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81. 发明授权

US12064871B2 Gas pressure detection device, robot having gas pressure detection device, and gas pressure detection method of the same 有权
公开(公告)号：US12064871B2
公开(公告)日：2024-08-20
申请号：US17290647
申请日：2019-11-28
申请人： KAWASAKI JUKOGYO KABUSHIKI KAISHA
发明人： Koji Yoshino , Hideaki Kanou , Yuki Takeuchi , Keisuke Kawaguchi , Sosuke Abe
IPC分类号： B25J19/02 , B25J19/00 , G01L19/08
CPC分类号： B25J19/02 , B25J19/0012 , G01L19/083
摘要： A gas pressure detection device 10 detects a decrease in a pressure of gas of a gas balancer 8 of a robot 2. The gas pressure detection device 10 includes a calculating part configured to calculate a parameter Rt(θ) indicating a magnitude relation between a reference pressure Pa(θ) at a rotational angle θ of a rotary arm 14 and a measured pressure Pt(θ) measured at the rotational angle θ, calculate a plurality of parameters Rt(θ) based on a plurality of measured pressures Pt(θ) at different measurement times, and calculate a moving average Rtj(θ) of the parameter Rt(θ) at a measurement time tj that is a j-th measurement time of the measured pressure Pt(θ) (j representing a natural number of 2 or above), and a determining part configured to compare the moving average Rtj(θ) with a reference value R to detect the decrease in the pressure of the gas.

82. 发明授权

US10625431B2 Robot and method for mounting balancer to robot 有权
公开(公告)号：US10625431B2
公开(公告)日：2020-04-21
申请号：US15068956
申请日：2016-03-14
申请人： KABUSHIKI KAISHA YASKAWA DENKI
发明人： Kentaro Tanaka , Ryuta Kagawa
IPC分类号： B25J19/00 , B25J9/04
CPC分类号： B25J19/0012 , B25J9/047 , B25J19/007 , Y10S901/48
摘要： A robot includes a robot arm, a balancer, and a first mounting portion and a second mounting portion. The balancer is pressurized in advance by a predetermined amount of pressure and contracted to a dimension smaller than a predetermined mounting dimension of the robot arm. The first mounting portion and the second mounting portion are disposed on the robot arm to respectively accept a first end and a second end of the balancer so that the first end and the second end of the balancer are mounted on the robot arm. At least one mounting portion among the first mounting portion and the second mounting portion accepts the corresponding end, among the first end and the second end, of the balancer in a direction approximately parallel to a direction in which the balancer is expanded and contracted.

83. 发明授权

US09193074B2 Multi-joint robot having gas spring, and method for estimating inner pressure of the gas spring 有权
标题翻译：具有气弹簧的多关节机器人，以及用于估计气弹簧内压的方法
公开(公告)号：US09193074B2
公开(公告)日：2015-11-24
申请号：US14228560
申请日：2014-03-28
申请人： FANUC CORPORATION
发明人： Yu Hayashi
IPC分类号： B25J9/16 , B25J13/00
CPC分类号： B25J9/1694 , B25J9/1653 , B25J13/00 , B25J19/0012
摘要： A multi-joint robot having a function for estimating an amount of decrease in inner pressure of a gas spring, by means of a simple and low-cost structure, and a method for estimating the amount of decrease in inner pressure of the gas spring. The gas pressure within a cylinder of the gas spring decreases in connection with the motion of a lower arm associated with the gas spring. In the present invention, an amount of decrease in inner pressure within the gas spring is estimated by using a current value of a servomotor, in view of the finding that the amount of decrease in inner pressure is generally proportional to an amount of decrease in torque, and the torque generated by the servomotor can be calculated based on the current value of the servomotor.
摘要翻译：具有通过简单且低成本的结构估计气弹簧的内压降低量的功能的多关节机器人，以及用于估计气弹簧的内压降低量的方法。气弹簧的气缸内的气体压力随着与气弹簧相关的下臂的运动而减小。在本发明中，考虑到内压降低量与转矩减少量成正比的观点，通过使用伺服电动机的电流值来估计气弹簧内压力的下降量并且可以基于伺服电动机的当前值来计算由伺服电动机产生的转矩。

84. 发明授权

US09102064B2 Multi-joint robot having gas spring, and method for estimating inner pressure of the gas spring 有权
标题翻译：具有气弹簧的多关节机器人，以及用于估计气弹簧内压的方法
公开(公告)号：US09102064B2
公开(公告)日：2015-08-11
申请号：US14228548
申请日：2014-03-28
申请人： FANUC CORPORATION
发明人： Yu Hayashi
IPC分类号： B25J9/16 , B25J19/00
CPC分类号： B25J9/1674 , B25J19/0012 , G05B2219/36406
摘要： A multi-joint robot having a function for estimating an amount of decrease in inner pressure of a gas spring, by means of a simple and low-cost structure, and a method for estimating the amount of decrease in inner pressure of the gas spring. The gas pressure within a cylinder of the gas spring decreases in connection with the motion of a lower arm associated with the gas spring. In the present invention, in view of a finding that the amount of decrease in inner pressure has a high correlation with a total movement distance obtained by integrating an amount of back-and-forth motion of a piston rod relative to a cylinder, an amount of decrease in inner pressure within the gas spring is estimated by calculating the total movement distance.
摘要翻译：具有通过简单且低成本的结构估计气弹簧的内压降低量的功能的多关节机器人，以及用于估计气弹簧的内压降低量的方法。气弹簧的气缸内的气体压力随着与气弹簧相关的下臂的运动而减小。在本发明中，考虑到内压降低量与通过将活塞杆相对于气缸的往复运动量相加而得到的总移动距离高度相关，通过计算总移动距离来估计气弹簧内部压力的降低。

85. 发明申请

US20140290414A1 INDUSTRIAL ROBOT PROVIDED WITH BALANCER DEVICE 有权
标题翻译：工业机器人提供平衡装置
公开(公告)号：US20140290414A1
公开(公告)日：2014-10-02
申请号：US14227472
申请日：2014-03-27
申请人： FANUC CORPORATION
发明人： Takeshi Hasuo
IPC分类号： B25J9/00
CPC分类号： B25J19/0012 , Y10T74/20305
摘要： An industrial robot including a base part, an arm part, and a balancer device connected pivatably to the base part and the arm part to apply a repulsive force resisting a load acting on a pivot shaft due to gravity. The balancer device includes a balancer having a cylinder and a piston rod, end parts of the cylinder and the piston rod being pivatably connected with respect to the arm part and the base part, respectively, a coupling member attached to a support part of the base to support pivotably a balancer end part with respect to the support part, and a fastening part fastening a first end face formed at the coupling member and a second end face formed at the balancer end part to push the piston rod inside the cylinder by a fastening force.
摘要翻译：一种工业机器人，包括基部，臂部和平衡装置，其可枢转地连接到基部和臂部，以施加抵抗由重力作用在枢轴上的负载的排斥力。平衡器装置包括平衡器，该平衡器具有圆柱体和活塞杆，圆柱体和活塞杆的端部分别相对于臂部分和基部可枢转地连接;联接构件，分别连接到基座的支撑部分以相对于所述支撑部枢转地支撑平衡器端部，以及紧固部，其固定形成在所述联接构件的第一端面和形成在所述平衡器端部处的第二端面，以通过紧固来将所述活塞杆推向所述气缸内力。

86. 发明申请

US20080092373A1 Jig for fastening bolt 有权
标题翻译：夹紧螺栓夹具
公开(公告)号：US20080092373A1
公开(公告)日：2008-04-24
申请号：US11604611
申请日：2006-11-27
申请人： Chung-Hwan Lim
发明人： Chung-Hwan Lim
IPC分类号： B23P19/00
CPC分类号： B62D65/02 , B23P19/06 , B25J5/02 , B25J9/042 , B25J9/1065 , B25J19/0012 , Y10T29/53 , Y10T29/53383
摘要： A jig for tightening a bolt includes: a support unit standing on the floor of a work place and extending toward the bottom side of a car body which is conveyed by an overhead hanger; a movable unit connected to the support unit so as to be movable in a transverse direction, a longitudinal direction, and a height direction of the car body; a fastening part disposed in the movable unit to fasten chassis components to the bottom side of the car body; a load compensating part compensating load of the fastening part when the fastening part ascends/descends toward/from the bottom side of the car body; a tilting part adjusting a position of the fastening part; and a reaction force regulating part sustaining reaction force that is generated while the fastening part is operated.
摘要翻译：用于紧固螺栓的夹具包括：支撑单元，其位于工作场所的地板上，并且朝向车顶的底侧延伸，该车身由塔顶吊架输送; 连接到所述支撑单元的可移动单元，以便能够在所述车体的横向，纵向和高度方向上移动; 固定部，设置在所述可移动单元中，以将底盘部件固定到所述车身的底侧; 负载补偿部，当所述紧固部件朝向所述车体的底侧上升/下降时，补偿所述紧固部的载荷; 调整所述紧固部的位置的倾斜部; 以及在紧固部件被操作时产生的反作用力调节部分维持反作用力。

87. 发明申请

US20040163497A1 Assembly machine with spatial positioning control 有权
标题翻译：装配机具有空间定位控制
公开(公告)号：US20040163497A1
公开(公告)日：2004-08-26
申请号：US10762707
申请日：2004-01-22
发明人： Raymond Ormachea , Robert Bailey
IPC分类号： B25B017/00 , B25B029/00
CPC分类号： B25J1/02 , B23P19/04 , B25J19/0012
摘要： An assembly machine includes a support structure having a plurality of selectively moveable support members that facilitate manually manipulating a tool relative to a work piece. A controller continuously gathers position information regarding the support members to determine every position of the tool. The controller includes a teach mode that allows for storing selected tool activation positions in particular sequences for subsequent control of the tool according to necessary procedures for completing a variety of assembly processes. One example machine designed according to this invention includes selectively controlled biasing members that maintain a zero balance on the tool, provide an operator assist to moving the tool or both.
摘要翻译：组装机器包括具有多个可选择性地移动的支撑构件的支撑结构，其便于相对于工件手动操作工具。控制器连续地收集关于支撑构件的位置信息以确定工具的每个位置。控制器包括教学模式，其允许以特定顺序存储所选择的刀具激活位置，以便根据用于完成各种组装过程的必要过程来随后控制刀具。根据本发明设计的一个示例性机器包括在工具上保持零平衡的选择性控制的偏压构件，提供操作者辅助移动工具或两者。

88. 发明申请

US20030106390A1 Weight compensation device 失效
标题翻译：重量补偿装置
公开(公告)号：US20030106390A1
公开(公告)日：2003-06-12
申请号：US10349221
申请日：2003-01-22
申请人： KUKA ROBOTER GmbH
发明人： Wolfgang Bohlken
IPC分类号： B25J017/00
CPC分类号： B25J9/1075 , B25J9/142 , B25J19/0012 , F15B15/103 , F15B15/1404 , Y10T74/20305
摘要： A robot is provided with a robot weight compensation device having at least one hose element including an internally pressurized gas-tight inner hose portion cooperating with a high tensile strength outer portion. The high tensile strength outer portion includes non-elongatable fibers oriented relative to an axis of the at least one hose element by an angle not equal to 0null and 90null. An outer flexible protective jacket covers the fibers. A first fixing element is fixed to a first end of the hose element. The fixing element is connected to a first part of the robot. A second fixing element is fixed to a second end of the hose element. The second fixing element is articulated to a second part of the robot being movable relatively to the first robot element.
摘要翻译：机器人设置有机器人重量补偿装置，其具有至少一个软管元件，该软管元件包括与高抗拉强度外部配合的内部加压的气密内软管部分。高抗拉强度外部部分包括不可伸长的纤维，其相对于至少一个软管元件的轴线定向不为0°和90°的角度。外部柔性保护套覆盖纤维。第一固定元件固定到软管元件的第一端。固定元件连接到机器人的第一部分。第二固定元件固定到软管元件的第二端。第二固定元件铰接到可相对于第一机器人元件移动的机器人的第二部分。

89. 发明授权

US06312211B2 Semi-automated load balancing mechanism 失效
标题翻译：半自动负载平衡机制
公开(公告)号：US06312211B2
公开(公告)日：2001-11-06
申请号：US09104956
申请日：1998-06-25
申请人： Joseph G. Tranchida
发明人： Joseph G. Tranchida
IPC分类号： B25J100
CPC分类号： B25J19/0012 , B66C23/005
摘要： A semi-automated load balancing mechanism includes a load balancing arm supported for vertical swingable movement and a second arm. The second arm is mounted on a distal end of the load balancing arm for horizontal movement. The second arm has a part holder on a distal end thereof for receiving and supporting a load thereon. An actuator is disconnectably coupled to the load balancing arm for moving it while allowing manual movement independent of the actuator.
摘要翻译：半自动负载平衡机构包括支撑用于垂直摆动运动的负载平衡臂和第二臂。第二臂安装在负载平衡臂的远端，用于水平运动。第二臂在其远端具有用于接收和支撑其上的负载的部件保持器。致动器可拆卸地联接到负载平衡臂以用于移动它，同时允许独立于致动器的手动运动。

90. 发明授权

US5971677A Control arm system 失效
标题翻译：控制臂系统
公开(公告)号：US5971677A
公开(公告)日：1999-10-26
申请号：US670113
申请日：1996-06-25
申请人： Lawrence Lan
发明人： Lawrence Lan
IPC分类号： B23B39/12 , B23Q1/54 , B25H1/00 , B25J9/10 , B25J19/00
CPC分类号： B23B39/12 , B23Q1/5475 , B23Q1/5493 , B25H1/0021 , B25J19/0012 , B25J9/1065 , Y10T408/93 , Y10T408/935 , Y10T408/96
摘要： A control arm system, whose first support bar is passed through by a vertical post, enabling the first support bar to swivel round horizontally by any angle, the far end of the first support bar carrying a vertical rod, which in turn passes through a first link support to enable the first link support to swivel around the far end of the first support bar horizontally; while the first link support is further provided with two bolts that are mounted vertically above each other, pointing in a horizontal direction, and which serve to hold a second support bar, made of two parallel link bars of equal length, in a way that it is movable up and down with the two bolts as cardinal points, the far end of the second support bar in turn being connected to a second link support, which holds a rotary tool, being held by two bolts mounted vertically above each other, pointing in a horizontal direction, where the distance between the two bolts of the second link support and the two bolts of the first link support is equal; wherein, when the second support bar moves up and down, the rotary tool maintains a vertical orientation and, by the horizontal swiveling movement of the first support bar and the first link support may change the working position.
摘要翻译：一种控制臂系统，其第一支撑杆由竖直柱穿过，使得第一支撑杆能够水平地旋转任何角度，第一支撑杆的远端承载垂直杆，该竖直杆又穿过第一链接支撑件，以使得第一连杆支撑件能够水平地围绕第一支撑杆的远端旋转; 而第一连杆支撑件还设置有两个垂直地彼此安装的螺栓，指向水平方向，并且用于保持由两个相等长度的平行连杆构成的第二支撑杆，其方式为可以用两个螺栓作为基本点上下移动，第二支撑杆的远端依次连接到第二连杆支撑件，该第二连杆支撑件保持旋转工具，该两个螺栓由彼此垂直安装的两个螺栓保持，指向水平方向，其中第二连杆支撑件的两个螺栓与第一连杆支架的两个螺栓之间的距离相等; 其中，当所述第二支撑杆上下移动时，所述旋转工具保持垂直取向，并且通过所述第一支撑杆和所述第一连杆支架的水平旋转运动可改变所述工作位置。

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