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公开(公告)号：US6056108A
公开(公告)日：2000-05-02
申请号：US971672
申请日：1997-11-17
申请人： Felix Buchi , Issa Nesnas , Brian R. Carlisle
发明人： Felix Buchi , Issa Nesnas , Brian R. Carlisle
IPC分类号： B65G43/08 , B23P19/00 , B25J9/16 , B65G27/00 , B65G47/12 , B65G47/14 , B65G47/256 , B65G39/10
CPC分类号： B25J9/1697 , G05B2219/37572 , G05B2219/40005 , G05B2219/40424 , G05B2219/40425 , G05B2219/50052 , G05B2219/50151
摘要： A flexible parts feeder includes a flexible membrane for supporting parts and defining a selection zone where the positional state of parts is analyzed by a machine vision system. The output of the sensor is used to control a transformer that selectively applies impulse energy to the flexible membrane so as to change the positional states of at least some parts in the selection zone to a desired positional state. Those parts having the desired positional state are selected and removed from the membrane by a robot.
摘要翻译： 柔性部件供给器包括用于支撑部件并限定选择区域的柔性膜，其中部件的位置状态由机器视觉系统分析。 传感器的输出用于控制向柔性膜选择性地施加脉冲能量的变压器，以便将选择区域中的至少一些部件的位置状态改变到期望的位置状态。 具有所需位置状态的那些部件被机器人从膜中选择和移除。
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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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公开(公告)号：US5687831A
公开(公告)日：1997-11-18
申请号：US428679
申请日：1995-04-25
申请人： Brian R. Carlisle
发明人： Brian R. Carlisle
IPC分类号： A61F11/12 , B23P19/00 , B65G47/24 , G02C3/00 , G02C11/00 , G02C11/06 , H05K13/02 , H05K13/04
CPC分类号： A61F11/12 , B23P19/001 , B65G47/24 , H05K13/022 , H05K13/0413
摘要： A parts feeder conveys parts to a selection zone viewed by a vision system, which selects parts having an orientation allowing them to be gripped and transferred from the conveyor. Non-selected parts are conveyed from the selection zone to a hopper for recirculation to the selection zone. The parts are tumbled between successive passes through the selection zone and eventually assume orientations allowing them to be gripped. The gripper has rotatable finger pads which can be either driven or passively rotated.
摘要翻译： 零件供料器将部件传送到由视觉系统观察的选择区域，视觉系统选择具有允许从传送器被夹持和传送的取向的部件。 未选择的部件从选择区域传送到料斗以用于再循环到选择区域。 这些部件在连续通过选择区域之间翻滚，并且最终假定允许它们夹紧的方向。 夹具具有可旋转的指垫，其可以被驱动或被动旋转。
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