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1. 发明申请

WO1989006180A1 INDUSTRIAL ROBOT CAPABLE OF AUTOMATICALLY CHANGING OPERATING CONDITIONS DEPENDING ON ITS ATTITUDE OF INSTALLATION 审中-公开
标题翻译：工业机器人可根据其安装方式自动更改操作条件
公开(公告)号：WO1989006180A1
公开(公告)日：1989-07-13
申请号：PCT/JP1989000016
申请日：1989-01-09
申请人： FANUC LTD , TORII, Nobutoshi , MIZUNO, Hitoshi , MURAKI, Katsuyuki
发明人： FANUC LTD
IPC分类号： B25J09/16
CPC分类号： G05B19/4083 , G05B19/4063 , G05B19/42 , G05B2219/36513
摘要： In an industrial robot system, movements of a robot (10) is taught and controlled by a robot controller (26). The controller (26) has a storage (30) including an area which contains the data of possible attitudes of the robot with respect to a reference attitude as well as the data of the operating conditions for the possible attitudes. In operation, when the data of the current attitude are input to the robot controller (26), the data of operating conditions corresponding to the input data are read from the first data storage unit (30) and are automatically loaded in a second data storage (32). Operation of the robot body (10) is then controlled depending on the operation conditions in the second data storage (32).

2. 发明申请

WO1986006998A1 APPARATUS FOR SETTING INDUSTRIAL ROBOT IN REFERENCE POSITION 审中-公开
标题翻译：参考位置设置工业机器人的装置
公开(公告)号：WO1986006998A1
公开(公告)日：1986-12-04
申请号：PCT/JP1986000273
申请日：1986-05-30
申请人： FANUC LTD , TORII, Nobutoshi , NIHEI, Ryo , MIZUNO, Hitoshi
发明人： FANUC LTD
IPC分类号： B25J09/10
CPC分类号： B25J9/10 , B25J9/1692
摘要： An apparatus for setting an industrial robot in a reference position is provided with a block to be measured (19) attached to a free end portion (18) of a wrist of the industrial robot, and a measuring support means (23) attached to a fixed base (11) of the robot. The block has three surfaces to be measured (20, 21, 22) which cross one another at right angles, and it is positioned on the free end portion of the wrist so that these three surfaces to be measured take predetermined positions with respect to the same portion of the wrist. The support means has three frames (24, 25, 26) which cross one another at right angles, and it is positioned on the fixed base so that the three frames take predetermined positions with respect to the triaxial rectangular coordinates determined in advance on the basis of the fixed base. The positions of the surfaces to be measured of the block are measured with a plurality of dial gauges (27-32; 37-42) attached to the predetermined portions of the frames. These dial gauges are adapted to display predetermined values when the surfaces to be measured of the block are placed in predetermined positions with respect to the frames of the support means.

3. 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。

4. 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）。

5. 发明申请

WO1987007200A1 VERTICAL MULTI-ARTICULATED ROBOT 审中-公开
标题翻译：垂直多媒体机器人
公开(公告)号：WO1987007200A1
公开(公告)日：1987-12-03
申请号：PCT/JP1987000333
申请日：1987-05-26
申请人： FANUC LTD , TORII, Nobutoshi , MIZUNO, Hitoshi , IWASAKI, Kyoji
发明人： FANUC LTD
IPC分类号： B25J09/06
CPC分类号： B25J9/047 , B25J9/102 , Y10T74/20207
摘要： A vertical multi-articulated robot is equipped with a base (11) secured onto a plane (10) of installation. The base (11) is provided with a turning body (12) that is vertical to the plane of installation and that turns about a first axis () within a range of nearly 90 degrees toward the right and left, respectively, relative to a reference position of the base. The turning body (12) is rotated about the first axis by a body drive motor (14). The upper arm (16) having a base end and a tip is permitted to turn relative to the turning body about a second horizontal axis (W) from a nearly vertical attitude toward the front of the turning body, the base end of the upper arm (16) being coupled to the turning body (12). The front arm (19) having a wrist assembly (20) at the front end is rotatable relative to the end of the upper arm about a third axis (U) which is in parallel with the second axis. The upper arm is provided with an upper arm drive motor which turns the upper arm relative to the turning body about the second axis and with a front arm drive motor which turns the front arm relative to the upper arm about the third axis. The upper arm drive motor and the front arm drive motor are arranged at the back of a first plane (A-A) that includes the second axis and the third axis, so that the rotational axes of these motors are located on a second plane (B-B) that meets at right angles with the second axis.

6. 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).

7. 发明申请

WO1992015401A1 METHOD OF CONTROLLING FLOWRATE OF SEALING MATERIAL IN SEALING BY INDUSTRIAL ROBOT 审中-公开
标题翻译：控制工业机器人密封材料流动的方法
公开(公告)号：WO1992015401A1
公开(公告)日：1992-09-17
申请号：PCT/JP1992000272
申请日：1992-03-06
申请人： FANUC LTD , TORII, Nobutoshi , KARAKAMA, Tatsuo , MIZUNO, Hitoshi
发明人： FANUC LTD
IPC分类号： B05C05/00
CPC分类号： G05B19/42 , B05B12/126 , B05C11/1013 , B05C11/1023 , G05B2219/25405 , G05B2219/34387 , G05B2219/45065 , G05B2219/49056
摘要： A sealing gun (31) of a sealing application device for controlling a flowrate of a sealing material in accordance with a magnitude of an input signal is secured to the forward end of an arm of a robot. The strength of a signal being input to the sealing application device (30) is increasingly or decreasingly controlled in conformity with the increasing or decreasing control of a moving speed of the sealing gun. The moving speed (TSA) of the sealing gun is proportional to the flowrate of the sealing material from the sealing gun, so that a width of bead becomes uniform regardless of the moving speed (TSA) of the sealing gun.

8. 发明申请

WO1990004499A1 WRIST STRUCTURE FOR INDUSTRIAL ROBOTS 审中-公开
标题翻译：工业机器人手腕结构
公开(公告)号：WO1990004499A1
公开(公告)日：1990-05-03
申请号：PCT/JP1989001084
申请日：1989-10-23
申请人： FANUC LTD , TORII, Nobutoshi , MIZUNO, Hitoshi , IWASAKI, Kyozi
发明人： FANUC LTD
IPC分类号： B25J19/00
CPC分类号： B25J17/0283 , B25J19/0029
摘要： A wrist structure provided on its alpha axis, which is at the front end portion thereof and is one of the three wrist axes ( alpha axis, beta axis and gamma axis), with a pipe (52) extending through the center of an alpha reduction gear (19) and on a rotation center line A-A, and on a beta axis with a hydraulic universal joint (61) extending on an operation center line B-B, a pipe (51) being extended from the universal joint (61) to a position on the line A-A and joined to the pipe (52), a hose (4) running on a U-arm communicating with the pipe (51) via the joint (61). This wrist structure is utilized in a fluid handling robot carrying out a sealing operation, a bonding agent application operation, etc.
摘要翻译：设置在其α轴上的手腕结构，其在其前端部分处并且是三个腕轴（α轴，β轴和伽马轴）中的一个，管（52）延伸穿过α减速度的中心齿轮（19）和旋转中心线AA，并且在β轴上具有在操作中心线BB上延伸的液压万向接头（61），管（51）从万向接头（61）延伸到位置在管线AA上并连接到管（52）上，一个软管（4）通过接头（61）与在管（51）上连通的U形臂上运行。这种手腕结构用于进行密封操作，粘合剂施加操作等的流体处理机器人

9. 发明申请

WO1988005715A1 STRUCTURE FOR SUPPORTING BEARING IN WRIST OF INDUSTRIAL ROBOT 审中-公开
标题翻译：支持工业机器人的轴承结构
公开(公告)号：WO1988005715A1
公开(公告)日：1988-08-11
申请号：PCT/JP1988000071
申请日：1988-01-29
申请人： FANUC LTD , TOYODA, Kenichi , TORII, Nobutoshi , MIZUNO, Hitoshi
发明人： FANUC LTD
IPC分类号： B25J17/02
CPC分类号： B25J9/047 , B25J9/0012 , B25J9/108 , B25J17/0283
摘要： A structure for supporting a bearing in a wrist of an industrial robot, in which the bearing (19) is unitarily insert-molded in the inner surface of an outer support member (10) with the inner projecting end portion of the bearing (19) held between an outer projecting portion (12') of a shaft (12) and a support member (15), the outer support member (10) being fixed to a support base (11). This bearing support structure is used for an industrial robot.

10. 发明申请

WO1987003529A1 CABLE TREATMENT EQUIPMENT FOR INDUSTRIAL ROBOT 审中-公开
标题翻译：工业机器人电缆处理设备
公开(公告)号：WO1987003529A1
公开(公告)日：1987-06-18
申请号：PCT/JP1986000627
申请日：1986-12-11
申请人： FANUC LTD , TORII, Nobutoshi , NIHEI, Ryo , MIZUNO, Hitoshi
发明人： FANUC LTD
IPC分类号： B25J19/00
CPC分类号： B25J19/0029 , Y10T403/32213 , Y10T403/32557 , Y10T403/32975
摘要： Cable treatment equipment for an industrial robot, comprising a cylindrical support housing (2), a rotary housing (3) rotatably supported by said support housing (2) to be rotated around a rotary shaft, i.e. a center shaft, and cables (5) connecting said rotary housing (3) with said support housing (2); one end of a cable guide (4) forming approximately a U-shaped configuration being supported on the axis of said rotary shaft inside said rotary housing, the other end thereof being supported on the axis of said rotary shaft inside said support housing, further, space being provided in the rotary housing (3) and the support housing (2) to allow the cable guide (4) to rotate within predetermined angles.

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