专利快速检索-快速检索全球专利，免费商用专利数据库-IPRDB

21. 发明授权

US07181314B2 Industrial robot with controlled flexibility and simulated force for automated assembly 有权
标题翻译：具有控制灵活性和模拟力的工业机器人，用于自动组装
公开(公告)号：US07181314B2
公开(公告)日：2007-02-20
申请号：US10720592
申请日：2003-11-24
申请人： Hui Zhang , Zhongxue Gan , Torgny Brogardh , Jianjun Wang
发明人： Hui Zhang , Zhongxue Gan , Torgny Brogardh , Jianjun Wang
IPC分类号： G05B19/04 , G05B19/18
CPC分类号： B25J9/1687 , B25J9/1633 , G05B2219/36437 , G05B2219/39339 , G05B2219/39529 , G05B2219/40032 , G05B2219/45058 , Y02P80/114 , Y10S414/136 , Y10T74/20317
摘要： An industrial robot that has uses a simulated force vector to allow a work piece held by the robot end effector to be mated with a work piece whose location and orientation is not precisely known to the robot. When the end effector makes contact with the location and orientation in which the other work piece is held the robot provides a velocity command to minimize the force of the contact and also provides a search pattern in all directions and orientations to cause the end effector to bring the work piece it is holding in contact with the other work piece. The search pattern and the velocity command are continued until the two work pieces mate.
摘要翻译：一种工业机器人，其使用模拟的力向量来允许由机器人末端执行器保持的工件与其机器人的位置和取向不是精确地知道的工件配合。当末端执行器与保持另一工件的位置和方向接触时，机器人提供速度命令以使接触力最小化，并且还在所有方向和方向上提供搜索模式以使端部执行器带动其工件与其他工件接触。搜索模式和速度命令一直持续到两个工件交配。

22. 发明授权

US6141863A Force-controlled robot system with visual sensor for performing fitting operation 失效
标题翻译：带有视觉传感器的力控机器人系统进行装配操作
公开(公告)号：US6141863A
公开(公告)日：2000-11-07
申请号：US91730
申请日：1998-06-24
申请人： Ryuichi Hara , Kazunori Ban
发明人： Ryuichi Hara , Kazunori Ban
IPC分类号： B25J9/16 , B25J19/02 , B23P21/00
CPC分类号： B25J19/021 , B25J9/1633 , B25J9/1687 , G05B2219/37048 , G05B2219/39319 , G05B2219/39393 , G05B2219/39529 , G05B2219/40609 , Y10T29/53061 , Y10T29/53078 , Y10T29/53087
摘要： A force-controlled robot system with a visual sensor capable of performing a fitting operation automatically with high reliability. A force sensor attached to a wrist portion of a robot detects force in six axis directions for force control, and transmits the results of detection to a robot controller. Position and orientation of a convex portion of a fit-in workpiece held by claws of a robot hand and position and orientation of a concave position of a receiving workpiece positioned by a positioning device are detected by a three-dimensional visual sensor including a structured light unit SU and an image processor in the robot controller, and a robot position to start an inserting action is corrected. Then, the convex portion is inserted into the concave portion under the force control. After the inserting action completes, it is determined whether or not the insertion state of the fit-in workpiece in the receiving workpiece is normal.
摘要翻译： PCT No.PCT / JP97 / 03878 Sec。 371日期：1998年6月24日 102（e）日期1998年6月24日PCT 1997年10月24日PCT公布。第WO98 / 17444号公报日期：1998年04月30日具有能够以高可靠性自动进行装配作业的视觉传感器的力控机器人系统。附着在机器人腕部的力传感器检测六轴方向的力用于力控制，并将检测结果发送到机器人控制器。由机器人手的爪保持的装配工件的凸部的位置和取向以及由定位装置定位的接收工件的凹入位置的位置和取向由包括结构光的三维视觉传感器单元SU和机器人控制器中的图像处理器以及开始插入动作的机器人位置被校正。然后，在力控制下，将凸部插入凹部。在插入动作完成之后，确定装配工件在接收工件中的插入状态是否正常。

23. 发明授权

US5420489A Robotic end-effector with active system compliance and micro-positioning capability 失效
标题翻译：机器人终端执行器，具有积极的系统合规性和微定位能力
公开(公告)号：US5420489A
公开(公告)日：1995-05-30
申请号：US150297
申请日：1993-11-12
申请人： Joseph M. Hansen , Davoud Manouchehri , Walter T. Appleberry , Thomas S. Lindsay
发明人： Joseph M. Hansen , Davoud Manouchehri , Walter T. Appleberry , Thomas S. Lindsay
IPC分类号： B25J17/02 , G05D11/08
CPC分类号： B25J17/0208 , G05B2219/39319 , G05B2219/39322 , G05B2219/39529 , G05B2219/39574 , G05B2219/40297
摘要： The robotic end-effector system comprises a mounting bracket assembly attached to a manipulator arm of a robot. A dual shaft motor is attached to the mounting bracket assembly. The motor has first and second rotatable output shafts. The first shaft is for mounting an encoder for providing position data. A mechanical drive mechanism is connected to the motor and to the mounting bracket assembly. The mechanical drive mechanism converts rotational motion of the second output shaft to translational motion. A passive compliance system is connected to the mechanical drive mechanism. A load sensor system is supported by the compliance system for providing force data. An end-effector end piece is connected to the load sensor system. A closed loop computer control system is in communication with the motor for processing the position data and the force data for providing micro positioning of the end-effector end piece and for providing an active system compliance, thereby achieving the desired end-effector function.
摘要翻译：机器人末端执行器系统包括附接到机器人的操纵臂的安装支架组件。双轴电机连接到安装支架组件。马达具有第一和第二可旋转的输出轴。第一轴用于安装用于提供位置数据的编码器。机械驱动机构连接到电动机和安装支架组件。机械驱动机构将第二输出轴的旋转运动转换为平移运动。被动符合性系统连接到机械驱动机构。负载传感器系统由合规系统支持，用于提供力数据。末端执行器端件连接到负载传感器系统。闭环计算机控制系统与电动机通信，用于处理位置数据和力数据，用于提供末端执行器端件的微定位，并提供有源系统顺应性，从而实现期望的末端执行器功能。

24. 发明申请

US20180029234A1 CONTROL DEVICE, ROBOT, AND ROBOT SYSTEM 审中-公开
公开(公告)号：US20180029234A1
公开(公告)日：2018-02-01
申请号：US15656332
申请日：2017-07-21
申请人： Seiko Epson Corporation
发明人： Junya UEDA , Masakazu KOBAYASHI , Yasuhiro SHIMODAIRA
IPC分类号： B25J9/16 , B25J15/00 , B25J13/08
CPC分类号： B25J9/1687 , B25J9/1633 , B25J13/085 , B25J15/0019 , G05B2219/39529 , G05B2219/40072 , G05B2219/45091
摘要： A control device which controls a robot having a moving part includes: a processor which is configured to cause an end effector provided on the moving part to move an insertion object, bring the insertion object into contact with an insertion hole provided in an insertion target object in the state where the insertion object is tilted from a center axis of the insertion hole, and subsequently insert the insertion object into the insertion hole.

25. 发明授权

US09739674B2 Isolated force/torque sensor assembly for force controlled robot 有权
公开(公告)号：US09739674B2
公开(公告)日：2017-08-22
申请号：US14990513
申请日：2016-01-07
申请人： Stryker Corporation
发明人： Donald W. Malackowski , Richard T. DeLuca
IPC分类号： G01L5/22 , A61B34/30 , A61B34/37 , A61B34/00 , B25J9/16 , B25J1/02 , B25J13/08 , A61B90/00
CPC分类号： G01L5/226 , A61B34/30 , A61B34/37 , A61B34/76 , A61B90/03 , A61B2034/305 , A61B2090/034 , A61B2090/064 , B25J1/02 , B25J9/1633 , B25J9/1694 , B25J13/085 , G05B2219/39529 , Y10S901/09
摘要： An isolated force/torque sensor assembly for a force controlled robot includes an end effector for operatively attaching to an arm of the force controlled robot, the end effector having a gripping portion adapted to be gripped by a hand of a user, and a force/torque sensor adapted to be disposed between the gripping portion and the arm of the robot, the force/torque sensor having a high force end effector interface adapted to be attached to the arm of the robot, a low force end effector interface operatively attached to the gripping portion, and a transducer disposed between the high force end effector interface and the low force end effector interface for reacting to loads applied to the low force end effector interface for user controlled positioning of a surgical tool and for generating corresponding output signals, and wherein the transducer is bypassed for high loads.

26. 发明申请

US20170205798A1 SCREW FASTENING DEVICE WHICH USES ROTATIONAL FORCE OUTPUT FROM ROBOT 审中-公开
公开(公告)号：US20170205798A1
公开(公告)日：2017-07-20
申请号：US15407726
申请日：2017-01-17
申请人： FANUC CORPORATION
发明人： Yuki Ishii
IPC分类号： G05B19/18 , B25J13/08 , B25J13/00 , B23P19/06
CPC分类号： G05B19/186 , B23P19/066 , B25J9/1694 , B25J11/005 , B25J13/006 , B25J13/085 , G05B2219/33192 , G05B2219/39529 , G05B2219/45091
摘要： A screw fastening device comprises a robot including a wrist part, a bit which turns a screw, a force sensor which detects force information associated with a force or a moment acting between the bit and the screw, and a controller which controls the robot. The wrist part includes a flange which rotates. The bit is supported by the flange so as to rotate coaxially with the rotation axis of the flange and rotates upon transmission of the rotational force of the flange.

27. 发明申请

US20160354925A1 ROBOT CONTROL APPARATUS, ROBOT, AND ROBOT SYSTEM 审中-公开
标题翻译：机器人控制装置，机器人和机器人系统
公开(公告)号：US20160354925A1
公开(公告)日：2016-12-08
申请号：US15171326
申请日：2016-06-02
申请人： Seiko Epson Corporation
发明人： Yasuhiro SHIMODAIRA , Masaki MOTOYOSHI , Kaoru TAKEUCHI , Katsuji IGARASHI
IPC分类号： B25J9/16
CPC分类号： B25J9/1633 , B25J9/1664 , B25J13/085 , G05B2219/39322 , G05B2219/39348 , G05B2219/39529
摘要： A robot control apparatus that controls a robot including a manipulator, a force detector provided in the manipulator, and an actuator that drives the manipulator based on a target position, includes a display control unit that displays a motion position of the manipulator derived based on a target force and an output of the force detector and the target position on a screen.
摘要翻译：一种机器人控制装置，其控制包括操纵器，设置在所述操纵器中的力检测器和基于目标位置驱动所述操纵器的致动器的机器人，所述机器人控制装置包括显示控制单元，所述显示控制单元显示基于目标力和力检测器的输出和屏幕上的目标位置。

28. 发明申请

US20160243705A1 HUMAN COOPERATION ROBOT SYSTEM IN WHICH ROBOT IS CAUSED TO PERFORM RETREAT OPERATION DEPENDING ON EXTERNAL FORCE 有权
标题翻译：机器人人工合成机器人系统是根据外部力量进行撤退操作
公开(公告)号：US20160243705A1
公开(公告)日：2016-08-25
申请号：US15047633
申请日：2016-02-19
申请人： FANUC Corporation
发明人： Yasuhiro NAITOU , Soichi ARITA , Hiromitsu TAKAHASHI
IPC分类号： B25J13/08 , G01L5/00
CPC分类号： B25J13/085 , B25J9/1676 , G01L5/009 , G05B2219/39529 , G05B2219/40198 , G05B2219/40202 , G05B2219/40559
摘要： A human cooperation robot system includes: an external force detecting unit that detects an external force acting on a robot; a retreat operation commanding unit that commands a retreat operation for causing the robot to be moved in a direction such that the external force is decreased when the external force detected by the external force detecting unit is greater than a first threshold value; and an external force variation monitoring unit that stops the retreat operation when a variation width of the external force at a predetermined time after the retreat operation is commanded by the retreat operation commanding unit is smaller than a second threshold value.
摘要翻译：人工合作机器人系统包括：外力检测单元，其检测作用在机器人上的外力; 退避操作指令单元，当所述外力检测单元检测到的外力大于第一阈值时，所述撤退操作指令单元执行使所述机器人沿所述外力减小的方向移动的退避操作; 以及外力变化监视单元，其在所述撤退操作指令单元指示所述退避操作之后的预定时间的所述外力的变化幅度小于第二阈值时停止所述退避操作。

29. 发明申请

US20150100147A1 ROBOT SYSTEM AND METHOD FOR MANUFACTURING COMPONENT 有权
标题翻译：机器人系统及其制造方法
公开(公告)号：US20150100147A1
公开(公告)日：2015-04-09
申请号：US14571290
申请日：2014-12-16
申请人： KABUSHIKI KAISHA YASKAWA DENKI
发明人： Tetsuro IZUMI , Yukio HASHIGUCHI , Takuya FUKUDA , Ryoichi NAGAI
IPC分类号： B25J9/16
CPC分类号： B25J9/1687 , B25J9/0087 , B25J9/1682 , G05B2219/39124 , G05B2219/39529 , G05B2219/40028 , Y10S901/02 , Y10S901/05 , Y10S901/09
摘要： After a forward end of a workpiece is inserted into a through-hole and fitting is started, a follow operation of moving the workpiece to follow the shape of the through-hole is performed during the movement of the workpiece in a fitting direction. At this time, the workpiece is fitted into the through-hole while a control point of a robot is changed in a direction opposite to the fitting direction according to the amount of movement of the workpiece in the fitting direction.
摘要翻译：在将工件的前端插入到通孔中并开始装配之后，在工件沿着装配方向的移动期间执行沿着通孔的形状移动工件的跟随操作。此时，根据工件在装配方向上的移动量，使机器人的控制点沿着与装配方向相反的方向变化而嵌入到通孔中。

30. 发明授权

US08958914B2 Robot control system, robot system, and sensor information processing apparatus 有权
标题翻译：机器人控制系统，机器人系统和传感器信息处理设备
公开(公告)号：US08958914B2
公开(公告)日：2015-02-17
申请号：US13669824
申请日：2012-11-06
申请人： Seiko Epson Corporation
发明人： Mitsuhiro Inazumi
IPC分类号： G05B15/00 , B25J9/16 , B25J13/08 , G05B19/00
CPC分类号： B25J9/1694 , B25J9/16 , B25J9/1612 , B25J9/1633 , B25J13/08 , G05B2219/39325 , G05B2219/39343 , G05B2219/39529 , G05B2219/41166 , Y10S901/09
摘要： A robot control system includes a force control unit configured to output a correction value of a target track of a robot on the basis of sensor information acquired from a force sensor, a target-value output unit configured to apply correction processing based on the correction value to the target track to calculate a target value and output the calculated target value, and a robot control unit configured to perform feedback control of the robot on the basis of the target value. The force control unit includes a digital filter unit. The force control unit applies digital filter processing by the digital filter unit to the sensor information to calculate a solution of an ordinary differential equation in force control and outputs the correction value on the basis of the calculated solution.
摘要翻译：机器人控制系统包括力控制单元，其被配置为基于从力传感器获取的传感器信息输出机器人的目标轨迹的校正值，目标值输出单元，被配置为基于校正值应用校正处理到目标轨道以计算目标值并输出计算出的目标值;以及机器人控制单元，被配置为基于目标值执行机器人的反馈控制。力控制单元包括数字滤波器单元。力控制单元通过数字滤波器单元对传感器信息进行数字滤波处理，以计算力控制中的常微分方程的解，并根据计算出的解输出校正值。

你已经成功收藏专利！

检索式保存成功!

IPRDB

热门服务

关于我们

友情链接

联系方式