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1. 发明授权

US11992938B2 Robot arm with multiple-connection interface 有权
公开(公告)号：US11992938B2
公开(公告)日：2024-05-28
申请号：US16384932
申请日：2019-04-16
申请人： FANUC CORPORATION
发明人： Masayoshi Mori
IPC分类号： B25J15/04 , B25J17/02
CPC分类号： B25J15/0408 , B25J17/0266 , B25J17/0283
摘要： There is provided a robot arm that includes a proximal unit and a distal unit configured to be connected to the proximal unit, the proximal unit having a multiple-connection interface connectable to a plurality of types of distal units different in shape. The connection interface is provided in an end face of the proximal unit with an annular connection interface disposed concentrically.

2. 发明公开

US20230249334A1 MULTI-JOINT ROBOT 审中-公开
公开(公告)号：US20230249334A1
公开(公告)日：2023-08-10
申请号：US17767958
申请日：2019-10-17
申请人： FUJI CORPORATION
发明人： Shigeyoshi INAGAKI , Naofumi YOSHIDA , Yasuhiro YAMASHITA
IPC分类号： B25J9/06 , B25J9/04 , B25J17/02
CPC分类号： B25J9/06 , B25J9/042 , B25J17/0283 , A61B8/4218
摘要： A multi-joint robot includes: a base; a first arm connected to the base via a first joint shaft and configured to pivot in a horizontal direction with respect to the base; a second arm connected to the first arm via a second joint shaft and configured to pivot in a horizontal direction with respect to the first arm; a first rotation driving device configured to rotationally drive the first joint shaft; a second rotation driving device configured to rotationally drive the second joint shaft; a moving device configured to move the base in an axial direction of the first joint shaft; and a control device configured to control the first driving device, the second driving device, and the moving device.

3. 发明公开

US20230219215A1 INDUSTRIAL ROBOT 审中-公开
公开(公告)号：US20230219215A1
公开(公告)日：2023-07-13
申请号：US17997569
申请日：2021-05-14
申请人： FANUC CORPORATION
发明人： Tomoyuki MOTOKADO , Toshihiko INOUE
IPC分类号： B25J9/10 , B25J19/00 , B25J17/02
CPC分类号： B25J9/102 , B25J19/0062 , B25J19/0029 , B25J17/0283
摘要： Provided is an industrial robot in which a gear for causing a work tool to rotate can easily be retrofitted to a robot without requiring work to adjust backlash. The present invention comprises: a first wrist element that, at the distal end of a front arm of a robot, is capable of rotating about a first axis following the longitudinal direction of the front arm; a second wrist element that, at the first wrist element, is capable of rotating about a second axis intersecting the first axis in a roughly perpendicular manner; a third wrist element that, at the second wrist element, is capable of rotating about a third axis extending from the intersection point of the first and second axes in a direction roughly perpendicular to the direction in which the second axis extends; a first gear that is attached to the third wrist element coaxially with the third axis and that is capable of rotating about the third axis; a second gear that is driven by rotation of the first gear due to meshing with the first gear and that is capable of rotating; and a case secured to the second wrist element. The second gear is attached to the case via a bearing so as to be capable of rotating about a fourth axis positioned at a prescribed distance relative to the third axis.

4. 发明申请

US20190240832A1 THREE-ROTATIONAL-DEGREE-OF-FREEDOM CONNECTION MECHANISM, ROBOT, ROBOT ARM, AND ROBOT HAND 审中-公开
公开(公告)号：US20190240832A1
公开(公告)日：2019-08-08
申请号：US16341821
申请日：2017-09-11
申请人： Mitsubishi Electric Corporation
发明人： Noboru KAWAGUCHI , Hidetaka YAMAUCHI , Tomoya HATTORI , Koji HIROSE
IPC分类号： B25J9/10 , B25J15/10 , B25J17/02 , B25J9/14 , F16H25/20 , F15B15/06 , F15B15/14 , F15B11/10 , B62D57/032 , F16H19/00
CPC分类号： B25J9/106 , B25J5/00 , B25J9/102 , B25J9/144 , B25J15/10 , B25J17/00 , B25J17/0283 , B62D57/032 , F15B11/10 , F15B15/06 , F15B15/14 , F15B2211/7053 , F15B2211/7107 , F16H19/001 , F16H21/46 , F16H25/20 , F16H2025/2043
摘要： A three-rotational-degree-of-freedom connection mechanism required for a robot that can make motion similar to a human has a simple structure, and there is no restriction on motion within a movable range. The three-rotational-degree-of-freedom connection mechanism includes a joint connecting a second member rotatably to a first member with three rotational degrees of freedom including rotation around a torsion axis, three actuators each including variable length links having a variable length, and power sources for generating force changing the lengths of variable length links and three first-member-side link attaching units provided in first member and the second-member-side link attaching units provided on the second member such that variable length links having a twisted relationship with respect to a torsion axis exist in each state within a movable range of joint.

5. 发明申请

US20190134809A1 Robot 审中-公开
公开(公告)号：US20190134809A1
公开(公告)日：2019-05-09
申请号：US16180133
申请日：2018-11-05
申请人： Seiko Epson Corporation
发明人： Takuya OWA , Masaru TAKAHASHI
IPC分类号： B25J9/00 , B25J17/02 , B25J19/00 , G06F1/26
CPC分类号： B25J9/0021 , B25J9/04 , B25J17/02 , B25J17/0283 , B25J19/0025 , B25J19/0033 , G06F1/26
摘要： A robot includes a robot main body including an A-arm which rotates around an A-rotation axis, a B-arm which is cantilevered off the A-arm and rotates around a B-rotation axis, and a C-arm which is connected to the B-arm, to which an end effector is attached, and which rotates around a C-rotation axis. The A-arm includes a first restriction that is not exposed to the outside of the robot main body. The B-arm includes a clamp which is connected to the end effector and restricts a position of a flexible wiring or pipe, a second restriction that is not exposed to the outside of the robot main body and contacts on the first restriction, and a hole through which the wiring or the pipe is inserted. The C-arm includes a through-hole which penetrates the C-arm along the axial direction of the C-rotation axis.

6. 发明申请

US20180333844A1 INDUSTRIAL ROBOT 审中-公开
公开(公告)号：US20180333844A1
公开(公告)日：2018-11-22
申请号：US15946959
申请日：2018-04-06
申请人： FANUC CORPORATION
发明人： Toshihiko INOUE , Tooru NAGAI
IPC分类号： B25J9/04 , B25J17/02 , B25J18/04
CPC分类号： B25J9/047 , B23K9/12 , B25J9/08 , B25J17/0283 , B25J18/04 , B25J19/0029 , B25J19/0041
摘要： Provided is an industrial robot that includes: a second arm that is provided, at the distal end of a first arm pivotable about a first axis, in a pivotable manner about a second axis parallel to the first axis; and a wrist that is disposed at the distal end of the second arm and that has a plurality of wrist elements, and including the first wrist element provided in a rotatable manner about a longitudinal axis of the second arm. Motors and that drive the wrist elements, are accommodated in a space inside the first wrist element. The second arm is provided with a hollow portion that communicates with the space. A cable to be wired to the motors is wired into the hollow portion from the outside of the second arm and is relayed by a connector fixed to the wall section at the position of the through-hole.

7. 发明申请

US20180243928A1 ROBOT ARM AND ROBOT WRIST 审中-公开
公开(公告)号：US20180243928A1
公开(公告)日：2018-08-30
申请号：US15752705
申请日：2016-08-10
申请人： Sami HADDADIN
发明人： Sami HADDADIN
IPC分类号： B25J17/02 , B25J9/04 , B25J9/06 , B25J9/12 , B25J13/08
CPC分类号： B25J17/0291 , B25J9/046 , B25J9/06 , B25J9/126 , B25J13/085 , B25J17/0283
摘要： The invention relates to a robot arm and a robot wrist. The robot arm comprises a number N of actuator-drivable joint connections GVn, which are connected in series via arm links GLi, where n=1, 2, . . . , N, and i=1, 2, . . . , N−1, and N≥6, wherein the proximal arm link GL1 of the robot arm can be connected to a robot body via the joint connection GV1, the distal arm link GLN-1 of the robot arm can be connected to an effector E via the joint connection GVN, the arm links GLN-1 and GLN-2 are connected via the joint connection GVN-1 and the arm links GLN-2 and GLN-3 are connected via the joint connection GVN-2, and each of the joint connections GVN, GVN-1, GVN-2 enables a movement about an axis of rotation RGV,N, RGV,N-1, RGV,N-2 assigned to the same. The robot arm is configured in such a way that the axes of rotation RGV,N-2 and RGV,N-1 intersect at an angle in the range from 50 to 130° or the axes of rotation RGV,N-2 and RGV,N-1 have a minimum spacing A1 from each other in the range from 1 mm to 20 mm, the axis of rotation RGV,N is arranged radially at a constant distance D1 from the axis of rotation RGV,N-1, and a sensor is present in the joint connection GVN-1 to detect a force or a torque about the axis of rotation RGV,N-1.

8. 发明申请

US20180215054A1 Robot With A Force Measuring Device 审中-公开
公开(公告)号：US20180215054A1
公开(公告)日：2018-08-02
申请号：US15747603
申请日：2016-07-19
申请人： KUKA ROBOTER GMBH
发明人： Sven Brudniok
IPC分类号： B25J19/02 , B25J19/06 , B25J18/00 , B25J13/08 , B25J17/02
CPC分类号： B25J19/02 , B25J13/085 , B25J17/0283 , B25J18/00 , B25J19/063 , Y10S901/09 , Y10S901/29 , Y10S901/46
摘要： A robot includes a robot controller that is designed and configured to execute a robot program, and a robot arm having at least three joints connected by links and a number of drives corresponding to the at least three joints. Each drive is designed to adjust one of the at least three joints allocated to the drive. The joints can be actuated in an automated manner in accordance with the robot program or in a manual drive mode by the robot controller to automatically adjust the associated joint, wherein at least one of the links includes a force measuring device designed to measure a force on the link in a predetermined direction.

9. 发明申请

US20170274525A1 ROTATIONAL DRIVING MECHANISM IN A ROBOT 有权
公开(公告)号：US20170274525A1
公开(公告)日：2017-09-28
申请号：US15512290
申请日：2015-09-18
申请人： THK CO., LTD.
发明人： Masaki Nagatsuka
IPC分类号： B25J9/12 , B25J17/02 , B25J9/00
CPC分类号： B25J9/123 , B25J9/0006 , B25J9/0015 , B25J17/00 , B25J17/0283
摘要： A rotational driving mechanism for driving a rotary member mounted on a rotatable base member includes: a first link unit that has a first link body and is mounted through a first support part on the base member, the first link unit further having an input part to which an output of the linear motion actuator is inputted at one side of the first link body, and an output part located in the first link body at an opposite side of the input part across the first support part and a second link unit that has a second link body and is mounted through a second support part on the output part of the first link unit, the second link unit being further mounted through a third support unit on the rotary member or a connecting member joined thereto in such a manner as to be free to rotate.

10. 发明申请

US20170274524A1 ROBOT WRIST STRUCTURE 审中-公开
公开(公告)号：US20170274524A1
公开(公告)日：2017-09-28
申请号：US15424092
申请日：2017-02-03
申请人： FANUC CORPORATION
发明人： Toshihiko INOUE , Shunsuke ABIKO , Tooru NAGAI
IPC分类号： B25J9/10 , F16H1/20 , B25J9/12 , F16H57/038
CPC分类号： B25J9/102 , B25J9/126 , B25J17/025 , B25J17/0283 , Y10S901/23 , Y10S901/26
摘要： A robot wrist structure includes a first wrist element, a second wrist element, and a third wrist element which are respectively rotatable about a first axis to a third axis; drive motors for the second and third wrist elements; and gear sets that reduce speeds of rotation of the drive motors. The gear sets respectively include a driven-side large-diameter gear that rotates the second wrist element and a driven-side small-diameter gear that rotates the third wrist element, where the driven-side large-diameter gear and the driven-side small-diameter gear are coaxially arranged so as to be rotatable about the second axis. The small-diameter gear is fixed to a drive-side bevel gear that meshes with a driven-side bevel gear fixed to the third wrist element. The second wrist element includes a first housing that is fixed to the large-diameter gear; and a second housing rotatably supports the third wrist element.

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