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1. 发明授权

US08899650B2 Board conveying hand and board conveying device provided with the same 有权
标题翻译：纸板输送手提板输送装置
公开(公告)号：US08899650B2
公开(公告)日：2014-12-02
申请号：US13283647
申请日：2011-10-28
申请人： Makoto Furuta , Toru Nakako , Tetsuya Yamasaki
发明人： Makoto Furuta , Toru Nakako , Tetsuya Yamasaki
IPC分类号： H01L21/68 , B65G49/07 , G02F1/13 , H01L21/683 , B65G47/91 , B25J15/06 , H01L21/677 , H01L21/687
CPC分类号： H01L21/6838 , B25J15/0616 , B65G47/918 , H01L21/67742 , H01L21/67748 , H01L21/6875
摘要： An adsorbent in a board conveying hand includes: a pad for adsorbing a board in contact with the board; and an elastic member interposed between the fork and the pad and provided with an adsorption passage for allowing an adsorbing fluid to pass between the fork and the pad, wherein a part of the elastic member is deformed, thus arbitrarily varying a projection amount of the pad from the fork.
摘要翻译：板传送手中的吸附剂包括：用于吸附与板接触的板的焊盘; 以及插入在所述叉和所述垫之间并且设置有用于允许吸附流体在所述叉和所述垫之间通过的吸附通道的弹性构件，其中所述弹性构件的一部分变形，从而任意地改变所述垫的投影量从叉子。

2. 发明申请

US20120107081A1 BOARD CONVEYING HAND AND BOARD CONVEYING DEVICE PROVIDED WITH THE SAME 有权
标题翻译：输送手提箱和输送装置的板
公开(公告)号：US20120107081A1
公开(公告)日：2012-05-03
申请号：US13283647
申请日：2011-10-28
申请人： Makoto FURUTA , Toru Nakako , Tetsuya Yamasaki
发明人： Makoto FURUTA , Toru Nakako , Tetsuya Yamasaki
IPC分类号： B65G47/91 , B65G47/90
CPC分类号： H01L21/6838 , B25J15/0616 , B65G47/918 , H01L21/67742 , H01L21/67748 , H01L21/6875
摘要： An adsorbent in a board conveying hand includes: a pad for adsorbing a board in contact with the board; and an elastic member interposed between the fork and the pad and provided with an adsorption passage for allowing an adsorbing fluid to pass between the fork and the pad, wherein a part of the elastic member is deformed, thus arbitrarily varying a projection amount of the pad from the fork.
摘要翻译：板传送手中的吸附剂包括：用于吸附与板接触的板的焊盘; 以及插入在所述叉和所述垫之间并且设置有用于允许吸附流体在所述叉和所述垫之间通过的吸附通道的弹性构件，其中所述弹性构件的一部分变形，从而任意地改变所述垫的投影量从叉子。

3. 发明授权

US5549016A Wrist mechanism for an industrial robot 失效
标题翻译：工业机器人手腕机构
公开(公告)号：US5549016A
公开(公告)日：1996-08-27
申请号：US351440
申请日：1994-12-14
申请人： Toru Nakako , Hideki Tanimura , Kouji Tukuda
发明人： Toru Nakako , Hideki Tanimura , Kouji Tukuda
IPC分类号： B25J17/02 , B25J19/00
CPC分类号： B25J17/0258 , B25J19/0029 , Y10T74/20311 , Y10T74/20335
摘要： A wrist mechanism for an industrial robot has a second axis perpendicular to a first axis extending in a length direction of an arm and a third axis perpendicular to the second axis, the wrist mechanism comprising:, first reduction mechanism and second reduction mechanism supported at both sides of the front end portion of an arm having a cut portion so that they can be rotated about the second axis; a wrist frame including a hollow portion fixed the output shaft of the first reduction mechanism; a first bevel gear including a hollow portion provided on the wrist frame and supported so that it can be rotated about the third axis which is perpendicular to the second axis; a second bevel hear rotating about an axis parallel to the second axis and meshing with the first bevel gear (5); toothed wheel (71) integral with the second bevel gear; a toothed wheel fixed at the output shaft of the second reduction mechanism and meshing with the toothed wheel; and a tool fixing portion including a hollow portion, fixed to the first bevel gear. With this arrangement, the connection of cables and hoses are facilitated.
摘要翻译： PCT No.PCT / JP94 / 00709 Sec。 371日期1994年12月14日第 102（e）1994年12月14日日期PCT 1994年4月27日PCT PCT。公开号WO94 / 25227 日期：1994年11月10日用于工业机器人的手腕机构具有垂直于在臂的长度方向上延伸的第一轴线和与第二轴线垂直的第三轴线的第二轴线，所述手腕机构包括：第一减速机构和第二轴线在具有切割部分的臂的前端部的两侧支撑使得它们能够围绕第二轴线旋转的减速机构; 手腕架，其包括固定所述第一减速机构的输出轴的中空部; 第一锥齿轮包括设置在腕架上的中空部分，并被支撑，使得其能够围绕垂直于第二轴线的第三轴线旋转; 第二斜面听到绕平行于第二轴线的轴线旋转并与第一锥齿轮（5）啮合; 齿轮（71）与第二锥齿轮成一体; 固定在所述第二减速机构的输出轴上并与所述齿轮啮合的齿轮; 以及工具固定部，其包括固定到所述第一锥齿轮的中空部。通过这种布置，电缆和软管的连接便利。

4. 发明授权

US5714674A Reference position determination method for industrial robot 失效
标题翻译：工业机器人参考位置确定方法
公开(公告)号：US5714674A
公开(公告)日：1998-02-03
申请号：US640959
申请日：1996-05-10
申请人： Kouji Tsukuda , Toru Nakako
发明人： Kouji Tsukuda , Toru Nakako
IPC分类号： B25J9/10 , B25J9/16 , B25J19/00 , G01B5/004 , B25J9/22
CPC分类号： B25J9/1692 , G05B2219/39048
摘要： In an industrial robot including a fixed base, a first arm rotatably attached to the fixed base, a second arm rotatably attached to the front end portion of the first arm, and a wrist portion provided with a wrist base and a movable flange attached to the front end portion of the second arm, determination of the reference position of the wrist portion is carried out individually or independently between the wrist portion and the second arm, and determinations of reference positions of the first and second arms, with respect to the fixed base are carried out by way of a positioning jig attached to the fixed base. Since an approach is employed to individually or independently carry out determination of a reference position or positions of one axis or plural axes including the front end axis of the wrist portion of the industrial robot, determination of reference positions can be carried out in the state where the tool is attached to the wrist front end portion.
摘要翻译： PCT No.PCT / JP95 / 01863 Sec。 371日期：1996年5月10日 102（e）日期1996年5月10日PCT提交1995年9月19日PCT公布。出版物WO96 / 09146 日期：1996年3月28日在具有固定基座的工业机器人中，可旋转地安装在固定基座上的第一臂，可旋转地安装在第一臂的前端部上的第二臂，以及设有手腕基座和安装在第二臂的前端部的可动凸缘，能够单独或独立地在腕部和第二臂之间进行手腕部的基准位置的判断，以及第一和第二臂的基准位置的确定，相对于固定基座通过附接到固定基座的定位夹具进行。由于采用单独地或独立地执行包括工业机器人的腕部的前端轴的一个轴或多个轴的基准位置或位置的确定的方法，所以可以在以下状态下进行参考位置的确定：该工具附接到腕部前端部。

5. 发明授权

US5083352A Tool changing device for robot 失效
标题翻译：机器人工具更换装置
公开(公告)号：US5083352A
公开(公告)日：1992-01-28
申请号：US724118
申请日：1991-07-01
申请人： Toru Nakako
发明人： Toru Nakako
IPC分类号： B23Q5/58 , B25J15/04
CPC分类号： B25J15/04 , B23Q5/58 , Y10T29/5178
摘要： According to the present invention, there is provided a tool changing device for a robot comprising a piston reciprocating in a cylinder, a supporting block provided at the distal end of a piston rod, a pair of links interconnecting the supporting block to a pair of cramp members cramping a tool mounting plate.Even in a case where the supply of a pressurized fluid is interrupted during the cramped state, and outside uncramping force is applied to the cramp members, a side surface of each cramp member abuts against a side surface of the supporting block, and the cramping members are thereby held in the cramping state.

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