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：US5941679A

公开(公告)日：1999-08-24

申请号：US958276

申请日：1997-10-27

申请人： Robert Charles Foti ,  Lupcho Najdovski ,  Stan H. McClosky

发明人： Robert Charles Foti ,  Lupcho Najdovski ,  Stan H. McClosky

IPC分类号： B25J17/02 ,  B05B12/00 ,  B25J15/00 ,  B25J15/04 ,  B66C1/04

CPC分类号： B25J15/0019 ,  B05B13/0292

摘要： A robot assembly (10) for opening and holding an automotive door including a base (12) movably mounted to a platform (14). An inner robot arm (18) is pivotally mounted to the base. An outer robot arm (20) is pivotally mounted to the inner arm (18). A tool arm (22) is pivotally mounted to the outer robot arm (20). The tool arm (22) includes a shaft (58) presenting a second tool arm axis (A.sub.4) for rotation about the second tool arm axis (A.sub.4). A sphere (90), presenting first, second and third sphere axes (A.sub.5,A.sub.6,A.sub.7), is mounted to the distal end of the shaft (58) for rotatably supporting a magnet tool (118). A pin (104) extends from the sphere (90) for preventing the rotation of the tool (118) about the first sphere axis (A.sub.) which is parallel to the second tool arm axis (A.sub.4). The tool (118) is positioned in a home position relative to the second tool arm axis (A.sub.4) by a biasing spring (70) operatively connected to the shaft (58). The tool (118) is positioned in a normal position relative to the second sphere axis (A.sub.6) by a pair of biasing springs (110) engaged with the pin (104). The robot arms (18, 20) maneuver the tool (118) such that the tool (118) engages and opens the door. As the tool (118) engages and opens the door, the tool (118) rotates about the second tool arm axis (A.sub.4), the second sphere axis (As, and the third sphere axis (A.sub.7). The sphere (90) is sealed by a sealing means (112, 114) which accommodates for the rotation of the tool (118). A proximity sensor (74) detects if the tool (118) has hold of the door. The tool arm (22) includes a clutch plate (24) for allowing the tool arm (22) to breakaway from the outer robot arm (20) in the event the tool (118) unexpectedly crashes.

摘要翻译： 一种用于打开和保持汽车门的机器人组件（10），其包括可移动地安装到平台（14）的基座（12）。 内部机器人臂（18）枢转地安装到基座。 外部机械臂（20）可枢转地安装到内臂（18）上。 工具臂（22）枢转地安装到外部机器人手臂（20）上。 工具臂（22）包括轴（58），其具有用于围绕第二工具臂轴线（A4）旋转的第二工具臂轴线（A4）。 呈现第一，第二和第三球轴（A5，A6，A7）的球体（90）安装到轴（58）的远端，用于可旋转地支撑磁体工具（118）。 销（104）从球体（90）延伸，以防止工具（118）围绕与第二工具臂轴线（A4）平行的第一球轴线（A）旋转。 工具（118）通过可操作地连接到轴（58）的偏置弹簧（70）相对于第二工具臂轴线（A4）定位在初始位置。 工具（118）通过与销（104）接合的一对偏置弹簧（110）相对于第二球轴线（A6）定位在正常位置。 机器人手臂（18,20）操纵工具（118），使得工具（118）接合并打开门。 当工具（118）接合并打开门时，工具（118）围绕第二工具臂轴线（A4），第二球轴线（As和第三球轴线（A7））旋转，球体（90） 由适于工具（118）旋转的密封装置（112,114）密封，接近传感器（74）检测工具（118）是否具有门的夹持，工具臂（22）包括离合器 板（24），用于在工具（118）意外碰撞的情况下允许工具臂（22）与外部机器人手臂（20）分离。

公开(公告)号：US4892992A

公开(公告)日：1990-01-09

申请号：US266679

申请日：1988-11-03

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

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

IPC分类号： B23K26/08 ,  B23K26/10

CPC分类号： B23K26/0884

摘要： A laser robot system including an offset robot. The system includes a laser beam generator for generating a laser beam. The robot includes a pedestal having a vertical first axis and a hollow base support on the pedestal for rotation about the first axis and for receiving the laser beam along the first axis. A single computer-based controller controls the laser beam generator, a drive system of the robot and an air source which is in fluid communication with the base of the robot. The air source pressurizes the laser beam path through the robot, thereby preventing contamination of the beam path. A hollow arm support in the form of a swing block is laterally supported on the base for rotation relative to the base about a horizontal second axis which intersects the first axis. A robot arm is elongated along a third axis which is obliquely angled to and intersects the second axis. The robot arm is laterally supported on the swing block for pivotal rotation therewith relative to the base about the second axis. First and second mirrors are supported within the base and the arm, respectively, so that a laser beam traveling along the first axis is deflected to then travel along the second axis and then deflected to travel along the third axis and through an optical focusing assembly on the arm. The first mirror is reversible so that the base can receive the laser beam from opposite directions.

摘要翻译： 一种包括偏移机器人的激光机器人系统。 该系统包括用于产生激光束的激光束发生器。 机器人包括具有垂直第一轴线的基座和基座上的中空基座支撑件，用于围绕第一轴线旋转并用于沿着第一轴线接收激光束。 单个基于计算机的控制器控制激光束发生器，机器人的驱动系统和与机器人的基座流体连通的空气源。 空气源通过机器人对激光束路径加压，从而防止光束路径的污染。 摆动块形式的中空臂支撑件被横向地支撑在基座上，以相对于基部围绕与第一轴线相交的水平第二轴线旋转。 机器人臂沿着与第二轴倾斜成角度并与第二轴相交的第三轴线延伸。 机器人手臂横向地支撑在摆动块上，以相对于围绕第二轴线的基座枢轴转动。 第一和第二反射镜分别支撑在基座和臂内，使得沿着第一轴线行进的激光束被偏转，然后沿着第二轴线行进，然后被偏转以沿着第三轴线行进并通过光学聚焦组件 手臂。 第一个反射镜是可逆的，使得基座可以从相反的方向接收激光束。