Fanuc Corporation

Masaaki Uematsu

Kuniyasu Matsumoto

Hiroshi Nakagawa

Masahiro Morioka

Norimitsu Uemura

Kenichiro Abe

Toshihiko Inoue

Masaru Oda

Takatoshi Iwayama

Kentarou Ootani

Toru Shirahata

Daisuke Akita

Masahiro Fanuc Dai3virakaramatsu Morioka

Kuniyasu Fanuc Dai3virakaramatsu Matsumoto

Hiroshi R 11-203 Fanuc Manshonharimomi Nakagawa

A robot including a wrist base, a wrist flange member including a flange surface for mounting an end effector, and an actuator driven to rotate the wrist flange member relative to the wrist base around an axis line orthogonal to the flange surface, the actuator includes a first member fixed to the wrist base and a second member fixed to the wrist flange member, a gap which is exposed in a direction opposite to the flange surface along the axis line is formed between a cylindrically shaped outer peripheral surface of the wrist base or the first member and a cylindrically shaped inner peripheral surface, which is arranged radially outside the outer peripheral surface, of the wrist flange member or the second member, and the robot includes an oil seal for sealing the gap.

Robot

A joint structure of a robot includes a first member, a second member which is rotatably supported around a horizontal rotation axis line with respect to the first member, and an actuator which rotates the second member with respect to the first member, a through-holes, each of which allows a lubrication space in which a lubricant for the actuator is enclosed to connect with an outer space is provided in at least one of the first member and the second member, and more than three of the through-holes are provided at an interval in a circumferential direction centering around the horizontal rotation axis line.

Joint structure of industrial robot

A control unit has as agitation mode in which a command is executed for a first switching valve so that the oil supply/discharge direction is switched so as to supply oil to a first oil supply/discharge port located at a low position and discharge oil from a second oil supply/discharge port located at a high position, whereby oil in an oil bath is agitated via a circulation pump from a low position to a high position is the oil bath; and a filter mode in which, after the agitation mode is executed, a command is executed for the first switching valve so that the oil supply/discharge direction is switched so as to discharge oil from the first oil supply/discharge port located at a low position and supply oil to the second oil supply/discharge port located in a high position, whereby impurities in the oil sent to a filter mechanism are filtered.

Oil circulation device and oil circulation system for agitating oil in oil bath

A robot includes: a robot body including a plurality of joints, and a cleaning mechanism provided to the robot body and configured to clean a predetermined cleaning target site of the robot body to which a foreign material is likely to adhere.

A teach pendant for teaching a robot includes an operation unit disposed on a first surface of the teach pendant, to perform an input operation; a display unit disposed on the first surface; and a camera disposed on a second surface opposite the first surface of the teach pendant. An image captured by the camera is displayed on the display unit.

Teach pendant and robot control system

A workpiece transfer robot system including a machine tool provided with a workpiece support section and a robot capable of transferring a workpiece relative to the workpiece support section of the machine tool. The machine tool includes a cover surrounding at least the workpiece support section. The cover includes a first side wall provided with a first opening usable for a workpiece transferring task of the robot. The robot includes a track member defining a traveling axis extending in a direction perpendicular to the first side wall of the cover of the machine tool; a slider attached to the track member and capable of traveling along the traveling axis; a first arm attached to the slider and capable of swinging about a first swing axis; a second arm attached to the first arm and capable of swinging about a second swing axis parallel to the first swing axis; and a workpiece hold section provided on the second arm and capable of accessing the workpiece support section through the first opening of the cover of the machine tool.

Workpiece transfer robot system

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.

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Yamanashi, Japan

Masaaki Uematsu