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1. 外观设计

USD433043S Parallel link robot 失效
公开(公告)号：USD433043S
公开(公告)日：2000-10-31
申请号：US110610
申请日：1999-09-09
申请人： Masaaki Uematsu , Kuniyasu Matsumoto , Kenichiro Abe
设计人： Masaaki Uematsu , Kuniyasu Matsumoto , Kenichiro Abe

2. 发明授权

US07069808B2 Line laying structure for robot wrist 有权
标题翻译：机器手腕线铺设结构
公开(公告)号：US07069808B2
公开(公告)日：2006-07-04
申请号：US10401778
申请日：2003-03-31
申请人： Masaaki Uematsu , Kuniyasu Matsumoto , Hiroshi Nakagawa , Masahiro Morioka
发明人： Masaaki Uematsu , Kuniyasu Matsumoto , Hiroshi Nakagawa , Masahiro Morioka
IPC分类号： B25J17/02
CPC分类号： B25J19/0025 , B25J17/0283 , Y10S414/131 , Y10T74/20311
摘要： A line laying structure for a wrist of a robot capable of enhancing durability of lines of cables/pipes for flowing electricity, air, water, etc. to an end effector attached to the wrist, and reducing a restriction of angle of rotation of a wrist axis by rotation of the other wrist axes. First, second and third wrist elements of the wrist are rotatable around fist, second and third axes, respectively. The first wrist element is fixed to a distal end of a forearm of the robot, to be rotated on a mounting base with the forearm as a unit. The lines are clamped on the mounting base by a line retainer and laid inside the forearm and clamped at a distal end of the forearm inside and outside thereof by line retainers. The lines are then clamped by line retainers provided on the second wrist element and introduced to the third wrist element. Then, the lines are clamped by the line retainer provided on the third wrist element and drawn outside thereof to be connected with the end effector. Only limited sections S1–S3 of the lines between the line retainers are subjected to bending, twisting and translation by the rotation of the wrist elements and the other sections of the lines are not influence by the rotation of the wrist elements, to enhance durability of the lines.
摘要翻译：一种用于机器人手腕的线铺设结构，其能够提高连接到手腕的端部执行器的电力，空气，水等的电缆/管道的线的耐久性，并且减少了手腕的旋转角度的限制轴旋转其他腕轴。手腕的第一，第二和第三腕部元件分别围绕第一，第二和第三轴线旋转。第一腕部被固定在机器人前臂的远端，以前臂作为一个单元旋转在安装基座上。线路通过线路保持器夹持在安装基座上，并且放置在前臂内部并且通过线路保持器夹在前臂内部和外部的前端。然后，线路被设置在第二腕部上的线保持器夹紧并被引导到第三腕部元件。然后，线路被设置在第三腕部上的线保持器夹紧，并在其外侧被拉伸以与端部执行器连接。只有线保持器之间的线路的限制部分S 1 -S 3通过腕部元件的旋转而受到弯曲，扭曲和平移，并且线的其它部分不受腕部元件的旋转的影响，以增强线的耐久性。

3. 发明授权

US07299713B2 Device for laying line elements 有权
标题翻译：用于铺设线元件的装置
公开(公告)号：US07299713B2
公开(公告)日：2007-11-27
申请号：US10786172
申请日：2004-02-26
申请人： Masaaki Uematsu , Kuniyasu Matsumoto , Hiroshi Nakagawa , Masahiro Morioka
发明人： Masaaki Uematsu , Kuniyasu Matsumoto , Hiroshi Nakagawa , Masahiro Morioka
IPC分类号： B25J19/00
CPC分类号： B25J19/0029 , H01R35/02 , H02G11/00 , Y10T74/20311
摘要： A device used to lay line elements such as electric and/or fluid lines between a stationary housing and a moving housing. The device includes a double pipe structure having an inner pipe member and an outer pipe member. The outer pipe member is attached to the moving housing and rotatably supported by the stationary housing. The inner and outer pipe members are arranged in a generally coaxial relationship and coupled to each other by a coupling member. The line elements, which extend between a holding portion on the stationary housing and a holding portion on the moving housing, are divided into first and second groups, and the first group of line elements is laid to extend through an inner hole of the inner pipe member while the second group of line elements is laid to extend through an annular gap formed between the inner and outer pipe members.
摘要翻译：用于在固定壳体和移动壳体之间铺设诸如电气和/或流体线的线路元件的装置。该装置包括具有内管构件和外管构件的双管结构。外管构件附接到移动壳体并由固定壳体可旋转地支撑。内部和外部管构件以大体上同轴的关系布置并且通过联接构件彼此联接。在固定壳体上的保持部分和移动壳体上的保持部分之间延伸的线元件被分成第一组和第二组，第一组线元件被放置成延伸穿过内管的内孔而第二组线元件铺设成延伸穿过形成在内管件和外管件之间的环形间隙。

4. 发明授权

US07028578B2 Wrist driving mechanism for robot 有权
标题翻译：机器人手腕驱动机构
公开(公告)号：US07028578B2
公开(公告)日：2006-04-18
申请号：US10401789
申请日：2003-03-31
申请人： Masaaki Uematsu , Kuniyasu Matsumoto , Hiroshi Nakagawa , Masahiro Morioka
发明人： Masaaki Uematsu , Kuniyasu Matsumoto , Hiroshi Nakagawa , Masahiro Morioka
IPC分类号： B25J17/00 , B25J17/02 , B25J18/00
CPC分类号： B25J17/0283 , Y10S414/131 , Y10T74/20329 , Y10T74/20335
摘要： A wrist driving mechanism capable of arranging a large amount of cables and pipes in a robot arm. A robot wrist mechanism having three degrees of freedom is driven by first, second and third drive shafts for transmitting driving forces of first, second and third motors M4, M5 and M6, respectively. The first drive shaft is a hollow shaft for transmitting a rotational driving force from the motor M4 to a first wrist element supported rotatably around the first axis B1. The second and third drive shafts are arranged eccentrically with the first axis B1 in an inner space of the first drive shaft. The second drive shaft transmits a rotational driving force from the motor M5 to a second wrist element supported rotatably around the second axis B2, and the third drive shaft transmits a rotational force from the motor M6 to a third wrist element supported rotatably around the third axis B3. A first gear and a third gear as planet gears and a second gear and a fourth gear as sun gears are provided for avoiding complication of structure due to the eccentric arrangement of the second and third drive shafts.
摘要翻译：一种能够在机器人手臂中布置大量电缆和管道的手腕驱动机构。具有三个自由度的机器人手腕机构由第一，第二和第三驱动轴驱动，用于分别传递第一，第二和第三电动机M 4，M 5和M 6的驱动力。第一驱动轴是用于将来自马达M4的旋转驱动力传递到围绕第一轴线B1可旋转地支撑的第一腕部元件的中空轴。第二和第三驱动轴在第一驱动轴的内部空间中与第一轴线B 1偏心地布置。第二驱动轴将来自马达M5的旋转驱动力传递到围绕第二轴线B 2可旋转地支撑的第二腕部元件，并且第三驱动轴将来自马达M6的旋转力传递到可旋转地支撑的第三腕部元件第三轴B 3。提供作为行星齿轮的第一齿轮和第三齿轮以及作为太阳齿轮的第二齿轮和第四齿轮，以避免由于第二和第三驱动轴的偏心布置引起的结构的复杂化。

5. 发明授权

US06696810B2 Wrist structure for a robot 失效
标题翻译：机器人手腕结构
公开(公告)号：US06696810B2
公开(公告)日：2004-02-24
申请号：US10101847
申请日：2002-03-21
申请人： Masaaki Uematsu , Kuniyasu Matsumoto , Hiroshi Nakagawa
发明人： Masaaki Uematsu , Kuniyasu Matsumoto , Hiroshi Nakagawa
IPC分类号： B25G1502
CPC分类号： B25J19/0029 , B25J17/0283 , B25J19/0025 , Y10T403/257 , Y10T403/259
摘要： A member for piping and wiring to an end effector of a robot is discharged from a first wrist element into a void area in a position displaced from an axis c, being bent and loosened, and then guided to a hollow path. Any variance in a length of the piping/wiring member 30 due to rotations of second and third wrist elements is absorbed in this void area, so that twining round or scratching by a wrist can be prevented.
摘要翻译：用于将机器人的端部执行器的配管和配线的构件从第一腕部件排出到与轴线c偏离的位置的空隙区域中，被弯曲和松动，然后被引导到中空路径。由于第二和第三腕部元件的旋转导致的管路/配线部件30的长度的任何变化都被该空隙区域吸收，从而能够防止由手腕缠绕或划伤。

6. 发明授权

US07104153B2 Linear element laying structure in relative rotation mechanism 失效
公开(公告)号：US07104153B2
公开(公告)日：2006-09-12
申请号：US10406287
申请日：2003-04-04
申请人： Kuniyasu Matsumoto , Hiroshi Nakagawa , Masahiro Morioka , Masaaki Uematsu
发明人： Kuniyasu Matsumoto , Hiroshi Nakagawa , Masahiro Morioka , Masaaki Uematsu
IPC分类号： B25J17/00
CPC分类号： B25J19/0029 , H02G11/00 , Y10T74/20305 , Y10T74/20311 , Y10T74/20335
摘要： Pipes and/or wires extend in a bundle from a hollow portion of a second wrist element to a hollow portion of first wrist element of a robot. The first wrist element can rotate relatively to the second wrist element around an axis that passes through the two hollow portions. This bundle is divided into a plurality of split bundles in the hollow portion of the first wrist element. The split bundles are led out individually through a plurality of openings in the sidewall of the first wrist element and are connected to a working unit on a flange portion of the first wrist element.

7. 发明授权

US06384371B1 Laser beam machining apparatus 失效
标题翻译：激光束加工设备
公开(公告)号：US06384371B1
公开(公告)日：2002-05-07
申请号：US09414546
申请日：1999-10-08
申请人： Ryo Hinei , Masaaki Uematu , Kuniyasu Matsumoto , Kenichiro Abe
发明人： Ryo Hinei , Masaaki Uematu , Kuniyasu Matsumoto , Kenichiro Abe
IPC分类号： B23K2608
CPC分类号： B23K26/10
摘要： A laser beam machining apparatus capable of highly accurate machining at a high speed. A parallel link mechanism including a plurality of links is fixed to a frame and a workpiece holder having moving means is provided thereunder. The links of the parallel link mechanism connect a movable member with a stationary member, and the movable member is moved with respect to the stationary member by the extending/retracting operation of the links. A laser head serving as a machining head is attached to the movable member. A supply line includes a laser transmitting optical fiber, pipes for supplying water, assist gas, etc., and an electrical signal line. A laser beam LB outputted from the laser head performs machining on a workpiece W on the workpiece holder. The supply line passes through a through hole formed inside link joint portions on the stationary member. Hollow motors for driving the links of the parallel link mechanism are mounted on the stationary member.
摘要翻译：一种能够高精度高速加工的激光束加工装置。包括多个连杆的平行连杆机构固定在框架上，并且在其下方设有具有移动装置的工件保持架。并联连杆机构的连杆将可动部件与固定部件连接起来，通过连杆的伸缩动作，使可动部件相对于固定部件移动。作为加工头的激光头安装在可动件上。供电线包括激光发射光纤，供水管，辅助气体等，以及电信号线。从激光头输出的激光束LB对工件W上的工件W进行加工。供给线通过形成在固定部件上的连结接合部内的通孔。用于驱动平行连杆机构的连杆的空心马达安装在固定件上。

8. 外观设计

USD303523S Portable computer 失效
公开(公告)号：USD303523S
公开(公告)日：1989-09-19
申请号：US125447
申请日：1987-11-25
申请人： Hajime Shiozawa , Ken Kimata , Kouki Fukuda , Kuniyasu Matsumoto , Keiichi Koyama
设计人： Hajime Shiozawa , Ken Kimata , Kouki Fukuda , Kuniyasu Matsumoto , Keiichi Koyama

9. 外观设计

USD317462S Binder 失效
公开(公告)号：USD317462S
公开(公告)日：1991-06-11
申请号：US366035
申请日：1989-06-14
申请人： Masaji Sawada , Kuniyasu Matsumoto
设计人： Masaji Sawada , Kuniyasu Matsumoto

10. 外观设计

USD309469S Typewriter 失效
公开(公告)号：USD309469S
公开(公告)日：1990-07-24
申请号：US55775
申请日：1987-05-29
申请人： Kuniyasu Matsumoto
设计人： Kuniyasu Matsumoto

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