| 序号 | 专利名 | 申请号 | 申请日 | 公开（公告）号 | 公开（公告）日 | 发明人 |
|---|---|---|---|---|---|---|
| 81 | 线动单至多自由度关节 | CN03146120.4 | 2003-07-23 | CN1281385C | 2006-10-25 | 郁有华 |
| 线动单至多自由度关节，属于机械工程类机器人技术领域。第一动力线37两端沿相反方向缠绕在动力分配器17的第一卷线轮39上，中点42固定在旋转臂31上，第一卷线轮39旋转带动旋转臂31沿轴40绕固定臂41旋转，改变第一卷线轮39旋转方向，即可改变旋转臂31旋转方向，圆环形支撑架33使拉力与旋转臂31垂直，且使力臂长度保持不变，从而实现单自由度关节，多个单自由度关节组合可实现多自由度关节，该关节结构简单易于小型化，一个动力分配器可以控制多根动力线，便于集中控制。 | ||||||
| 82 | 侧隙离合器及具有该侧隙离合器的机器人用关节机构 | CN03103824.7 | 2003-02-12 | CN1221743C | 2005-10-05 | 中村仁彦; 冈田昌史; 后藤达哉 |
| 本发明提供一种实现自由关节、同时在接上离合器的状态下传递高转矩的离合器。本发明的离合器，具有第一转动构件(3)和第二转动构件(4)，该第一转动构件(3)和第二转动构件(4)分别可转动地配置在同一轴线上，通过彼此的半径方向延伸面(3a、4a)相互接触而在转动方向上相互接合，在上述第一转动构件(3)和第二转动构件(4)的上述半径方向延伸面(3a、4a)彼此之间沿转动方向空开间隙(d)。 | ||||||
| 83 | 线动单至多自由度关节 | CN03146120.4 | 2003-07-23 | CN1537705A | 2004-10-20 | 郁有华 |
| 线动单至多自由度关节，属于机械工程类机器人技术领域。动力线8两端沿相反方向缠绕在动力分配器1的卷线轮2上，中点7固定在旋转臂5上，卷线轮2旋转带动旋转臂5沿轴4绕固定臂3旋转，改变卷线轮2旋转方向，即可改变旋转臂5旋转方向，支架6使拉力与旋转臂5垂直，且使力臂长度保持不变，从而实现单自由度关节，多个单自由度关节组合可实现多自由度关节，该关节结构简单易于小型化，一个动力分配器可以控制多根动力线，便于集中控制。 | ||||||
| 84 | QUICK DISCONNECT APPARATUS FOR MODULAR TOOLING | PCT/US2016018025 | 2016-02-16 | WO2016133877A3 | 2016-10-13 | KALB JAMES R; CHARLTON MICHAEL THOMAS |
| A modular tooling receiver (110) that includes a wall (138) having a port that extends through it, an engaging member (160) that is movably disposed in the port, and a lock actuator (150) that is disposed on a first side of the wall. The lock actuator (150) is moveable between a first position in which the lock actuator (150) urges the engaging member (160) in a first direction defined from the first side of the wall to a second side of the wall and a second position wherein the lock actuator (150) permits the engaging member (160) to move in a second direction defined from the second side of the wall to the first side of the wall. A first biasing element (152) biases the lock actuator (150) toward the first position. A damper (210) controls a rate of motion of the lock actuator (150) from the second position toward the first position. | ||||||
| 85 | WELDING DEVICE AND METHOD FOR CONTROLLING WELDING DEVICE | EP17753062.3 | 2017-02-09 | EP3417977A1 | 2018-12-26 | SHIKA, Yuki; MINATO, Tatsuji |
A welding device (100) is provided with: an articulated robot (11) having a plurality of drive axes; an end effector (23) supported by the articulated robot; a distal-end axis drive mechanism (21) which is disposed between a distal-endmost drive axis (19) of the articulated robot and the end effector, and which causes the distal-end axis of the end effector to perform a weaving operation; and a drive control unit (41) which drives the articulated robot and the distal-end axis drive mechanism. The distal-end axis drive mechanism includes a first axial drive unit for driving in a first axial direction perpendicular to the distal-end axis of the end effector, and a second axial drive unit for driving in a second axial direction perpendicular to the distal-end axis and the first axial direction. |
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| 86 | Robot | EP13193229.5 | 2013-11-18 | EP2813329A3 | 2016-05-11 | Takahashi, Shingi; Okada, Takuya; Shiraki, Tomoyuki |
A robot according to embodiments includes a first link (14b), a second link (14c), an actuator (Mf), a scissors gear (43, 143), and a support part (72). The second link (14c) is rotatably connected to the first link (14b). The actuator (Mf) drives the second link (14c) in a rotatable manner. The scissors gear (43, 143) includes a main gear (44, 144) and a sub gear (45, 145), and outputs driving force from the actuator (Mf) to the second link (14c). The support part (72) is attached to the first link (14b) and rotatably supports the scissors gear (43, 143). Furthermore, the scissors gear (43, 143) includes a spring (46, 146) that is arranged adjacent to the support part (72) in the direction of the rotational axis (43c, 143c) of the scissors gear (43, 143) and applies biasing force to the main gear (44, 144) and the sub gear (45, 145) in rotational directions different from each other.
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| 87 | Robot | EP13193229.5 | 2013-11-18 | EP2813329A2 | 2014-12-17 | Takahashi, Shingi; Okada, Takuya; Shiraki, Tomoyuki |
A robot according to embodiments includes a first link (14b), a second link (14c), an actuator (Mf), a scissors gear (43, 143), and a support part (72). The second link (14c) is rotatably connected to the first link (14b). The actuator (Mf) drives the second link (14c) in a rotatable manner. The scissors gear (43, 143) includes a main gear (44, 144) and a sub gear (45, 145), and outputs driving force from the actuator (Mf) to the second link (14c). The support part (72) is attached to the first link (14b) and rotatably supports the scissors gear (43, 143). Furthermore, the scissors gear (43, 143) includes a spring (46, 146) that is arranged adjacent to the support part (72) in the direction of the rotational axis (43c, 143c) of the scissors gear (43, 143) and applies biasing force to the main gear (44, 144) and the sub gear (45, 145) in rotational directions different from each other.
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| 88 | Robot | EP13191284.2 | 2013-11-01 | EP2732938A2 | 2014-05-21 | Nogami, Kazuyoshi; Miyauchi, Nobukazu |
A robot (100) includes a base (101), an arm portion (120L, 120R), and a wrist portion (130L, 130R). The wrist portion (130L, 130R) includes a wrist A portion (131L, 131R) supported swingably around a swing axis line (AX5L, AX5R) at a tip end portion of the arm portion (120L, 120R), a wrist B portion (132L, 132R) supported swingably around a swing axis line (AX6L, AX6R) on a tip end side of the wrist A portion(131L, 131R), a flange portion (133L, 133R) supported rotatably around a rotation axis line (AX7L, AX7R) on a tip end side of the wrist B portion (132L, 132R), a Hypoid gear set (G5) configured to reduce a rotation speed of a motor (M5), and a Hypoid gear set (G6) configured to reduce a rotation speed of another motor (M6).
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| 89 | AN APPARATUS FOR A ROBOT ARM | EP09779294.9 | 2009-04-15 | EP2419244A1 | 2012-02-22 | LUNDBERG, Ivan |
| An apparatus for a robot arm (102) of an industrial robot, comprising: a first module (114; 130; 150) comprising a first and a second member (116, 118; 132, 134; 152, 154) rotatable in relation to each other about a first axis of rotation (120; 136; 156); a second module (122; 142; 162) comprising a first and a second member (124, 126; 144, 146; 164, 166) rotatable in relation to each other about a second axis of rotation (128; 148; 168), the first member (124; 144; 164) of the second module (122; 142; 162) being attached to the second member (118; 134; 154) of the first module (114; 130; 150); and a third module (130; 150; 170) comprising a first and a second member (132, 134; 152, 154; 172, 174) rotatable in relation to each other about a third axis of rotation (136; 156; 176), the first member (132; 152; 172) of the third module (130; 150; 170) being attached to the second member (126; 146; 166) of the second module (122; 142; 162); where the second axis of rotation (128; 148; 168) is substantially perpendicular to the first and the third axis of rotation (120, 136; 136, 156; 156, 176), the second axis of rotation (128; 148; 168) is offset from the first and the third axis of rotation (120, 136; 136, 156; 156, 176) when the first axis of rotation (120; 136; 156) is substantially parallel to the third axis of rotation (136; 156; 176), and the third module (130; 150; 170) comprises a motor unit (138; 158; 178) comprising an output shaft (188) rotatable about an axis which is substantially collinear with the third axis of rotation (136; 156; 176). The motor unit (138; 158; 178) intersects a plane (140; 160; 180) in which the second axis of rotation (128; 148; 168) lies, which plane (140; 160; 180) is substantially perpendicular to the third axis of rotation (136; 156; 176). | ||||||
| 90 | Manipulator | EP84111903.5 | 1984-10-04 | EP0136719B1 | 1988-06-22 | Suzuki, Masanori; Ichikawa, Yoshiaki; Iwatsuka, Nobuyoshi; Ozaki, Norihiko |
| 91 | Tête de positionnement | EP87402130.6 | 1987-09-24 | EP0266236A1 | 1988-05-04 | van Oost, Daniel Michel; François, Christian |
Tete de positionnement à six degrés de liberté propre à effectuer des assemblages robotiques, comportant un châssis fixe (1) sur lequel sont montés six vérins (2,3,4,5,6 et 7) propres à déplacer un châssis mobile et répartis selon trois directions orthogonales OX, OY et OZ, à raison de deux vérins dans chaque direction. Les vérins sont à tige mobile et la tige (8) de chaque vérin est reliée au châssis mobile (9) par une liaison à cinq degrés de liberté. |
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| 92 | INDUSTRIAL ROBOT HAVING HOLLOW ARM STRUCTURE. | EP85903711 | 1985-07-26 | EP0190360A4 | 1987-11-25 | NAKASHIMA SEIICHIRO; TOYODA KENICHI; TORII NOBUTOSHI FUYO HAITSU; TERADA AKIHIRO; MIZUNO HITOSHI FANUC HINO SHAT |
| 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. | ||||||
| 93 | A robot wrist of an industrial robot | EP82303205.7 | 1982-06-21 | EP0068769B1 | 1987-09-09 | Inaba, Hajimu; Inagaki, Shigemi; Ito, Susumu |
| 94 | Industrial robot with servo | EP87300653.0 | 1987-01-27 | EP0233712A2 | 1987-08-26 | Karlen, James P.; Thompson, Jack M., Jr.; Kowalski, Keith A.; Damico, David A.; Eismann, Paul H. |
A digitally-controlled industrial robot comprises a set of unitized and integrated joint drive modules (2,4,6,8,10,12,14) which can be assembled in series to form a manipulator arm. The joints are of two basic types, pitch joints (4,8,12) and roll joints (2,6,10,14) the latter providing rotation about the longitudinal axis of the manipulator and the pitch joints providing rotation about axes which are substantially perpendicular to and offset from the roll joint axes. Any number of joints may be assembled to form the manipulator, permitting the manipulator to have a kinematically-redundant configuration. In one preferred form, a servocontrol derives feedback from sensing the motive force on a driven member and compensates the drive signal accordingly. More particularly, the torque exerted on each roll and pitch joint is measured and used for feedback to provide stability and optimum bandwidth for the servomechanism. |
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| 95 | A swivel device | EP83302028.2 | 1983-04-12 | EP0092358B1 | 1987-07-15 | Nakashima, Seiichiro; Inaba, Hajimu; Inagaki, Shigemi |
| 96 | Improved pneumatic robot wrist | EP85108356.8 | 1985-07-05 | EP0169419A1 | 1986-01-29 | Antoszewski, Richard Stanley; Garin, John |
In a simplified pneumatic robot wrist apparatus, a tubular wrist assembly including a tubular quill member (22) is slidably positioned relative to a stationary rod (26) and piston (22) arrangement to effect vertical movement of an end effector (E) attached to the quill in response to variations in pneumatic pressure. A bevel gear set (32) coupled to the tubular assembly and responding to a DC servo motor (38) imparts rotational motion to the end effector. |
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| 97 | Hinge mechanisms | EP82304345.0 | 1982-08-18 | EP0073598B1 | 1985-12-27 | Baker, Alan |
| 98 | Manipulator | EP84111903 | 1984-10-04 | EP0136719A3 | 1985-06-05 | Suzuki, Masanori; Ichikawa, Yoshiaki; Iwatsuka, Nobuyoshi; Ozaki, Norihiko |
A manipulator suitable for tasks in remote places which are not easily accessible to operators comprises an arm composed of a series of arm modules (2a-2f) each having an articulate (12a-12f) and an address decoder (40a-40f) and being constructed by the arm modules of an indentical construction to attain an easy maintenance and high flexibility of the manipulator. The operation of the arm modules is controlled a control system (6) which has a plurality of articulate angular-position commanding circuits (85a-85g) and a time-sharing control circuit (86). |
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| 99 | Schwenkantrieb für schwenkbar gelagerte Maschinenteile, insbesondere bei Manipulatoren | EP81103389.3 | 1981-05-05 | EP0041136B1 | 1984-11-28 | Zimmer, Ernst |
| 100 | A swivel device | EP83302028 | 1983-04-12 | EP0092358A3 | 1984-05-23 | Nakashima, Seiichiro; Inaba, Hajimu; Inagaki, Shigemi |
swivel device for supporting a swivel unit thereon, including a hollow main frame and a comparatively slender rotatable shaft disposed upright within the hollow frame, connectable to the swivel unit at the upper end thereof and connected to a driving source at the lower end thereof through a transmission mechanism. All control cables and conduits for controlling the mechanisms mounted on the swivel unit are accommodated in the space formed within the hollow frame around the upright shaft. |
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