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公开(公告)号：US08109170B2
公开(公告)日：2012-02-07
申请号：US12505969
申请日：2009-07-20
CPC分类号： B25J19/0025 , H02G11/00 , Y10S414/131 , Y10T74/20305 , Y10T74/20311 , Y10T74/20329 , Y10T74/20335
摘要： 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.
摘要翻译： 脐部件运动限制装置设置在机器人上，该机器人具有前臂，腕部，连接到腕部的端部的操作工具，以及通过前臂连接到操作工具的脐带构件，用于限制 脐带部件对应于机器人的运动。 运动限制装置包括：摆动部分，其围绕摆动轴线旋转安装到腕部;以及限制部分，其布置在摆动部分上，用于限制脐带部件的运动。 因此，运动限制装置可以最小化由于脐带构件的多余长度引起的干扰，并避免脐带构件与外部设备的接触。
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公开(公告)号：US07516857B2
公开(公告)日：2009-04-14
申请号：US11636209
申请日：2006-12-08
申请人： Conrad Müller , Thomas Brummer
发明人： Conrad Müller , Thomas Brummer
IPC分类号： B66C13/12
CPC分类号： B66C19/002 , B66C7/06 , Y10S414/131
摘要： A crane with a boom, on which running tracks for cable carriers are disposed, having two running tracks for the cable carriers, which engage into one another with a positive lock. One running track is connected with the crane or the boom, and the other running track is displaceable on the crane or the boom.
摘要翻译： 具有吊杆的起重机，其上布置有用于电缆载体的运行轨道，具有用于电缆载体的两个行进轨道，其以正锁相互接合。 一个运行轨道与起重机或起重臂连接，另一个行驶轨道可在起重机或吊杆上移动。
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公开(公告)号：US07028578B2
公开(公告)日：2006-04-18
申请号：US10401789
申请日：2003-03-31
CPC分类号： B25J17/0283 , Y10S414/131 , Y10T74/20329 , Y10T74/20335
摘要： A wrist driving mechanism capable of arranging a large amount of cables and pipes in a robot arm. A robot wrist mechanism having three degrees of freedom is driven by first, second and third drive shafts for transmitting driving forces of first, second and third motors M4, M5 and M6, respectively. The first drive shaft is a hollow shaft for transmitting a rotational driving force from the motor M4 to a first wrist element supported rotatably around the first axis B1. The second and third drive shafts are arranged eccentrically with the first axis B1 in an inner space of the first drive shaft. The second drive shaft transmits a rotational driving force from the motor M5 to a second wrist element supported rotatably around the second axis B2, and the third drive shaft transmits a rotational force from the motor M6 to a third wrist element supported rotatably around the third axis B3. A first gear and a third gear as planet gears and a second gear and a fourth gear as sun gears are provided for avoiding complication of structure due to the eccentric arrangement of the second and third drive shafts.
摘要翻译： 一种能够在机器人手臂中布置大量电缆和管道的手腕驱动机构。 具有三个自由度的机器人手腕机构由第一，第二和第三驱动轴驱动，用于分别传递第一，第二和第三电动机M 4，M 5和M 6的驱动力。 第一驱动轴是用于将来自马达M4的旋转驱动力传递到围绕第一轴线B1可旋转地支撑的第一腕部元件的中空轴。 第二和第三驱动轴在第一驱动轴的内部空间中与第一轴线B 1偏心地布置。 第二驱动轴将来自马达M5的旋转驱动力传递到围绕第二轴线B 2可旋转地支撑的第二腕部元件，并且第三驱动轴将来自马达M6的旋转力传递到可旋转地支撑的第三腕部元件 第三轴B 3。 提供作为行星齿轮的第一齿轮和第三齿轮以及作为太阳齿轮的第二齿轮和第四齿轮，以避免由于第二和第三驱动轴的偏心布置引起的结构的复杂化。
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公开(公告)号：US20050111953A1
公开(公告)日：2005-05-26
申请号：US10719677
申请日：2003-11-21
申请人： Neal Westendorf , Joseph Langenfeld
发明人： Neal Westendorf , Joseph Langenfeld
CPC分类号： E02F3/6273 , E02F3/3645 , E02F3/3654 , Y10S414/131
摘要： A loader assembly is provided according to the invention. The loader assembly includes a boom arm and a bracket assembly. The boom arm includes a tower that includes a plurality of first hydraulic fluid coupler members, a lift arm that rotates relative to the tower about a tower/lift arm rotating pin, and at least one hydraulic cylinder. The bracket assembly includes a stationary bracket that includes a plurality of second hydraulic fluid coupler members. The stationary bracket is constructed for attachment to a motor vehicle and attachment to the tower to provide a fluid connection between the first coupler members and the second coupler members. The rotating bracket rotates relative to the stationary bracket about a bracket rotation pin. The rotating bracket is constructed to receive the tower and rotate the tower for attachment to the stationary bracket. A combination motor vehicle and loader assembly, and methods for operating a loader assembly are provided. Hydraulic cylinders that are ported at one end are also provided.
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公开(公告)号：US20050047899A1
公开(公告)日：2005-03-03
申请号：US10652583
申请日：2003-08-29
申请人： Takatoshi Sugimoto
发明人： Takatoshi Sugimoto
CPC分类号： E02F9/2275 , E02F3/325 , E02F3/384 , E02F9/2271 , Y10S414/131
摘要： A boom assembly includes a hollow bent boom pivotally connected to a swing bracket, a hollow arm pivotally connected to a leading end of the boom and pivotally supporting an implement at a leading end of the arm, a pair of right and left connecting brackets attached to opposed side faces of a base end of the arm, an implement cylinder provided between the implement and the connecting brackets for operating the implement, a hydraulic service port for a hydraulic implement, and a hydraulic oil pipe for supplying pressure oil to the implement cylinder and the hydraulic service port. The hydraulic service port is provided in the connecting brackets and the hydraulic oil pipe extends through the inside of the hollow boom to be exposed to the outside from a back face area of the leading end of the boom and then further extends between the pair of right and left connecting brackets. A portion of the leading end of the hydraulic oil pipe is connected to the implement cylinder and a further portion thereof is connected to the hydraulic service port.
摘要翻译： 动臂组件包括枢转地连接到摆动支架的空心弯曲臂，可枢转地连接到动臂的前端的中空臂，并且枢转地支撑在臂的前端处的工具，一对右和左连接支架附接到 设置在工具和用于操作工具的连接支架之间的工具缸，用于液压工具的液压维修口，以及用于向工具缸供给压力油的液压油管;以及 液压服务口。 液压维修口设置在连接支架中，液压油管延伸穿过空心吊臂的内部，从悬臂前端的后表面区域露出到外面，然后进一步在一对右侧 并留下连接支架。 液压油管的前端的一部分连接到工具缸，并且其另一部分连接到液压维修口。
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公开(公告)号：US20040169108A1
公开(公告)日：2004-09-02
申请号：US10248885
申请日：2003-02-27
发明人： Gregory W. Terpay
IPC分类号： B64C027/00
CPC分类号： B64C27/605 , B64C27/615 , B64C2027/7266 , Y02T50/34 , Y10S414/131
摘要： A fluid conduit is provided for use in a hydraulic actuating system for controlling an instrumentality disposed on a rotating portion of a machine. The fluid conduit transports pressurized fluid between a fluid source disposed on a non-rotating portion of the machine and the instrumentality and comprises a rigid tubular member formed in the shape of a helix having at least about 2 revolutions and a non-constant pitch length. The ends of the tube are adapted to be sealingly connected between the fluid source and the instrumentality. The fluid conduit is used, for example, in an apparatus and system for controlling a hydraulic actuator mounted on a rotating blade.
摘要翻译： 提供流体导管用于液压致动系统中，用于控制设置在机器旋转部分上的仪器。 流体导管在设置在机器的非旋转部分上的流体源和器具之间输送加压流体，并且包括形成为具有至少约2转和非恒定节距长度的螺旋形状的刚性管状构件。 管的端部适于密封地连接在流体源和器具之间。 流体管道例如用于控制安装在旋转叶片上的液压致动器的装置和系统中。
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公开(公告)号：US20030192391A1
公开(公告)日：2003-10-16
申请号：US10401789
申请日：2003-03-31
申请人： FANUC LTD.
IPC分类号： B25J017/00
CPC分类号： B25J17/0283 , Y10S414/131 , Y10T74/20329 , Y10T74/20335
摘要： A wrist driving mechanism capable of arranging a large amount of cables and pipes in a robot arm. A robot wrist mechanism having three degrees of freedom is driven by first, second and third drive shafts for transmitting driving forces of first, second and third motors M4, M5 and M6, respectively. The first drive shaft is a hollow shaft for transmitting a rotational driving force from the motor M4 to a first wrist element supported rotatably around the first axis B1. The second and third drive shafts are arranged eccentrically with the first axis B1 in an inner space of the first drive shaft. The second drive shaft transmits a rotational driving force from the motor M5 to a second wrist element supported rotatably around the second axis B2, and the third drive shaft transmits a rotational force from the motor M6 to a third wrist element supported rotatably around the third axis B3. A first gear and a third gear as planet gears and a second gear and a fourth gear as sun gears are provided for avoiding complication of structure due to the eccentric arrangement of the second and third drive shafts.
摘要翻译： 一种能够在机器人手臂中布置大量电缆和管道的手腕驱动机构。 具有三个自由度的机器人手腕机构由第一，第二和第三驱动轴驱动，用于传递第一，第二和第三电动机M ，高亮度，M
5 的驱动力和 M 6 。 第一驱动轴是用于将来自电动机M 4 的旋转驱动力传递到围绕第一轴线B 1 可旋转地支撑的第一腕部元件的空心轴。 第二驱动轴和第三驱动轴在第一驱动轴的内部空间中与第一轴线B 1 偏心地布置。 第二驱动轴将来自马达M 5 的旋转驱动力传递到围绕第二轴线B 2 可旋转地支撑的第二腕部元件，并且第三驱动轴传递旋转 电动机M 6 的力可旋转地围绕第三轴B 3 支撑。 提供作为行星齿轮的第一齿轮和第三齿轮以及作为太阳齿轮的第二齿轮和第四齿轮，以避免由于第二和第三驱动轴的偏心布置引起的结构的复杂化。 -
公开(公告)号：US06202831B1
公开(公告)日：2001-03-20
申请号：US09307550
申请日：1999-05-07
申请人： Uwe Manthei
发明人： Uwe Manthei
IPC分类号： B65G3700
CPC分类号： H02G11/006 , Y10S414/131
摘要： A work station feeding module with a rail includes a carriage guided thereon and movable along the rail. The work station feeding module includes at least one supply line guided in a flexible energy supply chain arranged within the rail. One end of the flexible energy supply chain is fixed with respect to the rail and the other end is fastened on the carriage. Such work station feeding modules have the disadvantage that only electric lines can be guided in such modules and additional feeding devices must be provided for other energy carriers or raw materials. The work station feeding module enables a simpler and more compact feeding of the work station and guarantees that at least one of the supply lines is a compressed-air line. A compressed-air outlet connection is provided on the carriage. The module has a continuous compressed-air channel in its longitudinal direction that is connected to the rail-fixed end of the compressed-air line through an output branch.
摘要翻译： 具有导轨的工作站供给模块包括在其上引导并可沿着轨道移动的滑架。 工作站供给模块包括在布置在轨道内的柔性能量供应链中引导的至少一个供给管线。 柔性能量供应链的一端相对于导轨固定，另一端紧固在滑架上。 这样的工作站供给模块的缺点在于，只有电线可以在这种模块中被引导，并且必须为其他能量载体或原材料提供额外的馈送装置。 工作站供给模块能够使工作站更简单且更紧凑地进给，并且确保至少一个供应管线是压缩空气管路。 在滑架上设有压缩空气出口连接。 该模块在其纵向上具有连续的压缩空气通道，其通过输出分支连接到压缩空气管路的轨道固定端。
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公开(公告)号：US06189403B1
公开(公告)日：2001-02-20
申请号：US09292615
申请日：1999-04-15
申请人： Alwin Berninger
发明人： Alwin Berninger
IPC分类号： B25J1800
CPC分类号： B25J19/0025 , Y10S414/131 , Y10T74/20311
摘要： In order to guide a cable for a robot in a protective fashion while facilitating simple insertion of protected cables in a robot arm, in particular a robot arm bearing a hand arbor motor, having a cable guide channel extending substantially along the robot arm and having a sideward opening along its entire length.
摘要翻译： 为了以保护的方式引导机器人的电缆线，同时便于将被保护的电缆简单地插入到机器人手臂中，特别是带有手柄电动机的机器人臂，其具有基本上沿机器人手臂延伸的电缆引导通道，并且具有 沿着整个长度向侧开。
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公开(公告)号：US5893490A
公开(公告)日：1999-04-13
申请号：US789680
申请日：1997-01-27
申请人： Steven M. Gnyp
发明人： Steven M. Gnyp
CPC分类号： B05B13/0431 , B25J19/0025 , Y10S414/131
摘要： A hose mounting arrangement for an adhesive-dispensing robot of the type having a mobile robot arm which applies high viscosity adhesive to a workpiece on an assembly line via a dispenser nozzle on the end of the robot arm. A rigid hose-supporting boom is mounted in cantilever fashion on a rear portion of the robot, such that the forward end of the boom extends to a point proximate and above the robot arm wrist. The boom either carries or forms a rigid adhesive supply conduit. Adhesive from the conduit is carried to the dispenser nozzle on the end of the robot arm by a short length of semi-rigid supply hose connected at one end to the top surface of the forward end of the boom, and extending up, out and around in the form of an inverted loop or bail to the dispenser nozzle. The rigid, cantilever mounting of the first end of the supply hose, its short length, its inverted bail shape, and its rigidity when inflated with adhesive keeps the hose clear of the robot arm throughout the entire range of motion of the robot arm, thereby eliminating interference and hose wear.
摘要翻译： 一种用于粘合剂分配机器人的软管安装装置，其具有移动机器人臂，其通过机器人手臂的端部上的分配器喷嘴将高粘度粘合剂施加到组装线上的工件上。 刚性软管支撑臂以悬臂方式安装在机器人的后部，使得悬臂的前端延伸到机器人手腕腕部附近和上方的点。 起重臂运送或形成刚性粘合剂供应管道。 来自导管的粘合剂通过短长度的半刚性供应软管被携带到机器人手臂的末端上的分配器喷嘴，其一端连接到悬臂前端的上表面，并且向上，向外和向外延伸 以反向回路或吊环的形式分配给分配器喷嘴。 供应软管的第一端的刚性，悬臂安装，其短的长度，倒置的吊环形状以及当用粘合剂充气时的刚度使得软管在机器人手臂的整个运动范围内清除机器人手臂，从而 消除干扰和软管磨损。
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