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    DEVICE AND METHOD FOR COMPENSATING WEIGHT
    3.
    发明申请
    DEVICE AND METHOD FOR COMPENSATING WEIGHT 审中-公开

    公开(公告)号：US20170113347A1

    公开(公告)日：2017-04-27

    申请号：US15315962

    申请日：2015-05-27

    申请人： Huber Diffraktionstechnik GmbH & Co. KG

    发明人： Franz EHRENLEITNER

    IPC分类号： B25J9/16 ,  B25J19/00 ,  B25J18/00

    CPC分类号： B25J9/1638 ,  B25J18/002 ,  B25J19/0008

    摘要： The invention relates to a method and a device (1) for compensating the weight (G) acting on a manipulator (2), wherein a variable counterforce (F) is generated, wherein the counterforce (F) generated is applied to the manipulator (2) by means of a supporting kinematic system (12) that contacts the manipulator in a force application region (22), and wherein a value of the counterforce (F) corresponds at least substantially to a value of the weight (G) acting on the force application region on account of acceleration due to gravity, and the counterforce (F) is directed at least substantially parallel and in the opposite direction to the acceleration due to gravity. The invention also relates to a system comprising a device (1) and a manipulator (2).

    MULTI-ARTICULATED MANIPULATOR
    4.
    发明申请
    MULTI-ARTICULATED MANIPULATOR 审中-公开
    多功能操纵器

    公开(公告)号：US20170050313A1

    公开(公告)日：2017-02-23

    申请号：US15175420

    申请日：2016-06-07

    申请人： NIPPON THOMPSON CO., LTD.

    发明人： Takashi SATO ,  Tetsuya SAKAI

    IPC分类号： B25J9/06 ,  B25J15/00 ,  B25J18/00

    CPC分类号： B25J9/06 ,  A61B34/70 ,  A61B2034/305 ,  B25J15/0028 ,  B25J15/0206 ,  B25J18/002

    摘要： This multi-articulated manipulator is operated without rickety movement by means of a pair of grasping members, springs for the grasping members, and other springs extended across the foremost outer shell and the basement outer shell. This manipulator is small in size, easy in handling, rich in reliability, follow-up property and high precision in medical applications. With the multi-articulated manipulator, the foremost outer shell is connected to the basement outer shell in a bending manner. A pair of grasping members of claw members is connected to the foremost end of the foremost outer shell. The claw members are operated with a pair of claw power-transmission shafts and energized with springs to be biased towards their closed situation. The foremost outer shell and the basement outer shell are operated with claw power-transmitting shaft and normally biased by springs towards their closed situation.

    摘要翻译： 这种多关节操纵器通过一对把持构件，用于抓握构件的弹簧和延伸穿过最前面的外壳和基底外壳的其它弹簧而不摇摆运动地操作。 该机械手尺寸小，操作方便，可靠性高，后续性能好，医疗应用精度高。 使用多关节操纵器，最前面的外壳以弯曲方式连接到基底外壳。 一对爪构件的把持构件连接到最前面的外壳的最前端。 爪构件通过一对爪动力传动轴操作并且通过弹簧通电以偏向其关闭状态。 最前面的外壳和地下室外壳用爪动力传递轴操作，并且通常被弹簧偏压到它们的关闭状态。

    Vision target based assembly
    6.
    发明授权
    Vision target based assembly 失效
    基于视觉目标的装配

    公开(公告)号：US5148591A

    公开(公告)日：1992-09-22

    申请号：US478078

    申请日：1990-02-09

    申请人： Timothy R. Pryor

    发明人： Timothy R. Pryor

    IPC分类号： A01B69/04 ,  B23P19/00 ,  B25J9/16 ,  B25J18/00 ,  B25J19/02 ,  B62D1/28 ,  G01B11/00 ,  G05B19/39

    CPC分类号： B23P19/10 ,  A01B69/008 ,  B25J18/002 ,  B25J19/021 ,  B25J19/022 ,  B25J9/1692 ,  B25J9/1697 ,  B62D1/28 ,  G01B11/002 ,  G05B19/39 ,  G05B2219/36417 ,  G05B2219/36439 ,  G05B2219/37572 ,  G05B2219/45083 ,  Y10T29/49769

    摘要： Methods and apparatuses for assemblying, handling, and fabrication are disclosed in which targets are used on objects. The targets can be specifically applied to the object, or can be an otherwise normal feature of the object. Conveniently, the targets are removable from the object or covered by another object during an assemblying process. One or more robots and imaging devices for the targets are used. The robots can be used to handle or assemble a part, or a fixture may be used in conjunction with the robots. Conveniently, the CAD design system is used in designing the targets as well as for the assembly process using the targets. A plurality of targets can also be used to monitor and inspect a forming process such as on a sheet panel.

    摘要翻译： 公开了用于组装，处理和制造的方法和装置，其中在对象上使用目标。 目标可以专门应用于对象，或者可以是对象的其他正常特征。 方便地，在组装过程中，目标物可从物体上移除或被另一物体覆盖。 使用一个或多个用于目标的机器人和成像设备。 机器人可用于处理或组装零件，或者可以将机具与机器人结合使用。 方便的是，CAD设计系统用于设计目标以及使用目标的装配过程。 还可以使用多个目标来监视和检查诸如在片材板上的成形过程。

    Articulatable structure with adjustable end-point compliance
    7.
    发明授权
    Articulatable structure with adjustable end-point compliance 失效
    具有可调端点一致性的可调节结构

    公开(公告)号：US4921393A

    公开(公告)日：1990-05-01

    申请号：US166095

    申请日：1988-03-09

    申请人： Gerry B. Andeen ,  David M. Auslander

    发明人： Gerry B. Andeen ,  David M. Auslander

    IPC分类号： B25J17/02 ,  B23Q11/00 ,  B25J9/04 ,  B25J9/10 ,  B25J18/00 ,  B25J19/00

    CPC分类号： B25J19/0091 ,  B23Q11/0014 ,  B25J18/002 ,  B25J9/046 ,  B25J9/104 ,  Y10T74/20207

    摘要： A manipulator is disclosed which includes first and second interconnected limb sections, the second section of which is elongated and flexible in at least one direction normal to the longitudinal axis. The first limb section is connected to a base, and the second limb section is connected to an end effector. Relative to a reference frame with origin at the first limb section, the stiffness matrix of the second limb section is variable, and is under motor control. In one embodiment, the second limb section is inflexible in a direction orthogonal to the one direction and the longitudinal axis, and is supported by the first limb section for rotation about the longitudinal axis. In another embodiment, the second limb section is flexible in all directions normal to the longitudinal axis, and a plurality of adjustable-tension stays attached to the second limb section adjacent opposite ends thereof are used to control the stiffness matrix thereof. Methods of damping vibration of the flexible beam are shown.

    摘要翻译： 公开了一种操纵器，其包括第一和第二互连的肢体部分，其第二部分在垂直于纵向轴线的至少一个方向上是细长的和柔性的。 第一肢体部分连接到基部，并且第二肢体部分连接到末端执行器。 相对于起始于第一肢段的参考框架，第二肢段的刚度矩阵是可变的，并且在电机控制下。 在一个实施例中，第二肢体部分在与一个方向和纵向轴线正交的方向上是不灵活的，并且由第一肢体部分支撑以围绕纵向轴线旋转。 在另一个实施例中，第二肢体部分在垂直于纵向轴线的所有方向上是柔性的，并且多个可连接到第二肢体部分的可调节的张紧支架邻近其相对端用于控制其刚度矩阵。 示出了柔性梁的阻尼振动方法。

    Method for improving measurement accuracy of a protable coordinate measurement machine
    10.
    发明申请
    Method for improving measurement accuracy of a protable coordinate measurement machine 有权
    提高可测坐标测量机测量精度的方法

    公开(公告)号：US20040111908A1

    公开(公告)日：2004-06-17

    申请号：US10641670

    申请日：2003-08-15

    发明人： Simon Raab ,  Seyed Ali Sajedi ,  Kenneth J. Hasloecher ,  Marc Barber

    IPC分类号： G01B005/004

    CPC分类号： B25J18/002 ,  G01B5/008 ,  G01B11/005 ,  G01B11/03 ,  G01B11/25 ,  G01B21/045

    摘要： A method for improving the measurement accuracy of a portable coordinate measurement machine which comprises an articulated arm having jointed arm segments is presented. This method includes sensing deformation of a portion of the articulated arm when the arm is placed under a load, this deformation causing an error in the measurement made by the CMM, and correcting such error in response to the sensed deformation.

    摘要翻译： 提出了一种提高便携式坐标测量机的测量精度的方法，该方法包括具有连接臂段的铰接臂。 该方法包括当臂放置在负载下时感测铰接臂的一部分的变形，该变形导致由CMM进行的测量中的误差，并且响应于感测到的变形来校正这种误差。