： KOBE STEEL LTD
发明人： TAKAGI NOBORU , OBATA MITSUYOSHI
IPC分类号： B25J9/10 , B25J19/02 , G01B21/22 , G01D5/249 , G05D3/00 , G05D3/12
摘要： Disclosed is herein a rotational position detector for a robot which can always accurately detect the rotational positions of each rotational member based on the output values from each absolute value detector regardless of the rotational conditions of the rotational member. Each absolute value detector (resolver) is connected to each rotational member such that the ratio of the rotational angle period of the absolute value detector to the rotational angle period of the rotational member is set to be l : N (N is an integer larger than l).

2. 发明专利

NO880607L 未知
公开(公告)号：NO880607L
公开(公告)日：1988-08-15
申请号：NO880607
申请日：1988-02-11
申请人： KOBE STEEL LTD
发明人： OBATA MITSUYOSHI
IPC分类号： F16D25/06 , B25J9/00 , B25J9/10 , B25J9/22 , B25J17/02 , F16H1/00
摘要： A speed reduction clutch mechanism which enables construction of an inexpensive driving system of a simple structure and can be conveniently incorporated in a driving system of an arm of a robot of the direct teaching type. The mechanism includes a reduction gear including input and output shafts and a body frame supported for rotation around a common axis. The input shaft is connected to an output shaft of a motor. A first arresting mechanisms is provided for arresting rotation of the body frame of the reduction gear. When the first arresting mechanisms is not in its arresting condition, a second arresting mechanisms couples the body frame to the output shaft of the reduction gear thereby to establish an integrally rotating relationship between the output shaft of the reduction gear and the output shaft of the motor. A switching mechanisms alternately renders the first and second arresting mechanisms operative. Where the mechanism is incorporated in a driving system of a robot of the direct teaching type, the output shaft of the reduction gear is connected to the arm.

3. 发明专利

CA2188303C ASSEMBLED WRIST FOR INDUSTRIAL ROBOT 未知
公开(公告)号：CA2188303C
公开(公告)日：1998-11-17
申请号：CA2188303
申请日：1996-02-19
申请人： KOBE STEEL LTD
发明人： OBATA MITSUYOSHI , TSUKAHARA YOSHIKUNI , NAKAMURA SATORU , NAGATANI TOSHIHIRO
IPC分类号： B25J17/02 , B25J19/00
摘要： A assembled wrist for use on an industrial robot having a final-axis arm (2), comprising; first, second, and third driver tubes (7)(8)(9) coaxially arranged in this order from outside and disposed in a final-axis arm (2) of the robot; a first wrist portion (3) connected to said first driver tube (7) and rotated about a first axis (6) by a mechanical component so as to form a first space around said first axis; a second wrist portion (4) of which one end is connected to said second driver tube (8) with gears (12,15) equipped inside of said first wrist portion (3) and which is rotated about a second axis (30) by a mechanical component so as to form a second space around said second axis (30) which intersects said first axis (6); a tool support portion (5) of which one end is connected to said third driver tube (9) with gears (12,20) equipped inside of said first and second wrist portions (3) (4) and other end is connected to a working tool, and which is rotated about a third axis (35) by a mechanical component so as to form a third space around said third axis (35) which intersects said second axis (30); passage (45) formed by said above first, second and third spaces arranged in series, which extends from said third driver tube (9) in the final-axis arm (2) to one end surface of said tool support portion (5) ; and a protective member (50) of which both ends are fixed and sealed to said third driver tube (9) and said tool support portion (5) respectively so that said protective member (50) may be disposed in said passage (45), and which has flexible components (62) at least near said fixed and sealed ends of which said flexible component (62) deforms according to the rotations of said third driver tube (9) and said tool support portion (5). - 2 8

4. 发明专利

DE69031414T2 未知
公开(公告)号：DE69031414T2
公开(公告)日：1998-02-05
申请号：DE69031414
申请日：1990-10-05
申请人： KOBE STEEL LTD
发明人： OBATA MITSUYOSHI , TAKAGI NOBORU
IPC分类号： B25J19/00 , H02K5/136 , H01H9/04
摘要： The invention concerns an internal pressure explosion-proof system by means of which an electric motor or the like is not rendered operative until after gas in an airtight vessel is replaced with certainty by a protective gas. According to the invention, the internal pressure explosion-proof system (1) comprises gas flow amount detecting means (6a, 6b) provided for an exhaust pipe (5a, 5b) for detecting an amount of protective gas exhausted from an airtight vessel (3) in which an electric appliance (M1, .., M6) which may produce a spark or fire is accomodated, and controlling means (7) for enabling operation of the electric appliance (M1, ..., M6) when a flow amount, detected by the gas flow amount detecting means (6a, 6b) when protective gas is fed into the airtight vessel (3), reaches a predetermined level, and besides the internal pressure of the airtight vessel (3) exceeds another predetermined level.

5. 发明专利

DE69119943T2 未知
公开(公告)号：DE69119943T2
公开(公告)日：1996-10-24
申请号：DE69119943
申请日：1991-03-05
申请人： KOBE STEEL LTD
发明人： NAKAMURA SATORU , ITO JYUNJI , OBATA MITSUYOSHI
IPC分类号： B05B13/02 , B05B13/04 , B05B15/02 , B05B15/555
摘要： A painting system for an automobile (40) using a plurality of robots (41) comprises a plurality of a washing apparatus (55) disposed in the proximity of robots for individually washing the robots. The robots operate in accordance with a program taught in advance and is automatically washed by the washing apparatus after a suitable interval of time.

6. 发明专利

DE69119943D1 未知
公开(公告)号：DE69119943D1
公开(公告)日：1996-07-11
申请号：DE69119943
申请日：1991-03-05
申请人： KOBE STEEL LTD
发明人： NAKAMURA SATORU , ITO JYUNJI , OBATA MITSUYOSHI
IPC分类号： B05B13/02 , B05B13/04 , B05B15/02 , B05B15/555
摘要： A painting system for an automobile (40) using a plurality of robots (41) comprises a plurality of a washing apparatus (55) disposed in the proximity of robots for individually washing the robots. The robots operate in accordance with a program taught in advance and is automatically washed by the washing apparatus after a suitable interval of time.

7. 发明专利

DE69031414D1 未知
公开(公告)号：DE69031414D1
公开(公告)日：1997-10-16
申请号：DE69031414
申请日：1990-10-05
申请人： KOBE STEEL LTD
发明人： OBATA MITSUYOSHI , TAKAGI NOBORU
IPC分类号： B25J19/00 , H02K5/136 , H01H9/04
摘要： The invention concerns an internal pressure explosion-proof system by means of which an electric motor or the like is not rendered operative until after gas in an airtight vessel is replaced with certainty by a protective gas. According to the invention, the internal pressure explosion-proof system (1) comprises gas flow amount detecting means (6a, 6b) provided for an exhaust pipe (5a, 5b) for detecting an amount of protective gas exhausted from an airtight vessel (3) in which an electric appliance (M1, .., M6) which may produce a spark or fire is accomodated, and controlling means (7) for enabling operation of the electric appliance (M1, ..., M6) when a flow amount, detected by the gas flow amount detecting means (6a, 6b) when protective gas is fed into the airtight vessel (3), reaches a predetermined level, and besides the internal pressure of the airtight vessel (3) exceeds another predetermined level.

8. 发明专利

NO880607D0 未知
公开(公告)号：NO880607D0
公开(公告)日：1988-02-11
申请号：NO880607
申请日：1988-02-11
申请人： KOBE STEEL LTD
发明人： OBATA MITSUYOSHI
IPC分类号： F16D25/06 , B25J9/00 , B25J9/10 , B25J9/22 , B25J17/02 , F16H , F16D
摘要： A speed reduction clutch mechanism which enables construction of an inexpensive driving system of a simple structure and can be conveniently incorporated in a driving system of an arm of a robot of the direct teaching type. The mechanism includes a reduction gear including input and output shafts and a body frame supported for rotation around a common axis. The input shaft is connected to an output shaft of a motor. A first arresting mechanisms is provided for arresting rotation of the body frame of the reduction gear. When the first arresting mechanisms is not in its arresting condition, a second arresting mechanisms couples the body frame to the output shaft of the reduction gear thereby to establish an integrally rotating relationship between the output shaft of the reduction gear and the output shaft of the motor. A switching mechanisms alternately renders the first and second arresting mechanisms operative. Where the mechanism is incorporated in a driving system of a robot of the direct teaching type, the output shaft of the reduction gear is connected to the arm.

9. 发明专利

DE69213313T2 未知
公开(公告)号：DE69213313T2
公开(公告)日：1997-02-06
申请号：DE69213313
申请日：1992-03-09
申请人： KOBE STEEL LTD
发明人： TAKAGI NOBORU , OBATA MITSUYOSHI
IPC分类号： B25J9/10 , B25J19/02 , G01B21/22 , G01D5/249 , G05D3/00 , G05D3/12
摘要： Disclosed is herein a rotational position detector for a robot which can always accurately detect the rotational positions of each rotational member based on the output values from each absolute value detector regardless of the rotational conditions of the rotational member. Each absolute value detector (resolver) is connected to each rotational member such that the ratio of the rotational angle period of the absolute value detector to the rotational angle period of the rotational member is set to be l : N (N is an integer larger than l).

10. 发明专利

CA2188303A1 Assembled Wrist for Industrial Robot 未知
公开(公告)号：CA2188303A1
公开(公告)日：1996-08-29
申请号：CA2188303
申请日：1996-02-19
申请人： KOBE STEEL LTD
发明人： OBATA MITSUYOSHI , TSUKAHARA YOSHIKUNI , NAKAMURA SATORU , NAGATANI TOSHIHIRO
IPC分类号： B25J17/02 , B25J19/00
摘要： A wrist device for industrial robots, comprising first, second and third drive pipes (7, 8, 9) concentrically disposed in this order from outside within a final shaft arm (2) of an industrial robot, a passage (45) continuously formed by the hollows of a first wrist part (3), a second wrist part (4) and a tool support part (5), the passage extending from the third drive pipe (9) to an end surface of the tool support part (5) and being open at the end surface, and a protective member (50) whose both ends (50A, 50B) are sealingly fixed to the third drive pipe (9) and the tool support part (5) respectively so as to be provided between the third drive pipe (9) and the tool support part (5) in the passage (45), and which has a flexing function (62) around the fixed portions thereof, to permit its shape to be deformed following the rotation of the third drive pipe (9) and the tool support part (5).

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