US5102289A
Expired / Lapsed
US
⏱️ 0.0 years remaining
Damper device for precision assembling robot
Assignee: Seiko Instruments Inc
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Filing: 1989-05-15
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Granted: 1992-04-07
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Expires: 2009-05-15
Abstract
Abstract A damper device for a precision assembling robot is capable of dampening the residual vibrations of the robot arm resulting from a lack of rigidity of the arm. The damper device is fixed to the tip of the robot arm to absorb the vibration energy of the swinging robot arm. The damper device includes a cylindrical weight member and a columnar rubber member. The damper device further includes a metallic rod inserted in the columnar rubber member. The length and position of the inserted metallic rod controls the dampening factor of the damper device. Therefore, the precision assembling robot with the damper device is capable of preventing a failure of assembly due to positioning errors resulting from residual vibrations, or nonconformities due to the impact of the robot arm against an object.
Inventors
- 👤 Norio Yokoshima
- 👤 Masahide Nagai
- 👤 Akira Shimada
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-11-01 13:31
CPC Classifications
F; F16; F16F; F16F7/00; F16F7/10; F16F7/104; F16F7/108; B; B25; B25J; B25J19/00; B25J19/0091
Claims Analysis
Total Claims: 16
Claim 1
Independent Claim
140 words
A damper device for dampening residual vibrations of a swingable robot arm, the damper device comprising: a support member attachable to a swingable robot arm; a columnar elastic member having one end thereof connected to the support member and extending outwardly of the support member; and a weight member connected to the columnar elastic member at a location remote from the support member, the weight member having a hollow interior portion defining an internal surface and the columnar elastic member extending through the hollow interior portion in spaced relation from the internal surface, and the weight member being spaced from the support member and having sufficient weight to effect resilient flexure of the columnar elastic member in response to residual vibration of the robot arm thereby enabling the columnar elastic member to absorb the vibration energy of the robot arm.
Claim 2
Dependent Claim
140 words
A damper device for dampening residual vibrations of a swingable robot arm, the damper device comprising: a support member attachable to a swingable robot arm; a columnar elastic member having one end thereof connected to the support member and extending outwardly of the support member; and a weight member connected to the columnar elastic member at a location remote from the support member, the weight member having a hollow interior portion defining an internal surface and the columnar elastic member extending through the hollow interior portion in spaced relation from the internal surface, and the weight member being spaced from the support member and having sufficient weight to effect resilient flexure of the columnar elastic member in response to residual vibration of the robot arm thereby enabling the columnar elastic member to absorb the vibration energy of the robot arm.
Claim 3
Dependent Claim
30 words
A damper device according to claim 1; including a rod inserted lengthwise into the columnar elastic member, the length of the rod determining the dampening factor of the damper device.
Claim 4
Dependent Claim
24 words
A damper device according to claim 2; wherein the end of the rod proximate the support member is axially spaced from the support member.
Claim 5
Dependent Claim
23 words
A damper device according to claim 2; wherein the end of the rod proximate the support member extends axially into the support member.
Claim 6
Dependent Claim
14 words
A damper device according to claim 2; wherein the rod is comprised of metal.
Claim 7
Dependent Claim
16 words
A damper device according to claim 5; wherein the columnar elastic member is comprised of rubber.
Claim 8
Dependent Claim
27 words
A damper device according to claim 2; including means connecting the end portion of the rod which is remote from the support member to the weight member.
Claim 9
Dependent Claim
23 words
A damper device according to claim 2; wherein the rod and the columnar elastic member are composed of materials having different rigidity characteristics.
Claim 10
Dependent Claim
189 words
In combination: a robot having a swingable robot arm swingable in a given plane during operation of the robot; a bracket connected to the distal end of the robot arm and having a bracket portion extending laterally of the robot arm; and a damper device connected to the bracket portion for dampening residual vibrations of the robot arm in the given plane, the damper device comprising a support member attached to the bracket portion, a columnar elastic member having one end thereof connected to the support member and extending outwardly of the support member, and a weight member connected to the columnar elastic member at a location remote from the support member, the weight member having a hollow interior portion defining an internal surface and the columnar elastic member extending through the hollow interior portion in spaced relation from the internal surface, and the weight member being spaced from the support member and having sufficient weight to effect resilient flexure of the columnar elastic member in response to residual vibration of the robot arm thereby enabling the columnar elastic member to absorb the vibration energy of the robot arm.
Claim 11
Dependent Claim
189 words
In combination: a robot having a swingable robot arm swingable in a given plane during operation of the robot; a bracket connected to the distal end of the robot arm and having a bracket portion extending laterally of the robot arm; and a damper device connected to the bracket portion for dampening residual vibrations of the robot arm in the given plane, the damper device comprising a support member attached to the bracket portion, a columnar elastic member having one end thereof connected to the support member and extending outwardly of the support member, and a weight member connected to the columnar elastic member at a location remote from the support member, the weight member having a hollow interior portion defining an internal surface and the columnar elastic member extending through the hollow interior portion in spaced relation from the internal surface, and the weight member being spaced from the support member and having sufficient weight to effect resilient flexure of the columnar elastic member in response to residual vibration of the robot arm thereby enabling the columnar elastic member to absorb the vibration energy of the robot arm.
Claim 12
Dependent Claim
29 words
A combination according to claim 9; including a rod inserted lengthwise into the columnar elastic member, the length of the rod determining the dampening factor of the damper device.
Claim 13
Dependent Claim
23 words
A combination according to claim 10; wherein the end of the rod proximate the support member is axially spaced from the support member.
Claim 14
Dependent Claim
22 words
A combination according to claim 10; wherein the end of the rod proximate the support member extends axially into the support member.
Claim 15
Dependent Claim
26 words
A combination according to claim 10, including means connecting the end portion of the rod which is remote from the support member to the weight member.
Claim 16
Dependent Claim
22 words
A combination according to claim 10; wherein the rod and the columnar elastic member are composed of materials having different rigidity characteristics.
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USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 1995-04-07 | 1995-10-07 | 1996-04-07 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 1999-04-07 | 1999-10-07 | 2000-04-07 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2003-04-07 | 2003-10-07 | 2004-04-07 | $7700.00 | Window Closed / Lapsed |