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81. 发明授权

US09186800B2 Bumper assembly of mobile robot 有权
标题翻译：移动机器人的保险杠装配
公开(公告)号：US09186800B2
公开(公告)日：2015-11-17
申请号：US14130891
申请日：2012-07-06
申请人： Kyung Chul Shin , Seong Ju Park , No Soo Lee
发明人： Kyung Chul Shin , Seong Ju Park , No Soo Lee
IPC分类号： B25J19/02 , B25J19/00 , B25J19/06 , G01L1/00 , B60L3/00
CPC分类号： B25J19/02 , A47L2201/04 , B25J19/0091 , B25J19/063 , B60L3/0069 , G01L1/00 , G01L1/04
摘要： A bumper assembly of a mobile robot includes a sliding member which is installed to be movable in front and rear directions with respect to a robot body, a first elastic member which is coupled to the sliding member and presses the sliding member in the front direction, a first sensor which senses a movement of the sliding member when the sliding member moves in the rear direction, a front plate which is disposed at a front side of the sliding member, rotatably coupled to the sliding member, and moves integrally with the sliding member when the sliding member moves in the front and rear directions, and a second sensor which senses a rotation of the front plate when the front plate rotates.
摘要翻译：移动式机器人的保险杠组件包括相对于机器人主体在前后方向上可移动的滑动构件，联接到滑动构件并沿着前方向按压滑动构件的第一弹性构件，第一传感器，其在滑动构件沿后方移动时感测滑动构件的移动;前板，其设置在滑动构件的前侧，可旋转地联接到滑动构件，并与滑动构件一体地移动当滑动构件在前后方向上移动时，以及第二传感器，其在前板旋转时感测前板的旋转。

82. 发明申请

US20140163733A1 SYSTEM FOR CONTROLLING A ROBOT'S COLLISION WITH AN OBSTACLE, A ROBOT EQUIPPED WITH SUCH A SYSTEM AND A METHOD OF CONTROLLING A ROBOT'S COLLISION WITH AN OBSTACLE 审中-公开
标题翻译：用于控制机器人碰撞的系统，具有这样的系统的机器人和控制机器人与障碍的碰撞的方法
公开(公告)号：US20140163733A1
公开(公告)日：2014-06-12
申请号：US14102808
申请日：2013-12-11
申请人： Robotics Inventions
发明人： Marek SADOWSKI , Roman IWASZKO , Franciszek MIKLASZEWICZ , Jedrzej DROZDOWICZ
IPC分类号： B25J9/16
CPC分类号： B25J9/1676 , A47L9/2852 , A47L2201/04 , B25J13/088 , B25J19/063 , G05B2219/37624 , G05B2219/40549 , G05B2219/45098 , G05D1/027 , G05D2201/0203
摘要： The invention is related to a system for controlling a robot collision with an obstacle, characterized by having an electronics system (1), and at least one accelerometer (3), that is fixed to a robot and is connected with an electronics system (1), that is configured or programmed in such a way that upon a signal from an accelerometer (3) a robot heading direction or velocity is changed or a robot is stopped.In addition, the invention comprises a robot equipped with such an electronics system, and a method of controlling a robot collision with an obstacle.
摘要翻译：本发明涉及一种用于控制与障碍物的机器人碰撞的系统，其特征在于具有电子系统（1）和至少一个加速度计（3），其被固定到机器人并与电子系统（1）连接），其被配置或编程为使得当来自加速度计（3）的信号改变机器人行进方向或速度或机器人停止时。此外，本发明包括配备有这种电子系统的机器人，以及控制与障碍物的机器人碰撞的方法。

83. 发明申请

US20130181544A1 EMERGENCY STOP METHOD AND SYSTEM FOR AUTONOMOUS MOBILE ROBOTS 有权
标题翻译：用于自动移动机器人的紧急停止方法和系统
公开(公告)号：US20130181544A1
公开(公告)日：2013-07-18
申请号：US13351743
申请日：2012-01-17
申请人： Todd Comins , Larry Gray , Joseph L. Jones , Clara Vu , Charles M. Grinnell
发明人： Todd Comins , Larry Gray , Joseph L. Jones , Clara Vu , Charles M. Grinnell
IPC分类号： H01H35/00
CPC分类号： B25J19/063 , B25J13/08 , Y10T307/766
摘要： An emergency stop system for an autonomous mobile robot includes a base unit connected to the robot and an element engageable by a user extending from the base unit. The element is movably held by the base unit in an operation mode position. The base unit includes a mechanism for detecting the presence of the element in the operation mode position and triggering an emergency stop of the robot when the element is moved out of the operation mode position by the user.
摘要翻译：用于自主移动机器人的紧急停止系统包括连接到机器人的基座单元和从基座延伸的用户可接合的元件。元件在操作模式位置由基座单元可移动地保持。基座单元包括一个机构，用于检测在操作模式位置处的元件的存在，并且当元件被用户移动到操作模式位置之外时触发机器人的紧急停止。

84. 发明申请

US20110307097A1 PROTECTIVE SKIN FOR ROBOTS 有权
标题翻译：保护皮肤的机器人
公开(公告)号：US20110307097A1
公开(公告)日：2011-12-15
申请号：US13203628
申请日：2010-02-26
申请人： Frédéric Colledani , Xavier Lamy
发明人： Frédéric Colledani , Xavier Lamy
IPC分类号： G05B19/04 , G01L1/18
CPC分类号： G01D5/16 , B25J13/084 , B25J19/0091 , B25J19/063 , G01D5/2417 , G01L1/18 , G01L1/205
摘要： Detector device arranged to cover at least one portion of a mobile appliance; the device has an electromechanical transducer including a substrate, a first series of electrodes, a second series of electrodes, and a deformable layer associated with the electrodes of the two series, the substrate, the electrodes, and the deformable layer forming a single unit mounted on the portion of the mobile appliance and arranged so that a current flowing between one of the electrodes of the first series and an adjacent electrode of the second series is proportional to a thickness of the deformable layer in register with the electrodes. The substrate including a base layer to which are attached the electrodes of the first series and the electrodes of the second series, which have facing portions, and a variable conduction layer that covers the base layer and the electrodes.
摘要翻译：检测器装置，布置成覆盖移动设备的至少一部分; 该装置具有包括基板，第一系列电极，第二系列电极和与两个电极的电极相关联的可变形层的机电换能器，所述基板，电极和可变形层形成单个装置在移动设备的部分上并且布置成使得在第一系列的电极之一和第二系列的相邻电极之间流动的电流与与电极对准的可变形层的厚度成比例。所述基板包括附着有第一系列的电极和具有面对部分的第二系列的电极的基极层和覆盖基极层和电极的可变导电层。

85. 发明授权

US08021071B2 Compliant joint 有权
标题翻译：符合联合
公开(公告)号：US08021071B2
公开(公告)日：2011-09-20
申请号：US12110817
申请日：2008-04-28
申请人： Young Bo Shim , Ja Woo Lee , Youn Baek Lee , Jeong Hun Kim , Kyung Shik Roh , Hyun Kyu Kim , Hyun Seok Yang , Dong Jun Hyun
发明人： Young Bo Shim , Ja Woo Lee , Youn Baek Lee , Jeong Hun Kim , Kyung Shik Roh , Hyun Kyu Kim , Hyun Seok Yang , Dong Jun Hyun
IPC分类号： F16D7/00
CPC分类号： B25J19/063 , Y10T403/54 , Y10T403/602 , Y10T403/604
摘要： A compliant joint capable of achieving passive compliance for a robot in order to prevent an injury to a human by collision with the robot. The compliant joint includes a housing, a cam member rotatably mounted in the housing, a roller spring device mounted to the cam member to be compressed and extended, a guiding member formed in the housing to guide compression and extension of the roller spring device in accordance with rotation of the cam member, and a receiving recess formed at the guiding member to engage the housing and the cam member with each other by receiving the roller spring device and release the engagement by separating from the roller spring device. Accordingly, robustness of the robot can be maintained when an impact less than a predetermined magnitude is applied, while being suddenly decreased when an impact greater than the magnitude is applied.
摘要翻译：能够实现机器人的被动符合性以便通过与机器人碰撞来防止对人造成伤害的符合关节。柔性接头包括壳体，可旋转地安装在壳体中的凸轮构件，安装到凸轮构件以被压缩和延伸的辊弹簧装置，形成在壳体中的引导构件，用于引导辊弹簧装置的压缩和延伸凸轮构件的旋转和形成在引导构件处的接收凹部通过接收滚子弹簧装置而相互接合壳体和凸轮构件，并通过与滚子弹簧装置分离来释放接合。因此，当施加小于预定幅度的冲击时，可以保持机器人的鲁棒性，同时在大于施加幅度的冲击下突然减小。

86. 发明授权

US07964998B2 Linearly actuated switch for robot crash protector device 有权
标题翻译：用于机器人碰撞保护装置的线性致动开关
公开(公告)号：US07964998B2
公开(公告)日：2011-06-21
申请号：US12351495
申请日：2009-01-09
申请人： William G. Berrocal , Dana A. Wagner
发明人： William G. Berrocal , Dana A. Wagner
IPC分类号： G05B19/19 , H02H3/00
CPC分类号： B25J19/063 , Y10T74/18296
摘要： A linearly actuated switch assembly is adjustably disposed in a housing stem bore of a robotic crash protector device. An actuation plate is disposed over the central bore of the contact surface. As the piston moves toward the housing base in response to a crash force or torque applied to the actuator, the actuation plate moves in an axial direction, and contacts and actuates the switch. The actuation plate is biased towards the contact surface by an actuation spring disposed between the actuation plate and a spring plate that is rigidly affixed to the housing stem. This arrangement allows the actuation plate to “float” with respect to the fixed spring plate. In particular, the actuation plate may assume the orientation of the piston, which may be canted from its default orientation—normal to the device central axis—by uneven application of force by the actuator.
摘要翻译：线性致动的开关组件可调节地设置在机器人碰撞保护器装置的壳体杆孔中。致动板设置在接触表面的中心孔的上方。当活塞响应于施加到致动器的碰撞力或扭矩而朝向壳体基座移动时，致动板沿轴向移动，并且接触并致动开关。致动板通过设置在致动板和刚性地固定到壳体杆的弹簧板之间的致动弹簧而朝向接触表面偏置。这种布置允许致动板相对于固定弹簧板“浮动”。特别地，致动板可以采取活塞的取向，其可以通过由致动器的不均匀施加力而从其默认取向垂直于装置中心轴线倾斜。

87. 发明授权

US07959399B2 End effector with collision detection sensor 有权
标题翻译：末端执行器与碰撞检测传感器
公开(公告)号：US07959399B2
公开(公告)日：2011-06-14
申请号：US11753336
申请日：2007-05-24
申请人： Stephen Gregory Horning , John William Rigsby
发明人： Stephen Gregory Horning , John William Rigsby
IPC分类号： B25J15/06
CPC分类号： B25J19/063 , B25J15/0616 , B25J19/0025 , Y10T137/8593
摘要： In a robotic assembly, a body adapted for mounting on an arm is provided. A connection is adapted to couple the body and an end effector to allow deflection of the end effector with respect to the body between an open position and a closed position. A conduit allows fluid flow between the body and the end effector. A seal is adapted to engage the conduit to provide a fluid seal when the end effector is in the closed position and allow fluid flow when the end effector is in the open position. Further, end effector deflection can be detected based on the fluid flow and utilized to regulate movement of the robotic assembly.
摘要翻译：在机器人组件中，设置适于安装在臂上的主体。连接件适于联接主体和端部执行器，以允许端部执行器相对于主体在打开位置和关闭位置之间偏转。导管允许流体在主体和末端执行器之间流动。当端部执行器处于关闭位置时，密封件适于接合导管以提供流体密封，并且当端部执行器处于打开位置时允许流体流动。此外，可以基于流体流动来检测端部执行器偏转，并且用于调节机器人组件的运动。

88. 发明申请

US20100327668A1 ROBOT CRASH PROTECTOR 审中-公开
标题翻译：机器人防撞保护器
公开(公告)号：US20100327668A1
公开(公告)日：2010-12-30
申请号：US12882742
申请日：2010-09-15
申请人： William Berrocal , Dana A. Wagner
发明人： William Berrocal , Dana A. Wagner
IPC分类号： B25J19/02 , B25J19/06
CPC分类号： B25J19/063 , Y10T74/18296
摘要： A robotic crash protector device is configured for heavy payload applications. The device includes a housing, a piston and an actuator movably mounted within the housing, a cam member secured within the housing in fixed relation to the housing's base, and a switch. The cam member includes a cam surface with some portions being closer to the housing's base than other portions. The actuator includes bearing members that are configured to, responsive to a rotational force imparted to the actuator, move along the cam surface and thereby collectively displace the piston. The switch detects this displacement and indicates a crash. When moving along the cam surface, the bearing members are each configured to engage the surface along a line of contact, rather than at a single point. With forces imparted to each bearing member and the cam surface distributed across a line, the components better endure heavy payload applications.
摘要翻译：机器人碰撞保护装置被配置用于重载有效载荷应用。该装置包括壳体，活塞和可移动地安装在壳体内的致动器，固定在壳体内的凸轮构件与壳体的基座固定，以及开关。凸轮构件包括凸轮表面，其中一些部分比其他部分更靠近壳体的基部。致动器包括轴承构件，其构造成响应于施加到致动器的旋转力而沿着凸轮表面移动，从而共同地使活塞移动。该开关检测到这种位移并指示崩溃。当沿着凸轮表面移动时，轴承构件各自被构造成沿着接触线而不是在单个点处接合表面。通过赋予每个轴承构件和分配在一条直线上的凸轮表面的力，组件更好地承受沉重的有效载荷应用。

89. 发明申请

US20090095109A1 STRUCTURE, MANIPULATOR AND STRUCTURE CONTROL SYSTEM 有权
标题翻译：结构，操纵器和结构控制系统
公开(公告)号：US20090095109A1
公开(公告)日：2009-04-16
申请号：US12249414
申请日：2008-10-10
申请人： Osamu MIZUNO , Akinobu Okuda , Tsuyoshi Tojo , Tohru Nakamura , Rie Takahashi , Soichiro Fujioka , Yoshihiko Matsukawa
发明人： Osamu MIZUNO , Akinobu Okuda , Tsuyoshi Tojo , Tohru Nakamura , Rie Takahashi , Soichiro Fujioka , Yoshihiko Matsukawa
IPC分类号： B25J18/00 , B25J19/02 , B25J9/00 , B25J15/00
CPC分类号： B25J19/063 , B25J9/1045 , B25J18/06 , Y10T74/20305
摘要： A structure is provided with a first member at a base end side, a third member at a leading end side, a second member arranged between the first and third members, and a coupling force generator for generating a first coupling force for pressing an end surface of the first member and that of the second member against each other and a second coupling force for pressing an end surface of the second member and that of the third member against each other. In this structure, the first and third members are relatively displaced upon the application of an external force larger than a coupling force generated between the end surface of the first member and that of the second member by the first coupling force, whereas the second and third members are relatively displaced upon the application of an external force larger than a coupling force generated between the end surface of the second member and that of the first member by the second coupling force.
摘要翻译：一种结构在基端侧具有第一构件，在前端侧具有第三构件，在第一构件和第三构件之间设置有第二构件，以及联接力发生器，用于产生用于按压端面的第一联接力的第一构件和第二构件的第二构件和第二构件彼此抵靠的第二联接力。在该结构中，第一和第三构件在施加比第一构件的端面和第二构件的端面之间产生的耦合力大的外力作用第一联接力时相对移位，而第二和第三构件当施加大于通过第二联接力在第二构件的端面与第一构件的端面之间产生的联接力的外力时，构件相对移位。

90. 发明申请

US20030160520A1 Robot crash protector 有权
标题翻译：机器人碰撞保护器
公开(公告)号：US20030160520A1
公开(公告)日：2003-08-28
申请号：US10082448
申请日：2002-02-23
发明人： Michael L. Gloden , Douglas K. Lawson
IPC分类号： H02H001/00
CPC分类号： B25J19/063
摘要： A robotic crash protection device is adapted to be interposed between a robot arm and a robotic tool for detecting a crash. The device includes a housing, a piston having a generally central bore movably mounted within the housing, an actuator for engaging the piston and moving the piston in response to a crash, and a switch disposed within the housing and generally aligned with the bore of the piston. The switch contacts are disposed such that in a default position the bore of the piston engages the contacts and maintains the contacts in one switch state, and in the event of a crash the piston moves and permits the contacts to assume the opposite switch state. A non-circular contact surface between the actuator and the piston ensures a consistent response to lateral forces applied in to the axial direction in any radial direction.
摘要翻译：机器人碰撞保护装置适于插入在机器人手臂和用于检测碰撞的机器人工具之间。该装置包括壳体，具有可移动地安装在壳体内的大致中心孔的活塞，用于接合活塞并响应于碰撞而移动活塞的致动器，以及设置在壳体内并大致与壳体的孔对准的开关活塞。开关触点设置成使得在默认位置，活塞的孔接合触点并将触点保持在一个开关状态，并且在碰撞的情况下，活塞移动并允许触点呈现相反的开关状态。致动器和活塞之间的非圆形接触表面确保了在任何径向方向上对轴向施加的横向力的一致响应。

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