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公开(公告)号：US20240109201A1
公开(公告)日：2024-04-04
申请号：US17936632
申请日：2022-09-29
申请人： The Boeing Company
发明人： Harinder Singh Oberoi , Kevin Marion Barrick , Yuanxin Charles Hu , Melissa A. Johnson , Laura Carolyn Foster
CPC分类号： B25J15/0019 , B25J9/1697 , B25J15/0066 , B25J17/0216 , B25J19/0075 , B64F5/10
摘要： An end effector for confined space manufacturing operations and methods of use are presented. The end effector comprises a pair of kinematic machines connected in series, and an operational head connected to a first platform of a first kinematic machine of the pair of kinematic machines, the operational head configured to perform number of manufacturing operations on a structure.
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公开(公告)号：US11828410B2
公开(公告)日：2023-11-28
申请号：US17625927
申请日：2020-06-22
发明人： Eisei In , Tomonori Uchida
CPC分类号： F16M11/2092 , F16C29/04 , F16H25/24 , B25J17/0216 , F16H2025/204
摘要： An object of the present invention is to provide an actuator capable of reducing a shock in acceleration at the time of a turn caused by a load in a lateral direction orthogonal to an axis of the actuator even when the load is excessive while reducing manufacturing cost and manufacturing man-hours, and a tripod structure including the actuator. An actuator according to the present invention includes: a pipe; a ball screw used as a feed screw; a conversion nut used as a feed nut and screwed with the ball screw; a piston fixed integrally to the conversion nut and driven to expand and contract from a free end which is one end of the pipe; and a rolling bearing unit being provided on a tip of the free end of the pipe and including a plurality of roller followers holding the piston movably.
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公开(公告)号：US11813743B2
公开(公告)日：2023-11-14
申请号：US17554549
申请日：2021-12-17
发明人： Qiao Sun , Xianbao Chen , Jing Sun , Dalong Gao , Feng Gao , Ningjian Huang
CPC分类号： B25J9/0072 , B25J9/106 , B25J11/005 , B25J13/085 , B25J17/0216
摘要： A robotic system includes a support structure, a platform, a center serial chain, outer serial chains, motors, a sensor, and a control module. The center serial chain connects a center of the platform to the support structure and includes first joints connected to a linear sliding shaft. The outer serial chains are disposed radially outward of the center serial chain. Each of the outer serial chains includes second joints connecting a bar to the platform and the supporting structure. The motors are connected to the outer serial chains. The sensor is connected to the platform and detects at least one of force or torque applied by a human operator on the platform and generates a signal indicative thereof. The control module controls the motors based on the signal to assist the human operator in at least one of moving or rotating the platform.
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公开(公告)号：US20150321360A1
公开(公告)日：2015-11-12
申请号：US14433117
申请日：2012-10-02
IPC分类号： B25J17/02
CPC分类号： B25J17/0216 , B25J1/08 , B25J9/0057 , H01J2237/202 , Y10T74/20335
摘要： Manipulator for an ultra-high vacuum chamber comprising an annular proximal base (1a) that can be securely anchored around an access opening (2a) of a tank (2) of the ultra-high vacuum chamber, a distal base (1b) connected to the proximal base (1a) by means of a bellows element (3) with an inner space (3a) in communication with the ultra-high vacuum chamber through an access opening (2a), a sample-carrying column (4) attached to the distal base (1b), that passes through the inner space (3a) to enter into the ultra-high-vacuum chamber, and a movement system for moving the distal base (1b) in relation to the proximal base, wherein the movement system comprises six actuators (5) each one actuated by respective electric motors (6) radially arranged around the bellows element (3) and connected to the proximal base (1a) in an articulated manner by means of respective proximal ball joints (7) and connected to the distal base (1b) in an articulated manner by means of respective distal ball joints (8), and the bellows element (3) comprises a bellows comprising convolutions.
摘要翻译： 一种用于超高真空室的机械手，包括可以牢固地锚固在超高真空室的罐（2）的进入开口（2a）周围的环形近端基座（1a），远端基座（1b） 所述近端基座（1a）通过波纹管元件（3），所述波纹管元件（3）具有通过进入开口（2a）与所述超高真空室连通的内部空间（3a），附着到所述超声波真空室 远端基座（1b），其穿过内部空间（3a）进入超高真空室;以及移动系统，用于相对于近侧基座移动远端基座（1b），其中移动系统包括 六个致动器（5），每个致动器（5）由相应的电动机（6）致动，所述相应的电动机（6）围绕波纹管元件（3）径向布置并且通过相应的近端球接头（7）以铰接的方式连接到近侧基座（1a），并且连接到 所述远侧基座（1b）通过相应的远端球窝铰接的方式 （8），并且波纹管元件（3）包括包括卷积的波纹管。
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公开(公告)号：US07673384B2
公开(公告)日：2010-03-09
申请号：US11380601
申请日：2006-04-27
CPC分类号： B25J17/0216 , B23P19/069 , Y10T29/53383 , Y10T29/53417
摘要： A six degree of freedom servo driven robot having a seventh axis servo motor for rotating servo driven nut runners affixed to swing arms about a radius. The robot offering flexibility within high production manufacturing and automotive assembly processes by realizing translational movement of servo driven nut runners about seven degrees of translation for fastening component parts of a work product within a work envelope.
摘要翻译： 一种具有第七轴伺服电动机的六自由度伺服驱动机器人，用于使围绕半径摆动臂的伺服驱动螺母扳手旋转。 机器人在高生产制造和汽车组装过程中提供灵活性，通过实现伺服驱动螺母扳手的平移运动约7度的平移，用于固定工作包内工件的组件。
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公开(公告)号：US20090194664A1
公开(公告)日：2009-08-06
申请号：US12308180
申请日：2007-06-08
CPC分类号： B25J17/0216 , G01B5/0002 , G01B5/0016 , G01B21/04 , G01D5/34746
摘要： An extendable leg assembly for a measuring machine, such as a co-ordinate measuring machine, is described. The extendable leg assembly has a first end and a second end and comprises metrology apparatus for measuring the separation between the first end and the second end. The metrology apparatus comprises one or more elongate metrology members having a low coefficient of thermal expansion. The extendable leg assembly may be attached to one or more platforms by a pivot joint.
摘要翻译： 描述了用于诸如坐标测量机之类的测量机的可伸缩腿组件。 可伸缩腿组件具有第一端和第二端，并且包括用于测量第一端和第二端之间的间隔的计量装置。 测量装置包括具有低热膨胀系数的一个或多个细长计量部件。 可伸缩腿组件可以通过枢轴接头附接到一个或多个平台。
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公开(公告)号：US20080150465A1
公开(公告)日：2008-06-26
申请号：US10567086
申请日：2003-09-12
申请人： Katsuyuki Baba , Shigeaki Ino , Yoichi Takamoto , Atsuo Takanishi
发明人： Katsuyuki Baba , Shigeaki Ino , Yoichi Takamoto , Atsuo Takanishi
IPC分类号： B25J5/00
CPC分类号： B62D57/032 , B25J17/0216
摘要： It is an object of the present invention to provide a lower half body module of a bipedal walking robot which is excellent in practicality in the point that it is possible to transport a heavy load, and which is excellent in the degree of freedom in designing in the point that it is possible to mount or incorporate an upper half body having a large weight. Therefore, this is why legs of the lower half body module are constituted by a parallel link mechanism to sustain a large load. The lower half body module (1) of the present invention includes a base (2), aright foot (3) and a left foot (4), a plurality of passive joints (6, 7, 8) which are respectively provided on the base (2), the right foot (3) and the left foot (4), and parallel link mechanism portions (1a, 1b) which are respectively provided between the passive joint (6) provided on the base (2) and the passive joints (7, 8) provided on the right foot (3) and between the passive joint (6) provided on the base (2) and the passive joints (7, 8) provided on the left foot (4).
摘要翻译： 本发明的目的是提供一种双足步行机器人的下半身模块，其实用性优异，可以运输重载，并且设计自由度优异 可以安装或结合具有大重量的上半身的点。 因此，这就是为什么下半体模块的腿部由平行连杆机构构成以维持大的负荷的原因。 本发明的下半体模块（1）包括基座（2），脚踏脚（3）和左脚（4），多个被动接头（6,7,8）分别设置在 分别设置在设置在基座（2）上的被动接头（6）和基座（2）之间的平行连杆机构部分（1a，1b）和平行连杆机构部分（1a，1b） 设置在右脚（3）上的被动关节（7,8）和设置在基座（2）上的被动关节（6）和设置在左脚（4）上的被动关节（7,8）之间。
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公开(公告)号：US20080078266A1
公开(公告)日：2008-04-03
申请号：US11902866
申请日：2007-09-26
申请人： Sven Soetebier , Soenke Kock , Waldi Wolfgang
发明人： Sven Soetebier , Soenke Kock , Waldi Wolfgang
CPC分类号： B25J17/0216 , Y10T74/20378
摘要： A jig particularly for the positioning of articles (1), with length-adjustable props (2), with a base part (3), with a receptacle (4) for the article (1), the props (2) being arranged between the base part (3) and the receptacle (4) and being in each case mounted movably there, and with a drive and control for adjusting the props (2), is specified. At least one pair of props (5) is formed from two props (2) in such a way that the two props (2) of the pair of props (5) extend parallel, thus resulting in the form of a parallelogram.
摘要翻译： 特别是用于定位具有长度可调的道具（2）的物品（1）的夹具，具有基部（3）以及用于制品（1）的容器（4）），所述道具（2）布置在 基座部分（3）和插座（4），并且每一种情况都可以安装在那里，并且具有用于调节道具（2）的驱动和控制。 至少一对道具（5）由两个道具（2）形成，使得一对道具（5）的两个道具（2）平行延伸，从而形成平行四边形。
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公开(公告)号：US20040079844A1
公开(公告)日：2004-04-29
申请号：US10432042
申请日：2003-05-19
IPC分类号： F16M011/00
CPC分类号： B23Q11/08 , B23Q1/015 , B23Q1/5462 , B23Q3/15506 , B23Q5/385 , B23Q11/0032 , B25J9/0057 , B25J17/0216 , B25J17/0266 , F16H19/025 , Y10T409/307672 , Y10T409/309576
摘要： A hexapod machine is disclosed in which six adjustable length struts couple to a controllably moveable platform at three triangularly spaced locations at each of which a pair of struts couple together and to the platform at a bifurcated universal joint. The struts extend away from the platform and through machine nodes defined at triangularly spaced-apart locations in a machine sub-frame, and at each such node a strut extending from one platform location and the next adjacent strut from the next adjacent platform location come together and cross each other in respective hemispheres of a bifurcated sphere journalled for multidirectional pivotal movement in a socket in the sub-frame. The hemispheres each contain a motor which is frictionally engaged with the respective strut so as to enable it to be driven through the hemisphere to adjust its effective length. By control of the motors, the platform position and orientation can be adjusted in space. Also disclosed is a pentapod machine in which a tripod with three adjustable legs defines the position of a first tool support, and the position of a second spaced-apart tool support is defined by two adjustable legs, a tool being supported between said two supports.
摘要翻译： 公开了一种六足机，其中六个可调节长度的支柱在三个三角形间隔的位置处联接到可控制的可移动平台，在每个位置上，一对支柱联接在一起并且在分叉万向接头处与平台连接。 支柱远离平台并通过在机器子框架中以三角形间隔开的位置定义的机器节点延伸，并且在每个这样的节点处，从一个平台位置延伸的支柱和来自下一个相邻平台位置的下一个相邻撑杆汇合在一起 并且在分支球体的相应半球中彼此交叉，用于在子框架中的插座中多轴向枢转运动。 半球各自包含与相应支柱摩擦接合的马达，以使其能够被驱动通过该半球以调整其有效长度。 通过控制电机，平台位置和方向可以在空间上进行调整。 还公开了一种五脚架机器，其中具有三个可调节支腿的三脚架限定第一工具支撑件的位置，并且第二间隔开的工具支撑件的位置由两个可调节支腿限定，工具被支撑在所述两个支撑件之间。
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公开(公告)号：US06378190B2
公开(公告)日：2002-04-30
申请号：US09734534
申请日：2000-12-11
申请人： Hadi A. Akeel
发明人： Hadi A. Akeel
IPC分类号： B23Q1700
CPC分类号： B23P19/105 , A61B2034/304 , B25J17/0216 , Y10T29/49776 , Y10T29/4978 , Y10T29/49895 , Y10T29/53022 , Y10T29/53039 , Y10T29/53061 , Y10T29/53065 , Y10T29/53091 , Y10T29/53709 , Y10T74/20299 , Y10T74/20305 , Y10T74/20329 , Y10T74/20335 , Y10T74/20341
摘要： An apparatus and a method for compliant positioning of an object during an assembly operation wherein the apparatus includes a base plate, a locator plate for mounting an object such as a clamp or a tool spaced from the base plate and a plurality of linear actuators connected between the base plate the locator plate by universal joints providing six degrees of freedom of movement. According to the apparatus and the method a control is connected to the actuators for selectively moving the locator plate to a predetermined position relative to the base plate for contacting a component to be assembled with an object mounted on the locator plate. Two or more of the actuators can be mechanically coupled to move the locator plate with less than six degrees of freedom. The control is responsive to a force applied to the locator plate through the object during assembly of the component for actuating the linear actuators to change the applied force.
摘要翻译： 一种用于在组装操作期间对象的顺应定位的装置和方法，其中所述装置包括基板，用于安装诸如夹子或与所述基板间隔开的工具的物体的定位板和连接在所述基板之间的多个线性致动器 基座通过万向接头提供六个自由度的定位板。 根据该装置和方法，控制器连接到致动器，用于选择性地将定位板移动到相对于基板的预定位置，用于将待组装的部件与安装在定位板上的物体接触。 致动器中的两个或更多个可以机械联接以便以小于六个自由度移动定位板。 该控制响应于在组件期间通过物体施加到定位板的力，用于致动线性致动器以改变施加的力。
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