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1. 发明申请

US20090253563A1 TOOL REPLACING DEVICE 有权
标题翻译：工具更换装置
公开(公告)号：US20090253563A1
公开(公告)日：2009-10-08
申请号：US12368428
申请日：2009-02-10
申请人： Makoto KONDO , Tatsuji Minato
发明人： Makoto KONDO , Tatsuji Minato
IPC分类号： B23Q3/157
CPC分类号： B25J15/04 , Y10T279/1208 , Y10T279/1274 , Y10T279/17752 , Y10T279/21 , Y10T483/1771
摘要： A tool replacing device including a case member is disclosed. In the case member, engaging balls supported between a holding member and a movable member is projected into the holding member by an extruding surface of the movable member, resiliently urged by a second spring, thereby allowing a tool to be engaged. By pressing the movable member against a resilient urging force of the second spring, the engaging balls can be moved in the movable member. Also, since there are provided shock sensors for detecting a moving distance of the holding member holding the tool, collision or the like of the tool can be detected. Even if power supply is stopped, the present tool replacing device can hold the tool.
摘要翻译：公开了一种包括壳体构件的工具更换装置。在壳体部件中，支撑在保持部件和可动部件之间的接合球通过可动部件的挤压面突出到保持部件中，弹性地被第二弹簧推压，从而允许工具接合。通过抵抗第二弹簧的弹性推动力来压住可动构件，接合球可以在可动构件中移动。此外，由于设置有用于检测保持工具的保持构件的移动距离的冲击传感器，因此可以检测工具的碰撞等。即使电源停止，当前的工具更换装置也可以保持工具。

2. 发明申请

US20090242535A1 WIRE FEEDING UNIT 有权
标题翻译：线送料单元
公开(公告)号：US20090242535A1
公开(公告)日：2009-10-01
申请号：US12359609
申请日：2009-01-26
申请人： Tatsuji Minato , Makoto Kondo
发明人： Tatsuji Minato , Makoto Kondo
IPC分类号： B23K9/28
CPC分类号： B23K9/133
摘要： A wire feeding unit for feeding a welding wire in a torch cable of a welding robot, the torch cable passing through the inside of an upper arm in its direction, includes a body member, which is mounted on an inner periphery of the upper arm in a state of being freely pivotable around the axis of the upper arm, and to which the torch cable is installed, and a feed roller mounted to the body member in a state of being freely rotatable around an axis orthogonal to the axis of the arm. Here, the welding wire exposed out of the torch cable is in contact with the circumferential surface of the feed roller and is fed by the rotation of the feed roller in a direction of the axis of the upper arm. According to the configuration like this, when an arm is pivoted, the torch cable passing through the arm is able to be prevented from being twisted.
摘要翻译：一种用于在焊接机器人的割炬电缆中供给焊丝的送丝单元，所述焊炬电缆沿着其方向穿过上臂的内部，包括主体部件，其安装在上臂的内周上能够围绕上臂的轴线自由枢转并且安装有炬电缆的状态，以及能够以与臂的轴线正交的轴线自由旋转的状态安装到本体构件的进给辊。这里，暴露在割炬电缆外的焊丝与进给辊的周面接触，并通过进给辊的旋转沿上臂的轴线进给。根据这样的结构，当臂枢转时，能够防止通过臂的割炬电缆被扭曲。

3. 发明授权

US08537346B2 Industrial robot arm reference position determining method and industrial robot 有权
标题翻译：工业机器人臂参考位置确定方法和工业机器人
公开(公告)号：US08537346B2
公开(公告)日：2013-09-17
申请号：US13085931
申请日：2011-04-13
申请人： Hiroshi Nakagiri , Sungjae Yoon , Tatsuji Minato , Makoto Kondo
发明人： Hiroshi Nakagiri , Sungjae Yoon , Tatsuji Minato , Makoto Kondo
IPC分类号： G01B11/26 , G01C1/00
CPC分类号： B25J9/1692 , B25J19/022 , Y10T74/20305
摘要： A light emitter 320 is so mounted to a mounting portion 170 provided at a predetermined position of the tool mounting rotation arm 160 that a light beam LB is emitted toward a swing arm 150, the light beam LB is caused to be emitted from the light emitter 320, and the swing arm 150 and the tool mounting rotation arm 160 are so positioned that the light beam LB from the light emitter 320 is irradiated to an allowable range of a light receiving portion 410 for receiving the light beam LB from the light emitter 320.
摘要翻译：光发射器320被安装到设置在工具安装旋转臂160的预定位置处的安装部分170，使得光束LB朝向摆臂150发射，使得光束LB从光发射器 320，并且摆臂150和工具安装旋转臂160被定位成使得来自光发射器320的光束LB照射到用于从光发射器320接收光束LB的光接收部分410的允许范围。

4. 外观设计

USD636803S1 Industrial robot 有权
公开(公告)号：USD636803S1
公开(公告)日：2011-04-26
申请号：US29375273
申请日：2010-09-20
申请人： Hiroshi Nakagiri , Sungjae Yoon , Tatsuji Minato , Makoto Kondo
设计人： Hiroshi Nakagiri , Sungjae Yoon , Tatsuji Minato , Makoto Kondo

5. 发明授权

US08631720B2 Industrial robot 有权
标题翻译：工业机器人
公开(公告)号：US08631720B2
公开(公告)日：2014-01-21
申请号：US13074527
申请日：2011-03-29
申请人： Hiroshi Nakagiri , Sungjae Yoon , Makoto Kondo , Tatsuji Minato
发明人： Hiroshi Nakagiri , Sungjae Yoon , Makoto Kondo , Tatsuji Minato
IPC分类号： B25J17/00
CPC分类号： B25J19/0029 , Y10T74/20311
摘要： The present invention is characterized by arranging a flow path 200 for supplying driving gas to a tool mounting portion 170 from a robot base 110 to the tool mounting portion 170 through the interiors of a rotation frame 120, a tube 220, a shoulder 140, a swing arm 150 and a tool mounting rotation arm 160.
摘要翻译：本发明的特征在于，设置用于将驱动气体从机器人基座110通过旋转框架120，管220，肩部140，内部的内部从机器人基座110供给到工具安装部170的流路200。摆臂150和工具安装旋转臂160。

6. 发明授权

US08272645B2 Tool replacing device 有权
标题翻译：换刀装置
公开(公告)号：US08272645B2
公开(公告)日：2012-09-25
申请号：US12368428
申请日：2009-02-10
申请人： Makoto Kondo , Tatsuji Minato
发明人： Makoto Kondo , Tatsuji Minato
IPC分类号： B23B31/30
CPC分类号： B25J15/04 , Y10T279/1208 , Y10T279/1274 , Y10T279/17752 , Y10T279/21 , Y10T483/1771
摘要： A tool replacing device including a case member is disclosed. In the case member, engaging balls supported between a holding member and a movable member is projected into the holding member by an extruding surface of the movable member, resiliently urged by a second spring, thereby allowing a tool to be engaged. By pressing the movable member against a resilient urging force of the second spring, the engaging balls can be moved in the movable member. Also, since there are provided shock sensors for detecting a moving distance of the holding member holding the tool, collision or the like of the tool can be detected. Even if power supply is stopped, the present tool replacing device can hold the tool.
摘要翻译：公开了一种包括壳体构件的工具更换装置。在壳体部件中，支撑在保持部件和可动部件之间的接合球通过可动部件的挤压面突出到保持部件中，弹性地被第二弹簧推压，从而允许工具接合。通过抵抗第二弹簧的弹性推动力来压住可动构件，接合球可以在可动构件中移动。此外，由于设置有用于检测保持工具的保持构件的移动距离的冲击传感器，因此可以检测到工具的碰撞等。即使电源停止，当前的工具更换装置也可以保持工具。

7. 发明授权

US08434387B2 Industrial robot 有权
标题翻译：工业机器人
公开(公告)号：US08434387B2
公开(公告)日：2013-05-07
申请号：US13085890
申请日：2011-04-13
申请人： Hiroshi Nakagiri , Sungjae Yoon , Makoto Kondo , Tatsuji Minato
发明人： Hiroshi Nakagiri , Sungjae Yoon , Makoto Kondo , Tatsuji Minato
IPC分类号： B25J18/00
CPC分类号： B25J17/0258 , B25J9/104 , Y10T74/19023 , Y10T74/19051 , Y10T74/20305 , Y10T74/20317
摘要： The present invention relates to an industrial robot and aims to provide an industrial robot capable of ensuring a long distance from a rotation axis of an arm to a tool mounting portion and accurately positioning the tool mounting portion by a compact structure. In a swing arm 150, the rotation of a tool mounting rotation arm driving motor 311 is transmitted to a pivot shaft 313 via a tool mounting rotation arm driving transmission mechanism 300, the rotation of a tool mounting portion driving motor 411 is transmitted to an intermediate power transmission shaft 422 via a tool mounting portion driving first transmission mechanism 412a, and the rotation of the intermediate power transmission shaft 422 is transmitted to an output power transmission shaft 426 via a tool mounting portion driving second transmission mechanism 412b, thereby rotating a tool mounting portion 170 while being decelerated by a tool mounting portion driving reduction unit 413.
摘要翻译：工业机器人技术领域本发明涉及一种工业机器人，其目的在于提供一种能够确保从臂的旋转轴到工具安装部的距离较远的工业机器人，并且通过紧凑的结构精确地定位工具安装部。在摆臂150中，工具安装旋转臂驱动马达311的旋转通过工具安装旋转臂驱动传动机构300传递到枢轴313，工具安装部驱动马达411的旋转被传递到中间动力传递轴422通过驱动第一传动机构412a的工具安装部分，并且中间动力传递轴422的旋转通过驱动第二传动机构412b的工具安装部分传递到输出传动轴426，从而旋转工具安装同时由工具安装部分驱动减速单元413减速。

8. 发明申请

US20110252915A1 INDUSTRIAL ROBOT 有权
标题翻译：工业机器人
公开(公告)号：US20110252915A1
公开(公告)日：2011-10-20
申请号：US13074527
申请日：2011-03-29
申请人： Hiroshi NAKAGIRI , Sungjae Yoon , Makoto Kondo , Tatsuji Minato
发明人： Hiroshi NAKAGIRI , Sungjae Yoon , Makoto Kondo , Tatsuji Minato
IPC分类号： B25J18/04
CPC分类号： B25J19/0029 , Y10T74/20311
摘要： The present invention is characterized by arranging a flow path 200 for supplying driving gas to a tool mounting portion 170 from a robot base 110 to the tool mounting portion 170 through the interiors of a rotation frame 120, a tube 220, a shoulder 140, a swing arm 150 and a tool mounting rotation arm 160.
摘要翻译：本发明的特征在于，设置用于将驱动气体从机器人基座110通过旋转框架120，管220，台肩140，内部的内部从机器人基座110供给到工具安装部170的流路200。摆臂150和工具安装旋转臂160。

9. 外观设计

USD636419S1 Industrial robot 有权
公开(公告)号：USD636419S1
公开(公告)日：2011-04-19
申请号：US29375278
申请日：2010-09-20
申请人： Hiroshi Nakagiri , Sungjae Yoon , Tatsuji Minato , Makoto Kondo
设计人： Hiroshi Nakagiri , Sungjae Yoon , Tatsuji Minato , Makoto Kondo

10. 发明授权

US08207475B2 Wire feeding unit 有权
标题翻译：送丝单元
公开(公告)号：US08207475B2
公开(公告)日：2012-06-26
申请号：US12359609
申请日：2009-01-26
申请人： Tatsuji Minato , Makoto Kondo
发明人： Tatsuji Minato , Makoto Kondo
IPC分类号： B23K9/10
CPC分类号： B23K9/133
摘要： A wire feeding unit for feeding a welding wire in a torch cable of a welding robot, the torch cable passing through the inside of an upper arm in its direction, includes a body member, which is mounted on an inner periphery of the upper arm in a state of being freely pivotable around the axis of the upper arm, and to which the torch cable is installed, and a feed roller mounted to the body member in a state of being freely rotatable around an axis orthogonal to the axis of the arm. Here, the welding wire exposed out of the torch cable is in contact with the circumferential surface of the feed roller and is fed by the rotation of the feed roller in a direction of the axis of the upper arm. According to the configuration like this, when an arm is pivoted, the torch cable passing through the arm is able to be prevented from being twisted.
摘要翻译：一种用于在焊接机器人的割炬电缆中供给焊丝的送丝单元，所述焊炬电缆沿着其方向穿过上臂的内部，包括主体部件，其安装在上臂的内周上能够围绕上臂的轴线自由枢转并且安装有炬电缆的状态，以及能够以与臂的轴线正交的轴线自由旋转的状态安装到本体构件的进给辊。这里，暴露在割炬电缆外的焊丝与进给辊的周面接触，并通过进给辊的旋转沿上臂的轴线进给。根据这样的结构，当臂枢转时，能够防止通过臂的割炬电缆被扭曲。

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