| 序号 | 专利名 | 申请号 | 申请日 | 公开（公告）号 | 公开（公告）日 | 发明人 |
|---|---|---|---|---|---|---|
| 1 | 用于远程操纵的机械遥控操作装置 | CN201280037626.9 | 2012-07-25 | CN103717355B | 2015-11-25 | 里卡多·贝拉; 莱昂内尔·弗拉科蒂翁 |
| 一种机械遥控操作装置（5a，5b），其包括：从单元（10）；端部效应器（40）；主单元（20）以及把手（30）。机械传动部件布置为将从单元（10）与主单元（20）运动地连接，使得通过从单元（10）复制施加在主单元（20）上的运动；并且布置为将所述端部效应器（40）与所述把手（30）连接，使得通过所述端部效应器（40）复制施加在所述把手（30）上的所述运动；主单元（20）能够围绕其纵轴（θ1）并且围绕（θ2，θ3）旋转，其通常在固定单点（32'）处交叉。相应的从单元（10）能够围绕其纵轴（θ4）以及围绕相应地平行于所述第二轴与第三轴（θ2，θ3）的轴（θ5，θ6）旋转，其通常在虚拟固定单点（50）处交叉。 | ||||||
| 2 | 十三自由度大型船体外表面喷涂机器人 | CN201610124799.4 | 2016-03-04 | CN105643587A | 2016-06-08 | 刘刚峰; 李长乐; 闫继宏; 张英勇; 李戈; 赵杰 |
| 十三自由度大型船体外表面喷涂机器人，它涉及一种船体外表面喷涂机器人。现有设备分为船体表面吸附式和框架移动式，前者对船体表面光滑度要求高，可靠性差，后者灵活性差，导致喷涂的反喷率高，喷涂质量低下。本发明移动车体靠近分段船体设置，七自由度液压展臂设置在移动车体上，六自由度轻量化机械手设在七自由度液压展臂上；七自由度液压展臂包括配重转盘、第一大臂、辅臂、主臂、伸缩、短臂、旋转支撑连接件、第一液压缸、第二液压缸、第三液压缸、第四液压缸、第五液压缸、第六液压缸、第一连接件、第二连接件和第三连接件；机械手本体机械手本体固定安装在载重平台上，载重平台与旋转支撑连接件相连接。本发明用于喷涂大型船体。 | ||||||
| 3 | 一种四自由度多环路混联机械臂 | CN201610047364.4 | 2016-01-25 | CN105522556A | 2016-04-27 | 邓必懋; 杨海东; 周艳红; 刘祥威 |
| 本发明公开了一种四自由度多环路混联机械臂，涉及一种机械臂，包括：基座；设置于基座内的第一电机；连接第一电机转轴的安装板；分别经转动副连接安装板的第一上臂连杆、第二上臂连杆和第三上臂连杆，以及分别连接第一上臂连杆和第二上臂连杆的第四上臂连杆；三角板，分别经转动副连接第四上臂连杆和第三上臂连杆；连接三角板的第一下臂连杆和第二下臂连杆、以及第三下臂连杆，第一下臂连杆和第二下臂连杆分别连接第三下臂连杆；转轴连接末端执行器的第二电机；转轴连接一上臂连杆一端的第三电机；转轴连接一下臂连杆的一端的第四电机。本发明用九杆形成的混联结构实现四自由度的活动范围，充分满足重载码垛对机械臂承载能力和活动范围的要求。 | ||||||
| 4 | 码垛机搬运机械手 | CN201610000873.1 | 2016-01-04 | CN105500356A | 2016-04-20 | 魏利辉; 田峰 |
| 本发明公开一种码垛机搬运机械手，包括码垛框体、加工送料平台和所述的机械手，所述加工送料平台设置为两条并且相互平行，码垛框体设置在加工送料平台的进料端旁，所述机械手设置在码垛框体前方并且处于两条加工送料平台的中间，所述机械手包括有旋转底座、前倾立臂、前伸直臂、角度调节件和抓取头，前述部件依次由底部到前端的顺序通过旋转部件相连接，所述抓取头连接在角度调节件的前端；通过本结构的机械手可以方便的实现自动化的操作，将物料从码垛机上送到加工台的过程中无需人工干预，提高了生产的效率。 | ||||||
| 5 | 用于远程操纵的机械遥控操作装置 | CN201280037626.9 | 2012-07-25 | CN103717355A | 2014-04-09 | 里卡多·贝拉; 莱昂内尔·弗拉科蒂翁 |
| 一种机械遥控操作装置（5a，5b），其包括：从单元（10）；端部效应器（40）；主单元（20）以及把手（30）。机械传动部件布置为将从单元（10）与主单元（20）运动地连接，使得通过从单元（10）复制施加在主单元（20）上的运动；并且布置为将所述端部效应器（40）与所述把手（30）连接，使得通过所述端部效应器（40）复制施加在所述把手（30）上的所述运动；主单元（20）能够围绕其纵轴（θ1）并且围绕（θ2，θ3）旋转，其通常在固定单点（32'）处交叉。相应的从单元（10）能够围绕其纵轴（θ4）以及围绕相应地平行于所述第二轴与第三轴（θ2，θ3）的轴（θ5，θ6）旋转，其通常在虚拟固定单点（50）处交叉。 | ||||||
| 6 | Mechanical teleoperated device for remote manipulation | US14233184 | 2012-07-25 | US09696700B2 | 2017-07-04 | Ricardo Beira; Lionel Flaction |
| A mechanical teleoperated device for remote manipulation includes a slave unit having a number of slave links interconnected by a plurality of slave joints; an end-effector connected to the slave unit; a master unit having a corresponding number of master links interconnected by a plurality of master joints; and a handle connected to a distal end of the master unit. The device further includes first device arranged to kinematically connect the slave unit with the master unit, second device arranged to kinematically connect the end-effector with the handle, and a mechanical constraint device configured to ensure that one master link of the master unit is guided along its longitudinal axis so that the corresponding slave link of the slave unit always translates along a virtual axis parallel to the longitudinal axis of the guided master link in the vicinity of the remote manipulation when the mechanical teleoperated device is operated. | ||||||
| 7 | MASTER-SLAVE APPARATUS AND APPROACH | US14204836 | 2014-03-11 | US20140257091A1 | 2014-09-11 | Mark R. Cutkosky; Bruce L. Daniel; Santhi Elayaperumal; Pierre Renaud; Yong-Lae Park |
| Aspects of the present disclosure are directed to master-slave apparatuses as well as methods of making and implementing the same. As consistent with one or more embodiments, an apparatus includes a master platform having a manipulation section, and a slave platform mechanically coupled to the master platform and having an interventional-delivery section that secures an interventional tool. The slave platform moves in accordance to three-dimensional movement of the master platform, via supports having a portion thereof fixed relative to the other supports. Each support operates with a respective one of the master and slave platforms for effecting three-dimensional movement of the slave platform, in response to and while tracking (e.g., transmitting) the movement of the master platform, thereby providing control over the interventional tool via the manipulation section of the master platform. | ||||||
| 8 | Moving mechanism for blast gun for blasting machine | US12148879 | 2008-04-22 | US07887393B2 | 2011-02-15 | Keiji Mase; Ryoji Kikuchi |
| Provided is a moving mechanism for a blast gun which can easily move a blast gun accommodated in a blasting chamber and which can easily perform other operations from the outside thereof without leaking dust. A plurality of arm members (first input arm 21, second input arm 22, first output arm 31, and second output arm 32) are interlocked to form an input arm 20 and an output arm 30, each having one pair of arm members, one arm of the two arm members is pivotally attached to the other arm so as to be rotatable around an interlocked portion serving as a fulcrum, the input arm 20 is disposed outside the blasting chamber 3, and the output arm 30 is disposed inside the blasting chamber 3. In addition, the input arm 20 and the output arm 30 are interlocked to each other by an interlocking unit 40 which penetrates a top plate of a cabinet 4, and a power transmission mechanism is provided which rotates the second arm 22 synchronously with the rotation of the input arm 20, so that a blast gun 5 fitted to the output arm 30 can be moved by operating the input arm 20. | ||||||
| 9 | Moving mechanism for blast gun for blasting machine | US12148879 | 2008-04-22 | US20080268757A1 | 2008-10-30 | Keiji Mase; Ryoji Kikuchi |
| Provided is a moving mechanism for a blast gun which can easily move a blast gun accommodated in a blasting chamber and which can easily perform other operations from the outside thereof without leaking dust. A plurality of arm members (first input arm 21, second input arm 22, first output arm 31, and second output arm 32) are interlocked to form an input arm 20 and an output arm 30, each having one pair of arm members, one arm of the two arm members is pivotally attached to the other arm so as to be rotatable around an interlocked portion serving as a fulcrum, the input arm 20 is disposed outside the blasting chamber 3, and the output arm 30 is disposed inside the blasting chamber 3. In addition, the input arm 20 and the output arm 30 are interlocked to each other by an interlocking unit 40 which penetrates a top plate of a cabinet 4, and a power transmission mechanism is provided which rotates the second arm 22 synchronously with the rotation of the input arm 20, so that a blast gun 5 fitted to the output arm 30 can be moved by operating the input arm 20. | ||||||
| 10 | PORTABLE CAMERA DEVICE TO BE ATTACHED TO A REMOTE MANIPULATOR GRIPPER | US15127303 | 2015-03-16 | US20180169873A1 | 2018-06-21 | Francois GOBIN; Mickaël GENNISSON; Christophe BRENNEIS |
| A camera for observing an inside of a shielded cell including a support including a spring in a form of a gripper for mounting it on a remote-manipulation arm performing a task to be observed, by another arm, exerting solely a force for opening branches of the spring, after which the camera is properly held, while being able to be removed without difficulty. A stop mechanism provides a correct angular position of the camera while preventing its support from turning about the arm, and thus making it possible to position it correctly by another remote-manipulation mechanism. | ||||||
| 11 | MECHANICAL TELEOPERATED DEVICE FOR REMOTE MANIPULATION | US15633611 | 2017-06-26 | US20170308667A1 | 2017-10-26 | Ricardo Daniel Rita BEIRA; Lionel FLACTION |
| A mechanical teleoperated device for remote manipulation includes a slave unit having a number of slave links interconnected by a plurality of slave joints; an end-effector connected to the slave unit; a master unit having a corresponding number of master links interconnected by a plurality of master joints; and a handle connected to a distal end of the master unit. The device further includes first device arranged to kinematically connect the slave unit with the master unit, second device arranged to kinematically connect the end-effector with the handle, and a mechanical constraint device configured to ensure that one master link of the master unit is guided along its longitudinal axis so that the corresponding slave link of the slave unit always translates along a virtual axis parallel to the longitudinal axis of the guided master link in the vicinity of the remote manipulation when the mechanical teleoperated device is operated. | ||||||
| 12 | Mechanical manipulator | US941775 | 1986-12-15 | US4756655A | 1988-07-12 | John W. Jameson |
| A manipulating mechanism is disclosed having a control handle adapted to be positioned freely in three dimensions, a fixture for supporting a tool to be positioned, a linkage system which causes the end of the tool to move in the same direction as the control handle and a support structure. The linkage system includes a first linkage connected between the control handle and an effective ball-and-socket joint and a second linkage connected between the effective ball and socket joint and the fixture. Each linkage includes four link members rotatably connected in a parallelogram and a gimbal connected to one of the link members for mounting the linkage from the support structure. | ||||||
| 13 | The mobile device of the blast cancer in a blasting machine | JP2007116085 | 2007-04-25 | JP5046729B2 | 2012-10-10 | 亮司 菊地; 恵二 間瀬 |
| 14 | Master-slave remote control device with a 6-degree-of-freedom | JP51945597 | 1996-11-21 | JP2001504395A | 2001-04-03 | ルブール，クロード |
| (57)【要約】 １回転自由度の交差部材３および２回転自由度のフレーム４へヒンジ止めされた２本の平行アーム２を有する可撓性平行四辺形と、各アーム２の端部の２個の平行にヒンジ止めされたマスター８およびスレーブ９装置と、前記マスターおよびスレーブ装置間の５個の直線運動伝達装置１９とを含む６自由度を有するマスタースレーブ遠隔操作装置。 | ||||||
| 15 | ARTICULATED HANDLE FOR MECHANICAL TELEMANIPULATOR | EP15851625.2 | 2015-12-18 | EP3232974B1 | 2018-10-24 | BEIRA, Ricardo Daniel Rita |
| Disclosed is a mechanical telemanipulator handle to control surgical instruments with articulated end-effectors, such as dissectors, scissors or graspers, enhancing a surgeon's performance during various surgical procedures. These surgical instruments may be inserted into surgical incisions in a body of a patient and the articulated end-effector is mounted on the distal extremity of the instrument shaft, comprising a plurality of links interconnected by a plurality of joints, whose movements are remotely controlled at the telemanipulator's proximal handle. This remote actuation is accomplished through mechanical transmission, optimally along flexible elements, which are able to kinematically connect the end-effector with the handle such that the movements applied on the handle are reproduced by the end-effector at a predetermined scaled ratio. The articulated handle further comprises one or more movement-amplification systems that amplify the movements generated at the handle so that the gripping force at the instrument's end-effector can be increased and the surgeon's ergonomy improved. | ||||||
| 16 | APPAREIL DE TELEMANIPULATION DU TYPE "MAITRE-ESCLAVE" A SIX DEGRES DE LIBERTE | EP96939964.1 | 1996-11-21 | EP0871563B1 | 2002-03-27 | REBOULET, Claude |
| A "master-slave" remote manipulation apparatus having six degrees of freedom and comprising a flexible parallelogram with two parallel arms (2) hinged to a cross member (3) with one degree of rotational freedom and to a frame (4) with two degrees of rotational freedom; two parallel-hinged "master" (8) and "slave" (9) devices at the end of each respective arm (2); and five two-way linear motion transmitting devices (19) between said "master" and "slave" devices. | ||||||
| 17 | MECHANICAL TELEOPERATED DEVICE FOR REMOTE MANIPULATION | US15564193 | 2016-04-11 | US20180125592A1 | 2018-05-10 | Ricardo Daniel Rita BEIRA |
| A mechanical teleoperated device for remote manipulation is provided that is primarily intended for use in minimally invasive surgery. The device generally comprises a slave unit having a number of slave links interconnected by a plurality of slave joints, an end-effector connected to the distal end of the slave unit, a master unit having a corresponding number of master links interconnected by a plurality of master joints, and a handle connected to the distal end of the master unit for operating the mechanical teleoperated device. The device further comprises mechanical transmission means arranged to kinematically connect the slave unit with the master unit such that the movement applied on each master joint of the master unit is reproduced by the corresponding slave joint of the slave unit. In addition, the mechanical teleoperated device comprises improved kinematics and an improved arrangement of mechanical constraints, allowing for improved positioning of the device over a patient, increased workspace inside the patient and ease of workflow in an operating room. | ||||||
| 18 | MECHANICAL TELEOPERATED DEVICE FOR REMOTE MANIPULATION | US14233184 | 2012-07-25 | US20140195010A1 | 2014-07-10 | Ricardo Beira; Lionel Flaction |
| A mechanical teleoperated device for remote manipulation includes a slave unit having a number of slave links interconnected by a plurality of slave joints; an end-effector connected to the slave unit; a master unit having a corresponding number of master links interconnected by a plurality of master joints; and a handle connected to a distal end of the master unit. The device further includes first device arranged to kinematically connect the slave unit with the master unit, second device arranged to kinematically connect the end-effector with the handle, and a mechanical constraint device configured to ensure that one master link of the master unit is guided along its longitudinal axis so that the corresponding slave link of the slave unit always translates along a virtual axis parallel to the longitudinal axis of the guided master link in the vicinity of the remote manipulation when the mechanical teleoperated device is operated. | ||||||
| 19 | "Master-slave" remote manipulation apparatus having six degrees of freedom | US068953 | 1998-12-14 | US6026701A | 2000-02-22 | Claude Reboulet |
| A "master-slave" remote manipulation apparatus having six degrees of freedom. The apparatus includes a flexible parallelogram with two parallel arms hinged to a cross member with one degree of rotational freedom and to a frame with two degrees of rotational freedom; two parallel-hinged "master" and "slave" devices at the end of each respective arm; and five two-way linear motion transmitting devices between the "master" and "slave" devices. | ||||||
| 20 | Manipulator | US696250 | 1976-06-15 | US4065001A | 1977-12-27 | Makoto Ohnaka |
| A manipulator includes a first arm assembly having a base end portion and a free end portion and attaching means on which the base end portion is pivotally mounted by first pivotal means for pivotal movement about a first pivotal axis. First power means are operatively connected to the first arm assembly to effect rotation of the latter about the first pivotal axis. The manipulator also includes a second arm assembly having a base end portion and a free end portion and second pivotal means pivotally mounting the base end portion of the second arm assembly to the free end portion of the first arm assembly for pivotal movement about a second pivotal axis. Second power means are provided and coupling means couple the second power means to the second arm assembly to effect rotation of the latter about the second pivotal axis. Holding means on the free end portion of the second arm assembly are provided for holding an article which is to be moved by the manipulator. | ||||||
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