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91. 发明授权

US4615101A Tool interface for robot end effectors 失效
标题翻译：机器人末端执行器的工具界面
公开(公告)号：US4615101A
公开(公告)日：1986-10-07
申请号：US709596
申请日：1985-03-08
申请人： Jeffrey A. Edwards , Thomas W. Peterson
发明人： Jeffrey A. Edwards , Thomas W. Peterson
IPC分类号： B23B31/26 , B23Q1/00 , B23Q9/00 , B25J15/04 , B25J19/00 , B23Q3/155 , B23B31/30
CPC分类号： B23Q1/0009 , B23B31/265 , B23Q9/0064 , B25J15/04 , B25J19/0025 , Y10S279/90 , Y10S483/901 , Y10T279/1266 , Y10T279/17521 , Y10T483/13 , Y10T483/15 , Y10T483/1793
摘要： A tool interface has a rotatable tool changer for holding a tool on the end of a robot arm. The tool changer is a socket chuck having spring jaws in a socket for clamping the tool. A spring actuated sleeve slides longitudinally into wedging engagement with an inclined surface on the jaws. Fluid pressure moves an annular piston against the spring to disengage the sleeve from the jaws, and thus release the tool. A motor couples through a harmonic wave generator to a shaft on the axis of the tool changer for rotating a tool. An angular position sensor and encoder, such as an inductosyn, is used to determine the orientation of the tool. Fluid and electrical supply lines from the robot arm are connected to the tool changer for supplying electrical, hydraulic, pneumatic, and vacuum connections to the tool.
摘要翻译：工具接口具有用于将工具保持在机器人臂的端部上的可旋转刀具更换器。工具更换器是具有用于夹紧工具的插座中的弹簧爪的插座卡盘。弹簧致动套筒纵向滑动地与夹爪上的倾斜表面楔入接合。流体压力使环形活塞抵靠弹簧移动，以使套筒与夹爪脱离，从而释放工具。电动机通过谐波发生器耦合到工具更换器轴线上的轴上，用于旋转工具。使用角度位置传感器和编码器（例如感应器）来确定工具的取向。来自机器人臂的流体和电源线连接到工具更换器，用于向工具提供电气，液压，气动和真空连接。

92. 发明授权

US4561506A Pivoting driver with changeable bits 失效
标题翻译：旋转驱动器可变位
公开(公告)号：US4561506A
公开(公告)日：1985-12-31
申请号：US512864
申请日：1983-07-11
申请人： Scott E. Booker
发明人： Scott E. Booker
IPC分类号： B25J9/14 , B25J15/04 , B25J11/00
CPC分类号： B25J9/146 , B25J15/04 , Y10S483/901
摘要： A universal driver tool pivotable into a plurality of angular positions is disclosed for use by a computer controlled robotic manipulator. Improved mechanism for connecting the driver tool to the pneumatic system of the robot is disclosed as is a technique for quickly changing the bit driver by the tool without requiring a complete tool change operation.
摘要翻译：公开了可枢转成多个角位置的通用驱动器工具，以供计算机控制的机器人操纵器使用。公开了用于将驱动器工具连接到机器人的气动系统的改进机构，这是用于通过工具快速改变钻头驱动器的技术，而不需要完全的换刀操作。

93. 发明授权

US4551903A Automatic tool changing mechanism for industrial robots 失效
标题翻译：工业机器人自动换刀机构
公开(公告)号：US4551903A
公开(公告)日：1985-11-12
申请号：US612912
申请日：1984-05-22
申请人： Luciano Bisiach
发明人： Luciano Bisiach
IPC分类号： B23K11/11 , B23K11/31 , B23Q1/00 , B23Q9/00 , B25J15/04 , B23K9/12 , B23Q3/155
CPC分类号： B23Q9/0064 , B23K11/318 , B23Q1/0063 , B25J15/0491 , Y10S483/901 , Y10T29/5107 , Y10T483/17
摘要： An automatic tool changing mechanism for industrial robots, comprising a coupling device mounted on a toolholder head of the robot, and a connection plate complementary to the coupling device and firmly secured to the tool, this latter being accommodated in a toolholder magazine. Fixing of the two parts to each other is effected by rotation of a segmental crown gear mounted on the toolholder head and driven by actuator means mounted on the toolholder magazine. The mechanism further comprises a plurality of electrical and fluid connections energized simultaneously with the mechanical connection of the two parts and interrupted automatically on their separation.
摘要翻译：一种用于工业机器人的自动换刀机构，包括安装在机器人的刀夹头上的联接装置，以及与联接装置互补的连接板，并牢固地固定在工具上，后者容纳在刀架上。两个部件彼此固定是通过安装在刀夹头上的节段冠齿轮的旋转来实现的，并由安装在刀架上的致动器装置驱动。该机构还包括与两部分的机械连接同时通电的多个电气和流体连接，并在其分离时自动中断。

94. 发明授权

US09669502B2 Manufacturing method and manufacturing apparatus for components 有权
公开(公告)号：US09669502B2
公开(公告)日：2017-06-06
申请号：US13242152
申请日：2011-09-23
申请人： Johann Hesse , Thomas Kollmar , Bruno Emerich , Roland Heck , Paul Geistdörfer , Ella Geistdörfer , Thomas Ziegler
发明人： Johann Hesse , Thomas Kollmar , Bruno Emerich , Roland Heck , Paul Geistdörfer , Thomas Ziegler
IPC分类号： B23P21/00 , B23Q39/04 , B23Q7/02 , B23Q7/14 , B23Q7/16 , B23K37/04 , B62D65/18 , B62D65/02 , B23Q7/04 , B23K37/047 , B23K37/02 , B23K101/00
CPC分类号： B23P21/006 , B23K37/02 , B23K37/04 , B23K37/047 , B23K2101/006 , B23P21/004 , B23P21/008 , B23P2700/50 , B23Q7/02 , B23Q7/048 , B23Q7/1494 , B23Q39/046 , B62D65/02 , B62D65/18 , Y10S483/901 , Y10T29/49622 , Y10T29/49826 , Y10T29/513 , Y10T29/5137 , Y10T29/5196 , Y10T29/53 , Y10T29/53365 , Y10T29/53374 , Y10T29/53404 , Y10T29/53417 , Y10T483/16 , Y10T483/17
摘要： A manufacturing apparatus (2) for components (3), which has at least one movable loading station (20) designed as a tool magazine (13) and having reception points (39) with different tools (4, 5, 6, 7) for different component types A-I. The loading station (20) is connected to one or more machining stations (20, 22′) at which at least one machining device (23) and at least one handling device (24) for handling and releasing the components (3) from the tool (4, 5, 6, 7, 8) are arranged. The selected Figure is FIG. 5.

95. 发明申请

US20170106538A1 SYSTEMS, APPARATUSES, AND METHODS FOR LOADING AND UNLOADING BRUSHES TO AND FROM END-EFFECTOR 审中-公开
公开(公告)号：US20170106538A1
公开(公告)日：2017-04-20
申请号：US15224363
申请日：2016-07-29
申请人： The Boeing Company
发明人： Raul Tomuta , Angelica Davancens , Frederick B. Frontiera , Martin Guirguis , Don D. Trend , Jake B. Weinmann
IPC分类号： B25J9/16 , B05C1/02 , B25J11/00
CPC分类号： B05C9/02 , A46B11/06 , A46B13/04 , B05C1/027 , B05C1/06 , B05C5/02 , B05C11/10 , B05C11/1002 , B05D7/24 , B25J9/1679 , B25J9/1692 , B25J11/0075 , B25J15/0491 , Y10S483/901 , Y10S901/02 , Y10S901/43 , Y10T483/17
摘要： An apparatus (812) for loading and unloading a brush (822) to and from a brush-arm assembly (802) of an end-effector (102) is disclosed. The apparatus (812) comprises a base (814) and a carriage (818), which is movable along an axis (A) at least to a first position, a second position, or a third position relative to the base (814). The carriage (818) comprises a brush receptacle (820), configured to prevent movement of the brush (822) in a first direction, but not in a second direction, opposite to the first direction, when the brush (822) is placed in the brush receptacle (820). The apparatus (812) also comprises a stationary component (832), fixed relative to the base (814) and configured to prevent movement of the brush-arm assembly (802) in the second direction. Additionally, the apparatus (812) comprises a linear actuator (816), configured to move the carriage (818).

96. 发明申请

US20160332309A1 ROBOTIC TOOL INTERCHANGE SYSTEM 审中-公开
标题翻译：机动车交互系统
公开(公告)号：US20160332309A1
公开(公告)日：2016-11-17
申请号：US15154685
申请日：2016-05-13
申请人： Stratom, Inc.
发明人： JONATHAN HARRACH-SALAZAR , MARK GORDON , THOMAS GONZALEZ
IPC分类号： B25J15/04
CPC分类号： B25J15/0491 , Y10S483/901
摘要： A Gripper Remote Tool Change System (GRTCS) provides a locking guided tool changer assembly that interfaces with multiple tools, locks onto a tool holder, and is easily recognizable by a robot's gripper camera. The GRTCS provides an intermediate solution for remote tool changing that does not require a user to physically interact with the robot to change a tool. The GRTCS may be a completely mechanical product that does not require altering the electronics on the base robotic platform to which it may be attached.
摘要翻译：夹具远程工具更换系统（GRTCS）提供了一个锁定导向的换刀组件，可与多个工具连接，锁定在刀架上，并可由机器人的夹具相机轻松识别。 GRTCS为远程刀具更换提供了一个中间解决方案，不需要用户与机器人物理交互来更换刀具。 GRTCS可能是完全机械的产品，不需要更换可能连接在其上的基础机器人平台上的电子设备。

97. 发明授权

US09427838B2 Head tool changer for use with deposition-based digital manufacturing systems 有权
公开(公告)号：US09427838B2
公开(公告)日：2016-08-30
申请号：US14552993
申请日：2014-11-25
申请人： Stratasys, Inc.
发明人： James W. Comb , Joseph E. Labossiere , Michael D. Bosveld , David G. Bocek , Max Peters
IPC分类号： B23Q3/155 , B29C67/00 , B33Y10/00 , B33Y30/00
CPC分类号： B23Q3/155 , B29C64/106 , B29C64/20 , B33Y30/00 , Y10S483/901 , Y10T483/10 , Y10T483/12 , Y10T483/136 , Y10T483/17
摘要： A head tool changer for use with a deposition-based digital manufacturing system, the head tool changer comprising a tooling unit configured to retain a deposition head, a grip unit configured to engage with tooling unit and to relay electrical power to the tooling unit, and a master unit operably mounted to a gantry and configured to engage with the tooling unit and to relay electrical power to the tooling unit.

98. 发明申请

US20120277080A1 Power Control of a Robotic Tool Changer 有权
标题翻译：机器人换刀的功率控制
公开(公告)号：US20120277080A1
公开(公告)日：2012-11-01
申请号：US13464721
申请日：2012-05-04
申请人： Alexander Strotzer
发明人： Alexander Strotzer
IPC分类号： B23Q3/155
CPC分类号： B25J15/04 , B25J15/0466 , B25J15/0491 , B25J19/0029 , B25J19/06 , H01H9/54 , H01R13/53 , H01R13/7032 , H01R2103/00 , Y10S483/901 , Y10S901/49 , Y10T483/10 , Y10T483/11 , Y10T483/132 , Y10T483/136 , Y10T483/17
摘要： A robotic tool changer removably attaches a robotic tool to a robotic arm. The changer includes a tool module connected to the robotic tool, and a master module connected to the robotic arm. To attach and detach the robotic tool, the changer couples and uncouples the tool module and the master module. A master electrical signal module (ESM) affixes to the master module and a tool ESM affixes to the tool module. In accordance with design requirements, the changer applies the same power supply to both the master ESM and the tool ESM. The changer, however, selectively suppresses application of the power supply to the tool ESM, while maintaining application of the power supply to the master ESM, during the coupling or uncoupling of the master module and the tool module. In doing so, the changer enables such coupling and uncoupling, while also preventing the formation of transient electric arcs.
摘要翻译：机器人工具更换器将机器人工具可拆卸地连接到机器手臂。更换器包括连接到机器人工具的工具模块和连接到机器人臂的主模块。为了安装和拆卸机器人工具，更换器将工具模块和主模块连接起来。主电信号模块（ESM）附加到主模块，工具ESM附加到工具模块。根据设计要求，更换器对主ESM和工具ESM应用相同的电源。然而，在主模块和工具模块的耦合或解耦期间，更换器选择性地抑制了对工具ESM的电源的施加，同时保持对主ESM的电源的施加。在这样做时，更换器实现了这种耦合和解耦，同时也防止了瞬态电弧的形成。

99. 发明授权

US07963913B2 Instrument interface of a robotic surgical system 有权
标题翻译：机器人手术系统的仪器界面
公开(公告)号：US07963913B2
公开(公告)日：2011-06-21
申请号：US11613695
申请日：2006-12-20
申请人： Roman L. Devengenzo , Thomas G. Cooper , Joseph P. Orban, III , Bruce Schena , Alan Loh , S. Christopher Anderson
发明人： Roman L. Devengenzo , Thomas G. Cooper , Joseph P. Orban, III , Bruce Schena , Alan Loh , S. Christopher Anderson
IPC分类号： A61B19/00 , B23Q3/157
CPC分类号： B25J15/04 , A61B34/30 , A61B34/37 , A61B34/71 , A61B90/361 , A61B2017/00477 , A61B2034/305 , Y10S483/901 , Y10T74/20305
摘要： An instrument interface of a robotic manipulator and a surgical system including the instrument interface are provided. In one embodiment, the instrument interface includes a spring-loaded input for providing axial load and torque to a sterile adaptor capable of operably coupling an instrument. In another embodiment, a robotic surgical manipulator system includes a manipulator assembly, including a base link operably coupled to a distal end of a manipulator arm, and a carriage link movably coupled to the base link along a lengthwise axis, the carriage link including an integrated instrument interface. The system further includes an instrument operably coupled to the carriage link via the instrument interface, and a processor operably coupled to the manipulator assembly for sensing presence of the instrument.
摘要翻译：提供了机器人操纵器的仪器界面和包括仪器界面的手术系统。在一个实施例中，仪器接口包括用于向能够可操作地连接仪器的无菌适配器提供轴向负载和扭矩的弹簧加载输入。在另一个实施例中，机器人手术操纵器系统包括操纵器组件，其包括可操作地联接到操纵臂的远端的基部连杆和沿着纵向轴线可移动地联接到所述基部连杆的滑架连杆，所述滑架连杆包括集成仪器界面。该系统还包括经由仪器接口可操作地耦合到滑架连杆的仪器，以及可操作地耦合到操纵器组件的用于感测仪器存在的处理器。

100. 发明授权

US07442155B2 Automatic clamp changing apparatus 失效
标题翻译：自动夹钳更换装置
公开(公告)号：US07442155B2
公开(公告)日：2008-10-28
申请号：US11309581
申请日：2006-08-25
申请人： Chun-Nan Ou , Jian-Long Xing , Rong-Mou Bao , Cheng-Bin Su , Xiao-Yun Yuan , Jin Wang
发明人： Chun-Nan Ou , Jian-Long Xing , Rong-Mou Bao , Cheng-Bin Su , Xiao-Yun Yuan , Jin Wang
IPC分类号： B23Q3/155
CPC分类号： B25J15/04 , B23Q3/103 , Y10S483/901 , Y10T403/22 , Y10T403/593 , Y10T483/17 , Y10T483/1809
摘要： A clamp changing apparatus includes a holder (70) including a plurality of clamp-holding devices (72), each of which holding a clamp (10) thereon, a robot (50) including a shaft (501), and a coupling device (30) secured on the shaft of the robot. The robot selects one of the clamps held on the clamp-holding devices according to a predetermined machining program therein, changes out a used clamp for the selected clamp, and mounts the selected clamp on the coupling device.
摘要翻译：一种夹具更换装置，包括：夹持器（70），其包括多个夹持装置（72），每个夹持装置保持夹具（10），包括轴（501）的机器人（50）和耦合装置 30）固定在机器人的轴上。机器人根据其中的预定加工程序选择保持在夹持装置上的一个夹具，改变用于所选夹具的用过的夹具，并将所选夹具安装在联接装置上。

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