| 序号 | 专利名 | 申请号 | 申请日 | 公开（公告）号 | 公开（公告）日 | 发明人 |
|---|---|---|---|---|---|---|
| 81 | Artificial joints using agonist-antagonist actuators | US12608627 | 2009-10-29 | US08870967B2 | 2014-10-28 | Hugh M. Herr; Lee Harris Magnusson; Ken Endo |
| Artificial limbs and joints that behave like biological limbs and joints employ a synthetic actuator which consumes negligible power when exerting zero force, consumes negligible power when outputting force at constant length (isometric) and while performing dissipative, nonconservative work, is capable of independently engaging flexion and extension tendon-like, series springs, is capable of independently varying joint position and stiffness, and exploits series elasticity for mechanical power amplification. | ||||||
| 82 | Method and handling system for automatically moving a gravity-compensated load body | US13439922 | 2012-04-05 | US08812158B2 | 2014-08-19 | Sven Brudniok; Günter Schreiber; Johann Maischberger |
| A handling system and method for automatically moving a gravity-based load body using a robot. The load body is supported by a load body holding means connected to an end effector flange of the robot. A gravity compensation device includes a connector element acting on an element or the end effector flange of the robot to compensate for the gravity of the load body. | ||||||
| 83 | Artificial ankle-foot system with spring, variable-damping, and series-elastic actuator components | US13723743 | 2012-12-21 | US08734528B2 | 2014-05-27 | Hugh M. Herr; Kwok Wai Samuel Au; Daniel Joseph Paluska; Peter Dilworth |
| An artificial foot and ankle joint consists of a curved leaf spring foot member having a heel extremity and a toe extremity, and a flexible elastic ankle member that connects the foot member for rotation at the ankle joint. An actuator motor applies torque to the ankle joint to orient the foot when it is not in contact with the support surface and to store energy in a catapult spring that is released along with the energy stored in the leaf spring to propel the wearer forward. A ribbon clutch prevents the foot member from rotating in one direction beyond a predetermined limit position. A controllable damper is employed to lock the ankle joint or to absorb mechanical energy as needed. The controller and sensing mechanisms control both the actuator motor and the controllable damper at different times during the walking cycle for level walking, stair ascent, and stair descent. | ||||||
| 84 | Powered ankle-foot prothesis | US12157727 | 2008-06-12 | US08512415B2 | 2013-08-20 | Hugh M. Herr; Jeff A. Weber; Samuel K. Au; Bruce Wayne Deffenbaugh; Lee Harris Magnusson; Andreas G. Hofmann; Benjamin B. Aisen |
| A powered ankle-foot prosthesis, capable of providing human-like power at terminal stance that increase amputees metabolic walking economy compared to a conventional passive-elastic prosthesis. The powered prosthesis comprises a unidirectional spring, configured in parallel with a force-controllable actuator with series elasticity. The prosthesis is controlled to deliver the high mechanical power and net positive work observed in normal human walking. | ||||||
| 85 | Artificial Ankle-Foot System with Spring, Variable-Damping, and Series-Elastic Actuator Components | US13723743 | 2012-12-21 | US20130110256A1 | 2013-05-02 | Hugh M. Herr; Kwok Wai Samuel Au; Daniel Joseph Paluska; Peter Dilworth |
| An artificial foot and ankle joint consists of a curved leaf spring foot member having a heel extremity and a toe extremity, and a flexible elastic ankle member that connects the foot member for rotation at the ankle joint. An actuator motor applies torque to the ankle joint to orient the foot when it is not in contact with the support surface and to store energy in a catapult spring that is released along with the energy stored in the leaf spring to propel the wearer forward. A ribbon clutch prevents the foot member from rotating in one direction beyond a predetermined limit position. A controllable damper is employed to lock the ankle joint or to absorb mechanical energy as needed. The controller and sensing mechanisms control both the actuator motor and the controllable damper at different times during the walking cycle for level walking, stair ascent, and stair descent. | ||||||
| 86 | WORKING ROBOT AND PROCESSING PLANT | US13400529 | 2012-02-20 | US20130058749A1 | 2013-03-07 | Manabu OKAHISA |
| A working robot according to an embodiment includes an arm part and a plurality of motors. The arm part includes a plurality of arm members. The plurality of motors respectively drives the plurality of arm members. Herein, rated powers respectively corresponding to the motors are the same. | ||||||
| 87 | Pneumatic counterbalance for optical head gantry | US12797436 | 2010-06-09 | US08375594B1 | 2013-02-19 | Bryan W. Guenther |
| A pair of pneumatic cylinders is used to counterbalance the weight of a large gantry supporting the optical head of an interferometric profiler. The gantry is supported by the cylinders within pairs of linear-bearing rail that provide a large vertical travel. The pressure in the cylinders is adjusted so as to provide an upward force sufficient to oppose the weight of the gantry and prevent its descent, but not so great as to cause it to rise. In essence, the counterbalance pressure is adjusted to equilibrate the weight of the gantry in such a way that a small force applied manually upward or downward will cause the gantry to move easily in either direction, thereby making it possible for an operator to position the optical head rapidly and with minimum effort as required for the initial alignment with a test object. | ||||||
| 88 | Method And Handling System For Automatically Moving A Gravity-Compensated Load Body | US13439922 | 2012-04-05 | US20130013109A1 | 2013-01-10 | Sven Brudniok; Günter Schreiber; Johann Maischberger |
| A handling system and method for automatically moving a gravity-based load body using a robot. The load body is supported by a load body holding means connected to an end effector flange of the robot. A gravity compensation device includes a connector element acting on an element or the end effector flange of the robot to compensate for the gravity of the load body. | ||||||
| 89 | Compound-arm manipulator | US12121225 | 2008-05-15 | US08317453B2 | 2012-11-27 | Ray Givens |
| In a first aspect, the invention is directed to a manipulator that is relatively compact and has a relatively large range of motion. The manipulator includes a linkage that folds back on itself, which reduces the footprint of the linkage. In a particular embodiment, the manipulator includes a linkage and a load balancing device. The linkage includes a first link, a second link, a third link and a fourth link. The first link and second links are rotatably connected to a base about first and second connection axes. The third and fourth links are connected to the first and second links respectively about third and fourth connection axes respectively. The third and fourth links are rotatably connected to a lift arm about fifth and sixth connection axes respectively, wherein the fifth and sixth connection axes are horizontally displaced from the third and fourth connection axes in the direction of the first and second connection axes. The load balancing device is configured to support the linkage in a selected position against a load and configured to permit the load to be moved upwards or downwards with a selected amount of force on the lift arm. The manipulator may be provided as part of a load maneuvering system that further includes a transport system that may be similar to that used on an overhead crane. | ||||||
| 90 | Artificial Ankle-Foot System with Spring, Variable-Damping, and Series-Elastic Actuator Components | US13348570 | 2012-01-11 | US20120209405A1 | 2012-08-16 | Hugh M. Herr; Samuel K. Au; Peter Dilworth; Daniel Joseph Paluska |
| An artificial foot and ankle joint consists of a curved leaf spring foot member having a heel extremity and a toe extremity, and a flexible elastic ankle member that connects the foot member for rotation at the ankle joint. An actuator motor applies torque to the ankle joint to orient the foot when it is not in contact with the support surface and to store energy in a catapult spring that is released along with the energy stored in the leaf spring to propel the wearer forward. A ribbon clutch prevents the foot member from rotating in one direction beyond a predetermined limit position. A controllable damper is employed to lock the ankle joint or to absorb mechanical energy as needed. The controller and sensing mechanisms control both the actuator motor and the controllable damper at different times during the walking cycle for level walking, stair ascent, and stair descent. | ||||||
| 91 | Articulated arm robot | US11383327 | 2006-05-15 | US08219245B2 | 2012-07-10 | Günther Merk; Joachim Markert; Rainer Krumbacher |
| To increase the safety of an articulated arm robot with robot members connected by means of joints as open kinematics and with functional elements acting on the joints, such as drive motors, gears, brakes and a weight balance system, while reducing the mechanical limitations of the motion space of the robot, the present invention provides that at least some of the said functional elements have a dual design. | ||||||
| 92 | Powered ankle-foot prothesis | US12157727 | 2008-06-12 | US20110257764A1 | 2011-10-20 | Hugh M. Herr; Jeff A. Weber; Samuel K. Au; Bruce Wayne Deffenbaugh; Lee Harris Magnusson; Andreas G. Hoffman; Benjamin B. Aisen |
| A powered ankle-foot prosthesis, capable of providing human-like power at terminal stance that increase amputees metabolic walking economy compared to a conventional passive-elastic prosthesis. The powered prosthesis comprises a unidirectional spring, configured in parallel with a force-controllable actuator with series elasticity. The prosthesis is controlled to deliver the high mechanical power and net positive work observed in normal human walking. | ||||||
| 93 | COUNTERBALANCE MECHANISM FOR END-EFFECTOR CONFIGURATION AND METHOD OF USE | US12756215 | 2010-04-08 | US20110017007A1 | 2011-01-27 | Yhu-Tin Lin; Andrew L. Bartos |
| A set-up stand is provided including a counterbalance mechanism for use in reconfiguring an end-effector with an articulating portion rotated by a bi-directional rotary locking device, for example, a clutch. A counterbalance mechanism is provided including a holding member which is attached to a preloaded member and connected to an articulating portion of the end-effector during reconfiguration of the end-effector. The preloaded member provides a tension load to counterbalance the gravity moment load of the articulating portion when the articulated portion is rotated in the same direction as the output shaft of the bi-direction rotary locking device, to prevent overhauling, chattering or binding stops during rotation and reconfiguration. A method is provided to utilize the counterbalance mechanism as described. | ||||||
| 94 | Artificial Joints Using Agonist-Antagonist Actuators | US12608627 | 2009-10-29 | US20100241242A1 | 2010-09-23 | Hugh M. Herr; Lee Harris Magnusson; Ken Endo |
| Artificial limbs and joints that behave like biological limbs and joints employ a synthetic actuator which consumes negligible power when exerting zero force, consumes negligible power when outputting force at constant length (isometric) and while performing dissipative, nonconservative work, is capable of independently engaging flexion and extension tendon-like, series springs, is capable of independently varying joint position and stiffness, and exploits series elasticity for mechanical power amplification. | ||||||
| 95 | Artificial ankle-foot system with spring, variable-damping, and series-elastic actuator components | US11495140 | 2006-07-29 | US20070043449A1 | 2007-02-22 | Hugh Herr; Samuel Au; Peter Dilworth; Daniel Paluska |
| An artificial foot and ankle joint consisting of a curved leaf spring foot member that defines a heel extremity and a toe extremity, and a flexible elastic ankle member that connects said foot member for rotation at the ankle joint. An actuator motor applies torque to the ankle joint to orient the foot when it is not in contact with the support surface and to store energy in a catapult spring that is released along with the energy stored in the leaf spring to propel the wearer forward. A ribbon clutch prevents the foot member from rotating in one direction beyond a predetermined limit position, and a controllable damper is employed to lock the ankle joint or to absorb mechanical energy as needed. The controller and a sensing mechanisms control both the actuator motor and the controllable damper at different times during the walking cycle for level walking, stair ascent and stair descent. | ||||||
| 96 | Leg joint assist device for leg type movable robot | US10490802 | 2002-09-24 | US06962220B2 | 2005-11-08 | Toru Takenaka; Hiroshi Gomi; Kazushi Hamaya; Yoshinari Takemura; Takashi Matsumoto; Takahide Yoshiike; Yoichi Nishimura; Kazushi Akimoto |
| An assist device that applies an auxiliary driving force to a joint in parallel with a driving force of a joint actuator between a thigh portion and a crus portion, which are a pair of link members of a leg. The assist device generates the auxiliary driving force by use of spring device, such as a solid spring or an air spring. A member supporting a rod member connected to the spring device is provided with a device for transmitting a bending and stretching motion of the leg at the joint (a relative displacement motion between the thigh portion and the crus portion) to the spring device to generate an elastic force of the spring device, and for discontinuing the transmission of the bending and stretching motion to the spring device. This transmitting device is controlled in accordance with a gait of a robot. Thus, a burden on the joint actuator is reduced where necessary and favorable utilization efficiency of energy can be stably ensured. | ||||||
| 97 | Load handling device with servo feed-back control | US10221290 | 2002-12-17 | US20030152453A1 | 2003-08-14 | Christian Salesse; Jean-Marc Loriot |
| The invention concerns a handling device comprising, in combination, a mechanical equilibrium mechanism (10) with low reaction time, having an arm (20) whereof the proximal end (22) is locked on a pivot pin (18) and whereof the distal end (26) is adapted to support a load (10), a force sensor (30) positioned in a selected site for detecting apparent weight variation of the load (10) resulting from a force being exerted on said load in response to an operator's movement, servo feed-back means (32) actuated by the force sensor (30), and an actuator (34) controlled by the servo feed-back means (32) and connected to the arm (20) to assist the operator's movement. The invention is applicable in particular to robot arms or the like. | ||||||
| 98 | Robot arm with weight compensation | US184028 | 1998-11-02 | US6145403A | 2000-11-14 | Alexei Aschenbrenner; Norbert Sedlmair; Norbert Settele |
| A driven robot arm (1) has a torque compensation unit for a motional degree of freedom (4). A separate magnetic compensation unit (9) is proposed which is independent of the robot arm drive. | ||||||
| 99 | Underwater mobile type inspection system | US709300 | 1991-05-31 | US5193405A | 1993-03-16 | Takeo Oomichi; Yukio Hukagawa; Kazuto Sawaragi; Kyoichi Aizawa; Kiyoshi Tachibana; Junji Nakayama; Tomio Aoyama; Kyoichi Yoshioka; Mitsushi Ideo |
| A underwater mobile type inspection system is disclosed wherein said system comprises a multi-articulated manipulator with a probe attached at its tip end thereof. A pivot base supports the proximal end of the manipulator for free rotation and is provided with a propulsion device. An anchoring base is attached to the bottom of said pivot base via a pivot driving mechanism. An adhesion device and a mobile vehicle device are provided, both of which are mounted on the outer periphery of said anchoring base. The inspection system may be applicable to a defect finding operation, other inspecting procedures, cleaning and recovery operations of foreign materials in large-sized vessels, such as nuclear reactor pressure vessels, water pools and storage tanks etc. | ||||||
| 100 | Industrial robot | US81744 | 1987-08-05 | US4828451A | 1989-05-09 | Tadafumi Mikoshi; Hitoshi Oka; Akira Fukuda |
| An industrial robot provided with at least six joints and adapted to have at least six degrees of freedom, wherein rotational joints rotatable around axes extending lengthwise of the arm and bending joints swingable around perpendicular axes extending perpendicularly to the lengthwise direction of the arm, thereby enabling the position and attitude control for a wrist at the arm and the obstacle avoiding control to change height of an elbow portion at the arm so as to avoid the obstacle. | ||||||
QQ群二维码
意见反馈
意见反馈