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1. 发明专利

JPH08216083A MANIPULATOR 失效
公开(公告)号：JPH08216083A
公开(公告)日：1996-08-27
申请号：JP2255895
申请日：1995-02-10
申请人： MEIDENSHA ELECTRIC MFG CO LTD
发明人： IZAWA TSUTOMU
IPC分类号： B25J9/06 , B25J19/00
摘要： PURPOSE: To provide a manipulator which can easily perform removing work of a gate or the like sticking to castings without relying on manual work. CONSTITUTION: A rotary joint 16 is joined to a tip part of an upper arm 13 of a manipulator through four shafts 15, and a high speed hammer 20 is joined to a rotary part 16c of this rotary joint 16, and air tubes 14a and 14b arranged along the upper arm 13 and air tubes 20a and 20b of the high speed hammer 20 are joined together through an air tube in the rotary unit 16. Since the air tubes are not externally laid round, the high speed hammer 20 is not limited by an operation range, and can infinitely rotate in the arrow C direction.

2. 发明专利

JPH03221388A AUXILIARY DEVICE FOR TEACHING ROBOT 失效
公开(公告)号：JPH03221388A
公开(公告)日：1991-09-30
申请号：JP1427490
申请日：1990-01-24
申请人： MEIDENSHA ELECTRIC MFG CO LTD
发明人： IZAWA TSUTOMU
IPC分类号： B25J9/22 , G05B19/42
摘要： PURPOSE:To reduce the load of a worker and improve the efficiency of operation by allowing the worker to acknowledge the present rotating angle of a robot via at least one of a visual means and an audio means. CONSTITUTION:Rotary ranges around one or two or more shafts provided at least near the wrist 3c of a robot 3 are divided into several segments, and at least either light sources 11a-11c with the colors corresponding to individual segments or sound sources 9 generating the sounds corresponding to individual segments are provided on a display box 6. In which range the rotating angle of the rotating section of the robot 3 is presently located is displayed by at least either the color of the illuminating light sources 11a-11c or the sound of the buzzer 9. A worker 13 operating the robot 3 can easily acknowledge the position of the present rotating angle. The worker 13 can concentrate the attention to the operation of the robot 3 when teaching the robot 3, the load of the worker 13 is reduced, and the work efficiency is improved.

3. 发明专利

JP2001129786A ROBOT DEVICE 失效
公开(公告)号：JP2001129786A
公开(公告)日：2001-05-15
申请号：JP31488999
申请日：1999-11-05
申请人： MEIDENSHA ELECTRIC MFG CO LTD
发明人： IZAWA TSUTOMU
IPC分类号： B25J19/06 , B25J19/00
摘要： PROBLEM TO BE SOLVED: To prevent application of an overload to a robot from outside. SOLUTION: In this robot device, a mounting base 2 is mounted on a fixed base 1, while a manipulator 3 is mounted on the mounting base 2. Support means 8, a suppression means 9 suppressing a tilt of the mounting base 2 and a restriction means 10 restricting the tilt of the mounting base 2 within a prescribed angle are provided around the manipulator 3 between the fixed base 1 and the mounting base 2.

4. 发明专利

JPH11254357A ROBOT HAVING HORIZONTAL ARM 失效
公开(公告)号：JPH11254357A
公开(公告)日：1999-09-21
申请号：JP5477998
申请日：1998-03-06
申请人： MEIDENSHA ELECTRIC MFG CO LTD
发明人： IZAWA TSUTOMU , ARAKAWA TETSUO , OBITSU KOICHI
IPC分类号： B25J9/06 , B25J18/00 , B25J19/00
摘要： PROBLEM TO BE SOLVED: To provide a robot having a horizontal arm which can serve as an arm with high rigidity and controllability by eliminating the horizontal play of the arm, and improving spring constant, thereby eliminating vibration and locus runout at the time of stopping and acceleration. SOLUTION: This robot is provided with tension links 15, 16, 17 such as a spring disposed between the respective arms 12 and 13, 13 and 14 of a horizontal articulated arm device. A single-side load is given to the reduction gear of a driving system driving the respective arms 15, 16, 17 by giving tensile force or compressive force with the tension links 15, 16, 17, so as to remove backlash and get out of a lost motion range. As a result, play is eliminated at the time of acceleration and deceleration, and stopping, and the torsion spring constant of the reduction gear is increased for higher natural frequency of a mechanical system. It is thus possible to improve the controllability of the robot.

5. 发明专利

JPH08216058A HAMMER 失效
公开(公告)号：JPH08216058A
公开(公告)日：1996-08-27
申请号：JP2255795
申请日：1995-02-10
申请人： MEIDENSHA ELECTRIC MFG CO LTD
发明人： IZAWA TSUTOMU , TOKUDA KENICHI
IPC分类号： B25D9/08 , B25D17/14
摘要： PURPOSE: To preventing hammer having a striking portion provided at the end of a cylinder-driven rod from malfunctioning due to dust by providing a dustproof cover for enclosing a cylinder and a slide mechanism, and providing scrapers at the end of an opening in such a way that the scrapers contact the surface of the rod. CONSTITUTION: This hammer for use in such cases as removing a gate from a casting actuates the piston of a high-speed cylinder 5 by means of air fed and exhausted via air tubes 3, 4, moves a rectangular pipe 10 linearly along a linear guide 12 together with a piston rod 6, and strikes the gate off by means of an end chisel 14. In this case, a dustproof cover 2 and rubber scrapers 13a to 13d prevent dust from entering the device. When dust is entering the dustproof cover 2, scrapers 16a to 16d provided at the block 11 of a slide mechanism 20 and used for the linear guide prevent the dust from entering the slide portion of the linear guide 12.

6. 发明专利

JPH07124876A MASTER SLAVE TYPE MANIPULATOR 失效
公开(公告)号：JPH07124876A
公开(公告)日：1995-05-16
申请号：JP27144893
申请日：1993-10-29
申请人： MEIDENSHA ELECTRIC MFG CO LTD , NISSAN MOTOR
发明人： IZAWA TSUTOMU , KAWABUCHI YOSHIOMI
IPC分类号： B25J3/00 , B25J13/02 , B25J19/04
摘要： PURPOSE:To provide the master slave type manipulator which can materialize the limitation of a moving range of a slave arm and a movement along a specified profile in a simple constitution without impairing operability. CONSTITUTION:In the master slave type manipulator equipped with a slave arm which follows the profile made by a master arm 6 in such a way asto be similar therewith with the master arm operated, the master arm 6 is provided with a contact shoe 8, and an operating range of the slave arm is controlled by regulating an operating range of the master arm 6 with the contact shoe 8 brought into contact with a position regulating member 9.

7. 发明专利

JPH07124875A MASTER SLAVE TYPE MANIPULATOR 失效
公开(公告)号：JPH07124875A
公开(公告)日：1995-05-16
申请号：JP27144793
申请日：1993-10-29
申请人： MEIDENSHA ELECTRIC MFG CO LTD , NISSAN MOTOR
发明人： IZAWA TSUTOMU , KAWABUCHI YOSHIOMI
IPC分类号： B25J3/00 , B25J13/02 , B25J19/04
摘要： PURPOSE:To control the hand of a slave arm to be position to a desired face with neither a CPU nor soft-ware used and without interfering with the operation of a master arm. CONSTITUTION:A sub-master arm 7 is provided with a contact shoe 8, a position limiting member 9 equipped with a contact surface 10 for the contact shoe 8 is made capable of being rocked integrally with a first shaft swivel base 13, and the position of the sub-master arm 7 is limited by limiting the position of the contact shoe 8 by the contact face 10, so that the hand position of a slave arm is thereby mechanically controlled.

8. 发明专利

JPH0283193A DETECTING METHOD FOR MISREGISTRATION OF ROBOT 失效
公开(公告)号：JPH0283193A
公开(公告)日：1990-03-23
申请号：JP23488588
申请日：1988-09-21
申请人： MEIDENSHA ELECTRIC MFG CO LTD
发明人： IZAWA TSUTOMU , HOSONO TOMIO , UENO TOSHIYUKI , WATANABE YOSHIKAZU
IPC分类号： B25J9/10 , B25J19/02 , G05B9/02 , G05D3/12
摘要： PURPOSE:To reduce the damages a robot receives and to prevent defective workings by comparing a count value at the time when a positional signal is output with a set count value and deciding misregistration being caused at the time when the difference in the both count values exceeds the value within a preset range. CONSTITUTION:While under actual working, if a positional signal Q4 is output from a sensor S4, for example, the difference P4 in the count value SIGMAP4 of a pulse counter C4 at this time and a set count value P40 is found by a misregistration arithmetic/deciding part 22. In case of P4 exceeds the value within a preset range, it is decided that misregistration is caused on the mechanical transmission mechanism, concretely the mechanism from a speed reducer to mechanical bond part. Yet in case of P4 being larger, it is decided in which direction the misregistration is caused by deciding whether the value P4 is positive or negative.

9. 发明专利

JP2000167793A INDUSTRIAL ROBOT HAVING HARNESS SET 失效
公开(公告)号：JP2000167793A
公开(公告)日：2000-06-20
申请号：JP27379899
申请日：1999-09-28
申请人： MEIDENSHA ELECTRIC MFG CO LTD
发明人： IZAWA TSUTOMU , UENO TOSHIYUKI , KODAMA YASUSHI
IPC分类号： B25J19/00 , H02G11/00
摘要： PROBLEM TO BE SOLVED: To reduce the assembly man hour and mis-assembly by wiring and piping from a main body base controller to each shaft and the input means and output means of an end effector, taking around by one hearness set and forming this harness set along a robot arm. SOLUTION: The wirings 42, 43, 44, 45, 46 are taken around by one wire connected with each other without relaying from a main body base controller to each shaft motor, the position detector such as encoder, brake, limit switch and end effector. Further, air pipings 47,48 are taken around by a pipe connected without relaying. Oneside harness set 21 is formed by penetrating a flexible tube 41 while making these wirings 42, 43, 44, 45, 46 and pipings 47, 48 to a bundle. The connectors 22 of the branch parts of this harness set 21 and the fixed parts on the way are tightened to the fixing parts with Japanese letter U shape of a robot arm and the harness set 21 is fixed to the robot arm.

10. 发明专利

JP2000042972A INDUSTRIAL MANIPULATOR 失效
公开(公告)号：JP2000042972A
公开(公告)日：2000-02-15
申请号：JP20605298
申请日：1998-07-22
申请人： MEIDENSHA ELECTRIC MFG CO LTD
发明人： ARAKAWA TETSUO , TAKAMA MASAHIRO , IZAWA TSUTOMU
IPC分类号： B25J17/00 , B25J19/00
摘要： PROBLEM TO BE SOLVED: To provide an industrial manipulator which can structurally handle a heavy weight without performing a capacity increase, a reduction ratio change, or the like of a motor vertically turning a wrist. SOLUTION: A constitution is made so that a counter weight 21 is mounted on a base end part of a wrist 15 and force acts in the direction of turning upward a tip end part of the wrist 15 by the weight of the counter weight 21. Otherwise a constitution is made so that the counter weight 21 is mounted in a base end side (in the vicinity of 2-shaft) of a slave arm 1, and this counter weight 21 and the base end part of the wrist 15 are connected with a link mechanism to exert force in the direction of turning upward the tip end part of the wrist 15 by the weight of the counter weight 21. Otherwise a constitution is made so that a base end side (in the vicinity of 3-shaft) of the slave arm 1 and the base end part of the wrist 15 are connected with an air cylinder and force in a pull side acts ceaselessly in this air cylinder to exert force in the direction of turning upward the tip end part of the wrist 15.

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