公开(公告)号：US11969885B2

公开(公告)日：2024-04-30

申请号：US16945370

申请日：2020-07-31

Applicant: Mujin, Inc.

Inventor： Hironori Mizoguchi

IPC: B25J15/06 ,  B25J9/10 ,  B25J13/08 ,  B65G61/00

CPC classification number: B25J15/0616 ,  B25J9/101 ,  B25J13/085 ,  B25J15/0683 ,  B65G61/00

Abstract: A robotic system includes an end-effector configured for grasping an object, the end-effector including a suction cup assembly configured to engage the object, and a contact limit sensor configured to detect a pressure associated with the engagement between the suction cup assembly and the object, wherein the contact limit sensor transmits contact information when the contact limit sensor detects the pressure exceeding a contact threshold, a sensor unit monitoring contact information received from the contact limit sensor, and a controller, coupled to the sensor unit, configured to execute an operation for controlling the end-effector to limit movement of the end-effector toward the object based on the contact information received.

公开(公告)号：US11673259B2

公开(公告)日：2023-06-13

申请号：US17593164

申请日：2020-03-11

Applicant: OMRON Corporation

Inventor： Daniel P. Norboe

IPC: B25J9/10 ,  B25J9/04 ,  B25J17/02 ,  B25J9/00

CPC classification number: B25J9/101 ,  B25J9/0012 ,  B25J9/042 ,  B25J17/025

Abstract: This application describes multi-stage stop devices for robotic arms. During a first stage, rotational motion of a link of a robotic arm compresses a compressible member of the multi-stage stop device to absorb and dissipate at least some of the force generated by the collision. A second stage provides a hard stop the stops any further rotation. The multi-stage stop devices described herein can include a collapsing pin configured to compress a compressible member during the first stage. After the pin has collapsed a rigid sidewall provides a hard stop preventing further rotation during the second stage.

公开(公告)号：US20190193264A1

公开(公告)日：2019-06-27

申请号：US16225157

申请日：2018-12-19

Applicant: MITUTOYO CORPORATION

Inventor： Hiromu MAIE ,  Tomohiro ARIZONO

IPC: B25J9/10 ,  B25J19/00 ,  B25J19/02 ,  G05G5/04 ,  G01B11/24

CPC classification number: B25J9/101 ,  B25J19/0041 ,  B25J19/021 ,  G01B11/24 ,  G05G5/04

Abstract: A Z slider includes a rotating shaft capable of at least one revolution centered on a rotation axis, in a state Where the rotating shaft supports a measurement head that is connected to a plurality of cables; a θ axis drive motor that causes the rotating shaft, to perform normal rotation in a clockwise direction and reverse rotation in a counterclockwise direction; and an oscillating link that oscillates in a state of contact with the rotating shaft when the rotating shaft is performing normal rotation in the clockwise direction and limits normal rotation in the clockwise direction that is equal to or greater than a predetermined angle, and that oscillates in a state of contact with the rotating shaft when the rotating shaft is performing reverse rotation in the counterclockwise direction and limits reverse rotation in the counterclockwise direction that is equal to or greater than a predetermined angle.

公开(公告)号：US09796098B2

公开(公告)日：2017-10-24

申请号：US14016509

申请日：2013-09-03

Applicant: FANUC CORPORATION

Inventor： Kentarou Ootani

IPC: B25J17/00 ,  B25J19/00 ,  B25J9/10

CPC classification number: B25J19/00 ,  B25J9/101 ,  Y10T74/20329

Abstract: A mechanical stopper device having a desirable stopper function while having a simple structure, and a multi-joint robot having the mechanical stopper device. A mechanical stopper is constituted by an elastically deformable body arranged on a second arm, and a contacting member arranged on a first arm so that the deformable body comes into contact with the contacting member when the second arm is rotated by a predetermined angle. The spring pin has a slit extending in the longitudinal direction thereof, and the extending direction of the slit when the pin is inserted into a hole intersects with a contact direction of the spring pin against the contacting member.

公开(公告)号：US09346175B2

公开(公告)日：2016-05-24

申请号：US13860251

申请日：2013-04-10

Applicant: KUKA Roboter GmbH

Inventor： Rainer Krumbacher ,  Franz Liebl ,  Christoph Groll

IPC: H01H25/06 ,  B25J18/06 ,  B25J9/10

CPC classification number: B25J18/06 ,  B25J9/101 ,  Y10S901/28 ,  Y10T74/20317

Abstract: An industrial robot includes a robot arm having multiple connecting links connected by joints, wherein at least two adjacent connecting links are connected by a swivel joint and can be adjusted by a motor. A mechanical stop device defines a maximum rotatable adjustment angle between the adjacent links and includes a stop projection connected to one of the two adjacent connecting links, an engaging piece connected to the other one of the two adjacent connecting links, and a trailing stop which can be adjusted by the engaging piece. The trailing stop comprises a trailing stop body and an annular body which is connected with the trailing stop body and which is pivoted in an annular groove in an inner wall of a housing component of one of the two adjacent connecting links.

Abstract translation: 工业机器人包括具有通过接头连接的多个连接链节的机器人臂，其中至少两个相邻的连接连杆通过旋转接头连接，并且可以通过马达进行调节。 机械止动装置限定相邻连杆之间的最大可旋转调节角度，并且包括连接到两个相邻连接连杆中的一个的止动突起，连接到两个相邻连接连杆中的另一个的接合件，以及可以 由接合件调整。 拖尾止动件包括拖尾止动体和环形体，其与拖尾止动体连接并且在两个相邻的连接连杆之一的壳体部件的内壁中的环形槽中枢转。

公开(公告)号：US09168660B2

公开(公告)日：2015-10-27

申请号：US14512734

申请日：2014-10-13

Applicant: Seiko Epson Corporation

Inventor： Yuta Sato ,  Shingo Hoshino

IPC: B25J17/00 ,  B25J18/00 ,  B25J18/02 ,  B25J19/00 ,  B25J9/10 ,  B25J9/04

CPC classification number: B25J19/0004 ,  B25J9/042 ,  B25J9/101 ,  Y10S901/11 ,  Y10S901/27 ,  Y10T74/20305

Abstract: A SCARA robot according to an aspect of the invention includes a first arm rotatable with respect to a base, a second arm rotatable with respect to the first arm, a first rotation regulating member regulating a rotation of the first arm, and a second rotation regulating member regulating a rotation of the second arm. The first arm includes a beam provided inside a casing, at least one of the first rotation regulating member and the second rotation regulating member includes a contact part, a fixing part, and a connecting part.

Abstract translation: 根据本发明的一个方面的SCARA机器人包括相对于基座可旋转的第一臂，可相对于第一臂旋转的第二臂，调节第一臂的旋转的第一旋转限制构件和第二旋转调节 调节第二臂旋转的构件。 第一臂包括设置在壳体内的梁，第一旋转限制构件和第二旋转限制构件中的至少一个包括接触部分，固定部分和连接部分。

公开(公告)号：US08863930B2

公开(公告)日：2014-10-21

申请号：US13814975

申请日：2012-04-17

Applicant: Yasuyuki Kitahara ,  Shigeyuki Kaino

Inventor： Yasuyuki Kitahara ,  Shigeyuki Kaino

IPC: G05G1/04 ,  B25J9/04 ,  B25J9/10 ,  B25J19/00 ,  G05G5/04

CPC classification number: B25J19/00 ,  B25J9/042 ,  B25J9/101 ,  G05G5/04 ,  Y10T74/20329 ,  Y10T74/2063

Abstract: A rotating range restricting mechanism that restricts the rotating range of a rotating body rotatable 360 degrees or more with respect to a supporting body includes: a swing member rotatably attached to the supporting body; a first restricting member abutting the swing member to restrict the swing range of one end of the swing member; a second restricting member abutting the swing member to restrict the swing range of the other end of the swing member; an engaging member fixed to the rotating body which engages with the swing member to allow the swing member to swing between a first restricting position and a second restricting position; a first magnetic holding mechanism that holds the swing member in the first restricting position with a magnetic attraction force; and a second magnetic holding mechanism that holds the swing member in the second restricting position with a magnetic attraction force.

Abstract translation: 限制相对于支撑体旋转360度以上的旋转体的旋转范围的旋转范围限制机构包括：可旋转地安装在所述支撑体上的摆动部件， 第一限制构件抵接摆动构件以限制摆动构件的一端的摆动范围; 第二限制构件邻接所述摆动构件以限制所述摆动构件的另一端的摆动范围; 固定到所述旋转体的接合构件，其与所述摆动构件接合，以允许所述摆动构件在第一限制位置和第二限制位置之间摆动; 第一磁保持机构，其利用磁吸引力将摆动部件保持在第一限制位置; 以及第二磁性保持机构，其以所述磁力吸引力将所述摆动部件保持在所述第二限制位置。

公开(公告)号：US20140060235A1

公开(公告)日：2014-03-06

申请号：US14016509

申请日：2013-09-03

Applicant: FANUC CORPORATION

Inventor： Kentarou OOTANI

IPC: B25J19/00

CPC classification number: B25J19/00 ,  B25J9/101 ,  Y10T74/20329

Abstract: A mechanical stopper device having a desirable stopper function while having a simple structure, and a multi-joint robot having the mechanical stopper device. A mechanical stopper is constituted by an elastically deformable body arranged on a second arm, and a contacting member arranged on a first arm so that the deformable body comes into contact with the contacting member when the second arm is rotated by a predetermined angle. The spring pin has a slit extending in the longitudinal direction thereof, and the extending direction of the slit when the pin is inserted into a hole intersects with a contact direction of the spring pin against the contacting member.

Abstract translation: 具有理想的止动功能而具有简单结构的机械止动装置和具有机械止动装置的多关节机器人。 机械止动件由布置在第二臂上的可弹性变形体和设置在第一臂上的接触构件构成，使得当第二臂旋转预定角度时，可变形体与接触构件接触。 弹簧销具有沿其纵向方向延伸的狭缝，并且当销插入孔中时狭缝的延伸方向与弹簧销的接触方向相抵靠接触构件相交。

公开(公告)号：US20130305866A1

公开(公告)日：2013-11-21

申请号：US13860251

申请日：2013-04-10

Applicant: KUKA ROBOTER GMBH

Inventor： Rainer Krumbacher ,  Franz Liebl ,  Christoph Groll

IPC: B25J18/06

CPC classification number: B25J18/06 ,  B25J9/101 ,  Y10S901/28 ,  Y10T74/20317

Abstract: The invention relates to an industrial robot which comprises a robot arm having multiple connecting links that are connected by means of joints, in which at least two adjacent connecting links, respectively, are connected by means of a joint, which is designed as a swivel joint, can be adjusted by means of a motor and is defined in its maximum rotatable adjustment angle by means of a mechanical stop device, which connecting links comprise a stop projection which is connected to one of the two adjacent connecting links, an engaging piece which is connected to the other one of the two adjacent connecting links and a drag stop which can be adjusted by the engaging piece, which drag stop comprises a drag stop body and an annular body which is connected with the drag stop body which is pivoted in an annular groove in an inner wall of a housing component of one of the two adjacent connecting links.

Abstract translation: 本发明涉及一种工业机器人，其包括具有通过接头连接的多个连接链节的机器人臂，其中至少两个相邻的连接链节分别通过接头连接，该接头被设计为旋转接头 可以通过电动机进行调节，并且通过机械止动装置限定在其最大可旋转调节角度，该连接件包括连接到两个相邻连接连杆中的一个上的止动突起， 连接到两个相邻的连接链节中的另一个，以及可以通过接合件调节的牵引止动件，该阻止止动件包括阻止止动体和环形体，该阻止体与阻止止动体连接，该止动体以环形 在两个相邻连接链节中的一个的壳体部件的内壁中的凹槽。

公开(公告)号：US08561496B2

公开(公告)日：2013-10-22

申请号：US12952410

申请日：2010-11-23

Applicant: Xiao-Peng Pan

Inventor： Xiao-Peng Pan

IPC: B25J17/00 ,  B25J17/02 ,  B25J18/00

CPC classification number: B25J9/101

Abstract: An industrial robot includes a mounting base, a turning base rotatable relative to the mounting base about a rotation axis, and a stopper mechanically limiting an operating angle of the turning base. The stopper includes a fixed section attached to the mounting base, a connecting base attached to the turning base, and a swing lever pivotally connected to the connecting base and capable of swinging between a first position and a second position. The turning base is maintained in the first position and the second position, respectively, by the stopper when the swing lever contacts the fixed section, thereby limiting the operating angle of the turning base.

Abstract translation: 一种工业机器人包括安装基座，可绕旋转轴线相对于安装基座旋转的转动底座以及机械地限制转动底座的操作角度的止动件。 止动件包括安装在安装基座上的固定部分，连接在转动基座上的连接基座以及可枢转地连接到连接基座并能够在第一位置和第二位置之间摆动的摆动杆。 当摆杆接触固定部分时，转动基座分别由止动件保持在第一位置和第二位置，从而限制转动底座的操作角度。