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1. 发明专利

JP2003305682A Robot wrist drive mechanism 审中-公开
标题翻译：机器人手推车机构
公开(公告)号：JP2003305682A
公开(公告)日：2003-10-28
申请号：JP2002109726
申请日：2002-04-11
申请人： Fanuc Ltd , ファナック株式会社
发明人： UEMATSU MASAAKI , MATSUMOTO KUNIYASU , NAKAGAWA HIROSHI , MORIOKA MASAHIRO
IPC分类号： B25J17/02
CPC分类号： B25J17/0283 , Y10S414/131 , Y10T74/20329 , Y10T74/20335
摘要： PROBLEM TO BE SOLVED: To provide a robot wrist drive mechanism capable of enabling a lot of wiring and piping to be inserted into a robot arm. SOLUTION: This robot wrist drive mechanism of a rotation freedom degree of 3 is driven to rotate by a first to a third drive shafts 4-6 to transmit driving force of motors M4-M6. The first drive shaft 4 is formed hollow, and it transmits rotation driving force to a first wrist element 8 provided to be rotatable around an axial line B1. The second and the third drive shafts 5 and 6 are disposed in the hollow in the drive shaft 4 to be eccentric from the axial line B1. The drive shaft 5 provides rotation driving force to the second wrist element 10 supported to be rotatable around an axial line B2. The drive shaft 6 provides rotation driving force to the third wrist element 13 supported to be rotatable around an axial line B3. By means of a first to a fourth gears 17, 16, 19, 18, etc., structure becoming complicated due to eccentric disposition of the drive shafts 5 and 6 can be prevented. COPYRIGHT: (C)2004,JPO
摘要翻译：要解决的问题：提供一种能够将大量布线和管道插入机器人手臂中的机器人手腕驱动机构。解决方案：旋转自由度为3的机器人手腕驱动机构通过第一至第三驱动轴4-6驱动旋转，以传递马达M4-M6的驱动力。第一驱动轴4形成为中空，并且将旋转驱动力传递到设置成可绕轴线B1旋转的第一腕部8。第二和第三驱动轴5和6设置在驱动轴4的中空部中，以从轴线B1偏心。驱动轴5向被支撑为围绕轴线B2旋转的第二腕部元件10提供旋转驱动力。驱动轴6向被支撑为围绕轴线B3旋转的第三腕部13提供旋转驱动力。通过第一至第四齿轮17,16,19,18等可以防止由于驱动轴5和6的偏心配置而变得复杂的结构。版权所有（C）2004，JPO

2. 发明专利

JP2010188459A Production system using part kit 有权
标题翻译：使用零件包的生产系统
公开(公告)号：JP2010188459A
公开(公告)日：2010-09-02
申请号：JP2009034142
申请日：2009-02-17
申请人： Fanuc Ltd , ファナック株式会社
发明人： NIHEI AKIRA , SAKAKIBARA SHINSUKE , BAN KAZUKUNI , MORIOKA MASAHIRO , ADACHI SATOSHI , TAKIZAWA SHOTA
IPC分类号： B23P21/00 , B25J13/08
摘要： PROBLEM TO BE SOLVED: To improve reliability of formation of a part kit composed of parts required for production. SOLUTION: A production system has a parts storage section for housing a plurality of parts and a robot taking out and collecting a plurality of parts required for production of products from the parts storage section to form a part kit. The production system is provided with: storage means of storing part reference images 51 which are images of respective types of parts photographed in advance and part kit components information 52 which are information of parts to be included in the part kit for respective products; photographing means 6 of photographing the part kit actually formed by the robot; part identification means 42a of comparing the images of the part kit photographed by the photographing means with the part reference images 51 and identifying the types and number of parts actually included in the part kit; and check means 43 of comparing the types and number of parts identified by the part identification means with the part kit components information 52 and checking that required parts are included in the part kit in just proportion. COPYRIGHT: (C)2010,JPO&INPIT
摘要翻译：要解决的问题：提高由生产所需部件组成的部件套件的可靠性。解决方案：生产系统具有用于容纳多个部件的部件存储部分和从部件存储部分取出并收集用于生产产品所需的多个部件的机器人，以形成部件套件。该生产系统具有以下部分：存储部件参考图像51的存储装置，它们是预先拍摄的各种类型的部件的图像以及作为各个产品的部件组件中包括的部件的信息的部件套件部件信息52。拍摄由机器人实际形成的部件套件的拍摄装置6; 将由拍摄装置拍摄的部件组件的图像与部件参考图像51进行比较并识别实际包括在部件组件中的部件的类型和数量的部件识别装置42a; 以及检查装置43，将由部件识别装置识别的部件的类型和数量与部件工具组件信息52进行比较，并且检查所需部件是否正确地包含在部件套件中。版权所有（C）2010，JPO＆INPIT

3. 发明专利

JP2003311672A Filament body guiding device for robot 有权
标题翻译：机器人身体指导装置
公开(公告)号：JP2003311672A
公开(公告)日：2003-11-05
申请号：JP2002115141
申请日：2002-04-17
申请人： Fanuc Ltd , ファナック株式会社
发明人： NIHEI AKIRA , MATSUMOTO KUNIYASU , NAKAGAWA HIROSHI , MORIOKA MASAHIRO
IPC分类号： B25J19/00 , H02G11/00
摘要： PROBLEM TO BE SOLVED: To arrange a filament body compactly to reduce redundant sag, unreasonable tension and twist action in filament bodies such as wires or tubes disposed on a robot wrist device. SOLUTION: The device provide a flange 11 fixed on an operation device and a guiding hole 14 on an adaptor fixed on the flange for making a filament body 10 pass through. A guiding means 15 having a holding part 16 for holding the filament body 10 is provided rotatably with the rotation central axis L of the flange 11 and the adaptor 6 as the center. After passing through the guiding hole 14, the filament body 10 is wired to the operation device. Since, on the filament body 10, bending around an axial line perpendicular to the rotation central axis L is constrained, and is disposed by intersecting with the rotation central axis L, contact with surrounding devices is prevented and durability can be upgraded without isolating from the side surface of the wrist device and sagging. Compactly, behavior range of the sag can be determined, and interference between the surrounding devices and the filament body can be confirmed. COPYRIGHT: (C)2004,JPO
摘要翻译：要解决的问题：将灯丝体紧凑地布置以减少灯丝体中诸如设置在机器人手腕装置上的线或管的重叠下垂，不合理的张力和扭转作用。解决方案：该装置提供固定在操作装置上的凸缘11和固定在凸缘上的适配器上的引导孔14，以使丝体10通过。具有用于保持灯丝主体10的保持部16的引导装置15以法兰11的旋转中心轴线L和适配器6为中心可旋转地设置。在通过引导孔14之后，灯丝体10被连接到操作装置。由于在灯丝本体10上围绕与旋转中心轴线L垂直的轴线弯曲，因此与旋转中心轴线L交叉而被设置，因此能够防止与周围装置的接触而不会与手腕装置的侧面和下垂。可以紧凑地确定下垂的行为范围，并且可以确认周围装置与灯丝体之间的干扰。版权所有（C）2004，JPO

4. 发明专利

JP2012218094A Robot system having error detection function of robot and control method thereof 有权
标题翻译：具有机器人的错误检测功能的机器人系统及其控制方法
公开(公告)号：JP2012218094A
公开(公告)日：2012-11-12
申请号：JP2011084485
申请日：2011-04-06
申请人： Fanuc Ltd , ファナック株式会社
发明人： MORIOKA MASAHIRO , ADACHI SATOSHI
IPC分类号： B25J19/06 , G05B19/18
CPC分类号： B25J9/1674
摘要： PROBLEM TO BE SOLVED: To provide a robot system that can detect failure generated in a robot at high sensitivity and to provide a control method thereof.SOLUTION: When an error occurs in robot system 11, a difference between first and second detection values of two first and second sensors 23 and 24 occurs due to differences in position and responsiveness. When the difference exceeds a present prescribed threshold, a control part 13 detects that a difference has occurred in robot system 11. The first and the second detection values of the two first and second sensors 23 and 24 are relatively compared with each other, and therefore, reliability of the detection values can be secured. Further, the abnormal state can be determined through the difference between the first and second detection values, and therefore, uncertainties resulting from problems such as variations in gears and speed reducers due to temperature changes of the operational state and disposition environment of the robot can be eliminated. A threshold of the difference between the detection values can be set to be small. The robot system 11 can detect failure at high sensitivity.
摘要翻译：要解决的问题：提供一种能够以高灵敏度检测机器人中产生的故障并提供其控制方法的机器人系统。解决方案：当机器人系统11发生错误时，由于位置和响应性的差异，发生两个第一和第二传感器23和24的第一和第二检测值之间的差异。当差异超过当前规定的阈值时，控制部13检测出机器人系统11发生差异。两个第一传感器23和第二传感器24的第一和第二检测值相互比较，因此可以确保检测值的可靠性。此外，可以通过第一和第二检测值之间的差异来确定异常状态，因此由于机器人的操作状态和配置环境的温度变化引起的诸如齿轮和减速器的变化等问题的不确定性可以是淘汰。可以将检测值之间的差的阈值设定得较小。机器人系统11可以以高灵敏度检测故障。版权所有（C）2013，JPO＆INPIT

5. 发明专利

JP2010042479A Wire body operation restriction device, and robot having the same 有权
标题翻译：线身体操作限制装置，以及具有相同功能的机器人
公开(公告)号：JP2010042479A
公开(公告)日：2010-02-25
申请号：JP2008208686
申请日：2008-08-13
申请人： Fanuc Ltd , ファナック株式会社
发明人： JINUSHI MUNEHIRO , MORIOKA MASAHIRO , ADACHI SATOSHI
IPC分类号： B25J19/00
CPC分类号： B25J19/0025 , H02G11/00 , Y10S414/131 , Y10T74/20305 , Y10T74/20311 , Y10T74/20329 , Y10T74/20335
摘要： PROBLEM TO BE SOLVED: To provide a wire body operation restriction device for minimizing an interference area generated by an excessive length of a wire body, and avoiding contact of the wire with a peripheral equipment. SOLUTION: The wire body operation restriction device 170 is provided in a robot 100 having a forearm 110, a wrist portion 120, a working tool 130 attached to the distal end of the wrist portion, and a flexible wire body 160 connected to the working tool 130 via the forearm 110, and limits the operation of the wire body 160 to be adapted to the operation of the robot 100. The wire body operation restriction device includes a swing portion 173 swingably attached around a swing axis line 148 in the wrist portion 120, and a restriction portion 174 arranged on the swing portion 173 to restrict the operation of the wire body 160. COPYRIGHT: (C)2010,JPO&INPIT
摘要翻译：要解决的问题：提供一种线体操作限制装置，用于最小化由线体的过长的长度产生的干涉区域，并且避免电线与外围设备的接触。线体操作限制装置170设置在机器人100中，机器人100具有前臂110，腕部120，安装在腕部的远端的作业工具130，以及连接到经由前臂110的加工工具130，并且限制线主体160的操作以适应机器人100的操作。线体操作限制装置包括摆动部173，摆动部173围绕摆动轴线148摆动手腕部分120和布置在摆动部分173上的限制部分174，以限制线主体160的操作。版权所有（C）2010，JPO＆INPIT

6. 发明专利

JP2006159305A Filament body guide device for robot and robot provided with filament body guide device 有权
标题翻译：用于机身和机器人的FILAMENT身体指导装置，配有FILAMENT BODY GUID DEVICE
公开(公告)号：JP2006159305A
公开(公告)日：2006-06-22
申请号：JP2004349957
申请日：2004-12-02
申请人： Fanuc Ltd , ファナック株式会社
发明人： KIDOOKA AKIO , MORIOKA MASAHIRO
IPC分类号： B25J19/00 , H02G11/00
CPC分类号： B25J19/0025 , Y10T74/20311 , Y10T74/20335
摘要： PROBLEM TO BE SOLVED: To provide a filament body guide device high in rigidity and capable of suppressing interference between the other constituent members or the outside and a filament body to a minimum, and a robot provided with the same. SOLUTION: The filament body guide device, namely, an adaptor 20 has a first plate-like member 21 fixed to a third wrist element 18, a second plate-like member 22 arranged oppositely and nearly in parallel with the first plate-like member 21, and a coupling member 23 for coupling the first/second plate-like members 21, 22 each other. The first/second plate-like members 21, 22 and the coupling member 23 cooperatively demarcate a first opening part 25 for introducing the filament body 32 into the adaptor. A second opening part 26, to which the filament body 32 can be inserted, is provided on an extension part extending in a state of being offset to a certain degree from a fixing part fixed to an end effector 30 of the second plate-like member 22 (namely, extending to a position deviated from a third shaft 54 of a wrist). COPYRIGHT: (C)2006,JPO&NCIPI
摘要翻译：要解决的问题：为了提供刚性高且能够将其它构成构件或外部与灯丝体之间的干扰降至最低的丝体导向装置，以及设置有丝状体的机器人。灯丝体引导装置即适配器20具有固定在第三腕部件18上的第一板状部件21，与第一板状部件22相对且平行地配置的第二板状部件22。以及用于将第一/第二板状构件21,22彼此联接的联接构件23。第一/第二板状构件21,22和联接构件23协调地划定用于将灯丝体32引入适配器的第一开口部25。长丝主体32能够插入的第二开口部26设置在延伸部上，该延伸部在与固定到第二板状构件的端部执行器30的固定部偏移一定程度的状态下延伸 22（即，延伸到离开手腕的第三轴54的位置）。版权所有（C）2006，JPO＆NCIPI

7. 发明专利

JP2006150496A Wire-shaped body supporting device for robot, and robot provided with wire-shaped body supporting device 审中-公开
标题翻译：用于机器人的线形身体支持装置，以及用线形身体支持装置提供的机器人
公开(公告)号：JP2006150496A
公开(公告)日：2006-06-15
申请号：JP2004344008
申请日：2004-11-29
申请人： Fanuc Ltd , ファナック株式会社
发明人： KIDOOKA AKIO , MORIOKA MASAHIRO
IPC分类号： B25J19/00
CPC分类号： B25J19/0025 , Y10T74/20305
摘要： PROBLEM TO BE SOLVED: To provide a wire-shaped body guide device with a simple structure which can reduce an interference area of a conduit to the utmost, and further, can absorb looseness in the conduit even if an auxiliary device is not used, and a robot provided with the same. SOLUTION: A first conduit supporting member 20 is provided to an upper arm 10. A second conduit supporting member 22 is provided to a wrist 14. The conduit 18 is fixed or torsionally rotatably supported by the first/second conduit supporting members 20, 22. The conduit 18 is held by a holding means 24 arranged between both conduit supporting members, specifically, arranged closely to the side of a forearm 12 so as to be slidable, rotatable around the axis along in the sliding direction, and rotatable around the axis vertical to the axis. The holding means 24 is provided so as to be as close as possible to the forearm 12. Consequently, interference with external peripheral equipment or the like can be suppressed to a minimum since the gap between the conduit 18 and the forearm 12 is reduced. COPYRIGHT: (C)2006,JPO&NCIPI
摘要翻译：要解决的问题：提供一种具有简单结构的线形导体装置，其可以最大限度地减少导管的干扰面积，并且还可以吸收导管中的松动，即使辅助装置不是使用，并且提供了一个机器人。解决方案：将第一导管支撑构件20设置到上臂10.第二导管支撑构件22设置到腕部14.导管18由第一/第二导管支撑构件20固定或扭转地可旋转地支撑管道18由布置在两个导管支撑构件之间的保持装置24保持，具体地，布置成紧密地靠近前臂12的侧面，以便沿着滑动方向可绕轴线旋转，并且能够围绕滑动方向旋转垂直于轴的轴。保持装置24设置成尽可能靠近前臂12.因此，由于导管18和前臂12之间的间隙减小，因此能够将与外部周边设备等的干扰抑制到最小。版权所有（C）2006，JPO＆NCIPI

8. 发明专利

JP2003305684A Linear member placement structure in relative rotation mechanism 审中-公开
标题翻译：相对旋转机构中的线性构件放置结构
公开(公告)号：JP2003305684A
公开(公告)日：2003-10-28
申请号：JP2002112371
申请日：2002-04-15
申请人： Fanuc Ltd , ファナック株式会社
发明人： UEMATSU MASAAKI , MATSUMOTO KUNIYASU , NAKAGAWA HIROSHI , MORIOKA MASAHIRO
IPC分类号： B25J19/00 , H02G11/00 , H02G11/02
CPC分类号： B25J19/0029 , H02G11/00 , Y10T74/20305 , Y10T74/20311 , Y10T74/20335
摘要： PROBLEM TO BE SOLVED: To prevent narrowing a relative rotation range, and improve reliability of a linear member, requiring small space, in placement of the linear member for wiring, piping, etc., in a relative rotation mechanism. SOLUTION: A first wrist element 1 of a robot wrist as the relative rotation mechanism is relatively rotated around an axial line 4 to a second wrist element 2. The linear members connected to a device installed on a flange part 12 are fixed as a main bundle 10 to the second wrist element 2 by a clamp device 16. The main bundle 10 is introduced through hollow parts in the first and the second wrist elements to the first wrist element 1 along the axial line to be parted to partial bundles 11. The partial bundle 11 is introduced at a prescribed angle to a radial direction of relative rotation of the first wrist element 1 around the axial line 4, and it is extended from an opening part 8 outward to be fixed around the opening part 8. As the first wrist element 1 is rotated, the partial bundle 11 moves toward a center of a hollow part 18. Twisting force of the main bundle 10 and friction between the partial bundles 11 with each other are reduced. A rotation angle is enlarged in narrow space, whereby durability can be improved. COPYRIGHT: (C)2004,JPO
摘要翻译：要解决的问题：为了防止相对旋转范围的变窄，提高线性部件的可靠性，需要较小的空间，将配线等的线状部件配置在相对旋转机构中。解决方案：作为相对旋转机构的机器人手腕的第一腕部1围绕轴线4相对旋转到第二腕部2.连接到安装在凸缘部12上的装置的线状构件被固定为通过夹持装置16将主束10引导到第二腕部2.主束10沿着轴线被引导到第一和第二腕部中的第一和第二腕部的中空部分到第一腕部1，以被分割成部分束11 部分束11以与第一腕部1相对于轴线4的相对旋转的径向为规定角度被引导，并且从开口部8向外侧延伸以固定在开口部8周围。作为第一腕部1旋转，部分束11朝向中空部18的中心移动。主束10的扭转力和部分束11之间的摩擦相互减小。旋转角度在狭窄的空间中扩大，从而可以提高耐久性。版权所有（C）2004，JPO

9. 发明专利

JP2003305683A Linear member placement structure in wrist of robot 有权
标题翻译：机器人线性成员放置结构
公开(公告)号：JP2003305683A
公开(公告)日：2003-10-28
申请号：JP2002108162
申请日：2002-04-10
申请人： Fanuc Ltd , ファナック株式会社
发明人： UEMATSU MASAAKI , MATSUMOTO KUNIYASU , NAKAGAWA HIROSHI , MORIOKA MASAHIRO
IPC分类号： B25J17/02 , B25J19/00
CPC分类号： B25J19/0025 , B25J17/0283 , Y10S414/131 , Y10T74/20311
摘要： PROBLEM TO BE SOLVED: To improve durability of linear members from wiring and piping for electricity, air, water, etc., and reduce limitation of action angles due to other axes. SOLUTION: A first, a second, and a third wrist elements 12, 13, and 16 of a wrist 6 are rotated around a first, a second, and a third axial lines 4, 14 and 17. The first wrist element 12 is rotated with an arm 5. The linear member 10 is clamped to a base at a fixing part to be inserted into the arm 5, and clamped by linear member fixing parts 11 and 11' inside and outside a tip of the arm 5. It is clamped by fixing parts 15, 15', and 23 of the second wrist element 13 to be introduced to the third wrist element 16. It is clamped by a fixing part 19 of the third wrist element 16 to be introduced outward to be connected to a work device. Such sections as to generate bending, twisting, or movement in the linear member 10 as the first, the second, and the third wrist elements 12, 13, and 16 are rotated are limited to sections S1, S2 and S3 fixed by the fixing parts without including other sections, thereby durability is improved. COPYRIGHT: (C)2004,JPO
摘要翻译：要解决的问题：为了提高线路构件对电力，空气，水等的布线和配管的耐久性，并且减少由于其它轴的作用角度的限制。解决方案：手腕6的第一，第二和第三腕部12,13和16围绕第一，第二和第三轴线4,14和17旋转。第一腕部元件 12通过臂5旋转。线性构件10被夹持在固定部分的基部，以插入到臂5中，并且被臂5的尖端内部和外侧的线性构件固定部分11和11'夹紧。被固定在第二腕部13上的固定部件15,15'和23被引导到第三腕部件16上。第三腕部件16的固定部分19被夹紧以便被向外引入连接到工作设备。当第一，第二和第三腕部12,13和16旋转时，在直线部件10中产生弯曲，扭转或运动的这些部分限于由固定部分固定的部分S1，S2和S3 而不包括其他部分，从而提高耐久性。版权所有（C）2004，JPO

10. 发明专利

JP2012040626A Human cooperation robot system 有权
标题翻译：人类合作机器人系统
公开(公告)号：JP2012040626A
公开(公告)日：2012-03-01
申请号：JP2010182314
申请日：2010-08-17
申请人： Fanuc Ltd , ファナック株式会社
发明人： SAKAKIBARA SHINSUKE , MORIOKA MASAHIRO , ADACHI SATOSHI
IPC分类号： B25J19/06
CPC分类号： B25J19/06 , B25J9/1674 , B25J13/085 , B25J21/00 , G05B2219/40198 , G05B2219/40202
摘要： PROBLEM TO BE SOLVED: To ensure safety of the human even in an environment where a human can come into contact with a robot.SOLUTION: In a human cooperation robot system, a robot (2) and a human (1) share an area with each other to perform cooperation work. The human cooperation robot system is provided with a force sensor (4), which is set in a work device (3) attached to a front end of the robot or which is set in the robot, the operation of the robot is controlled so that the robot is stopped or a detected value of the force sensor becomes smaller when the detected value of the force sensor exceeds a predetermined value. The robot includes: a first robot portion (6) which is located at a position more away from the human than a set position of the force sensor; and a second robot portion (7) which is located at a position closer to the human than the set position of the force sensor. The robot system is provided with a limiting part (5) which limits a work area of the human so as to prevent the human from coming into contact with the first robot portion even when the robot most approaches the human.
摘要翻译：要解决的问题：即使在人类可以与机器人接触的环境中，也要确保人的安全。解决方案：在人机合作机器人系统中，机器人（2）和人（1）彼此共享一个区域进行合作。人工合作机器人系统设置有力传感器（4），其设置在附接到机器人的前端的或设置在机器人中的作业装置（3）中，控制机器人的操作，使得当力传感器的检测值超过预定值时，机器人停止或力传感器的检测值变小。机器人包括：第一机器人部分（6），其位于比力传感器的设定位置更远离人的位置; 以及位于比力传感器的设定位置更靠近人的位置的第二机器人部分（7）。机器人系统设置有限制人的工作区域的限制部分（5），以便即使当机器人最接近人时也能防止人与第一机器人部分接触。版权所有（C）2012，JPO＆INPIT

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