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    • 3. 发明授权
    • Industrial robot
    • 工业机器人
    • US4728247A
    • 1988-03-01
    • US834274
    • 1986-02-20
    • Seiichiro NakashimaKenichi ToyodaNobutoshi ToriiHitoshi Mizuno
    • Seiichiro NakashimaKenichi ToyodaNobutoshi ToriiHitoshi Mizuno
    • B25J9/04B25J19/00B66C23/72
    • B25J19/0016B25J9/046Y10T16/53834
    • The industrial robot comprises a lower arm (13) provided on a robot body (12) pivotably about a first horizontal axis (C1). The lower arm (13) has provided thereon a forearm (14) pivotably about a second horizontal axis (C2). The forearm (14) is rotationally driven by a drive such as a motor (16). The robot body (12) has provided thereon a rotating disk (17) interlocked with the pivoting of the forearm (14) about the second axis (C2) and rotatable about the first axis (C1). Also the rotating disk (17) has secured thereon a first wheel (18) and coaxial therewith, the diameter of which is smaller than that of the disk. There is further provided a tension spring assembly (19) having one end thereof connected to the robot body (12) and which has rotatably mounted at the other end thereof a second wheel (21) having nearly the same diameter as that of the first wheel. Also provided is a chain (22) having one end thereof connected to the rotating disk (17) and the other end engaged on the first wheel (18). This chain (22) is engaged on the outer circumference of the second wheel (21) while pulling the tension spring assembly (19). The one end of the chain (22) is so disposed on the rotating disk (17) that when the upper end of the forearm (14) is directed normally downward, the chain portion (22b) between the rotating disk (17) and the second wheel (21) is substantially parallel to the chain portion (22c) between the first and second wheels (18) and (21).
    • PCT No.PCT / JP85 / 00366 Sec。 一九八六年二月二十日 102(e)日期1986年2月20日PCT提交1985年6月28日PCT公布。 出版物WO86 / 日期1986年1月16日。工业机器人包括设置在机器人主体(12)上的可绕第一水平轴线(C1)枢转的下臂(13)。 下臂(13)在其上设置有绕第二水平轴线(C2)可枢转的前臂(14)。 前臂(14)由诸如马达(16)的驱动器旋转驱动。 机器人主体(12)上设置有旋转盘(17),该旋转盘与前臂(14)围绕第二轴线(C2)枢转并且可围绕第一轴线(C1)旋转。 此外,旋转盘(17)固定有第一轮(18)并与其同轴,其直径小于盘的直径。 另外还设置有一个拉伸弹簧组件(19),其一端连接到机器人本体(12),并且其另一端可旋转地安装有与第一轮几乎相同直径的第二轮(21) 。 还设置有一个链条(22),其一端连接到旋转盘(17),另一端接合在第一轮(18)上。 该链条(22)在拉动拉伸弹簧组件(19)的同时在第二轮(21)的外圆周上接合。 链条(22)的一端设置在旋转盘(17)上,当前臂(14)的上端正常向下定位时,旋转盘(17)和 第二轮(21)基本上平行于第一和第二轮(18)和(21)之间的链条部分(22c)。
    • 6. 发明授权
    • Industrial robot
    • 工业机器人
    • US4706001A
    • 1987-11-10
    • US845276
    • 1986-03-03
    • Seiichiro NakashimaKenichi ToyodaNobutoshi Torii
    • Seiichiro NakashimaKenichi ToyodaNobutoshi Torii
    • G05B9/02B25J9/04B25J9/10B25J9/18B25J19/00B25J19/06G05B19/18G05B19/4063G05B19/10
    • G05B19/4063B25J19/0079B25J19/06B25J9/046B25J9/1035
    • The robot assembly of an industrial robot comprises a stationary robot component (11) and a plurality of movable robot components (12, 13, 14). At least parts of the stationary robot component and the movable robot components have airtight chambers (15, 16, 17) communicating with each other and intended to be kept at a pressure higher than a predetermined level which is higher than an external atmospheric pressure. Robot driving motors (18 to 23) for driving the movable robot components are arranged within the airtight chambers. A driving motor controller (27) for driving and controlling the robot driving motors is connected to the robot driving motors by means of electric cables arranged within the airtight chambers. Pressure switches (25) supply signals to the driving motor controller to stop the robot driving motors, respectively, upon detection of the pressure in the airtight chambers when the pressure in the airtight chambers drops below the predetermined level.
    • PCT No.PCT / JP85 / 00378 Sec。 一九八六年三月三日 102(e)日期1986年3月3日PCT提交1985年7月4日PCT公布。 公开号WO86 / 00558 日期:1986年1月30日。工业机器人的机器人组件包括固定机器人部件(11)和多个可移动机器人部件(12,13,14)。 固定机器人部件和可移动机器人部件的至少一部分具有彼此连通且旨在保持在比外部大气压高的预定水平的压力的气密室(15,16,17)。 用于驱动可移动机器人部件的机器人驱动马达(18至23)布置在气密室内。 用于驱动和控制机器人驱动电动机的驱动电动机控制器(27)通过布置在气密室内的电缆连接到机器人驱动电动机。 当气密室中的压力下降到预定水平以下时,压力开关(25)在检测到气密室中的压力时分别向驱动马达控制器提供信号以停止机器人驱动马达。