公开(公告)号：US5459925A

公开(公告)日：1995-10-24

申请号：US21999

申请日：1993-02-24

申请人： Hadi A. Akeel ,  Stan H. McClosky

发明人： Hadi A. Akeel ,  Stan H. McClosky

IPC分类号： B25J17/00 ,  B25J9/10 ,  B25J19/00 ,  F16H1/28 ,  F16H1/36 ,  F16H1/46 ,  F16H57/08 ,  B21D53/28

CPC分类号： F16H57/08 ,  B25J19/0029 ,  B25J9/102 ,  F16H1/28 ,  F16H1/2809 ,  F16H2001/2881 ,  Y10T29/49465

摘要： A planetary type speed reducer provides a large central hole for passing electric and service lines for a robot therethrough. The speed reducer may be used in either a self-motorized or an externally-motorized rotary joint. In a predetermined embodiment, the speed reducer includes a cylindrical carrier and multiple compound gear planets which are rotatably mounted on their respective shafts some of which, in turn, are eccentrically mounted on the carrier. A method for manufacturing the gear planets is also provided. Each of the gears has two sections or parts which are shifted angularly relative to each other and are adapted to engage adjacent fixed output gears of the rotary joint.

摘要翻译： 行星式减速机提供一个大的中心孔，用于通过机器人的电动和维修线路。 减速机可用于自动电动或外部电动旋转接头。 在一个预定实施例中，减速器包括一个圆柱形托架和多个复合齿轮行星，它们可旋转地安装在它们各自的轴上，其中一些偏心地安装在托架上。 还提供了一种用于制造齿轮行星的方法。 每个齿轮具有相对于彼此成角度地移动并且适于接合旋转接头的相邻固定输出齿轮的两个部分或部分。

公开(公告)号：US5034618A

公开(公告)日：1991-07-23

申请号：US402236

申请日：1989-09-05

申请人： Hadi A. Akeel ,  Stan H. McClosky

发明人： Hadi A. Akeel ,  Stan H. McClosky

IPC分类号： B23P21/00 ,  B23K26/02 ,  G01B11/27 ,  G02B6/26 ,  G02B6/42 ,  G02B7/24

CPC分类号： B23K26/0884 ,  B23K26/043 ,  G01B11/272

摘要： A method is provided for aligning an articulated beam delivery device, such as a robot, by utilizing an electronic, high resolution television camera as a transducer for measuring small beam deviations at relatively short distances. A display monitor coupled to the camera is located in view of an operator of the robot to provide direct visual feedback for use during the aligning method. The aligning method includes the step of transmitting a collimated optical beam so that the beam travels along a first base path and is deflected by an adjustable mirror supported on an arm assembly having first and second axes of the robot for rotation therewith about the first axis and thence along a second beam path. The beam is also deflected by at least one other mirror supported within a wrist mechanism of the robot to travel along a third beam path to a beam exit end of the robot. The camera is mounted on a tool support member rotatable about a third axis of the wrist mechanism to sense the beam and to thereby generate a video image containing a beam point related to the beam. The beam point is then displayed on the video display device. In order to adjust the first mirror, the operator causes the arm assembly and, consequently, the camera to rotate about the first axis so that the beam point on the display device traces a curve, every point of which is substantially equidistant from a fixed center point.

摘要翻译： 提供了一种用于通过利用电子的高分辨率电视摄像机作为用于在较短距离处测量小光束偏差的换能器来对准诸如机器人的铰接射束输送装置的方法。 耦合到相机的显示监视器位于机器人的操作者的视野，以提供在对准方法期间使用的直接视觉反馈。 对准方法包括发送准直光束的步骤，使得光束沿着第一基本路径行进并且被支撑在具有机器人的第一和第二轴线的臂组件上的可调镜子偏转，以便围绕第一轴线旋转， 然后沿着第二光束路径。 梁还被支撑在机器人的手腕机构内的至少一个其他反射镜偏转，以沿着第三光束路径行进到机器人的光束出射端。 照相机安装在可围绕腕部机构的第三轴线旋转的工具支撑部件上，以感测光束，从而生成包含与光束相关的光束点的视频图像。 然后将该光束点显示在视频显示装置上。 为了调整第一反射镜，操作者引起臂组件，并因此相机围绕第一轴旋转，使得显示装置上的光束点跟踪曲线，每个点与固定中心基本等距 点。