| 序号 | 专利名 | 申请号 | 申请日 | 公开（公告）号 | 公开（公告）日 | 发明人 |
|---|---|---|---|---|---|---|
| 101 | System for controlling an industrial robot | EP82303203.2 | 1982-06-21 | EP0068768A2 | 1983-01-05 | Inaba, Hajimu; Sakakibara, Shinsuke; Inagaki, Shigemi; Torii, Nobutoshi |
A system for controlling an industrial robot having a wrist (1) driven to rotate by a direct-current motor (2) having a servomechanism, wherein stroke-limit position control (6) of the wrist and rotational control (7) of the wrist can be selectively carried out. |
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| 102 | Schwenkantrieb für schwenkbar gelagerte Maschinenteile, insbesondere bei Manipulatoren | EP81103389.3 | 1981-05-05 | EP0041136A1 | 1981-12-09 | Zimmer, Ernst |
Bei Schwenkantrieben für schwenkbar gelagerte Maschinenteile von Manipulatoren wird die Genauigkeit der Zielansteuerung durch Einsatz spielfrei einstellbarerAntriebe wesentlich erhöht. Der einzelne Antrieb weist eine torsionselastisch ausgebildete, schnellaufende Antriebswelle (24) mit zwei darauf in Distanz voneinander befestigten Antriebsritzeln (25,26) auf. Jedem Ritzel (25,26) ist ein zum jeweiligen Abtriebsrad (29,30) führendes Untersetzungsgetriebe (27,28) zugeordnet. Beide Abtriebsräder (29,30) sind an dem zu bewegenden Maschinenteil (9) drehbar gelagert und um ihre Drehachse in einander entgegengesetzter Richtung so verspannt, sowie am Maschinenteil (9) abgestützt, daß die Antriebswelle (24) torsionselastisch verformt wird. Auf diese Weise wird eine völlige Spielfreiheit des Getriebes auch bei Schwenkbewegungen über die Totpunktstellung hinweg erzeugt. |
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| 103 | Vorrichtung zum Handhaben eines an einem Ausleger schwenk- und drehbar angeordneten Werkzeuges | EP79105341.6 | 1979-12-21 | EP0014768A1 | 1980-09-03 | Zimmer, Ernst, Ing.-grad. |
Vorrichtung zum dreidimensionalen Verstellen eines Auslegers (30), an dessen einem Ende ein Werkzeug (6) schwenkbar und drehbar angeordnet ist, insbesondere zum Hantieren eines Punktschweißzylinders in einer Montagestraße für Fahrzeugbaugruppen, wobei das andere Ende des Auslegers (30) in einem Dreh-Schiebegelenk (29) linear verschiebbar geführt und der Ausleger (30) in einem Koppel-Kurbel-Getriebepaar (15, 16, 12, 13) aufgehängt ist, das dem Ausleger (30) durch Verschwenken der einzeln steuerbaren Kurbeln (12, 13) eine Höhen- und Seitenbewegung erteilt. |
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| 104 | OPERATION ASSISTANCE SYSTEM | US16106245 | 2018-08-21 | US20180353055A1 | 2018-12-13 | Robert Geiger; Peter Kraus |
| An operation assistance system includes a support column as well as at least a first and second robotic arm. A lower end section of the support column is pivotally mounted about a first pivotal axis (SA1) on a base unit and controlled by a first drive unit. A first end section of the first robotic arm is pivotally mounted about a second pivotal axis (SA2) on the upper end section of the support column opposite to the base unit and controlled by a second drive unit. A first end section of the second robotic arm is pivotally mounted about a third pivotal axis (SA3) on a second end section of the first robotic arm by a third drive unit. Each drive unit is associated with a controllable magnetic brake unit by which the robotic kinematics can be uncoupled from the drive units. | ||||||
| 105 | ROBOT JOINT AND ROBOT INCLUDING THE SAME | US15943231 | 2018-04-02 | US20180222063A1 | 2018-08-09 | Kaiyuan Cao; Xiaodong Cao; Yun Ha; Zhu Zhu; Jiajie Sha |
| A robot joint and a robot using the robot joint is provided. The robot joint includes a first part and a second part configured to be rotatable with each other around a joint axis. A flexible printed circuit board is further included with a first fixing point and a second fixing point respectively fastened to the first part and the second part. The flexible printed circuit board is spiral-shaped prior to bending. With the relative rotation of the first part and the second part, the flexible printed circuit board is bent at various bending portions. This makes the robot joint more compact with a larger rotation range and a long lifetime in a cost effective way. | ||||||
| 106 | High Capacity Robot Arm | US15844936 | 2017-12-18 | US20180104828A1 | 2018-04-19 | Martin Hosek; Tuan Thuc Ha |
| A robot arm includes a wrist, an end effector, and an adjustable joint coupling the end effector to the wrist. The adjustable joint includes a member received in a socket. In one example, the member is a ball. In another example, the member is a tang. In both examples, an upper flange and a lower flange can be used to couple the wrist to a forearm. | ||||||
| 107 | Compact robotic wrist | US14388208 | 2014-03-13 | US09889568B2 | 2018-02-13 | Pablo Eduardo Garcia Kilroy; Kenneth C. Miller; Thomas D. Egan; Thomas P. Low; Arthur Maxwell Crittenden; Karen Shakespear Koenig |
| A surgical tool includes a tool shaft, and end effector and a wrist that couples the end effector to the tool shaft. The tool includes a drive mechanism configured to effect movement of one or both of the wrist and the end effector in yaw and pitch via independent actuation of four independent cable ends of two or more independent cables that extend between the drive mechanism and the wrist. | ||||||
| 108 | Compact robotic wrist | US14677509 | 2015-04-02 | US09884427B2 | 2018-02-06 | Thomas P. Low; Pablo Eduardo Garcia Kilroy; Kenneth C. Miller; Thomas D. Egan; Arthur Maxwell Crittenden; Karen Shakespear Koenig |
| An integrated multiaxial wrist and grasper system for use in a robotic tool can yaw, pitch and grasp via actuation of four independent cable ends of four cables. The tool includes a drive mechanism that effects movement of the multiaxial wrist and grasper via actuation of the cables that extend between the drive mechanism and the wrist. | ||||||
| 109 | Multipiece tolerance ring | US13931497 | 2013-06-28 | US09869330B2 | 2018-01-16 | Yosuke Kinoshita; Yoshinori Kamiya |
| A tolerance ring can include a generally cylindrical body having a first partial-cylindrical sidewall and a second partial-cylindrical sidewall opposite the first partial-cylindrical sidewall. Each partial-cylindrical sidewall defines a first end and a second end. Further, a first gap can be established between the first end of the first partial-cylindrical sidewall and the first end of the second partial-cylindrical sidewall after installation around a post. The first gap can extend along the entire length of the tolerance ring such that a split is formed in the tolerance ring. The tolerance ring can also include a second gap between the second end of the first partial-cylindrical sidewall and the second end of the second partial-cylindrical sidewall. The second gap can extend along the entire length of the tolerance ring such that a split is formed in the tolerance ring. The tolerance ring can provide an installed concentricity, C, ≦50 μm. | ||||||
| 110 | Bipedal Isotropic Lattice Locomoting Explorer: Robotic Platform for Locomotion and Manipulation of Discrete Lattice Structures and Lightweight Space Structures | US15633155 | 2017-06-26 | US20170368679A1 | 2017-12-28 | Benjamin Jenett; Kenneth Cheung; Neil Gershenfeld |
| A robotic platform for traversing and manipulating a modular 3D lattice structure is described. The robot is designed specifically for its tasks within a structured environment, and is simplified in terms of its numbers of degrees of freedom (DOF). This allows for simpler controls and a reduction of mass and cost. Designing the robot relative to the environment in which it operates results in a specific type of robot called a “relative robot”. Depending on the task and environment, there can be a number of relative robots. This invention describes a bipedal robot which can locomote across a periodic lattice structure made of building block parts. The robot is able to handle, manipulate, and transport these blocks when there is more than one robot. Based on a general inchworm design, the robot has added functionality while retaining minimal complexity, and can perform numerous maneuvers for increased speed, reach, and placement. | ||||||
| 111 | JOINT STRUCTURE FOR ROBOT | US15477530 | 2017-04-03 | US20170312924A1 | 2017-11-02 | Satoshi Kinoshita; Yasuyoshi Tanaka; Satoshi Adachi; Hideyuki Watanabe |
| Provided is a joint structure for a robot which can prevent leakage of a lubricant which is charged to the interior of the joint structure while improving a drip-proof property. The joint structure for the robot includes: a first arm which is hollow; a second arm which is rotatably mounted to the first arm; a power transmission mechanism which is provided adjacent to the outside of the first arm, the power transmission mechanism including a gear and an inner space which houses the gear and is charged with a lubricant; a booster section which increases a pressure in an interior of the first arm to be higher than an outside pressure; and a one-way communication section which allows the interior of the first arm and the inner space to communicate with each other and a gas in the interior of the first arm to flow into the inner space, while preventing the lubricant in the inner space from flowing out to the interior of the first arm. | ||||||
| 112 | Robot arm and robot | US14480981 | 2014-09-09 | US09802327B2 | 2017-10-31 | Daisuke Kirihara; Kazuto Yoshimura |
| A robot arm increases a plurality of arm sections that are turnably connected. The arm sections include a plurality of links and an actuator section that turns the plurality of links. The actuator section includes: a cylindrical cover provided on an outer surface; a motor that turns the plurality of links; a motor frame included in the motor; a reduction gear that decelerates rotation from the motor and outputs a torque; a collar fixed to the reduction gear; and a wire body including at least one of a wire and a pipe. At least a part of the wire body is housed between a surface including a first small body section formed by the motor frame and the collar and a surface including a second small body section of the cylindrical cover. | ||||||
| 113 | Robot and manufacturing method for robot | US14481069 | 2014-09-09 | US09796097B2 | 2017-10-24 | Daisuke Kirihara |
| A robot includes a base, a multi-joint arm provided in the base, and a wrist member configuring a part of the multi-joint arm. The wrist member includes: a motor including a rotor, a rotor shaft, and a stator; and a housing including a motor housing recess, in which the motor is positioned and housed, and forming an external shape of the wrist member. The housing has a motor incorporating recess including a positioning section for the stator, a hole section for fixing the stator incorporated in the motor incorporating recess, and a heat radiation groove section on a sidewall of the motor incorporating recess. A heat radiation member is filled in the heat radiation groove section. | ||||||
| 114 | ROBOT ASSEMBLY AND CORRESPONDING ASSEMBLY METHOD | US15126735 | 2015-03-06 | US20170217024A1 | 2017-08-03 | Steffen Sotzny; Alexander Schulz; Mario Heunsch |
| A robot assembly having an exchangeable application device is provided. The application device is connected and exchangeable via an intermediate flange, with the respective construction lengths of the application device and the intermediate flange being matched to each other as a pair such that an exchange of the application device together with the associated and individually matched intermediate flange maintains the tool center point. | ||||||
| 115 | HIGH CAPACITY ROBOT ARM | US14940192 | 2015-11-13 | US20160067869A1 | 2016-03-10 | Martin Hosek; Tuan Thuc Ha |
| A robot arm includes a wrist, an end effector, and an adjustable joint coupling the end effector to the wrist. The adjustable joint includes a member received in a socket. In one example, the member is a ball. In another example, the member is a tang. In both examples, an upper flange and a lower flange can be used to couple the wrist to a forearm. | ||||||
| 116 | ROLLING JOINT JAW MECHANISM | US14831699 | 2015-08-20 | US20160051274A1 | 2016-02-25 | Larry L. HOWELL; Spencer P. MAGLEBY; Brian D. JENSEN; John Ryan STEGER; Jordan TANNER; Clayton GRAMES |
| According to an aspect, a device may include a shaft, a tool portion including a first arm and a second arm, and a split rolling joint including a first curved portion and a second curved portion. The second curved portion may be coupled to the shaft. The first curved portion may include a first split portion and a second split portion. The first split portion may be coupled to the first arm. The second split portion may be coupled to the second arm. At least one of the first split portion and the second split portion may be configured to roll with respect to the second curved portion such that at least one of the first arm and the second arm can move towards or away from each other. | ||||||
| 117 | Robot | US14067965 | 2013-10-31 | US09114527B2 | 2015-08-25 | Shingi Takahashi; Takuya Okada; Tomoyuki Shiraki |
| A robot according to embodiments includes a first link, a second link, an actuator, a scissors gear, and a support part. The second link is rotatably connected to the first link. The actuator drives the second link in a rotatable manner. The scissors gear includes a main gear and a sub gear, and outputs driving force from the actuator to the second link. The support part is attached to the first link and rotatably supports the scissors gear. Furthermore, the scissors gear includes a spring that is arranged adjacent to the support part in the direction of the rotational axis of the scissors gear and applies biasing force to the main gear and the sub gear in rotational directions different from each other. | ||||||
| 118 | COMPACT ROBOTIC WRIST | US14677509 | 2015-04-02 | US20150209965A1 | 2015-07-30 | Thomas P. Low; Pablo Eduardo Garcia Kilroy; Kenneth C. Miller; Thomas D. Egan; Arthur Maxwell Crittenden; Karen Shakespear Koenig |
| An integrated multiaxial wrist and grasper system for use in a robotic tool can yaw, pitch and grasp via actuation of four independent cable ends of four cables. The tool includes a drive mechanism that effects movement of the multiaxial wrist and grasper via actuation of the cables that extend between the drive mechanism and the wrist. | ||||||
| 119 | ROBOT AND MANUFACTURING METHOD FOR ROBOT | US14481069 | 2014-09-09 | US20150068348A1 | 2015-03-12 | Daisuke KIRIHARA |
| A robot includes a base, a multi-joint arm provided in the base, and a wrist member configuring a part of the multi-joint arm. The wrist member includes: a motor including a rotor, a rotor shaft, and a stator; and a housing including a motor housing recess, in which the motor is positioned and housed, and forming an external shape of the wrist member. The housing has a motor incorporating recess including a positioning section for the stator, a hole section for fixing the stator incorporated in the motor incorporating recess, and a heat radiation groove section on a sidewall of the motor incorporating recess. A heat radiation member is filled in the heat radiation groove section. | ||||||
| 120 | ROBOT ARM AND ROBOT | US14480981 | 2014-09-09 | US20150068347A1 | 2015-03-12 | Daisuke KIRIHARA; Kazuto YOSHIMURA |
| A robot arm increases a plurality of arm sections that are turnably connected. The arm sections include a plurality of links and an actuator section that turns the plurality of links. The actuator section includes: a cylindrical cover provided on an outer surface; a motor that turns the plurality of links; a motor frame included in the motor; a reduction gear that decelerates rotation from the motor and outputs a torque; a collar fixed to the reduction gear; and a wire body including at least one of a wire and a pipe. At least a part of the wire body is housed between a surface including a first small body section formed by the motor frame and the collar and a surface including a second small body section of the cylindrical cover. | ||||||
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