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1. 发明授权

US07092791B2 Robot system and machining method with robot system 失效
标题翻译：机器人系统和机器人系统的加工方法
公开(公告)号：US07092791B2
公开(公告)日：2006-08-15
申请号：US09265432
申请日：1999-03-10
申请人： Akihiro Terada , Toshihiko Inoue , Kazutaka Nakayama
发明人： Akihiro Terada , Toshihiko Inoue , Kazutaka Nakayama
IPC分类号： G06F19/00
CPC分类号： B23K26/0884 , B23K26/103 , B23K26/28 , B23K37/0276 , B23K2101/06
摘要： A robot system and a machining method capable of accurately and simply cutting an end of a pipe into a saddle shape and forming a hole on an outer surface thereof, and further machining a workpiece of a three-dimensional shape which does not have platelike shape. A tool unit is attached to a final axis of a moveable arm of a robot. The tool unit is provided with a first additional variable axis expanding and retracting vertically and a second additional variable axis expanding and retracting in the horizontal direction. By rotating the final axis, a cutting tool (machining nozzle of laser) at a distal end of the tool unit is turned about the final axis to cut a workpiece W of a pipe shape. By driving the first and the second additional variable axes in synchronism with rotation of the final axis, the cutting into a saddle shape and the forming of a hole are carried out. The movable arm of the robot is only for rotating the final axis and the machining accuracy is promoted.
摘要翻译：一种机器人系统和加工方法，其能够将管的端部精确地简单地切割成鞍形，并在其外表面上形成孔，并且进一步加工不具有板状形状的三维形状的工件。机器人的可动臂的最终轴附接有工具单元。工具单元设置有垂直的第一附加可变轴和第二附加可变轴在水平方向上伸缩。通过旋转最终轴线，在工具单元的远端处的切割工具（激光加工喷嘴）围绕最终轴线转动以切割管状的工件W。通过与最终轴的旋转同步地驱动第一和第二附加可变轴，切割成鞍形并形成孔。机器人的可动臂仅用于旋转最终轴，并提高加工精度。

2. 发明授权

US08288687B2 Arc welding robot 有权
标题翻译：电弧焊机器人
公开(公告)号：US08288687B2
公开(公告)日：2012-10-16
申请号：US12488760
申请日：2009-06-22
申请人： Toshihiko Inoue , Kazutaka Nakayama , Takatoshi Iwayama
发明人： Toshihiko Inoue , Kazutaka Nakayama , Takatoshi Iwayama
IPC分类号： B23K9/00
CPC分类号： B23K9/295
摘要： An arc welding robot having a welding wire conduit which has a bend radius above a certain level and arranged so that disadvantageous stress is not applied to the conduit by the motion of the robot arm. A conduit for a welding wire is inserted through a hole of a robot pedestal from the rear side of the robot, is supported by a second support member arranged on the pedestal, extends near the front side of a rotating body of the robot, and is supported by a first support member on the upper part of the rotating body while having a required minimum bend radius. The conduit after passing through the first support member is introduced to the rear side of the upper arm and is connected to a connector at the rear side of a wire feeder while having the required minimum radius, whereby the conduit presents a generally S-shape.
摘要翻译：一种具有焊丝导管的电弧焊机器人，其具有高于一定水平的弯曲半径并且被布置成使得通过机器人臂的运动不对导管施加不利的应力。用于焊丝的导管从机器人的后侧通过机器人基座的孔插入，由布置在基座上的第二支撑构件支撑，在机器人的旋转体的前侧附近延伸，并且由旋转体的上部的第一支撑构件支撑，同时具有所需的最小弯曲半径。通过第一支撑构件的导管被引入到上臂的后侧，并且在具有所需的最小半径的同时在导线器的后侧连接到连接器，由此导管呈现大致S形。

3. 发明授权

US08020466B2 Umbilical-member processing structure for industrial robot 有权
标题翻译：工业机器人的脐部件加工结构
公开(公告)号：US08020466B2
公开(公告)日：2011-09-20
申请号：US12169951
申请日：2008-07-09
申请人： Toshihiko Inoue , Kazutaka Nakayama , Takatoshi Iwayama
发明人： Toshihiko Inoue , Kazutaka Nakayama , Takatoshi Iwayama
IPC分类号： B25J19/00
CPC分类号： B25J19/0029 , B25J17/0283 , F16L3/1091 , H02G11/00 , Y10T74/20311 , Y10T74/20335
摘要： An umbilical-member processing structure for an industrial robot which includes a forearm having a tool managing and relaying device and a wrist with proximal end rotatably connected to the forearm and having a work tool mounted on the distal end thereof, with an umbilical-member connected to the work tool being disposed to run along the wrist via the tool managing and relaying device: wherein the forearm has a first reduction gear which reduces the rotational speed of a driving source to drive the forearm in rotation; the first reduction gear having a first insertion hole for passing the umbilical-member therein; and wherein the wrist comprises a first wrist element having a through-path in communication with the first insertion hole and rotatably connected to the forearm, and a second wrist element having a second insertion hole in communication with the through-path and rotatably connected to the first wrist element.
摘要翻译：一种用于工业机器人的脐部件处理结构，其包括具有工具管理和中继装置的前臂和具有可旋转地连接到前臂的近端的腕部，并且具有安装在其远端上的工作工具，脐部件连接所述工具被布置成经由所述工具管理和中继装置沿着所述手腕行进;其中所述前臂具有第一减速齿轮，所述第一减速齿轮降低驱动源的旋转速度以驱动所述前臂旋转; 所述第一减速齿轮具有用于使所述脐部件在其中通过的第一插入孔; 并且其中所述手腕包括具有与所述第一插入孔连通并且可旋转地连接到所述前臂的通路的第一腕部元件，以及具有与所述通路连通并且可转动地连接到所述前臂的第二插入孔的第二腕部元件第一腕表。

4. 发明申请

US20100032420A1 ARC WELDING ROBOT 有权
标题翻译：电弧焊机器人
公开(公告)号：US20100032420A1
公开(公告)日：2010-02-11
申请号：US12488760
申请日：2009-06-22
申请人： Toshihiko Inoue , Kazutaka Nakayama , Takatoshi Iwayama
发明人： Toshihiko Inoue , Kazutaka Nakayama , Takatoshi Iwayama
IPC分类号： B23K9/00
CPC分类号： B23K9/295
摘要： An arc welding robot having a welding wire conduit which has a bend radius above a certain level and arranged so that disadvantageous stress is not applied to the conduit by the motion of the robot arm. A conduit for a welding wire is inserted through a hole of a robot pedestal from the rear side of the robot, is supported by a second support member arranged on the pedestal, extends near the front side of a rotating body of the robot, and is supported by a first support member on the upper part of the rotating body while having a required minimum bend radius. The conduit after passing through the first support member is introduced to the rear side of the upper arm and is connected to a connector at the rear side of a wire feeder while having the required minimum radius, whereby the conduit presents a generally S-shape.
摘要翻译：一种具有焊丝导管的电弧焊机器人，其具有高于一定水平的弯曲半径并且被布置成使得通过机器人臂的运动不对导管施加不利的应力。用于焊丝的导管从机器人的后侧通过机器人基座的孔插入，由布置在基座上的第二支撑构件支撑，在机器人的旋转体的前侧附近延伸，并且由旋转体的上部的第一支撑构件支撑，同时具有所需的最小弯曲半径。通过第一支撑构件的导管被引入到上臂的后侧，并且在具有所需的最小半径的同时在导线器的后侧连接到连接器，由此导管呈现大致S形。

5. 发明申请

US20080236324A1 Robot having working tool 审中-公开
标题翻译：机器人有工作工具
公开(公告)号：US20080236324A1
公开(公告)日：2008-10-02
申请号：US12071222
申请日：2008-02-19
申请人： Toshihiko Inoue , Kazutaka Nakayama , Takatoshi Iwayama
发明人： Toshihiko Inoue , Kazutaka Nakayama , Takatoshi Iwayama
IPC分类号： B25J18/00 , B25J17/02
CPC分类号： B25J19/0025 , B25J9/046 , Y10T74/20311 , Y10T74/20335
摘要： In an umbilical member processing mechanism of a robot, a working tool managing unit umbilical member (50) for supplying at least one of the power, the signal and the material to a working tool managing unit (34), is guided from a rotary barrel in the longitudinal direction of an upper arm on a side face of the upper arm (14) located on the opposite side to the side attached to the rotary barrel (12) and then guided onto a front side (18b) of a front arm (18). Next, the working tool managing unit umbilical member (50) is connected to the working tool managing unit (34) through a side of the front arm located on the opposite side to the side on which the upper arm is attached. Further, the working tool managing unit umbilical member is connected to the working tool managing unit being relayed by an umbilical member junction portion (39) attached to a side or a front side of the front arm. Due to the foregoing, even in an arm posture in which a front arm rear portion having the working tool managing unit passes through inside the upper arm, the umbilical member or the working tool managing unit does not interfere with the upper arm.
摘要翻译：在机器人的脐部件处理机构中，将用于将功率，信号和材料中的至少一个供给到加工工具管理部（34）的作业工具管理部脐部件（50）从旋转筒在上臂（14）的位于与安装在旋转筒（12）的一侧相反侧的侧面上的上臂的纵向方向上，并且被引导到前臂的前侧（18b）（18）。接下来，工作工具管理单元脐部件50通过位于与上臂相连的一侧的前臂的一侧连接到作业工具管理单元34。此外，工作工具管理单元脐部件连接到工作工具管理单元，该工作工具管理单元由附接到前臂的侧面或前侧的脐带构件连接部分（39）中继。由于上述原因，即使在具有加工工具管理单元的前臂后部通过上臂内部的臂姿态中，脐带构件或作业工具管理单元也不干扰上臂。

6. 发明申请

US20060070985A1 Arc welding device and arc welding robot system 审中-公开
标题翻译：电弧焊接装置和电弧焊机器人系统
公开(公告)号：US20060070985A1
公开(公告)日：2006-04-06
申请号：US11241938
申请日：2005-10-04
申请人： Kouji Nakabayashi , Toshihiko Inoue , Kazutaka Nakayama , Takatoshi Iwayama
发明人： Kouji Nakabayashi , Toshihiko Inoue , Kazutaka Nakayama , Takatoshi Iwayama
IPC分类号： B23K9/12
CPC分类号： B23K9/28
摘要： An arc welding device, having a simple structure, in which a welding torch does not interfere with external equipment. A Y-shaped torch cable includes first and second wire liners and a junction block having a Y-shaped liner section having two inlets connected to the wire liners and one outlet. A welding wire selectively fed from one of two wire feeders extends in the first or second wire liner and reaches the outlet of the liner section. Therefore, as one of plural kinds of welding wires may be selected and fed to a single-electrode welding torch, the plurality of welding wires being used for welding, nevertheless the welding torch does not interfere with external equipment.
摘要翻译：一种具有简单结构的电弧焊装置，其中焊炬不会干扰外部设备。 Y形焊炬电缆包括第一和第二线缆和具有Y形衬套部分的连接块，其具有连接到线缆和两个出口的两个入口。从两个送丝机之一选择性地供给的焊丝在第一或第二丝线衬里中延伸并到达衬套部分的出口。因此，作为多种焊丝中的一种可以选择并供给到单电极焊枪，多根焊丝用于焊接，但是焊炬也不会干扰外部设备。

7. 发明申请

US20050211686A1 Structure for managing umbilical member of welding torch in arc welding robot 有权
标题翻译：电弧焊机器人焊枪脐带构件结构
公开(公告)号：US20050211686A1
公开(公告)日：2005-09-29
申请号：US11085036
申请日：2005-03-22
申请人： Toshihiko Inoue , Kazutaka Nakayama , Tomoyuki Motokado
发明人： Toshihiko Inoue , Kazutaka Nakayama , Tomoyuki Motokado
IPC分类号： B23K9/29 , B23K9/28 , B25J19/00 , B23K9/32
CPC分类号： B23K9/287
摘要： An umbilical-member managing structure for a welding torch in an arc welding robot, for laying and managing, along a manipulator, a plurality of umbilical members connected to a welding torch attached to the manipulator. The umbilical members include a welding wire fed to the welding torch, a tubular liner surrounding the welding wire, a tube for supplying an assist gas to the welding torch, and an electrical conductor for feeding a welding current to the welding torch. The arc welding robot is provided with a wire feeding device mounted on the manipulator for feeding the welding wire to the welding torch. The umbilical-member managing structure includes a flexible conduit containing the umbilical members, which includes a first connecting section provided at one longitudinal end connected to the welding torch, and a second connecting section provided at another longitudinal end connected to the wire feeding device; and a connection mechanism provided for at least one of the first and second connecting sections of the conduit, for rotatably connecting the conduit to at least one of the welding torch and the wire feeding device.
摘要翻译：一种用于电弧焊机器人中的焊炬的脐部件管理结构，用于沿着操纵器放置和管理连接到附接到所述操纵器的焊炬的多个脐带部件。脐部件包括馈送到焊炬的焊丝，围绕焊丝的管状衬垫，用于向焊炬提供辅助气体的管和用于将焊接电流馈送到焊炬的电导体。电弧焊机器人设置有安装在操纵器上的送丝装置，用于将焊丝馈送到焊炬。脐部件管理结构包括一个容纳脐带部件的柔性导管，它包括设在连接于焊炬的一个纵向端的第一连接部分和设置在另一纵向端部处的连接到焊丝进给装置的第二连接部分; 以及连接机构，其设置用于导管的第一和第二连接部分中的至少一个，用于将导管可旋转地连接到焊炬和送丝装置中的至少一个。

8. 发明授权

US08051741B2 Managing structure for umbilical member of industrial robot 有权
标题翻译：工业机器人脐带构件的管理结构
公开(公告)号：US08051741B2
公开(公告)日：2011-11-08
申请号：US12385656
申请日：2009-04-15
申请人： Toshihiko Inoue , Kazutaka Nakayama , Takatoshi Iwayama
发明人： Toshihiko Inoue , Kazutaka Nakayama , Takatoshi Iwayama
IPC分类号： B25J18/04
CPC分类号： B25J19/0025 , Y10T74/20305
摘要： A managing structure for an umbilical member includes a flexible conduit for leading an umbilical member inserted therein from a front arm of a robot to a working tool mounted on a wrist of the robot, a first conduit mounting portion provided adjacent to the front arm, and a second conduit mounting portion provided adjacent to a point where the umbilical member is connected to the working tool. One end of the conduit is attached to the first conduit mounting portion, while the other end of the conduit is attached to the second conduit mounting portion. The conduit is laid so that a section thereof between the first conduit mounting portion and the second conduit mounting portion does not contact the body of the robot.
摘要翻译：一种用于脐带构件的管理结构包括用于将从机器人的前臂插入其中的脐带构件引导到安装在机器人手腕上的作业工具的柔性导管，邻近前臂设置的第一导管安装部分，以及第二导管安装部分，其邻近于脐带构件连接到工作工具的点设置。导管的一端连接到第一导管安装部分，而导管的另一端附接到第二导管安装部分。导管被放置成使得其第一导管安装部分和第二导管安装部分之间的部分不接触机器人的主体。

9. 发明授权

US07241969B2 Umbilical-member managing system for industrial robot 有权
标题翻译：工业机器人脐带管理系统
公开(公告)号：US07241969B2
公开(公告)日：2007-07-10
申请号：US11076904
申请日：2005-03-11
申请人： Toshihiko Inoue , Kazutaka Nakayama , Tomoyuki Motokado
发明人： Toshihiko Inoue , Kazutaka Nakayama , Tomoyuki Motokado
IPC分类号： B23K9/12
CPC分类号： B25J19/0025
摘要： An umbilical-member managing system for an industrial robot. The embodiment of the umbilical-member managing system provided in an arc welding robot serves to lay and manage, along a manipulator, a torch cable connected to a welding torch attached to the manipulator. This umbilical-member managing system includes a support unit provided on the manipulator movably toward and away from the welding torch to support the torch cable; and a biasing mechanism continually biasing the support unit on the manipulator in a direction away from the welding torch. In this arrangement, the support unit may be composed of a wire feeding device for feeding a welding wire in the torch cable toward the welding torch. A guide unit is provided on the manipulator, which can guide the wire feeding device in a direction toward and away from the welding torch.
摘要翻译：用于工业机器人的脐带管理系统。设置在电弧焊机器人中的脐部件管理系统的实施例用于沿着操纵器放置和管理连接到附接到操纵器的焊炬的割炬电缆。该脐部件管理系统包括一个支撑单元，该支撑单元设置在可移动地朝向和离开焊炬的操纵器上，以支撑割炬电缆; 以及偏压机构在远离焊炬的方向上将支撑单元连续地偏压在操纵器上。在这种布置中，支撑单元可以由用于将焊丝馈送到焊枪的焊丝馈送装置组成。引导单元设置在操纵器上，该引导单元可以沿着朝向和远离焊炬的方向引导送丝装置。

10. 发明申请

US20060278622A1 Positioner for arc welding and arc welding robot system having the positioner 审中-公开
标题翻译：具有定位器的电弧焊和电弧焊机器人系统定位器
公开(公告)号：US20060278622A1
公开(公告)日：2006-12-14
申请号：US11439964
申请日：2006-05-25
申请人： Toshihiko Inoue , Kazutaka Nakayama , Takatoshi Iwayama
发明人： Toshihiko Inoue , Kazutaka Nakayama , Takatoshi Iwayama
IPC分类号： B23K9/12
CPC分类号： B23K37/0452
摘要： A positioner for arc welding having a few movable members and a simple structure, an arc welding robot system including the positioner and an arc welding robot, whereby the orientation of the workpiece corresponding to a welding site of the workpiece may be suitably changed by a minimum motion of the positioner. The positioner includes a pair of support members, a first member having two ends supported by the pair of support members such that the first member is rotatable about a first axis parallel to an installation surface of the positioner, a second member having two ends supported by a pair of supporting portions arranged on the first member such that the second member is rotatable about a second axis perpendicular to the first axis, and a workpiece fixing part for fixing the workpiece to the second member.
摘要翻译：一种电弧焊接定位器，具有几个可移动部件和简单的结构，包括定位器和电弧焊机器人的电弧焊机器人系统，由此可以适当地改变与工件的焊接部位相对应的工件的取向最小定位器的运动。定位器包括一对支撑构件，第一构件具有由一对支撑构件支撑的两端，使得第一构件能够围绕平行于定位器的安装表面的第一轴线旋转，第二构件具有由布置在所述第一构件上的一对支撑部分，使得所述第二构件能够围绕垂直于所述第一轴线的第二轴线旋转;以及工件固定部件，用于将所述工件固定到所述第二构件。

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