JPS59134690A - Multi-joint type arc welding robot - Google Patents
Multi-joint type arc welding robotInfo
- Publication number
- JPS59134690A JPS59134690A JP58009629A JP962983A JPS59134690A JP S59134690 A JPS59134690 A JP S59134690A JP 58009629 A JP58009629 A JP 58009629A JP 962983 A JP962983 A JP 962983A JP S59134690 A JPS59134690 A JP S59134690A
- Authority
- JP
- Japan
- Prior art keywords
- cable
- base
- fixed
- joint
- swivel
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/108—Bearings specially adapted therefor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0025—Means for supplying energy to the end effector
- B25J19/0029—Means for supplying energy to the end effector arranged within the different robot elements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
- B25J9/1035—Pinion and fixed rack drivers, e.g. for rotating an upper arm support on the robot base
Abstract
(57)【要約】本公報は電子出願前の出願データであるた
め要約のデータは記録されません。(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.
Description
【発明の詳細な説明】
本発明は多関節型アーク溶接口がット、特に溶接作業を
ロボットによシ行う多関節型アーク溶接ロボットに関す
るものである。DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an articulated arc welding port, and particularly to an articulated arc welding robot that performs welding work by a robot.
アーク溶接は母材と被溶接部材との結合部の機械的特性
が優れているため各種製造部門において広く利用されて
いる。Arc welding is widely used in various manufacturing sectors because the mechanical properties of the joint between the base metal and the welded member are excellent.
近年、溶接箇所の機械的特性の均一化、及び溶接作業の
省力化を図るために、ロボットによる溶接が盛んに行わ
れておシ、このような溶接ロボットとしては溶接トーチ
を溶接箇所に応じて縦横に移動することができる多関節
型のアーク溶接口ぎットが採用されている。In recent years, welding by robots has become popular in order to equalize the mechanical properties of welding locations and to save labor in welding work.These welding robots are capable of adjusting the welding torch according to the welding location. It uses an articulated arc welding joint that can move vertically and horizontally.
第１図には従来の多関節型アーク溶接ロボットの要部構
成が示され、基礎基盤１０には固定台１２がぎル）１４
によシ固定されておシ、この固定台１２ｔｉ上方に伸長
された筒状壁を有し”でいる。そし・てこの固定台１２
には旋回駆動モータ１６がその中心部に設けられており
、このように旋回駆動モータ１６を固定台１２に内蔵す
ることによシ装置の小型化が図られている。FIG. 1 shows the configuration of the main parts of a conventional multi-joint arc welding robot.
The fixed base 12 has a cylindrical wall extending upwardly.
A swing drive motor 16 is provided at the center of the swing drive motor 16, and by incorporating the swing drive motor 16 into the fixed base 12, the device can be made smaller.
この旋回駆動モータ１６の駆動軸は減速装置１８に連結
されておシ、旋回駆動モータ１６０回転がこの減速装置
１８によル所望の回転速度に減速される。前記減速装置
１８の出方軸は旋回台２ｏに連結されておシ、これによ
シ旋回台２ｏは前記固定台１２に対して旋回駆動モータ
１６の所望回転方向に対応Ｃて旋回を行うこととなる。The drive shaft of the swing drive motor 16 is connected to a reduction gear 18, and the rotation of the swing drive motor 160 is reduced to a desired rotational speed by the reduction gear 18. The exit shaft of the speed reducer 18 is connected to the swivel base 2o, so that the swivel base 2o rotates with respect to the fixed base 12 in accordance with the desired rotation direction of the swing drive motor 16. becomes.
前記旋回台２０には図示されていない多関節のロボット
アームが装着されてお夛、このロボットアームの先端部
には溶接トーチが設けられておシ、さらにロボットアー
ムには各関節軸を駆動する複数の関節モータが設けられ
ている。A multi-joint robot arm (not shown) is attached to the swivel table 20, and a welding torch is provided at the tip of the robot arm, and the robot arm also drives each joint axis. A plurality of joint motors are provided.
前記旋回駆動モータ１６及び図示されていない関節モー
タは固定金工２の基部に設けられたケー７” ｋ ジヨ
イント２２から駆動ケーブル２４によって配線接続され
ている。この駆動ケーブル２４は固定台１２０基部板２
７に保持され更に筒状壁の外周に沿い旋回台２ｏのケー
ブル保持板２６に保持されてお勺、前記第１図装置にお
いて、このケーブル保持板２６には第２図に示すように
旋回台２０の円周四等分位置に保持孔２６ａが設けられ
ており、この保持孔２６ａに駆動ケーブル２４が支持さ
れている。このケーブル保持板２６に保持された各駆動
ケーブルはそれぞれ対応する前記旋回駆動モータ１６及
び図示されていない関節モータに接続されている。従っ
て制御回路からの制御ケーブルをケーブルジヨイント２
２に接続するととにより駆動ケーブル２４を介して対応
する各モータに電力が供給され、所望のモータを駆動す
ることによシ旋回台２０及びロボットアームの所定部位
が旋回或いは移動し溶接トーチを溶接箇所に対応させて
所望の位置に移動することが可能となる。The swing drive motor 16 and the joint motor (not shown) are connected by a drive cable 24 from a cable joint 22 provided at the base of the fixed metalwork 2. This drive cable 24 is connected to the fixed base 120 and the base plate 2.
7, and is further held by a cable holding plate 26 of a swivel base 2o along the outer periphery of the cylindrical wall.In the apparatus shown in FIG. Holding holes 26a are provided at four equal positions on the circumference of 20, and the drive cable 24 is supported in the holding holes 26a. Each drive cable held by the cable holding plate 26 is connected to the corresponding swing drive motor 16 and a joint motor (not shown). Therefore, connect the control cable from the control circuit to cable joint 2.
2, power is supplied to each corresponding motor via the drive cable 24, and by driving the desired motor, the swivel table 20 and a predetermined part of the robot arm rotate or move, and the welding torch welds. It becomes possible to move to a desired position in accordance with the location.
しかしながらこの種の装置においては、駆動ケーブル２
４が固定台１２の外周部に沿って配設され、このケーブ
ル２４は固定台１２の基部板２７及びケーブル保持板２
６に保持される結果、第２図に示すように、旋回駆動モ
ータ１６の駆動により旋回台２０がたとえば所定量θだ
け回転すると、ケーブル保持板２６のＡ位置に保持され
たケーブルはＢ位置まで回動することとなり、これによ
シケーブル２４にねじシと引張夛が作用し、特にこの引
張シ作用によルケーブルに大きな張力が加ゎシ、これに
よシケーブル芯線が断線するという欠点があった。との
ため従来装置においては旋回台２０の旋回量を大きく取
ることができず、このためロゼツト６作業範囲が小領域
に限定されまた頻繁なケーブル芯線の断線にょルｏ？ッ
ト装置の信頼性が損われるという欠点があった。However, in this type of device, the drive cable 2
4 is arranged along the outer periphery of the fixed base 12, and this cable 24 is connected to the base plate 27 of the fixed base 12 and the cable holding plate 2.
As a result, as shown in FIG. 2, when the swivel base 20 is rotated, for example, by a predetermined amount θ by the drive of the swivel drive motor 16, the cable held at the A position of the cable holding plate 26 moves to the B position. As a result, the cable 24 is rotated, and as a result, a screw and tension force acts on the cable 24, and in particular, a large tension is applied to the cable due to this tension action, which causes the core wire of the cable to break. was there. Therefore, in the conventional device, it is not possible to take a large amount of rotation of the swivel table 20, and as a result, the working range of the rosette 6 is limited to a small area, and the cable core wires frequently break. The drawback was that the reliability of the cut device was compromised.
本発明は前述した従来の課題に鑑みなされたものであシ
、その目的は旋回台の旋回によってケーブル芯線の引張
シ断線が生じることのない多関節型アーク溶接ロボット
を提供することにある。The present invention has been made in view of the above-mentioned conventional problems, and an object of the present invention is to provide an articulated arc welding robot that does not cause tensile breakage of the cable core wire due to the rotation of the swivel table.
上記目的を達成するために本発明は、固定台に回動自在
に設けられた旋回台と、旋回台に装着され先端に設けた
溶接トーチを所望位置に移動する多関節の口がットアー
ムと、旋回台を旋回駆動する旋回駆動モータと、前記口
がットアームの各関節軸を駆動する関節モータと、固定
台に設けたケーブルジヨイントを介して旋回駆動モータ
及び関節モータに電力を供給するケーブルとを含む多関
節型アーク溶接ロボットにおいて、固定台には固定歯列
が周設されており、旋回駆動モータは旋回台に固定され
固定台の固定歯列と噛合うことによシ固定台に対して公
転自在に設けられておシ１前記ケーブルはケーブルジヨ
イントから旋回台の旋回中心位置に沿って配設されてい
ることを特徴とする。In order to achieve the above object, the present invention includes: a swivel base rotatably provided on a fixed base; a multi-joint mouth arm that is attached to the swivel base and moves a welding torch provided at the tip to a desired position; A swing drive motor that drives the swing base to swing, a joint motor that drives each joint axis of the gatt arm, and a cable that supplies power to the swing drive motor and the joint motor via a cable joint provided on the fixed base. In an articulated arc welding robot, including a fixed table, a fixed tooth row is installed around the fixed table, and the swing drive motor is fixed to the rotary table and engages with the fixed tooth row of the fixed table to move the rotation drive motor against the fixed table. The cable 1 is arranged so as to be able to freely revolve around the swivel base.
第３図には本発明に係る多関節型アーク溶接ロビットの
断面構成が示され、従来装置と同一部材には同一符号を
付しその説明を省略する。FIG. 3 shows a cross-sectional configuration of an articulated arc welding robot according to the present invention, and the same members as those in the conventional device are given the same reference numerals and their explanations will be omitted.
本発明において特徴的なことは、旋回駆動モータを旋回
台に固定し、さらにケーブルを旋回台の旋回中心位置に
沿って配設することにより、旋回台の旋回に伴うケーブ
ル芯線の断線を防止する構成としたことである。A characteristic feature of the present invention is that the swing drive motor is fixed to the swivel base, and the cable is further arranged along the center of rotation of the swivel base, thereby preventing the cable core from breaking as the swivel base rotates. This is the structure.
本実施例においては、固定台１２に７ランノ部２８を設
け、この７ランノ部２８に固定歯列３゜が周設されてい
る。In this embodiment, the fixed base 12 is provided with a 7-run section 28, and a fixed tooth row of 3 degrees is provided around the 7-run section 28.
一方旋回駆動モータ１６及び減速装置１８Ｆｉ旋回台２
０の外周壁に固定されておシ、前記減速装置１８の出力
軸に設けられたモータギヤ３２は前記固定台１２の固定
歯列３０と噛み合っている。On the other hand, the swing drive motor 16 and the speed reducer 18Fi swivel base 2
A motor gear 32 fixed to the outer circumferential wall of the motor 1 and provided on the output shaft of the reduction gear 18 meshes with a fixed tooth row 30 of the fixed base 12.
なお前記旋回台２０は固定台１２と軸受３４を介して回
動自在に設けられておシ、この結果、旋回駆動モータ１
６を所望方向に回転することにより前記固定歯列３０と
モータギヤ３２との噛み合いによシ旋回駆動モータ１６
は固定台１２の外周を公転することとなる。Note that the swivel base 20 is rotatably provided via the fixed base 12 and a bearing 34, and as a result, the swivel drive motor 1
6 in a desired direction, the rotation drive motor 16 is engaged with the fixed tooth row 30 and the motor gear 32.
will revolve around the outer periphery of the fixed base 12.
本実施例において、前述したようにケーブル２４はケー
ブルジヨイント２２から旋回台２０の旋回中心位置に沿
って配設されておル、この結果、旋回台２０が固定台１
２に対して第４図の状態から第５図の状態に旋回する際
には前述したように旋回台２０と旋回駆動モータ１６と
は固定されている結果、旋回駆動モータ１６も一体的に
旋回することとなり、第５図に示すようにたとえ旋回台
がθだけ回転したとしても前記旋回によるケーブルの過
度の引張シカは生じることがない。In this embodiment, as described above, the cable 24 is arranged from the cable joint 22 along the rotation center position of the swivel base 20, so that the swivel base 20 is connected to the fixed base 1.
2, when turning from the state shown in FIG. 4 to the state shown in FIG. Therefore, as shown in FIG. 5, even if the swivel table rotates by θ, the cable will not be excessively tensed due to the swivel.
従って本実施例によれば、ケーブル２４には旋回台２０
０回動に伴ってケーブル芯線が引張シ破断するという従
来装置の欠点を確実に除去することができる。Therefore, according to this embodiment, the cable 24 includes the swivel base 20
It is possible to reliably eliminate the drawback of the conventional device that the cable core wire is tensed and broken due to zero rotation.
以上説明したように本発明によれば、固定台には固定歯
列が周設されておシ、旋回駆動モータは旋回台に固定さ
れ固定台の固定歯列と噛み合うことにより固定台に対し
て公転自在に設けられており、また前記駆動ケーブルは
ケーブルジヨイントから旋回台の旋回中心位置に沿って
配設されている結果、旋回台の旋回によって駆動ケーブ
ルに異常な引張力が作用することが防止され、これによ
りケーブル芯線の破断を防止できロメット装置の長期に
渡る信頼性を確保することが可能となる。As explained above, according to the present invention, the fixed base is provided with a fixed tooth row, and the swing drive motor is fixed to the swivel base and engages with the fixed tooth row of the fixed base, so that the rotation drive motor is attached to the fixed base. Since the drive cable is arranged so as to be able to revolve freely, and the drive cable is arranged from the cable joint along the rotation center position of the swivel base, abnormal tensile force is not applied to the drive cable when the swivel base rotates. This prevents breakage of the cable core wire and ensures long-term reliability of the Romet device.
また、前述の如く異常な引張力の作用が除去される結果
、旋回台の旋回量を大きくでき、これによシロボット装
置の作業範囲を拡大できる。Further, as described above, as a result of eliminating the action of abnormal tensile force, the amount of rotation of the swivel table can be increased, and thereby the working range of the robot apparatus can be expanded.
第１図は従来の多関節型アーク溶接ロデットの要部構成
図、第２図は第１図の■−■断面を示し旋回台をθだけ
回転した場合の駆動ケーブルの状態を示す断面説明図、
第３図は本発明に係る多関節型アーク溶接口ゲットの断
面構成図、第４図は第３図のＩＶ−ＩＶ断面図、第５図
は第４図の状態から旋回台をθ回転した状態を示す断面
説明図である。
各図中同一部材には同一符号を付し、１２は固定台、１
６は旋回駆動モータ、２０は旋回台、２２はケーブルジ
ヨイント、２４は駆動ケーブル、３０は固定歯列である
。
代理人 弁理士 葛 野 信 −
（ほか１名）
第１図
第２図
第３図
第４図
第５図
特許庁長官殿
２１発明の名称
多関ｆｉｆｊ型アーク溶接ロボッ１〜
３、補正をする者
事件との関係 特許出願人
住 所 東京都千代田区丸の内二丁目２番３号名
称 （６０１）三菱電機株式会社代表者片山仁八部
４、代理人
５、補正の対象
明細書の発明の詳細な説明の欄。
６０９Figure 1 is a configuration diagram of the main parts of a conventional articulated arc welding rodet, and Figure 2 is a cross-sectional explanatory diagram showing the state of the drive cable when the swivel base is rotated by θ. ,
Fig. 3 is a cross-sectional configuration diagram of an articulated arc welding port get according to the present invention, Fig. 4 is a cross-sectional view taken along IV-IV in Fig. 3, and Fig. 5 is a θ rotation of the swivel base from the state shown in Fig. 4. It is a cross-sectional explanatory view showing a state. The same members in each figure are given the same reference numerals, 12 is a fixed base, 1 is
6 is a swing drive motor, 20 is a swivel base, 22 is a cable joint, 24 is a drive cable, and 30 is a fixed tooth row. Agent Patent Attorney Shin Kuzuno - (1 other person) Figure 1 Figure 2 Figure 3 Figure 4 Figure 5 Commissioner of the Japan Patent Office 21 Name of invention Takashi FIFJ type arc welding robot 1-3, amended Patent Applicant Address 2-2-3 Marunouchi, Chiyoda-ku, Tokyo Name (601) Mitsubishi Electric Corporation Representative Hitoshi Katayama 4, Agent 5, Invention of the Specification Subject to Amendment Detailed description field. 609
Claims (1)
回台に装置され先端に設けた溶接トーチを所望位置に移
動する多関節の口がットアームと、旋回台を旋回駆動す
る旋回駆動モータと、前記口がットアームの各関節軸を
駆動する関節モータと、固定台に設けたケーブルジヨイ
ントを介して旋回駆動モータ及び関節モータに電力を供
給するケーブルとを含む多関節型アーク溶接ロボットに
おいて、固定台には固定歯列が周設されておシ、旋回駆
動モータは旋回台に固定され固定台の固定歯列と噛合う
ことによシ固定台に対して公転自在に設けられておル、
前記ケーブルはケーブルジヨイントから旋回台の旋回中
心位置に沿って配設されていることを特徴とする多関節
型アーク溶接ロボット。(1) A swivel base that is rotatably mounted on a fixed base, a multi-jointed mouth arm that is installed on the swivel base and moves the welding torch provided at the tip to a desired position, and a swivel drive that drives the swivel base to rotate. A multi-joint arc welding robot that includes a motor, a joint motor that drives each joint axis of the gutter arm, and a cable that supplies power to the swing drive motor and the joint motor via a cable joint provided on a fixed base. In this case, a fixed tooth row is provided around the fixed base, and the swing drive motor is fixed to the swivel base and is provided to be able to freely revolve around the fixed base by meshing with the fixed tooth row of the fixed base. Oh,
An articulated arc welding robot, wherein the cable is arranged from a cable joint along a rotation center position of a rotation table.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP58009629A JPS59134690A (en) | 1983-01-24 | 1983-01-24 | Multi-joint type arc welding robot |
| FR8400991A FR2539662B1 (en) | 1983-01-24 | 1984-01-23 | ARTICULATED AUTOMATIC MANIPULATOR DEVICE, PARTICULARLY FOR ARC WELDING |
| GB08401820A GB2134074B (en) | 1983-01-24 | 1984-01-24 | Articulated robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP58009629A JPS59134690A (en) | 1983-01-24 | 1983-01-24 | Multi-joint type arc welding robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS59134690A true JPS59134690A (en) | 1984-08-02 |
Family
ID=11725541
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP58009629A Pending JPS59134690A (en) | 1983-01-24 | 1983-01-24 | Multi-joint type arc welding robot |
Country Status (3)
| Country | Link |
|---|---|
| JP (1) | JPS59134690A (en) |
| FR (1) | FR2539662B1 (en) |
| GB (1) | GB2134074B (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6246592U (en) * | 1985-09-11 | 1987-03-20 | ||
| JPS6258188U (en) * | 1985-09-27 | 1987-04-10 | ||
| WO1987005554A1 (en) * | 1986-03-15 | 1987-09-24 | Fanuc Ltd | Method for incorporating optical encoder into direct drive motor and robot driven by direct drive motor |
| WO1987007450A1 (en) * | 1986-05-30 | 1987-12-03 | Fanuc Ltd | Device for arranging cable of industrial robot |
| WO1994009949A1 (en) * | 1992-10-28 | 1994-05-11 | Fanuc Ltd | Industrial robot having joints using a hollow reduction gear |
Families Citing this family (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3434899A1 (en) * | 1983-10-19 | 1985-05-23 | Kuka Schweissanlagen + Roboter Gmbh, 8900 Augsburg | DEVICE FOR OUTSIDE HOLDING AND LEADING SUPPLY CABLES TO MOVING TOOLS OF MANIPULATORS |
| DE8511244U1 (en) * | 1985-04-16 | 1988-05-11 | Manutec Gesellschaft Fuer Automatisierungs- Und Handhabungssysteme Mbh, 8510 Fuerth, De | |
| DE8525812U1 (en) * | 1985-09-10 | 1987-02-19 | Manutec Gesellschaft Fuer Automatisierungs- Und Handhabungssysteme Mbh, 8510 Fuerth, De | |
| NL8600143A (en) * | 1986-01-23 | 1987-08-17 | Philips Nv | MANIPULATOR WITH ROD MECHANISM. |
| FR2606313B1 (en) * | 1986-11-12 | 1994-06-17 | Gm Thierion Sa | ROBOT HANDLING DEVICE WITH FOUR OR FIVE AXES |
| JPS63185596A (en) * | 1987-01-26 | 1988-08-01 | フアナツク株式会社 | Cable treater for industrial robot |
| JPH03256691A (en) * | 1990-03-08 | 1991-11-15 | Fanuc Ltd | Cable processing structure for revolving shaft for industrial robot |
| GB9221127D0 (en) * | 1992-10-07 | 1992-11-18 | Atomic Energy Authority Uk | A hydraulic manipulator |
| GB2271337B (en) * | 1992-10-07 | 1996-08-28 | Atomic Energy Authority Uk | A hydraulic manipulator |
| DE4244379C2 (en) * | 1992-12-29 | 2002-04-25 | Niko Automatisierungssysteme G | robot arm |
| SE514034C2 (en) * | 1994-01-26 | 2000-12-11 | Abb Ab | Wiring between junction boxes inside a robot for power transmission to motors and control systems |
| SE513887C2 (en) | 1998-10-16 | 2000-11-20 | Abb Ab | Industrial robot and control means for cabling for an industrial robot and use of the control means |
| JP2001273947A (en) * | 2000-03-28 | 2001-10-05 | Matsushita Electric Ind Co Ltd | Connecting cable |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3834555A (en) * | 1972-12-04 | 1974-09-10 | Budd Co | Article transfer apparatus |
| US3840128A (en) * | 1973-07-09 | 1974-10-08 | N Swoboda | Racking arm for pipe sections, drill collars, riser pipe, and the like used in well drilling operations |
| NO751952L (en) * | 1975-06-03 | 1976-12-06 | Akers Mek Verksted As | |
| DE2908523A1 (en) * | 1979-03-05 | 1981-01-29 | Jungheinrich Unternehmensverw | AUTOMATIC WORK TOOL |
| JPS584376A (en) * | 1981-06-29 | 1983-01-11 | ファナック株式会社 | Industrial robot |
| JPS58186581A (en) * | 1982-04-21 | 1983-10-31 | ファナック株式会社 | Turning device |
-
1983
- 1983-01-24 JP JP58009629A patent/JPS59134690A/en active Pending
-
1984
- 1984-01-23 FR FR8400991A patent/FR2539662B1/en not_active Expired - Fee Related
- 1984-01-24 GB GB08401820A patent/GB2134074B/en not_active Expired
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6246592U (en) * | 1985-09-11 | 1987-03-20 | ||
| JPS6258188U (en) * | 1985-09-27 | 1987-04-10 | ||
| WO1987005554A1 (en) * | 1986-03-15 | 1987-09-24 | Fanuc Ltd | Method for incorporating optical encoder into direct drive motor and robot driven by direct drive motor |
| WO1987007450A1 (en) * | 1986-05-30 | 1987-12-03 | Fanuc Ltd | Device for arranging cable of industrial robot |
| US4877973A (en) * | 1986-05-30 | 1989-10-31 | Fanuc Ltd. | Apparatus for dealing with cables in industrial robots |
| WO1994009949A1 (en) * | 1992-10-28 | 1994-05-11 | Fanuc Ltd | Industrial robot having joints using a hollow reduction gear |
Also Published As
| Publication number | Publication date |
|---|---|
| GB2134074B (en) | 1986-03-26 |
| GB2134074A (en) | 1984-08-08 |
| GB8401820D0 (en) | 1984-02-29 |
| FR2539662A1 (en) | 1984-07-27 |
| FR2539662B1 (en) | 1990-02-02 |
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