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11. 发明申请

WO1992020495A1 MECHANISM FOR MOVEMENTS OF PREFIXED PATH, REFERABLE AS OF ELLIPTICAL SHAPE 审中-公开
标题翻译：前瞻性路径运动机制，适用于椭圆形状
公开(公告)号：WO1992020495A1
公开(公告)日：1992-11-26
申请号：PCT/IT1991000111
申请日：1991-12-17
申请人： CRIPPA, Ugo
IPC分类号： B25J09/04
CPC分类号： B25J9/106 , B25J9/042
摘要： A mechanism for movements of prefixed path, substantially of elliptical shape, comprises a support base (1) provided with a single motor or propeller means (2) and at least two arms (3, 4, 5) linked to each other at one end, with the free end of the outer arm carrying a grasping means (30) for articles to be moved, thus forming e.g. a handling device. The arms, which are preferably in number of three, are caused to rotate about parallel axes (a, b, c), through transmission means (12-20) at the inside of the arms and the path along which the arms successive to the first one move are defined by the transmission ratios at the inside of the upstream or inner arm. The ratio between the transmission means in the outer arm determines only the translation or possible simultaneous rotation of the grasping means.
摘要翻译：用于运动前置路径的机构，基本上为椭圆形，包括设置有单个马达或螺旋桨装置（2）的支撑基座（1）和在一端彼此连接的至少两个臂（3,4,5），其中外臂的自由端承载用于待移动物品的把持装置（30），从而形成例如处理装置。优选为三个的臂绕着平行轴线（a，b，c）通过臂的内部的传动装置（12-20）旋转，并且臂第一移动由上游或内臂内部的传动比限定。外臂中的传动装置之间的比例仅确定抓握装置的平移或可能的同时旋转。

12. 发明申请

WO1989001849A1 CALIBRATION SYSTEM FOR VISUAL SENSOR SYSTEM 审中-公开
标题翻译：视觉传感器系统校准系统
公开(公告)号：WO1989001849A1
公开(公告)日：1989-03-09
申请号：PCT/JP1988000834
申请日：1988-08-22
申请人： FANUC LTD , WATANABE, Atsushi
发明人： FANUC LTD
IPC分类号： B25J09/04
CPC分类号： G05B19/4015 , B25J9/1697
摘要： This invention provides a calibration system for a visual sensor system which can integrate accurately and easily a plurality of camera coordinate systems of a visual sensor system into one coordinate system. In carrying out calibration, a frame member (5) of a calibration mechanism (4) is sequentially moved in X-, Y- and Z-axis directions a predetermined distance according to a 3-axis table. An image processor performs required operation for each axis on the basis of image positions of holes (P1, P2, P3) of the frame member (5) before and after the movement produced by cameras (C1, C2, C3), integrates a plurality of camera coordinate systems into one system and completes calibration.

13. 发明申请

WO1985003662A1 TELESCOPIC HANDLING APPARATUS 审中-公开
标题翻译： TELESCOPIC处理设备
公开(公告)号：WO1985003662A1
公开(公告)日：1985-08-29
申请号：PCT/CH1985000031
申请日：1985-02-22
申请人： WEISS, Matthias
IPC分类号： B25J09/04
CPC分类号： A61G7/05 , B25J9/0084 , B25J9/041
摘要： Controlled from outside, said handling apparatus enables to carry out the most various manipulations. In addition to the numerous industrial applications for transporting goods to a precise location, it is particularly appropriate, owing to its simple mounting, as an aid for the handicapped of which the movements of the arms and the hands are still limited. The apparatus is comprised of three telescopic arms (1, 2, 3) which are adjustable in length by means of indivual drive mechanisms (6, 9). The horizontal arm (2) may pivot about the carrier vertical base tube (1). By means of a corresponding control of the drives, it is possible to reach any point of a predetermined spatial area with the free hand of the vertical arm (3) carrying a useful object (10).
摘要翻译：从外部控制，所述处理装置能够执行最多样的操作。除了将货物运送到精确位置的许多工业应用之外，由于其简单的安装，特别适合作为对残疾人的帮助，其中手臂和手的运动仍然受到限制。该装置由三个伸缩臂（1,2,3）组成，它们可通过单独的驱动机构（6,9）在长度上调节。水平臂（2）可围绕托架垂直底管（1）枢转。通过对驱动器的相应控制，可以用携带有用物体（10）的垂直臂（3）的自由手来到达预定空间区域的任意点。

14. 发明申请

WO1994025226A1 INDUSTRIAL ROBOT 审中-公开
标题翻译：工业机器人
公开(公告)号：WO1994025226A1
公开(公告)日：1994-11-10
申请号：PCT/SE1994000008
申请日：1994-01-07
申请人： ASEA BROWN BOVERI AB , TELLDEN, Leif
发明人： ASEA BROWN BOVERI AB
IPC分类号： B25J09/04
CPC分类号： B25J9/046 , B25J9/1065 , Y10S414/13 , Y10T74/20317
摘要： The invention relates to an industrial robot with two lower robot arms (15, 16) directed upwards from a fixed robot stand (10), said robot arms at their lower end being pivotably journalled in the stand (10) around horizontal axes (A1, A2) and at their upper end being pivotably interconnected by a yoke (17) in such a way that a four-bar linkage is formed. The linkage (15, 16, 17) is provided with a first driving unit (18). An upper robot arm (23) is journalled around a fifth axis (D) in a fixing member (20) which is supported by the yoke (17) and which is rotatably journalled around a sixth axis (C). The upper robot arm (23) and its fixing member (20) are provided with a second and a third driving unit (24 and 26), respectively.
摘要翻译：本发明涉及一种具有从固定机器人支架（10）向上指向的两个下部机器人臂（15,16）的工业机器人，所述机器人臂在其下端围绕水平轴线（A1， A2），并且在其上端通过轭（17）可枢转地互连，使得形成四杆连杆。连杆（15,16,17）设置有第一驱动单元（18）。上部机器人臂（23）围绕第五轴线（D）轴颈安装在由轭架（17）支撑并固定在第六轴线（C）周围的固定构件（20）中。上部机器人臂（23）及其固定构件（20）分别设置有第二和第三驱动单元（24和26）。

15. 发明申请

WO1989002810A1 STATICALLY-BALANCED DIRECT-DRIVE ROBOT ARM 审中-公开
标题翻译：静态平衡直升机器人ARM
公开(公告)号：WO1989002810A1
公开(公告)日：1989-04-06
申请号：PCT/US1988003248
申请日：1988-09-20
申请人： REGENTS OF THE UNIVERSITY OF MINNESOTA
发明人： REGENTS OF THE UNIVERSITY OF MINNESOTA , KAZEROONI, Homayoon
IPC分类号： B25J09/04
CPC分类号： B23Q11/0021 , B25J9/0012 , B25J9/04 , B25J9/1065 , B25J19/0008 , Y10S414/13 , Y10S700/90
摘要： A robot (10) includes a statically-balanced direct-drive arm (14) having three degrees of freedom, all of which are independent articulated drive joints, the driving axes (20, 22) of two of which intersect at the center of gravity of the arm to eliminate gravity forces on the drive system without counterweights.

16. 发明申请

WO1987000789A1 PIVOTING-ARM ROBOT 审中-公开
标题翻译：派生机器人
公开(公告)号：WO1987000789A1
公开(公告)日：1987-02-12
申请号：PCT/DE1986000269
申请日：1986-07-01
申请人： ROBERT BOSCH GMBH , GOSDOWSKI, Gerhard
发明人： ROBERT BOSCH GMBH
IPC分类号： B25J09/04
CPC分类号： B25J9/044 , B25J9/042 , B25J19/0008
摘要： The robot described has at least two pivoting arms (16, 26) and articulated drives the motors (18, 28) of which are each seated on an articulation element (12, 24) of an articulated shaft (16, 26). At least one pivoting arm (14) is not motor-driven. The motors (18, 28) of the two pivoting arms (16, 26) associated with this pivoting arm (14) are fixed respectively to an adjacent articulation element (12, 24), thus simplifying installation and facilitating fitting.
摘要翻译：所描述的机器人具有至少两个枢转臂（16,26），并且铰接地驱动其马达（18,28）各自位于铰接轴（16,26）的铰接元件（12,24）上。至少一个枢转臂（14）不是电机驱动的。与该枢转臂（14）相关联的两个枢转臂（16,26）的电动机（18,28）分别固定到相邻的铰接元件（12,24），从而简化了安装并便于安装。

17. 发明申请

WO1986006673A1 ROBOTIC ARM 审中-公开
标题翻译：机械臂
公开(公告)号：WO1986006673A1
公开(公告)日：1986-11-20
申请号：PCT/GB1986000262
申请日：1986-05-13
申请人： UNIVERSAL MACHINE INTELLIGENCE LIMITED , JONES, Timothy, John
发明人： UNIVERSAL MACHINE INTELLIGENCE LIMITED
IPC分类号： B25J09/04
CPC分类号： B25J9/106 , B25J9/042
摘要： A robotic arm comprises a shoulder (1), first and second arm sections (2, 3) and an output member (4) intended to carry a wrist and gripper (80). Three independently operable drive mechanisms, each including an electric motor, gearbox and two stage system of pulleys and belts, are provided for rotating the first arm section about axis (A), rotating the second arm section about axis (B) and rotating the output member about axis (C). The drive mechanisms are so arranged that the wrist and gripper can be driven along a radial direction (A - C) by energising the first and second motors at equal speeds, and energising the second motor causes rotation of the output member to maintain the wrist and gripper (80) in constant angular orientation with respect to the radial direction (A - C).
摘要翻译：机器手臂包括肩部（1），第一和第二臂部分（2,3）以及用于承载手腕和夹持器（80）的输出部件（4）。提供三个独立可操作的驱动机构，每个驱动机构包括电动马达，齿轮箱和两个皮带轮和皮带系统，用于围绕轴线（A）旋转第一臂部分，使第二臂部分围绕轴线（B）旋转并旋转输出关于轴（C）的构件。所述驱动机构的布置使得通过以相同的速度激励所述第一和第二电动机，能够沿径向（A-C）驱动所述腕部和所述夹持器，并且使所述第二电动机通电引起所述输出部件的旋转以维持所述手腕和夹持器（80）相对于径向方向（A-C）处于恒定角度取向。

18. 发明申请

WO1996031325A1 INDUSTRIAL ROBOT WITH MASS BALANCE 审中-公开
标题翻译：与质量平衡工业机器人
公开(公告)号：WO1996031325A1
公开(公告)日：1996-10-10
申请号：PCT/EP1996001478
申请日：1996-04-04
申请人： KUKA ROBOTER GMBH , ORTMEIER, Helmut , MARKERT, Joachim , ZIMMER, Ernst
发明人： KUKA ROBOTER GMBH
IPC分类号： B25J09/04
CPC分类号： B25J9/047 , B25J19/0012
摘要： The invention concerns a multiple axis industrial robot (1) with a frame (2), an arm (7), an extension arm (13) and a robot hand (18), these elements being mounted so as to articulate with one another and drive-operated. The arm (7) is over-mounted on one side of the frame (18, 14) and situated to one side of the system plane (21). The arm (7) is connected to a static hydraulic mass balance (23) located on the same side of the system plane as the arm. The extension arm is likewise over-mounted on one side of the arm (7) and located with the arm bearing head (32) of the frame (2) within the system plane (21).
摘要翻译：本发明涉及一种多轴工业机器人（1），包括框架（2），摇杆（7），动臂（13）和被铰接到彼此和驱动的机械手（18）。摇杆（7）是在框架侧面安装悬臂（18，14），并沿着系统平面（21）横向地位于。摇杆（7）设置有布置在系统级的其侧静态液压平衡器（23）。悬臂也安装单方面悬臂上的摇杆（7）。它与所述框架（2）在系统中平面（21）一起的摆动轴承头（32）接合。

19. 发明申请

WO1996008345A1 TRANSFER OR ROBOTIC DEVICE 审中-公开
标题翻译：转移或机器人装置
公开(公告)号：WO1996008345A1
公开(公告)日：1996-03-21
申请号：PCT/GB1995002199
申请日：1995-09-15
申请人： OXFORD INTELLIGENT MACHINES LIMITED , JONES, Timothy, John , DAVEY, Peter, Gordon
发明人： OXFORD INTELLIGENT MACHINES LIMITED
IPC分类号： B25J09/04
CPC分类号： B25J9/0084 , B25J9/042 , B25J19/0029
摘要： A robotic device for gathering and/or operating on objects such as fish, from a supply area and releasing the objects in a delivery area has a rigid tubular column (3) on which one end of each of two inner arms (5A, 5B) is mounted for unlimited rotation by motors (11A, B) and spiroid gearboxes (13, 14). Outer arms (6A, 6B) are pivotably mounted on the respective inner arms and carry pulleys (27) connected by steel belts (35) to further pulleys (28) rotatably mounted on the column (3) and driven by further motors (29) and spiroid gearboxes (30, 31) fixed to the column (3). Power supplies and control signals for the motors (11, 29) are delivered via the interior of the column (3). The outer end of each outer arm carries a working head (43) which can be moved vertically and turned in response to output signals from optical sensors which also control the motors (11, 29).
摘要翻译：用于从供应区域收集和/或操作诸如鱼等物体并释放物品的输送区域的机器人装置具有刚性管状柱（3），两个内臂（5A，5B）中的每一个的一端由电动机（11A，B）和旋转齿轮箱（13,14）安装成无限旋转。外臂（6A，6B）可枢转地安装在相应的内臂上，并将由钢带（35）连接的滑轮（27）运送到可旋转地安装在柱（3）上并由另外的马达（29）驱动的另外的滑轮（28）和固定到柱（3）的螺旋齿轮箱（30,31）。电动机（11,29）的电源和控制信号经由柱（3）的内部输送。每个外臂的外端具有工作头（43），该工作头可以响应于也控制电动机（11,29）的光学传感器的输出信号而垂直移动并转动。

20. 发明申请

WO1992009407A1 SWIVELLING-ARM ROBOT 审中-公开
标题翻译： SWIVELING-ARM机器人
公开(公告)号：WO1992009407A1
公开(公告)日：1992-06-11
申请号：PCT/DE1991000886
申请日：1991-11-15
申请人： ROBERT BOSCH GMBH , GOSDOWSKI, Gerhard , BUTTAU, Hans-Peter , LEONHARDT, Michael
发明人： ROBERT BOSCH GMBH
IPC分类号： B25J09/04
CPC分类号： B25J9/044 , B25J9/0009 , B25J9/042 , B25J9/08
摘要： Proposed is a swivelling-arm robot with a stand, at least one swivelling arm and a work attachment fitted at the remote end of the arm. The robot is characterized by the fact that the stand (10) and/or at least one swivelling arm (11, 12) and/or the housing of the work attachment each consists of at least one extruded section (21-23) extending in the direction of the joint axes (15, 16).

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