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1. 发明公开

EP0379582A1 FITTING STRUCTURE OF HORIZONTAL MULTIPLE JOINT ROBOT ARMS 失效
标题翻译： MONTAGESTRUKTURFÜRMEHRGELENKIGEN HORIZONTALEN ROBOTERARM。
公开(公告)号：EP0379582A1
公开(公告)日：1990-08-01
申请号：EP89905783.0
申请日：1989-05-17
申请人： FANUC LTD
发明人： TORII, Nobutoshi , ITO, Susumu Fanuc Mansion Harimomi 7-204 , TANAKA, Akira Fanuc Dai-3 Vira-karamatsu
IPC分类号： B25J9/04 , B25J9/00 , B25J18/02 , B25J19/00
CPC分类号： B25J18/02 , B25J9/0009 , B25J9/042 , Y10T74/20329 , Y10T403/32975 , Y10T403/32983
摘要： This invention relates to a structure for fitting a robot base (1) with a first arm (3) of a horizontal multiple joint type robot. The base (2) of the first arm is fitted rotatably to a slider (6), which is guided linearly in the longitudinal direction of the robot base (1), and the rotation of the slider (6) and the base (2) is restricted by removable fixing means. The present invention is effective for packaging a robot.
摘要翻译：本发明涉及一种用于使机器人基座（1）与水平多关节型机器人的第一臂（3）相配合的结构。第一臂的基部（2）可旋转地安装在沿机器人基座的纵向线性引导的滑块（6）上，并且滑块和基座的旋转受到可移除固定装置的限制。本发明对于包装机器人是有效的。

2. 发明授权

EP0377753B1 SHAFT SUPPORT STRUCTURE FOR INDUSTRIAL ROBOTS 失效
标题翻译：井状结构工业机器人
公开(公告)号：EP0377753B1
公开(公告)日：1996-04-17
申请号：EP89907292.0
申请日：1989-06-22
申请人： FANUC LTD.
发明人： TORII, Nobutoshi , ITO, Susumu Fanuc Mansion Harimomi 7-204 , HAMURA, Masayuki Fanuc Mansion Harimomi 8-103 , TANAKA, Akira Fanuc Dai-3 Vira-karamatsu
IPC分类号： B25J9/10 , B25J18/02
CPC分类号： B25J9/0009 , B25J18/02 , Y10T74/18856 , Y10T74/19181
摘要： A shaft support (10), which supports both end portions of an elongated screw shaft (12) for use in moving a movable element, such as an arm of an industrial robot in a predetermined direction, is fixed to the upper surface of a base plate (14) via a gear box (30) which supports a driving motor (22) and the elongated screw shaft (12), and which contains reduction gears (24) therein, in such a manner that a projected area of the shaft support (10) on a plane perpendicular to the longitudinal direction of the elongated screw shaft (12) is reduced. When the gear box (30) is fixed to the base plate (14), a circular boss (32b), which is provided on the lower surface of the gear box (30) for use in positioning the gear box (30) in the plane of the base plate (14), and a bore (14a) provided in the base plate (14) are used. The vertical positioning of the gear box (30) is done by a positioning member (40) having a predetermined height.

3. 发明授权

EP0396758B1 DIRECT-ACTING ACTUATOR OF INDUSTRIAL ROBOT 失效
标题翻译：工业机器人的直接作用致动器。
公开(公告)号：EP0396758B1
公开(公告)日：1994-09-07
申请号：EP89908520.3
申请日：1989-07-24
申请人： FANUC LTD.
发明人： TORII, Nobutoshi , ITO, Susumu Room 7-204, Fanuc Manshonharimomi , HAMURA, Masayuki Room 8-103, Fanuc Manshonharimomi , TANAKA, Akira Fanuc Dai-3 Vira-karamatsu
IPC分类号： B25J9/02 , B25J18/02 , B25J9/10
CPC分类号： B25J9/102 , B25J9/02 , B25J18/02 , Y10T74/18648 , Y10T74/20317 , Y10T403/32155 , Y10T403/7015
摘要： This invention relates to a direct-acting actuator of an industrial robot which can fit and remove an elongated feed screw rapidly and safely within a limited work space. When a ball screw is to be fitted, the upper and lower end portions of the ball screw inserted diagonally into an inner space of a column (10) are fitted into holes (12a, 33a) of an upper plate and sheet member through a passage (12b) formed on a column upper plate (12) and opening in that end surface of this upper plate on the slider side and through a passage (33b) formed on the sheet member (33) of a slider (30) and opening in the tip surface of the sheet member respectively, the lower end of the ball screw is connected to a decelerator (52) and a bearing unit (22) fitted to the upper end of the ball screw and ball nut (34) meshed with the ball screw are fitted into the holes (12a, 33a), respectively. Then, the bearing unit and the ball nut are fixed to the upper plate and to the sheet member, respectively. The ball screw can be removed in the procedures reverse to those described above.

4. 发明授权

EP0379582B1 FITTING STRUCTURE OF HORIZONTAL MULTIPLE JOINT ROBOT ARMS 失效
标题翻译：安装结构更多铰接式水平的机器人。
公开(公告)号：EP0379582B1
公开(公告)日：1994-04-13
申请号：EP89905783.0
申请日：1989-05-17
申请人： FANUC LTD.
发明人： TORII, Nobutoshi , ITO, Susumu Fanuc Mansion Harimomi 7-204 , TANAKA, Akira Fanuc Dai-3 Vira-karamatsu
IPC分类号： B25J9/04 , B25J9/00 , B25J18/02 , B25J19/00
CPC分类号： B25J18/02 , B25J9/0009 , B25J9/042 , Y10T74/20329 , Y10T403/32975 , Y10T403/32983
摘要： This invention relates to a structure for fitting a robot base (1) with a first arm (3) of a horizontal multiple joint type robot. The base (2) of the first arm is fitted rotatably to a slider (6), which is guided linearly in the longitudinal direction of the robot base (1), and the rotation of the slider (6) and the base (2) is restricted by removable fixing means. The present invention is effective for packaging a robot.

5. 发明公开

EP0396758A1 DIRECT-ACTING ACTUATOR OF INDUSTRIAL ROBOT 失效
标题翻译： DIREKT WIRKENDERBETÄTIGEREINES INDUSTRIELLEN ROBOTERS。
公开(公告)号：EP0396758A1
公开(公告)日：1990-11-14
申请号：EP89908520.3
申请日：1989-07-24
申请人： FANUC LTD
发明人： TORII, Nobutoshi , ITO, Susumu Room 7-204, Fanuc Manshonharimomi , HAMURA, Masayuki Room 8-103, Fanuc Manshonharimomi , TANAKA, Akira Fanuc Dai-3 Vira-karamatsu
IPC分类号： B25J9/02 , B25J18/02 , B25J9/10
CPC分类号： B25J9/102 , B25J9/02 , B25J18/02 , Y10T74/18648 , Y10T74/20317 , Y10T403/32155 , Y10T403/7015
摘要： This invention relates to a direct-acting actuator of an industrial robot which can fit and remove an elongated feed screw rapidly and safely within a limited work space. When a ball screw is to be fitted, the upper and lower end portions of the ball screw inserted diagonally into an inner space of a column (10) are fitted into holes (12a, 33a) of an upper plate and sheet member through a passage (12b) formed on a column upper plate (12) and opening in that end surface of this upper plate on the slider side and through a passage (33b) formed on the sheet member (33) of a slider (30) and opening in the tip surface of the sheet member respectively, the lower end of the ball screw is connected to a decelerator (52) and a bearing unit (22) fitted to the upper end of the ball screw and ball nut (34) meshed with the ball screw are fitted into the holes (12a, 33a), respectively. Then, the bearing unit and the ball nut are fixed to the upper plate and to the sheet member, respectively. The ball screw can be removed in the procedures reverse to those described above.
摘要翻译：工业机器人的直接作用致动器，其可以在有限的工作空间内快速和安全地装配和移除细长的进给螺杆。当安装滚珠丝杠时，将对角地插入柱（10）的内部空间的滚珠丝杠的上端部和下端部通过通道嵌入上板和片部件的孔（12a，33a）中（12b），其形成在列上板（12）上，并且在所述滑块侧的所述上板的所述端面中开口，并且通过形成在所述滑块（30）的所述片部件（33）上的通路（33b）片材的末端表面。滚珠丝杠的下端连接到减速器（52），并且装配到滚珠丝杠上端的轴承单元（22）和与滚珠丝杠啮合的滚珠螺母（34）分别装配到孔中。然后，分别将轴承单元和滚珠螺母固定到上板和板构件。可以按照与上述相反的步骤去除滚珠丝杠。

6. 发明公开

EP0377753A1 SHAFT SUPPORT STRUCTURE FOR INDUSTRIAL ROBOTS 失效
标题翻译： ANTRIEBSWELLENSTRUKTURFÜRINDUSTRIELLE ROBOTER。
公开(公告)号：EP0377753A1
公开(公告)日：1990-07-18
申请号：EP89907292.0
申请日：1989-06-22
申请人： FANUC LTD
发明人： TORII, Nobutoshi , ITO, Susumu Fanuc Mansion Harimomi 7-204 , HAMURA, Masayuki Fanuc Mansion Harimomi 8-103 , TANAKA, Akira Fanuc Dai-3 Vira-karamatsu
IPC分类号： B25J9/10 , B25J18/02
CPC分类号： B25J9/0009 , B25J18/02 , Y10T74/18856 , Y10T74/19181
摘要： A shaft support (10), which supports both end portions of an elongated screw shaft (12) for use in moving a movable element, such as an arm of an industrial robot in a predetermined direction, is fixed to the upper surface of a base plate (14) via a gear box (30) which supports a driving motor (22) and the elongated screw shaft (12), and which contains reduction gears (24) therein, in such a manner that a projected area of the shaft support (10) on a plane perpendicular to the longitudinal direction of the elongated screw shaft (12) is reduced. When the gear box (30) is fixed to the base plate (14), a circular boss (32b), which is provided on the lower surface of the gear box (30) for use in positioning the gear box (30) in the plane of the base plate (14), and a bore (14a) provided in the base plate (14) are used. The vertical positioning of the gear box (30) is done by a positioning member (40) having a predetermined height.
摘要翻译：支撑细长螺杆轴（12）的两端的轴支承件（10）固定在基座的上表面上，用于将可移动元件（例如工业机器人的臂沿预定方向）移动板（14）经由支撑驱动电动机（22）和细长螺杆轴（12）的齿轮箱（30），并且其中包含减速齿轮（24），使得轴支撑的投影面积（10）在垂直于细长螺杆轴（12）的纵向方向的平面上减小。当齿轮箱（30）固定到基板（14）上时，设置在齿轮箱（30）的下表面上的圆形凸台（32b），用于将齿轮箱（30）定位在使用基板（14）的平面和设置在基板（14）中的孔（14a）。齿轮箱（30）的垂直定位由具有预定高度的定位构件（40）完成。

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