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121. 发明申请

US20030137219A1 Device and method for securing apparatuses with parts freely movable in space 有权
标题翻译：用于固定具有在空间中可自由移动的部件的装置的装置和方法
公开(公告)号：US20030137219A1
公开(公告)日：2003-07-24
申请号：US10321007
申请日：2002-12-17
发明人： Peter Heiligensetzer , Fritz Steininger
IPC分类号： H01L041/08
CPC分类号： B25J13/086 , B25J13/084 , B25J19/0091 , B25J19/027 , B25J19/063 , F16P3/12 , F16P3/144 , F16P3/148
摘要： The invention relates to a safety device for apparatuses having parts freely movable in space, particularly handling equipment such as industrial robots or driverless transportation means, as well as a method for securing such apparatuses by means of such a safety device. The apparatuses have switching means which in the case of a collision of the moving parts with persons or objects emit a control signal through which the moving parts can be stopped or an emergency program can be started up, which brings about a movement sequence opposing the approach movement. The invention is characterized in that the safety device is constructed in the form of a tactile sensor system formed from optical waveguides and located on moving parts of the apparatus.
摘要翻译：本发明涉及一种用于具有在空间中可自由移动的部件的设备的安全装置，特别是工业机器人或无人驾驶传送装置等处理设备，以及通过这种安全装置来固定这些装置的方法。这些装置具有切换装置，其在运动部件与人或物体发生碰撞的情况下发射控制信号，通过该控制信号可以停止运动部件或可启动紧急程序，这导致与方法相反的运动顺序运动。本发明的特征在于，安全装置构造成由光波导形成并位于装置的运动部分上的触觉传感器系统。

122. 发明授权

US06346751B1 Safety tool mount for robotic apparatus 有权
标题翻译：用于机器人装置的安全工具安装座
公开(公告)号：US06346751B1
公开(公告)日：2002-02-12
申请号：US09503567
申请日：2000-02-14
申请人： Antonio Delfino , Dario Delfino
发明人： Antonio Delfino , Dario Delfino
IPC分类号： H02H100
CPC分类号： B25J19/063 , Y10T307/786
摘要： A safety mount for a tool on robotic apparatus, for protection of the tool should it encounter an obstruction to movement by the apparatus. The mount includes a hollow housing having a first end, a second end and a central axis passing through the ends. The housing is attachable at its first end to the robotic apparatus. Electrical switches are mounted in the housing radially outward of the axis, each switch having an operating member facing toward the first end of the housing and being biased toward the first end to a position establishing a first circuit condition and movable to a pressed-down position establishing a second circuit condition. A presser head is mounted in the housing and is biased for pressing down the switch-operating members. The presser head has a stem extending generally on the axis out of the second end of the housing for attachment of a tool holder thereto. The tool acts on encountering an obstruction either to deflect the stem at an angle resulting in angular deflection of the presser head to release at least one switch-operating member or to move the stem inwardly with respect to the housing with resultant axial movement of the presser head away from the switch-operating members to release all of them, thereby establishing the first circuit condition as a safety signal.
摘要翻译：用于机器人装置上的工具的安全装置，用于保护工具，如果该装置遇到阻碍装置移动的障碍物。安装座包括具有第一端，第二端和穿过端部的中心轴的中空壳体。壳体的第一端可附接到机器人装置。电气开关安装在壳体的径向向外的轴线上，每个开关具有面向壳体的第一端的操作构件，并朝向第一端被偏置到建立第一电路状态的位置并且可移动到下压位置建立第二电路条件。压头安装在壳体中并被偏压以按压开关操作构件。压头具有大体上在轴外延伸出壳体第二端的杆，用于将工具架附接到其上。该工具作用在遇到障碍物以使角度偏转一定角度，导致压头的角度偏转以释放至少一个开关操作构件或者使杆相对于壳体向内移动，导致压脚的轴向运动远离开关操作构件以将其全部释放，从而建立作为安全信号的第一电路状态。

123. 发明授权

US06333696B1 Collision preventing device for a measuring apparatus and measuring apparatus having collision preventing unit 有权
标题翻译：具有防撞单元的测量装置和测量装置的防碰撞装置
公开(公告)号：US06333696B1
公开(公告)日：2001-12-25
申请号：US09712298
申请日：2000-11-15
申请人： Sadayuki Matsumiya , Masanori Arai
发明人： Sadayuki Matsumiya , Masanori Arai
IPC分类号： G08B2100
CPC分类号： B25J19/063 , G01B5/008 , G01B11/005
摘要： A collision preventing device includes: a holder 20; an annular collision detecting portion 30; holding means 40; and switching means 50. The holder 20 is attached to a non-contact probe 18. The annular collision detecting portion 30 covers the non-contact probe 18. The holding means 40 holds the collision detecting portion 30 displaceably and returnably in a Z-axis direction with respect to the holder 20. The switching means 50 detects a relative displacement occurring between the holder 20 and the collision detecting portion 30 and commands a driving system to stop the movement of the non-contact probe 18 or move the non-contact probe 18 in a escape direction. Accordingly, it is possible to prevent the breakage of the non-contact probe 18, the main body of the measuring apparatus, the work, and the like due to the collision.
摘要翻译：防撞装置包括：保持器20; 环形碰撞检测部30; 保持装置40; 保持器20安装在非接触式探头18上。环形碰撞检测部分30覆盖非接触式探头18.保持装置40将碰撞检测部分30以Z轴方式可移动地和可回复地保持方向相对于保持器20.切换装置50检测在保持器20和碰撞检测部分30之间发生的相对位移，并命令驱动系统停止非接触式探针18的运动或移动非接触式探针 18在逃避的方向。因此，可以防止由于碰撞而导致的非接触式探针18，测量装置的主体，工件等的破损。

124. 发明授权

US5796229A Method and apparatus for robotic force controlled material removal with programmable overload release function 失效
标题翻译：具有可编程过载释放功能的机器人力控制材料去除的方法和装置
公开(公告)号：US5796229A
公开(公告)日：1998-08-18
申请号：US758877
申请日：1996-12-02
申请人： Hadi A. Akeel
发明人： Hadi A. Akeel
IPC分类号： B23Q15/013 , B23Q11/00 , B23Q17/09 , B23Q17/22 , B24B49/16 , B24B55/00 , B25J13/00 , B25J19/06 , G05B9/02
CPC分类号： B23Q17/0966 , B23Q17/0976 , B23Q17/2233 , B24B49/16 , B24B55/00 , B25J11/0065 , B25J19/063
摘要： An overload release apparatus for a robot supports a cutting tool such as an abrasive grinding wheel. A force sensor detects an amount of force applied to the cutting tool by a workpiece while a force release mechanism reduces the force applied to the cutting tool. The force release mechanism includes an electromagnet secured within a housing, a follower disposed within the housing which is allowed to move both linearly and angularly, and an elastic element interposed between an upper wall of the housing and the follower. During normal operation, the follower maintains contact with and is supported by a shoulder formed on an inner circumferential wall of the housing by an attractive force of an electromagnet. When a cutting tool, such as an abrasive cutting wheel, engages with an irregularity on a workpiece, an axial force and a moment are applied to the follower causing the follower to move both linearly and angularly inside the housing. The follower and the housing maintain contact through engagement between a toroidal shaped circular protrusion, formed on the follower, and a cylindrical surface disposed about a hole in the housing. Vibrations transmitted from the cutting tool to the follower are received by an elastic vibration damping medium which is interposed between the follower and the housing to thereby absorb high frequency vibrations.
摘要翻译：用于机器人的过载释放装置支撑诸如研磨砂轮的切割工具。力传感器检测由工件施加到切削工具的力的量，而力释放机构减小施加到切削工具的力。力释放机构包括固定在壳体内的电磁体，设置在壳体内的随动件，其被允许线性地和有角度地移动，以及插入在壳体的上壁和从动件之间的弹性元件。在正常操作期间，跟随器通过电磁体的吸引力与形成在壳体的内周壁上的肩部保持接触并由其支撑。当诸如研磨切割轮的切割工具与工件上的凹凸接合时，轴向力和力矩被施加到从动件，使得从动件在壳体内线性地和有角度地移动。从动件和壳体通过形成在从动件上的环形圆形突起与围绕壳体中的孔布置的圆柱形表面之间的接合保持接触。从切割工具传递到从动件的振动由插入在从动件和壳体之间的弹性减震介质接收，从而吸收高频振动。

125. 发明授权

US5775750A Robotic collision detection bumper 失效
标题翻译：机器人碰撞检测保险杠
公开(公告)号：US5775750A
公开(公告)日：1998-07-07
申请号：US666856
申请日：1996-06-19
申请人： Noel J. Gauci , Paul T. Prange
发明人： Noel J. Gauci , Paul T. Prange
IPC分类号： B25J19/06 , B60R19/48 , B60T7/22 , B60R19/00
CPC分类号： B60R19/483 , B25J19/063 , B60T7/22
摘要： In accordance with the teachings of the present invention, a robot bumper device coupled to a mobile robot for immobilizing the robot when a predetermined external force is sensed and a robotic bumper system for controlling at least one mobile robot located within an assembly area is provided. The robot bumper device includes at least one constant force spring member having a first portion attached to an outer surface of a mobile robot for providing constant absorption of an external force resulting from a collision between the bumper device and an unsuspecting object. A pressure sensitive electronic switch is mounted to a first surface of a substantially planar plastic member that extends across a predetermined length of the mobile robot. A second portion, opposite the first portion, of the at least one constant force spring member is mounted to a second surface of the plastic member such that the at least one constant force spring member is compressed when the external force resulting from a collision is exerted against the pressure sensitive electronic switch. The switch closes and generates an electric signal for controlling movements of the mobile robot.
摘要翻译：根据本发明的教导，提供了一种机器人保险杠装置，其耦合到可移动机器人，用于在检测到预定的外力时固定机器人;以及机器人保险杠系统，用于控制位于组装区域内的至少一个移动机器人。机器人保险杠装置包括至少一个恒力弹簧构件，其具有附接到可移动机器人的外表面的第一部分，用于提供由保险杠装置与不知情物体之间的碰撞产生的外力的恒定吸收。压敏电子开关安装到延伸穿过移动机器人的预定长度的基本上平面的塑料构件的第一表面。至少一个恒力弹簧构件的与第一部分相对的第二部分安装到塑料构件的第二表面上，使得当发生由碰撞产生的外力时，至少一个恒力弹簧构件被压缩针对压敏电子开关。开关闭合并产生用于控制移动机器人的移动的电信号。

126. 发明授权

US5314293A Direct drive robotic system 失效
标题翻译：直接驱动机器人系统
公开(公告)号：US5314293A
公开(公告)日：1994-05-24
申请号：US941859
申请日：1992-09-08
申请人： Brian R. Carlisle , Carl R. Witham , Donald R. Allan , John W. Meadows
发明人： Brian R. Carlisle , Carl R. Witham , Donald R. Allan , John W. Meadows
IPC分类号： B25J9/06 , B25J9/04 , B25J9/10 , B25J17/00 , B25J19/06
CPC分类号： B25J9/044 , B25J19/063 , B25J9/102 , B25J9/105 , Y10T74/18856 , Y10T74/19181 , Y10T74/20323
摘要： An articulated direct drive robotic manipulator providing rotation of first and second arms about first and second parallel axes including first and second motors for driving the rotation of the first and second arms. A pedestal is mounted on a base, the first motor is directly coupled to a rotatable column in the pedestal for providing a first robot arm with a first degree of freedom, a second motor is coupled to a rotatable column coaxial to the first column for providing the manipulator with a second degree of freedom by rotation of the second arm. The distal end of the second arm includes support for an end effector for movement about a third axis which is a vertical axis and a fourth axis which is a rotational axis and support for a quill. Also included is a modular device adapted to be coupled to the end of the quill which can move within horizontal planes passing through the third axis to provide a fifth degree of freedom.
摘要翻译：铰接的直接驱动机器人操纵器提供围绕第一和第二平行轴线的第一和第二臂的旋转，包括用于驱动第一和第二臂的旋转的第一和第二马达。基座安装在基座上，第一电动机直接联接到基座中的可旋转柱，用于提供具有第一自由度的第一机器人臂，第二电动机联接到与第一列同轴的可旋转柱，用于提供通过第二臂的旋转具有第二自由度的操纵器。第二臂的远端包括用于端部执行器的支撑件，用于围绕作为垂直轴线的第三轴线和作为旋转轴线的第四轴线和用于支撑件的运动。还包括适于联接到套筒的端部的模块化装置，其可以在穿过第三轴线的水平平面内移动以提供第五自由度。

127. 发明授权

US5002173A Breakaway clutch device 失效
标题翻译：分离离合器装置
公开(公告)号：US5002173A
公开(公告)日：1991-03-26
申请号：US486092
申请日：1990-03-05
申请人： Daniel E. Hucul , James F. Burkhardt , Ronald R. Matheson
发明人： Daniel E. Hucul , James F. Burkhardt , Ronald R. Matheson
IPC分类号： B25J19/06
CPC分类号： B25J19/063
摘要： A clutch device adapted for use with robotic tooling is disclosed. The clutch device, which is assembled in a housing having a longitudinal axis, includes a sensing device for detecting undesired pressure from an external source. A rod is fixably secured to the housing and extends along the longitudinal axis of the housing. A collar assembly is provided for connecting the clutch device to robotic tooling. The collar assembly is capable of being pivotally associated with the housing. A piston assembly, which is in communication with the sensing device, is disposed about the rod and moves the collar assembly between a first substantially static position to a second broken-away position upon receiving a signal from the sensing device.
摘要翻译：公开了一种适用于机器人工具的离合器装置。组装在具有纵向轴线的壳体中的离合器装置包括用于从外部源检测不期望的压力的感测装置。杆可固定地固定到壳体并沿着壳体的纵向轴线延伸。提供了用于将离合器件连接到机器人工具的套环组件。套环组件能够与壳体枢转地相关联。与感测装置连通的活塞组件围绕杆设置并且当接收到来自感测装置的信号时，将套环组件在第一基本上静止的位置和第二断开位置之间移动。

128. 发明授权

US4842118A Clutch 失效
标题翻译：离合器
公开(公告)号：US4842118A
公开(公告)日：1989-06-27
申请号：US158221
申请日：1988-02-19
申请人： Daniel Puzio , William H. Georges , Gary L. Bevilacqua
发明人： Daniel Puzio , William H. Georges , Gary L. Bevilacqua
IPC分类号： B25J17/02 , B25J19/06
CPC分类号： B25J19/063 , B25J17/0208 , B25J17/0275
摘要： The present invention provides an apparatus and method of utilization thereof of a clutch for placement between a robot or the like and an attached end of arm tooling device. A preferred embodiment of the inventive clutch provides compliance in six axes with adjustable setting and detection means to signal the robot or like to cease operation upon deformation of the clutch element.
摘要翻译：本发明提供了一种用于放置在机器人等之间的离合器和臂工具装置的附接端的装置和方法。本发明的离合器的一个优选实施例提供了六个轴线的可调节设置和检测装置的顺应性，用于发信号通知机器人或类似物以在离合器元件变形时停止操作。

129. 发明授权

US4822200A Overload protector for a robot 失效
标题翻译：机器人过载保护器
公开(公告)号：US4822200A
公开(公告)日：1989-04-18
申请号：US127853
申请日：1987-12-02
申请人： Klaus Berner
发明人： Klaus Berner
IPC分类号： B25J17/02 , B25J19/06 , F16D1/00
CPC分类号： B25J19/063 , Y10T403/45 , Y10T403/459
摘要： At least one torsion spring is traversely mounted between first and second elements of an overload protector. One end of the spring is elongated to form a pressure arm which bears against the second element.
摘要翻译：至少一个扭转弹簧横向安装在过载保护器的第一和第二元件之间。弹簧的一端是细长的，以形成一个抵靠第二元件的压力臂。

130. 发明授权

US4818174A Compact robot arm member relative movement sensor 失效
标题翻译：紧凑的机器人臂部件相对运动传感器
公开(公告)号：US4818174A
公开(公告)日：1989-04-04
申请号：US484229
申请日：1983-04-12
申请人： Archie H. Arpiarian , Mohammed M. Khusro
发明人： Archie H. Arpiarian , Mohammed M. Khusro
IPC分类号： B25J19/02 , B25J19/06 , B25J9/00 , B25J17/02
CPC分类号： B25J19/025 , B25J19/063
摘要： Apparatus for determining when the hand of a robot arm, resiliently mounted on a robot arm body, strikes or makes contact with an object that impedes or limits its movement, employs an optical fiber in place of conventional light focusing optics to produce a compact and ruggedized robot arm member relative movement sensor. The apparatus includes a light source mounted in a particular location on the robot arm hand and a light sensitive device spaced from the light source and mounted in a particular location on the robot body, a device that is capable of continuously generating a hand-to-robot arm body relative position signal in response to the particular location of collimated light from the robot hand mounted light source that passes through a light collimating optical fiber and strikes the light sensitive surface of the light sensitive device. Relative movement between the robot arm body and the robot hand resulting from contact between a motion-impeding object and the robot hand causes the light sensitive device to generate a signal indicative of such object contact and/or extent of relative hand-to-robot arm movement. The use of an optical fiber in the light path in place of a conventional lens makes it possible to employ this relative movement sensing apparatus in a vibratory environment and also makes it possible to shorten the light path length and thereby reduce the size of said relative motion sensing apparatus.
摘要翻译：用于确定何时弹性地安装在机器人手臂主体上的机器人的手与阻碍或限制其运动的物体相撞或接触的装置采用光纤代替传统的光聚焦光学器件，以产生紧凑且坚固的机器人臂部件相对运动传感器。该装置包括安装在机器人手臂上的特定位置的光源和与光源间隔开并安装在机器人主体上的特定位置的光敏装置，该装置能够连续生成手 - 响应于来自机器人手持式光源的准直光的特定位置的机器人臂体的相对位置信号，其通过光准直光纤并且撞击光敏装置的光敏表面。由运动阻碍物体与机器人手之间的接触产生的机器人手臂主体与机器人手之间的相对运动导致光敏装置产生指示这种物体接触的信号和/或相对的手到机器人手臂的程度运动。在光路中使用光纤代替常规透镜使得可以在振动环境中使用该相对运动感测装置，并且还可以缩短光路长度，从而减小所述相对运动的尺寸感测装置。

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