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1. WO1986000846 - INDUSTRIAL ROBOT HAVING HOLLOW ARM STRUCTURE

Publication Number WO/1986/000846
Publication Date 13.02.1986
International Application No. PCT/JP1985/000424
International Filing Date 26.07.1985
IPC
B25J 17/02 2006.1
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
17Joints
02Wrist joints
B25J 18/00 2006.1
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
18Arms
B25J 19/06 2006.1
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
19Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
06Safety devices
B25J 9/04 2006.1
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
02characterised by movement of the arms, e.g. cartesian co-ordinate type
04by rotating at least one arm, excluding the head movement itself, e.g. cylindrical co-ordinate type or polar co-ordinate type
CPC
B25J 17/02
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
17Joints
02Wrist joints
B25J 18/00
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
18Arms
B25J 19/063
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
19Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
06Safety devices
063working only upon contact with an outside object
B25J 9/047
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
02characterised by movement of the arms, e.g. cartesian coordinate type
04by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
046Revolute coordinate type
047the pivoting axis of the first arm being offset to the vertical axis
Applicants
  • FANUC LTD [JP]/[JP] (AllExceptUS)
  • NAKASHIMA, Seiichiro [JP]/[JP] (UsOnly)
  • TOYODA, Kenichi [JP]/[JP] (UsOnly)
  • TORII, Nobutoshi [JP]/[JP] (UsOnly)
  • TERADA, Akihiro [JP]/[JP] (UsOnly)
  • MIZUNO, Hitoshi [JP]/[JP] (UsOnly)
Inventors
  • NAKASHIMA, Seiichiro
  • TOYODA, Kenichi
  • TORII, Nobutoshi
  • TERADA, Akihiro
  • MIZUNO, Hitoshi
Agents
  • AOKI, Akira @
Priority Data
59/15517727.07.1984JP
59/15729430.07.1984JP
Publication Language Japanese (ja)
Filing Language Japanese (JA)
Designated States
Title
(EN) INDUSTRIAL ROBOT HAVING HOLLOW ARM STRUCTURE
(FR) ROBOT INDUSTRIEL A STRUCTURE DE BRAS CREUSE
Abstract
(EN) 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.
(FR) Le bras creux (10) d'un robot se compose d'une pluralité de tubes (12, 14, 16) concentriquement agencés et d'engrenages moteurs (18a, 21a, 24a), (186, 246) soutenus de manière rotative aux deux extrémités de ces tubes (12, 14, 16). Une des extrémités du bras creux (10) est connectée à une articulation (30) du robot, et l'autre extrémité à un poignet creux (56), formant ainsi une structure de bras creuse. Dans un robot industriel pourvu de cette structure de bras creuse, des tuyaux d'étanchéité (50, 58a, 58b, 58c) sont formés dans les parties du bras creux (10) où les tubes (12, 14, 16) et les engrenages moteurs (18a, 21a, 24a), (18b, 24b) sont associés. Une conduite d'alimentation d'un matériau de revêtement et un fil d'alimentation de soudage sont insérés à travers ces tuyaux d'étanchéité (50, 58a, 58b, 58c). De plus, les parties d'articulation des tubes (12, 14, 16) et du poignet (56) sont pourvues de goupilles ou d'écrous connecteurs de cisaillement (20b, 26b) pour protéger les parties constituantes du robot contre des surcharges.
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