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71. 发明授权

US09339930B2 Robot, robot control device, and robot system 有权
标题翻译：机器人，机器人控制装置和机器人系统
公开(公告)号：US09339930B2
公开(公告)日：2016-05-17
申请号：US14195925
申请日：2014-03-04
申请人： Seiko Epson Corporation
发明人： Akio Niu
IPC分类号： B25J9/06 , B25J9/16 , B25J13/08
CPC分类号： B25J9/1651 , B25J9/06 , B25J13/088 , G05B2219/37347 , G05B2219/39195 , Y10T74/20311 , Y10T74/20329
摘要： A robot includes a base, a first arm rotatably connected to the base around a first rotating axis, a second arm rotatably connected to the first arm around a second rotating axis, a third arm rotatably connected to the second arm around a third rotating axis, a first angular velocity sensor provided in the first arm and having a first angular velocity detection axis parallel to the first rotating axis, a second angular velocity sensor provided in the second arm and having a second angular velocity detection axis parallel to the second rotating axis, and a third angular velocity sensor provided in the third arm and having a third angular velocity detection axis parallel to the third rotating axis.
摘要翻译：一种机器人，包括基座，第一臂，围绕第一旋转轴线可旋转地连接到基座;第二臂，围绕第二旋转轴线可旋转地连接到第一臂;第三臂，围绕第三旋转轴线可旋转地连接到第二臂; 第一角速度传感器，其设置在所述第一臂中并具有与所述第一旋转轴平行的第一角速度检测轴;第二角速度传感器，设置在所述第二臂中，并具有与所述第二旋转轴平行的第二角速度检测轴; 以及第三角速度传感器，其设置在所述第三臂中并且具有与所述第三旋转轴平行的第三角速度检测轴。

72. 发明授权

US09254575B2 Attachment structure for drive cables of robot and robot apparatus provided therewith 有权
标题翻译：机器人和机器人装置的驱动电缆的附接结构
公开(公告)号：US09254575B2
公开(公告)日：2016-02-09
申请号：US14316269
申请日：2014-06-26
申请人： FANUC CORPORATION
发明人： Wataru Murakami
IPC分类号： B25J19/00
CPC分类号： B25J19/0025 , Y10S901/27 , Y10T74/20311
摘要： An attachment structure for drive cables include a first fixing member and a second fixing member separate from the first fixing member, which are designed to fix the drive cables in a non-slidable manner. The first fixing member is disposed behind a pivot body of a robot so as to pivot together with the pivot body. The second fixing member is disposed so as to be spaced apart from the first fixing member in a direction parallel to a rotational axis of an arm of the robot. The drive cables are fixed so as to be convexly curved upward in a portion between the first fixing member and the second fixing member.
摘要翻译：用于驱动电缆的附接结构包括第一固定构件和与第一固定构件分离的第二固定构件，其被设计成以不可滑动的方式固定驱动电缆。第一固定构件设置在机器人的枢轴体的后面，以与枢轴体一起枢转。第二固定构件设置成在与机器人的臂的旋转轴线平行的方向上与第一固定构件间隔开。驱动电缆被固定成在第一固定部件和第二固定部件之间的部分中向上凸出地弯曲。

73. 发明授权

US09205567B2 Touch sensitive robotic gripper 有权
标题翻译：触摸敏感的机器人抓爪
公开(公告)号：US09205567B2
公开(公告)日：2015-12-08
申请号：US13790801
申请日：2013-03-08
申请人： Quality Manufacturing Inc.
发明人： Jeffrey A. Rose , James Adam Rose , Stephen D. Rose , Raymond Cooper
IPC分类号： G05B15/00 , G05B19/00 , B25J18/00 , F04B9/10 , B25J9/16 , G01B7/00 , B25J19/00
CPC分类号： B25J9/1612 , B25J13/081 , B25J15/00 , B25J18/00 , B25J19/0029 , B25J19/005 , B25J19/02 , F04B9/10 , G01B7/00 , Y10S901/27 , Y10S901/28 , Y10T74/20311
摘要： A displacement measuring cell may be used to measure linear and/or angular displacement. The displacement measuring cell may include movable and stationary electrodes in a conductive fluid. Electrical property measurements may be used to determine how far the movable electrode has moved relative to the stationary electrode. The displacement measuring cell may include pistons and/or flexible walls. The displacement measuring cell may be used in a touch-sensitive robotic gripper. The touch-sensitive robotic gripper may include a plurality of displacement measuring cells mechanically in series and/or parallel. The touch-sensitive robotic gripper may be include a processor and/or memory configured to identify objects based on displacement measurements and/or other measurements. The processor may determine how to manipulate the object based on its identity.
摘要翻译：位移测量单元可用于测量线性和/或角位移。位移测量单元可以包括导电流体中的可移动和固定电极。可以使用电性能测量来确定可移动电极相对于固定电极移动多远。位移测量单元可以包括活塞和/或柔性壁。位移测量单元可以用在触敏机器人夹具中。触敏机器人夹具可以包括多个机械地串联和/或并联的位移测量单元。触敏机器人夹持器可以包括被配置为基于位移测量和/或其他测量来识别对象的处理器和/或存储器。处理器可以基于其身份来确定如何操纵对象。

74. 发明申请

US20150328780A1 DEVICE FOR GUIDING AT LEAST ONE LINE OF AN ARTICULATED-ARM ROBOT, AND ARTICULATED ARM ROBOT 审中-公开
标题翻译：用于指导ARM机器人和ARM机器人的至少一条线的设备
公开(公告)号：US20150328780A1
公开(公告)日：2015-11-19
申请号：US14803715
申请日：2015-07-20
申请人： LEONI KABEL HOLDING GMBH
发明人： CLAUDE BURLOT
IPC分类号： B25J19/00
CPC分类号： B25J19/0025 , H02G3/32 , H02G11/003 , Y10T74/20311
摘要： In order for a suitable restoring force to be exerted in a device for guiding at least one line of an articulated-arm robot, a restoring mechanism for exerting an elastic restoring force is provided. The restoring mechanism includes a guide unit and a slider element which is displaceably mounted on the guide unit. An elastic restoring unit, which has at least one deflection element, which is preferably configured as a deflection roller, and a flexural strand-shaped connection element, is disposed between the slider element and the guide unit. The restoring mechanism is housed in a closed housing and the line is connected to a slider element of the restoring unit inside the housing through one or two longitudinal slots.
摘要翻译：为了在用于引导关节臂机器人的至少一条线的装置中施加合适的恢复力，提供了用于施加弹性恢复力的恢复机构。恢复机构包括引导单元和可移动地安装在引导单元上的滑块元件。具有至少一个偏转元件的弹性恢复单元，其优选地构造为偏转辊，以及弯曲线状连接元件，设置在滑块元件和引导单元之间。恢复机构容纳在封闭的壳体中，并且线路通过一个或两个纵向槽口连接到壳体内的恢复单元的滑块元件。

75. 发明授权

US09156172B2 Robot skeletal components 有权
标题翻译：机器人骨骼组件
公开(公告)号：US09156172B2
公开(公告)日：2015-10-13
申请号：US13854710
申请日：2013-04-01
申请人： Quality Manufacturing Inc.
发明人： Jeffrey A. Rose , James Adam Rose , Stephen D. Rose , Raymond Cooper
IPC分类号： G05B15/00 , G05B21/00 , B25J18/00 , F04B9/10 , B25J9/16 , G01B7/00 , B25J19/00
CPC分类号： B25J9/1612 , B25J13/081 , B25J15/00 , B25J18/00 , B25J19/0029 , B25J19/005 , B25J19/02 , F04B9/10 , G01B7/00 , Y10S901/27 , Y10S901/28 , Y10T74/20311
摘要： A robot skeletal component may be configured to support and power a robot. The skeletal component may include an elongated inner core and a battery coupled to and substantially circumscribing the inner core. The robot skeletal component may be configured to connect to a joint via a quick release flange. A casing may enclose the battery. The casing may be configured to seal punctures. The robot skeletal component may include a heating element to heat the battery. The robot skeletal component may be configured to transport fluid, data, and/or electrical power. The inner core may include a plurality of surface elements to transfer data and/or electrical power. The inner core may include a hollow interior, and the hollow interior may include a plurality of non-interconnected chambers configured to transfer fluid. The inner core may include insulators to insulate the inner core from the surface elements and/or the fluid.
摘要翻译：机器人骨架部件可以被配置为支撑和供电机器人。骨骼部件可以包括细长的内芯和耦合到并且基本上限定内芯的电池。机器人骨架部件可经配置以通过快速释放法兰连接到接头。外壳可以封闭电池。壳体可以被构造成密封穿刺。机器人骨骼部件可以包括用于加热电池的加热元件。机器人骨骼部件可以被配置为传送流体，数据和/或电力。内芯可以包括多个表面元件以传送数据和/或电力。内芯可以包括中空的内部，并且中空的内部可以包括被配置成传送流体的多个非互连室。内芯可以包括使内芯与表面元件和/或流体绝缘的绝缘体。

76. 发明授权

US09138902B2 Robot 有权
标题翻译：机器人
公开(公告)号：US09138902B2
公开(公告)日：2015-09-22
申请号：US13228740
申请日：2011-09-09
申请人： Hidetoshi Suzuki , Ryuta Kagawa , Takashi Sanada
发明人： Hidetoshi Suzuki , Ryuta Kagawa , Takashi Sanada
IPC分类号： B25J19/00
CPC分类号： B25J19/0025 , Y10T74/20311 , Y10T74/20317
摘要： A robot includes a base; a swivel unit rotatably arranged on the base; a lower arm having a base end portion, a tip end portion and a side surface, the base end portion rotatably supported on the swivel unit to enable the lower arm to swing in a front-rear direction; and first and second cable bundles arranged on the side surface of the lower arm to extend along a longitudinal direction of the lower arm. The robot further includes a cable bundle support mechanism including a guide unit for supporting the first and second cable bundles to move in the longitudinal direction of the lower arm.
摘要翻译：机器人包括底座; 可旋转地布置在所述基座上的旋转单元; 下臂具有基端部，前端部和侧面，所述基端部可旋转地支撑在所述旋转单元上，以使所述下臂能够沿前后方向摆动; 以及布置在所述下臂的侧表面上并沿着所述下臂的纵向方向延伸的第一和第二缆线束。机器人还包括电缆束支撑机构，其包括用于支撑第一和第二电缆束沿着下臂的纵向方向移动的引导单元。

77. 发明授权

US09073220B2 Horizontal multiple articulation type robot 有权
标题翻译：水平多关节型机器人
公开(公告)号：US09073220B2
公开(公告)日：2015-07-07
申请号：US14215935
申请日：2014-03-17
申请人： Seiko Epson Corporation
发明人： Christoph Meyerhoff , Kazushige Akaha
IPC分类号： B25J9/06 , B25J18/04 , B25J9/04
CPC分类号： B25J18/04 , B25J9/042 , B25J9/044 , B25J9/06 , Y10S901/27 , Y10S901/28 , Y10T74/20305 , Y10T74/20311 , Y10T74/20329
摘要： A horizontal multijoint type robot is so constructed that it comprises a first arm connected through a first joint shaft to a base, a second arm connected through a second joint shaft to the first arm, and a working shaft provided rotatably and movably up and down on the distal end of the second arm, and that the arm length L1 of the first arm and the arm length L2 of the second arm are equal to each other so that the second arm is able to overlap the first arm.
摘要翻译：水平多关节型机器人被构造成使得其包括通过第一关节轴连接到基座的第一臂，通过第二关节轴连接到第一臂的第二臂，以及可上下移动地设置的工作轴第二臂的远端，并且第一臂的臂长度L1和第二臂的臂长度L2彼此相等，使得第二臂能够与第一臂重叠。

78. 发明申请

US20150128748A1 ROTARY TRANSMITTER FOR ROBOTS 审中-公开
标题翻译：旋转发射机
公开(公告)号：US20150128748A1
公开(公告)日：2015-05-14
申请号：US14376587
申请日：2013-01-02
申请人： Andreas Rueb
发明人： Andreas Rueb
IPC分类号： B25J19/00
CPC分类号： B25J19/0041 , H02G11/02 , Y10T74/20311
摘要： A rotary transmitter for a robot includes: a cylindrical stator having a centric opening in a floor, and a rotor accepted in the centric opening in the floor so as to be capable of rotation, and at least one line guided through the opening in the jacket surface of the stator. A segment of the line is slackly guided on an inner wall of the stator, and the segment has a length such that the line can follow a rotation of the rotor about an angle of rotation in a manner free of tensile load.
摘要翻译：一种用于机器人的旋转变送器包括：圆柱形定子，其具有在地板中的中心开口，以及以地面中心开口接纳以便能够旋转的转子，以及至少一条引导穿过外套中的开口的线定子表面。该线段在定子的内壁上被松弛地引导，并且该段具有这样的长度，使得该线可以以没有拉伸载荷的方式绕转子旋转。

79. 发明申请

US20150108099A1 Multi-Axis Industrial Robot With Integrated Tool 审中-公开
标题翻译：具有集成工具的多轴工业机器人
公开(公告)号：US20150108099A1
公开(公告)日：2015-04-23
申请号：US14398567
申请日：2013-05-09
申请人： Comau S.p.A.
发明人： Fulvio Ferrero , Enrico Mauletti
IPC分类号： B25J19/00 , B23K11/11 , B23K11/31 , B25J15/00
CPC分类号： B25J19/0029 , B23K11/115 , B23K11/314 , B23K11/36 , B25J15/0019 , Y10S901/29 , Y10S901/42 , Y10T74/20311
摘要： An industrial robot including a robot chain of elements, a robot wrist bearing a tool (100) and a continuous internal passage through which one or more cables and/or pipes for the power supply and/or the fluid supply to the tool. The cables and pipes continue without interruption through the passage and through a flange of the robot up to respective connections of said tool, whereby the cables and pipes are arranged completely inside the robot and inside the tool, without the need to provide separate cables and pipes of the tool connected to the cables and the pipes of the robot at the flange of the robot.
摘要翻译：一种工业机器人，包括机器人链条元件，承载工具（100）的机器人手腕和连续内部通道，一个或多个用于电源的电缆和/或管道和/或流体供给工具的连续内部通道。电缆和管道通过通道并通过机器人的法兰而不间断地继续直到所述工具的相应连接，由此电缆和管道完全布置在机器人内部和工具内部，而不需要提供单独的电缆和管道连接到机器人的法兰上的电缆和机器人的管道的工具。

80. 发明申请

US20150096401A1 INDUSTRIAL ROBOT 有权
标题翻译：工业机器人
公开(公告)号：US20150096401A1
公开(公告)日：2015-04-09
申请号：US14569957
申请日：2014-12-15
申请人： Panasonic Intellectual Property Management Co., Ltd.
发明人： TAKASHI NAGAI , KAZUNORI MATSUMOTO , WATARU TAKAHASHI
IPC分类号： B25J9/12 , B25J18/00 , B25J19/02
CPC分类号： B25J9/126 , B25J9/1674 , B25J18/00 , B25J19/0025 , B25J19/005 , B25J19/02 , Y10S901/23 , Y10S901/27 , Y10T74/20311
摘要： An industrial robot of the present disclosure includes a manipulator, a control device for controlling the manipulator, and a connection cable that connects the manipulator to the control device. The manipulator includes a fixed base section, a first motor, a first detecting section, a power supply section, a first casing, and a first power supply cable. The first motor operates the manipulator. The first detecting section detects the state of the first motor. The power supply section supplies electric power to the first detecting section. The first casing stores the first motor and the first detecting section. The first power supply cable connects the first detecting section to the power supply section. The power supply section is disposed in the base section.
摘要翻译：本公开的工业机器人包括操纵器，用于控制操纵器的控制装置和将操纵器连接到控制装置的连接电缆。机械手包括固定基座部分，第一电动机，第一检测部分，电源部分，第一壳体和第一电源电缆。第一台电机操作机械手。第一检测部检测第一马达的状态。电源部向第一检测部供给电力。第一壳体存储第一电动机和第一检测部。第一电源电缆将第一检测部分连接到电源部分。电源部设置在基部。

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