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公开(公告)号：US09850108B2
公开(公告)日：2017-12-26
申请号：US15459832
申请日：2017-03-15
发明人： Dalong Gao , Alexandre Lecours , Thierry Laliberte , Simon Foucault , Clement Gosselin , Boris Mayer-St-Onge , Roland J. Menassa , Pierre-Luc Belzile
CPC分类号： B66C17/00 , B66C13/30 , B66C23/005
摘要： A movement device is moved along an X axis and a Y axis by providing a sensor configured to measure angle of rotation of at least one of a first and a second kinematic link about a respective axis of rotation. A force is imparted on the first and second kinematic links such that an angular displacement of the first and second kinematic links about the respective axis of rotation is achieved. The angular displacement of the first and second kinematic links about the respective axis of rotation is determined. The movement device is moved along the X axis and/or the Y axis in response to the determination of the angle of rotation of the first and second kinematic links about the respective axis of rotation until first and second kinematic links are vertical.
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公开(公告)号：US09085308B2
公开(公告)日：2015-07-21
申请号：US13664976
申请日：2012-10-31
摘要： A movement system includes a rail, a trolley, and a braking system. The trolley is movably attached to the rail and configured to support the payload. The braking system is operatively attached to the rail. The braking system includes a braking module having a base, operatively attached to the trolley, and a wheel assembly, operatively attached to the base. The wheel assembly has a shaft, a clutch, and a braking wheel. The clutch is rigidly attached to the shaft and configured for rotation with the shaft about the rolling axis. The braking wheel axially surrounds the clutch and is in continuous rolling contact with a surface of the rail. The clutch is configured to selectively allow rotation of the braking wheel relative to the shaft in only one direction of rotation to decelerate movement of the trolley along the rail.
摘要翻译： 运动系统包括轨道，手推车和制动系统。 手推车可移动地连接到轨道并且被配置为支撑有效载荷。 制动系统可操作地连接到轨道。 制动系统包括制动模块，该制动模块具有可操作地附接到手推车的底座和可操作地附接到底座的轮组件。 车轮组件具有轴，离合器和制动轮。 离合器刚性地附接到轴并构造成与轴围绕滚动轴线旋转。 制动轮轴向地包围离合器并与轨道的表面连续滚动接触。 离合器构造成选择性地允许制动轮相对于轴在仅一个旋转方向上旋转，以减小台车沿轨道的运动。
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3.发明申请LOW-IMPEDANCE ARTICULATED DEVICE AND METHOD FOR ASSISTING A MANUAL ASSEMBLY TASK 审中-公开低阻抗装置和用于辅助手动组装任务的方法公开(公告)号：US20160039093A1
公开(公告)日：2016-02-11
申请号：US14811072
申请日：2015-07-28
发明人： Muhammad E. Abdallah , Dalong Gao , Clement Gosselin , Jacques Hache , Pascal Labrecque , Jianying Shi
CPC分类号： B25J9/1687 , B25J5/04 , B25J9/0018 , B25J9/046 , B25J9/1065 , B25J9/1615 , Y10S901/09
摘要： A system for assisting an operator in a manual assembly task includes a base assembly, end-effector, and controller. The base assembly has joint actuators providing three or more degrees of freedom (DOF). The end-effector is in series with the base assembly and has additional joints providing one or more additional DOFs. The base assembly and end-effector support a task load, including a weight and/or a reaction torque of an object. Sensors measure joint positions. The controller receives the measured positions, controls the joint actuators to support the task load, and extends a range of motion of the object. A method includes receiving the position signals as the operator manipulates the object, generating an output signal using the measured positions, and transmitting the output signal to the joint actuators to control the joint actuators, support the task load, and extending a range of motion of the object.
摘要翻译： 用于辅助操作者进行手动组装任务的系统包括基座组件，端部执行器和控制器。 基座组件具有提供三个或更多自由度（DOF）的连接致动器。 末端执行器与基座组件串联并且具有提供一个或多个附加自由度的附加关节。 基座组件和末端执行器支持任务负载，包括物体的重量和/或反作用力矩。 传感器测量关节位置。 控制器接收测量位置，控制关节致动器以支持任务负载，并延伸对象的运动范围。 一种方法包括当操作者操纵物体时接收位置信号，使用测量位置产生输出信号，并将输出信号发送到关节致动器以控制关节致动器，支撑任务负载，并且延伸一定范围的运动 物体。
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4.发明授权Movement system configured for moving a payload in a plurality of directions 有权移动系统被配置为在多个方向上移动有效载荷公开(公告)号：US08985354B2
公开(公告)日：2015-03-24
申请号：US13664963
申请日：2012-10-31
发明人： Alexandre Lecours , Simon Foucault , Thierry Laliberte , Clement Gosselin , Boris Mayer-St-Onge , Dalong Gao , Roland J. Menassa
摘要： A movement system includes a bridge crane, a trolley, and a movement device. The movement device includes an attachment portion, a plurality of housings, first and second curved elements, a cable, and a cable angle sensor. The curved elements are pivotally attached to housings and perpendicularly overlap with one another such that a first slot defined in the first curved element is perpendicular to a second slot defined in the second curved element. The first curved element is pivotable about a first axis and the second curved element is configured to pivot about a second axis. The cable extends from the attachment portion and through each of the slots. The cable is pivotable to angularly displace at least one of the curved elements about a respective axis. The cable angle sensor is configured to measure the angular displacement of the at least one of the first and second curved elements.
摘要翻译： 移动系统包括桥式起重机，手推车和移动装置。 移动装置包括附接部分，多个壳体，第一和第二弯曲元件，电缆和电缆角度传感器。 弯曲元件枢转地附接到壳体并且彼此垂直地重叠，使得限定在第一弯曲元件中的第一槽垂直于限定在第二弯曲元件中的第二槽。 第一弯曲元件可围绕第一轴线枢转，并且第二弯曲元件构造成围绕第二轴线枢转。 电缆从连接部分延伸穿过每个狭槽。 电缆可枢转，以绕相应的轴线成角度地移位至少一个弯曲元件。 电缆角度传感器构造成测量第一和第二弯曲元件中的至少一个的角位移。
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公开(公告)号：US20130112644A1
公开(公告)日：2013-05-09
申请号：US13664947
申请日：2012-10-31
发明人： Dalong Gao , Alexandre Lecours , Thierry Laliberte , Simon Foucault , Clement Gosselin , Boris Mayer-St-Onge , Roland J. Menassa , Pierre-Luc Belzile
IPC分类号： B66C17/00
CPC分类号： B66C17/00 , B66C13/30 , B66C23/005
摘要： A movement device is moved along an X axis and a Y axis by providing a sensor configured to measure angle of rotation of at least one of a first and a second kinematic link about a respective axis of rotation. A force is imparted on the first and second kinematic links such that an angular displacement of the first and second kinematic links about the respective axis of rotation is achieved. The angular displacement of the first and second kinematic links about the respective axis of rotation is determined. The movement device is moved along the X axis and/or the Y axis in response to the determination of the angle of rotation of the first and second kinematic links about the respective axis of rotation until first and second kinematic links are vertical.
摘要翻译： 移动装置通过提供构造成测量围绕相应的旋转轴线的第一和第二运动连杆中的至少一个的旋转角度的传感器沿X轴和Y轴移动。 在第一和第二运动连杆上施加力，使得实现第一和第二运动连杆围绕相应的旋转轴线的角位移。 确定第一和第二运动连杆围绕相应的旋转轴线的角位移。 响应于确定第一和第二运动链路围绕相应旋转轴线的旋转角度直到第一和第二运动链路垂直，运动装置沿X轴和/或Y轴移动。
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公开(公告)号：US20130112641A1
公开(公告)日：2013-05-09
申请号：US13664952
申请日：2012-10-31
CPC分类号： B25J19/002 , B66C13/00 , B66D3/18 , Y10T16/82
摘要： A balance assist system includes a support structure, an assist device, a variable balancing system, and a balancing cable. The variable balancing system is configured for moving a mass in a vertical direction along a Z axis. The variable balancing system includes a balance platform, a lever, and a mobile counterweight. The lever is pivotally attached to the balance platform at a fixed pivot point such that the lever is pivotable at the fixed pivot point about a balance axis. The mobile counterweight is movably disposed on the lever relative to the fixed balance axis and movable between a minimum position and a maximum position. The minimum position corresponds to the mass having a minimum weight such that the mass is statically balanced along the Z axis. Likewise, the maximum position corresponds to the mass having a maximum weight such that the mass is statically balanced along the Z axis.
摘要翻译： 平衡辅助系统包括支撑结构，辅助装置，可变平衡系统和平衡电缆。 可变平衡系统被配置为沿着Z轴在垂直方向上移动物体。 可变平衡系统包括平衡平台，杠杆和移动配重。 杠杆以固定的枢转点枢转地附接到平衡平台，使得杠杆可绕固定枢转点围绕平衡轴线枢转。 移动配重相对于固定平衡轴可移动地设置在杠杆上并且可以在最小位置和最大位置之间移动。 最小位置对应于具有最小重量的质量，使得质量沿着Z轴静态平衡。 类似地，最大位置对应于具有最大重量的质量，使得质量沿着Z轴静态平衡。
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公开(公告)号：US10350766B2
公开(公告)日：2019-07-16
申请号：US15219459
申请日：2016-07-26
摘要： An extended-reach assist device for an assembly task includes a base mechanism and a compliant end-effector. The articulated base mechanism provides one or more passive degrees of freedom. The end-effector is connected to the base mechanism, and has one or more active or passive degrees of freedom collectively configured to react to contact forces with the assist device when completing the dexterous assembly task. A weight of the end-effector is supported by the base mechanism. The end-effector may be optionally configured as a passive device configured to produce a remote center of compliance or as a robot mechanism. A mechanism may actively or passively augment a force applied by the operator. A sensor may detect a signature indicative of successful task completion, e.g., an acoustic, visual, or audio sensor.
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公开(公告)号：US20150114165A1
公开(公告)日：2015-04-30
申请号：US14063602
申请日：2013-10-25
CPC分类号： B25J17/00 , B25J9/0048 , B25J17/0208 , B25J17/0266 , B25J19/0091 , B25J19/063 , Y10S901/28 , Y10S901/46 , Y10T74/20305 , Y10T74/20329
摘要： The present invention relates to a method and apparatus for limiting the contact force between a moving device and another object, using a parallel mechanism and torque limiters where the threshold force to activate the force limiting mechanism is not related to the configuration of the moving device or the location of the contact force relative to the activation point of the force limiting mechanism, and where the mechanism may be configured for one, two or three degrees of freedom. A counterbalance mechanism is also provided to counteract gravity load when the force limiting mechanism is configured for three degrees of freedom and responsive to contact forces including a vertical element. In particular, the invention relates to a method and apparatus for limiting the contact force between a moving robotic device and a contactable object.
摘要翻译： 本发明涉及一种使用并联机构和扭矩限制器来限制移动装置与另一物体之间的接触力的方法和装置，其中启动力限制机构的阈值力与移动装置的构造无关，或者 接触力相对于力限制机构的激活点的位置，以及其中机构可被配置为一个，两个或三个自由度的位置。 还提供平衡机构以当力限制机构构造成三自由度并响应于包括垂直元件的接触力时抵抗重力负载。 特别地，本发明涉及一种用于限制移动机器人装置和可接触物体之间的接触力的方法和装置。
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9.发明申请公开(公告)号：US20130253702A1
公开(公告)日：2013-09-26
申请号：US13788575
申请日：2013-03-07
IPC分类号： B25J9/16
CPC分类号： B25J9/163 , B25J5/04 , B25J9/0018 , G05B2219/37388 , G05B2219/37437 , G05B2219/39339 , G05B2219/39342 , G05B2219/39343 , G05B2219/39439 , G05B2219/40408
摘要： A method of inferring intentions of an operator to move a robotic system includes monitoring the intention of the operator, with a controller. The intention of the operator is inferred to be one of a desired acceleration and a desired deceleration. The intention of the operator is also as a desired velocity. Admittance parameters are modified as a function of at least one of the inferred acceleration, deceleration, and velocity.
摘要翻译： 推断操作者移动机器人系统的意图的方法包括使用控制器监视操作者的意图。 推断操作者的意图是期望的加速度和期望的减速度之一。 操作者的意图也是期望的速度。 导纳参数被修改为推断的加速度，减速度和速度中的至少一个的函数。
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公开(公告)号：US20170183202A1
公开(公告)日：2017-06-29
申请号：US15459832
申请日：2017-03-15
发明人： Dalong Gao , Alexandre Lecours , Thierry Laliberte , Simon Foucault , Clement Gosselin , Boris Mayer-St-Onge , Roland J. Menassa , Pierre-Luc Belzile
CPC分类号： B66C17/00 , B66C13/30 , B66C23/005
摘要： A movement device is moved along an X axis and a Y axis by providing a sensor configured to measure angle of rotation of at least one of a first and a second kinematic link about a respective axis of rotation. A force is imparted on the first and second kinematic links such that an angular displacement of the first and second kinematic links about the respective axis of rotation is achieved. The angular displacement of the first and second kinematic links about the respective axis of rotation is determined. The movement device is moved along the X axis and/or the Y axis in response to the determination of the angle of rotation of the first and second kinematic links about the respective axis of rotation until first and second kinematic links are vertical.
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