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1. 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。

2. 发明授权

US07322258B2 Industrial robot 有权
标题翻译：工业机器人
公开(公告)号：US07322258B2
公开(公告)日：2008-01-29
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： B25J17/00 , B25J17/02 , B25J18/00
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呈曲轴的形状，其中第一凸缘6a直接附接到腕部凸缘4，第二凸缘6b以与第一凸缘6a平行的预定间隔设置并直接附接到端部执行器 5和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。

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

US20110219906A1 ARTICULATED MANIPULATOR 有权
标题翻译：专用操纵器
公开(公告)号：US20110219906A1
公开(公告)日：2011-09-15
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： B25J18/00 , 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： 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立时，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。

5. 发明申请

US20090114052A1 ARTICULATED MANIPULATOR 有权
标题翻译：专用操纵器
公开(公告)号：US20090114052A1
公开(公告)日：2009-05-07
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： B25J9/06 , B25J17/00 , B25J19/00
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。

6. 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。

7. 发明授权

US08910538B2 Robot 有权
标题翻译：机器人
公开(公告)号：US08910538B2
公开(公告)日：2014-12-16
申请号：US13359503
申请日：2012-01-27
申请人： Yusuke Hayashi , Manabu Okahisa , Keisuke Yonehara
发明人： Yusuke Hayashi , Manabu Okahisa , Keisuke Yonehara
IPC分类号： B25J17/02 , B25J18/00 , B25J9/04 , B25J9/00
CPC分类号： B25J9/046 , B25J9/0009 , Y10S901/27 , Y10S901/28 , Y10T74/20329
摘要： A robot according to an embodiment includes a base, a first structure, a second structure, and a third structure. The first structure is connected to the base to be rotatable about a first axis. The second structure is connected to the first structure to be rotatable about a second axis orthogonal to the first axis. The third structure is connected to the second structure to be rotatable about a third axis parallel to the second axis. The first structure and the third structure are formed by using cast materials having a same shape.
摘要翻译：根据实施例的机器人包括基座，第一结构，第二结构和第三结构。第一结构连接到基座以围绕第一轴线旋转。第二结构连接到第一结构以能够围绕与第一轴正交的第二轴线旋转。第三结构连接到第二结构，以能够围绕平行于第二轴线的第三轴线旋转。第一结构和第三结构通过使用具有相同形状的铸造材料形成。

8. 发明申请

US20120198955A1 ROBOT 有权
标题翻译：机器人
公开(公告)号：US20120198955A1
公开(公告)日：2012-08-09
申请号：US13359503
申请日：2012-01-27
申请人： Yusuke HAYASHI , Manabu Okahisa , Keisuke Yonehara
发明人： Yusuke HAYASHI , Manabu Okahisa , Keisuke Yonehara
IPC分类号： B25J17/00 , B25J18/04
CPC分类号： B25J9/046 , B25J9/0009 , Y10S901/27 , Y10S901/28 , Y10T74/20329
摘要： A robot according to an embodiment includes a base, a first structure, a second structure, and a third structure. The first structure is connected to the base to be rotatable about a first axis. The second structure is connected to the first structure to be rotatable about a second axis orthogonal to the first axis. The third structure is connected to the second structure to be rotatable about a third axis parallel to the second axis. The first structure and the third structure are formed by using cast materials having a same shape.
摘要翻译：根据实施例的机器人包括基座，第一结构，第二结构和第三结构。第一结构连接到基座以围绕第一轴线旋转。第二结构连接到第一结构以能够围绕与第一轴正交的第二轴线旋转。第三结构连接到第二结构，以能够围绕平行于第二轴线的第三轴线旋转。第一结构和第三结构通过使用具有相同形状的铸造材料形成。

9. 发明授权

US08396596B2 Robot with load sensor 有权
标题翻译：带负载传感器的机器人
公开(公告)号：US08396596B2
公开(公告)日：2013-03-12
申请号：US12832018
申请日：2010-07-07
申请人： Takenori Oka , Manabu Okahisa
发明人： Takenori Oka , Manabu Okahisa
IPC分类号： G05B15/00 , B25J9/06 , B25J13/08
CPC分类号： B25J9/1694 , B25J9/1633 , Y10T74/20305 , Y10T74/20311 , Y10T74/20317
摘要： A robot includes an arm including a plurality of joints, arm members that form the arm, each arm member supporting a load, actuators that drive the joints and that are supported by the arm members, a load sensor embedded in at least one of the arm members to measure the load applied to the at least one of the arm members, a controller that controls movements of the actuators on the basis of a result of the measurement performed by the load sensor, and a wire hole through which a sensor line extend from a space inside the at least one of the arm members to a space inside the arm, the sensor line connecting the load sensor to the controller.
摘要翻译：一种机器人包括：臂，包括多个接头，形成臂的臂构件，支撑负载的每个臂构件，驱动接头并由臂构件支撑的致动器，嵌入至少一个臂的负载传感器用于测量施加到所述至少一个臂构件的负载的控制器，控制器，其基于由所述负载传感器执行的测量结果来控制所述致动器的运动;以及线孔，所述传感器线从所述线孔延伸所述至少一个臂构件内的空间到所述臂内的空间，所述传感器线将所述负载传感器连接到所述控制器。

10. 发明申请

US20120266720A1 DRIVE APPARATUS AND ROBOT 有权
标题翻译：驱动装置和机器人
公开(公告)号：US20120266720A1
公开(公告)日：2012-10-25
申请号：US13405359
申请日：2012-02-27
申请人： Takenori OKA , Masato Itou , Yusuke Kinoshita , Manabu Okahisa
发明人： Takenori OKA , Masato Itou , Yusuke Kinoshita , Manabu Okahisa
IPC分类号： B25J17/02 , F16H1/22
CPC分类号： B25J17/0283 , Y10T74/19079 , Y10T74/19107 , Y10T74/20335
摘要： This drive apparatus includes a first rotation mechanism portion including a first driven gear portion rotated by a first drive gear portion rotating about a first axis and a second rotation mechanism portion including a second driven gear portion rotated by a second drive gear portion rotating about the first axis.
摘要翻译：该驱动装置包括：第一旋转机构部，包括由围绕第一轴线旋转的第一驱动齿轮部旋转的第一从动齿轮部;第二旋转机构部，具有第二从动齿轮部，轴。

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