公开(公告)号：US08220354B2

公开(公告)日：2012-07-17

申请号：US11520982

申请日：2006-09-13

Applicant: Alexander Todorov

Inventor： Alexander Todorov

IPC: B25J17/00 ,  B25J17/02 ,  B25J18/00 ,  B66C23/00

CPC classification number: B25J9/042 ,  B25J9/0021 ,  B25J9/104 ,  B25J18/04 ,  H01L21/67742 ,  H01L21/67766 ,  Y10T74/20305 ,  Y10T74/20323 ,  Y10T74/20329 ,  Y10T74/20341

Abstract: A robot has a robot arm, a support structure, and a movable platform. The platform includes a cantilevered member coupled to a guide of the support structure such that motion of the platform is directed along a first direction. The robot further includes first and second timing belts having portions that extend along the first direction and that are disposed on opposite sides of the cantilevered member, and first and second shafts movable with the movable platform. The shafts are coupled to the respective timing belts, to the robot arm such that rotation of the first shaft imparts angular motion to the robot arm and rotation of the second shaft imparts radial motion. The robot also includes a third timing belt to which the platform is coupled and by which it is moved. Motors are provided that impart movement to the timing belts.

Abstract translation: 机器人具有机器人臂，支撑结构和可移动平台。 平台包括联接到支撑结构的引导件的悬臂构件，使得平台的运动沿着第一方向被引导。 机器人还包括第一和第二正时带，其具有沿着第一方向延伸并且设置在悬臂构件的相对侧上的部分，以及可移动平台可移动的第一和第二轴。 这些轴联接到相应的同步皮带，到机器人手臂，使得第一轴的旋转将角运动提供给机器人臂，并且第二轴的旋转赋予径向运动。 机器人还包括第三同步皮带，平台被连接到第三同步皮带，并通过该皮带被移动。 提供赋予运动到同步皮带的电动机。

公开(公告)号：US08104372B2

公开(公告)日：2012-01-31

申请号：US12205095

申请日：2008-09-05

Applicant: Christoph Meyerhoff ,  Kazushige Akaha

Inventor： Christoph Meyerhoff ,  Kazushige Akaha

IPC: B25J9/06

CPC classification number: B25J18/04 ,  B25J9/042 ,  B25J9/044 ,  B25J9/06 ,  Y10S901/27 ,  Y10S901/28 ,  Y10T74/20305 ,  Y10T74/20311 ,  Y10T74/20329

Abstract: A horizontal multijoint type robot is so constructed that it comprises a first arm connected through a first joint shaft to a base, a second arm connected through a second joint shaft to the first arm, and a working shaft provided rotatably and movably up and down on the distal end of the second arm, and that the arm length L1 of the first arm and the arm length L2 of the second arm are equal to each other so that the second arm is able to overlap the first arm.

Abstract translation: 水平多关节型机器人被构造成使得其包括通过第一关节轴连接到基座的第一臂，通过第二关节轴连接到第一臂的第二臂，以及可上下移动地设置的工作轴 第二臂的远端，并且第一臂的臂长度L1和第二臂的臂长度L2彼此相等，使得第二臂能够与第一臂重叠。

公开(公告)号：US08012160B2

公开(公告)日：2011-09-06

申请号：US11522576

申请日：2006-09-18

Applicant: Joel F. Jensen ,  Philip S. Green

Inventor： Joel F. Jensen ,  Philip S. Green

IPC: A61B19/00

CPC classification number: B25J18/04 ,  A61B17/29 ,  A61B34/35 ,  A61B34/70 ,  A61B34/71 ,  A61B34/76 ,  A61B2017/00464 ,  A61B2017/00477 ,  A61B2017/2932 ,  A61B2034/305 ,  A61B2090/506 ,  B25J9/1065 ,  B25J15/04 ,  Y10T403/581 ,  Y10T403/587

Abstract: The invention is directed to a system and method for releasably holding a surgical instrument (14), such as an endoscopic instrument configured for delivery through a small percutaneous penetration in a patient. The instrument comprises an elongate shaft (100) with a pair of mounting pins (116) laterally extending from the shaft between its proximal and distal ends. An instrument holder comprises a support having a central bore (202) and an axially extending slot (204) for receiving the instrument shaft and the mounting pins. A pair of locking slots (206) are cut into the support transversely to and in communication with the axial slot so that the mounting pins can be rotated within the locking slots. The instrument support further includes a latch assembly for automatically locking the mounting pins within the locking slots to releasably couple the instrument to the instrument holder. With this twist-lock motion, the surgeon can rapidly engage and disengage various instruments from the holder during a surgical procedure, such as open surgery, laparoscopy or thoracoscopy.

Abstract translation: 本发明涉及一种用于可释放地保持外科器械（14）的系统和方法，所述外科器械（14）例如被配置为通过患者中的小的经皮渗透递送的内窥镜器械。 仪器包括细长轴（100），其具有一对安装销（116），所述一对安装销（116）在其近端和远端之间从轴向侧向延伸。 仪器保持器包括具有中心孔（202）和用于接收仪器轴和安装销的轴向延伸槽（204）的支撑件。 一对锁定槽（206）被横向地切割到支撑件中并与轴向槽连通，使得安装销可以在锁定槽内旋转。 仪器支架还包括用于将安装销自动锁定在锁定槽内的闩锁组件，以将仪器可释放地耦合到仪器架上。 通过这种扭转锁定运动，外科医生可以在外科手术（例如开放手术，腹腔镜检查或胸腔镜检查）期间快速地将各种器械从保持器接合和脱离。

公开(公告)号：US20110060346A1

公开(公告)日：2011-03-10

申请号：US12894913

申请日：2010-09-30

Applicant: Joel F. Jensen ,  Philip S. Green ,  John W. Hill

Inventor： Joel F. Jensen ,  Philip S. Green ,  John W. Hill

IPC: A61B19/00

CPC classification number: B25J18/04 ,  A61B17/29 ,  A61B34/35 ,  A61B34/70 ,  A61B34/71 ,  A61B34/76 ,  A61B2017/00464 ,  A61B2017/00477 ,  A61B2017/2932 ,  A61B2034/305 ,  A61B2090/506 ,  B25J9/1065 ,  B25J15/04 ,  Y10T403/581 ,  Y10T403/587

Abstract: The invention is directed to a system and method for releasably holding a surgical instrument (14), such as an endoscopic instrument configured for delivery through a small percutaneous penetration in a patient. The instrument comprises an elongate shaft (100) with a pair of mounting pins (116) laterally extending from the shaft between its proximal and distal ends. An instrument holder comprises a support having a central bore (202) and an axially extending slot (204) for receiving the instrument shaft and the mounting pins. A pair of locking slots (206) are cut into the support transversely to and in communication with the axial slot so that the mounting pins can be rotated within the locking slots. The instrument support further includes a latch assembly for automatically locking the mounting pins within the locking slots to releasably couple the instrument to the instrument holder. With this twist-lock motion, the surgeon can rapidly engage and disengage various instruments from the holder during a surgical procedure, such as open surgery, laparoscopy or thoracoscopy.

Abstract translation: 本发明涉及一种用于可释放地保持外科器械（14）的系统和方法，所述外科器械（14）例如被配置为通过患者中的小的经皮渗透递送的内窥镜器械。 仪器包括细长轴（100），其具有一对安装销（116），所述一对安装销（116）在其近端和远端之间从轴向侧向延伸。 仪器保持器包括具有中心孔（202）和用于接收仪器轴和安装销的轴向延伸槽（204）的支撑件。 一对锁定槽（206）被横向地切割到支撑件中并与轴向槽连通，使得安装销可以在锁定槽内旋转。 仪器支架还包括用于将安装销自动锁定在锁定槽内的闩锁组件，以将仪器可释放地耦合到仪器架上。 通过这种扭转锁定运动，外科医生可以在外科手术（例如开放手术，腹腔镜检查或胸腔镜检查）期间快速地将各种器械从保持器接合和脱离。

公开(公告)号：US20090095111A1

公开(公告)日：2009-04-16

申请号：US11918306

申请日：2006-04-11

Applicant: Yasuyuki Kitahara ,  Shigeyuki Kaino

Inventor： Yasuyuki Kitahara ,  Shigeyuki Kaino

IPC: H01L21/677 ,  B25J9/06

CPC classification number: B25J18/04 ,  B25J9/042 ,  H01L21/67742 ,  Y10T74/20329 ,  Y10T74/2036

Abstract: An multi-joint robot (1) for loading/unloading a work (30) into/from a cassette, characterized by comprising a hand part (7) holding the work (30), an arm part (6) rotatably holding the hand part (7), a link mechanism (3) rotatably holding the base end side of the arm part (6) and moving so that the moving route of the base end side of the arm part (6) becomes linear in a direction roughly orthogonal to a direction for loading/unloading the work (30), and a driving means for moving the tip side of the arm part (6) so as to linearly interpolate it in a direction for loading/unloading the work (30) according to the movement of the link mechanism (3).

Abstract translation: 一种用于将工件（30）装入/从盒中取出的多关节机器人（1），其特征在于，包括一个保持所述工件（30）的手部（7），可旋转地保持所述手部 （7），可旋转地保持臂部（6）的基端侧并且移动的连杆机构（3），使得臂部（6）的基端侧的移动路线在大致正交于 用于装载/卸载工件的方向（30）;以及驱动装置，用于使臂部（6）的末端侧沿着移动方向进行线性插值，以使工件（30）装卸 的链接机构（3）。

公开(公告)号：US20090035114A1

公开(公告)日：2009-02-05

申请号：US12220535

申请日：2008-07-25

Applicant: Takafumi Uratani ,  Daisuke Sado ,  Hideki Matsuo

Inventor： Takafumi Uratani ,  Daisuke Sado ,  Hideki Matsuo

IPC: B25J1/12

CPC classification number: B25J18/04 ,  H01L21/67742 ,  Y10T74/20305

Abstract: A transfer apparatus includes a stationary base, a lift base, a lifting mechanism for vertically moving the lift base, a rotary base mounted to the lift base, a rotating mechanism for rotating the rotary base about a vertical rotation axis, a linear moving mechanism supported by the rotary base, and a work hand supported by the linear moving mechanism. The lifting mechanism includes a slide guide mechanism for vertical movement of the lift base, and first and second screw-feeding mechanisms. Each screw-feeding mechanism includes a rotatable vertical screw shaft, and a nut member provided on the lift base and screwed onto the screw shaft. The first and the second screw-feeding mechanisms are spaced from each other, with the rotation axis of the rotary base being located between the first and the second screw-feeding mechanisms.

Abstract translation: 一种传送装置，包括固定基座，升降台，用于使提升基座垂直移动的提升机构，安装在提升基座上的旋转基座，旋转基座绕垂直旋转轴线旋转的旋转机构， 通过旋转基座和由线性移动机构支撑的作业手。 提升机构包括用于提升基座的垂直运动的滑动引导机构，以及第一和第二螺旋进给机构。 每个螺旋进给机构包括可旋转的垂直螺杆轴和设置在提升基座上并拧到螺杆轴上的螺母构件。 第一和第二螺旋进给机构彼此间隔开，旋转底座的旋转轴线位于第一和第二螺旋进给机构之间。

公开(公告)号：US20080121064A1

公开(公告)日：2008-05-29

申请号：US11478005

申请日：2006-06-28

Applicant: Alexander Todorov

Inventor： Alexander Todorov

IPC: B25J9/04 ,  B25J18/04

CPC classification number: B25J9/104 ,  B25J9/0021 ,  B25J9/042 ,  B25J18/04 ,  H01L21/67742 ,  H01L21/67766 ,  Y10T74/20305 ,  Y10T74/20323 ,  Y10T74/20329 ,  Y10T74/20341

Abstract: A substrate handling robot having a robot body and a robot arm with an end effector is configured to exhibit angular (θ), radial (R) and Z motion. A pair of coaxial shafts link the robot arm to respective motors dedicated to angular (θ) and radial (R) motions. The motors are stationarily mounted with respect to the robot body. The shafts are rotatably supported by a floating platform which is motivated in the Z direction by a third motor also stationarily mounted with respect to the robot body. The third motor is coupled to the platform by a Z motion linkage. The first and second motors are coupled to the coaxial shafts by angular and radial motion linkages each of which includes primary and secondary timing belts whose relative motions are synchronized with the Z motion linkage to achieve controllable independent angular (θ), radial (R) and Z motions in a simple, light-weight package.

Abstract translation: 具有机器人主体的机器人和具有端部执行器的机器人臂的基板处理机器人被配置为呈现角（θ），径向（R）和Z运动。 一对同轴轴将机器人臂连接到专用于角（θ）和径向（R）运动的相应电机。 电机相对于机器人主体固定安装。 这些轴由通过也相对于机器人主体固定地安装的第三马达在Z方向上动作的浮动平台可旋转地支撑。 第三电动机通过Z运动联动件联接到平台。 第一和第二电动机通过角度和径向运动联动件联接到同轴轴，每个联动轴包括初级和次级同步带，其相对运动与Z运动联动同步，以实现可控的独立角（theta），径向（R）和 Z动作简单，重量轻。

公开(公告)号：US20080041183A1

公开(公告)日：2008-02-21

申请号：US11520982

申请日：2006-09-13

Applicant: Alexander Todorov

Inventor： Alexander Todorov

IPC: B25J17/00

CPC classification number: B25J9/042 ,  B25J9/0021 ,  B25J9/104 ,  B25J18/04 ,  H01L21/67742 ,  H01L21/67766 ,  Y10T74/20305 ,  Y10T74/20323 ,  Y10T74/20329 ,  Y10T74/20341

Abstract: A robot has a robot arm, a support structure, and a movable platform. The platform includes a cantilevered member coupled to a guide of the support structure such that motion of the platform is directed along a first direction. The robot further includes first and second timing belts having portions that extend along the first direction and that are disposed on opposite sides of the cantilevered member, and first and second shafts movable with the movable platform. The shafts are coupled to the respective timing belts, to the robot arm such that rotation of the first shaft imparts angular motion to the robot arm and rotation of the second shaft imparts radial motion. The robot also includes a third timing belt to which the platform is coupled and by which it is moved. Motors are provided that impart movement to the timing belts.

Abstract translation: 机器人具有机器人臂，支撑结构和可移动平台。 平台包括联接到支撑结构的引导件的悬臂构件，使得平台的运动沿着第一方向被引导。 机器人还包括第一和第二正时带，其具有沿着第一方向延伸并且设置在悬臂构件的相对侧上的部分，以及可移动平台可移动的第一和第二轴。 这些轴联接到相应的同步皮带，到机器人手臂，使得第一轴的旋转将角运动提供给机器人臂，并且第二轴的旋转赋予径向运动。 机器人还包括第三同步皮带，平台被连接到第三同步皮带，并通过该皮带被移动。 提供赋予运动到同步皮带的电动机。

公开(公告)号：US07204844B2

公开(公告)日：2007-04-17

申请号：US10265285

申请日：2002-10-04

Applicant: Joel F. Jensen ,  Philip S. Green

Inventor： Joel F. Jensen ,  Philip S. Green

IPC: A61B17/28

CPC classification number: B25J18/04 ,  A61B17/29 ,  A61B34/35 ,  A61B34/70 ,  A61B34/71 ,  A61B34/76 ,  A61B2017/00464 ,  A61B2017/00477 ,  A61B2017/2932 ,  A61B2034/305 ,  A61B2090/506 ,  B25J9/1065 ,  B25J15/04 ,  Y10T403/581 ,  Y10T403/587

Abstract: The invention is directed to a system and method for releasably holding a surgical instrument (14), such as an endoscopic instrument configured for delivery through a small percutaneous penetration in a patient. The instrument comprises an elongate shaft (100) with a pair of mounting pins (116) laterally extending from the shaft between its proximal and distal ends. An instrument holder comprises a support having a central bore (202) and an axially extending slot (204) for receiving the instrument shaft and the mounting pins. A pair of locking slots (206) are cut into the support transversely to and in communication with the axial slot so that the mounting pins can be rotated within the locking slots. The instrument support further includes a latch assembly for automatically locking the mounting pins within the locking slots to releasably couple the instrument to the instrument holder. With this twist-lock motion, the surgeon can rapidly engage and disengage various instruments from the holder during a surgical procedure, such as open surgery, laparoscopy or thoracoscopy.

公开(公告)号：US20060151013A1

公开(公告)日：2006-07-13

申请号：US10516767

申请日：2003-05-29

Applicant: Haruhiro Tsuneta ,  Kazuhide Koike ,  Yoshiki Shimura ,  Shiro Sato ,  Kazuyoshi Yasukawa

Inventor： Haruhiro Tsuneta ,  Kazuhide Koike ,  Yoshiki Shimura ,  Shiro Sato ,  Kazuyoshi Yasukawa

IPC: B08B3/04

CPC classification number: F24F3/1607 ,  B25J18/04 ,  B25J21/005 ,  F24F11/30 ,  F24F11/77 ,  F24F2011/0004 ,  F24F2110/50 ,  F24F2110/64

Abstract: A clean assembling module device that achieves cleanliness of a work area where assembling, processing, transportation, etc. of a work item are performed and that can be downsized. The invention also includes a production system, an industrial robot, and a pollution spread prevention system that are formed with the device. A clean assembling module device is provided with clean air generation means on the top of the device and is formed so as to have a work area, a clean air retaining/exhausting area and a mechanism section area, in that order from the top side of the device. The outer periphery of the work area is shielded by a clean area shielding wall. Fluid resistance between the work area and the clean air retaining/exhausting area is controlled by a partition wall having small holes. Air came through the work area and the clean air retaining/exhausting area is exhausted by an air exhausting fan to outside the device. The work area is positively pressurized, and the mechanism section area is negatively pressurized relative to the work area. Pressure in the clean air retaining/exhausting area is adjusted by the small holes of the partition wall and by rotation speed of the air exhausting fan so as to be intermediate between the pressure in the work area and the pressure in the mechanism section area.

Abstract translation: 实现工件的组装，加工，运输等工作区域的清洁的清洁的组装模块装置，并且可以减小尺寸。 本发明还包括由该装置形成的生产系统，工业机器人和污染扩散预防系统。 清洁的组装模块装置在装置的顶部设置有清洁空气产生装置，并且形成为具有工作区域，清洁空气保持/排出区域和机构部分区域，从顶部 装置。 工作区域的外围被干净的区域屏蔽墙屏蔽。 工作区域和清洁空气保持/排出区域之间的流体阻力由具有小孔的分隔壁控制。 空气通过工作区域，清洁的空气保持/排出区域被排风扇排出到设备外部。 工作区域是积极加压的，机构部分区域相对于工作区域是负压的。 清洁空气保持/排出区域中的压力通过分隔壁的小孔和排气风扇的转速调节，以便在工作区域中的压力和机构部分区域中的压力之间。