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1. 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。

2. 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。

3. 发明申请

WO1998017443A1 ARTICULATED ROBOT 审中-公开
标题翻译：结构机器人
公开(公告)号：WO1998017443A1
公开(公告)日：1998-04-30
申请号：PCT/JP1997003668
申请日：1997-10-13
申请人： KABUSHIKI KAISHA YASKAWA DENKI , KAIDO, Shinichi , TANOUE, Tsuyoshi , OKAHISA, Manabu , OGATA, Seiji , YAMAGUCHI, Koichi
发明人： KABUSHIKI KAISHA YASKAWA DENKI
IPC分类号： B25J09/06
CPC分类号： B25J19/00 , B25J9/042 , B25J9/1065
摘要： An articulated robot provided with a plurality of arms adapted to turn in a horizontal plane, which comprises a stationary base (1); a turning head (3) provided on the stationary base (1) to turn about a vertical axis; a parallelogram link mechanism consisting of a first arm (5) fixed to the turning head (3), an auxiliary link (7) and a link (9); a second arm (12) mounted on the auxiliary link (7) to be swingable and coaxial with a connection shaft between the first arm (5) and the auxiliary link (7); and a spring device (20) extending between the first arm (5) and the second arm (12). Since the spring device (20) acts in such a direction as to assist in acceleration and deceleration of the first arm (5) and the second arm (12), a drive motor can be small in power.
摘要翻译：一种铰接机器人，其具有适于在水平面上转动的多个臂，其包括固定基座（1）; 设置在所述固定基座（1）上以绕垂直轴线转动的转头（3）; 由固定到转头（3）的第一臂（5），辅助连杆（7）和连杆（9）组成的平行四边形连杆机构; 安装在所述辅助连杆（7）上以与所述第一臂（5）和所述辅助连杆（7）之间的连接轴可摆动并同轴的第二臂（12）; 以及在所述第一臂（5）和所述第二臂（12）之间延伸的弹簧装置（20）。由于弹簧装置（20）沿着辅助第一臂（5）和第二臂（12）的加速和减速的方向作用，因此驱动马达的功率小。

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