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1. 发明专利

JP5310342B2 Robot wrist device 有权
公开(公告)号：JP5310342B2
公开(公告)日：2013-10-09
申请号：JP2009167754
申请日：2009-07-16
申请人：株式会社デンソーウェーブ
发明人：英樹森本
IPC分类号： B25J17/02 , F16H57/02 , F16H57/027 , F16H57/028 , F16H57/029 , F16H57/03 , H02K7/116
摘要： PROBLEM TO BE SOLVED: To prevent a lubricant in a sealed space of a decelerator from leaking outside on the decelerator for decelerating motor rotation and transmitting the rotation to a flange (end effector attaching member). SOLUTION: A wrist device of a robot is equipped with a first decelerator 7 for the flange 4 and a second decelerator 8 for a wrist rotation part 3 on two planes 5a and 5b different from each other by 90 degrees of a housing 5 of the wrist rotation part 3, and is equipped with a motor 6 for driving the flange 4 on the housing 5 of the wrist rotation part 3. In this case, a communication path 65 is formed, for communicating between a first sealed space 32 of the first decelerator 7 and a second sealed space 57 of the second decelerator 8. Therefore, when a pressure in the first sealed space 32 becomes high, the air in the first sealed space 32 flows through the communication path 65 to the second sealed space 57, preventing abnormal rise in pressure in the first sealed space 32. COPYRIGHT: (C)2011,JPO&INPIT

3. 发明专利

JP5359640B2 Robot wrist device 有权
公开(公告)号：JP5359640B2
公开(公告)日：2013-12-04
申请号：JP2009170025
申请日：2009-07-21
申请人：株式会社デンソーウェーブ
发明人：英樹森本
IPC分类号： B25J17/02 , B25J19/00 , F16H57/027
摘要： PROBLEM TO BE SOLVED: To prevent a lubricant in a sealed space of a decelerator from leaking outside on the decelerator provided at the tip of a wrist rotation part for transmitting rotation to an end effector attaching member. SOLUTION: A wrist device of a robot is equipped with a first decelerator 7 for a flange (end effector attaching member) and a second decelerator 8 for the wrist rotation part 3 on a tip surface and a side face of a housing 5 of the wrist rotation part 3, and is equipped with a motor 6 for driving the flange via the first decelerator 7 in the housing 5. In this case, a communication path 65 is formed, for communicating between a first sealed space 32 in the first decelerator 7 and a second sealed space 57 in the second decelerator 8. A stopper 67 is provided, which usually closes the communication path 65 and opens the communication path 65 when an internal pressure in the first sealed space 32 is higher than an internal pressure in the second sealed space 57 by a predetermined value or higher. COPYRIGHT: (C)2011,JPO&INPIT

5. 发明专利

JP5370225B2 Arm coupling device of the robot 有权
公开(公告)号：JP5370225B2
公开(公告)日：2013-12-18
申请号：JP2010062474
申请日：2010-03-18
申请人：株式会社デンソーウェーブ
发明人：英樹森本
IPC分类号： B25J19/00
CPC分类号： B25J19/0029 , B25J19/0041
摘要： The device i.e. rotary joint (9), has a flat cable accommodated in a housing (41) and wound corresponding to an inner circumference of the housing, where the cable is longer than an outer circumference of the housing. The device transfers drive force of a drive source (12) to an end arm over a shaft (15) and discharges gas from a side of a start arm to the end arm through the gas passage provided between a sleeve (17) and the shaft. A rotary joint part (20) transmits an electric signal through the cable, where the signal is provided from the side of the start arm to the side of the end arm.

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