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公开(公告)号：US06705361B2
公开(公告)日：2004-03-16
申请号：US10300466
申请日：2002-11-20
IPC分类号： B05B500
CPC分类号： B05B5/1675 , B05B5/1616 , B05B12/1463
摘要： An apparatus and a method for controlling a paint canister filling operation includes a controller for determining a total volume of paint required for a painting operation, calculating a required piston position and actuating a motor to move a piston in the interior of the canister to the required position. The controller opens a supply valve connected between the canister interior and a paint supply to fill the canister and monitors the torque applied by the motor to maintain the piston at the required position. When the torque exceeds a set point representing the torque value required to maintain the piston at the required position when the total required paint is in the canister interior, the controller closes the supply valve.
摘要翻译： 用于控制油漆罐填充操作的装置和方法包括：控制器，用于确定喷漆操作所需的油漆总体积，计算所需的活塞位置，并致动马达将罐内部的活塞移动到所需的 位置。 控制器打开连接在罐内部和油漆供应器之间的供应阀，以填充罐并监测由电动机施加的扭矩以将活塞保持在所需位置。 当转矩超过设定值，表示当总需要的油漆在罐内部时将活塞保持在所需位置所需的转矩值，控制器关闭供油阀。
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公开(公告)号：US5941679A
公开(公告)日：1999-08-24
申请号：US958276
申请日：1997-10-27
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。
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3.发明申请LINE MANAGEMENT SYSTEM AND A METHOD FOR ROUTING FLEXIBLE LINES FOR A ROBOT 审中-公开线路管理系统和用于机器人的柔性线路的方法公开(公告)号：US20120255388A1
公开(公告)日：2012-10-11
申请号：US13080005
申请日：2011-04-05
申请人： Stan H. McClosky
发明人： Stan H. McClosky
IPC分类号： B25J18/00
CPC分类号： B25J19/0025 , Y10T74/20311
摘要： A line management system for a robot includes a flexible line, a structure clamp coupled to a first end of the flexible line to attach the flexible line to a support structure of the robot, an arm clamp coupled to the second end of the flexible line to attach the flexible line to an outer arm of the robot, a coupling device moveably coupled to the robot structure, wherein the flexible line is attached to the coupling device at an intermediate point along a length thereof.
摘要翻译： 用于机器人的线路管理系统包括柔性线，结合夹具，其耦合到柔性线的第一端以将柔性线连接到机器人的支撑结构;臂夹，耦合到柔性线的第二端， 将柔性线连接到机器人的外臂，可移动地联接到机器人结构的联接装置，其中柔性线沿着其长度的中间点附接到联接装置。
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公开(公告)号：US06193621B1
公开(公告)日：2001-02-27
申请号：US09306554
申请日：1999-05-06
申请人： Stan H. McClosky
发明人： Stan H. McClosky
IPC分类号： F16H708
CPC分类号： F16H7/08 , F16C1/22 , Y10T74/20408
摘要： A take-up device for automatically taking-up slack in a control cable. The take-up device includes a cable mount mounted to one end of a control cable. A compression spring engages the cable mount and continuously biases the cable mount to a slack take-up position to tension the control cable. In the preferred embodiment, the cable mount is biased so that one end of the control cable moves toward the other end of the control cable in order tension the control cable. A threaded tube engages the cable mount to retain the cable mount in the slack take-up position. The take-up device is characterized by a torsion spring automatically moving the threaded tube into engagement with the cable mount as the compression spring biases the cable mount to the slack take-up position thereby automatically preventing the cable mount from returning to a slackened position.
摘要翻译： 用于自动收起控制电缆松弛的收纸装置。 卷取装置包括安装在控制电缆的一端的电缆固定架。 压缩弹簧与电缆固定件接合，并将电缆固定件连续地偏压到松弛的卷绕位置，以张紧控制电缆。 在优选实施例中，电缆安装座被偏置，使得控制电缆的一端朝向控制电缆的另一端移动，以便张紧控制电缆。 螺纹管接合电缆支架，以将电缆支架保持在松弛的收紧位置。 卷取装置的特征在于，当压缩弹簧将电缆安装件偏压到松弛卷取位置时，扭力弹簧自动地将螺纹管移动到与电缆固定件接合，从而自动防止电缆安装件返回到松弛位置。
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公开(公告)号：US4892992A
公开(公告)日：1990-01-09
申请号：US266679
申请日：1988-11-03
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。
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公开(公告)号：US07399363B2
公开(公告)日：2008-07-15
申请号：US10691939
申请日：2003-10-23
申请人： Scott J. Clifford , Paul D. Copioli , Mike G. Beem , Robert C. Foti , Stan H. McClosky , Matt Zimmerer , Brad O. Niederquell , W. Daniel Mantz
发明人： Scott J. Clifford , Paul D. Copioli , Mike G. Beem , Robert C. Foti , Stan H. McClosky , Matt Zimmerer , Brad O. Niederquell , W. Daniel Mantz
CPC分类号： B05B13/0431 , B05B12/14 , B05B13/0452
摘要： A painting robot outer arm includes a non-conductive housing mounting a color changer on the outside and a paint canister on the inside connected by an isolating paint transfer line. The paint canister is releasably attached to a piston ram and drive motor by a quick disconnect coupling. The paint supply is isolated from the applied high voltage by cleaning and drying the transfer line. The rate of filling of the canister can be controlled in response to sensed torque applied by a drive motor moving a piston in the paint canister.
摘要翻译： 油漆机器人外臂包括在外部安装换色器的非导电壳体和通过隔离油漆输送线连接的内部的油漆罐。 油漆罐通过快速的分离联接件可释放地连接到活塞柱塞和驱动电机。 通过清洁和干燥传输线，将油漆供应与施加的高压隔离。 罐的填充速率可以响应于由驱动马达在油漆罐中移动活塞而施加的感测扭矩而被控制。
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7.发明授权公开(公告)号：US06945483B2
公开(公告)日：2005-09-20
申请号：US10004936
申请日：2001-12-05
申请人： Scott J. Clifford , Stan H. McClosky , James S. Hager , Ernest M. Otani , Gary J. Rutledge , John C. Reinicke , Robert C. Foti
发明人： Scott J. Clifford , Stan H. McClosky , James S. Hager , Ernest M. Otani , Gary J. Rutledge , John C. Reinicke , Robert C. Foti
CPC分类号： B05B13/0431 , B05B12/14 , B05B12/149
摘要： A waterborne paint bell applicator is movable to and from a docking position and includes a paint receptacle connected to a paint canister. A paint filling station has a plurality of paint injectors each connected to a different color paint supply and being movable to the docking position for engagement with the paint receptacle for filling the paint canister with paint. A servomotor drives a piston in the canister. A paint valve in each injector is prevented from opening when the bell applicator is not present at the docking position
摘要翻译： 水性漆钟施加器可移动到对接位置并且包括连接到油漆罐的油漆容器。 油漆加油站具有多个油漆喷射器，每个油漆喷射器连接到不同的颜色油漆供应并且可移动到对接位置，用于与油漆容器接合，以用油漆填充油漆罐。 伺服电机驱动罐内的活塞。 当在对接位置处不存在钟施加器时，防止每个喷射器中的喷漆阀打开
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公开(公告)号：US07638000B2
公开(公告)日：2009-12-29
申请号：US11872372
申请日：2007-10-15
申请人： Scott J. Clifford , Paul D. Copioli , Michael G. Beem , Robert C. Foti , Stan H. McClosky , Matt Zimmerer , Brad O. Niederquell , W. Daniel Mantz
发明人： Scott J. Clifford , Paul D. Copioli , Michael G. Beem , Robert C. Foti , Stan H. McClosky , Matt Zimmerer , Brad O. Niederquell , W. Daniel Mantz
CPC分类号： B05B13/0431 , B05B12/14 , B05B13/0452
摘要： A painting robot outer arm includes a non-conductive housing mounting a color changer on the outside and a paint canister on the inside connected by an isolating paint transfer line. The paint canister is releasably attached to a piston ram and drive motor by a quick disconnect coupling. The paint supply is isolated from the applied high voltage by cleaning and drying the transfer line. The rate of filling of the canister can be controlled in response to sensed torque applied by a drive motor moving a piston in the paint canister.
摘要翻译： 油漆机器人外臂包括在外部安装换色器的非导电壳体和通过隔离油漆输送线连接的内部的油漆罐。 油漆罐通过快速的分离联接件可释放地连接到活塞柱塞和驱动电机。 通过清洁和干燥传输线，将油漆供应与施加的高压隔离。 罐的填充速率可以响应于由驱动马达在油漆罐中移动活塞而施加的感测扭矩而被控制。
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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。
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公开(公告)号：US5887800A
公开(公告)日：1999-03-30
申请号：US922541
申请日：1997-09-03
申请人： Stan H. McClosky
发明人： Stan H. McClosky
CPC分类号： B25J15/0019 , B05B13/0431 , B25J17/02
摘要： A robot wrist and spray head applicator assembly (10) comprising a base (18) presenting an arm axis (A) and supported on a robot arm (16). A housing (22) is supported by the base (18) for rotation about the arm axis (A). A tool support member (30) has a tool axis (B) and is rotatably supported by the housing (22) for rotation about a transverse axis (C) which is disposed at an acute angle relative to the arm axis (A) for movement between a straight ahead position in which the tool axis (B) is generally parallel to the arm axis (A) and a transverse position in which the tool axis (B) is transverse to the arm axis (A). A spray head (38, 38') is rotatably supported by the tool support member (30) for rotation about the tool axis (B) and the spray head (38, 38') and includes a needle valve (44) movable between open and closed positions for controlling flow. The assembly is characterized by a motion transmitting core element (46) extending from the base (18) for rectilinear movement for moving the needle valve (44) with the core element (46) being flexible for bending through a curved path between the base (18) and the spray head (38, 38') as the housing (22) and/or the tool support member (30) are rotated relative to the base (18) and as the spray head (38, 38') rotates. In addition, the core element (46) is connected to a piston (56) supported by a fluid coupling member (54). The fluid coupling member (54) presents a fluid inlet (60) for actuating the piston (56), a paint connection (68) for receiving paint and an air inlet (76) for receiving spraying air and a bracket (86) supports the coupling member (54) on the robot arm (16) in spaced relationship to the base (18).
摘要翻译： 一种机器人手腕和喷头施用器组件（10），包括具有臂轴线（A）并支撑在机器人臂（16）上的基座（18）。 壳体（22）由基部（18）支撑以围绕臂轴线（A）旋转。 工具支撑构件（30）具有工具轴线（B），并且由壳体（22）可旋转地支撑，用于围绕相对于臂轴线（A）以锐角设置的横向轴线（C）旋转以便运动 在工具轴线（B）大致平行于臂轴线（A）的直线前进位置和工具轴线（B）横向于臂轴线（A）的横向位置之间。 喷头（38,38'）由工具支撑构件（30）可旋转地支撑，用于围绕工具轴线（B）和喷头（38,38'）旋转，并且包括可在打开状态之间移动的针阀 和用于控制流量的闭合位置。 组件的特征在于运动传递芯元件（46），其从底座（18）延伸，用于直线运动，用于移动针阀（44），芯元件（46）是柔性的，用于弯曲通过基座 18）和作为壳体（22）和/或工具支撑构件（30）的喷头（38,38'）相对于基座（18）旋转并且随着喷头（38,38'）旋转。 此外，芯元件（46）连接到由流体联接构件（54）支撑的活塞（56）。 流体联接构件（54）具有用于致动活塞（56）的流体入口（60），用于接收油漆的油漆连接件（68）和用于接收喷射空气的空气入口（76）和支架（86） 联接构件（54）在机器人臂（16）上与基座（18）间隔开。
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