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1. 发明申请

WO1992013669A1 PIPING ARRANGEMENT FOR WRIST OF LASER ROBOT 审中-公开
标题翻译：激光机器人的管路安排
公开(公告)号：WO1992013669A1
公开(公告)日：1992-08-20
申请号：PCT/JP1992000093
申请日：1992-01-30
申请人： FANUC LTD , TORII, Nobutoshi , TERADA, Akihiro , SASAKI, Yasuo
发明人： FANUC LTD
IPC分类号： B23K26/08
CPC分类号： B23K26/0884
摘要： Annular chambers (84-90) utilizing a plurality of seal means (70-78) are provided on the outer sheath pipe (42) of a wrist (18) of a laser robot, annular chambers (86, 90) are formed to be assist gas transfer chambers and a cooling liquid transfer chamber, such a piping arrangement as to be able to supply and recover the assist gas and the cooling liquid through these annular chambers is adopted, pipings (22, 24, 26, 28) are formed of metal pipe free from damage and provided in close contact with the periphery of the forearm (16) and the wrist (18), other annular chambers (84, 88) are formed to be operating chambers for supplying dust-proof pressure air fed from the side of an inner pipe (44) of the wrist (18) and seal means (70-78) are provided therebetween, so that the annular gas chambers and the annular liquid chambers can be formed to be the annular chambers free from the leakage of gas and liquid.

2. 发明申请

WO1991008858A1 ROBOT EQUIPPED WITH HEAT REMOVING MEANS 审中-公开
标题翻译：机器人配备热卸除装置
公开(公告)号：WO1991008858A1
公开(公告)日：1991-06-27
申请号：PCT/JP1990001627
申请日：1990-12-12
申请人： FANUC LTD , TORII, Nobutoshi , ITO, Susumu , TERADA, Akihiro , SASAKI, Yasuo
发明人： FANUC LTD
IPC分类号： B23K26/08
CPC分类号： B23K26/0884 , B23K26/703 , B25J19/00 , B25J19/0054
摘要： A laser robot is equipped with a swing arm (16) mounted to a swivel post (14) implanted to a robot foundation portion (12), a laser emission device (20) provided on the tip of the robot arm (16), and a driving motor (Mv) for driving the swing operation of the robot arm (16) through a precision transmission device (30, 32, 34) placed between the swivel post and the robot arm. The robot comprises a heat removing device which includes a bracket member (26) and an annularly recessed fluid circuit (50) formed in the bracket. The bracket has one end in contact with the end surface of the driving motor on its output shaft side and the other end in contact with the precision transmission mechanism. The heat removing device is located at the joint portion between the precision transmission mechanism (30, 32, 34) and the driving motor (Mv). Cooling water is supplied to the recessed fluid circuit (50) from a cooling water supply source (70) for supplying cooling water to a laser beam conduit of the robot arm (16) so as to cool the bracket member (26). The bracket member (26) thus cooled absorbs and removes the heat of the driving motor (Mv) and prevents heat transfer to the precision transmission mechanism (30, 32, 34).

3. 发明申请

WO1992008583A1 INDUSTRIAL ROBOT WITH MEANS FOR COOLING BALL SCREW SHAFT 审中-公开
标题翻译：用于冷却球螺旋桨的工业机器人
公开(公告)号：WO1992008583A1
公开(公告)日：1992-05-29
申请号：PCT/JP1991001493
申请日：1991-10-31
申请人： FANUC LTD , TORII, Nobutoshi , TERADA, Akihiro , SASAKI, Yasuo
发明人： FANUC LTD
IPC分类号： B25J19/00
CPC分类号： B25J9/102 , B25J19/00 , B25J19/0054 , Y10T74/18712 , Y10T74/19991 , Y10T74/20305 , Y10T74/2189
摘要： A cooling device, in which a coolant, or typically a cooling air, is temporarily passed into a coolant path (33) formed in a shaft end having a non-threaded portion of a ball screw shaft (27) formed of a solid shaft body provided on an industrial robot, said non-threaded portion being coupled to a rotary driving motor (M) of the industrial robot, the outlet (34) of the coolant path (33) is opened in a region of a terminal end of the outer peripheral portion where screw threads (27a) of the ball screw shaft are provided, the coolant is discharged via the outlet (34) of the coolant path, and subsequently, the coolant is caused to flow along the outer surface of the screw threads (27a) of the ball screw shaft, whereby heat generated on the outer surface of a portion screwed to a ball screw nut (28) is taken away.

4. 发明申请

WO1990004487A1 ARTICULATED ROBOT FOR LASER WORK 审中-公开
标题翻译：用于激光工作的机器人
公开(公告)号：WO1990004487A1
公开(公告)日：1990-05-03
申请号：PCT/JP1989001065
申请日：1989-10-17
申请人： FANUC LTD , TORII, Nobutoshi , ITO, Susumu , TERADA Akihiro , SASAKI, Yasuo
发明人： FANUC LTD
IPC分类号： B23K26/08
CPC分类号： B23K26/0884 , B25J17/0283 , B25J18/04 , B25J19/0037
摘要： This invention relates to an articulated robot for a laser work which emits a laser beam to a desired position inside a three-dimensional space. The robot includes a robot turning drum (14) fitted to a robot base (12), a first hollow robot arm (16) fitted to the top of the robot turning drum (14) in such a manner as to be capable of rocking, a second hollow robot arm (18) fitted to the tip of the first hollow robot arm (16) in such a manner as to be capable of rocking and rotating around the center axis, and a robot wrist (20) equipped with a condensing unit (22) having a laser emission port (22a) and fitted to the tip of the second hollow robot arm (18). The robot wrist (20) can rotate the condensing unit (22) around one axis orthogonal to the laser emitting direction by converting first and second rotation inputs transmitted through first and second hollow rotation drive shafts (30a, 30b) disposed on the second hollow robot arm (18) by a transmission mechanism and can move back and forth the condensing unit (22) in the laser emitting direction.

5. 发明申请

WO1992001529A1 LASER BEAM GUIDING TUBE IN LASER ROBOT 审中-公开
标题翻译：激光机器人激光光束导管
公开(公告)号：WO1992001529A1
公开(公告)日：1992-02-06
申请号：PCT/JP1991000956
申请日：1991-07-17
申请人： FANUC LTD , TORII, Nobutoshi , Terada, Akihiro , SASAKI, Yasuo
发明人： FANUC LTD
IPC分类号： B23K26/08
CPC分类号： B23K26/0884 , B23K26/02
摘要： A laser beam guiding tube in the laser robot, in which laser beams transmitted from an external laser beam guiding tube is introduced into a robot body (10) through a mirror arranged in the inside of a table (12) on which the robot body (10) stands upright. A mirror cabinet (20) is provided to be capable of being drawn from the table (12) at a fixed position and contains a mirror unit (30) having a mirror for laser beams. In this way, when applying maintenance operation to the mirror contained in the table (12), polishing of the mirror surface or replacement of the mirror can easily be performed by drawing out the mirror cabinet from the table (12).

6. 发明申请

WO1990008621A1 ARTICULATED ARM TYPE INDUSTRIAL LASER ROBOT 审中-公开
标题翻译： ARTICULATED ARM型工业激光机器人
公开(公告)号：WO1990008621A1
公开(公告)日：1990-08-09
申请号：PCT/JP1990000104
申请日：1990-01-29
申请人： FANUC LTD , TORII, Nobutoshi , ITO, Susumu , TERADA, Akihiro , SASAKI, Yasuo
发明人： FANUC LTD
IPC分类号： B23K26/08
CPC分类号： B23K26/0884 , B25J9/047 , B25J19/0037
摘要： This invention relates to articulated arm type industrial laser robot equipped with at least two robot arms (24:26, 44:46, 82:84) of a joint coupling type that are held by robot base (21, 41, 81) either directly or through a swivel drum (42) and laser beam emission robot wrists (48, 86) held by the foremost tip (46a) of these robot arms (24:26, 44:46, 82:84). This laser robot further includes laser beam passage means (31, 50, 96) having a hollow ball spline shaft (30, 54, 94) and a ball spline nut (28, 52, 92) and extending and contracting between the two robot arms ((24:26, 44:46, 82:84) in accordance with their relative swivel motion so as to guide the laser beam introduced from outside the robot machine body to the robot wrist (48, 86).

7. 发明申请

WO1991013731A1 INDUSTRIAL ROBOT PROVIDED WITH CABLING MECHANISM 审中-公开
标题翻译：工业机器人提供机架
公开(公告)号：WO1991013731A1
公开(公告)日：1991-09-19
申请号：PCT/JP1991000309
申请日：1991-03-07
申请人： FANUC LTD , TORII, Nobutoshi , ITO, Susumu , TERADA, Akihiro , INOUE, Toshihiko
发明人： FANUC LTD
IPC分类号： B25J19/00
CPC分类号： B23K26/0884 , B25J19/0029 , B25J19/0037
摘要： An industrial robot provided with a cabling mechanism in which a hollow shaft (3) is set upright along a revolving axis from the bottom of a robot base (1) to the inside of a revolving body (2) and further, a plurality of cables (7) are fastened on the outer periphery of the hollow shaft (3) distributedly with cable clamps (4) each of which has a plurality of grooves (41) which receive the cables and is provided on the outer periphery of the hollow shaft (3).
摘要翻译：一种具有布线机构的工业机器人，其中空心轴（3）沿着从机器人基座（1）的底部到旋转体（2）的内部的旋转轴线竖立设置，并且还具有多根电缆（7）分别用电缆夹（4）紧固在中空轴（3）的外周上，电缆夹（4）具有多个容纳电缆的槽（41），并设置在中空轴的外周 3）。

8. 发明申请

WO1991001194A1 ARTICULATED ARM TYPE INDUSTRIAL LASER ROBOT 审中-公开
标题翻译： ARTICULATED ARM型工业激光机器人
公开(公告)号：WO1991001194A1
公开(公告)日：1991-02-07
申请号：PCT/JP1990000920
申请日：1990-07-17
申请人： FANUC LTD , TORII, Nobutoshi , ITO, Susumu , TERADA, Akihiro
发明人： FANUC LTD
IPC分类号： B23K26/08
CPC分类号： B23K26/0884 , B25J19/0037
摘要： An articulated arm type industrial laser robot utilizing laser robot beam passage means for bypassing a beam around a robot body, which is provided with a plurality of rotary joints having a plurality of axes of rotation which are disposed orthogonally to one another and one contractile joint on the laser beam source side, a first laser beam path changing system with a built-in laser beam reflection mirror, a plurality of rotary joints having a plurality of axes of rotation disposed orthogonally on the end side of the second arm, and a second laser beam path changing system with a built-in beam reflection mirror, for coupling and introducing the laser beam emitted from the first laser beam path changing system with and into the end portion of the robot arm on the first arm side. Accordingly, machining and assembling can be made with a desired accuracy of the beam path system as the laser beam path means. Furthermore, even during the robot operation process, the robot operation can be followed up without being affected by various errors inherent in movable portions such as the robot arm, and the laser beam can be introduced accurately into a laser beam emission portion of the wrist.

9. 发明申请

WO1987007554A1 ARM STRUCTURE OF AN INDUSTRIAL ROBOT 审中-公开
标题翻译：工业机器人的ARM结构
公开(公告)号：WO1987007554A1
公开(公告)日：1987-12-17
申请号：PCT/JP1987000352
申请日：1987-06-03
申请人： FANUC LTD , TORII, Nobutoshi , NIHEI, Ryo , TERADA, Akihiro
发明人： FANUC LTD
IPC分类号： B25J09/06
CPC分类号： B25J9/0009 , B25J9/042 , B25J18/00 , Y10T74/20 , Y10T74/20207
摘要： An arm structure of an industrial robot comprising a first robot arm (16) supported at the upper end of a robot-elevating shaft (14) of an industrial robot, and a second robot arm (20) which is pivotably attached via a transmission/reduction gear box (18) fixed to the tip of the first robot arm (16). A plurality of coupling bolts (22) whose ends (22b) on one side are fastened to a flange (18b) of the transmission/reduction gear (18) are permitted to penetrate through the first robot arm (16) and to protrude as designated at (22a) beyond the rear end of the first robot arm (16) and engage therewith. Clamping nuts (24) are engaged with engaging ends (22a or 22b) of at least either side of the coupling bolts (22), and the first robot arm (16) and the transmission/reduction gear box (18) are coupled together while in advance imparting compressive force to the first robot arm (16).

10. 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。

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