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公开(公告)号：US4795306A
公开(公告)日：1989-01-03
申请号：US931960
申请日：1986-11-24
申请人： Donald R. Allan , Bruce E. Shimano
发明人： Donald R. Allan , Bruce E. Shimano
CPC分类号： G01L5/226 , B25J13/085 , B25J19/021
摘要： An end effector comprises a force sensor cooperating with an output flange at the wrist of a robot arm. The force sensor includes a cylinder mounted in the robot arm having a piston whose outer end is attached to the output flange of the arm at its outer end; its inner end comprising one side of a pressure chamber pressurized to a known level. The piston is mounted on bushings for sliding linear movement within the sleeve of the piston along the axis of vertical movement of the arm, but levers or other mechanisms may be used to provide the required motion. The pressure in the chamber is calibrated to a known level of a pressure which is to be applied to the part being worked by the end effector. The piston carries a position encoder; when the pressure within the pressure chamber is exceeded, movement of the position encoder is detected and signaled to a position controlling computer. Depending on the choice of the operator, the pressure may increase or the movement of the end effector may be stopped, eliminating possible damage to the part or robot. An ear is positioned adjacent to the end effector extending to be held in place between two rollers mounted on the robot arm or quill. These rollers may be tightened against the end of the ear, so that the ear may move freely vertically along the axis of movement of the end effector, while effectively bracing the end effector so that with rotation of the robot quill, the force of rotation of the quill is accurately and positively transmitted to the end effector. The position encoder comprises a linear strip mounted to pass between the phototransistor and light of a photodetector. Slotting of the linear strip will provide a quadrature data output indicating both direction and speed of movement of the shaft carrying the strip.
摘要翻译： 末端执行器包括与机器人手腕腕上的输出凸缘配合的力传感器。 力传感器包括安装在机器人臂中的气缸，其具有活塞，其外端在其外端附接到臂的输出凸缘; 其内端包括加压至已知水平的压力室的一侧。 活塞安装在衬套上，用于沿着臂的垂直运动的轴线在活塞的套筒内滑动线性运动，但可以使用杠杆或其它机构来提供所需的运动。 腔室中的压力被校准到已被施加到由末端执行器加工的部件上的压力水平。 活塞带有位置编码器; 当超过压力室内的压力时，检测位置编码器的移动并将其发信号通知位置控制计算机。 根据操作者的选择，压力可能会增加，也可能停止末端执行器的运动，从而消除对零件或机器人的可能损坏。 耳朵定位成与末端执行器相邻，延伸以保持在安装在机器人手臂或套筒上的两个辊之间的适当位置。 这些辊可以紧靠耳朵的端部紧固，使得耳朵可以沿着端部执行器的运动轴线垂直移动，同时有效地支撑端部执行器，使得随着机器人套筒的旋转，旋转力 羽绒被准确而准确地传递到末端执行器。 位置编码器包括安装成在光电晶体管和光电检测器的光之间通过的线性条。 线性条的开槽将提供正交数据输出，指示承载带的轴的运动方向和速度。
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公开(公告)号：US4702668A
公开(公告)日：1987-10-27
申请号：US694585
申请日：1985-01-24
CPC分类号： B25J9/044 , B25J19/063 , B25J9/102 , B25J9/105 , Y10T74/18856 , Y10T74/19181 , Y10T74/20323
摘要： A direct drive robot which includes a pedestal having two motors which rotate around a common axis to directly drive rotation of first and of second linking arms which are rotating in a plane perpendicular to this pedestal. The first, inner link is preferably driven through a column directly driven by a first motor rotor, the column supporting the inner end of the link. The second, outer link is driven by the second coaxial direct drive motor through a simple, highly-tensioned belt and pulley arrangement. As a result of this direct drive arrangement, movement is provided about two separate parallel axes by two arms arranged perpendicular to the first axis which mounts the two major driving motors of the robot. These two arms are linked together between this major pedestal and the end effector of the robot, centralizing the driving motors at the main stabilizing pedestal, while providing rapid rotational movement around each of the two axes. The first axis is defined by the major pedestal, the second axis is defined by the junction between the inner and outer linking arms which connect the pedestal to the end effector.
摘要翻译： 一种直接驱动机器人，其包括具有两个电动机的基座，所述电动机围绕公共轴线旋转，以直接驱动在垂直于该基座的平面中旋转的第一和第二连接臂的旋转。 第一内部连杆优选地通过直接由第一电动机转子驱动的支柱驱动，该支柱支撑连杆的内端。 第二个外部连杆由第二个同轴直接驱动电机通过简单，高张力的皮带和滑轮装置驱动。 作为这种直接驱动装置的结果，通过垂直于第一轴布置的两个臂提供围绕两个分开的平行轴线的运动，该臂安装机器人的两个主要驱动马达。 这两个臂在该主要基座和机器人的末端执行器之间连接在一起，将驱动马达集中在主稳定基座处，同时围绕两个轴线的每一个提供快速的旋转运动。 第一轴由主基座限定，第二轴由连接基座与末端执行器的内连接臂和外连接臂之间的连接限定。
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公开(公告)号：US5314293A
公开(公告)日：1994-05-24
申请号：US941859
申请日：1992-09-08
CPC分类号： B25J9/044 , B25J19/063 , B25J9/102 , B25J9/105 , Y10T74/18856 , Y10T74/19181 , Y10T74/20323
摘要： An articulated direct drive robotic manipulator providing rotation of first and second arms about first and second parallel axes including first and second motors for driving the rotation of the first and second arms. A pedestal is mounted on a base, the first motor is directly coupled to a rotatable column in the pedestal for providing a first robot arm with a first degree of freedom, a second motor is coupled to a rotatable column coaxial to the first column for providing the manipulator with a second degree of freedom by rotation of the second arm. The distal end of the second arm includes support for an end effector for movement about a third axis which is a vertical axis and a fourth axis which is a rotational axis and support for a quill. Also included is a modular device adapted to be coupled to the end of the quill which can move within horizontal planes passing through the third axis to provide a fifth degree of freedom.
摘要翻译： 铰接的直接驱动机器人操纵器提供围绕第一和第二平行轴线的第一和第二臂的旋转，包括用于驱动第一和第二臂的旋转的第一和第二马达。 基座安装在基座上，第一电动机直接联接到基座中的可旋转柱，用于提供具有第一自由度的第一机器人臂，第二电动机联接到与第一列同轴的可旋转柱，用于提供 通过第二臂的旋转具有第二自由度的操纵器。 第二臂的远端包括用于端部执行器的支撑件，用于围绕作为垂直轴线的第三轴线和作为旋转轴线的第四轴线和用于支撑件的运动。 还包括适于联接到套筒的端部的模块化装置，其可以在穿过第三轴线的水平平面内移动以提供第五自由度。
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