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：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。

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：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。

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

IPC分类号： B05B12/14 ,  B05B13/04 ,  B05B5/00 ,  B05B15/02 ,  F23D11/32

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

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。

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。

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

IPC分类号： B05B3/00 ,  B05B5/00

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。

公开(公告)号：US06705361B2

公开(公告)日：2004-03-16

申请号：US10300466

申请日：2002-11-20

申请人： Bradley O. Niederquell ,  Derrick McCaig ,  Stan H. McClosky

发明人： Bradley O. Niederquell ,  Derrick McCaig ,  Stan H. McClosky

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。