| 序号 | 专利名 | 申请号 | 申请日 | 公开（公告）号 | 公开（公告）日 | 发明人 |
|---|---|---|---|---|---|---|
| 121 | Robot | US10648190 | 2003-08-27 | US07447564B2 | 2008-11-04 | Yusuke Yasukawa; Hirohiko Fukuya |
| A robot of the present invention moves to a place where a user is, in response to the voice of the user who is calling the robot. Then, when the user presses a switch, the robot recognizes that the user desires to send an urgent call and dials a pre-registered telephone number for sending urgent calls. When a receiver responds, the robot reads out and delivers a predetermined message to the receiver as a voice message, and switches the telephone to the handfree state so that the user can talk without holding the telephone. | ||||||
| 122 | Exoskeletons for running and walking | US11600291 | 2006-11-15 | US20070123997A1 | 2007-05-31 | Hugh Herr; Conor Walsh; Daniel Paluska; Andrew Valiente; Kenneth Pasch; William Grand |
| An exoskeleton worn by a human user consisting of a rigid pelvic harness worn about the waist of the user and exoskeleton leg structures each of which extends downwardly alongside one of the human user's legs. The leg structures include hip, knee and ankle joints connected by adjustable length thigh and shin members. The hip joint that attaches the thigh structure to the pelvic harness includes a passive spring or an active actuator to assist in lifting the exoskeleton and said human user with respect to the ground surface upon which the user is walking and to propel the exoskeleton and human user forward. A controllable damper operatively arresting the movement of the knee joint at controllable times during the walking cycle, and spring located at the ankle and foot member stores and releases energy during walking. | ||||||
| 123 | Artificial human limbs and joints employing actuators, springs, and variable-damper elements | US11395448 | 2006-03-31 | US20060249315A1 | 2006-11-09 | Hugh Herr; Daniel Paluska; Peter Dilworth |
| Biomimetic Hybrid Actuators employed in biologically-inspired musculoskeletal architectures employ an electric motor for supplying positive energy to and storing negative energy from an artificial joint or limb, as well as elastic elements such as springs, and controllable variable damper components, for passively storing and releasing energy and providing adaptive stiffness to accommodate level ground walking as well as movement on stairs and surfaces having different slopes. | ||||||
| 124 | Load handling device with servo feed-back control | US10221290 | 2001-03-05 | US06997668B2 | 2006-02-14 | 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 (26) is adapted to support a load (10), a force sensor (30) positioned in a selected site for detecting apparent weight variation 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 to assist the operator's movement. The invention is applicable in particular to robot arms or the like. | ||||||
| 125 | Manipulator | US09847696 | 2001-05-02 | US06923613B2 | 2005-08-02 | Henricus Johannes Adrianus Stuyt |
| A manipulator is provided that includes a foot part and a number of members connected to the foot part and to each other respectively, and at least a gripper part, such that the members, the gripper and the foot part form an arm. One or more motors are provided in the foot part for moving at least a one of the members and the gripper. | ||||||
| 126 | Leg joint assist device for leg type movable robot | US10490802 | 2004-03-25 | US20040255711A1 | 2004-12-23 | 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. | ||||||
| 127 | Robot | US10648190 | 2003-08-27 | US20040066917A1 | 2004-04-08 | Yusuke Yasukawa; Hirohiko Fukuya |
| A robot of the present invention moves to a place where a user is, in response to the voice of the user who is calling the robot. Then, when the user presses a switch, the robot recognizes that the user desires to send an urgent call and dials a pre-registered telephone number for sending urgent calls. When a receiver responds, the robot reads out and delivers a predetermined message to the receiver as a voice message, and switches the telephone to the handfree state so that the user can talk without holding the telephone. | ||||||
| 128 | High performance device for balancing a force | US10380411 | 2003-09-11 | US20040045390A1 | 2004-03-11 | Christian Salesse; Jean-Marc Loriot |
| The invention concerns a device for balancing a force comprising an articulated mechanism (10) consisting of a proximal arm (12) borne by a support wedged on a first hinge pin (20) and a distal arm (14) borne by the proximal arm and wedged on a second hinge pin (24) extending parallel to the first pin, the distal arm having a free end (26) supporting a load (F). The device further comprises first balancing means (18, 20) with high bandwidth acting on the proximal arm (12), second balancing means (18, 22) with high bandwidth acting on the distal arm (4), and co-ordinating means interposed between the first balancing means and the second balancing means to co-ordinate the respective rotational movements of the proximal arm and of the distal arm. The invention is applicable to mechanical manipulators, to transfer devices and to railway pantographs. | ||||||
| 129 | Robot | US10072781 | 2002-02-07 | US20030145674A1 | 2003-08-07 | William T. Weaver |
| The robot includes a substantially vertical linear track and a bearing configured to translate along the linear track. Also included is an elongate arm having opposing first and second ends. The elongate arm is rotatably coupled to the bearing near the first end. A platform, configured to receive a wafer handling robot, is rotatably coupled to the elongate arm near the second end of the elongate arm. A linear drive, configured to translate the bearing along the linear track, is coupled to the bearing. | ||||||
| 130 | Unitary specimen prealigner and continuously rotatable four link robot arm mechanism | US834704 | 1997-04-01 | US6126381A | 2000-10-03 | Paul Bacchi; Paul S. Filipski |
| A unitary prealigner and four link robot arm includes an upper arm, a middle arm, a forearm, and a hand that is equipped with vacuum pressure outlets to securely hold a specimen. The robot arm is carried atop a tube that is controllably positionable along a Z-axis direction. The prealigner is attached to the tube by a movable carriage that is elevatable relative to the robot arm. The prealigner further includes a rotatable chuck having a vacuum pressure outlet for securely holding a specimen in place within an edge detector assembly that senses a peripheral edge of the specimen. The prealigner may be elevated to receive a specimen from the robot arm or it may be lowered to allow clearance for the robot arm to rotate. In operation, the robot arm retrieves a specimen and places it on the prealigner, which performs an edge scanning operation to determine the effective center and specific orientation of the specimen. The robot arm then performs angular and extension correction operations to position the grasp center of the hand over the effective center of the specimen, thereby placing the specimen in a predetermined alignment relative to the hand. Finally, an exchange of vacuum pressure releases the specimen from the prealigner and secures it once again on the hand, and the robot arm delivers the specimen in the predetermined alignment to a processing station at a second elevation and at a location that compensates for the angular and extension correction operations. | ||||||
| 131 | Industrial robot | US913421 | 1997-09-15 | US5901613A | 1999-05-11 | Karl-Erik Forslund |
| An industrial robot comprises a stand mounted on a foot and being rotatable about a first, vertical axis, said stand supporting a first robot arm which is rotatable in relation to the stand about a second, horizontal axis. The stand comprises an underbody with two projecting parts which support an intermediate part which is rotatable in relation to the stand. The intermediate part comprises two parallel supporting elements, at the upper ends of which the first robot arm is journalled. The lower ends of the supporting elements are rotatably attachable to the underbody. The robot may thus be tilted forwards or backwards and be fixed in these positions during the robot operation, so as to obtain different types of operating ranges. | ||||||
| 132 | Electronic test head positioner for test systems | US52263583 | 1983-08-11 | US4589815B1 | 1998-04-07 | SMITH NATHAN R |
| 133 | Swinging arm robot | US431916 | 1989-11-06 | US5000653A | 1991-03-19 | Gerhard Gosdowski |
| Swinging arm robot comprises at least two swinging arms and motor-operated articulated drives. Each motor of the drive is arranged on an articulated part of an articulated axle. At least one swinging arm is not provided with a motor. The motors of the two articulated axles, which are assigned to the one swinging arm, are each fastened at an adjacent articulated part. | ||||||
| 134 | Statically-balanced direct-drive robot arm | US100929 | 1987-09-25 | US4775289A | 1988-10-04 | Homayoon Kazerooni |
| A robot (10) includes a statically-balanced direct-drive arm (14) having three degrees of freedom, all of which are independent articulated drive joints, the driving axes of two of which intersect at the center of gravity of the arm to eliminate gravity forces on the drive system without counterweights. | ||||||
| 135 | Conveying apparatus for ceiling-suspended industrial robot | US839393 | 1986-03-14 | US4726732A | 1988-02-23 | Hisao Kato |
| A conveying apparatus for an industrial robot in which a first arcuate rail is fixed to a ceiling and extends parallel to a turning locus of a robot arm suspended form a ceiling surface. A second linear rail is attached to the first rail and is rotatable therearound while maintaining an orientation normal to the first rail. A gripper mounted on a forward end portion of the robot arm is suspended by a balancer from the second rail, or alternatively by a first link having one end rotatably fixed to the ceiling and connected at its other end to one end of a second link with the gripper suspended by a wire from a balancer mounted on the other end of the second link. With this arrangement, not only is the vertical load due to objects conveyed by the robot reduced, but the horizontal load due to the same is also reduced, even in a horizontal conveying operation. | ||||||
| 136 | Robotic device | US749424 | 1985-06-27 | US4683773A | 1987-08-04 | Gary Diamond |
| A new type of robotic device is disclosed, using several cable trussed compression members in concert. The cable trussed compression members are deformed along the length of their central compression mast, by the lengthening and shortening in concert of all of the cables of each cable trussed compression member, through the use of motors. Weights traveling on tracks, or fluid filled hoses, are used in addition to the deformation of the cable trussed compression members, to change the location of the center of gravity of the entire assembly, thereby enhancing the balancing and stability of the robotic device. Additional known mechanical and electrical devices may be used in conjunction with the several cable trussed compression members. | ||||||
| 137 | Mechanical arm | US81254 | 1979-10-02 | US4259876A | 1981-04-07 | Petr N. Belyanin; Konstantin V. Frolov; Aron E. Kobrinsky; Alfred I. Korendyasev; Boris S. Rozin; Boris L. Salamandra; Felix P. Sokolovsky; Jury V. Stolin; Leonid I. Tyves |
| The disclosed mechanical arm comprises a base having mounted thereon a plurality of pivotally connected links, each having its own individual motor operatively connected through driving kinematic chains with said links, and a tensioning mechanism including a tensioning member and kinematic chains connecting said tensioning member with the links; said tensioning mechanism being provided with differential gears in a number equalling that of said driving kinematic chains tensioned by said tensioning member, one output of each said differential gears being connected to said individual motor, and two other outputs thereof being connected to the preceding and successive ones of said differential gears; the two unoccupied outputs of the terminal ones of said differential gears being connected, respectively, to said base and said tensioning member.The invention is primarily intended for automation of main and auxiliary operations in various industries, e.g. for handling of production tools and equipment. The invention can be utilized in various technologies, e.g. in machining and thermal treatment, in foundry production, in forging, pressing, welding, assembling, coating, as well as in operations performed in hazardous environment, in nuclear power plants, deep underwater and outer space projects, and in medicine. | ||||||
| 138 | ハルバッハ型シリンダを用いる静的釣り合い式機構体 | JP2018504916 | 2016-07-28 | JP2018523127A | 2018-08-16 | ボワクレール ジュリアン; リシャール ピエール−リュック; ラリベルテ ティエリー; ゴセリン クレマン |
| 内側キャビティを備えた第1のハルバッハ型シリンダを含む機構体が提供され、第1のハルバッハ型シリンダは、内側キャビティの内部に円周方向に集中状態の第1の磁束を生じさせるよう磁化されている。第2のハルバッハ型シリンダが第1のハルバッハ型シリンダの内側キャビティ内に同心状に受け入れられ、それにより併用状態で回転軸線を備えた回転継手を形成している。ハルバッハ型シリンダのうちの一方は、ロータであって、ハルバッハ型シリンダのうちの他方は、ステータであり、第2のハルバッハ型シリンダは、円周方向外方に集中状態の第2の磁束を生じさせるよう磁化される。出力部がロータに連結されていてステータに対してロータと共に回転するようになっており、出力部は、重力をロータに加え、重力は、回転軸線からオフセットしており、それにより第1のハルバッハ型シリンダと第2のハルバッハ型シリンダの磁束は、出力部によって生じる重力に抗するトルクを協働して生じさせる。 | ||||||
| 139 | マニピュレータ | JP2015257037 | 2015-12-28 | JP2017119335A | 2017-07-06 | 中本 秀一 |
| 【課題】保持物体の質量を考慮した自重補償機構を備えたマニピュレータを提供する。 【解決手段】マニピュレータは、基台と、重力方向と交差する第1の方向に回転軸を有する第1の関節4と、前記基台と前記第1の関節を連結する第1の連結部と、前記第1の方向と交差する第2の方向に回転軸を有する第2の関節6と、前記第1の関節と前記第2の関節を連結する第2の連結部と、前記第2の方向と交差する第3の方向に沿って前記第2の関節に連結された第1のアーム8Aと、前記第3の方向に沿ってかつ前記第1のアームの前記第2の関節と連結された側と反対側の前記第2の関節に連結された第2のアーム8Bと、前記第1のアームの前記第2の関節と連結された側と反対側の前記第1のアームに連結された重心可変部と、前記第2のアームの前記第2の関節と連結された側と反対側の前記第2のアームに連結された保持部と、前記重心可変部を制御する制御部と、を備える。 【選択図】図1 |
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| 140 | ロボット | JP2013158209 | 2013-07-30 | JP5949693B2 | 2016-07-13 | 高橋 真義; 白木 知行; 伊藤 雅人; 榊 芳梨 |
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