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1. 发明申请

WO1986000846A1 INDUSTRIAL ROBOT HAVING HOLLOW ARM STRUCTURE 审中-公开
标题翻译：具有中空臂结构的工业机器人
公开(公告)号：WO1986000846A1
公开(公告)日：1986-02-13
申请号：PCT/JP1985000424
申请日：1985-07-26
申请人： FANUC LTD , NAKASHIMA, Seiichiro , TOYODA, Kenichi , TORII, Nobutoshi , TERADA, Akihiro , MIZUNO, Hitoshi
发明人： FANUC LTD
IPC分类号： B25J17/00
CPC分类号： B25J9/047 , B25J17/02 , B25J18/00 , B25J19/063
摘要： One end of a hollow robot arm (10), which consists of a plurality of tubes (12, 14, 16) arranged concentrically, and driving gears (18a, 21a, 24a), (18b, 24b) supported rotatably on both end portions of these tubes (12, 14, 16), is connected to a robot joint (30), and the other end thereof to a hollow wrist (56), to form a hollow arm structure. In an industrial robot provided with this hollow arm structure, sealing pipes (50, 58a, 58b, 58c) are provided at the portions of the hollow robot arm (10) at which the tubes (12, 14, 16) and driving gears (18a, 21a, 24a), (18b, 24b) are combined with each other, and a coating material supply pipe and a welding supply wire are inserted through these sealing pipes (50, 58a, 58b, 58c). Also, shear binding pins or bolts (20b, 26b) are provided at the joint portions of the tubes (12, 14, 16) and wrist (56) so as to protect the constituent parts of the robot against excessive load.
摘要翻译：中空机器人臂（10）的一端由多个同心设置的管（12,14,16）组成，以及可旋转地支撑在两个端部上的驱动齿轮（18a，21a，24a），（18b，24b）这些管（12,14,16）连接到机器人关节（30），并且其另一端连接到空心腕（56），以形成中空臂结构。在具有该中空臂结构的工业机器人中，密封管（50,58a，58b，58c）设置在中空机械臂（10）的管（12,14,16）和驱动齿轮（ 18a，21a，24a），（18b，24b）彼此组合，并且通过这些密封管（50,58a，58b，58c）插入涂料供给管和焊接供给线。此外，在管（12,14,16）和腕（56）的接合部分处设置剪切装订销或螺栓（20b，26b），以保护机器人的组成部分免受过度负载。

2. 发明申请

WO1986000847A1 INDUSTRIAL ROBOT HAVING VARIABLE ARM STRUCTURE 审中-公开
标题翻译：具有可变ARM结构的工业机器人
公开(公告)号：WO1986000847A1
公开(公告)日：1986-02-13
申请号：PCT/JP1985000416
申请日：1985-07-23
申请人： FANUC LTD , NAKASHIMA, Seiichiro , TOYODA, Kenichi , TORII, Nobutoshi , TERADA, Akihiro , MIZUNO, Hitoshi
发明人： FANUC LTD
IPC分类号： B25J18/00
CPC分类号： B25J9/08 , B25J18/00
摘要： An industrial robot, in which the length of an arm tube (120) can be varied as necessary, consisting of an elbow portion (110) having driving gears (10, 12, 14), which are used to obtain a rotary force, at the outer ends of a plurality of coaxial, annular members (16, 18, 20), and connecting ends with pins (40, 42) and a connecting end with bolts (56) at the inner ends thereof; an arm tube (120) composed of coaxially-arranged members and capable of being connected detachably to the elbow portion (110); and a wrist driving portion (130) composed of coaxially-arranged members, connected detachably to the arm tube (120) by pins (48, 50) and bolts (58) and having gears (66, 68) for transmitting a rotary force to a wrist (88).

3. 发明申请

WO1986000255A1 INDUSTRIAL ROBOT 审中-公开
标题翻译：工业机器人
公开(公告)号：WO1986000255A1
公开(公告)日：1986-01-16
申请号：PCT/JP1985000366
申请日：1985-06-28
申请人： FANUC LTD , NAKASHIMA, Seiichiro , TOYODA, Kenichi , TORII, Nobutoshi , MIZUNO, Hitoshi
发明人： FANUC LTD
IPC分类号： B25J09/06
CPC分类号： B25J19/0016 , B25J9/046 , Y10T16/53834
摘要： An industrial robot has a lower arm (13) which is provided so that it can be turned around a first horizontal axis (C1) extending horizontally with respect to a robot body (12). A front arm (14) is provided on the lower arm so that the front arm can be turned around a second horizontal axis (C2). The front arm is turned by a driving unit, such as a motor (16). The robot body is provided with a pivotable disc (17) so that the disc can be turned around the first axis in accordance with the pivotal movement of the front arm around the second axis. A first wheel (18), the diameter of which is smaller than that of the pivotable disc, is fixed concentrically thereto. A second wheel (21), the diameter of which is substantially equal to that of the first wheel, is connected pivotably to one end of a tension spring unit (19) the other end of which is joined to the robot body. A wire (22), one end of which is connected to the pivotable disc, and the other end portion of which is engaged with the outer circumference of the first wheel and retained by the first wheel, is engaged with the outer circumference of the second wheel with the tension spring unit pulled by the wire. The wire is arranged at its one end on the pivotable disc so that, when the distal end of the front arm is directed perpendicularly downward, the portion (22b) of the wire which extends between the pivotable plate and second wheel becomes substantially parallel to the portion (22c) thereof which extends between the first and second wheels.
摘要翻译：工业机器人具有可绕着相对于机器人主体（12）水平延伸的第一水平轴线（C1）可旋转地设置的上臂（13）。前臂（14）布置在下臂上以便可绕第二水平轴线（C2）旋转。前臂通过诸如电机（16）的驱动单元旋转。机器人本体设置有枢转盘（17），使得盘能够围绕第一轴线旋转，与前臂绕第二轴线的枢转运动一致。第一轮（18）的直径小于枢转盘的直径，同心地固定在第一轮上。其直径基本上等于第一轮的直径的第二轮（21）枢转地连接到拉伸弹簧单元（19）的一端，另一端连接到机器人本体。一端连接到枢转盘并且其另一端与第一轮的外圆周接合并由其保持的缆绳（22）在第二轮的外圆周中与张紧弹簧单元拉动电缆。它的末端安装在旋转盘上，使得当前臂的远端垂直向下时，电缆的在旋转板和第二轮之间延伸的部分（22b）变得基本平行于在第一和第二轮之间延伸的部分（22c）。

4. 发明申请

WO1986000254A1 INDUSTRIAL ROBOT WITH ARM GRAVITY BALANCER 审中-公开
标题翻译：具有ARM GRAVITY平衡器的工业机器人
公开(公告)号：WO1986000254A1
公开(公告)日：1986-01-16
申请号：PCT/JP1985000343
申请日：1985-06-18
申请人： FANUC LTD , NAKASHIMA, Seiichiro , TOYODA, Kenichi , TORII, Nobutoshi , MIZUNO, Hitoshi
发明人： FANUC LTD
IPC分类号： B25J09/06
CPC分类号： B25J19/0016
摘要： An industrial robot is provided with a body (3), a rotary shaft (20) supported rotatably on the body, a driving motor (17) for rotating the rotary shaft, and a robot arm (13) connected at its base end to the rotary shaft and adapted to be turned at its free end in accordance with the rotation of the rotary shaft so that the arm is displaced upward and downward. An arm gravity balancer (21) is adapted to apply to the rotary shaft the moment (-M1) resistant to the moment (M1) which occurs around the axis of the rotary shaft due to the gravity applied to the robot arm. The balancer is provided with a tension spring (22) connected at its one end to the body. The other ends of the tension spring are connected to such two portions of the rotary shaft that are spaced from each other in the rotational direction of the shaft. These two portions of the rotary shaft, to which the tension spring is connected, are equally away from and symmetric with respect to, in the rotational direction of the rotary shaft, a straight line (X) which connects the first-mentioned single end of the tension spring and the axis of the rotary shaft, when the robot arm is in a vertical position.

5. 发明申请

WO1986000256A1 INDUSTRIAL ROBOT 审中-公开
标题翻译：工业机器人
公开(公告)号：WO1986000256A1
公开(公告)日：1986-01-16
申请号：PCT/JP1985000365
申请日：1985-06-28
申请人： FANUC LTD , NAKASHIMA, Seiichiro , TOYODA, Kenichi , TERADA, Akihiro , MIZUNO, Hitoshi
发明人： FANUC LTD
IPC分类号： B25J19/00
CPC分类号： B25J9/046 , B25J9/1035 , B25J19/0029 , B25J19/0079
摘要： An electrically-driven industrial robot is provided with a movable robot body (10) in which an air-tight chamber is formed, and an electric driving unit for driving the robot body. The electric driving unit is provided with a plurality of motors (36-41). The casings (36a-41a) of the motors are arranged in the air-tight chamber (30) in the robot body. The electric cables (57-62) connected to the motors are introduced into a fixed pipe (67), which is joined to the robot body, through the air-tight chamber in the robot body. The interior of the motors and air-tight chamber is maintained at a pressure which is higher than the atmospheric pressure in the exterior of the robot body.

6. 发明申请

WO1985003663A1 SYSTEM FOR RETURNING TO ORIGIN FOR AN ARTICULATED ROBOT 审中-公开
标题翻译：用于返回原始机器人的系统
公开(公告)号：WO1985003663A1
公开(公告)日：1985-08-29
申请号：PCT/JP1985000068
申请日：1985-02-20
申请人： FANUC LTD , NAKASHIMA, Seiichiro , TOYODA, Kenichi , TORII, Nobutoshi , NIHEI, Ryo
发明人： FANUC LTD
IPC分类号： B25J09/10
CPC分类号： B25J9/046 , B25J9/1692 , G05B2219/45083
摘要： A system for returning to origin for an articulated robot (39) having a plurality of operation axes that are controlled by a numerical control unit (NC). Being designated by the mode for returning to origin, the numerical control unit (NC) enables the plurality of operation axes of the articulated robot (39) to operate independently of each other based upon a program for returning to origin, and drives at least two axes among many operation axes, i.e., preferably drives an operation axis (U) that actuates the upper arm and drives an operation axis (W) that actuates the lower arm, so that they move toward the origin, simultaneously.

7. 发明申请

WO1984004269A1 ARTICULATED ARM TYPE OF INDUSTRIAL ROBOT 审中-公开
标题翻译：工业机器人的ARM型
公开(公告)号：WO1984004269A1
公开(公告)日：1984-11-08
申请号：PCT/JP1984000218
申请日：1984-04-27
申请人： FANUC LTD , NAKASHIMA, Seiichiro , TOYODA, Kenichi , TORII, Nobutoshi , NIHEI, Ryo
发明人： FANUC LTD
IPC分类号： B25J09/00
CPC分类号： B25J17/0258 , B25J9/1045 , Y10T74/18832
摘要： An articulated arm type of industrial robot has a movable robot body (11) provided on a base (10). The near end portion of an upper arm (13) provided with both a near end portion and a far end portion is pivotally attached to the robot body (11). A forearm (16) provided with a rear end portion and a front end portion is pivotally attached by a point between its rear and front end portions to the far end portion of the upper arm (13). A wrist device (20) is provided with two movable elements (21, 22) which can move with respect to the front end portion of the forearm (16) around, preferably, different axes. The movable elements (21, 22) of the wrist device (20) are rotated around their axes by wrist drive devices (27, 28), respectively. The wrist drive devices (27, 28) are provided with first sprocket wheels (29, 36), respectively, which are rotatably arranged within the rear end portion of the forearm (16). Drive motors (31, 37) for rotating the first sprocket wheels (29, 36), respectively, are provided in the rear end portion of the forearm (16). Second sprocket wheels (33, 39) which are linked to the movable elements (21, 22), respectively, of the wrist device (20) are arranged within the front end portion of the forearm (16). The rotations of the first sprocket wheels (29, 36) are transmitted to the corresponding second sprocket wheels (33, 39) by wound connectors (34, 45), respectively. The wound connectors (34, 45) are constituted by endless assemblies composed of chains (46, 47) and rods (48, 49).

8. 发明申请

WO1986000558A1 INDUSTRIAL ROBOT 审中-公开
标题翻译：工业机器人
公开(公告)号：WO1986000558A1
公开(公告)日：1986-01-30
申请号：PCT/JP1985000378
申请日：1985-07-04
申请人： FANUC LTD , NAKASHIMA, Seiichiro , TOYODA, Kenichi , TORII, Nobutoshi
发明人： FANUC LTD
IPC分类号： B25J19/06
CPC分类号： G05B19/4063 , B25J9/046 , B25J9/1035 , B25J19/0079 , B25J19/06
摘要： A body of an industrial robot includes a fixed constituent part (11), and a plurality of movable constituent parts (12, 13, 14). The robot has air-tight chambers (15, 16, 17) in which at least some of the fixed and movable constituent parts are communicated with each other, and the pressure in which should be maintained at a level not lower than the level of the pressure of the external atmosphere. The air-tight chambers are provided therein with motors (18-23) for driving the movable constituent parts. A means (27) for driving and controlling the motors is connected thereto via electric cables provided in the air-tight chambers. The pressure switches (25) are adapted to detect the pressures in the air-tight chambers, and output a motor-stopping signal to the motor driving and control means when the pressure in the air-tight chambers drop below a predetermided level.
摘要翻译：工业机器人的主体包括固定部件（11）和多个可移动部件（12,13,14）。该机器人包括气密空腔（15,16,17），其中至少一些移动部件和固定部件相互连通，并且其中压力必须在不低于外部大气压力。发动机（18-23）内设有气密空腔，用于致动组成部件。用于致动和控制电机的装置（27）通过位于气密腔中的电线连接到它们。压力开关（25）适于检测气密腔中的压力，并且当气密腔中的压力传送发动机停止信号给发动机致动和控制装置时低于预定水平。

9. 发明申请

WO1986006312A1 INDUSTRIAL ROBOT 审中-公开
标题翻译：工业机器人
公开(公告)号：WO1986006312A1
公开(公告)日：1986-11-06
申请号：PCT/JP1986000208
申请日：1986-04-25
申请人： FANUC LTD , NAKASHIMA, Seiichiro , TOYODA, Kenichi , TORII, Nobutoshi
发明人： FANUC LTD
IPC分类号： B25J19/00
CPC分类号： B25J9/046 , B25J9/1035 , B25J9/12 , B25J19/0029 , B25J19/005 , G05B19/23 , G05B2219/45083 , G05B2219/50078 , G05B2219/50084
摘要： An industrial robot which is so constructed that operations of robot moving portions (16, 18, 20) are controlled by drive motors (M, Mw, Mu) that have absolute position detecting encoders (EC, ECw, ECu, ECalpha, ECbeta, ECgamma). The drive motor (M) for controlling the operation of the robot moving portion is mounted on a turning body (16) that is installed on a fixed base (12) of a robot frame (10). There is further mounted a storage battery (46) that supplies a back-up voltage to the encoders of the drive motors (Mw, Mu, Malpha, Mbeta, Mgamma) for the robot moving portions (18, 20). The storage battery is wired to each of the encoders (EC to ECgamma) via cables (48, 49).
摘要翻译：通过具有绝对位置检测编码器（EC，ECw，ECu等）的驱动马达（M，Mw，Mu）来控制机器人16,18,20的动作部的动作而设计的工业用机器人， ECalpha，ECbeta，ECgamma）。用于控制机器人的运动部件的操作的驱动马达（M）安装在安装在机器人（10）的框架的固定基座（12）上的旋转体（16）上。也安装它提供了一个电压储备到机器人（18，20）的可动部分的驱动马达（MW，穆，Malpha，Mbeta，Mgamma）的编码器的储液器（46）。累加器通过电缆（48,49）连接到每个编码器（EC到ECgamma）。

10. 发明申请

WO1985003472A1 ROBOT SYSTEM SAFETY METHOD 审中-公开
标题翻译：机器人系统安全方法
公开(公告)号：WO1985003472A1
公开(公告)日：1985-08-15
申请号：PCT/JP1985000039
申请日：1985-01-31
申请人： FANUC LTD , NAKASHIMA, Seiichiro , TOYODA, Kenichi , SAKAKIBARA, Shinsuke , TORII, Nobutoshi
发明人： FANUC LTD
IPC分类号： B25J19/06
CPC分类号： B25J19/06
摘要： A safety method for a robot system having at least a robot (1), peripheral units (2 - 5) worked by the robot, a robot controller (6) for allowing the robot to operate peripheral units in a predetermined task and a teaching operation board (9), which method comprises a door (11) in an entrance to a robot movable range, and a safety switch (12) for stopping the automatic drive operation of the robot in the automatic operation state in the door, thereby decelerating and stopping the operation of the robot of the automatic operation state when the door is opened so that the safety switch is operated to set a regenerative operation state while the safety switch is operating so as to allow the operation of the teaching operation board to be effective.

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