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71. 发明授权

US07143850B2 Leg joint assist device for legged movable robot 有权
标题翻译：用于腿式可移动机器人的腿关节辅助装置
公开(公告)号：US07143850B2
公开(公告)日：2006-12-05
申请号：US10494846
申请日：2002-10-07
申请人： Toru Takenaka , Hiroshi Gomi , Kazushi Hamaya , Yoshinari Takemura
发明人： Toru Takenaka , Hiroshi Gomi , Kazushi Hamaya , Yoshinari Takemura
IPC分类号： B62D51/06
CPC分类号： B62D57/032 , B25J19/0012 , Y10T74/20305
摘要： An assist device is provided with a spring device that generates an auxiliary driving force, by an elastic energy, acting on a joint of a leg. The spring device includes a gas spring having a cylinder and a piston. Bending/stretching motion between link members and at the joint is transmitted to the spring device through a motion transmission device that includes a link arm. The spring device is provided so that the auxiliary driving force increases as a knee bending angle θ increases until the knee bending angle θ reaches a predetermined angle, and so that, once the knee bending angle θ exceeds the predetermined angle, the auxiliary driving force becomes smaller than or equal to the driving force obtaining at the predetermined angle, effectively reducing a burden on an actuator of the legged mobile robot joint.
摘要翻译：辅助装置设置有弹簧装置，其通过作用在腿的关节上的弹性能产生辅助驱动力。弹簧装置包括具有气缸和活塞的气弹簧。连杆构件和接头之间的弯曲/拉伸运动通过包括连杆臂的运动传递装置传递到弹簧装置。提供弹簧装置，使得辅助驱动力随着膝部弯曲角度θ增加直到膝部弯曲角度θ达到预定角度而增加，并且使得一旦膝部弯曲角度θ超过预定角度，则辅助驱动力变为小于或等于以预定角度获得的驱动力，有效地减轻了腿式可移动机器人接头的致动器的负担。

72. 发明申请

US20040261561A1 Leg joint assist device for legged movable robot 有权
标题翻译：用于腿式可移动机器人的腿关节辅助装置
公开(公告)号：US20040261561A1
公开(公告)日：2004-12-30
申请号：US10494846
申请日：2004-05-06
发明人： Toru Takenaka , Hiroshi Gomi , Kazushi Hamaya , Yoshinari Takemura
IPC分类号： B25J017/00
CPC分类号： B62D57/032 , B25J19/0012 , Y10T74/20305
摘要： An assist device is provided with a spring device that generates an auxiliary driving force, by an elastic energy, acting on a joint of a leg The spring device includes a gas spring having a cylinder and a piston. Bending/stretching motion between link members and at the joint is transmitted to the spring device through a motion transmission device that includes a link arm. The spring device is provided so that the auxiliary driving force increases as a knee bending angle null increases until the knee bending angle null reaches a predetermined angle, and so that, once the knee bending angle null exceeds the predetermined angle, the auxiliary driving force becomes smaller than or equal to the driving force obtaining at the predetermined angle. Thus, a burden on an actuator of the joint of a legged mobile robot is effectively reduced, thereby ensuring favorable utilization efficiency of energy and miniaturization of the spring device.
摘要翻译：辅助装置设置有弹簧装置，其通过作用在腿的关节上的弹性能产生辅助驱动力。弹簧装置包括具有气缸和活塞的气弹簧。连杆构件和接头之间的弯曲/拉伸运动通过包括连杆臂的运动传递装置传递到弹簧装置。提供弹簧装置，使得辅助驱动力随着膝部弯曲角度θ增加直到膝部弯曲角度θ达到预定角度而增加，并且使得一旦膝部弯曲角度θ超过预定角度，则辅助驱动力变为小于或等于以预定角度获得的驱动力。因此，有效地减少了腿式移动机器人的接头的致动器的负担，从而确保了能量的有利的利用效率和弹簧装置的小型化。

73. 发明授权

US4589815B1 Electronic test head positioner for test systems 失效
标题翻译：用于测试系统的电子测试头定位器
公开(公告)号：US4589815B1
公开(公告)日：1998-04-07
申请号：US52263583
申请日：1983-08-11
申请人： INTEST CORP
发明人： SMITH NATHAN R
IPC分类号： G01R31/26 , B23Q1/48 , B23Q1/54 , B23Q11/00 , B25J18/02 , B25J19/00 , F16M11/12 , G01B5/00 , G01B7/008 , G01B21/00 , G01R1/04 , G01R1/073 , G01R31/28 , G12B5/00 , H01L21/28 , H01L21/66 , H01L21/68 , B66F9/18
CPC分类号： B23Q11/0017 , B23Q1/48 , B23Q1/5475 , B25J18/025 , B25J19/0008 , B25J19/0012 , B25J19/002 , F16M11/105 , F16M11/12 , F16M11/2014 , F16M11/24 , F16M2200/048 , G01B5/0011 , G01B7/008 , G01R1/04 , G01R1/073 , G01R1/07314 , G01R31/2887 , G12B5/00

74. 发明授权

US5314291A Load balancer 失效
标题翻译：负载均衡器
公开(公告)号：US5314291A
公开(公告)日：1994-05-24
申请号：US942885
申请日：1992-09-10
申请人： Hirotaka Ohashi , Toru Yasunobe
发明人： Hirotaka Ohashi , Toru Yasunobe
IPC分类号： B25J19/00 , B66C23/00 , B66F9/065 , B66F9/06
CPC分类号： B66F9/065 , B25J19/0012 , B66C23/005 , Y10S414/13
摘要： A load balancer adapted to set the load of an article to substantially zero by utilizing an air pressure, and provided with a balance cylinder unit consisting of air brakes, a balance cylinder and a weight sensing cylinder. This balance cylinder unit is formed by arranging the balance cylinder and weight sensing cylinder on the same axis, and air brakes on both sides of the balance cylinder.
摘要翻译：一种负载平衡器，其适于通过利用空气压力将物品的负载设定为基本为零，并且设置有由空气制动器，平衡缸和重量检测缸组成的平衡缸单元。该平衡缸单元通过将平衡缸和重量检测缸设置在相同的轴上而形成，并且在平衡缸的两侧进行空气制动。

75. 发明授权

US5020323A Telescopically extendable and retractable arm 失效
标题翻译：望远镜伸缩臂
公开(公告)号：US5020323A
公开(公告)日：1991-06-04
申请号：US415585
申请日：1989-09-29
申请人： Peter Hurlimann
发明人： Peter Hurlimann
IPC分类号： B25J18/02 , B25J19/00 , F16M11/04
CPC分类号： F16M11/18 , B25J18/025 , B25J19/0012 , F16M11/28
摘要： The arm includes a supporting member and a plurality of telescoping members located therein and having a subsequently decreasing diameter. The supporting member and the telescoping members are interconnected by means of at least one kinematic train which is formed by endlessly guided pulling members. These pulling members, preferably steel belts, interconnect three respective adjoining telescoping members. The belts are mounted to the respective outer two telescoping members and guided for return at the upper and bottom area of the center member. When displacing the telescoping member having the largest diameter relative to the supporting member any further telescoping member is displaced relative to its outer adjoining member by a corresponding distance. This design leads to a rigid smoothly operating telescoping arm having a small structural height.
摘要翻译：臂包括支撑构件和位于其中并具有随后减小的直径的多个伸缩构件。支撑构件和伸缩构件通过由循环引导的拉构件形成的至少一个运动列相互连接。这些牵引构件，优选钢带，连接三个相邻的相邻的伸缩构件。皮带安装到相应的外部两个伸缩构件并被引导以返回到中心构件的上部和底部区域。当相对于支撑构件移动具有最大直径的伸缩构件时，任何另外的伸缩构件相对于其外部邻接构件移位相应的距离。这种设计导致具有小结构高度的刚性平滑操作的伸缩臂。

76. 发明授权

US4695024A Test system manipulator arm 失效
标题翻译：测试系统操纵臂
公开(公告)号：US4695024A
公开(公告)日：1987-09-22
申请号：US861189
申请日：1986-05-09
申请人： Kenneth R. Haven
发明人： Kenneth R. Haven
IPC分类号： A61B6/00 , B25J9/06 , B25J19/00 , F16M11/04 , E04G3/00
CPC分类号： A61B6/447 , B25J19/0012 , B25J9/06 , F16M11/10 , F16M11/2064 , F16M13/02 , F16M2200/022 , Y10T403/32271
摘要： An adjustable arm for controlling the horizontal and vertical position of an object mounted at one end of the arm comprises:means for rigidly mounting the end of the arm opposite the end at which the object is mounted;a plurality of interconnected links, a first group of the plurality of links controlling the horizontal position of the arm and the object; anda counterbalancing link among the plurality of links, the counterbalancing link being disposed intermediate the first group of links, the counterbalancing link serving to provide vertical movement of the plurality of links and the object and to counterbalance the weight of the object at the one end of the arm.
摘要翻译：用于控制安装在臂的一端的物体的水平和垂直位置的可调臂包括：用于刚性地安装臂的端部与安装物体的端部相对的装置; 多个相互连接的连接件，所述多个连杆中的第一组控制所述臂和所述物体的水平位置; 以及所述多个链路之间的平衡链路，所述平衡链路被布置在所述第一组链路之间，所述平衡链路用于提供所述多个链路和所述对象的垂直移动，并且在一端抵消所述对象的权重的手臂。

77. 发明授权

US4600358A Manipulating device operating in two directions 失效
标题翻译：操纵装置在两个方向工作
公开(公告)号：US4600358A
公开(公告)日：1986-07-15
申请号：US494775
申请日：1983-05-16
申请人： Bernhard Graf
发明人： Bernhard Graf
IPC分类号： B23Q5/38 , B23Q7/04 , B23Q11/00 , B25J9/00 , B25J9/02 , B25J19/00 , G05B19/25 , B66C13/08 , B25J13/00
CPC分类号： B23Q11/0092 , B23Q11/0017 , B23Q5/385 , B23Q7/04 , B25J19/0012 , B25J9/0012 , B25J9/026 , G05B19/25
摘要： A two axes manipulating device is provided for the movement of work pieces between two arbitrary desired points in a plane. The device comprises a carriage with guide tracks for two axes disposed at a 90 degree angle relative to each other. The drive is provided under computer control via gear rack and pinion. A position sensing transducer with a pulse generator is provided in each case for the control of the drive. The invention provides a simple and economic apparatus where the gripper can be rapidly and accurately positioned. The computer control comprises a position and a speed control circuit. The carriage comprises means for balancing weights capable of moving in a vertical direction. The balancing is preferably provided by a rotating air piston engine. An electrically disengageable brake can be provided at the vertical axis. The carriage can be a light weight product, for example made from carbon fiber reinforced plastic.
摘要翻译：提供两轴操纵装置用于使工件在平面中的两个任意期望点之间移动。该装置包括具有相对于彼此以90度角设置的两个轴的引导轨道的托架。驱动器通过齿轮和齿轮在计算机控制下提供。在每种情况下都提供带有脉冲发生器的位置传感传感器，用于控制驱动。本发明提供了一种简单经济的装置，其中夹具可以快速和精确地定位。计算机控制包括位置和速度控制电路。滑架包括用于平衡能够在垂直方向上移动的重量的装置。平衡优选由旋转空气活塞发动机提供。在垂直轴上可以设置电气可脱离的制动器。托架可以是轻质的产品，例如由碳纤维增强塑料制成。

78. 发明授权

US4517853A Balancing device 失效
标题翻译：平衡装置
公开(公告)号：US4517853A
公开(公告)日：1985-05-21
申请号：US348613
申请日：1982-02-12
申请人： Shigetaka Tani , Toshio Nagahara
发明人： Shigetaka Tani , Toshio Nagahara
IPC分类号： B25J9/04 , B25J9/10 , B25J19/00 , F16H27/02 , F16H29/02
CPC分类号： B25J19/0012 , B25J9/041 , B25J9/102 , Y10T74/18648
摘要： A balancing device which may be used in an industrial robot includes a feed screw for moving a robot arm in one direction. The arm and its associated mechanisms impart a torque to the screw which is a load on the drive motor. A balancing feed screw is connected to the main screw and, under the influence of a controlled pressure fluid driven piston, serves to balance the load.
摘要翻译：可用于工业机器人的平衡装置包括用于沿一个方向移动机器人手臂的进给螺杆。臂及其相关联的机构向作为驱动电动机上的负载的螺钉赋予扭矩。平衡进料螺杆连接到主螺杆，并且在受控压力流体驱动活塞的影响下，用于平衡负载。

79. 发明授权

US4229136A Programmable air pressure counterbalance system for a manipulator 失效
标题翻译：用于机械手的可编程气压平衡系统
公开(公告)号：US4229136A
公开(公告)日：1980-10-21
申请号：US021647
申请日：1979-03-19
申请人： Hugo A. Panissidi
发明人： Hugo A. Panissidi
IPC分类号： B25J9/16 , B25J19/00 , B66C1/42
CPC分类号： B25J19/0012
摘要： An air pressure counterbalance system is provided for an X Y Z orthogonal manipulator wherein the effect of gravity on a manipulator arm joint is counterbalanced both while hydraulic pressure is supplied to the hydraulic motors and also when the motive power is suspended. The air pressure counterbalance force is produced by a piston operating in an air cylinder in the direction of the gravity axis as the manipulator hand is raised or lowered. A selected constant air pressure is supplied to the counterbalance cylinder through an air pressure regulating system. In a preferred embodiment, a program-controlled counterbalance system is provided wherein the weights of various tools to be grasped by the manipulator fingers during a program are stored in CPU memory. The manipulator program selects the appropriate counterbalancing force to compensate for the predetermined tool weight and adjusts an air pressure regulator accordingly.
摘要翻译：为XYZ正交机械手提供气压平衡系统，其中，当液压马达提供液压并且暂停动力时，重力对机械手臂关节的影响是平衡的。空气压力平衡力由在机械手上升或下降时在重力轴线方向上在气缸中工作的活塞产生。选择的恒定气压通过气压调节系统供给到平衡缸。在优选实施例中，提供了程序控制的平衡系统，其中在程序期间由操纵器手指掌握的各种工具的重量被存储在CPU存储器中。机械手程序选择适当的平衡力来补偿预定的工具重量并相应地调节空气压力调节器。

80. 发明授权

US3437223A Work handling and transfer apparatus 失效
标题翻译：工作处理和传输设备
公开(公告)号：US3437223A
公开(公告)日：1969-04-08
申请号：US3437223D
申请日：1966-06-03
申请人： HAROLD A HAASE
发明人： HAASE HAROLD A
IPC分类号： B25J9/00 , B25J18/02 , B25J19/00 , B25J5/00 , B65G25/00
CPC分类号： B25J9/00 , B25J18/02 , B25J19/0012

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