公开(公告)号：US06208105B1

公开(公告)日：2001-03-27

申请号：US09194440

申请日：1998-11-25

申请人： Tetsuaki Kato ,  Toru Shirahata

发明人： Tetsuaki Kato ,  Toru Shirahata

IPC分类号： B25J1900

CPC分类号： B25J9/1674 ,  G05B19/4061 ,  G05B2219/49139 ,  G05B2219/49142

摘要： A robot controller determines an abnormality in position, velocity or acceleration of an end effector or a rotational axis of a robot. The robot controller includes a servo CPU that periodically writes current position data in a shared RAM with a host CPU. The current position data is obtained from robot position sensors. Using the written position data, the host CPU periodically compares stored data corresponding to position, velocity or acceleration with the newly written data. When an abnormal motion is detected, the robot is immediately stopped.

摘要翻译： 机器人控制器确定机器人的末端执行器或旋转轴的位置，速度或加速度的异常。 机器人控制器包括伺服CPU，其将当前位置数据周期性地写入与主机CPU的共享RAM中。 当前位置数据是从机器人位置传感器获得的。 使用写入的位置数据，主机CPU将对应于位置，速度或加速度的存储数据与新写入的数据进行周期性比较。 当检测到异常运动时，机器人立即停止。

公开(公告)号：US06511247B2

公开(公告)日：2003-01-28

申请号：US09780776

申请日：2001-02-09

申请人： Stefan Karlinger

发明人： Stefan Karlinger

IPC分类号： B25J1900

CPC分类号： B25J9/101 ,  Y10T403/16 ,  Y10T403/1683 ,  Y10T403/18

摘要： The invention relates to a multiaxis robot with at least one gear associated with a robot axis and having a gearbox with positional retaining strips for fixing control cams for monitoring the swivel angle of the robot axis, the retaining strips having a substantially arcuate construction with an inner circumference roughly corresponding to the outer circumference of the gearbox and the retaining strips can be frontally braced against one another for fixing on the gearbox.

摘要翻译： 本发明涉及一种多轴机器人，其具有与机器人轴线相关的至少一个齿轮，并具有带有用于固定控制凸轮的位置保持条的齿轮箱，用于监控机器人轴线的旋转角度，保持条具有基本上弓形的结构，其具有内部 圆周大致对应于齿轮箱的外周，并且保持条可以相对于彼此前部支撑以固定在齿轮箱上。

公开(公告)号：US06477913B1

公开(公告)日：2002-11-12

申请号：US08343228

申请日：1994-11-22

申请人： Hadi Abu Akeel ,  Antoni J. Malarz

发明人： Hadi Abu Akeel ,  Antoni J. Malarz

IPC分类号： B25J1900

CPC分类号： B25J19/0029 ,  B25J19/0079 ,  Y10T74/20317

摘要： A multi-axis electric spraying robot adapted for use in a hazardous environment includes a base having a first pressurized compartment and an arm assembly having a second pressurized compartment in which compartments electric motors are respectively located. The arm assembly is supported for movement on the base at one end thereof. The arm assembly includes a wrist adapted for connecting the opposite end of the arm assembly with a spraying tool. One electric motor is provided to drive each axis. The compartments are pressurized to prevent flammable gases or vapors from entering the first and second compartments during operation of the robot.

摘要翻译： 适用于危险环境的多轴电动喷涂机器人包括具有第一加压隔间的底座和具有隔室电动机分别位于其中的第二加压室的臂组件。 臂组件支撑在其一端在基座上运动。 臂组件包括适于将臂组件的相对端部与喷涂工具连接的腕部。 提供一个电动机来驱动每个轴。 在机器人操作期间，隔室被加压以防止易燃气体或蒸气进入第一和第二隔室。

公开(公告)号：US06279412B1

公开(公告)日：2001-08-28

申请号：US09314654

申请日：1999-05-19

申请人： David R. Beaulieu ,  Robert T. Caveney ,  Tuan Ha

发明人： David R. Beaulieu ,  Robert T. Caveney ,  Tuan Ha

IPC分类号： B25J1900

CPC分类号： B25J19/0075 ,  Y10T74/20305

摘要： A system for shielding a robot arm against being splashed with fluids comprises a protective shell-like cover of thin-walled plastic material impervious to fluids which is removably attached to the robot arm. The protective cover has a contoured shape generally conforming to the configuration of the robot arm and includes an upper member overlying the upwardly facing surfaces of the robot arm and an integral continuous side member proximally overlying the sidewall of the robot arm and extending to a lower rim generally coplanar with the downwardly facing surfaces of the robot arm. The upper member of the protective cover generally overlies the upwardly facing surface of the robot arm while the peripherally extending sidewall generally overlies the outwardly facing surface of the peripherally extending sidewall. In similar fashion, a protective plate of thin-walled plastic material impervious to fluids may also be removably attached to the downwardly facing surfaces of the robot arm and includes a peripheral rim generally coextensive with the peripherally extending sidewall of the link and proximate the lower rim of the protective cover when both the protective cover and the protective plate are so attached. With this construction, any splashing issuing from any direction and directed toward the robot arm is caused to impinge upon the protective cover and the protective plate thereby protecting the link of the robot arm to which it is attached.

摘要翻译： 用于屏蔽机器人臂以防止被流体溅出的系统包括：可移除地附接到机器人手臂的流体不可渗透的薄壁塑料材料的保护壳状盖。 保护罩具有通常符合机器人臂的构造的轮廓形状，并且包括覆盖机器人臂的向上表面的上部构件和向上靠近机器人臂的侧壁并且延伸到下部边缘的一体的连续侧部构件 通常与机器人手臂的朝下的表面共面。 保护罩的上部构件通常覆盖在机器人臂的面向上的表面上，而外围延伸的侧壁通常覆盖在周向延伸的侧壁的面向外的表面上。 以类似的方式，不透液体的薄壁塑料材料的保护板也可以可拆卸地附接到机器人手臂的朝下的表面，并且包括通常与连接件的周向延伸的侧壁共同延伸并且靠近下边缘 当保护盖和保护板都安装在保护盖上时。 通过这种结构，从任何方向发出的指向机器人手臂的飞溅都被撞击在保护盖和保护板上，从而保护与其连接的机器人手臂的连杆。

公开(公告)号：US06214057B1

公开(公告)日：2001-04-10

申请号：US09307528

申请日：1999-05-07

申请人： Graham T. Spencer ,  Michael P. Gardner ,  Beth Van Haaren

发明人： Graham T. Spencer ,  Michael P. Gardner ,  Beth Van Haaren

IPC分类号： B25J1900

CPC分类号： B25J19/063 ,  Y10T74/20305 ,  Y10T403/1616 ,  Y10T403/18 ,  Y10T403/22 ,  Y10T403/27 ,  Y10T403/591

摘要： An overload protection device includes a cup-shaped cap member defining a cavity receiving a cup-shaped yoke member defining a pressurized air chamber receiving a piston having a rounded end surface engaging the cap member. An annular cam member is inserted into the cap member and defines three angularly spaced V-shaped cam surfaces with center seats which receive corresponding steel balls mounted on outwardly projecting ears of the yoke member. A rigid plastic ring is mounted on the yoke member with epoxy and contacts an annular shoulder within the cam member. The yoke member carries a pair of axially adjustable and normally closed electrical contact elements which are opened by an actuator pin projecting from the piston in response to tilting and/or rotation and/or axial movement between the yoke member and cap member.

摘要翻译： 过载保护装置包括杯形盖构件，其限定容纳杯形轭构件的空腔，所述杯形轭构件限定加压空气室，所述加压空气室容纳具有与盖构件接合的圆形端面的活塞。 环形凸轮构件插入盖构件中并且限定三个具有中心座的角度间隔开的V形凸轮表面，所述中心座容纳安装在轭构件的向外突出的耳朵上的对应的钢球。 刚性塑料环用环氧树脂安装在轭构件上，并与凸轮构件内的环形肩部接触。 轭构件承载一对可轴向调节和常闭的电接触元件，其由响应于轭构件和盖构件之间的倾斜和/或旋转和/或轴向移动而从活塞突出的致动器销打开。

公开(公告)号：US06210097B1

公开(公告)日：2001-04-03

申请号：US09362736

申请日：1999-07-29

申请人： Sung Kwun Kim ,  Hak Kyung Sung

发明人： Sung Kwun Kim ,  Hak Kyung Sung

IPC分类号： B25J1900

CPC分类号： B25J18/025 ,  B25J5/007 ,  B25J19/002 ,  Y10T74/18088 ,  Y10T74/20305

摘要： A burden loading robot includes a loading portion installed in a robot main body and a balancer for offsetting off-center loading of weight of the loading portion. The loading portion includes a loading plate which can be moved away from a fixing portion to a loading position outwards from the robot main body. When the loading plate is moved to the loading position, the balancer moves to the direction reverse to that of the loading plate at the same time. Thus, off-center loading of weight generated when a burden is loaded on the loading plate is offset by the balancer, to accordingly avoid the robot from falling down.

摘要翻译： 负荷装载机器人包括安装在机器人主体中的装载部分和用于抵消装载部分重量的偏心载荷的平衡器。 装载部分包括可从机器人主体向外移动远离固定部分到装载位置的装载板。 当装载板移动到装载位置时，平衡器同时移动到与装载板的方向相反的方向。 因此，当在负载板上装载负载时产生的重量偏心加载由平衡器抵消，从而避免机器人掉落。