公开(公告)号：US4659280A

公开(公告)日：1987-04-21

申请号：US692995

申请日：1985-01-22

申请人： Hadi A. Akeel

发明人： Hadi A. Akeel

IPC分类号： B25J9/04 ,  B25J19/00 ,  B66C23/72

CPC分类号： B25J19/0016 ,  B25J9/047 ,  Y10T16/53834

摘要： A robot including a balancing mechanism with a spring assembly which exerts a variable force to compensate for the gravitational moment transferred to the mechanism during relative rotation between an arm assembly of the robot and the rest of the robot about a pivotal axis. A spring of the spring assembly is chosen to have a force-deflection characteristic to account for the gravitational moment and the geometry of the mechanism. The arm assembly has a pivotal connection that pivotally supports the arm assembly on the rest of the robot for movement about the pivotal axis. The spring assembly has a longitudinal axis which extends towards and is substantially perpendicular to the pivotal axis. The moment arm is connected to the arm assembly at an attachment point offset from the pivotal axis. A first sprocket wheel is mounted on a drive gear of the arm assembly to rotate therewith and a second sprocket wheel is pivotally mounted at the free end of the spring assembly. A chain is wound about the first sprocket wheel to alternately wind and unwind during relative rotation about the pivotal axis. The opposite end of the chain is mounted to the gear to rotate therewith and an intermediate portion of the chain is trained over the second sprocket wheel.

摘要翻译： 一种包括具有弹簧组件的平衡机构的机器人，该弹簧组件施加可变的力以补偿在机器人的臂组件和机器人的其余部分围绕枢转轴线之间的相对旋转期间传递到机构的重力矩。 选择弹簧组件的弹簧以具有力 - 偏转特性来解释重力矩和机构的几何形状。 臂组件具有枢转连接，其枢转地支撑臂组件在机器人的其余部分上围绕枢转轴线运动。 弹簧组件具有朝向并基本上垂直于枢转轴线延伸的纵向轴线。 力臂在与枢转轴线偏移的附接点处连接到臂组件。 第一链轮安装在臂组件的驱动齿轮上以与其一起旋转，并且第二链轮被枢转地安装在弹簧组件的自由端。 链条围绕第一链轮缠绕，以在围绕枢转轴线的相对旋转期间交替地卷绕和展开。 链条的相对端安装到齿轮上以与其一起旋转，链条的中间部分被训练在第二链轮上。

公开(公告)号：US06612449B1

公开(公告)日：2003-09-02

申请号：US09458295

申请日：1999-12-10

申请人： Ernest M. Otani ,  Donald S. Bartlett ,  Hadi A. Akeel ,  H. Dean McGee ,  Lupcho Najdovski ,  James C. Hobson ,  Stan H. McClosky ,  Robert V. Bauer, Jr. ,  Robert Frease

发明人： Ernest M. Otani ,  Donald S. Bartlett ,  Hadi A. Akeel ,  H. Dean McGee ,  Lupcho Najdovski ,  James C. Hobson ,  Stan H. McClosky ,  Robert V. Bauer, Jr. ,  Robert Frease

IPC分类号： B66C1110

CPC分类号： B66C23/005 ,  B25J5/02 ,  B25J13/085

摘要： An intelligent power assisted manual manipulator controllable by operator inputs from an operator for moving an object is provided. The manipulator includes a movable base supporting a lift mechanism for moving the object. The manipulator also includes at least one servomotor for actuating at least one of the movable base and the lift mechanism for moving the object. An operator control mechanism for receiving the operator inputs is supported on the lift mechanism. A plurality of force sensors are disposed between the operator control mechanism and the lift mechanism for sensing said operator inputs and actuating at least one of the at least one servomotor. The movable base includes an overhead rail defining a generally horizontal first axis and a carriage supported on the overhead rail and movable along the first axis. The lift mechanism includes a turret assembly supported on the carriage having a generally vertical second axis, and a generally horizontal third axis. The carriage has first and second elongated portions in opposing generally horizontal planes and third and fourth elongated portions in generally vertical planes. Oversize rollers on unhardened ways support the carriage. A main arm extends from the turret with the main arm being rotatable about the second and third axes. An attachment interface is supported by the main arm and adapted to support the object, the attachment interface having a fifth axis about which the attachment interface is rotatable. The manipulator is also adapted for lifting different objects having different weights. The arm has a portion opposite the pivotal connection adapted to support the object. A gravity balancer mechanism is adapted to support the different weights, and a motion servomotor is adapted to produce a movement of the arm by drivingly rotating the arm about the axis.

摘要翻译： 提供了一种由操作人员输入的用于移动物体的智能辅助手动操纵器。 操纵器包括支撑用于移动物体的提升机构的可动基座。 操纵器还包括至少一个伺服电动机，用于致动可移动底座和升降机构中的至少一个以移动物体。 用于接收操作员输入的操作者控制机构支撑在升降机构上。 多个力传感器设置在操作者控制机构和提升机构之间，用于感测所述操作者输入并且致动至少一个伺服电机中的至少一个。 可移动基座包括限定大致水平的第一轴线的架空导轨和支撑在顶架轨道上并可沿着第一轴线移动的滑架。 提升机构包括支撑在滑架上的具有大致垂直的第二轴线的转台组件和大致水平的第三轴线。 滑架具有在相对的大致水平的平面中的第一和第二细长部分以及在大致垂直的平面中的第三和第四细长部分。 无硬化方式的超大型滚轮支撑滑架。 主臂从转台延伸，主臂可围绕第二和第三轴线旋转。 附接界面由主臂支撑并且适于支撑物体，附件接口具有第五轴线，附件接口可围绕该第五轴线旋转。 操纵器还适于提升具有不同重量的不同物体。 臂具有与枢转连接相对的部分，其适于支撑物体。 重力平衡器机构适于支撑不同的重物，并且运动伺服电动机适于通过围绕轴线驱动地旋转臂来产生臂的运动。

公开(公告)号：US5987726A

公开(公告)日：1999-11-23

申请号：US613683

申请日：1996-03-11

申请人： Hadi A. Akeel

发明人： Hadi A. Akeel

IPC分类号： B23P19/00 ,  B25J17/02 ,  G05B19/18 ,  G05D3/00 ,  G05D3/12 ,  G05D15/01 ,  B23Q17/00

CPC分类号： B23P19/105 ,  B25J17/0216 ,  A61B2034/304 ,  Y10T29/49776 ,  Y10T29/4978 ,  Y10T29/49895 ,  Y10T29/53022 ,  Y10T29/53039 ,  Y10T29/53061 ,  Y10T29/53065 ,  Y10T29/53091 ,  Y10T29/53709 ,  Y10T74/20299 ,  Y10T74/20305 ,  Y10T74/20329 ,  Y10T74/20335 ,  Y10T74/20341

摘要： An apparatus for compliant positioning of an object during an assembly operation wherein the apparatus includes a base plate, a locator plate for mounting an object such as a clamp or a tool spaced from the base plate and a plurality of linear actuators connected between the base plate the locator plate by universal joints providing six degrees of freedom of movement. A control is connected to the actuators for selectively moving the locator plate to a predetermined position relative to the base plate for contacting a component to be assembled with an object mounted on the locator plate. Two or more of the actuators can be mechanically coupled to move the locator plate with less than six degrees of freedom. The control is responsive to a force applied to the locator plate through the object during assembly of the component for actuating the linear actuators to change the applied force.

摘要翻译： 一种用于在组装操作期间对象的顺应定位的装置，其中所述装置包括基板，用于安装诸如夹子或与所述基板间隔开的工具的物体的定位板以及连接在所述基板之间的多个线性致动器 定位板通过万向节提供六个自由度的运动。 控制器连接到致动器，用于选择性地将定位板移动到相对于基板的预定位置，用于将待组装的部件与安装在定位板上的物体接触。 致动器中的两个或更多个可以机械联接以便以小于六个自由度移动定位板。 该控制响应于在组件期间通过物体施加到定位板的力，用于致动线性致动器以改变施加的力。

公开(公告)号：US5697868A

公开(公告)日：1997-12-16

申请号：US586827

申请日：1996-01-31

申请人： Hadi A. Akeel

发明人： Hadi A. Akeel

IPC分类号： F16H1/32 ,  F16H13/08 ,  F16H1/28

CPC分类号： F16H13/06 ,  F16H1/32

摘要： In a planetary speed reduction gear or a frictional epicyclic speed reduction gear (10 to 10E) having a simple construction for practical use, a single planet pinion or a planet friction wheel (11, 11a) is driven for eccentric revolution along an internal gear (12) by an input shaft (17, 25), the planet pinion or the planet friction wheel (11, 11a) is interlocked with an output flange (15) by drive pins (18) supported on the output flange (15) and eccentric disks (19) connected to the drive pins (18) and rotatably supported on the planet pinion or the planet friction wheel (11, 11a).

摘要翻译： PCT No.PCT / JP95 / 01066 Sec。 371日期1996年1月31日 102（e）日期1996年1月31日PCT提交1995年5月31日PCT公布。 出版物WO95 / 33145 日期：1995年12月7日在行星式减速装置或具有实用简单结构的摩擦行星减速齿轮（10〜10E）中，驱动单个行星齿轮或行星摩擦轮（11,11a）进行偏心旋转 通过输入轴（17,25）沿着内齿轮（12），行星齿轮或行星摩擦轮（11,11a）通过支撑在输出凸缘上的驱动销（18）与输出凸缘（15）互锁 （15）和连接到驱动销（18）并且可旋转地支撑在行星齿轮或行星摩擦轮（11,11a）上的偏心盘（19）。

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：US5423648A

公开(公告)日：1995-06-13

申请号：US823206

申请日：1992-01-21

申请人： Hadi A. Akeel ,  Chris K. Reed

发明人： Hadi A. Akeel ,  Chris K. Reed

IPC分类号： B21D43/05 ,  B25J9/04 ,  B25J9/10 ,  B65H5/12

CPC分类号： B21D43/05 ,  B25J9/04 ,  B25J9/1065 ,  Y10S414/13

摘要： A method and system are provided for quickly and efficiently transferring a workpiece from a first work station including a first sheet metal press to a second sheet metal press by providing a pendulum-type robot, including an arm assembly mounted on a support structure to swing about a first axis located above and between the first and second presses. The arm assembly not only swings about a first axis but also rotates about a second axis orthogonal to the first axis and a third axis which is orthogonal to the second axis. During swinging movement of the arm assembly about the first axis, rotation of the arm assembly about the second and third axes allows a center of gravity of the workpiece to follow a substantially straight line path between the first and second presses. The arm assembly includes first and second four-bar linkages, which are pivotally connected together to rotate about the second axis. Preferably, a wrist mechanism is provided to permit rotation of the part between the presses. Also preferably, a counterbalance mechanism in the form of a cable balancing device is provided to support the arm assembly against gravity.

摘要翻译： 提供了一种方法和系统，用于通过提供一种摆式机器人来快速有效地将工件从包括第一钣金压力机的第一工位转移到第二钣金压力机，包括安装在支撑结构上的臂组件围绕 位于第一和第二压力机之上和之间的第一轴。 臂组件不仅围绕第一轴线摆动，而且围绕与第一轴线正交的第二轴线以及与第二轴线正交的第三轴线旋转。 在臂组件围绕第一轴线的摆动运动期间，臂组件围绕第二和第三轴线的旋转允许工件的重心沿着第一和第二压力机之间的基本直线的路径。 臂组件包括第一和第二四杆联接件，其枢转地连接在一起以围绕第二轴线旋转。 优选地，设置腕部机构以允许部件在压力机之间旋转。 还优选地，设置有电缆平衡装置形式的平衡机构以支撑臂组件以抵抗重力。

公开(公告)号：US5367944A

公开(公告)日：1994-11-29

申请号：US86539

申请日：1993-07-01

申请人： Hadi A. Akeel ,  John A. Reinicke

发明人： Hadi A. Akeel ,  John A. Reinicke

IPC分类号： G01B7/00 ,  B05B5/16 ,  B05B12/14 ,  G01B21/00 ,  G01D5/06 ,  F01B25/26

CPC分类号： G01D5/06 ,  B05B12/14 ,  B05B5/1625 ,  B05B5/1675 ,  B05B13/0431 ,  B05B13/0452 ,  Y10T137/87981

摘要： A sensor for measuring the amount of a fluid such as electrostatically charged paint in a canister wherein part of the sensor moves within a cavity which is insulated from the paint. A body such as a piston moves linearly within the canister to dispense the paint from the canister. In two embodiments, the sensor is a non-contact sensor including a magnet which moves with the piston and creates a magnetic field in the cavity. A ferromagnetic device of the sensor moves linearly along a sensor element in the cavity in response to movement of the magnetic field created by the moving magnet. In another embodiment, the sensor includes an elongated pliable cable connected at one end thereof to the piston to move therewith. The opposite end of the cable is connected to a sensor element of the sensor such as a rotary encoder. Each sensor provides a signal to allow the metering of the paint entering or/and discharged from the canister.

摘要翻译： 传感器，用于测量在罐中的诸如静电电荷涂料的流体的量，其中传感器的一部分在与涂料绝缘的空腔内移动。 诸如活塞的主体在罐内线性地移动以从罐分配油漆。 在两个实施例中，传感器是非接触传感器，其包括与活塞一起移动并在空腔中产生磁场的磁体。 响应于由移动磁体产生的磁场的移动，传感器的铁磁装置沿空腔中的传感器元件线性移动。 在另一个实施例中，传感器包括在其一端连接到活塞以与其一起移动的细长柔性电缆。 电缆的相对端连接到传感器的传感器元件，如旋转编码器。 每个传感器提供信号以允许油漆进入或排出的油漆的计量。

公开(公告)号：US5331264A

公开(公告)日：1994-07-19

申请号：US048654

申请日：1993-04-15

申请人： Sai-Kai Cheng ,  H. Dean McGee ,  Chi-Ken Tsai ,  Hadi A. Akeel

发明人： Sai-Kai Cheng ,  H. Dean McGee ,  Chi-Ken Tsai ,  Hadi A. Akeel

IPC分类号： B25J9/18 ,  G05B19/416

CPC分类号： G05B19/416 ,  G05B2219/39195 ,  G05B2219/43029 ,  G05B2219/43099 ,  G05B2219/45104

摘要： A method and device of achieving motion cycle time reduction that takes motor capabilities, load inertia and gravity into account and, at the same time, produces acceptable tool tip vibration upon stopping. This cycle time reduction is especially applicable to short motions of a robot where the entire motion consists of acceleration and deceleration and there is no constant velocity region. The method and device provide open loop limiting factors for axis jerk, acceleration and velocity, taking into account robot position, payload and inertia.

摘要翻译： 实现运动周期时间缩短的方法和装置，其考虑电动机能力，负载惯量和重力，并且同时在停止时产生可接受的工具尖端振动。 该循环时间的减少特别适用于机器人的短运动，其中整个运动由加速和减速组成，并且没有恒定的速度区域。 考虑到机器人的位置，有效载荷和惯性，该方法和装置为轴加速度，加速度和速度提供了开环限制因素。

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。

公开(公告)号：US4984745A

公开(公告)日：1991-01-15

申请号：US370123

申请日：1989-06-20

申请人： Hadi A. Akeel ,  Antoni J. Malarz

发明人： Hadi A. Akeel ,  Antoni J. Malarz

IPC分类号： B05B13/04 ,  B25J19/00

CPC分类号： B25J19/0079 ,  B05B13/0431 ,  B25J19/0029 ,  Y10T74/20311

摘要： A multi-axis electric spraying robot adapted for use in a hazardous environment includes a base having a first pressurized compartment and an arm assembly having a second pressurized compartment in which compartments electric motors are respectively located. The arm assembly is supported for movement on the base at one end thereof. The arm assembly includes a wrist adapted for connecting the opposite end of the arm assembly with a spraying tool. One electric motor is provided to drive each axis. The compartments are pressurized to prevent flammable gases or vapors from entering the first and second compartments during operation of the robot.

摘要翻译： 适用于危险环境的多轴电动喷涂机器人包括具有第一加压隔间的底座和具有隔室电动机分别位于其中的第二加压室的臂组件。 臂组件支撑在其一端在基座上运动。 臂组件包括适于将臂组件的相对端部与喷涂工具连接的腕部。 提供一个电动机来驱动每个轴。 在机器人操作期间，隔室被加压以防止易燃气体或蒸气进入第一和第二隔室。