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    • 4. 发明授权
    • Wrist mechanism of industrial robot
    • 工业机器人手腕机构
    • US06415678B1
    • 2002-07-09
    • US09631677
    • 2000-08-03
    • Minoru Nada
    • Minoru Nada
    • B25J1700
    • B25J17/0291Y10T74/20335
    • A wrist mechanism of an industrial robot is described which comprise first, second and third wrist elements rotatably supported relative to each other around respective rotation axes which are mutually inclined, which leaves a hollow space inside thereof free for passage of supply cables and pipes which are to be connected to a tool being secured to the robot wrist. The second and third wrist elements carries first and second ring-shaped hollow reduction units, and their respective output shafts rotates the second and third wrist elements, respectively, thereby the amounts of backlashes and flank wears in the transmitting gears as well as the amounts of reflected rotational movements of the second and third wrist elements affected by the rotational movements of the first and second wrist elements are reduced within fractions of the reduction ratios of each of the reduction units, which result the controllings of the positionings of the wrist elements become easy and accuracies thereof are increased.
    • 描述了一种工业机器人的手腕机构,其包括相对于彼此相对旋转的轴线相对于彼此可旋转地支撑的第一,第二和第三腕部元件,该旋转轴线相互倾斜,从而在其内部留出空心空间供供应电缆和管道通过, 被连接到固定到机器人手腕上的工具。 第二和第三腕部承载第一和第二环形空心减速单元,并且它们各自的输出轴分别旋转第二和第三腕部元件,从而传递齿轮中的齿隙和侧面磨损量以及 受到第一和第二腕部元件的旋转运动影响的第二和第三腕部的反射的旋转运动在每个减速单元的减速比的几分之内减小,这导致手腕元件的定位的控制变得容易 并且其精度提高。
    • 10. 发明授权
    • Wrist mechanism of industrial robot
    • 工业机器人手腕机构
    • US06389921B1
    • 2002-05-21
    • US09634993
    • 2000-08-08
    • Minoru Nada
    • Minoru Nada
    • B25J1702
    • B25J19/0029B25J17/0291Y10T74/20311Y10T74/20317Y10T74/20329Y10T74/20335
    • A wrist mechanism of an industrial robot is described which have a first ring-shaped hollow reduction unit secured to an arm of the robot, and a first hollow drive tube and a second ring-shaped hollow reduction unit secured to an output shaft of the first reduction unit, respectively. The wrist mechanism further have a second hollow drive tube and a third ring-shaped hollow reduction unit secured to an output shaft of the second reduction unit, respectively, and a third hollow drive tube secured to an output shaft of the third hollow reduction unit rotatably around a first axis. The first, second and third hollow drive tubes are connected to first, second and third wrist elements, respectively, to rotate each of the wrist elements relative to each other, which leave a hollow space inside thereof free for passage of supply cables and pipes which are to be connected to a tool being secured to the robot wrist.
    • 描述了一种工业机器人的手腕机构,其具有固定到机器人的臂的第一环形中空减速单元,以及第一中空驱动管和第二环形中空还原单元,其固定到第一 还原单位。 手腕机构还具有分别固定到第二减速单元的输出轴的第二中空驱动管和第三环形空心减速单元,以及固定到第三空心减速单元的输出轴的第三中空驱动管, 围绕第一轴。 第一,第二和第三中空驱动管分别连接到第一,第二和第三腕部元件,以使每个腕部元件相对于彼此旋转,这在其内部留有一个中空空间,供供电电缆和管道通过, 被连接到固定到机器人手腕上的工具。