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1. 发明授权

US6065364A Stopper for use in an industrial robot 失效
标题翻译：用于工业机器人的止动器
公开(公告)号：US6065364A
公开(公告)日：2000-05-23
申请号：US043387
申请日：1998-03-17
申请人： Tomoyuki Shiraki , Toshiaki Iwanaga , Shigeo Matsushita , Kazuhiro Haniya
发明人： Tomoyuki Shiraki , Toshiaki Iwanaga , Shigeo Matsushita , Kazuhiro Haniya
IPC分类号： B25J9/10 , G05G11/00
CPC分类号： B25J9/101 , Y10T74/20305 , Y10T74/2063
摘要： A stopper includes a frame (51) fixed to a mount base (1) of an industrial robot, a retaining shaft (52) which is fixed to the frame (51) in an upright position in relation to the plane of rotation of the turning base (2), a rod-shaped engagement lever (53) which is supported so as to be able to turn around the retaining shaft (52), a spring (57) for returning the engagement lever (53) to a position where it faces the center of the turning base (2), stoppers (59A, 59B) provided on both inner surfaces of the frame (51) which face the engagement lever (53), and an engagement dog (7) which is fixed to the turning base (2) and is capable of engaging the engagement lever (53). It is possible to provide a stopper for use with an industrial robot which permits setting of the operating angle of the turning base to a value of 360.degree. or more and which ensures a wide range of operation.
摘要翻译： PCT No.PCT / JP96 / 02647 Sec。 371日期：1998年3月17日 102（e）1998年3月17日PCT PCT 1996年9月17日PCT公布。公开号WO97 / 10933 日期1997年3月27日一种止动器包括：固定到工业机器人的安装基座（1）的框架（51）;固定轴（52），其相对于平面固定在框架（51）上; 所述转动基座（2）的转动，被支撑为能够绕所述保持轴（52）转动的杆状接合杆（53），用于使所述接合杆（53）返回的弹簧（57）到与转动基座（2）的中心相对的位置，设置在框架（51）的与接合杆（53）相对的两个内表面上的止动件（59A，59B）和接合爪（7）固定到转动基座（2）上并且能够接合接合杆（53）。可以提供一种用于工业机器人的止动件，其允许将转动底座的操作角度设定为360度或更大的值，并且确保较宽的操作范围。

2. 发明授权

US5934148A Wrist mechanism of industrial robot 失效
标题翻译：工业机器人手腕机构
公开(公告)号：US5934148A
公开(公告)日：1999-08-10
申请号：US973259
申请日：1998-04-02
申请人： Kazuhiro Haniya , Shigeo Matsushita
发明人： Kazuhiro Haniya , Shigeo Matsushita
IPC分类号： B25J9/10 , B25J17/02 , B25J17/00
CPC分类号： B25J17/0258 , B25J9/102 , Y10T74/20305 , Y10T74/20335
摘要： A wrist mechanism of an industrial robot comprises: spline teeth (2A) formed in the outer circumference of the end portion of a bending drive shaft (2) which is provided inside of an arm (1); spline grooves (2B) which are formed in the inner circumference of a first bevel gar (21) and are engaged with the spline teeth (2A); spline teeth (3A) formed in the outer circumference of the end portion of a revolving drive shaft (3); a hollow cylindrical intermediate shaft (30) having one end portion in the inner circumference of which spline grooves (3B), which are engaged with the spline teeth (3A); are formed, and the other end portion to the outer circumference of which a second bevel gear (31) is secured; a bearing (301) through which the one end portion of the intermediate shaft (30) is supported on the first bevel gear (21); and bearings (22 and 24) through which the other end portion of the intermediate shaft (30) is supported on a stationary gear box (45).
摘要翻译： PCT No.PCT / JP97 / 00746 Sec。 371日期：1998年4月2日 102（e）日期1998年4月2日PCT 1997年3月10日PCT公布。第WO97 / 37817号公报日期：1997年10月16日工业机器人的手腕机构包括：形成在设置在臂（1）内部的弯曲驱动轴（2）的端部的外周的花键齿（2A）花键槽（2B），其形成在第一斜面花纹（21）的内圆周中并与花键齿（2A）接合; 形成在旋转驱动轴（3）的端部的外周的花键齿（3A）; 中空圆柱形中间轴（30），其内缘具有一个端部，花键槽（3B）与花键齿（3A）接合; 并且其外周的另一端部固定有第二锥齿轮（31）; 轴承（301），中间轴（30）的一个端部支撑在第一锥齿轮（21）上; 以及中间轴（30）的另一端部支撑在固定齿轮箱（45）上的轴承（22,24）。

3. 发明授权

US07971504B2 Articulated manipulator 有权
标题翻译：铰接机械手
公开(公告)号：US07971504B2
公开(公告)日：2011-07-05
申请号：US12088283
申请日：2006-09-14
申请人： Kazuhiro Haniya , Manabu Okahisa , Atsushi Ichibangase
发明人： Kazuhiro Haniya , Manabu Okahisa , Atsushi Ichibangase
IPC分类号： B25J17/00
CPC分类号： B25J9/06 , B25J9/0087 , B25J9/08 , B25J9/126 , B25J17/025 , B25J19/0029 , Y10T74/20311 , Y10T74/20317 , Y10T74/20329
摘要： This invention provides a manipulator that can facilitate a teaching method, improve the operation speed of an arm, and mount a heavy load in a narrow space. The manipulator includes a plurality of arm bodies provided in series, joint parts rotatably connecting two adjacent arm bodies, and the joint parts in which slope of rotation axes of the adjacent joints are 90 degrees, at least one linear body disposed in the joint parts coaxially with the rotation axes. The joint parts are composed of a servo motor, and a speed-reduction mechanism. The rotation axes of the servo motor, the speed-reduction mechanism and the joint parts become the same axis.
摘要翻译：本发明提供了一种能够促进教学方法，提高手臂的操作速度和将重负载安装在狭窄空间中的操纵器。操纵器包括多个串联设置的臂体，可连接两个相邻的臂体的接合部分和相邻接头的旋转轴线的倾斜度为90度的接合部分，至少一个直线体同轴设置在接合部分中与旋转轴。接合部由伺服电动机和减速机构构成。伺服电机的旋转轴，减速机构和接头部件成为同一轴。

4. 发明申请

US20050150883A1 Arc welding cable 有权
标题翻译：弧焊电缆
公开(公告)号：US20050150883A1
公开(公告)日：2005-07-14
申请号：US10502540
申请日：2003-02-03
申请人： Kazuhiro Tomiyasu , Koji Muragaki , Seigo Nishikawa , Kazuhiro Haniya , Atsushi Ichibangase , Shunsuke Maeda , Kazuhiko Nishimura
发明人： Kazuhiro Tomiyasu , Koji Muragaki , Seigo Nishikawa , Kazuhiro Haniya , Atsushi Ichibangase , Shunsuke Maeda , Kazuhiko Nishimura
IPC分类号： B23K9/32 , H01R13/00 , H01R13/56
CPC分类号： H01R13/005 , B23K9/32 , H01R13/562
摘要： An arc welding cable that is resistant to bending and twisting and can give a long life is provided. For this purpose, an arc welding cable (65) for supplying a welding current, a welding wire and a sealed gas from a wire feeding device (61) to a welding torch (64), has a passage (4) for the welding wire (2) and sealed gas is located at a center of the arc welding cable and a plurality of conductors (5) are arranged apart from one another on a circumference around the passage (4). The space between the plurality of conductor (5) may be filled with a cushion material such as cotton or elastic synthetic resin.
摘要翻译：提供耐弯曲和扭转并且可以延长使用寿命的电弧焊接电缆。为此，用于将焊接电流提供的电弧焊接电缆（65），焊丝和从送丝装置（61）到焊枪（64）的密封气体具有用于焊丝的通道（4）（2），并且密封气体位于电弧焊接电缆的中心，并且多个导体（5）在围绕通道（4）的圆周上彼此分开布置。多个导体（5）之间的空间可以填充有诸如棉或弹性合成树脂的缓冲材料。

5. 发明授权

US08413538B2 Articulated manipulator 有权
标题翻译：铰接机械手
公开(公告)号：US08413538B2
公开(公告)日：2013-04-09
申请号：US13115992
申请日：2011-05-26
申请人： Kazuhiro Haniya , Manabu Okahisa , Atsushi Ichibangase
发明人： Kazuhiro Haniya , Manabu Okahisa , Atsushi Ichibangase
IPC分类号： B25J18/02
CPC分类号： B25J9/06 , B25J9/0087 , B25J9/08 , B25J9/126 , B25J17/025 , B25J19/0029 , Y10T74/20311 , Y10T74/20317 , Y10T74/20329
摘要： An articulated manipulator includes a base body, a first arm body, a second arm body having a second arm center axis, and a third arm body. A first joint part connects the base body and a first end portion of the first arm body rotatably around a first rotation axis. A second joint part connects a second end portion of the first arm body and a third end portion of the second arm body rotatably around a second rotation axis. A third joint part connects a fourth end portion of the second arm body and a fifth end portion of the third arm body rotatably around the third rotation axis. When the first, second and third arm bodies are all erected with respect to a installation surface, the first rotation axis, the second arm center axis, and the third rotation axis are substantially aligned with each other.
摘要翻译：关节式操纵器包括基体，第一臂体，具有第二臂中心轴线的第二臂体和第三臂体。第一接合部分围绕第一旋转轴线可旋转地连接基体和第一臂体的第一端部。第二接合部分围绕第二旋转轴线可旋转地连接第一臂体的第二端部和第二臂体的第三端部。第三关节部分可绕第三旋转轴线可转动地连接第二臂体的第四端部和第三臂体的第五端部。当第一，第二和第三臂体全部相对于安装表面竖起时，第一旋转轴线，第二臂中心轴线和第三旋转轴线基本上彼此对准。

6. 发明申请

US20130046409A1 ROBOT AND ROBOT SYSTEM 有权
标题翻译：机器人和机器人系统
公开(公告)号：US20130046409A1
公开(公告)日：2013-02-21
申请号：US13398849
申请日：2012-02-17
申请人： Kentaro TANAKA , Hisaya Inoue , Satoshi Sueyoshi , Kazuhiro Haniya
发明人： Kentaro TANAKA , Hisaya Inoue , Satoshi Sueyoshi , Kazuhiro Haniya
IPC分类号： B25J13/08 , B25J18/00 , H02K7/116
CPC分类号： B25J9/103 , Y10S901/23 , Y10S901/25 , Y10T74/19684 , Y10T74/20305 , Y10T74/20317
摘要： A robot according to embodiments includes a speed reducer, a first shaft, a rotary electric machine, a second shaft, and a brake. The speed reducer reduces and outputs rotation to be input into an input unit. The first shaft is connected to the input unit. The rotary electric machine rotates the first shaft. The second shaft is connected to the input unit. The brake regulates the rotation of the second shaft.
摘要翻译：根据实施例的机器人包括减速器，第一轴，旋转电机，第二轴和制动器。减速器减小并输出要输入到输入单元的旋转。第一轴连接到输入单元。旋转电机旋转第一轴。第二轴连接到输入单元。制动器调节第二轴的旋转。

7. 发明授权

US07135655B2 Arc welding cable 有权
标题翻译：弧焊电缆
公开(公告)号：US07135655B2
公开(公告)日：2006-11-14
申请号：US10502540
申请日：2003-02-03
申请人： Kazuhiro Tomiyasu , Koji Muragaki , Seigo Nishikawa , Kazuhiro Haniya , Atsushi Ichibangase , Shunsuke Maeda , Kazuhiko Nishimura
发明人： Kazuhiro Tomiyasu , Koji Muragaki , Seigo Nishikawa , Kazuhiro Haniya , Atsushi Ichibangase , Shunsuke Maeda , Kazuhiko Nishimura
IPC分类号： B23K9/32 , H01B5/00
CPC分类号： H01R13/005 , B23K9/32 , H01R13/562
摘要： An arc welding cable that is resistant to bending and twisting and can give a long life is provided. For this purpose, an arc welding cable (65) for supplying a welding current, a welding wire and a sealed gas from a wire feeding device (61) to a welding torch (64), has a passage (4) for the welding wire (2) and sealed gas is located at a center of the arc welding cable and a plurality of conductors (5) are arranged apart from one another on a circumference around the passage (4). The space between the plurality of conductor (5) may be filled with a cushion material such as cotton or elastic synthetic resin.
摘要翻译：提供耐弯曲和扭转并且可以延长使用寿命的电弧焊接电缆。为此，用于将焊接电流提供的电弧焊接电缆（65），焊丝和从送丝装置（61）到焊枪（64）的密封气体具有用于焊丝的通道（4）（2），并且密封气体位于电弧焊接电缆的中心，并且多个导体（5）在围绕通道（4）的圆周上彼此分开布置。多个导体（5）之间的空间可以填充有诸如棉或弹性合成树脂的缓冲材料。

8. 发明申请

US20060156852A1 Speed reducer for industrial robot 审中-公开
标题翻译：工业机器人减速机
公开(公告)号：US20060156852A1
公开(公告)日：2006-07-20
申请号：US10542714
申请日：2004-01-21
申请人： Kazuhiro Haniya
发明人： Kazuhiro Haniya
IPC分类号： B25J18/00
CPC分类号： B25J9/102 , B25J19/0029 , Y10T74/20317
摘要： A problem of the invention is to provide a reduction device at low cost capable of considerably alleviating a restriction on a range of operating each shaft of a robot by providing a communication hole at a center portion and wiring a wire-like member therein while using a main bearing having an optimum load capacity. According to the invention, in a reduction device of a rotating shaft (first shaft) having a large gear a position of which is fixed to a robot base and a small gear brought in mesh with the large gear and axially supported in a rotating barrel portion, the large gear and the small gear are arranged at a vicinity of a rotational plane of a second shaft (front/rear shaft), further, in the reduction device of the rotating shaft (first shaft) having a small gear axially supported by a robot base and a large gear which is brought in mesh with the small gear and a position of which is fixed to a rotating barrel portion, a large gear and a small gear are arranged at a vicinity of the rotational plane of the second shaft (front/rear shaft).
摘要翻译：本发明的一个问题是提供一种低成本的减速装置，其能够通过在中心部分设置一个连通孔并在其中布线一个线状部件，从而显着地减轻对机器人每个轴的操作范围的限制，同时使用主轴承具有最佳的负载能力。根据本发明，在具有大齿轮的旋转轴（第一轴）的减速装置中，其位置固定在机器人基座上，小齿轮与大齿轮啮合并轴向支撑在旋转筒部大齿轮和小齿轮配置在第二轴（前/后轴）的旋转平面附近，此外，在具有小齿轮的旋转轴（第一轴）的减速装置中，机器人基座和与小齿轮啮合并且其位置固定到旋转筒部的大齿轮，大齿轮和小齿轮布置在第二轴（前侧）的旋转平面附近 /后轴）。

9. 发明申请

US20050011295A1 Industrial robot 有权
标题翻译：工业机器人
公开(公告)号：US20050011295A1
公开(公告)日：2005-01-20
申请号：US10493694
申请日：2002-10-28
申请人： Tomoyuki Shiraki , Manabu Okahisa , Keisuke Yonehara , Kazuhiro Haniya
发明人： Tomoyuki Shiraki , Manabu Okahisa , Keisuke Yonehara , Kazuhiro Haniya
IPC分类号： B23K11/11 , B23K11/24 , B25J19/00
CPC分类号： B25J19/0025 , Y10T74/20311 , Y10T74/20329
摘要： There is provided an industrial robot having no interference of a cable for an end effector or the like with a peripheral apparatus. An end effector 5 is fixed to a wrist flange 4 through an intermediate member 6. The intermediate member 6 takes the shape of a crankshaft in which a first flange 6a attached directly to the wrist flange 4, a second flange 6b provided at a predetermined interval in parallel with the first flange 6a and attached directly to the end effector 5, and two members 6c and 6d for coupling the first and second flanges 6a and 6b are arranged symmetrically.
摘要翻译：提供了一种没有用于末端执行器等的电缆与外围设备的干扰的工业机器人。端部执行器5通过中间构件6固定到腕部凸缘4.中间构件6呈曲轴形状，其中直接附接到腕部凸缘4的第一凸缘6a，以预定间隔设置的第二凸缘6b 与第一凸缘6a平行并且直接附接到端部执行器5，并且用于联接第一和第二凸缘6a和6b的两个构件6c和6d对称地布置。

10. 发明授权

US06734367B2 Cable protective spring and method for fixing the cable protective spring 有权
标题翻译：电缆保护弹簧和固定电缆保护弹簧的方法
公开(公告)号：US06734367B2
公开(公告)日：2004-05-11
申请号：US10203271
申请日：2002-08-08
申请人： Kazuhiro Haniya , Atsushi Ichibangase
发明人： Kazuhiro Haniya , Atsushi Ichibangase
IPC分类号： H01B700
CPC分类号： H02G11/006 , B25J19/0025 , F16F1/12 , H02G3/0481 , H02G11/00
摘要： The present invention intends to provide a cable protection spring capable of being attached and fixed through one-touch operation without requiring an ironmongery goods or a tool for fixing. In order to attain this object, according to the present invention, in the cable protection spring which is arranged in a manner that a wiring cable is passed within and through a coil spring 5 to protect the wiring cable from mechanical damage, the coil spring 5 is provided with a portion 5a having a diameter larger than a diameter of remaining portion thereof.
摘要翻译：本发明旨在提供一种电缆保护弹簧，其能够通过一次性操作而被附接和固定，而不需要熨烫用品或固定工具。为了达到该目的，根据本发明，在电缆保护弹簧其布置方式使得布线电缆穿过螺旋弹簧5并通过螺旋弹簧5以保护布线电缆免受机械损坏，螺旋弹簧5设置有直径大于其剩余部分直径的部分5a。

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