公开(公告)号：WO1997011821A1

公开(公告)日：1997-04-03

申请号：PCT/US1996014697

申请日：1996-09-13

Applicant: LANDER, Ralph

IPC: B25J03/04

CPC classification number: B25J13/02 ,  A61F2/586 ,  A61F2/68 ,  A61F5/00 ,  A61F2002/30523 ,  A61F2002/5069 ,  A61F2002/701 ,  A61F2002/704 ,  A61F2220/0025 ,  B25J3/04 ,  B25J17/0241

Abstract: Basic interchangeable building blocks such as to create a structure and/or an exoskeleton for an apparatus (296) for monitoring and controlling the movements of body members comprising a single axis joint (346) adaptable axis joint, an axial rotation joint, a wrist rotation joint (350) and a linear motion transmission joint, all of which can be spring controlled and/or be controlled by a rotation transmitting cable (354, 356) each having means for producing electrical signals indicative of their movement and can be coupled together so as to permit electrical conduction and rotation transmitting cables to be passed through them.

Abstract translation: 基本可互换的构件，例如用于为用于监测和控制主体构件的运动的装置（296）创建一种结构和/或外骨骼，该装置包括单轴接头（346）适应性轴接头，轴向旋转接头，腕部旋转 接头（350）和直线运动传动接头，所有这些接头都可以由旋转传动电缆（354,356）进行弹簧控制和/或控制，旋转传输电缆具有用于产生指示其运动的电信号的装置，并且可以耦合在一起 以允许导电和旋转传输电缆通过它们。

公开(公告)号：WO1981000076A1

公开(公告)日：1981-01-22

申请号：PCT/DE1979000066

申请日：1979-06-28

Applicant: FESTO MASCHF STOLL G ,  MATTSSON K

Inventor： FESTO MASCHF STOLL G

IPC: B25J03/04

CPC classification number: B23K11/318

Abstract: The handler, in particular a handle for a welding electrode, is pivotable about an axis with a horizontal motion component. It comprises two jaws moving towards each other or away from each other by means of a driving member and between which a piece may be clamped. An angular sensor detects the subtended angle between the handler and the vertical. A modulator receives an output signal from the sensor and is connected between a current source and the driving device. The modulator adjusts the current supplied to the driving device according to the position mesured by the angular sensor so that the jaws are held in a clamping condition with a predetermined force which is independent of the position of the handler.

公开(公告)号：WO1997009153A1

公开(公告)日：1997-03-13

申请号：PCT/US1996014506

申请日：1996-09-09

Applicant: ROSS-HIME DESIGNS, INC.

Inventor： ROSS-HIME DESIGNS, INC. ,  ROSHEIM, Mark, E.

IPC: B25J03/04

CPC classification number: B25J17/0275 ,  B25J3/04 ,  B25J15/0009

Abstract: A pair of connected joints in a master-slave robotic system each operated by a plurality of force imparting means. Such force imparting means for the second joint imparts force thereto at an acute angle. A third joint is used with a flexible drive tape partly internal thereto. A gripping system (104, 105) having an orthogonally rotatable base effector (190, 191, 192) is supported by this joint using a pair of linear actuators (180, 181) to position the base effector (190, 191, 192) as desired. A counterpart system (282, 283) having an orthogonally rotatable base follower (315) orhtogonally rotatable on a pair of linear actuators (307, 308) uses the actuators (307, 308) to null out forces occurring thereon.

Abstract translation: 主从机器人系统中的一对连接的接头，每个由多个力赋予装置操作。 用于第二关节的力施加装置以锐角向其施加力。 第三关节与部分内部的柔性驱动带一起使用。 具有正交可旋转的基部执行器（190,191,192）的夹持系统（104,105）由一对线性致动器（180,181）由该关节支撑，以将基部执行器（190,191,192）定位为 期望。 具有正交可旋转的基座从动件（315）或在一对线性致动器（307,308）上可旋转地旋转的对应系统（282,283）使用致动器（307,308）来消除其上发生的力。

公开(公告)号：WO1988006077A2

公开(公告)日：1988-08-25

申请号：PCT/DE1988000082

申请日：1988-02-18

Applicant: DIKEOULIAS, Vassilios

IPC: B25J03/04

CPC classification number: B25J3/04 ,  A61H19/50 ,  A61H2201/5015 ,  B25J19/02

Abstract: The appliance makes it possible to exchange movements or positions between persons in the way in which information is exchanged by means of communications appliances. It consists of at least one measuring instrument (M) for recording the movement or position of a person and at least one positioning drive (AR-AG) for reproducing the movement or position of another person and can be hooked-up to an identical appliance, so that in the simplest case the positioning drive of one appliance can be controlled by the measuring instrument of the other appliance and vice versa. Inclusion of a decoupling switch in the appliance makes it possible to incorporate the measuring instrument in the object moved by the positioning drive.

公开(公告)号：WO1982000112A1

公开(公告)日：1982-01-21

申请号：PCT/DE1981000099

申请日：1981-06-27

Applicant: ALB KLEIN GMBH & CO KG ,  STOLPP S

Inventor： ALB KLEIN GMBH & CO KG

IPC: B25J03/04

CPC classification number: B25J3/04

Abstract: Device for the transmission of the load pressure comprising at least a valve for the control of an apparatus - particularly of a manipulator from a receiver member or load arm having an upper arm pivoting on a socket or the like and hinged to a lower arm provided with a reception end for receiving the load and, as a control sensor member, a manual control arm of a smaller size than the load arm, the pivoting joints or bearings of the receiver member or load arm and of the sensor member or control arm being interconnected - is made responsive to a device of the afore mentioned type as to its manipulation or control. The valve (30) comprises a hydraulic pilot member wherein the load pressures present at the measuring points are effective on the inlet of at least one throttle valve (37). The desired control pressures are obtained by means of opening sections of the valve (37) or of a threaded valve (68). At least one regulator piston (70) is subjected on one hand to the load pressures and on the other hand to the control pressures. The hydraulic valve for controlling the load pressure comprises preferably control ribs and chokes wherein the ratios between the throttling sections are determinant for the control pressures. Members transmitting signals of effective value and arranged on the pivoting joints or bearings of the control arm are connected to members providing order signals and located on the pivoting joints or bearings of the load arm by means of an electro-hydraulic bearing adjusting device provided with at least one load pressure transmission hydraulic member.

Abstract translation: 用于传输负载压力的装置，其至少包括用于控制装置的阀，特别是来自接收器构件或负载臂的装置，所述装置具有在插座等上枢转的上臂，并铰接到具有 用于接收负载的接收端，并且作为控制传感器构件，具有比负载臂更小尺寸的手动控制臂，接收器构件或负载臂以及传感器构件或控制臂的枢转接头或轴承互连 - 对其操作或控制的上述类型的装置做出响应。 阀（30）包括液压先导构件，其中存在于测量点处的负载压力对至少一个节流阀（37）的入口有效。 期望的控制压力通过打开阀（37）或螺纹阀（68）的部分来获得。 至少一个调节器活塞（70）一方面承受负载压力，另一方面受到控制压力的影响。 用于控制负载压力的液压阀优选地包括控制肋和扼流圈，其中节流部分之间的比率对于控制压力是决定性的。 传送有效值的信号并且布置在控制臂的枢转接头或轴承上的构件通过电动液压轴承调节装置连接到提供订单信号并位于负载臂的枢转接头或轴承上的构件， 至少一个负载压力传递液压构件。

公开(公告)号：WO1996026044A2

公开(公告)日：1996-08-29

申请号：PCT/GB1996000384

申请日：1996-02-21

Applicant: CLANSMAN DYNAMICS LIMITED ,  WALLACE, John

Inventor： CLANSMAN DYNAMICS LIMITED

IPC: B25J03/04

CPC classification number: B25J3/04

Abstract: A control arm (40) for controlling the position of a slave arm (10) of a material handling apparatus has an electric force feedback system for enhancing the "feel" of the control arm. The control arm is supported for substantial linear movement such that it can be operated by the operator whilst resting the weight of his or her arm on the control arm. The slave arm is fitted with a combined breaker/handling tool (20) having a support member (21), a breaking member (24) movable relative to the support member and a movable gripping member (25).

Abstract translation: 用于控制材料处理装置的从动臂（10）的位置的控制臂（40）具有用于增强控制臂的“感觉”的电力反馈系统。 控制臂被支撑为基本的线性运动，使得其可以由操作者操作，同时将他或她的臂的重量放在控制臂上。 从动臂装配有具有支撑构件（21），相对于支撑构件可移动的断开构件（24）和可动夹持构件（25）的组合式破碎机/搬运工具（20）。

公开(公告)号：WO1993015882A1

公开(公告)日：1993-08-19

申请号：PCT/NL1993000034

申请日：1993-02-17

Applicant: PLOEM, Sven

IPC: B25J03/04

CPC classification number: A61B6/102 ,  A61B6/4458 ,  B25J3/04 ,  B25J19/06

Abstract: Collision-free control system for a multi-axially controllable manipulator (1), essentially comprising interconnected supporting arms (20, 21, 22), which are movable by means of controllable displacement elements in such a way that the free end (23) of the manipulator (1) can be positioned spatially and moved into various positions, and also comprising control means (4, 5) for controlling the displacement elements. The control means (4, 5) comprise a scale model (1', 3') of the manipulator (1) and of the object (3) to be examined or handled, at least the scale model (1') of the manipulator (1) being operable manually and being equipped with a series of position recorders, which can deliver control signals for controlling the displacement elements, in such a way that the manipulator (1) and the scale model (1') thereof always assume identical positions. The scale ratio of the scale model (3') of the object (3) is greater than the scale ratio of the scale model (1') of the manipulator (1), for the purpose of forming a safety zone, which prevents collisions between the manipulator (1) and the object to be handled (3).

Abstract translation: 用于多轴可控操纵器（1）的无冲击控制系统，其基本上包括互连的支撑臂（20,21,22），其可通过可控位移元件移动，使得自由端（23） 操纵器（1）可以在空间上定位并移动到各种位置，并且还包括用于控制位移元件的控制装置（4,5）。 控制装置（4,5）包括操纵器（1）和要检查或处理的物体（3）的刻度模型（1'，3'），至少至少是操纵器的刻度模型（1'） （1）可手动操作并配备有一系列位置记录器，其可以提供用于控制位移元件的控制信号，使得操纵器（1）和其尺度模型（1'）总是具有相同的位置 。 为了形成安全区域，对象（3）的比例模型（3'）的比例大于操纵器（1）的比例模型（1'）的比例比，其防止碰撞 在操纵器（1）和待处理对象（3）之间。

公开(公告)号：WO1991011298A1

公开(公告)日：1991-08-08

申请号：PCT/US1991000670

申请日：1991-01-30

Applicant: SARCOS GROUP

Inventor： SARCOS GROUP ,  DAVIS, Clark, C. ,  IVERSEN, Edwin, K. ,  JACOBSEN, Stephen, C. ,  BIGGERS, Klaus, B.

IPC: B25J03/04

CPC classification number: G05B19/427 ,  G05B2219/37396

Abstract: A teleoperation system includes a master station (200) having an operable master link (204) coupled to a master actuator (208) which provides force resistance to operation and movement of the master link (204) in response to command signals, and a slave station (202) having a slave link (236) moveable by a slave actuator (240) in response to command signals. Also included is a control system for producing command signals in response to a comparison between position signals representing the position of the master and slave links (204, 236), and also a comparison between force signals of the master and slave links (204, 236). The control system produces a force command signal based upon the results of the comparisons and supplies it to the slave actuator (240) to cause the slave actuator (240) to move the slave link (236) in substantially faithfull imitation of movement of the master link (204).

公开(公告)号：WO1982000611A1

公开(公告)日：1982-03-04

申请号：PCT/JP1981000167

申请日：1981-07-22

Applicant: KUROGI K

IPC: B25J03/04

CPC classification number: B25J3/04

Abstract: A remotely operating similar actuator for automatically following a working unit (1) up the movement of an actuator (30). Control members (61, 172, 185) for controlling hydraulic control valves (90, 170, 180) which control a hydraulic actuator (8A) of the working unit (1) are connected to movable members (71, 101, 124, 141) of mechanical differential mechanisms (70, 100, 120, 140). The other two respective movable members (76, 79; 106, 107; 122, 123; 142, 148) forming one differential mechanism are so connected as to be driven by the actuator (30) and the working unit (1). Thus, the movement of the actuator is transmitted to the control member, and the movement of the working unit is fed back to the control member.

Abstract translation: 远程操作类似的致动器，用于自动地跟随工作单元（1），使致动器（30）的移动。 用于控制控制工作单元（1）的液压致动器（8A）的液压控制阀（90,170,180）的控制构件（61,172,185）连接到可移动构件（71,101,124,141） 的机械差速机构（70,100,120,140）。 形成一个差速机构的另外两个相应的可移动部件（76,79,106,107; 122,123,142,148）被连接成由致动器（30）和作业单元（1）驱动。 因此，致动器的移动被传递到控制构件，并且将工作单元的移动反馈到控制构件。