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1. 发明授权

US5901613A Industrial robot 失效
标题翻译：工业机器人
公开(公告)号：US5901613A
公开(公告)日：1999-05-11
申请号：US913421
申请日：1997-09-15
申请人： Karl-Erik Forslund
发明人： Karl-Erik Forslund
IPC分类号： B25J9/04 , B25J19/00 , B25J17/00 , B25J18/00
CPC分类号： B25J19/0008 , B25J19/0004 , B25J9/046 , Y10S414/13 , Y10T74/20317 , Y10T74/20329
摘要： An industrial robot comprises a stand mounted on a foot and being rotatable about a first, vertical axis, said stand supporting a first robot arm which is rotatable in relation to the stand about a second, horizontal axis. The stand comprises an underbody with two projecting parts which support an intermediate part which is rotatable in relation to the stand. The intermediate part comprises two parallel supporting elements, at the upper ends of which the first robot arm is journalled. The lower ends of the supporting elements are rotatably attachable to the underbody. The robot may thus be tilted forwards or backwards and be fixed in these positions during the robot operation, so as to obtain different types of operating ranges.
摘要翻译： PCT No.PCT / SE96 / 00404 Sec。 371日期：1997年9月15日 102（e）1997年9月15日PCT PCT 1996年3月28日PCT公布。公开号WO96 / 30168 日期1996年10月3日工业机器人包括安装在脚上并可围绕第一垂直轴线旋转的支架，所述支架支撑第一机器人手臂，所述第一机器人手臂相对于所述支架绕第二水平轴线旋转。支架包括具有两个突出部分的底部，其支撑可相对于支架旋转的中间部分。中间部分包括两个平行的支撑元件，其上端第一个机器人手臂被支承。支撑元件的下端可旋转地附接到底部。因此，机器人可以在机器人操作期间向前或向后倾斜并固定在这些位置中，以获得不同类型的操作范围。

2. 发明授权

US4913577A Elbow joint of an industrial robot 失效
标题翻译：工业机器人的肘关节
公开(公告)号：US4913577A
公开(公告)日：1990-04-03
申请号：US195150
申请日：1988-05-18
申请人： Karl-Erik Forslund , Klas Klangeby
发明人： Karl-Erik Forslund , Klas Klangeby
IPC分类号： B25J17/00 , B23Q1/48 , B25J9/10 , B25J17/02 , F16C11/04 , F16C23/00
CPC分类号： F16C23/00 , B23Q1/4828 , B25J17/0241 , B25J9/1005 , F16C11/045 , Y10T403/1641 , Y10T403/32926
摘要： An elbow joint of an industrial robot comprises a first arm part which is yoke-formed at the joint and an end of a second arm part located between the yokes. On the sides of the end of the second arm part which face the respective yokes, bearing seats are provided in which shaft journals are journalled. The shaft journals are connected together by a pull rod, which extends through the end and the shaft journals, and are received in, and extend through, through-holes in the respective yokes. The shaft journals are fixed to the yokes by means of nuts threaded onto the accessible part of the shaft journals on the opposite side of the respective yokes.
摘要翻译：用于铰接地连接形成肘关节的机器人手臂的两部分的装置，包括第一臂部分（1），其连接端形成为在接头位置处具有两个间隔开的凸耳（3）的轭，以及第二臂部分（2），其端部（4）装配在轭的两个凸耳或凸缘（3）之间。根据本发明，所述端部（4）在面对相应的凸耳的一侧上设置有轴承座（5），轴销（6）被轴颈安装在轴承座中。轴销（6）通过延伸穿过所述端部（4）和所述轴销（6）的拉杆（8）可旋转地固定到所述端部（4）。轴销（6）装配在相应的凸耳（3）中的通孔中并且延伸穿过所述凸耳并且通过螺母（10）固定，所述螺母（10）被拧在所述轴销（6）的可接近部分上相应的凸耳。该装置能够调节肘关节的游隙。

3. 发明申请

US20090139364A1 Wrist Unit to a Robot Arm 失效
标题翻译：手腕单位到机器人手臂
公开(公告)号：US20090139364A1
公开(公告)日：2009-06-04
申请号：US10583665
申请日：2004-12-22
申请人： Karl-Erik Forslund , Catarina Forssen
发明人： Karl-Erik Forslund , Catarina Forssen
IPC分类号： B25J17/02 , G06F19/00
CPC分类号： B25J19/0029 , B25J17/0283 , Y10T74/20323 , Y10T74/20329 , Y10T74/20335
摘要： A wrist unit to be arranged in an industrial robot including a control system and a manipulator. The manipulator includes a robot arm and a wrist unit arranged on the robot arm and including a wrist housing arranged for rotation about a fourth axis of rotation, a wrist part/tilt pivotally journalled in the wrist housing for rotation about a fifth axis of rotation. A second transmission is configured to transmit rotation form a second drive unit to the turn disc about the sixth axis of rotation where the control system controls the first and second drive units.
摘要翻译：布置在包括控制系统和操纵器的工业机器人中的腕部单元。所述机械臂包括设置在所述机器人手臂上的机器人手臂和腕部单元，所述手腕壳体包括绕所述第四旋转轴线旋转的手腕壳体，所述手腕壳体枢轴旋转地安装在所述手腕壳体中以围绕第五旋转轴线旋转。第二传动装置被配置成绕第六旋转轴线将旋转形式从第二驱动单元传递到转盘，其中控制系统控制第一和第二驱动单元。

4. 发明申请

US20050034552A1 Industrial robot 审中-公开
标题翻译：工业机器人
公开(公告)号：US20050034552A1
公开(公告)日：2005-02-17
申请号：US10485158
申请日：2002-07-18
申请人： Daniel Back , Karl-Erik Forslund , Dan Salomonsson , Leif Tellden
发明人： Daniel Back , Karl-Erik Forslund , Dan Salomonsson , Leif Tellden
IPC分类号： B25J19/00 , B25J17/00
CPC分类号： B25J19/0029 , Y10T74/20311
摘要： An industrial robot comprising a manipulator with a control system, where the manipulator comprises a hollow, first robot unit (9) and a second robot unit (10) rotatable around an axle (A). The first robot unit (9) and the second robot unit (10) are arranged for rotation and/or bending in relation to each other and the second robot unit (10 includes a robot tool (11). Cables (12) are drawn through the first robot unit (9) and arranged coaxially and detachably connected with a first end (13), to the second robot unit (10), via a connection device. The connection device comprises a body (14), fixed to the first end (13) of the cables in at least one wire and the body (14) is arranged with sockets (19) for connection of power supply to the robot tool (11).
摘要翻译：一种工业机器人，其包括具有控制系统的操纵器，其中所述操纵器包括中空的第一机器人单元（9）和可围绕轴（A）旋转的第二机器人单元（10）。第一机器人单元（9）和第二机器人单元（10）被布置成相对于彼此旋转和/或弯曲，并且第二机器人单元（10包括机器人工具），电缆（12）所述第一机器人单元（9）经由连接装置与所述第一端部（13）同轴并可拆卸地连接到所述第二机器人单元（10），所述连接装置包括固定到所述第一机身单元（13）中的至少一根电线中的电缆，并且主体（14）布置有用于将电源连接到机器人工具（11）的插座（19）。

5. 发明授权

US07806020B2 Industrial robot 有权
标题翻译：工业机器人
公开(公告)号：US07806020B2
公开(公告)日：2010-10-05
申请号：US10554787
申请日：2004-04-29
申请人： Karl-Erik Forslund , Annika Thyselius, legal representative , Ove Kullborg
发明人： Karl-Erik Forslund , Ove Kullborg
IPC分类号： B25J17/02
CPC分类号： B25J17/0283 , B25J9/102 , B25J19/0029 , Y10T74/20311 , Y10T74/20317 , Y10T74/20323 , Y10T74/20335
摘要： A robot arm for an industrial robot. The robot arm includes a wrist housing, a wrist, and a turn disc. The wrist is rotatably connected to the wrist housing and the turn disc is rotatably connected to the wrist. A first motor drives the wrist and a second motor drives the turn disc. A first driving rope transmits the motor rotation to the wrist, and a second driving rope transmits the motor rotation to the drive pulley.
摘要翻译：用于工业机器人的机器人手臂。机器人手臂包括手腕壳，手腕和转盘。手腕可旋转地连接到腕部壳体，转盘可旋转地连接到手腕。第一马达驱动手腕，第二马达驱动转盘。第一驱动绳将马达旋转传递到手腕，第二驱动绳将马达旋转传递到驱动滑轮。

6. 发明申请

US20070256513A1 Industrial Robot 有权
标题翻译：工业机器人
公开(公告)号：US20070256513A1
公开(公告)日：2007-11-08
申请号：US10554787
申请日：2004-04-29
申请人： Karl-Erik Forslund , Annika Thyselius , Ove Kullborg
发明人： Karl-Erik Forslund , Annika Thyselius , Ove Kullborg
IPC分类号： B25J17/02 , B25J19/00
CPC分类号： B25J17/0283 , B25J9/102 , B25J19/0029 , Y10T74/20311 , Y10T74/20317 , Y10T74/20323 , Y10T74/20335
摘要： A robot arm for an industrial robot. The robot arm includes a wrist housing, a wrist, and a turn disc. The wrist is rotatably connected to the wrist housing and the turn disc is rotatably connected to the wrist. A first motor drives the wrist and a second motor drives the turn disc. A first driving rope transmits the motor rotation to the wrist, and a second driving rope transmits the motor rotation to the drive pulley.
摘要翻译：用于工业机器人的机器人手臂。机器人手臂包括手腕壳，手腕和转盘。手腕可旋转地连接到腕部壳体，转盘可旋转地连接到手腕。第一马达驱动手腕，第二马达驱动转盘。第一驱动绳将马达旋转传递到手腕，第二驱动绳将马达旋转传递到驱动滑轮。

7. 发明授权

US06455799B1 Robot device 有权
标题翻译：机器人装置
公开(公告)号：US06455799B1
公开(公告)日：2002-09-24
申请号：US09868319
申请日：2001-09-06
申请人： Karl-Erik Forslund , Leif Tellden
发明人： Karl-Erik Forslund , Leif Tellden
IPC分类号： B23K928
CPC分类号： B25J19/0029 , Y10T74/20311
摘要： An industrial robot including a hollow arm pan (1) rotatable around its longitudinal axis (A) through which a cable set (4) is drawn through and connected to a robot unit (3) rotatable around an axis (A). The arm part and the robot unit are arranged for both rotation and bending relative to one another. The cable set (4) is guided and supported by a supporting means (5) rotatably arranged within arm part (1) so that the bending movement is accommodated by the part of the cable that is located between the supporting means (5) and the robot unit (3) and the rotational movement is accommodated by the part of the cable set that is located within the arm part (1) before the supporting means (5) when viewed from the power source (D).
摘要翻译：一种工业机器人，包括围绕其纵向轴线（A）旋转的空心扶手盘（1），电缆组件（4）通过所述纵向轴线（A）被抽出并连接到可围绕轴线（A）旋转的机器人单元（3）。手臂部分和机器人单元布置成相对于彼此旋转和弯曲。电缆组（4）由可旋转地布置在臂部件（1）内的支撑装置（5）引导和支撑，使得弯曲运动由位于支撑装置（5）和机器人单元（3），并且当从电源（D）观察时，通过位于臂部（1）内的电缆组的部分在支撑装置（5）之前容纳旋转运动。

8. 发明授权

US4643036A Power transmission device in industrial robots 失效
标题翻译：工业机器人传动装置
公开(公告)号：US4643036A
公开(公告)日：1987-02-17
申请号：US734196
申请日：1985-05-15
申请人： Karl-Erik Forslund
发明人： Karl-Erik Forslund
IPC分类号： B25J9/04 , B25J9/10 , B25J17/02 , F16H21/44
CPC分类号： B25J17/0258 , B25J9/048 , B25J9/102 , Y10S414/13 , Y10T74/18944
摘要： A power transmission device includes a rotatably mounted drive screw, a nut element which is movable along the drive screw, and a pair of links which connect the nut element to a driven member. The links are rigidly connected to each other by a torsionally stiff member to prevent relative angular movement therebetween.
摘要翻译：动力传递装置包括可旋转地安装的驱动螺杆，可沿着驱动螺杆移动的螺母元件和将螺母元件连接到从动构件的一对连杆。连杆通过扭转刚性构件彼此刚性连接，以防止它们之间的相对角度运动。

9. 发明授权

US07849761B2 Wrist unit to a robot arm 失效
标题翻译：手腕单位到机器人手臂
公开(公告)号：US07849761B2
公开(公告)日：2010-12-14
申请号：US10583665
申请日：2004-12-22
申请人： Karl-Erik Forslund , Catarina Forssén, legal representative
发明人： Karl-Erik Forslund
IPC分类号： B25J17/00
CPC分类号： B25J19/0029 , B25J17/0283 , Y10T74/20323 , Y10T74/20329 , Y10T74/20335
摘要： A wrist unit to be arranged in an industrial robot including a control system and a manipulator. The manipulator includes a robot arm and a wrist unit arranged on the robot arm and including a wrist housing arranged for rotation about a fourth axis of rotation, a wrist part/tilt pivotally journalled in the wrist housing for rotation about a fifth axis of rotation. A second transmission is configured to transmit rotation form a second drive unit to the turn disc about the sixth axis of rotation where the control system controls the first and second drive units.
摘要翻译：布置在包括控制系统和操纵器的工业机器人中的腕部单元。所述机械臂包括设置在所述机器人手臂上的机器人手臂和腕部单元，所述手腕壳体包括绕所述第四旋转轴线旋转的手腕壳体，所述手腕壳体枢轴旋转地安装在所述手腕壳体中以围绕第五旋转轴线旋转。第二传动装置被配置成绕第六旋转轴线将旋转形式从第二驱动单元传递到转盘，其中控制系统控制第一和第二驱动单元。

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