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41. 发明授权

US11897125B2 Spring array device for verifying reliability and accuracy of mechanical impedance estimating robot and connecting structure therebetween 有权
公开(公告)号：US11897125B2
公开(公告)日：2024-02-13
申请号：US16788263
申请日：2020-02-11
申请人： UNIST(ULSAN NATIONAL INSTITUTE OF SCIENCE AND TECHNOLOGY)
发明人： Sang Hoon Kang , Hyunah Kang
IPC分类号： B25J19/00 , A61B5/00 , G01L1/04 , G01L5/161
CPC分类号： B25J19/0095 , A61B5/4528 , A61B2560/0223 , F16F2230/0005 , G01L1/04 , G01L5/161
摘要： A 3D spring array device includes: a fixed body having an internal space therein; a moving body positioned in a center of an x-y-z orthogonal coordinate system in the internal space, wherein the moving body is configured to be fastenable to the end effector of the mechanical impedance estimating robot; and a first spring, a second spring, a third spring, a fourth spring, a fifth spring, a sixth spring, a seventh spring, and an eighth spring and configured to connect the fixed body to the moving body in the internal space.

42. 发明公开

US20230400384A1 ABNORMALITY DETECTION DEVICE WHICH DETECTS ABNORMALITIES IN POWER TRANSMISSION MECHANISM FOR TRANSMITTING ROTATIONAL FORCE OUTPUTTED BY MOTOR 审中-公开
公开(公告)号：US20230400384A1
公开(公告)日：2023-12-14
申请号：US18034940
申请日：2021-11-08
申请人： Fanuc Corporation
发明人： Yoshiaki Yokoyama
IPC分类号： G01M13/022 , G01D5/12 , B25J19/00
CPC分类号： G01M13/022 , G01D5/12 , B25J19/0095
摘要： This abnormality detection device is provided with a first encoder for detecting the rotation angle of an input shaft of a decelerator, and a second encoder for detecting the rotation angle of an output shaft of the decelerator. An operation control unit controls a servo motor such that the position acquired from the output of the second encoder corresponds to a position determined by an operation program. A detection unit calculates the angle difference, which is the difference between the rotation angle acquired from output of the first encoder and the rotation angle acquired from output of the second encoder. The detection unit determines whether or not the decelerator is abnormal on the basis of the angle difference.

43. 发明公开

US20230278239A1 GROUND SIMULATION DEVICE AND METHOD FOR ON-ORBIT MANIPULATION OF SPACE MANIPULATOR 审中-公开
公开(公告)号：US20230278239A1
公开(公告)日：2023-09-07
申请号：US18177777
申请日：2023-03-03
申请人： Shenzhen Technology University
发明人： Gan MA , Ziqi XU , Zixin LIN , Zihao JIAO , Zhiming CHEN , Wenwei ZHANG
IPC分类号： B25J19/00 , B25J9/16
CPC分类号： B25J19/0095 , B25J9/1682 , B25J9/163
摘要： A ground simulation device and method for an on-orbit manipulation of a space manipulator is provided. The ground simulation device includes: a dual-arm robot, configured to simulate the space manipulator operating a target object; a suspension device, including a fixed post and passive rods, where the passive rods are movably connected with a top end of the fixed post, and the target object is suspended to the passive rods; and a simulation platform, configured to fix the dual-arm robot and the suspension device thereon. The ground simulation device provides the passive rods on the suspension device and suspends the target object to the passive rods, thus overcoming the gravity of the target object. In addition, the passive rods can drive the target object to move under an influence of an external force, achieving a similar suspension effect to that in space, and providing a desired, safe, and reliable implementation effect.

44. 发明申请

US20170211999A1 FORCE/TORQUE SENSOR HAVING REDUNDANT INSTRUMENTATION AND OPERATIVE TO DETECT FAULTS 审中-公开
公开(公告)号：US20170211999A1
公开(公告)日：2017-07-27
申请号：US15401232
申请日：2017-01-09
申请人： ATI Industrial Automation, Inc.
发明人： Everett Lester Bradford , Dwayne Perry
IPC分类号： G01L5/00 , B25J19/00 , G01L25/00 , B25J13/08 , G01L1/22 , G01L3/10
CPC分类号： G01L5/0066 , B25J13/085 , B25J15/04 , B25J19/0095 , G01L1/225 , G01L3/108 , G01L25/003 , G05B2219/39024 , G05B2219/39529
摘要： A force/torque sensor includes a number n of deformable beams connecting the TAP to the MAP, wherein n≧4. At least four of the n deformable beams are instrumented with strain gages affixed to surfaces of the beams, such that each beam outputs two gage signals. The eight gage signals are grouped into four sets of six gage signals, such that each set includes the gage signals from three of the four instrumented beams. Each set of six gage signals is multiplied by a calibration matrix to yield a set of six force and torque values. The four sets of force and torque values are compared. If one set disagrees with the other three by greater than a predetermined tolerance, a sensor fault is signaled.

45. 发明申请

US20160279797A1 DETECTION DEVICE AND DETECTION METHOD 有权
标题翻译：检测装置和检测方法
公开(公告)号：US20160279797A1
公开(公告)日：2016-09-29
申请号：US15034991
申请日：2014-11-06
申请人： KUKA SYSTEMS GMBH
发明人： Richard ZUNKE , Andreas DOMKE , Konrad WIRTH , Thomas RAU , Julian STOCKSCHLÄDER
IPC分类号： B25J9/16 , B25J13/08 , B25J19/00 , G01L5/00
CPC分类号： B25J9/1692 , B25J9/1674 , B25J9/1676 , B25J13/085 , B25J19/0095 , F16P3/12 , G01L5/008 , G05B19/423 , G05B2219/37205 , G05B2219/39013 , G05B2219/39031 , G05B2219/39319 , G05B2219/40226 , G05B2219/42288 , G05B2219/49162
摘要： A detection device and a detection method are provided for robot-induced loads that can act upon the human body in contact with the robot during a working process. The robot-induced loads, in particular forces, are measured by the measuring device (16) of an external sensing device (2). The measuring device (16) is suitably positioned and oriented in this process in the working area of an industrial robot (3) by means of a positioning device (15).
摘要翻译：提供了一种用于机器人引起的负载的检测装置和检测方法，其可以在工作过程中作用于与机器人接触的人体。机器人引起的负载（特别是力）由外部感测装置（2）的测量装置（16）测量。测量装置（16）通过定位装置（15）适当地定位和定向在工业机器人（3）的工作区域中。

46. 发明申请

US20160141195A1 Multi-shaft Vacuum Manipulator Shafting Accuracy Testing Device 审中-公开
标题翻译：多轴真空机械手轴系精度测试装置
公开(公告)号：US20160141195A1
公开(公告)日：2016-05-19
申请号：US15011542
申请日：2016-01-30
申请人： SHANGHAI JIAO TONG UNIVERSITY
发明人： Pinkuan Liu , Jing Wu
IPC分类号： H01L21/68 , G01D5/26
CPC分类号： H01L21/681 , B25J19/0095 , G01D5/264
摘要： This invention provides a multi-shaft vacuum manipulator shafting testing device that is simple in structure, convenient for assembly and disassembly and strong in practicality. That device consists of test bed, manipulator direct drive unit, angle encoder installation support, angle encoder, connecting flange and laser displacement detecting device. The manipulator direct drive unit is mounted on the test bed through the flange. The angle encoder installation support is fixed through bolt on the test bed on one end, and the other end has the angle encoder installed on it through bolt. One end of the connecting flange connects with the shafting of the manipulator direct drive unit. The other end is connected by a flexible coupling with the angle encoder shaft. The flexible coupling compensates the axial movement error and the nonalignment error between the encoder and connecting flange to avoid too much force acting on the bearing of the angle encoder. The laser displacement detecting device consists of two laser displacement sensors and a two-dimensional mobile platform, which can adjust the range of measurement. This invention has such advantages as high measurement accuracy, convenient test operation and wide application scope and low test cost.
摘要翻译：本发明提供一种结构简单，组装拆卸方便，实用性强的多轴真空机械手轴系测试装置。该装置由试验台，机械手直接驱动装置，角度编码器安装支架，角度编码器，连接法兰和激光位移检测装置组成。机械手直接驱动单元通过法兰安装在试验台上。角度编码器安装支架通过一端的试验台上的螺栓固定，另一端通过螺栓安装角度编码器。连接法兰的一端与机械手直接驱动单元的轴系连接。另一端通过与角度编码器轴的柔性联轴器连接。柔性联轴器补偿编码器和连接法兰之间的轴向运动误差和非对准误差，以避免作用在角度编码器轴承上的过大力。激光位移检测装置由两个激光位移传感器和二维移动平台组成，可以调节测量范围。本发明具有测量精度高，测试操作方便，应用范围广，测试成本低等优点。

47. 发明授权

US08588971B2 Locomotive performance testing apparatus 失效
标题翻译：机车性能试验机
公开(公告)号：US08588971B2
公开(公告)日：2013-11-19
申请号：US12376192
申请日：2007-10-02
申请人： Kenro Udono
发明人： Kenro Udono
IPC分类号： G06F19/00
CPC分类号： G01M99/005 , A63B22/02 , B25J19/0095 , G01M99/008
摘要： Provided is a locomotive performance testing apparatus capable of testing the locomotive performance of a test subject while keeping the test subject at a suitable position on a treadmill. According to the locomotive performance testing apparatus (1), a robot (2) is moving its legs (22) toward a second direction on a plurality of endless belts (11) which are rotationally driven by a plurality of motors (12), respectively. In this situation, a positional deviation or the like of the robot (2) from a first desired position in a first direction different from a second direction is determined as a first deviation. Moreover, motions of the plurality of motors (12) are individually controlled to offset the first deviation.
摘要翻译：提供一种机车性能测试装置，其能够在将测试对象保持在跑步机上的适当位置的同时测试被测试对象的机车性能。根据机车性能测试装置（1），机器人（2）在多个环形带（11）上朝向第二方向移动其腿部（22），多个环形带（11）分别由多个电动机（12）旋转驱动。在这种情况下，将与第二方向不同的第一方向上的第一期望位置的机器人（2）的位置偏差等确定为第一偏差。此外，多个电机（12）的运动被单独控制以抵消第一偏差。

48. 发明申请

US20100058850A1 METHOD TO TEST A BRAKE OF A ROBOT 有权
标题翻译：测试机器人制动的方法
公开(公告)号：US20100058850A1
公开(公告)日：2010-03-11
申请号：US12553433
申请日：2009-09-03
申请人： TOBIAS ORTMAIER , Marc-Walter Ueberle
发明人： TOBIAS ORTMAIER , Marc-Walter Ueberle
IPC分类号： G01L5/28 , G01L3/00
CPC分类号： G01L5/288 , B25J13/085 , B25J19/0004 , B25J19/0095
摘要： In a method to test a brake of a robot that has a number of axes, an actuator associated with one of the axes, a brake associated with this axis that is set up to at least reduce a movement of this axis, and a torque sensor associated with this axis, which determines the torque acting on this axis. The brake is activated, the torque acting on the axis is determined by the torque sensor given an activated brake, and the functional capability of the brake is assessed in a processor based on an evaluation of the torque determined by the torque sensor.
摘要翻译：在测试具有多个轴的机器人的制动器的方法中，与所述轴中的一个相关联的致动器，与该轴相关联的制动器被设置为至少减小该轴线的运动，以及转矩传感器与该轴相关联，这决定了作用在该轴上的扭矩。制动器被激活，作用在轴上的扭矩由给定激活的制动器的转矩传感器确定，并且在处理器中基于由转矩传感器确定的转矩的评估来评估制动器的功能能力。

49. 发明申请

US20100000345A1 LOCOMOTIVE PERFORMANCE TESTING APPARATUS 有权
标题翻译：机车性能测试装置
公开(公告)号：US20100000345A1
公开(公告)日：2010-01-07
申请号：US12376193
申请日：2007-10-02
申请人： Kenro Udono
发明人： Kenro Udono
IPC分类号： G01M19/00
CPC分类号： G01M99/005 , A63B22/0235 , A63B22/0242 , A63B22/0292 , A63B2024/0093 , A63B2220/13 , A63B2220/30 , B25J19/0095 , G01M99/008
摘要： Provided is a testing apparatus capable of testing locomotive performance of a robot while harmonizing motions of the apparatus with that of the robot. According to the locomotive performance testing apparatus (1), a motor working plan is made on the basis of a robot motion plan, and a motor (12) is driven according to the motor working plan. As a result, an alteration pattern of a driving velocity of an endless belt (11) can be controlled according to an alteration pattern of a moving velocity of a robot (2) whose locomotive performance is being tested on the endless belt (11). Moreover, a motion tempo of the endless belt (11) and a motion tempo of the robot (2) are so harmonized that the former tempo may approach the latter tempo, and the locomotive performance of the robot (2) can be stably tested in that state.
摘要翻译：提供一种能够对机器人的机车性能进行测试，同时协调设备与机器人的运动的测试设备。根据机车性能测试装置（1），基于机器人运动计划进行电动机工作计划，并且根据电动机工作计划来驱动电动机（12）。结果，可以根据在环形带（11）上测试机车性能的机器人（2）的移动速度的变化模式来控制环形带（11）的驱动速度的变化模式。此外，环形带（11）的运动节奏和机器人（2）的运动节奏被协调一致，使得前一节奏可能接近后一节奏，机器人（2）的机车性能可以稳定地测试那个状态。

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