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公开(公告)号：US08776632B2
公开(公告)日：2014-07-15
申请号：US13213142
申请日：2011-08-19
申请人： Dalong Gao , Chris A. Ihrke
发明人： Dalong Gao , Chris A. Ihrke
CPC分类号： B25J9/102 , B25J9/104 , B25J15/0009 , Y10T74/18848 , Y10T74/20317 , Y10T74/20323 , Y10T74/20329
摘要： A serial robot includes a base, first and second segments, a proximal joint joining the base to the first segment, and a distal joint. The distal joint that joins the segments is serially arranged and distal with respect to the proximal joint. The robot includes first and second actuators. A first tendon extends from the first actuator to the proximal joint and is selectively moveable via the first actuator. A second tendon extends from the second actuator to the distal joint and is selectively moveable via the second actuator. The robot includes a transmission having at least one gear element which assists rotation of the distal joint when an input force is applied to the proximal and/or distal joints by the first and/or second actuators. A robotic hand having the above robot is also disclosed, as is a robotic system having a torso, arm, and the above-described hand.
摘要翻译： 串联机器人包括基部，第一和第二段，将基部连接到第一段的近侧接头和远端接头。 连接节段的远侧关节相对于近端连续地排列和远端。 机器人包括第一和第二致动器。 第一腱从第一致动器延伸到近端关节，并且可以经由第一致动器选择性地移动。 第二腱从第二致动器延伸到远端关节，并且可以经由第二致动器选择性地移动。 机器人包括具有至少一个齿轮元件的变速器，当通过第一和/或第二致动器将输入力施加到近端和/或远侧接头时，所述至少一个齿轮元件有助于远侧接头的旋转。 还公开了具有上述机器人的机器人手，以及具有躯干，手臂和上述手的机器人系统。
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2.发明授权Human-robot interactive system having a human stiffness estimation control algorithm 有权人机交互系统具有人体硬度估计控制算法公开(公告)号：US08483879B2
公开(公告)日：2013-07-09
申请号：US12627033
申请日：2009-11-30
申请人： Dalong Gao , Roland J. Menassa , Robin Stevenson
发明人： Dalong Gao , Roland J. Menassa , Robin Stevenson
CPC分类号： G05B19/423 , B25J9/1633 , G05B2219/36429 , G05B2219/36435 , G05B2219/39338
摘要： A robotic system includes a robot adapted for moving a payload in proportional response to an input force from an operator, sensors adapted for measuring a predetermined set of operator input values, including the input force, and a controller. The controller determines a changing stiffness value of the operator using set of operator input values, and automatically adjusts a level of control sensitivity over the robot using the stiffness value. The input values include the input force, a muscle activation level of the operator, and a position of the operator. A method of controlling the robot includes measuring the operator input values using the plurality of sensors, processing the input values using the controller to thereby calculate the stiffness value, and automatically adjusting the level of control sensitivity over the robot using the stiffness value. A specific operator may be identified, with control sensitivity being adjusted based on the identity.
摘要翻译： 机器人系统包括机器人，其适于根据来自操作者的输入力成比例地移动有效载荷，适于测量包括输入力的预定操作员输入值集合的传感器和控制器。 控制器使用一组操作员输入值确定操作者的刚度变化值，并使用刚度值自动调整机器人的控制灵敏度水平。 输入值包括输入力，操作者的肌肉激活水平以及操作者的位置。 一种控制机器人的方法包括使用多个传感器测量操作者输入值，使用控制器处理输入值，从而计算出刚度值，并使用刚度值自动调整机器人的控制灵敏度水平。 可以识别特定的操作者，其基于身份来调整控制灵敏度。
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公开(公告)号：US08167290B2
公开(公告)日：2012-05-01
申请号：US12115899
申请日：2008-05-06
IPC分类号： B23Q1/25
CPC分类号： B65D19/0002 , B65D2519/00805 , B65D2519/00815
摘要： A pallet includes a platform and a plurality of support assemblies located at multiple positions on the platform. One support assembly is associated with each location of the component to be supported. Each support assembly has a linkage assembly to support and enable movement of a support element. The support assemblies also each include multiple bases secured to the platform, to position the support element in a desired location for each version of a component. An alignment mechanism on each base allows for rotational alignment of the support element relative to the pallet.
摘要翻译： 托盘包括平台和位于平台上的多个位置处的多个支撑组件。 一个支持组件与要支持的组件的每个位置相关联。 每个支撑组件具有支撑和支撑支撑元件移动的连杆组件。 支撑组件还各自包括固定到平台的多个基座，以将支撑元件定位在组件的每个版本的期望位置。 每个基座上的对准机构允许支撑元件相对于托盘的旋转对准。
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公开(公告)号：US07992733B2
公开(公告)日：2011-08-09
申请号：US12627383
申请日：2009-11-30
IPC分类号： B66C13/18
摘要： An assist system is configured for moving a mass vertically, along a Z axis. The assist system includes a vertical actuation system, a cable, a plurality of pulleys, an actuator, and a mass. The pulleys are operatively attached to the support structure and an assist device that is movable attached to the support structure. The cable is routed around each of the pulleys and attached to the support structure. One of the pulleys supports the mass. The mass moves vertically in response to the actuator.
摘要翻译： 辅助系统被配置为沿着Z轴垂直移动物体。 辅助系统包括垂直致动系统，电缆，多个滑轮，致动器和组件。 滑轮可操作地附接到支撑结构和可移动地附接到支撑结构的辅助装置。 电缆围绕每个滑轮布置并连接到支撑结构。 一个滑轮支撑质量。 质量响应于执行器垂直移动。
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公开(公告)号：US20110130862A1
公开(公告)日：2011-06-02
申请号：US12626981
申请日：2009-11-30
申请人： Dalong Gao , Diana Marie Wegner , Roland J. Menassa , Alexandre Lecours , Clement Gosselin , Thierry Laliberte , Simon Foucault , Vincent Duchaine
发明人： Dalong Gao , Diana Marie Wegner , Roland J. Menassa , Alexandre Lecours , Clement Gosselin , Thierry Laliberte , Simon Foucault , Vincent Duchaine
CPC分类号： B66D3/18
摘要： The cable lift system provides assistance to movement of a flexibly suspended payload actuated by operator input into one or more sensing devices attached to the payload. The sensing device is configured to collect information about the typical push-pull and lift-lower motions of an operator moving the payload horizontally and/or vertically, such that the operator's input to the sensor is intuitive and is provided in a manner which is substantially transparent to the operator. The assist mechanisms included in the system are actuated by a controller processing signals received from the one or more sensing devices on the payload. Movement assistance is provided such that the manual effort required by the operator to overcome the inertia of the payload in a starting or stopping event is substantially relieved, thus minimizing the ergonomic impact of the starting and stopping events on the operator.
摘要翻译： 电缆提升系统为由操作者输入致动的灵活悬挂的有效载荷的移动提供帮助，以将其附接到有效负载的一个或多个感测装置中。 感测装置被配置为收集关于操作者水平地和/或垂直地移动有效载荷的操作者的典型推拉和升降运动的信息，使得操作者对传感器的输入是直观的并且以基本上 对操作者透明。 包括在系统中的辅助机构由控制器致动，处理从有效载荷上的一个或多个感测装置接收的信号。 提供运动辅助，使得操作者在起动或停止事件中克服有效载荷的惯性所需的手动工作基本上被释放，从而最小化起动和停止事件对操作者的人机工程学影响。
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公开(公告)号：US20100140860A1
公开(公告)日：2010-06-10
申请号：US12328910
申请日：2008-12-05
IPC分类号： B23Q3/00
CPC分类号： B62D65/18 , B23P2700/50 , B62D65/10 , B62D65/12
摘要： The present invention provides a flexible support assembly for supporting and/or locating a fixture on a tooling plate. The support assembly includes a stanchion with a bore, and a threaded portion on an inner-diameter surface thereof. A base plate is attached to, and configured to repositionably fix the stanchion to the tooling plate. A cylindrical sleeve with a threaded portion on an outer-diameter surface thereof is threadably engaged with the stanchion, whereby the sleeve is operable to telescope with respect to the stanchion between a first, lowest position and a second, highest position. A nut is threadably engaged with the sleeve to lock the sleeve at any predetermined position between the first and second positions. A locator pin is releasably engaged with the sleeve at a first end thereof. The locator pin has a protrusion projecting outward from a second opposing end thereof for engaging a pinhole in the fixture.
摘要翻译： 本发明提供了一种用于在工具板上支撑和/或定位固定装置的柔性支撑组件。 支撑组件包括具有孔的支柱和在其内径表面上的螺纹部分。 基板附接到并且构造成将支柱重新定位地固定到工具板上。 具有在其外径表面上的螺纹部分的圆柱形套筒与支柱螺纹接合，由此套筒可操作以相对于支柱在第一最低位置和第二最高位置之间望远镜。 螺母与套筒螺纹接合，以将套筒锁定在第一和第二位置之间的任何预定位置。 定位销在其第一端处与套筒可释放地接合。 定位销具有从其第二相对端向外突出的突起，用于接合固定装置中的针孔。
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公开(公告)号：US09266440B2
公开(公告)日：2016-02-23
申请号：US13484345
申请日：2012-05-31
申请人： Dalong Gao , Neil David McKay , Matthew J Reiland , Simon Foucault , Marc-Antoine LaCasse , Thierry Laliberte , Boris Mayer-St-Onge , Alexandre Lecours , Clement Gosselin , David E. Milburn , Linda Y. Harkenrider
发明人： Dalong Gao , Neil David McKay , Matthew J Reiland , Simon Foucault , Marc-Antoine LaCasse , Thierry Laliberte , Boris Mayer-St-Onge , Alexandre Lecours , Clement Gosselin , David E. Milburn , Linda Y. Harkenrider
IPC分类号： H02J7/00 , B65B3/04 , B25J5/00 , B25J15/08 , G05B19/19 , B60L11/18 , B25J9/04 , B25J13/08 , H01R13/66 , H01R43/26 , H01R13/631 , H01R13/635
CPC分类号： B60L11/1818 , B25J9/042 , B25J13/085 , B60L11/1825 , B60L11/1827 , B60L2230/22 , H01R13/6315 , H01R13/635 , H01R13/6683 , H01R43/26 , H02J7/0027 , Y02T10/7005 , Y02T10/7055 , Y02T10/7088 , Y02T90/121 , Y02T90/125 , Y02T90/128 , Y02T90/14
摘要： A robotic charging station for charging a battery of an electric vehicle includes a base plate, a riser coupled with the base plate and extending substantially transverse to the base plate, and a robotic arm. The robotic arm extends from the riser and supports an end effector. The end effector includes a plurality of electrical contacts configured to couple with a receptacle disposed on the electric vehicle. The robotic arm is configured to move the end effector in three degrees of motion.
摘要翻译： 用于对电动车辆的电池充电的机器人充电站包括基板，与基板耦合并且基本上横向于基板延伸的提升器和机器人臂。 机器臂从提升管延伸并支撑末端执行器。 末端执行器包括多个电触点，其被配置为与设置在电动车辆上的插座相连。 机器人臂被配置成以三个运动方式移动末端执行器。
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公开(公告)号：US20130042715A1
公开(公告)日：2013-02-21
申请号：US13213142
申请日：2011-08-19
申请人： Dalong Gao , Chris A. Ihrke
发明人： Dalong Gao , Chris A. Ihrke
IPC分类号： B25J17/00
CPC分类号： B25J9/102 , B25J9/104 , B25J15/0009 , Y10T74/18848 , Y10T74/20317 , Y10T74/20323 , Y10T74/20329
摘要： A serial robot includes a base, first and second segments, a proximal joint joining the base to the first segment, and a distal joint. The distal joint that joins the segments is serially arranged and distal with respect to the proximal joint. The robot includes first and second actuators. A first tendon extends from the first actuator to the proximal joint and is selectively moveable via the first actuator. A second tendon extends from the second actuator to the distal joint and is selectively moveable via the second actuator. The robot includes a transmission having at least one gear element which assists rotation of the distal joint when an input force is applied to the proximal and/or distal joints by the first and/or second actuators. A robotic hand having the above robot is also disclosed, as is a robotic system having a torso, arm, and the above-described hand.
摘要翻译： 串联机器人包括基部，第一和第二段，将基部连接到第一段的近侧接头和远端接头。 连接节段的远侧关节相对于近端连续地排列和远端。 机器人包括第一和第二致动器。 第一腱从第一致动器延伸到近端关节，并且可以经由第一致动器选择性地移动。 第二腱从第二致动器延伸到远端关节，并且可以经由第二致动器选择性地移动。 机器人包括具有至少一个齿轮元件的变速器，当通过第一和/或第二致动器将输入力施加到近端和/或远侧接头时，所述至少一个齿轮元件有助于远侧接头的旋转。 还公开了具有上述机器人的机器人手，以及具有躯干，手臂和上述手的机器人系统。
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公开(公告)号：US20120306443A1
公开(公告)日：2012-12-06
申请号：US13153321
申请日：2011-06-03
IPC分类号： H02J7/00
CPC分类号： H02J7/00 , B60L53/35 , H02J7/0042 , H02J2007/0096 , Y02T10/7005 , Y02T10/7072 , Y02T90/121 , Y02T90/125 , Y02T90/14
摘要： Methods and systems are provided for charging an energy storage system of a vehicle. A processor is coupled to an arm. The processor is configured to obtain a position of the vehicle. The processor is further configured to guide the arm to locate a charging receptacle of the vehicle based on the position and to insert the charging device into the charging receptacle.
摘要翻译： 提供了用于对车辆的能量存储系统进行充电的方法和系统。 处理器耦合到臂。 处理器被配置为获得车辆的位置。 处理器还被配置成基于该位置引导臂以定位车辆的充电座，并将充电装置插入充电容座。
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公开(公告)号：US08092127B2
公开(公告)日：2012-01-10
申请号：US12051346
申请日：2008-03-19
IPC分类号： B60P7/06
CPC分类号： B65D19/44 , B65D19/0002 , B65D85/68 , B65D2519/00815
摘要： A pallet includes a platform and a plurality of support assemblies located at multiple positions on the platform. One support assembly is associated with each location of the component to be supported. Each support assembly has several linkage assemblies to position a support element in a desired location for each version of a component. The linkage assemblies each include multiple bases secured to the platform, to position the support element in the desired location. Securing a locking mechanism on the linkage assemblies prevents movement of the support element when in the desired position. To configure the pallet for another version of the component the locking mechanisms are released, the support elements are moved to another base and the locking mechanisms are secured again for each of the support assemblies.
摘要翻译： 托盘包括平台和位于平台上的多个位置处的多个支撑组件。 一个支持组件与要支持的组件的每个位置相关联。 每个支撑组件具有多个联动组件以将支撑元件定位在组件的每个版本的期望位置。 连杆组件各自包括固定到平台的多个基座，以将支撑元件定位在期望的位置。 在连接组件上固定锁定机构可防止支撑元件处于所需位置时的移动。 为了配置托板用于组件的另一版本，锁定机构被释放，支撑元件被移动到另一个基座，并且锁定机构再次被固定用于每个支撑组件。
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