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1. 发明申请

US20070208458A1 Industrial robot 失效
标题翻译：工业机器人
公开(公告)号：US20070208458A1
公开(公告)日：2007-09-06
申请号：US11711027
申请日：2007-02-27
申请人： Takashi Harada , Yuji Maeguchi , Takahiro Inada
发明人： Takashi Harada , Yuji Maeguchi , Takahiro Inada
IPC分类号： G06F19/00
CPC分类号： B25J17/0283 , B25J19/0029 , Y10T74/20311 , Y10T74/20317 , Y10T74/20335
摘要： The present invention provides an industrial robot which can reduce torque required for driving an object to be moved. By providing a third reduction device and a third driving device separately, the dimension in the third axial direction of the third reduction device can be reduced, thus the distance from a second axis to an end effecter can be decreased. As such, the torque required for a first driving device and a second driving device to rotate and drive the end effecter can be reduced. Accordingly, even when the weight of the end effecter is increased, an increase of the torque required for the first driving device and the second driving device can be suppressed. Therefore, a higher speed operation can be achieved as compared with the conventional industrial robot.
摘要翻译：本发明提供一种工业机器人，其可以减少驱动待移动物体所需的扭矩。通过分别设置第三减速装置和第三驱动装置，可以减小第三减速装置的第三轴向尺寸，从而可以减小从第二轴线到端部执行器的距离。因此，可以减少第一驱动装置和第二驱动装置旋转并驱动端部执行器所需的扭矩。因此，即使当端部执行器的重量增加时，也可以抑制第一驱动装置和第二驱动装置所需的扭矩的增加。因此，与传统的工业机器人相比，可以实现更高的速度操作。

2. 发明授权

US07484351B2 Deformable structure and cable support system 有权
标题翻译：可变形结构和电缆支撑系统
公开(公告)号：US07484351B2
公开(公告)日：2009-02-03
申请号：US11408001
申请日：2006-04-21
申请人： Takashi Harada , Yuji Maeguchi , Takahiro Inada
发明人： Takashi Harada , Yuji Maeguchi , Takahiro Inada
IPC分类号： F16G13/16 , H02G11/00
CPC分类号： F16L3/015 , B25J19/0025 , F16G13/16 , F16L3/26 , F16L57/02 , H02G11/00
摘要： In a deformable structure, connecting parts each of which has a base part are arranged longitudinally so that adjacent connecting parts are connected to each other. Respective first axes of the adjacent connecting parts are inclined to each other in a state that a spacer on one of the two adjacent base parts comes into contact with the other base part. When an external force is exerted on the deformable structure, the spacers restrain the deformable structure from being further curved into a radius of curvature smaller than a predetermined allowable radius of curvature. Most of the external force exerted on the deformable structure is born by the base parts and the spacers so that only a low force acts on the connecting parts. Thus the connecting parts do not break easily so that the deformable structure has a high strength.
摘要翻译：在可变形结构中，每个具有基部的连接部分纵向布置，使得相邻的连接部彼此连接。相邻连接部件的相应的第一轴线在两个相邻的基座部件之一上的间隔件与另一个基部部件接触的状态下彼此倾斜。当外力施加在可变形结构上时，间隔件限制可变形结构进一步弯曲成小于预定的允许曲率半径的曲率半径。施加在可变形结构上的大部分外力由基部件和间隔件承受，使得只有较小的力作用在连接部件上。因此，连接部不容易断裂，使得可变形结构具有高强度。

3. 发明授权

US07513174B2 Industrial robot 失效
标题翻译：工业机器人
公开(公告)号：US07513174B2
公开(公告)日：2009-04-07
申请号：US11711027
申请日：2007-02-27
申请人： Takashi Harada , Yuji Maeguchi , Takahiro Inada
发明人： Takashi Harada , Yuji Maeguchi , Takahiro Inada
IPC分类号： B25J17/02
CPC分类号： B25J17/0283 , B25J19/0029 , Y10T74/20311 , Y10T74/20317 , Y10T74/20335
摘要： The present invention provides an industrial robot which can reduce torque required for driving an object to be moved. By providing a third reduction device and a third driving device separately, the dimension in the third axial direction of the third reduction device can be reduced, thus the distance from a second axis to an end effecter can be decreased. As such, the torque required for a first driving device and a second driving device to rotate and drive the end effecter can be reduced. Accordingly, even when the weight of the end effecter is increased, an increase of the torque required for the first driving device and the second driving device can be suppressed. Therefore, a higher speed operation can be achieved as compared with the conventional industrial robot.
摘要翻译：本发明提供一种工业机器人，其可以减少驱动待移动物体所需的扭矩。通过分别设置第三减速装置和第三驱动装置，可以减小第三减速装置的第三轴向尺寸，从而可以减小从第二轴线到端部执行器的距离。因此，可以减少第一驱动装置和第二驱动装置旋转并驱动端部执行器所需的扭矩。因此，即使当端部执行器的重量增加时，也可以抑制第一驱动装置和第二驱动装置所需的扭矩的增加。因此，与传统的工业机器人相比，可以实现更高的速度操作。

4. 发明申请

US20060258229A1 Deformable structure and cable support system 有权
公开(公告)号：US20060258229A1
公开(公告)日：2006-11-16
申请号：US11408001
申请日：2006-04-21
申请人： Takashi Harada , Yuji Maeguchi , Takahiro Inada
发明人： Takashi Harada , Yuji Maeguchi , Takahiro Inada
IPC分类号： H01R13/405
CPC分类号： F16L3/015 , B25J19/0025 , F16G13/16 , F16L3/26 , F16L57/02 , H02G11/00
摘要： In a deformable structure, connecting parts each of which has a base part are arranged longitudinally so that adjacent connecting parts are connected to each other. Respective first axes of the adjacent connecting parts are inclined to each other in a state that a spacer on one of the two adjacent base parts comes into contact with the other base part. When an external force is exerted on the deformable structure, the spacers restrain the deformable structure from being further curved into a radius of curvature smaller than a predetermined allowable radius of curvature. Most of the external force exerted on the deformable structure is born by the base parts and the spacers so that only a low force acts on the connecting parts. Thus the connecting parts do not break easily so that the deformable structure has a high strength.

5. 发明申请

US20080028883A1 Robot Arm Structure 审中-公开
标题翻译：机器人臂结构
公开(公告)号：US20080028883A1
公开(公告)日：2008-02-07
申请号：US11632795
申请日：2005-07-20
申请人： Takahiro Inada , Yuji Maeguchi , Isao Kato , Tadashi Isomura
发明人： Takahiro Inada , Yuji Maeguchi , Isao Kato , Tadashi Isomura
IPC分类号： B25J9/06 , B25J9/16
CPC分类号： B62D65/18 , B25J9/1065 , B25J19/0091 , Y10T74/20329
摘要： A robot arm structure for a carrying robot is capable of carrying a load in a wide range under restrictions on robot arm motions. A second arm 38 is joined to an upper link 35, a third arm 39 is joined to the second arm 38, and a fourth arm 40 is joined to the third arm 39. A holding unit mounted on the fourth arm 40 can be moved in a wide range through the angular displacement of the second arm 38 to the fourth arm 40 even in a state where a first arm 36 is maintained at a predetermined position relative to a bed 33. Thus a load can be moved in a wide range.
摘要翻译：用于携带机器人的机器人臂结构能够在对机器人臂运动的限制下在宽范围内承载负载。第二臂38连接到上连杆35，第三臂39连接到第二臂38，第四臂40连接到第三臂39。安装在第四臂40上的保持单元即使在第一臂36相对于床33保持在预定位置的状态下也能够通过第二臂38到第四臂40的角位移而在宽范围内移动。因此，可以在宽范围内移动负载。

6. 发明授权

US06748819B2 Robot 有权
标题翻译：机器人
公开(公告)号：US06748819B2
公开(公告)日：2004-06-15
申请号：US10207574
申请日：2002-07-29
申请人： Yuji Maeguchi , Hiroyuki Takayama , Takahiro Inada
发明人： Yuji Maeguchi , Hiroyuki Takayama , Takahiro Inada
IPC分类号： B25J1300
CPC分类号： B25J9/1065 , Y10T74/20305 , Y10T74/20329 , Y10T74/20348
摘要： A robot is disclosed in which load torque imposed on motors is reduced and therefore small-sized motors can be used. In the robot, an arm member, a first link, a second link and a third link constitute a parallel linkage, and the first link and the third link are coaxially pivotally supported on a base. With a pivotal shaft for pivotally connecting the second link and the third link, one end of a fourth link having shorter link length than the link length of the third link is pivotally connected to the second and third links and one end of a fifth link having the same link length as that of the fourth link is pivotally connected to the other end of the fourth link. The other end of the fifth link is pivotally supported on the base with a pivotal shaft to which the rotary shaft of the motor is coupled, so that the fifth link can move according to the rotation of the motor.
摘要翻译：公开了一种机器人，其中施加在电动机上的负载转矩减小，因此可以使用小型电动机。在机器人中，臂构件，第一连杆，第二连杆和第三连杆构成平行连杆，并且第一连杆和第三连杆同轴地支撑在基座上。利用用于枢转地连接第二连杆和第三连杆的枢转轴，具有比第三连杆的连杆长度更短的连杆长度的第四连杆的一端枢转地连接到第二和第三连杆，并且第五连杆的一端具有与第四连杆相同的连杆长度可枢转地连接到第四连杆的另一端。第五连杆的另一端通过枢转轴可枢转地支撑在基座上，马达的旋转轴与该枢轴连接，使得第五连杆可以根据马达的旋转而移动。

7. 发明授权

US06917177B2 Robot arm mechanism 失效
标题翻译：机器人手臂机构
公开(公告)号：US06917177B2
公开(公告)日：2005-07-12
申请号：US10366233
申请日：2003-02-13
申请人： Yuji Maeguchi , Takahiro Inada
发明人： Yuji Maeguchi , Takahiro Inada
IPC分类号： B25J9/06 , B25J9/10 , B25J17/00 , B25J18/00
CPC分类号： B25J9/1065 , Y10T74/20305 , Y10T74/20317
摘要： Provided is a robot arm mechanism that conveys and supports a work, which requires neither a traveling axis that demand a high installation accuracy nor a jig for fixedly supporting a work. A robot 1 includes: a parallel link mechanism 6 having a lower link 2 and an upper link 3, in which the lower link 2 and the upper link 3 are coupled with an arm 4 and an auxiliary link 5; a driving portion for driving one joint 12 of the lower link 2 in the parallel link mechanism; a parallel link mechanism 11 having a lower link 7 and an upper link 8 fixed on the upper link 3 in the parallel link mechanism 6, in which the lower link 7 and the upper link 8 are coupled with an arm 9 and an auxiliary link 10; a driving portion for driving one joint 15 of the upper link 8 in the parallel link mechanism 11; and an arm 17 fixed on the lower link 7 in the parallel link mechanism 11 and holding up an object for support.
摘要翻译：提供了传送和支撑作业的机器人手臂机构，既不需要要求高安装精度的行进轴也不需要用于固定地支撑作业的工具。机器人1包括：具有下连杆2和上连杆3的平行连杆机构6，其中下连杆2和上连杆3与臂4和辅助连杆5联接; 用于驱动下连杆2的并联连杆机构中的一个接头12的驱动部分; 平行连杆机构11，其具有固定在平行连杆机构6中的上连杆3上的下连杆7和上连杆8，其中下连杆7和上连杆8与臂9和辅助连杆10连接 ; 用于驱动平行连杆机构11中的上连杆8的一个接头15的驱动部分; 以及固定在平行连杆机构11中的下连杆7上并支撑用于支撑的物体的臂17。

8. 发明授权

US5707310A Internal planetary gear device 失效
标题翻译：内行星齿轮装置
公开(公告)号：US5707310A
公开(公告)日：1998-01-13
申请号：US398673
申请日：1995-03-06
申请人： Yuji Maeguchi , Hideaki Harada
发明人： Yuji Maeguchi , Hideaki Harada
IPC分类号： F16H1/32 , F16H55/08
CPC分类号： F16H1/32
摘要： An internal planetary gear device having an input shaft, an eccentric body rotating with the rotation of the input shaft, an external gear eccentrically rotatably mounted on the eccentric body through a bearing, an internal gear internally meshing with the external gear, and an output shaft connected to the external gear through a device for taking up only components of rotation of the external gear, wherein, each component is manufactured of resin, and one of the internal teeth of the internal gear and the external teeth of the external gear is formed into a tooth profile including an inner envelope configuration of curtate epitrochoid theoretical curve C, while the other, into a convex circular tooth profile.
摘要翻译：一种内部行星齿轮装置，具有输入轴，偏心体随着输入轴的旋转而旋转，外齿轮通过轴承偏心地可旋转地安装在偏心体上，与外齿轮内啮合的内齿轮和输出轴通过用于仅吸收外齿轮的旋转部件的装置连接到外齿轮，其中，每个部件由树脂制成，内齿轮的内齿和外齿轮的外齿中的一个形成为一个齿廓，其包括一个内胆构造的Curtate外罗拉理论曲线C，而另一个则形成一个凸圆形的齿廓。

9. 发明授权

US5651747A Series of geared motors 失效
标题翻译：系列减速电机
公开(公告)号：US5651747A
公开(公告)日：1997-07-29
申请号：US490702
申请日：1995-06-15
申请人： Kiyoji Minegishi , Yuji Maeguchi , Masayuki Tanigawa , Keiji Takehara
发明人： Kiyoji Minegishi , Yuji Maeguchi , Masayuki Tanigawa , Keiji Takehara
IPC分类号： F16H1/32 , F16H57/033 , H02K7/116
CPC分类号： F16H57/033 , F16H1/32 , H02K7/116 , F16H2057/0335
摘要： A series of geared motors in which change gear ratios of 1/2-1/100 or a wider range of change gear ratios are realized in the single series based on the unified design concepts of low noise, high rigidity and high durability, and in which the separation, exchange, etc. of the individual speed change gears and motors proper of the geared motors are facilitated. In the series, a speed change mechanism in each of the geared motors constituting a group of "high" change gear ratios comprises a single-stage type planetary gear mechanism of oscillating inner gearing system, a group of "medium" change gear ratios comprises a single-stage type simple planetary gear mechanism, and a group of "low" change gear ratios comprises a modified simple planetary gear mechanism including a sun gear (302 in FIG. 1), a first planet gear (304A), a second planet gear (304B) which rotates unitarily with the first planet gear (304A) and which has a larger number of teeth than the first planet gear (304A), and an internal gear (306). Herein, the principal gear ratio part of each of the speed change gears of the geared motors constituting the respective groups of change gear ratios is sealably supported at both the ends thereof.
摘要翻译：基于低噪声，高刚性和高耐久性的统一设计理念，在单个系列中实现1 / 2-1 / 100或更宽变速范围变速比的一系列减速电机，齿轮传动电动机的各个变速齿轮和电动机的分离，更换等方便。在该系列中，构成一组“高”变速比的每个齿轮传动电动机的变速机构包括摆动内齿轮系的单级行星齿轮机构，一组“中”变速比包括单级型简单行星齿轮机构和一组“低”变速比包括一个改进的简单行星齿轮机构，包括一个太阳齿轮（图1中的302），一个第一行星齿轮（304A），一个第二行星齿轮（304B），其与第一行星齿轮（304A）一体地旋转并且具有比第一行星齿轮（304A）更大的齿数和内齿轮（306）。这里，构成各组变速比的减速电机的每个变速齿轮的主齿轮比部分在其两端被可密封地支撑。

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