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1. 发明申请

WO0001512A8 ANTI-BUCKLING MECHANISM, AND MULTI-JOINT ROBOT EQUIPPED WITH ANTI-BUCKLING MECHANISM 审中-公开
标题翻译：防撬机构，以及配备抗摔机构的多机器人
公开(公告)号：WO0001512A8
公开(公告)日：2000-05-25
申请号：PCT/JP9803042
申请日：1998-07-06
申请人： YASKAWA DENKI SEISAKUSHO KK , SUEYOSHI SATOSHI , TANOUE TSUYOSHI , IWANAGA TOSHIAKI , KAIDO SHINICHI
发明人： SUEYOSHI SATOSHI , TANOUE TSUYOSHI , IWANAGA TOSHIAKI , KAIDO SHINICHI
IPC分类号： B25J19/00 , B25J19/06 , B25J17/00
CPC分类号： B25J19/0091 , B25J19/06
摘要： An anti-buckling mechanism (20) consists of a case (21), a shaft (22) of which one end protrudes out of the case (21) and which slides into/from the case (21), an elastic body (23) provided between the case (21) and the shaft (22) and subjected to a compressive load, and a detector (24) for detecting the sliding of the shaft (22) into/from the case (21). The shaft (22), when under an excessive compressive force, slides on the case (21) while pressing the elastic body (23). This sliding is detected by the detector (24) to stop the robot.
摘要翻译：抗弯曲机构（20）包括壳体（21），一端突出外壳（21）并从壳体（21）滑入/滑动的轴（22），弹性体（23））设置在壳体（21）和轴（22）之间并承受压缩载荷;以及检测器（24），用于检测轴（22）向壳体（21）的滑动。当处于过大的压缩力下时，轴（22）在按压弹性体（23）的同时在壳体（21）上滑动。该检测器（24）检测该滑动来停止机器人。

2. 发明申请

WO1993007996A1 ARM DRIVING DEVICE OF INDUSTRIAL ROBOT 审中-公开
标题翻译：工业机器人的ARM驱动装置
公开(公告)号：WO1993007996A1
公开(公告)日：1993-04-29
申请号：PCT/JP1991001419
申请日：1991-10-17
申请人： KABUSHIKI KAISHA YASKAWA DENKI , TOHNAI, Shuichi , IWANAGA, Toshiaki
发明人： KABUSHIKI KAISHA YASKAWA DENKI
IPC分类号： B25J09/06
CPC分类号： B25J9/1065 , B25J9/046 , Y10S414/13 , Y10T74/20323
摘要： An arm driving device of an industrial robot, wherein one end of a first arm (2) is fixed to a first rotary shaft (21) rotatably supported on a base (1), one end of a second arm (3) is fixed to a second rotary shaft (31) rotatably suported by the other end of the first arm (2), parallel link rotary shafts (44, 54) concentrically rotatably provided with the first rotary shaft (21) and the second rotary shaft (21) are connected to each other through parallel links (4, 5), and wherein follower bars (41, 51) of the two parallel links (4, 5) are respectively fixed to opposite ends of the second rotary shaft (31) with the first arm (2) interposed therebetween, two connecting bars (42, 52) for connecting driving bars (43, 53) fixed to the parallel link rotary shafts (44, 54) to the follower bars (41, 51) are offset to the outsides of the driving bars (43, 53) and of the follower bars (41, 51). With this arrangement, the parallel links (4, 5) are prevented from interferrring with each other and the operating spaces of the arms (2, 3) can be greatly expanded.
摘要翻译：一种工业机器人的手臂驱动装置，其中第一臂（2）的一端固定在可旋转地支撑在基座（1）上的第一旋转轴（21）上，第二臂（3）的一端固定到由第一臂（2）的另一端旋转的第二旋转轴（31），与第一旋转轴（21）和第二旋转轴（21）同心地可旋转地设置的平行连杆旋转轴（44,45）通过平行连杆（4,5）彼此连接，并且其中两个平行连杆（4,5）的从动杆（41,41）分别固定到第二旋转轴（31）的相对端部，第一臂（2），用于将固定到所述平行连杆旋转轴（44,45）上的驱动杆（43,43）连接到所述从动杆（41,41）的两个连接杆（42,52）偏移到驱动杆（43,43）和从动杆（41,51）。通过这种布置，可以防止平行连杆（4,5）彼此干涉，从而可以大大扩展臂（2,3）的操作空间。

3. 发明申请

WO1992013683A1 WRIST MECHANISM FOR INDUSTRIAL ROBOT 审中-公开
标题翻译：工业机器人手持机械
公开(公告)号：WO1992013683A1
公开(公告)日：1992-08-20
申请号：PCT/JP1992000088
申请日：1992-01-29
申请人： KABUSHIKI KAISHA YASKAWA DENKI , IWANAGA, Toshiaki , HANIYA, Kazuhiro , TANOUE, Tsuyoshi
发明人： KABUSHIKI KAISHA YASKAWA DENKI
IPC分类号： B25J17/02
CPC分类号： B25J17/0283 , Y10T74/20335
摘要： A wrist mechanism having a reduced size and improved acceleration/deceleration performance, wherein on the front face part of the wrist section mounted on the end part of a robot arm, provided is a first reduction gear of an alpha -rotating shaft whose axis is aligned with the gamma -shaft axis of the robot arm; on the lateral face part of the wrist section, provided is a second reduction gear of a bending beta -shaft perpendicular to the gamma -shaft axis of the robot arm; on the shaft axis aligned with the gamma -shaft axis, rotatably supported are inside and outside turning shafts; on the respective end parts of which bevel gears are mounted; to the bevel gear of the end part of the outside turning shaft, provided is a device which is engaged with the input bevel gear of the bending beta -shaft and performs the bending rotation of the wrist by the transmission of the rotation of the input bevel gear of the bending beta -shaft; the bevel gear of the end part of the inside turning shaft is engaged with the gear mounted on the beta -rotational shaft supported perpendicularly to the robot arm shaft; a bevel gear mechanism is provided at each of both ends of an inclined rotational shaft whose axis is at an acute angle to the beta -rotational shaft center; and a device is provided which is engaged with the input bevel gear of the reduction gear of an alpha -turning shaft, and performs the turning of the wrist by the transmission of the rotation.
摘要翻译：具有减小尺寸和改进的加速/减速性能的手腕机构，其中，在安装在机器人手臂的端部上的腕部的前表面部分上设置有轴旋转轴的第一减速齿轮具有机器人手臂的γ轴轴线; 在腕部的侧面部分上设置有垂直于机器人臂的γ轴轴线的弯曲β轴的第二减速齿轮; 在轴轴线上与γ轴轴线对准，可旋转地支撑在转动轴的内部和外部; 在其安装有锥齿轮的各个端部上; 设置在与弯曲β轴的输入锥齿轮啮合的装置中，通过输入斜面的旋转传递来进行手腕的弯曲旋转弯曲β轴的齿轮; 内转轴的端部的锥齿轮与安装在垂直于机器人手臂轴的β-旋转轴上的齿轮啮合; 在与旋转中心轴成锐角的倾斜旋转轴的两端的每一端设有锥齿轮机构; 并且设置有与阿尔法旋转轴的减速齿轮的输入锥齿轮接合的装置，并且通过旋转的传递来执行腕部的转动。

4. 发明申请

WO1997010933A1 STOPPER FOR INDUSTRIAL ROBOTS 审中-公开
标题翻译：停止工业机器人
公开(公告)号：WO1997010933A1
公开(公告)日：1997-03-27
申请号：PCT/JP1996002647
申请日：1996-09-17
申请人： KABUSHIKI KAISHA YASKAWA DENKI , SHIRAKI, Tomoyuki , IWANAGA, Toshiaki , MATSUSHITA, Shigeo , HANIYA, Kazuhiro
发明人： KABUSHIKI KAISHA YASKAWA DENKI
IPC分类号： B25J19/00
CPC分类号： B25J9/101 , Y10T74/20305 , Y10T74/2063
摘要： A stopper for industrial robots which comprises a frame body (51) secured to a stationary base (1) of an industrial robot, a holding shaft (52) secured to the frame body (51) perpendicularly to a revolving surface of a revolving base (2), a rod-shaped engaging lever (53) supported to be turnable about the holding shaft (52), a spring (57) for returning the engaging lever (53) to a position where the lever is directed toward the center of the revolving base (2), stoppers (59A, 59B), respectively, secured to both inner surfaces of the frame body (51) opposed to the engaging lever (53), and an engaging dog (7) secured to the revolving base (2) and capable of engaging with the engaging lever (53). This stopper can set the limit of the moving angle of a revolving base to at least 360 degrees to ensure a large moving range.
摘要翻译：一种用于工业机器人的止动器，包括固定到工业机器人的固定基座（1）上的框体（51），与旋转基座的旋转表面垂直地固定到框体（51）的保持轴（52） 2），支撑成能够围绕保持轴（52）旋转的杆状接合杆（53），弹簧（57），用于将接合杆（53）返回到杆朝向中心的位置旋转基座（2），分别固定在与接合杆（53）相对的框体（51）的内表面的止动件（59A，59B）以及固定在旋转基座（2）上的卡合爪）并且能够与接合杆（53）接合。该止动器可以将旋转底座的移动角度的极限设定为至少360度，以确保大的移动范围。

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