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1. 发明申请

US20180354143A1 ROBOTS WITH DYNAMICALLY CONTROLLED POSITION OF CENTER OF MASS 审中-公开
公开(公告)号：US20180354143A1
公开(公告)日：2018-12-13
申请号：US16005109
申请日：2018-06-11
申请人： Benjamin F. Dorfman
发明人： Benjamin F. Dorfman
IPC分类号： B25J19/00 , B25J9/00 , G05D1/08
CPC分类号： H04L63/0281 , B25J9/0009 , B25J19/0012 , B25J19/002 , G05B2219/40298 , G05B2219/40465 , G05D1/0891 , G06N3/04 , H04L63/029
摘要： Dynamic control of a center of mass position is based on replacement of discrete motion of macro body (counterweighing solid or counterbalancing mechanisms) for continuous molecular flow of counterweighing liquid. Redistributing liquid counterweight between chambers attached to independently moving parts of robot allows its motion to new stable position without disruption in static stability and dynamic balance. Various embodiments include bipods/humanoids, wheeled locomotion robots and hybrid wheeled/multi-pod bio-like robotic systems; some embodiments allow reversible mutual reconfiguration between various structural arrangements. In humanoid embodiments, method allows moving on uneven terrain or ascending staircases while maintaining static stability; method also decreases the probability of fall and secures self-rising if a fall occurred. In some embodiments liquid counterweight may be transferred upon high barriers exceeding the height of robot by a few folds, such as walls of the building or ledge or steep slope in mountains, thus providing robots with capability principally not available to prior art.

2. 发明申请

US20160271806A1 ROBOT AND METHOD FOR MOUNTING BALANCER TO ROBOT 审中-公开
标题翻译：机器人和平衡机器人的安装方法
公开(公告)号：US20160271806A1
公开(公告)日：2016-09-22
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
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.
摘要翻译：机器人包括机器人臂，平衡器以及第一安装部和第二安装部。平衡器预先加压预定量的压力并收缩到小于机器人手臂的预定安装尺寸的尺寸。第一安装部分和第二安装部分设置在机器人臂上以分别接纳平衡器的第一端和第二端，使得平衡器的第一端和第二端安装在机器人手臂上。第一安装部和第二安装部中的至少一个安装部在大致平行于平衡器伸缩的方向的方向上接纳平衡器的第一端部和第二端部中的相应端部。

3. 发明申请

US20160207191A1 LIFTING DEVICE FOR USE AT A MANUAL WORK STATION 审中-公开
标题翻译：提升装置在手动工作站使用
公开(公告)号：US20160207191A1
公开(公告)日：2016-07-21
申请号：US14914765
申请日：2014-08-26
申请人： LÖFS SPECIALMASKINER AB
发明人： Klas-Arne LOF
IPC分类号： B25H1/00 , B25J1/12
CPC分类号： B25H1/0028 , B25J1/12 , B25J19/0012
摘要： A lifting device includes a framework (2) and a manipulator arm (8) pivotally connected to the framework. The manipulator arm includes a first end portion (19) and a second end portion (13) adapted to carry a tool (20). A balancing arrangement (7; 30, 39) includes a first part (7a; 30a; 39a) connected to the framework and a second part (7b; 30b; 39b) adapted to interact with the first end portion. At least one of the manipulator arm and the balancing arrangement includes a first balancing device (11; 31; 34), which is extendable to ensure that interaction between the second part and the first end portion is maintained. The first balancing device is adapted to generate a first balancing force which maintains a moment balance about the first joint. The manipulator arm has at least two rotational degrees of freedom in a first spherical coordinate system (17).
摘要翻译：提升装置包括框架（2）和枢转地连接到框架的操纵臂（8）。操纵臂包括适于承载工具（20）的第一端部（19）和第二端部（13）。平衡装置（7; 30,39）包括连接到框架的第一部分（7a; 30a; 39a）和适于与第一端部相互作用的第二部分（7b; 30b; 39b）。操纵器臂和平衡装置中的至少一个包括第一平衡装置（11; 31; 34），其可延伸以确保第二部分和第一端部之间的相互作用得以维持。第一平衡装置适于产生第一平衡力，其保持关于第一关节的力矩平衡。操纵臂在第一球形坐标系（17）中具有至少两个旋转自由度。

4. 发明申请

US20160096268A1 DEVICE WITH IMPROVED ACTUATING MEANS AND METHOD FOR USE THEREOF 审中-公开
标题翻译：具有改进的致动装置的装置及其使用方法
公开(公告)号：US20160096268A1
公开(公告)日：2016-04-07
申请号：US14966778
申请日：2015-12-11
申请人： Technische Universiteit Delft
发明人： Gaurav Genani
IPC分类号： B25J9/00 , B25J13/08 , F16M13/04 , B25J19/00
CPC分类号： B25J9/0006 , B25J13/08 , B25J19/0012 , F16M13/04 , Y10S901/02
摘要： A device comprising a main body, an arm assembly comprising first arm member, a first joint, a second arm member, a second joint, orientation control means for adjusting the orientation of the arm members and/or joints of the arm assembly relative to the main body, one or more passive actuating means for counterbalancing at least a part of the weight of the arm assembly, wherein an adjustable lever mechanism is arranged between the main body and the arm assembly, drive means configured for adjusting the lever arm, one or more orientation sensors for determining the orientation of the arm members and/or joints of the arm assembly relative to the main body, and lever arm control means for adjusting the lever arm of the adjustable lever mechanism with the drive means. The invention further relates to a method of adjusting a lever arm of such a device.
摘要翻译：一种装置，包括主体，臂组件，包括第一臂构件，第一接头，第二臂构件，第二接头，用于调节臂构件和/或臂组件相对于臂组件的接合方向的取向控制装置主体，用于平衡臂组件的重量的至少一部分的一个或多个被动致动装置，其中可调节杠杆机构布置在主体和臂组件之间，驱动装置被构造成用于调节杠杆臂，一个或用于确定臂组件相对于主体的臂构件和/或接头的取向的更多取向传感器，以及用于利用驱动装置调节可调节杠杆机构的杠杆臂的杠杆臂控制装置。本发明还涉及一种调节这种装置的杠杆臂的方法。

5. 发明申请

US20140297032A1 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，以及评估气弹簧内压的方法
公开(公告)号：US20140297032A1
公开(公告)日：2014-10-02
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 , B25J9/06
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。

6. 发明申请

US20120186379A1 INDUSTRIAL ROBOT 审中-公开
标题翻译：工业机器人
公开(公告)号：US20120186379A1
公开(公告)日：2012-07-26
申请号：US13347173
申请日：2012-01-10
申请人： Hideto Miyamoto
发明人： Hideto Miyamoto
IPC分类号： B25J18/00
CPC分类号： B25J19/0012 , Y10T74/20305
摘要： An industrial robot comprises an arm which includes a proximal portion rotatably supported on a horizontal rotation shaft of a frame in a cantilever state, a cylindrical case portion formed from the proximal portion side to a distal end of the arm to have an opening portion on the proximal portion side, and an arm distal end portion. The industrial robot also comprises a balancer device which includes a rod, and a cylinder 3a in which the rod is reciprocated. An engagement portion at a distal end of the rod, and a rear end of the cylinder are rotatably supported between a pair of first support portions of the frame, and between a pair of second support portions inside the cylindrical case portion, respectively, so that the cylindrical case portion and the balancer device do not interfere with each other in an extent of rotation of the arm.
摘要翻译：工业机器人包括臂，其包括可旋转地支撑在悬臂状框架的水平旋转轴上的近端部分，从臂的近端部分至远端形成的圆柱形壳体部分，以在其上具有开口部分近端部分侧和臂远端部分。工业机器人还包括平衡器装置，其包括杆和杆，其中杆被往复运动。杆的远端的接合部分和气缸的后端分别可旋转地支撑在框架的一对第一支撑部分之间，并且分别在圆筒形壳体部分内的一对第二支撑部分之间，使得圆筒形壳体部分和平衡装置在臂的旋转程度上彼此不干涉。

7. 发明授权

US06408225B1 Device and method for balancing the weight on a robot arm 失效
标题翻译：用于平衡机器人手臂上的重量的装置和方法
公开(公告)号：US06408225B1
公开(公告)日：2002-06-18
申请号：US09762373
申请日：2001-02-02
申请人： Helmut Ortmeier , Dietrich Engelhardt
发明人： Helmut Ortmeier , Dietrich Engelhardt
IPC分类号： G05B1904
CPC分类号： B25J19/0012 , Y10T29/53004 , Y10T29/53065 , Y10T74/20305
摘要： The invention relates to a device for balancing the weight carried by a robot arm of a robot. Said device comprises a fluid spring, rotably a pneumatic spring, and a control device for controlling the movements of the robot. The device is characterized by a pressure sensor which measures the pressure of the fluid of the fluid spring. Said device and the method provided for by the invention permit the exact adjustment and balancing of the movements of the robot arm.
摘要翻译：本发明涉及一种用于平衡由机器人的机器人臂承载的重量的装置。所述装置包括可旋转的气动弹簧的流体弹簧和用于控制机器人运动的控制装置。该装置的特征在于测量流体弹簧的流体的压力的压力传感器。所述装置和由本发明提供的方法允许机器人手臂的运动的精确调节和平衡。

8. 发明授权

US5037267A Load balancing mechanism 失效
标题翻译：负载平衡机制
公开(公告)号：US5037267A
公开(公告)日：1991-08-06
申请号：US208237
申请日：1988-06-17
申请人： William G. Warner , Joseph G. Tranchida
发明人： William G. Warner , Joseph G. Tranchida
IPC分类号： B25J5/02 , B25J19/00 , B66C23/00
CPC分类号： B25J19/0012 , B25J5/02 , B66C23/005 , Y10S414/13
摘要： A load balancing mechanism (10) disclosed includes an arm (12) including first and second arm portions (14,26). A support post (22) is rotatable about its vertical axis A and supports arm (12) by first arm portion (14) for pivotal movement in a vertical plane and also for rotational movement about axis A. First arm portion (14) includes parallel spaced members (16,16') defining a parallel linkage arrangement. A piston and cylinder balancing arrangement (38) connects post (22) and first arm portion (14) allowing upward and downward pivotal movement of arm (12) and is responsive to such upward and downward pivotal movement to provide balancing of a load thereon. The second arm portion (26) can be longitudinally moved relative to a second mount (32) to increase or decrease the length of arm (12) without having to change the force applied via balancing arrangement (38) to maintain balancing of the load.
摘要翻译：所公开的负载平衡机构（10）包括包括第一和第二臂部分（14,26）的臂（12）。支撑柱（22）可围绕其垂直轴线A旋转，并且通过第一臂部分（14）支撑臂（12），以在垂直平面中枢转运动，并且还围绕轴线A旋转运动。第一臂部分（14）包括平行间隔的构件（16,16'）限定了平行的连接装置。活塞和气缸平衡装置（38）连接柱（22）和第一臂部分（14），允许臂（12）的向上和向下枢转运动，并且响应于这种向上和向下的枢转运动以提供其上的负载的平衡。第二臂部分26可以相对于第二安装件32纵向移动，以增加或减小臂部12的长度，而不必改变通过平衡装置38施加的力，以保持负载的平衡。

9. 发明授权

US4904150A Balancing unit for pivotable mechanical elements, such as doors, robot arms, etc. 失效
标题翻译：用于可枢转机械元件的平衡单元，例如门，机器人臂等
公开(公告)号：US4904150A
公开(公告)日：1990-02-27
申请号：US192910
申请日：1988-05-12
申请人： Roland Svensson , .ANG.ke sterberg
发明人： Roland Svensson , .ANG.ke sterberg
IPC分类号： B25J19/00 , F15B1/02
CPC分类号： F15B1/02 , B25J19/0012 , Y10T74/20
摘要： The invention relates to a balancing unit (1) for, for example, a movable arm in an industrial robot. The unit comprises a cylinder (2) with a piston (3) and a piston rod (4) arranged in the cylinder (2). The cylinder (2) is completely closed except for a sealed exit opening for the passage of the piston rod (4). On one side of the piston (3), the cylinder space is connected to a medium which is under high pressure, and on the other side of the piston (3) the cylinder space is connected, via a connection at the end of the cylinder (2), to a closed isolated space.
摘要翻译：本发明涉及一种用于例如工业机器人中的可动臂的平衡单元（1）。该单元包括具有活塞（3）的气缸（2）和布置在气缸（2）中的活塞杆（4）。除了用于活塞杆（4）通过的密封出口外，气缸（2）完全关闭。在活塞（3）的一侧，气缸空间连接到处于高压下的介质，而在活塞（3）的另一侧，气缸空间通过气缸端部的连接（2），到一个封闭的隔离空间。

10. 发明授权

US4790053A Device for coupling an assembly tool, such as gripper or similar 失效
标题翻译：用于联接装配工具的装置，例如夹具或类似物
公开(公告)号：US4790053A
公开(公告)日：1988-12-13
申请号：US17158
申请日：1987-02-20
申请人： Heinz Godbecker
发明人： Heinz Godbecker
IPC分类号： B25J15/00 , B25J19/00 , B25J19/06 , H05K13/04 , B23B39/20
CPC分类号： B25J19/0012 , B25J15/0052 , B25J19/063 , H05K13/0404 , Y10T29/5154 , Y10T29/5158 , Y10T29/53174 , Y10T483/19
摘要： A device is disclosed for mounting a plurality of assembly tools such as grippers or the like on the end of a robot arm. The device includes a turret head for supporting a plurality of grippers and a turret head support member which is shiftably mounted relative on the end of the robot arm. The turret head is rotatable about an axis at an acute angle to the axis of the robot arm. Two angularly disposed pusher arms are carried by the turret support member and extend into a chamber in the turret head. A shaft extends from the end of the robot arm into an opening in the turret support member. A weight compensating member and a position sensor are mounted in the turret support member for cooperation with the shaft.
摘要翻译：公开了用于将多个组装工具（例如夹持器等）安装在机器人手臂的端部上的装置。该装置包括用于支撑多个夹持器的转塔头和相对于机器人手臂的端部可移动地安装的转塔头部支撑构件。转台头可绕着与机器人手臂的轴线成锐角的轴线旋转。两个角度布置的推动臂由转塔支撑构件承载并延伸到转台头中的室中。轴从机器人臂的端部延伸到转塔支撑构件中的开口中。重量补偿构件和位置传感器安装在转台支撑构件中以与轴配合。

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