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1. 发明授权

US07765890B2 Industrial robot 有权
标题翻译：工业机器人
公开(公告)号：US07765890B2
公开(公告)日：2010-08-03
申请号：US12139729
申请日：2008-06-16
申请人： Toshihiko Inoue , Kazutaka Nakayama , Takatoshi Iwayama , Junya Fujita
发明人： Toshihiko Inoue , Kazutaka Nakayama , Takatoshi Iwayama , Junya Fujita
IPC分类号： B25J17/00
CPC分类号： B25J19/0029 , Y10T74/20305 , Y10T74/20311 , Y10T74/20335
摘要： An industrial robot has an arm, a wrist element rotatably interconnected to the arm, a work tool mounted on a distal end of the wrist element, and a motor mounted on the wrist element. An umbilical-member connected to the work tool and a flat cable connected to the motor are disposed to run along the wrist element from the arm side to the work tool or to the motor. A pipe member extending in a direction of a rotation axis of the wrist element is provided inside the arm and the umbilical-member connected to the work tool is passed inside the pipe member. The flat cable connected to the motor is wound around outside of the pipe member, with the flat cable arranged to become slack in a rotating direction of the wrist element.
摘要翻译：工业机器人具有臂，可旋转地互连到臂的腕部元件，安装在腕部元件的远端上的作业工具和安装在腕部元件上的马达。连接到工作工具的脐部构件和连接到电动机的扁平电缆被设置为沿着手腕一侧到达工作工具或电动机的方向行进。在臂部的内部设置有沿着腕部的旋转轴的方向延伸的管构件，并且连接到作业工具的脐部构件穿过管构件。连接到电动机的扁平电缆缠绕在管构件的外部，扁平电缆被布置成在腕部元件的旋转方向上变得松弛。

2. 发明申请

US20080315820A1 INDUSTRIAL ROBOT 有权
标题翻译：工业机器人
公开(公告)号：US20080315820A1
公开(公告)日：2008-12-25
申请号：US12139729
申请日：2008-06-16
申请人： Toshihiko Inoue , Kazutaka Nakayama , Takatoshi Iwayama , Junya Fujita
发明人： Toshihiko Inoue , Kazutaka Nakayama , Takatoshi Iwayama , Junya Fujita
IPC分类号： B25J9/00
CPC分类号： B25J19/0029 , Y10T74/20305 , Y10T74/20311 , Y10T74/20335
摘要： An industrial robot having: an arm, a wrist element rotatably interconnected to the arm, a work tool mounted on a distal end of the wrist element, and a motor mounted on the wrist element; wherein an umbilical-member connected to the work tool and a flat cable connected to the motor are disposed to run along the wrist element from the arm side to aid work tool or to the motor, characterized in that a pipe member extending in a direction of a rotation axis of the wrist element is provided inside the arm, the umbilical-member connected to the work tool being passed inside the pipe member, the flat cable connected to the motor being wound around outside of the pipe member, with the flat cable slacked in a rotating direction of the wrist element.
摘要翻译：一种工业机器人，其具有：手臂，与所述臂可旋转地相互连接的腕部元件，安装在所述腕部元件的前端的作业工具，以及安装在所述腕部元件上的马达; 其特征在于，连接到所述作业工具的脐部构件和连接到所述电动机的扁平电缆被布置成沿着所述腕部元件从所述臂侧延伸以辅助工作工具或所述电动机，其特征在于，腕部的旋转轴设置在臂的内部，连接到作业工具的脐部件通过管构件内部，连接到电动机的扁平电缆被卷绕在管构件的外部，扁平电缆松弛在腕部元件的旋转方向上。

3. 发明授权

US08051741B2 Managing structure for umbilical member of industrial robot 有权
标题翻译：工业机器人脐带构件的管理结构
公开(公告)号：US08051741B2
公开(公告)日：2011-11-08
申请号：US12385656
申请日：2009-04-15
申请人： Toshihiko Inoue , Kazutaka Nakayama , Takatoshi Iwayama
发明人： Toshihiko Inoue , Kazutaka Nakayama , Takatoshi Iwayama
IPC分类号： B25J18/04
CPC分类号： B25J19/0025 , Y10T74/20305
摘要： A managing structure for an umbilical member includes a flexible conduit for leading an umbilical member inserted therein from a front arm of a robot to a working tool mounted on a wrist of the robot, a first conduit mounting portion provided adjacent to the front arm, and a second conduit mounting portion provided adjacent to a point where the umbilical member is connected to the working tool. One end of the conduit is attached to the first conduit mounting portion, while the other end of the conduit is attached to the second conduit mounting portion. The conduit is laid so that a section thereof between the first conduit mounting portion and the second conduit mounting portion does not contact the body of the robot.
摘要翻译：一种用于脐带构件的管理结构包括用于将从机器人的前臂插入其中的脐带构件引导到安装在机器人手腕上的作业工具的柔性导管，邻近前臂设置的第一导管安装部分，以及第二导管安装部分，其邻近于脐带构件连接到工作工具的点设置。导管的一端连接到第一导管安装部分，而导管的另一端附接到第二导管安装部分。导管被放置成使得其第一导管安装部分和第二导管安装部分之间的部分不接触机器人的主体。

4. 发明申请

US20060278622A1 Positioner for arc welding and arc welding robot system having the positioner 审中-公开
标题翻译：具有定位器的电弧焊和电弧焊机器人系统定位器
公开(公告)号：US20060278622A1
公开(公告)日：2006-12-14
申请号：US11439964
申请日：2006-05-25
申请人： Toshihiko Inoue , Kazutaka Nakayama , Takatoshi Iwayama
发明人： Toshihiko Inoue , Kazutaka Nakayama , Takatoshi Iwayama
IPC分类号： B23K9/12
CPC分类号： B23K37/0452
摘要： A positioner for arc welding having a few movable members and a simple structure, an arc welding robot system including the positioner and an arc welding robot, whereby the orientation of the workpiece corresponding to a welding site of the workpiece may be suitably changed by a minimum motion of the positioner. The positioner includes a pair of support members, a first member having two ends supported by the pair of support members such that the first member is rotatable about a first axis parallel to an installation surface of the positioner, a second member having two ends supported by a pair of supporting portions arranged on the first member such that the second member is rotatable about a second axis perpendicular to the first axis, and a workpiece fixing part for fixing the workpiece to the second member.
摘要翻译：一种电弧焊接定位器，具有几个可移动部件和简单的结构，包括定位器和电弧焊机器人的电弧焊机器人系统，由此可以适当地改变与工件的焊接部位相对应的工件的取向最小定位器的运动。定位器包括一对支撑构件，第一构件具有由一对支撑构件支撑的两端，使得第一构件能够围绕平行于定位器的安装表面的第一轴线旋转，第二构件具有由布置在所述第一构件上的一对支撑部分，使得所述第二构件能够围绕垂直于所述第一轴线的第二轴线旋转;以及工件固定部件，用于将所述工件固定到所述第二构件。

5. 发明授权

US07173213B2 Torch cable disposition structure for arc-welding robot 失效
标题翻译：电弧焊机器人手电筒配置结构
公开(公告)号：US07173213B2
公开(公告)日：2007-02-06
申请号：US11165350
申请日：2005-06-24
申请人： Toshihiko Inoue , Kazutaka Nakayama , Takatoshi Iwayama
发明人： Toshihiko Inoue , Kazutaka Nakayama , Takatoshi Iwayama
IPC分类号： B23K9/12
CPC分类号： B25J17/0283 , B23K9/1336 , B23K37/02 , B25J19/0025
摘要： A first wrist element is rotatably provided on the front end of a forearm base of a robot. A second wrist element is rotatably provided on the first wrist element. A welding torch is rotatably supported via a transmission mechanism. A wire feeder is disposed at a position other than a forearm. A torch cable is fitted to a slider with an intermediate fitting section. A slider can be pulled backward by returning a wire connected to a tension generator using a pulley. In place of the fitting section, an intermediate guiding section can be provided.
摘要翻译：第一腕部可旋转地设置在机器人的前臂基座的前端。第二腕部可旋转地设置在第一腕部上。焊枪通过传动机构可旋转地支撑。送丝机配置在前臂以外的位置。手电筒电缆安装在具有中间配件部分的滑块上。通过使用滑轮返回连接到张力发生器的电线，可以向后拉动滑块。可以设置中间引导部，代替嵌合部。

6. 发明申请

US20090032649A1 UMBILICAL-MEMBER PROCESSING STRUCTURE FOR INDUSTRIAL ROBOT 有权
标题翻译：工业机器人呃加工结构
公开(公告)号：US20090032649A1
公开(公告)日：2009-02-05
申请号：US12169951
申请日：2008-07-09
申请人： Toshihiko Inoue , Kazutaka Nakayama , Takatoshi Iwayama
发明人： Toshihiko Inoue , Kazutaka Nakayama , Takatoshi Iwayama
IPC分类号： F16L3/00
CPC分类号： B25J19/0029 , B25J17/0283 , F16L3/1091 , H02G11/00 , Y10T74/20311 , Y10T74/20335
摘要： An umbilical-member processing structure for an industrial robot which includes a forearm having a tool managing and relaying device and a wrist with proximal end rotatably connected to the forearm and having a work tool mounted on the distal end thereof, with an umbilical-member connected to the work tool being disposed to run along the wrist via the tool managing and relaying device: wherein the forearm has a first reduction gear which reduces the rotational speed of a driving source to drive the forearm in rotation; the first reduction gear having a first insertion hole for passing the umbilical-member therein; and wherein the wrist comprises a first wrist element having a through-path in communication with the first insertion hole and rotatably connected to the forearm, and a second wrist element having a second insertion hole in communication with the through-path and rotatably connected to the first wrist element; and wherein a conduit for passing the umbilical-member from one end to the other end is provided in the first insertion hole of the forearm, in the through-path of the first wrist element, and in the second insertion hole of the second wrist element; and wherein, with one end of the conduit being inserted in the first insertion hole so as to permit movement in an axial direction and in a direction of outer circumference of the conduit, the other end of the conduit is held on the second wrist element in cantilever fashion by a conduit holding member so as to restrict movement of the conduit in the axial direction thereof.
摘要翻译：一种用于工业机器人的脐部件处理结构，其包括具有工具管理和中继装置的前臂和具有可旋转地连接到前臂的近端的腕部，并且具有安装在其远端上的工作工具，脐部件连接所述工具被布置成经由所述工具管理和中继装置沿着所述手腕行进;其中所述前臂具有第一减速齿轮，所述第一减速齿轮降低驱动源的旋转速度以驱动所述前臂旋转; 所述第一减速齿轮具有用于使所述脐部件在其中通过的第一插入孔; 并且其中所述手腕包括具有与所述第一插入孔连通并且可旋转地连接到所述前臂的通路的第一腕部元件，以及具有与所述通路连通并且可转动地连接到所述前臂的第二插入孔的第二腕部元件第一腕部; 并且其中，在所述前臂的所述第一插入孔，所述第一腕部的贯通路径和所述第二腕部的所述第二插入孔中设置有用于将所述脐部件从一端向另一端通过的导管 ; 并且其中，当所述导管的一端插入所述第一插入孔中以允许在所述导管的轴向方向和外圆周方向上移动时，所述导管的另一端被保持在所述第二腕部上通过导管保持构件以悬臂方式限制导管沿轴向的移动。

7. 发明申请

US20080229861A1 Robot having arm in which umbilical member is accomodated 审中-公开
标题翻译：具有脐带成员的手臂的机器人
公开(公告)号：US20080229861A1
公开(公告)日：2008-09-25
申请号：US12076226
申请日：2008-03-14
申请人： Toshihiko Inoue , Kazutaka Nakayama , Takatoshi Iwayama , Tokitaka Uemura
发明人： Toshihiko Inoue , Kazutaka Nakayama , Takatoshi Iwayama , Tokitaka Uemura
IPC分类号： B25J17/02
CPC分类号： B25J19/0029 , Y10T74/20305
摘要： A robot including a forearm section with a through passage, a wrist section articulated on the forearm section, and an umbilical member inserted through the through passage of the forearm section and provided along the wrist section. The robot includes a tool managing and relaying unit mounted on the forearm section close to the through passage and provided with a connection part to which the umbilical member is connected, and a mount mechanism carrying the tool managing and relaying unit movably between a first position where the connection part is disposed adjacent to an opening of the through passage and a second position where the connection part is spaced from the opening of the through passage, and releasably securing the tool managing and relaying unit to the forearm section at the first position.
摘要翻译：一种机器人，包括具有通路的前臂部分，铰接在所述前臂部分上的腕部，以及穿过所述前臂部分的所述通道插入并沿着所述手腕部分设置的脐带部件。机器人包括安装在靠近通道的前臂部分上的工具管理和中继单元，并且设置有连接脐带部件的连接部分，以及安装机构，其将工具管理和中继单元可移动地移动到第一位置之间，所述连接部与所述贯通通路的开口相邻设置，所述连接部与所述贯通通路的开口隔开，在所述第一位置将所述工具管理和中继单元可释放地固定在所述前臂部。

8. 发明申请

US20080056859A1 Drive mechanism for industrial robot arm 审中-公开
标题翻译：工业机器人手臂的驱动机构
公开(公告)号：US20080056859A1
公开(公告)日：2008-03-06
申请号：US11892084
申请日：2007-08-20
申请人： Toshihiko Inoue , Kazutaka Nakayama , Takatoshi Iwayama
发明人： Toshihiko Inoue , Kazutaka Nakayama , Takatoshi Iwayama
IPC分类号： B65H29/02 , B25J1/02
CPC分类号： B25J19/0029
摘要： A drive mechanism for an industrial robot arm, having a simple drive system, in which an extracting part of an umbilical member for a work tool is suitably positioned and a device for the work tool is positioned on the forearm so as not to project out, while the basic configuration of the robot arm may be similar to the prior art. A motor for a first wrist element is positioned in the area between a forearm and an upper arm such that the rotation axis of the motor is perpendicular to a second axis. Further, the motor is positioned at the point shifted toward the wrist element or a front end of the forearm, in relation to a first axis, along the longitudinal direction of the forearm. Therefore, a wide area for a wire feeder may be obtained above a bottom portion of the forearm.
摘要翻译：一种用于工业机器人手臂的驱动机构，其具有简单的驱动系统，其中用于作业工具的脐带构件的提取部分适当地定位，并且用于工作工具的装置位于前臂上以便不会突出，而机器人臂的基本构造可以与现有技术相似。用于第一腕部元件的电动机位于前臂和上臂之间的区域中，使得电动机的旋转轴线垂直于第二轴线。此外，电动机位于沿前臂的纵向方向相对于第一轴相对于腕部元件或前臂的前端移动的点。因此，可以在前臂的底部之上获得用于送丝机的广泛区域。

9. 发明申请

US20060101936A1 Managing structure for umbilical member of industrial robot 审中-公开
标题翻译：工业机器人脐带构件的管理结构
公开(公告)号：US20060101936A1
公开(公告)日：2006-05-18
申请号：US11202075
申请日：2005-08-12
申请人： Toshihiko Inoue , Kazutaka Nakayama , Takatoshi Iwayama
发明人： Toshihiko Inoue , Kazutaka Nakayama , Takatoshi Iwayama
IPC分类号： B25J18/00
CPC分类号： B25J19/0029 , Y10T74/20305
摘要： A managing structure, for an umbilical member for a work tool of a robot, capable of stabilizing the motion of the umbilical member during the operation of a wrist of the robot and making the work of modifying the system of the robot easier. The umbilical member is introduced into an opening formed at the back of a base of a forearm. The umbilical member extends through a hollow portion of a speed reducer and is drawn from a first opening formed on the side of a first wrist element. A cable for welding current and a tube for supplying shield gas, constituting the umbilical member, are directly connected to a welding torch rotatable about a third axis. A welding wire is guided and fed by a feed roller of a wire feeder and, then, is connected to the welding wire with the cable and the tube. The feed roller is driven by a motor contained within the first wrist element.
摘要翻译：一种用于机器人工作工具的脐带部件的管理结构，能够在机器人的手腕操作期间稳定脐部件的运动，并且使得更容易地修改机器人的系统的工作。将脐带构件引入形成在前臂基部背面的开口中。脐部件延伸穿过减速器的中空部分，并且从形成在第一腕部一侧的第一开口拉出。用于焊接电流的电缆和用于供应构成脐带构件的保护气体的管直接连接到可围绕第三轴线旋转的焊炬。焊丝由送丝机的进给辊引导并进给，然后用电缆和管连接到焊丝。进给辊由包含在第一腕部内的电动机驱动。

10. 发明申请

US20060049159A1 Structure for treating torch cable for arc welding robot 审中-公开
标题翻译：电弧焊机器人手电筒电缆结构
公开(公告)号：US20060049159A1
公开(公告)日：2006-03-09
申请号：US11218501
申请日：2005-09-06
申请人： Ryo Nihei , Toshihiko Inoue , Kazutaka Nakayama , Takatoshi Iwayama
发明人： Ryo Nihei , Toshihiko Inoue , Kazutaka Nakayama , Takatoshi Iwayama
IPC分类号： B23K9/32
CPC分类号： B25J9/0018 , B23K9/1336 , B23K9/28 , B23K9/287 , B23K37/02
摘要： A robot base 15 is installed on a ceiling 100, and a first wrist element 11 is attached to a front arm base 10 to be rotatable about a first axis A. A second wrist element 12 is attached to the first wrist element 11 to be rotatable about a second axis B, and a welding torch 2 is supported via a transmission mechanism 13 to be rotatable about an offset axis C. The welding torch 2 is attached so that a tip end thereof is directed downward in the illustrated posture of the robot. A linear guide 6a and a slider 7 are provided via a support base 5, and an intermediate portion of a torch cable 3 (or a welding wire delivery device 4) is fixed thereto to draw a tensioning device 80. Such a structure is applicable to a wall-hanging type robot. Thereby, a structure for treating a torch cable is realized in an arc welding robot of a ceiling-suspension type/a wall-hanging type, capable of maintaining the behavior of the torch cable in a stable state as well as minimizing the interference of the torch cable with other objects.
摘要翻译：机器人基座15安装在天花板100上，第一腕部11安装在前臂基座10上，以可围绕第一轴线A旋转。第二腕部12安装在第一腕部11上以可旋转围绕第二轴线B，并且焊炬2经由传动机构13被支撑以能够围绕偏移轴线C旋转。焊枪2被附接成使得其末端在机器人的所示姿势中向下指向。经由支撑基座5设置有直线引导件6a和滑块7，并且将炬电缆3（或焊丝输送装置4）的中间部分固定在其上以拉伸张紧装置80。这种结构适用于挂挂式机器人。因此，在天花板悬挂式/挂墙式电弧焊机器人中实现了一种用于处理割炬电缆的结构，能够将焊炬电缆的行为保持在稳定状态，并且能够最小化火炬电缆与其他物体。

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