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1. 发明申请

US20080016979A1 Arm structure of industrial robot 审中-公开
标题翻译：工业机器人臂结构
公开(公告)号：US20080016979A1
公开(公告)日：2008-01-24
申请号：US11822993
申请日：2007-07-11
申请人： Mitsuhiro Yasumura , Hikaru Yamashiro , Hideo Matsui
发明人： Mitsuhiro Yasumura , Hikaru Yamashiro , Hideo Matsui
IPC分类号： B25J17/02 , B25J18/00
CPC分类号： B25J9/0009 , B25J17/0258 , B25J19/0075 , Y10T74/20317
摘要： An arm structure (10) of an industrial robot includes a wrist unit (61) rotatable around a first axis (X) and a second axis (Y) perpendicular to the first axis and an arm unit (10′) for supporting the wrist unit rotatably around the first axis. The arm unit has a bottom casing (12), which in turn has arranged thereon at least a first motor (31) used to rotate the wrist unit around the first axis and a second motor (32) used to rotate the wrist unit around the second axis. Further, the arm unit has a cover casing (11) engaged with the bottom casing perpendicular to a plane containing the output shafts of the motors. As a result, the casing of the arm structure is reduced in both weight and size.
摘要翻译：工业机器人的臂结构（10）包括可围绕第一轴线（X）旋转的腕部单元（61）和垂直于第一轴线的第二轴线（Y），以及用于支撑腕部单元围绕第一轴可旋转。臂单元具有底部壳体（12），该底部壳体还设置有至少第一马达（31），该第一马达用于围绕第一轴线旋转腕部单元;以及第二马达（32），用于使腕部旋转第二轴。此外，臂单元具有与底部壳体垂直于包含电动机的输出轴的平面接合的盖壳体（11）。结果，臂结构的外壳在重量和尺寸方面都减小了。

2. 发明申请

US20050202116A1 Molded product removing device 审中-公开
标题翻译：成型产品去除装置
公开(公告)号：US20050202116A1
公开(公告)日：2005-09-15
申请号：US11076112
申请日：2005-03-09
申请人： Satoshi Kinoshita , Mitsuhiro Yasumura , Hikaru Yamashiro , Hideo Matsui
发明人： Satoshi Kinoshita , Mitsuhiro Yasumura , Hikaru Yamashiro , Hideo Matsui
IPC分类号： B29C33/44 , B25J9/04 , B25J9/10 , B25J18/02 , B29C45/42 , B29C45/38
CPC分类号： B25J18/025 , B25J9/042 , B25J9/1035 , B25J9/104 , B29C45/42
摘要： A molded-product removing device (10) includes a base (10), a rotation arm mechanism including a plurality of rotation arms (12, 14, 16) serially connected to each other so as to be rotatable about vertical axes (11, 13, 15), respectively, and a lift arm (17) mounted on the forward end rotation arm (16) of the rotation arm mechanism for moving up and down a holding mechanism arranged at the forward end thereof. The lift arm (17) is configured as a two-stage speed increasing mechanism and a pinion-rack mechanism for driving the two-stage speed increasing mechanism.
摘要翻译：一种模制产品移除装置（10），包括基座（10），旋转臂机构，其包括多个彼此串联连接的旋转臂（12,14,16），以便可绕垂直轴线（11,13）旋转，15）和安装在旋转臂机构的前端旋转臂（16）上的提升臂（17），用于上下移动布置在其前端的保持机构。提升臂（17）构成为两级增速机构和用于驱动两级增速机构的小齿轮架机构。

3. 发明授权

US07442030B2 Molded component retrieving apparatus and a molding machine having the molded component retrieving apparatus mounted thereon 失效
标题翻译：模制部件回收装置和安装有模制部件回收装置的成型机
公开(公告)号：US07442030B2
公开(公告)日：2008-10-28
申请号：US11073710
申请日：2005-03-08
申请人： Satoshi Kinoshita , Mitsuhiro Yasumura , Hikaru Yamashiro
发明人： Satoshi Kinoshita , Mitsuhiro Yasumura , Hikaru Yamashiro
IPC分类号： B29C33/44 , B29C45/42
CPC分类号： B29C45/42
摘要： A molded component retrieving apparatus and a molding machine with the molded component retrieving apparatus include first and second units. The first unit includes a base, first to third arms and a first lift arm. The second unit includes fourth to sixth arms and a second lift arm. The second unit is removably mounted on the third arm through an intermediate base member. Rotary shafts of the arms are parallel. A holding unit to hold and retrieve the molded component or the runner is arranged at the forward end of the first and second lift arms. The third and sixth arms can be kept in position even when the drive sources are reduced in number and other arms are pivoted using a belt and a pulley.
摘要翻译：成型部件回收装置和具有成型部件回收装置的成型机包括第一和第二单元。第一单元包括基座，第一至第三臂和第一提升臂。第二单元包括第四至第六臂和第二提升臂。第二单元通过中间基座部件可拆卸地安装在第三臂上。臂的旋转轴平行。在第一和第二提升臂的前端布置有用于保持和取回模制部件或流道的保持单元。即使当驱动源的数量减少时，第三和第六臂也可以保持在适当的位置，并且其它臂使用皮带和皮带轮枢转。

4. 发明申请

US20050196483A1 Molded component retrieving apparatus and a molding machine having the molded component retrieving apparatus mounted thereon 失效
标题翻译：模制部件回收装置和安装有模制部件回收装置的成型机
公开(公告)号：US20050196483A1
公开(公告)日：2005-09-08
申请号：US11073710
申请日：2005-03-08
申请人： Satoshi Kinoshita , Mitsuhiro Yasumura , Hikaru Yamashiro
发明人： Satoshi Kinoshita , Mitsuhiro Yasumura , Hikaru Yamashiro
IPC分类号： B29C33/44 , B25J9/04 , B25J9/06 , B29C37/00 , B29C45/42 , B29C45/40
CPC分类号： B29C45/42
摘要： A molded component retrieving apparatus and a molding machine with the molded component retrieving apparatus mounted thereon are disclosed. A first unit (3) of the molded component retrieving apparatus includes a base (10), first to third arms (12, 14, 16) and a first lift arm (17). A second unit (4) includes fourth to sixth arms (20, 22, 24) and a second lift arm (25). The second unit (4) is removably mounted on the third arm (16) through an intermediate base member (18). The rotary shafts (11, 13, 15, 19, 21, 23) of the arms are aligned in the same axial direction. A holding unit to hold and retrieve the molded component or the runner is arranged at the forward end of the first and second lift arms (17, 25). Even in the case where the molded component retrieving apparatus is mounted at the upper portion of the molding machine, each arm can pivot horizontally and therefore the machine height can be kept low, while the molding machine with the retrieving apparatus mounted thereon can be kept within the transverse limit of the molding machine. Also, even in the case where the drive sources are reduced in number and other arms are pivoted using a belt and a pulley, the third and sixth arms (16, 24) can be kept in position. As a result, the apparatus can be mounted on the molding machine even at a place having a low ceiling and the molding machine can be transported with the apparatus mounted thereon.
摘要翻译：公开了一种模制部件回收装置和安装有模制部件回收装置的成型机。模制部件回收装置的第一单元（3）包括基座（10），第一至第三臂（12,14,16）和第一提升臂（17）。第二单元（4）包括第四至第六臂（20,22,24）和第二提升臂（25）。第二单元（4）通过中间基座构件（18）可拆卸地安装在第三臂（16）上。臂的旋转轴（11,13,15,19,21,23）在相同轴向对齐。在第一和第二提升臂（17,25）的前端设置有用于保持和取回模制部件或流道的保持单元。即使在成型部件回收装置安装在成型机的上部的情况下，也能够使各个臂水平地摆动，因此能够将机器高度保持为低，同时将安装有检索装置的成型机保持在内部成型机的横向极限。此外，即使在使用数量减少驱动源的情况下，也可以使用带和滑轮枢转其他臂的情况下，也可以将第三和第六臂（16,24）保持就位。结果，即使在具有低天花板的地方，该装置也可以安装在成型机上，并且可以在安装在其上的装置上运输成型机。

5. 发明申请

US20050231332A1 Manual operating unit for robot 审中-公开
标题翻译：机器人手动操作单元
公开(公告)号：US20050231332A1
公开(公告)日：2005-10-20
申请号：US11090235
申请日：2005-03-28
申请人： Ryo Nihei , Satoshi Kinoshita , Mitsuhiro Yasumura , Hikaru Yamashiro
发明人： Ryo Nihei , Satoshi Kinoshita , Mitsuhiro Yasumura , Hikaru Yamashiro
IPC分类号： B25J9/22 , B25J9/16 , B25J13/02 , B25J13/06 , G05B19/409 , G05B19/425 , G08B1/00
CPC分类号： G05B19/409 , B25J13/06 , G05B2219/36162 , G05B2219/39443 , G05B2219/39446
摘要： A manual operating unit for operating a robot in a manual mode, for the purpose of a teaching operation, a start/stop operation, or the like. The manual operating unit includes a housing; a robot diagram provided on the housing for schematically showing an external appearance of a robot mechanical section; an index provided on the housing in association with the robot diagram for representing a plurality of directions of motions to be performed by the robot mechanical section under control; and a motion command section provided on the housing in association with the index for causing the robot mechanical section to perform the motions in the directions represented by the index. For example, the index includes a drawing illustrating three coordinate axes of a three-axis rectangular coordinate system provided for the robot mechanical section. In this arrangement, the motion command section includes a plurality of motion command keys for causing the robot mechanical section to perform the motions along the three coordinate axes illustrated by the drawing.
摘要翻译：用于以手动模式操作机器人的手动操作单元，用于教学操作，起动/停止操作等。手动操作单元包括壳体; 设置在壳体上用于示意性地示出机器人机械部分的外观的机器人图; 与机器人图相关联地设置在壳体上的索引，用于表示由被控制的机器人机械部分执行的多个运动方向; 以及运动指令部，其与用于使所述机器人机械部在由所述指标表示的方向上执行运动的所述指标相关联地设置在所述壳体上。例如，该索引包括示出为机器人机械部设置的三轴直角坐标系的三个坐标轴的图。在这种布置中，运动指令部分包括用于使机器人机械部分沿着图示的三个坐标轴执行运动的多个运动指令键。

6. 发明授权

US06250174B1 Robot construction 失效
标题翻译：机器人施工
公开(公告)号：US06250174B1
公开(公告)日：2001-06-26
申请号：US09117397
申请日：1998-07-29
申请人： Akihiro Terada , Hikaru Yamashiro
发明人： Akihiro Terada , Hikaru Yamashiro
IPC分类号： B25J1700
CPC分类号： B25J9/047 , B25J19/0025 , B25J19/0029 , Y10S414/131 , Y10T74/20311
摘要： A robot 1A comprises a robot stationary base 1, a first speed reducer mechanism attachment base 11 to which a first axis speed reducer mechanism 12 and a second axis speed reducer mechanism 21 are attached, a first arm AM1, a second speed reducer mechanism attachment base 35 to which a third axis speed reducer mechanism 31 and a fourth axis speed reducer mechanism 41 are attached, and a second arm AM2. An electric cable (CB) or a pipeline passes from the robot stationary base 1 through a hollow part in the first axis speed reducer mechanism 12, and from there passes around the outside of the second axis speed reducer mechanism 21, extending along the first arm AM1.
摘要翻译：机器人1A包括机器人固定基座1，安装有第一轴减速器机构12和第二轴线减速器机构21的第一减速器机构安装基座11，第一臂AM1，第二减速机构安装基座 35，第三轴减速器机构31和第四轴减速器机构41，第二臂AM2。电缆（CB）或管道从机器人固定基座1通过第一轴减速器机构12中的中空部分，从那里经过第二轴减速器机构21的外侧，沿着第一臂 AM1。

7. 发明授权

US5639204A Positioning device for an industrial robot 失效
标题翻译：工业机器人定位装置
公开(公告)号：US5639204A
公开(公告)日：1997-06-17
申请号：US362499
申请日：1995-01-11
申请人： Ryo Nihei , Akihiro Terada , Kyozi Iwasaki , Hikaru Yamashiro
发明人： Ryo Nihei , Akihiro Terada , Kyozi Iwasaki , Hikaru Yamashiro
IPC分类号： B25J9/10 , B25J9/16 , B25J13/00 , B25J19/00 , B25J9/06
CPC分类号： B25J9/1692 , B25J9/1005 , G05B2219/39026 , G05B2219/39027 , G05B2219/39048
摘要： A positioning device for positioning a robot unit (30) of a multi-articulated type industrial robot at an origin reference position having a polygonal male jig (52) attached to an extremity of the robot unit (30), and a polygonal female jig (58) suitable for being mated with the polygonal male jig (52), and the flat surfaces of the polygonal male jig (52) are brought into contact with the flat surfaces of the polygonal female jig (58) to position the robot unit (30) at the origin reference position. When mating the male jig (52) and the female jig (58) with each other in close surface-to-surface contact, the male jig (52) is pressed by pressing means (64) to bring the predetermined flat surfaces of the polygonal male jig (52) into close contact with the predetermined flat surfaces of the female jig (58).
摘要翻译： PCT No.PCT / JP93 / 00769 Sec。 371 1995年1月11日第 102（e）日期1995年1月11日PCT 1994年5月12日PCT PCT。出版物WO94 / 26475 日期1994年11月24日一种用于将多关节型工业机器人的机器人单元（30）定位在具有附接到机器人单元（30）的末端的多边形阳夹具（52）的原始基准位置的定位装置，以及多边形阴夹具（58）适于与多边形阳夹具（52）配合，并且多边形阳夹具（52）的平坦表面与多边形阴夹具（58）的平坦表面接触以定位机器人单元（30）处于原始参考位置。当雄性夹具（52）和阴型夹具（58）以紧密的表面接触方式彼此配合时，阳型夹具（52）被按压装置（64）按压以使多边形的预定平坦表面阳夹具（52）与阴夹具（58）的预定平坦表面紧密接触。

8. 发明授权

US08893578B2 Parallel robot provided with wrist section having three degrees of freedom 有权
标题翻译：平行机器人具有三个自由度的手腕部分
公开(公告)号：US08893578B2
公开(公告)日：2014-11-25
申请号：US13238199
申请日：2011-09-21
申请人： Satoshi Kinoshita , Hikaru Yamashiro
发明人： Satoshi Kinoshita , Hikaru Yamashiro
IPC分类号： B25J17/02 , B25J9/00
CPC分类号： B25J17/0266 , B25J9/0051 , B25J17/0283 , Y10S901/15 , Y10S901/26 , Y10S901/29 , Y10T74/20317 , Y10T74/20335
摘要： A parallel robot includes a movable-section drive mechanism, and a wrist-section drive mechanism. The wrist section includes a first rotary member supported on the movable section and rotatable about a fourth rotation axis different from axes of the three-axis translational motion of the movable section, a second rotary member connected to the first rotary member and rotatable about a fifth rotation axis orthogonal to the fourth rotation axis, and a third rotary member connected to the second rotary member and rotatable about a sixth rotation axis orthogonal to the fifth rotation axis. The third rotary member is provided with an attachment surface to which a tool is attached. The attachment surface is inclined with respect to the sixth rotation axis at a predetermined angle.
摘要翻译：并联机器人包括可动部驱动机构和手腕部驱动机构。手腕部分包括支撑在可移动部分上的第一旋转部件，其可绕与可移动部件的三轴平移运动的轴线不同的第四旋转轴线旋转;第二旋转部件，连接到第一旋转部件，与第四旋转轴正交的旋转轴，以及连接到第二旋转构件并可绕与第五旋转轴正交的第六旋转轴旋转的第三旋转构件。第三旋转构件设置有附接工具附接的附接表面。安装面相对于第六旋转轴以预定的角度倾斜。

9. 发明授权

US08047093B2 Parallel robot 有权
标题翻译：平行机器人
公开(公告)号：US08047093B2
公开(公告)日：2011-11-01
申请号：US12685925
申请日：2010-01-12
申请人： Satoshi Kinoshita , Hikaru Yamashiro
发明人： Satoshi Kinoshita , Hikaru Yamashiro
IPC分类号： B25J17/02 , B25J18/04
CPC分类号： B25J17/0266 , B25J9/0051 , Y10T74/20317 , Y10T74/20335
摘要： A parallel robot including a movable-section drive mechanism having a parallel mechanism configuration and operating to allow a movable section to perform a three-axis translational motion with respect to a base section; and a wrist-section drive mechanism operating to allow a wrist section to perform a rotational motion with respect to the movable section. The wrist-section drive mechanism includes a hollow outer holder connected to the base section rotatably about a first rotation axis; a hollow intermediate holder provided in the outer holder rotatably about a second rotation axis orthogonal to the first axis; a hollow inner holder provided inside the intermediate holder rotatably about a third rotation axis orthogonal to the second axis; a prime mover driving the outer holder to rotate about the first axis; and a transmission member received in the inner holder and linearly movable in a rotationally restrained state along a linear-motion axis orthogonal to the third axis, and connected at one end spaced from the inner holder to the wrist section through a universal joint. The transmission member operates to transmit a rotation of the outer holder about the first axis to the wrist section, and to allow the wrist section to perform a rotational motion about a fourth rotation axis orthogonal to the third axis.
摘要翻译：一种并联机器人，包括具有平行机构构造的可移动部分驱动机构，并且操作以允许可移动部分相对于基部执行三轴平移运动; 以及手腕部驱动机构，其操作以允许腕部相对于可动部进行旋转运动。手腕部驱动机构包括：中空外保持器，其围绕第一旋转轴线可旋转地连接到基部; 中空中间保持器，其围绕与第一轴线正交的第二旋转轴线可旋转地设置在外保持器中; 围绕与第二轴正交的第三旋转轴可旋转地设置在中间保持件内的中空内保持器; 驱动外保持器以绕第一轴旋转的原动机; 以及传动构件，其容纳在所述内保持器中，并且沿着与所述第三轴正交的直线运动轴线以可旋转约束的状态直线运动，并且通过万向接头在与所述内保持器间隔开的一端连接到所述腕部。传动部件用于将外保持器围绕第一轴线的旋转传递到腕部，并且允许腕部围绕与第三轴线正交的第四旋转轴线进行旋转运动。

10. 发明授权

US5570609A Industrial robot provided with means for setting reference positions for respective axes 失效
标题翻译：工业机器人设有用于设置各个轴的参考位置的装置
公开(公告)号：US5570609A
公开(公告)日：1996-11-05
申请号：US295790
申请日：1995-03-08
申请人： Ryo Nihei , Akihiro Terada , Kyozi Iwasaki , Hikaru Yamashiro
发明人： Ryo Nihei , Akihiro Terada , Kyozi Iwasaki , Hikaru Yamashiro
IPC分类号： B25J17/00 , B25J9/10 , B25J9/16 , B25J19/00
CPC分类号： B25J9/10 , B25J9/1692 , Y10T74/20329
摘要： An articulated industrial robot provided with a reference position setting means which includes two positioning contact parts 22 and 24, and the reference position setting means is provided for each joint 16 of a robot unit 10 in such a manner that the positioning contact parts 22 and 24 are brought into contact with each other so as to perform determination of a geometrical reference position for each joint drive source after the replacement of a defective drive motor or a defective reduction gear of the joint drive source. The determined geometrical reference position regarding each of the joint axes are stored in the robot controller to thereby achieve a single-axis mastering,and thus the reference position setting means simplifies single-axis mastering with respect to each joint axis of the robot unit without being subject to any spatial restrictions.
摘要翻译： PCT No.PCT / JP94 / 00040 Sec。 371日期：1995年3月8日 102（e）1995年3月8日PCT PCT 1994年1月13日PCT公布。第WO94 / 15761号公报日期1994年7月21日具有基准位置设定装置的关节式工业机器人包括两个定位接触部分22和24，并且以机器人单元10的每个接头16设置基准位置设定装置，接触部22和24彼此接触，以便在更换有缺陷的驱动马达或关节驱动源的有缺陷的减速齿轮之后，确定每个关节驱动源的几何参考位置。关于每个关节轴的确定的几何参考位置被存储在机器人控制器中，从而实现单轴母盘制作，因此基准位置设置装置简化了相对于机器人单元的每个关节轴线的单轴母盘制作，而不是受到任何空间限制。

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