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公开(公告)号：US20220032469A1
公开(公告)日：2022-02-03
申请号：US17451669
申请日：2021-10-21
发明人： Alex Khripin , Stephen Berard , Alfred Rizzi
IPC分类号： B25J9/20 , B25J5/00 , B62D57/032 , F15B9/09
摘要： An example robot includes a hydraulic actuator cylinder controlling motion of a member of the robot. The hydraulic actuator cylinder comprises a piston, a first chamber, and a second chamber. A valve system controls hydraulic fluid flow between a hydraulic supply line of pressurized hydraulic fluid, the first and second chambers, and a return line. A controller may provide a first signal to the valve system so as to begin moving the piston based on a trajectory comprising moving in a forward direction, stopping, and moving in a reverse direction. The controller may provide a second signal to the valve system so as to cause the piston to override the trajectory as it moves in the forward direction and stop at a given position, and then provide a third signal to the valve system so as to resume moving the piston in the reverse direction based on the trajectory.
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公开(公告)号：US20210178579A1
公开(公告)日：2021-06-17
申请号：US17124812
申请日：2020-12-17
申请人： John Aaron Saunders , Christopher Everett Thorne , Matthew Paul Meduna , Joshua Timothy Geating
发明人： John Aaron Saunders , Christopher Everett Thorne , Matthew Paul Meduna , Joshua Timothy Geating
摘要： Systems and methods related to intelligent grippers with individual cup control are disclosed. One aspect of the disclosure provides a method of determining grip quality between a robotic gripper and an object. The method comprises applying a vacuum to two or more cup assemblies of the robotic gripper in contact with the object, moving the object with the robotic gripper after applying the vacuum to the two or more cup assemblies, and determining, using at least one pressure sensor associated with each of the two or more cup assemblies, a grip quality between the robotic gripper and the object.
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公开(公告)号：US20190226503A1
公开(公告)日：2019-07-25
申请号：US16371488
申请日：2019-04-01
摘要： An actuation pressure to actuate one or more hydraulic actuators may be determined based on a load on the one or more hydraulic actuators of a robotic device. Based on the determined actuation pressure, a pressure rail from among a set of pressure rails at respective pressures may be selected. One or more valves may connect the selected pressure rail to a metering valve. The hydraulic drive system may operate in a discrete mode in which the metering valve opens such that hydraulic fluid flows from the selected pressure rail through the metering valve to the one or more hydraulic actuators at approximately the supply pressure. Responsive to a control state of the robotic device, the hydraulic drive system may operate in a continuous mode in which the metering valve throttles the hydraulic fluid such that the supply pressure is reduced to the determined actuation pressure.
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4.发明授权Electronic controller and portable programmer system for a pneumatically-powered point-to-point robot 失效用于气动点对点机器人的电子控制器和便携式编程器系统
公开(公告)号：US4379335A
公开(公告)日：1983-04-05
申请号：US202013
申请日：1980-10-28
IPC分类号： B25J9/20 , B25J13/00 , G05B19/425 , G06F15/46 , G05B19/42
CPC分类号： G05B19/425 , B25J13/00 , B25J9/20 , G05B2219/33182 , G05B2219/33297 , G05B2219/36035 , G05B2219/36159
摘要： An electronic controller and portable programmer system for a pneumatically-powered point-to-point robot is disclosed. The microprocessor-based controller includes a read-only memory for storing the main control program, a non-volatile memory (EAROM) for storing a sequence of robot functions forming a user program, an output interface for transmitting control signals to the robot solenoid values, and an input interface for receiving feedback pressure signals to indicate that the various robot functions have been completed. The portable programmer provides a teach control unit, which is used to enter, edit, and test the user program. The teach control unit includes a matrix keyboard, a display, circuit means for decoding the keyboard and driving the display, and an interface for providing serial communication with the controller.
摘要翻译： 公开了一种用于气动点对点机器人的电子控制器和便携式编程器系统。 基于微处理器的控制器包括用于存储主控制程序的只读存储器，用于存储形成用户程序的机器人功能序列的非易失性存储器（EAROM），用于将控制信号发送到机器人电磁阀值的输出接口 以及用于接收反馈压力信号以指示各种机器人功能已经完成的输入接口。 便携式编程器提供了一个教学控制单元，用于输入，编辑和测试用户程序。 教学控制单元包括矩阵键盘，显示器，用于解码键盘和驱动显示器的电路装置，以及用于提供与控制器的串行通信的接口。
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公开(公告)号：US20220390045A1
公开(公告)日：2022-12-08
申请号：US17833998
申请日：2022-06-07
摘要： A robot has a body, a hydraulic control system physically coupled to the body, and a hydraulically-actuated component physically coupled to the body. The hydraulically-actuated component is hydraulically coupled to the hydraulic control system by a hydraulic hose. The hydraulic hose has a length, at least a portion of which extends from a first end to a second end, and a diameter, wherein the diameter of the hydraulic hose at both the first end and the second end is a first diameter, and wherein the at least a portion of the length includes a tapered section in which the diameter of the hydraulic hose decreases, continuously and monotonically, to a second diameter, the second diameter being less than the first diameter. The body includes a restricted region through which the hydraulic hose passes in traversing a path between the hydraulic control system and the hydraulically-actuated component.
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公开(公告)号：US10780540B2
公开(公告)日：2020-09-22
申请号：US15596324
申请日：2017-05-16
申请人： Fanuc Corporation
发明人： Ryouta Nakamura
摘要： A workpiece clamp apparatus includes: a robot arm having, at a distal-end portion thereof, a holding section for holding a workpiece; a hydraulic-fluid supply coupler provided at the distal-end portion of the robot arm; a hydraulic-fluid supply device for supplying a hydraulic fluid to the hydraulic-fluid supply coupler; a clamping device having a plurality of clamping members that grip the workpiece for machining with a machine tool; and a cylinder that has a hydraulic-fluid supply port to which the hydraulic-fluid supply coupler can be connected and that drives the clamping member in the workpiece-gripping direction as a result of the hydraulic fluid being supplied via the hydraulic-fluid supply port.
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公开(公告)号：US10279482B1
公开(公告)日：2019-05-07
申请号：US14574471
申请日：2014-12-18
IPC分类号： B25J9/20 , F15B9/09 , B62D57/032 , B25J5/00
摘要： An example robot includes a hydraulic actuator cylinder controlling motion of a member of the robot. The hydraulic actuator cylinder comprises a piston, a first chamber, and a second chamber. A valve system controls hydraulic fluid flow between a hydraulic supply line of pressurized hydraulic fluid, the first and second chambers, and a return line. A controller may provide a first signal to the valve system so as to begin moving the piston based on a trajectory comprising moving in a forward direction, stopping, and moving in a reverse direction. The controller may provide a second signal to the valve system so as to cause the piston to override the trajectory as it moves in the forward direction and stop at a given position, and then provide a third signal to the valve system so as to resume moving the piston in the reverse direction based on the trajectory.
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公开(公告)号：US4661039A
公开(公告)日：1987-04-28
申请号：US779224
申请日：1985-09-23
申请人： David L. Brenholt
发明人： David L. Brenholt
CPC分类号： B25J9/142 , B25J18/06 , Y10S700/90
摘要： An industrial robot (15) is disclosed which has a flexible frame or body and is constructed so as to have six degrees of freedom and a work envelope which is substantially free of dead spaces. A free end of the body includes an end effector (27) for performing a task. To determine the position of the end effector (27) within the work envelope and to displace the end effector (27) according to the task requirements, a system is provided in which embedded microprocessors are interconnected with a signal transmitter (ST) located at the body free end (23) and receivers (R1, R2, R3) fixed in their positions on the stationary base (16) of the body. Continual monitoring of the end effector location is possible and adjustment in position may be made immediately. A remote computer linked to the microprocessors provides instructions for the operation and displacement of the robot. The degrees of freedom for the body are movement about a vertical axis, a horizontal axis and within a plane oriented so as to be in-line with the vertical axis and perpendicular to the horizontal axis. Actuating mechanisms are provided for effecting movement of the flexible body either sequentially or simultaneously about the two axes and within the plane. Movement by the flexible body within the plane is accomplished hydraulically with bladder actuators positioned along the length of the segmented body and connected for fluid communication between each other.
摘要翻译： 公开了一种具有柔性框架或主体并被构造为具有六个自由度的工业机器人（15）和基本上没有死空间的工作信封。 身体的自由端包括用于执行任务的末端执行器（27）。 为了确定末端执行器（27）在工作包络内的位置并根据任务要求移动末端执行器（27），提供了一种系统，其中嵌入式微处理器与位于该位置处的信号发射器（ST）互连 主体自由端（23）和固定在其在身体的固定基座（16）上的位置的接收器（R1，R2，R3）。 对末端执行器位置的连续监视是可能的，并且可立即进行调整位置。 链接到微处理器的远程计算机提供关于机器人的操作和位移的指令。 身体的自由度是围绕垂直轴线，水平轴线以及在与垂直轴线垂直并垂直于水平轴线定向的平面内的运动。 提供了致动机构，用于相对于两个轴并且在平面内顺序或同时地实现柔性体的运动。 通过柔性体在平面内的移动是通过气囊致动器来实现的，其中气囊致动器沿着分段体的长度定位并连接用于彼此之间的流体连通。
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9.发明授权
公开(公告)号：US3835750A
公开(公告)日：1974-09-17
申请号：US35969773
申请日：1973-05-14
申请人： UNIMATION INC
发明人： DUNNE M
IPC分类号： B25J9/14 , B25J9/20 , F15B11/18 , G05B19/425
CPC分类号： B25J9/14 , B25J9/20 , F15B11/18 , G05B19/425 , G05B2219/41309
摘要： A pulse generator common to all of the controlled axes of the manipulator arm is employed to develop a stream of pulses which may be selectively applied to the count up or count down lead of a bidirectional counter. Individual stages of the counter control individual pressure sensitive hydraulic actuators which are arranged in a series and have binary related strokes. Accordingly, the arm is moved in each axis in response to the pulse stream and at a rate corresponding to the rate of occurrence of pulses in said stream during the initial teaching operation. A series of limit switches are employed to detect the physical position of the series of actuators during the repeat mode of operation of the manipulator. These limit switches are also employed to set each bi-directional counter to an initial setting corresponding to the physical position of the arm on start up so that undesired movement of the arm at start up time is avoided.
摘要翻译： 采用与机械手臂的所有受控轴共同的脉冲发生器来形成可以选择性地施加到双向计数器的向上或向下计数的引线的脉冲流。 计数器的各个阶段控制各个压力敏感的液压致动器，其被串联布置并具有二进制相关的行程。 因此，在初始教学操作期间，响应于脉冲流并且以对应于所述流中的脉冲的发生速率的速率在每个轴中移动臂。 在操纵器的重复操作模式期间，使用一系列限位开关来检测一系列致动器的物理位置。 这些限位开关还用于将每个双向计数器设置为对应于启动时臂的物理位置的初始设置，从而避免臂在启动时的不期望的移动。
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公开(公告)号：US11407103B2
公开(公告)日：2022-08-09
申请号：US17124812
申请日：2020-12-17
发明人： John Aaron Saunders , Christopher Everrett Thorne , Matthew Paul Meduna , Joshua Timothy Geating
摘要： Systems and methods related to intelligent grippers with individual cup control are disclosed. One aspect of the disclosure provides a method of determining grip quality between a robotic gripper and an object. The method comprises applying a vacuum to two or more cup assemblies of the robotic gripper in contact with the object, moving the object with the robotic gripper after applying the vacuum to the two or more cup assemblies, and determining, using at least one pressure sensor associated with each of the two or more cup assemblies, a grip quality between the robotic gripper and the object.
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