Including Power Cable Or Connector Patents (Class 74/490.02)
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Publication number: 20120067157Abstract: A robot includes a base; a swivel unit rotatably arranged on the base; a lower arm having a base end portion, a tip end portion and a side surface, the base end portion rotatably supported on the swivel unit to enable the lower arm to swing in a front-rear direction; and first and second cable bundles arranged on the side surface of the lower arm to extend along a longitudinal direction of the lower arm. The robot further includes a cable bundle support mechanism including a guide unit for supporting the first and second cable bundles to move in the longitudinal direction of the lower arm.Type: ApplicationFiled: September 9, 2011Publication date: March 22, 2012Applicant: KABUSHIKI KAISHA YASKAWA DENKIInventors: Hidetoshi SUZUKI, Ryuta Kagawa, Takashi Sanada
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Patent number: 8117939Abstract: In order to enable a compensating movement of a supply line (38) in an industrial robot (32), a line guide device is provided that, in particular, has a telescopic fork design. A slideway element (4) is provided, which is fastened to a rear robot arm (30) and through which a slide rod (6) is displaceably guided. A first clip (24) is placed on the front end of the slide rod (6), and the supply line (38) is fastened in a clamped manner inside this clip.Type: GrantFiled: January 31, 2006Date of Patent: February 21, 2012Assignee: Leoni Kabel Holding GmbH & Co. KGInventor: Claude Burlot
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Patent number: 8109170Abstract: An umbilical member motion limiting device is provided on a robot which has a forearm, a wrist portion, an operating tool attached to the end of the wrist portion, and the umbilical member connected to the operating tool through the forearm, for limiting the motion of the umbilical member corresponding to the motion of the robot. The motion limiting device comprises a swing portion attached to the wrist portion so as to swing around a swing axis and a limiting portion arranged on the swing portion for limiting the motion of the umbilical member. Thus, the motion limiting device can minimize interference due to surplus length of the umbilical member and avoid contact of the umbilical member with external equipment.Type: GrantFiled: July 20, 2009Date of Patent: February 7, 2012Assignee: Fanuc LtdInventors: Munehiro Jinushi, Masahiro Morioka, Satoshi Adachi
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Publication number: 20110252913Abstract: An umbilical member arrangement unit of a robot arm section, capable of avoiding interference between the umbilical member and external equipment without using a guide member. The arrangement unit has a first fixing member attached to a nonrotating part and adapted to nonslidably fix the umbilical member, and a second fixing member attached to a rotating part so as to integrally rotate with the rotating part and adapted to nonslidably fix the umbilical member. When the rotating part is positioned at a center position of a rotational motion range thereof about the longitudinal axis, the first and second fixing members direct the umbilical member along first and second tangential lines, respectively, the two tangential lines being generally perpendicular to each other, and, the fixing members are positioned in the same region in relation to two regions defined by a boundary plane parallel to the second tangential line, on which the longitudinal axis lies.Type: ApplicationFiled: February 23, 2011Publication date: October 20, 2011Applicant: FANUC CORPORATIONInventors: Jun IBAYASHI, Munehiro JINUSHI, Hirokazu KUME
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Publication number: 20110252914Abstract: An umbilical member arrangement unit for an umbilical member, having a simple structure and high rigidity, capable of avoiding interference between the umbilical member and external equipment. The unit has a guide member constituted by a first plate member attached to a front end of a wrist section, a second plate member opposed to the first plate member and a connecting member connecting the first and second plate members. A cross-sectional region of the connecting member includes the wrist axis, extends from the axis in a first radial direction by a distance not smaller than a half of a size of the umbilical member in the cross-sectional direction thereof, and extends from the axis in an axisymmetrical second radial direction by a distance not larger than a half of the size of the umbilical member, so that the umbilical member contacts the second plate member and/or the connecting member at any rotational angular position of the guide member.Type: ApplicationFiled: February 23, 2011Publication date: October 20, 2011Applicant: FANUC CORPORATIONInventors: Jun IBAYASHI, Munehiro JINUSHI, Hirokazu KUME
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Publication number: 20110252915Abstract: The present invention is characterized by arranging a flow path 200 for supplying driving gas to a tool mounting portion 170 from a robot base 110 to the tool mounting portion 170 through the interiors of a rotation frame 120, a tube 220, a shoulder 140, a swing arm 150 and a tool mounting rotation arm 160.Type: ApplicationFiled: March 29, 2011Publication date: October 20, 2011Applicants: KABUSHIKI KAISHA KOBE SEIKO SHO, DAIHEN CORPORATIONInventors: Hiroshi NAKAGIRI, Sungjae Yoon, Makoto Kondo, Tatsuji Minato
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Patent number: 8020467Abstract: The present invention is an industrial robot with a cable spanned between and end effector and an upper arm. The cable does not twine around the upper arm or interfere with a peripheral device. A passage opening, through which the cable for supplying power, signals, or materials to an end effector attached to a rotating element is drawn out of a body, is opened at a position where the body intersects the center of a first rotational axis.Type: GrantFiled: May 24, 2010Date of Patent: September 20, 2011Assignee: Kabushiki Kaisha Yaskawa DenkiInventors: Kazuhiro Haniya, Atsushi Ichibangase, Koichi Yamaguchi
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Patent number: 8020466Abstract: An umbilical-member processing structure for an industrial robot which includes a forearm having a tool managing and relaying device and a wrist with proximal end rotatably connected to the forearm and having a work tool mounted on the distal end thereof, with an umbilical-member connected to the work tool being disposed to run along the wrist via the tool managing and relaying device: wherein the forearm has a first reduction gear which reduces the rotational speed of a driving source to drive the forearm in rotation; the first reduction gear having a first insertion hole for passing the umbilical-member therein; and wherein the wrist comprises a first wrist element having a through-path in communication with the first insertion hole and rotatably connected to the forearm, and a second wrist element having a second insertion hole in communication with the through-path and rotatably connected to the first wrist element.Type: GrantFiled: July 9, 2008Date of Patent: September 20, 2011Assignee: FANUC LtdInventors: Toshihiko Inoue, Kazutaka Nakayama, Takatoshi Iwayama
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Publication number: 20110219906Abstract: An articulated manipulator includes a base body, a first arm body, a second arm body having a second arm center axis, and a third arm body. A first joint part connects the base body and a first end portion of the first arm body rotatably around a first rotation axis. A second joint part connects a second end portion of the first arm body and a third end portion of the second arm body rotatably around a second rotation axis. A third joint part connects a fourth end portion of the second arm body and a fifth end portion of the third arm body rotatably around the third rotation axis. When the first, second and third arm bodies are all erected with respect to a installation surface, the first rotation axis, the second arm center axis, and the third rotation axis are substantially aligned with each other.Type: ApplicationFiled: May 26, 2011Publication date: September 15, 2011Inventors: Kazuhiro HANIYA, Manabu Okahisa, Atsushi Ichibangase
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Patent number: 8006586Abstract: An articulated robot includes a wrist carrying a flange for attachment of an apparatus to be carried by the robot. The wrist comprises a first support mounted on a robot component that is rotatable about a first axis, a second support rotatably mounted on the first support about a second axis inclined with respect to the first axis, and a third support rotatably mounted on the second support about a third axis, inclined with respect to the second axis. A first motor carried by the first support drives the rotation of the second support, and a second motor carried by the second support drives the rotation of the third support, which ends with the flange for attachment of the apparatus to be carried by the robot.Type: GrantFiled: January 9, 2008Date of Patent: August 30, 2011Assignee: Comau S.p.A.Inventors: Igor Tealdi, Mauro Amparore
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Publication number: 20110203402Abstract: A process turning disc connectable to an output shaft of a motor configured to rotate the process turning disc about a first center axis of the process turning disc. The process turning disc being configured to guide a cable or hose. A first flange is connectable to an end part of a robot arm. A second flange is connectable to a tool element. The flanges are spaced apart from each other by an intermediate connecting member. The connecting member is connected to the flanges. The connecting member provides a passage between the flanges. The passage is configured to receive and guide the cable/hose. The passage has an inlet side for the cable/hose and an outlet side for the cable/hose. A robot arm including the process turning disc, a robot including the robot arm and a method that utilizes the process turning disc.Type: ApplicationFiled: March 16, 2009Publication date: August 25, 2011Applicant: ABB TECHNOLOGY ABInventors: Lars Barkman, Mattias Linderas, Pascal Cabanne, Peter Bylund, Joachim Ljungkvist
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Patent number: 8003916Abstract: An industrial robot has a base for installation, a first arm, a second arm, a third arm, a wire feeder, a welding torch, and a torch cable. The first arm rotates with respect to the base. The second arm pivots with respect to the first arm. The third arm pivots with respect to the second arm. The torch cable is coupled to the wire feeder and feeds a welding wire to a welding torch. The wire feeder is provided to the second arm and is rotatable around a rotation axis.Type: GrantFiled: January 24, 2006Date of Patent: August 23, 2011Assignee: Panasonic CorporationInventors: Takayasu Ohara, Seiji Iwai
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Patent number: 8001868Abstract: A robot structure that has a base, at least a first arm that moves with respect to the base both in translation and in rotation, a movement mechanism for moving the first arm with respect to the base, a member for accepting a tool, and a power supply assembly. The movement mechanism includes a hollow member which moves in translation with respect to one of either the base or the first arm, while being incapable of translational movement independently of the other of the base or the first arm, and the hollow member being movable in rotation with respect to one of either the base or the first arm, while at the same time being incapable of rotational movement independently of the other of the base or the first arm.Type: GrantFiled: May 2, 2007Date of Patent: August 23, 2011Assignee: Staubli FavergesInventors: Joseph Palau, Vincent Gerat, Eric Sallet
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Publication number: 20110154933Abstract: An industrial robot includes a first rotation assembly, a second rotation assembly, and a cable assembly. The first rotation assembly includes a holding seat, a first rotation shaft rotatably positioned in the holding seat, and a first driver driving the first rotation shaft to rotate. The second rotation assembly includes a fixing seat. The cable assembly is received in the first rotation assembly and the second rotation assembly. The fixing seat includes a main body and a retaining portion extending from one end of the main body, and the main body of the fixing seat is positioned on the holding seat and fixed with the first rotation shaft of the first rotation assembly. The main body of the fixing seat defines a passing slot to receive the cable assembly and a passing hole communicating with the passing slot through which the cable assembly passes.Type: ApplicationFiled: September 27, 2010Publication date: June 30, 2011Applicants: HONG FU JIN PRECISION INDUSTRY (Shen Zhen) CO., LTD., HON HAI PRECISION INDUSTRY CO., LTDInventors: JUN LIU, JUN-HAI LIU
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Publication number: 20110120253Abstract: A first decelerator is placed in an arm base such that a lower end of a decelerator shaft is bared in the arm base. A first arm has a hermetic space which becomes equal in pressure to a hermetic space of the arm base when an upper end of the hollow decelerator shaft is inserted thereinto, and is secured to a first decelerator output shaft. A second decelerator is placed on a distal end of the first arm, and has an input shaft connected to the decelerator shaft. A second arm is secured to an output shaft of the second decelerator, and has no hermetic space formed therein. A link mechanism follows the first and second arms.Type: ApplicationFiled: November 10, 2010Publication date: May 26, 2011Applicant: KABUSHIKI KAISHA YASKAWA DENKIInventors: Fumihiro TARA, Nobuyuki Furukawa, Kensuke Ohni
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Publication number: 20110088499Abstract: An upper housing assembly includes a pivot arm having an upper cam surface adjacent a distal end. A cam follower is coupled to a laser head to move up and down with a laser head. The cam follower exerts a downward force on the upper cam surface during normal operation. Thus, as the pivot arm rotates back and forth, the laser head moves up and down. A assist gas hose can be coupled between the upper housing and the laser head which has a spiral configuration permitting relative axial movement between the upper housing and the laser head. Upon an upward axial force being exerted on the laser head, the cam follower moves upwardly away from the upper cam surface.Type: ApplicationFiled: September 24, 2010Publication date: April 21, 2011Applicant: LASER MECHANISMS, INC.Inventors: Scott Swartzinski, William G. Fredrick, Michael Lee
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Publication number: 20110072931Abstract: An arrangement includes a robot having a robot arm that supports a device powered by supply lines. The arrangement includes at least one guide element that is fastened to the robot arm, and the supply lines are moveably held against at least one segment of the robot arm by the at least one guide element. At least one storage element is provided for receiving a supply line provision. The at least one storage element releases the supply line from the supply line provision with an increasing tensile load of the supply lines and retracts the supply line into the supply line provision with a decreasing tensile load of the supply lines.Type: ApplicationFiled: September 23, 2010Publication date: March 31, 2011Inventors: Stefan Groß, Harald Neumann, Franz Schmeisser
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Publication number: 20110023651Abstract: In one embodiment of the invention, an apparatus is provided including a linkage and a balancing mechanism coupled to the linkage around a pivotal joint. The linkage couples to a support structure at a first end and support a weight applied to a second end. The balancing mechanism counter balances the weight applied to the second end of the linkage. As the linkage is deformed to vertically adjust the height of the weight with a different moment arm length, the balancing mechanism varies a cable path length to modify the compression of a spring and a tension in a cable to adjust the amount of counter balance force applied to the linkage.Type: ApplicationFiled: October 14, 2010Publication date: February 3, 2011Applicant: INTUITIVE SURGICAL OPERATIONS, INC.Inventor: Thomas G. Cooper
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Patent number: 7870807Abstract: A robot wrist for a painting robot has several wrist sections that can be rotated relative to one another, an internal conduit that passes through the wrist sections, a flexible hose carried in the internal conduit and having a hose drive operating on the hose to achieve positive rotation of the hose in the internal conduit corresponding to the rotation of the wrist sections.Type: GrantFiled: September 26, 2006Date of Patent: January 18, 2011Assignee: Durr Systems Inc.Inventors: Thomas Hezel, Bernd Leiensetter, Frank Herre, Bekim Maxharraj, Nedime Maxaharraj, legal representative
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Publication number: 20100313694Abstract: An apparatus holds plural cables arranged in a robot. A first fixing member secures ones of both ends of the cables on a first shaft portion in a flat form, the ones of the end portions being directed in a rotation direction of the second shaft portion. A second fixing member secures the others of both end portions of the cables on a second shaft portion in the flat form, the other end portions being directed in the rotation direction. The remaining portions of the cables are bent and suspended along the first and second shaft portions in a U-shaped and flat form when being viewed in the rotation direction. A first cable guide, fixed to the first shaft portion, accommodates part of the cables therein in the plat form. A second cable guide, fixed to the second shaft portion, accommodates part of the cables therein in the flat form.Type: ApplicationFiled: June 14, 2010Publication date: December 16, 2010Applicant: DENSO WAVE INCORPORATEDInventor: Akira AOKI
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Patent number: 7806019Abstract: The invention provides a waterproof and dustproof structure of a joint portion of an industrial robot which is inexpensive and does not adversely affect a motion performance of a robot. Accordingly, in a manipulator type robot which has a cable passing hole provided in a part of an outer periphery of a manipulator, and is provided with a cable wired to an inner side and an outer side of the manipulator through the cable passing hole, a mold guide surrounding an outer periphery of one or a plurality of conducting wire passing through an inner portion is provided near the cable passing hole, an inner side of the mold guide is mold treated by a resin filling, and a sealing material is provided in an outer side of the mold guide.Type: GrantFiled: March 26, 2007Date of Patent: October 5, 2010Assignee: Panasonic CorporationInventors: Seiji Iwai, Shiaki Suzuki
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Patent number: 7806020Abstract: A robot arm for an industrial robot. The robot arm includes a wrist housing, a wrist, and a turn disc. The wrist is rotatably connected to the wrist housing and the turn disc is rotatably connected to the wrist. A first motor drives the wrist and a second motor drives the turn disc. A first driving rope transmits the motor rotation to the wrist, and a second driving rope transmits the motor rotation to the drive pulley.Type: GrantFiled: April 29, 2004Date of Patent: October 5, 2010Assignee: ABB ABInventors: Karl-Erik Forslund, Annika Thyselius, legal representative, Ove Kullborg
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Publication number: 20100229671Abstract: The present invention provides an industrial robot, wherein a cable or the like spanned between an end effector and an upper arm has less bending due to a motion of a wrist portion, wherein the cable or the like does not twine around the upper arm, and wherein the cable or the like does not interfere with a peripheral device. A passage opening 25, through which a cable or the like 12 for supplying power, signals or materials to an end effector 9 attached to a rotating element 7 is drawn out of a body 6, is opened at a position, at which the body 6 intersects with a center of a first axis (an R-axis). The cable or the like 12 drawn out of the passage opening 25 is extended to the end effector 9.Type: ApplicationFiled: May 24, 2010Publication date: September 16, 2010Applicant: Kabushiki Kaisha Yaskawa DenkiInventors: Kazuhiro HANIYA, Atsushi Ichibangase, Koichi Yamaguchi
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Patent number: 7779716Abstract: A quick disconnect tooling apparatus for releasably latching an end effector tool to a manipulator. The present invention provides a base module connectable to a manipulator, and a tool module connectable to the end effector tool. A power source coupling has a first portion coupled to the base module, and a second portion coupled to the tool module, wherein the first and second portions of the power source coupling may cooperatively engage one another to allow for the passing of power between the manipulator and the end effector tool.Type: GrantFiled: October 21, 2005Date of Patent: August 24, 2010Assignee: ATI Industrial Automation, Inc.Inventors: Jeffery J. Dellach, Kenneth P. Dellach, Donald van Zile, III, Henry J. Brohl, III, Michael L. Gloden
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Patent number: 7765890Abstract: An industrial robot has an arm, a wrist element rotatably interconnected to the arm, a work tool mounted on a distal end of the wrist element, and a motor mounted on the wrist element. An umbilical-member connected to the work tool and a flat cable connected to the motor are disposed to run along the wrist element from the arm side to the work tool or to the motor. A pipe member extending in a direction of a rotation axis of the wrist element is provided inside the arm and the umbilical-member connected to the work tool is passed inside the pipe member. The flat cable connected to the motor is wound around outside of the pipe member, with the flat cable arranged to become slack in a rotating direction of the wrist element.Type: GrantFiled: June 16, 2008Date of Patent: August 3, 2010Assignee: Fanuc LtdInventors: Toshihiko Inoue, Kazutaka Nakayama, Takatoshi Iwayama, Junya Fujita
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Publication number: 20100175495Abstract: A manipulator includes an arm body, a cable, and at least one cover fixed on the arm body. The arm body has at least one friction portion over which the at least one cover covers. The at least one cover separates the cable from contacting with the friction portion, thus protects the cable from being damaged by the friction portion.Type: ApplicationFiled: July 23, 2009Publication date: July 15, 2010Applicants: HONG FU JIN PRECISION INDUSTRY(ShenZhen) CO., LTD., HON HAI PRECISION INDUSTRY CO., LTD.Inventors: XIAO-PENG PAN, ZHEN-XING LIU, JUN-HAI LIU
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Publication number: 20100116078Abstract: Disclosed is an electrical connecting device of a joint unit. The electrical connecting device includes a first conductor provided at one side of the electrical connecting device and a second conductor provided at the other side of the electrical connecting device. The first and second conductors make contact with each other. Therefore, the joint unit is electrically connected at all times so that the joint unit is used as a module.Type: ApplicationFiled: October 2, 2009Publication date: May 13, 2010Applicant: SAMSUNG ELECTRONICS CO., LTD.Inventor: Won Kuk Kim
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Patent number: 7703349Abstract: A cable laying structure for a robot, which does not interfere with external devices in a periphery of a forearm. Camera and hand control cables and motor control cables are drawn into a robot mechanism through a connection panel of a base of a robot main body. While allowing the motor control cables to sequentially diverge, the control cables are arranged in a robot arm along an upper arm portion and guided to the forearm. The control cables are introduced into the forearm with a shield and a sheath removed. After reaching an end effector-mounting face, the control cables are connected to a camera and a hand. The forearm is formed of conductive material and grounded on the base of the robot main body to have the same electric potential as the base by using an earth cable, and therefore the forearm is utilized in replacement of the shield.Type: GrantFiled: September 4, 2003Date of Patent: April 27, 2010Assignee: Fanuc LtdInventors: Ryo Nihei, Toshihiko Inoue, Jun Ibayashi, Takatoshi Iwayama
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Publication number: 20100094461Abstract: A method is provided for teaching movement processes for an industrial robot having a stand and at least one moving jointed arm. The method includes fitting a measurement system to a measurement head at a free end of the jointed arm, fitting a handling appliance to an end effector at the free end of the jointed arm, operating the handling appliance to teach the intended movement process to the robot, detecting each position of the handling appliance, via the measurement head, transforming the detected positions to co-ordinate data and transmitting the detected co-ordinate data to a monitoring and control system, storing and evaluating the co-ordinate data in the monitoring and control system to develop a movement program for the robot. A correspondingly equipped industrial robot is also provided.Type: ApplicationFiled: October 9, 2009Publication date: April 15, 2010Applicant: ABB AGInventors: Michael ROTH, Martin KOHLMAIER, Rainer KRAPPINGER
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Patent number: 7693604Abstract: The robot comprises: —a controller (C), including power modules (22) for supplying the motors (10) of the arm (A) of the robot (R), a CPU unit (26), for calculation and processing and connection means (52, B), between the arm (A), the power modules (22) and the CPU unit (26). The connection means (52, B) comprise a single functional bus (B) which connects a control unit (30), associated with the CPU unit (26), firstly to the power modules (22) and, also, to the digital interfaces (14) with the sensors (12) of the arms (A). Said interfaces (14) are either integrated with the arm (A) or located in the immediate vicinity thereof.Type: GrantFiled: February 3, 2004Date of Patent: April 6, 2010Assignee: Staubli FavergesInventors: Vincent Gerat, Pierre Perillat, Jean-Michel Bonnet Des Tuves
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Publication number: 20100050806Abstract: A horizontal articulated robot includes a base, a first arm provided rotatably around a first rotation axis on the base, a second arm provided rotatably around a second rotation axis on the first arm, the second rotation axis being parallel to the first rotation axis, and a main shaft provided in the second arm to be extended in a direction parallel to the second rotation axis. A distance between the second rotation axis and the main shaft is shorter than a length of a straight line connecting the first and the second rotation axes. Additionally, the first arm has a recessed portion formed so as to include a position on a rotation path where a rotation radius around the second rotation axis is equivalent to the distance between the second rotation axis and the main shaft.Type: ApplicationFiled: August 26, 2009Publication date: March 4, 2010Applicant: SEIKO EPSON CORPORATIONInventors: Masatoshi Ono, Christoph Meyerhoff
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Publication number: 20100000364Abstract: A robot includes a work tool, an arm, a cable, and a third member. The work tool is configured to perform a predetermined work with respect to a workpiece. The work tool is attached to the wrist. The arm supports the wrist and is rotatable around a rotational axis. The arm includes first and second members which are provided substantially in parallel to each other in a longitudinal direction of the arm to form a space between the first and second members. The cable extends through the space and is connected to the work tool. The third member connects the first and second members.Type: ApplicationFiled: July 7, 2009Publication date: January 7, 2010Applicant: KABUSHIKI KAISHA YASKAWA DENKIInventors: Ryuta Kagawa, Yoshiaki Miyazono, Takayuki Imanaka
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Publication number: 20090314120Abstract: A robot arm for an industrial robot, comprising a first arm part and a second arm part, wherein the second arm part is rotatably journalled in the first arm part for rotation about a first axis of rotation, characterized in that the second arm part comprises a tubular member, rotatably journalled in the first arm part, whereby the tubular member is configured to support the robot arm.Type: ApplicationFiled: June 26, 2009Publication date: December 24, 2009Inventor: Jan Larsson
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Patent number: 7631573Abstract: A guiding device, with high rigidity, for an umbilical member and a robot having the guiding device, by which interference between the umbilical member and another component or external equipment is minimized. The guiding device or an adaptor includes a first plate member fixed to a third wrist element, a second plate member opposing to and parallel to the first plate member, and a connecting member for connecting the first and second plate members. The first and second plate members and the connecting member define a first opening for introducing the umbilical member into the adaptor. The second includes a fixed portion fixed to an end effector and an extended portion extending from the fixed portion and offset from the third wrist axis. A second opening is formed on the extending portion of the second plate member, through which the umbilical member may extend.Type: GrantFiled: December 1, 2005Date of Patent: December 15, 2009Assignee: Fanuc LtdInventors: Akio Kidooka, Masahiro Morioka
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Publication number: 20090249915Abstract: The invention provides a waterproof and dustproof structure of a joint portion of an industrial robot which is inexpensive and does not adversely affect a motion performance of a robot. Accordingly, in a manipulator type robot which has a cable passing hole provided in a part of an outer periphery of a manipulator, and is provided with a cable wired to an inner side and an outer side of the manipulator through the cable passing hole, a mold guide surrounding an outer periphery of one or a plurality of conducting wire passing through an inner portion is provided near the cable passing hole, an inner side of the mold guide is mold treated by a resin filling, and a sealing material is provided in an outer side of the mold guide.Type: ApplicationFiled: March 26, 2007Publication date: October 8, 2009Inventors: Seiji Iwai, Shiaki Suzuki
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Patent number: 7597025Abstract: An articulated robot capable of reducing dead space while maintaining a wide operating area and simplifying a power transmission system necessary for moving each joint. A plurality of joint arms A1 to A7 are connected via first rotating shafts 15, 15A, and 15B as horizontal rotating shafts and via second rotating shafts 32, 32A, and 32B as inclined rotating shafts alternately. A motor M for driving the rotating shaft and a speed-reducing mechanism are provided for each rotating shaft.Type: GrantFiled: January 16, 2004Date of Patent: October 6, 2009Assignees: Toyota Jidosha Kabushiki Kaisha, Kawasaki Jukogyo Kabushiki KaishaInventors: Hideo Narita, Hisanori Nakamura, Morihiko Ohkura, Masato Shirai
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Patent number: 7574942Abstract: To provide an improved cable guide for an articulated joint of a robot or the like that allows a compact design of the articulated joint while minimizing the length of the cable, a substantially circular outer peripheral wall (16) of a hollow center drum (13) fixedly attached to the first link member is formed with a hole (28) at a first angular position substantially aligning with the first link and a slot (17) formed at a second angular position and elongated circumferentially over an angle substantially corresponding to a range of angular movement of the second link member relative to the first link member in such a manner that the cable member is passed into the center drum from the hole and out of the center drum from the slot. Thereby, the cable member can pass through the interior of the articulated joint along the shortest path, and the necessary length of the cable can be minimized.Type: GrantFiled: March 29, 2004Date of Patent: August 18, 2009Assignee: Honda Motor Co., Ltd.Inventor: Susumu Miyazaki
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Patent number: 7571025Abstract: A method for controlling a plurality of manipulators, such as multiaxial or multiaxle industrial robots. At least one manipulator functions as the reference manipulator and is moved in a plurality of preset poses within its working area at which internal position values are determined as first desired poses. For each desired pose, subsequently a first actual pose of the reference manipulator is determined by an external measuring system. Subsequently at least one further manipulator moves up to specific poses of the reference manipulator as second desired poses and for each of these poses an actual pose of the further manipulator is determined by an external measuring system. On the basis of actual-desired deviations between the thus determined desired and actual poses of the two manipulators, subsequently a parameter model for the further manipulator is established and with it it is possible to compensate simultaneously both its own errors and those of the reference manipulator.Type: GrantFiled: June 1, 2005Date of Patent: August 4, 2009Assignee: KUKA Roboter GmbHInventor: Rainer Bischoff
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Patent number: 7546985Abstract: A cable guide device for an industrial robot is disclosed. The cable guide device includes a tube ring coupled to an end portion of a cable tube of an industrial robot, a cable distributor insertedly coupled in the tube ring and having a plurality of cable inserting holes through which cables introduced into the cable tube pass, a tube clamp rotatably fitted around an outer peripheral surface of the tube ring and having a ring shape, a head coupling unit coupled to the tube clamp, and a clamp supporting unit having a first end portion fitted around an outer surface of an arm of the industrial robot and a second end portion coupled to the head coupling unit, to keep the cable tube at a predetermined distance away from the outer surface of the arm.Type: GrantFiled: December 10, 2007Date of Patent: June 16, 2009Inventor: Kwang Sul Choi
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Patent number: 7540214Abstract: In a manipulator-type robot of the present invention, a manipulator base contains a connection case for making cable connections to an external device. In the connection case, a signal-line connecting section for external connection is disposed on a predetermined signal line of a cable that is routed through the inside of the manipulator. The connection case contains, other than the aforementioned signal-line connecting section for making connections to the outside, an additional signal-line connecting section.Type: GrantFiled: February 15, 2006Date of Patent: June 2, 2009Assignee: Panasonic CorporationInventors: Seiji Iwai, Shiaki Suzuki, Takayasu Ohara, Misao Umemoto, Kenichiro Dobashi
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Publication number: 20090120228Abstract: An industrial robot including, for rotation about a first shaft and rotation about a second shaft, a drive package with a motor and a gear between an output shaft of the motor and the first and second shafts, respectively. The respective gear is a multistage gear transmission with parallel gear wheel axes and one of the gear wheels of the gear is secured to the first and second shafts, respectively. The gear for the second shaft is arranged above the gear of the first shaft and, viewed from above in the direction of the first shaft, is partly covering the gear of the first shaft.Type: ApplicationFiled: February 13, 2006Publication date: May 14, 2009Inventors: Jan Larsson, Karl-Gunnar Johnsson, Mats Olsson, Bo Toresson, Stig Persson, Tommi Paananen
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Publication number: 20090095110Abstract: An exemplary rotational mechanism (100) includes a cable (14), a cable-protecting structure (16), a first member (12) and a second member (10) rotatable relative to each other. The cable is fixed relative to the second member. A first through hole (128) is defined in the first member. The cable-protecting structure includes a bearing (161). The bearing includes an inside ring (163) and an outside ring (164) rotatable relative to each other. The bearing is received inside of the first through hole. The outside ring of the bearing is fixed to the first member. The cable is spaced from a ledge (1282) formed the first through hole and supported by the inside ring of the bearing.Type: ApplicationFiled: June 30, 2008Publication date: April 16, 2009Applicants: HONG FU JIN PRECISION INDUSTRY (ShenZhen) CO., LTD., HON HAI PRECISION INDUSTRY CO., LTD.Inventors: Chia-Peng Day, Jun-Hai Liu, Xiao-Peng Pan
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Patent number: 7513174Abstract: The present invention provides an industrial robot which can reduce torque required for driving an object to be moved. By providing a third reduction device and a third driving device separately, the dimension in the third axial direction of the third reduction device can be reduced, thus the distance from a second axis to an end effecter can be decreased. As such, the torque required for a first driving device and a second driving device to rotate and drive the end effecter can be reduced. Accordingly, even when the weight of the end effecter is increased, an increase of the torque required for the first driving device and the second driving device can be suppressed. Therefore, a higher speed operation can be achieved as compared with the conventional industrial robot.Type: GrantFiled: February 27, 2007Date of Patent: April 7, 2009Assignee: Kawasaki Jukogyo Kabushiki KaishaInventors: Takashi Harada, Yuji Maeguchi, Takahiro Inada
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Publication number: 20080302200Abstract: An intelligent modular hybrid robot arm system is usable with mobile robots, and is applicable to stationary industrial arms. The intelligent modular hybrid robot arm system provides a large work envelope and a controlled and directed rotational movement for a flexible snake robot arm. The intelligent modular hybrid robot arm system has the ability to change end effector tools and sensors. The platform computers have the ability to interact with other subsystems for coordinated as well as independent tasks. The flexibly snake robot arm can be covered with a flexible sensor network, or “skin”. The intelligent modular hybrid robot arm system can manage its energy use, stores the arm in a compact shape and uses a central support tube offering unobstructed arm access to all sectors of its working envelope.Type: ApplicationFiled: June 6, 2008Publication date: December 11, 2008Inventor: Wayland E. Tobey
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Publication number: 20080264195Abstract: An industrial robot including a drive package with a motor and a gear between an output shaft of the motor and a third shaft of the robot in immediate proximity to the third shaft for rotation of an upper arm of the robot relative to a lower arm. The gear is a multistage gear transmission with parallel gear-wheel axes and one of the gear wheels of the gear is secured to the third shaft.Type: ApplicationFiled: February 13, 2006Publication date: October 30, 2008Applicant: ABB ABInventors: Jan Larsson, Karl-Gunnar Johnsson, Mars Olsson, Bo Toresson, Stig Persson, Tommi Paananen
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Patent number: 7430939Abstract: A robot arm is provided at a forward end thereof with a rotation shaft member rotatable about a rotation axis thereof, in which a hollow portion is formed along the rotation axis. A laying device for laying a line element includes a relaying means for relaying an arm side section of the line element, extending through the hollow portion out of a lead-out opening formed on a side of the rotation shaft member, to a tool side section of the line element extending from the tool. A direction in which the relaying means connects the line element is substantially parallel to a tool mount surface and forms an angle other than 0° with regard to a radial direction perpendicular to the rotation axis.Type: GrantFiled: March 29, 2004Date of Patent: October 7, 2008Assignee: Fanuc LtdInventors: Kuniyasu Matsumoto, Hiroshi Nakagawa, Masahiro Morioka
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Publication number: 20080236324Abstract: In an umbilical member processing mechanism of a robot, a working tool managing unit umbilical member (50) for supplying at least one of the power, the signal and the material to a working tool managing unit (34), is guided from a rotary barrel in the longitudinal direction of an upper arm on a side face of the upper arm (14) located on the opposite side to the side attached to the rotary barrel (12) and then guided onto a front side (18b) of a front arm (18). Next, the working tool managing unit umbilical member (50) is connected to the working tool managing unit (34) through a side of the front arm located on the opposite side to the side on which the upper arm is attached. Further, the working tool managing unit umbilical member is connected to the working tool managing unit being relayed by an umbilical member junction portion (39) attached to a side or a front side of the front arm.Type: ApplicationFiled: February 19, 2008Publication date: October 2, 2008Inventors: Toshihiko Inoue, Kazutaka Nakayama, Takatoshi Iwayama
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Publication number: 20080216596Abstract: A robotic joint configured as a 3-axis joint configured with a shoulder or other human joint form factor. The joint includes a first link made up of a block attaching to a torso and a stationary electric actuator assembly mounted to the block. A second link is connected to the first link to rotate about a first axis and be driven by the actuator assembly. A third link is attached to the second link to rotate about a second axis orthogonal to the first axis when the third link is driven by the actuator assembly. A fourth link is connected to the third link to rotate about a third axis orthogonal to the second axis when the fourth link is driven by the actuator assembly. The actuator assembly includes three electric motors with threaded drive capstans driving pulleys in the links while being spaced apart from the rotating links.Type: ApplicationFiled: March 7, 2007Publication date: September 11, 2008Applicant: DISNEY ENTERPRISES, INC.Inventors: Akhil J. Madhani, Bryan S. Tye
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Patent number: 7422412Abstract: A horizontal articulated robot has a plurality of horizontal arms coupled by joint shafts, and a working shaft disposed at the extreme end of an extreme end arm among the horizontal arms has mounting portions of an end effector formed to both the upper and lower ends thereof. With this arrangement, there can be provided a horizontal articulated robot that can cope with various work transport forms and various types of works by one type of a robot by selectively using the upper and lower sides of a working shaft.Type: GrantFiled: December 15, 2005Date of Patent: September 9, 2008Assignee: Seiko Epson CorporationInventor: Kazushige Akaha
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Patent number: 7422773Abstract: A cover for a robot which includes an electrostatic spray gun with a nozzle which sprays charged material. The cover includes an insulating layer adapted to generally surround the robot except at an aperture where the nozzle extends from the cover. The cover also includes a conductor on the insulating layer near the aperture and spaced apart from the robot. A charge source provides an electric charge to the conductor.Type: GrantFiled: April 27, 2005Date of Patent: September 9, 2008Assignee: TD Industrial Coverings, Inc.Inventor: Mark D'Andreta