Fanuc Corporation

Kuniyasu Matsumoto

Hiroshi Nakagawa

Masaaki Uematsu

Masahiro Morioka

Wataru Amemiya

Kousuke Imasaka

Moriaki Oonishi

Kenichiro Abe

Kazutaka Nakayama

Yasuhiro Naitou

Masaaki Uematu

Akifumi Furuichi

Ryo Hinei

An object of the present invention is to simplify a joint, such as reducing the weight of the joint, in a robot arm mechanism capable of detecting contact of a person or an object. A robot arm mechanism () according to an embodiment of the present disclosure includes rotational joints (J, J). The rotational joint (J) and the rotational joint (J) are connected to each other by a link (). The link () includes a plurality of link portions (). The link portions () are coupled to each other via a torque sensor (), the link portions () are coupled to each other via a torque sensor (), and the link portions () are coupled to each other via a torque sensor ().

Robot arm mechanism

In a linear expansion mechanism, high rigidity is secured in all directions of orthogonal axes without any constraint on installation posture. The linear expansion mechanism includes: a block train made up of a plurality of blocks coupled along a coupling direction; a housing for containing the block train; a mechanism configured to deliver and draw the block train along the coupling direction; and a fixing mechanism configured to fix a relative position of a leading end position of the block train delivered from the housing relative to an entrance/exit position Pe located on the housing at which the block train enters and exits the housing with respect to directions orthogonal to the coupling direction of the block train.

Linear expansion mechanism

A robot system including a robot and a control device that controls the robot. The robot includes a first member, a second member that is rotationally driven around a predetermined first axis relative to the first member, and a first torque detector that detects a torque around the first axis. The control device includes an external-force upper-limit-value estimator that estimates an external-force upper limit value serving as an assumable upper limit value for an external force acting on the second member based on the torque detected by the first torque detector, and controls the robot to avoid an increase in the external force when the estimated external-force upper limit value is larger than a predetermined threshold value.

Robot system

A linear expansion mechanism includes: a plurality of linear-motion mechanisms assembled in series; a block train including a plurality of blocks coupled to each other in a row, a block at a leading end being connected to a linear-motion mechanism at a leading end; and a housing part that houses the block train. The housing part has a pair of arc-shaped rails and that being separately arranged on opposite sides of the block train, and a pair of projection bodies to be engaged with the pair of arc-shaped rails are provided on opposite side faces of each of the blocks.

A robot apparatus includes a base, a strut unit, and a linear expansion mechanismrotatably supported on the strut unit. The linear expansion mechanism includes: a plurality of cylindrical bodies assembled in series to each other; a block train including a plurality of blocks coupled to each other in a row, the block at the leading end being connected to the cylindrical body at the leading end; and a housing part that houses the block train along an arc-shaped trajectory, the housing part being arranged below the cylindrical body at the trailing end and above the strut unit.

Robot apparatus

A linear motion mechanism includes: a plurality of linear motion elements that are cascaded in a mutually movable manner; a shaft fixed to one of adjacent linear motion elements among the plurality of linear motion elements; and a slider movably engaged with the shaft and fixed to the other of adjacent linear motion elements.

Linear motion mechanism

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&#xb0; with regard to a radial direction perpendicular to the rotation axis.

Laying device for laying line element

A device used to lay line elements such as electric and/or fluid lines between a stationary housing and a moving housing. The device includes a double pipe structure having an inner pipe member and an outer pipe member. The outer pipe member is attached to the moving housing and rotatably supported by the stationary housing. The inner and outer pipe members are arranged in a generally coaxial relationship and coupled to each other by a coupling member. The line elements, which extend between a holding portion on the stationary housing and a holding portion on the moving housing, are divided into first and second groups, and the first group of line elements is laid to extend through an inner hole of the inner pipe member while the second group of line elements is laid to extend through an annular gap formed between the inner and outer pipe members.

Device for laying line elements

Pipes and/or wires extend in a bundle from a hollow portion of a second wrist element to a hollow portion of first wrist element of a robot. The first wrist element can rotate relatively to the second wrist element around an axis that passes through the two hollow portions. This bundle is divided into a plurality of split bundles in the hollow portion of the first wrist element. The split bundles are led out individually through a plurality of openings in the sidewall of the first wrist element and are connected to a working unit on a flange portion of the first wrist element.

Linear element laying structure in relative rotation mechanism

A line laying structure for a wrist of a robot capable of enhancing durability of lines of cables/pipes for flowing electricity, air, water, etc. to an end effector attached to the wrist, and reducing a restriction of angle of rotation of a wrist axis by rotation of the other wrist axes. First, second and third wrist elements of the wrist are rotatable around fist, second and third axes, respectively. The first wrist element is fixed to a distal end of a forearm of the robot, to be rotated on a mounting base with the forearm as a unit. The lines are clamped on the mounting base by a line retainer and laid inside the forearm and clamped at a distal end of the forearm inside and outside thereof by line retainers. The lines are then clamped by line retainers provided on the second wrist element and introduced to the third wrist element. Then, the lines are clamped by the line retainer provided on the third wrist element and drawn outside thereof to be connected with the end effector. Only limited sections S&#x2013;Sof the lines between the line retainers are subjected to bending, twisting and translation by the rotation of the wrist elements and the other sections of the lines are not influence by the rotation of the wrist elements, to enhance durability of the lines.

Line laying structure for robot wrist

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 M, Mand M, respectively. The first drive shaft is a hollow shaft for transmitting a rotational driving force from the motor Mto a first wrist element supported rotatably around the first axis B. The second and third drive shafts are arranged eccentrically with the first axis Bin an inner space of the first drive shaft. The second drive shaft transmits a rotational driving force from the motor Mto a second wrist element supported rotatably around the second axis B, and the third drive shaft transmits a rotational force from the motor Mto a third wrist element supported rotatably around the third axis B. 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.

Wrist driving mechanism for robot

A member for piping and wiring to an end effector of a robot is discharged from a first wrist element into a void area in a position displaced from an axis c, being bent and loosened, and then guided to a hollow path. Any variance in a length of the piping/wiring member due to rotations of second and third wrist elements is absorbed in this void area, so that twining round or scratching by a wrist can be prevented.

Wrist structure for a robot

A laser beam machining apparatus capable of highly accurate machining at a high speed. A parallel link mechanism including a plurality of links is fixed to a frame and a workpiece holder having moving means is provided thereunder. The links of the parallel link mechanism connect a movable member with a stationary member, and the movable member is moved with respect to the stationary member by the extending/retracting operation of the links. A laser head serving as a machining head is attached to the movable member. A supply line includes a laser transmitting optical fiber, pipes for supplying water, assist gas, etc., and an electrical signal line. A laser beam LB outputted from the laser head performs machining on a workpiece W on the workpiece holder. The supply line passes through a through hole formed inside link joint portions on the stationary member. Hollow motors for driving the links of the parallel link mechanism are mounted on the stationary member.

Growing community of inventors

Yamanashi, Japan

Kuniyasu Matsumoto