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公开(公告)号：US20160167223A1
公开(公告)日：2016-06-16
申请号：US14579224
申请日：2014-12-22
发明人： Brett Zubiate , Howard Choset
CPC分类号： A61B34/30 , A61B1/0055 , A61B1/0057 , A61B1/008 , A61B19/22 , A61B19/2203 , A61B2017/00314 , A61B2017/00323 , A61B2019/2242 , A61B2019/2246 , A61B2034/301 , A61B2034/306 , B25J9/065 , B25J9/104 , B25J9/105 , Y10S901/21
摘要： An articulate probe device includes a first mechanism, a second mechanism, and an overtube mechanism. The first mechanism includes a proximal link which is movable coupled to a first intermediate link, a plurality of intermediate links, and a distal link which is moveably coupled to a second one of the intermediate links. The second mechanism includes a proximal link which is movable coupled to a first intermediate link, a plurality of intermediate links, and a distal link which is moveably coupled to a second one of the intermediate links. The overtube mechanism includes a proximal link which is movable coupled to a first intermediate link, a plurality of intermediate links, and a proximal link which is moveably coupled to a second one of the intermediate links. Further, at least one of the first mechanism, second mechanism, and overtube mechanism is steerable and extendable beyond the other mechanisms.
摘要翻译： 铰接式探针装置包括第一机构，第二机构和外套管机构。 第一机构包括可连接到第一中间连杆，多个中间连杆以及可移动地联接到第二中间连杆的远端连杆的近端连杆。 第二机构包括可移动地联接到第一中间连杆，多个中间连杆和可移动地联接到第二中间连杆的远侧连杆的近端连杆。 外套管机构包括可连接到第一中间连杆，多个中间连杆以及可移动地联接到第二中间连杆的近端连杆的近端连杆。 此外，第一机构，第二机构和外套管机构中的至少一个是可操纵的并且可延伸超过其他机构。
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公开(公告)号：US20150352714A1
公开(公告)日：2015-12-10
申请号：US14761718
申请日：2014-01-14
IPC分类号： B25J9/04 , B25J18/04 , H01L21/677 , B25J15/00
CPC分类号： B25J9/043 , B25J9/042 , B25J9/104 , B25J9/105 , B25J15/0014 , B25J15/0052 , B25J18/04 , H01L21/67742 , Y10S901/14 , Y10S901/27
摘要： A transport apparatus including a drive; a first arm connected to the drive, where the first arm includes a first link, a second link and an end effector connected in series with the drive, where the first link and the second link have different effective lengths; and a system for limiting rotation of the end effector relative to the second link to provide substantially only straight movement of the end effector relative to the drive when the first arm is extended or retracted.
摘要翻译： 一种包括驱动器的输送装置; 连接到所述驱动器的第一臂，其中所述第一臂包括与所述驱动器串联连接的第一连杆，第二连杆和末端执行器，其中所述第一连杆和所述第二连杆具有不同的有效长度; 以及用于限制端部执行器相对于第二连杆的旋转的系统，以在第一臂伸出或缩回时基本上仅使端部执行器相对于驱动器直线移动。
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公开(公告)号：US09149936B2
公开(公告)日：2015-10-06
申请号：US13833732
申请日：2013-03-15
CPC分类号： B25J9/043 , B25J9/042 , B25J9/104 , B25J9/105 , B25J15/0014 , B25J15/0052 , B25J18/04 , H01L21/67742 , Y10S901/14 , Y10S901/27
摘要： A transport apparatus including a drive; a first arm connected to the drive, where the first arm includes a first link, a second link and an end effector connected in series with the drive, where the first link and the second link have different effective lengths; and a system for limiting rotation of the end effector relative to the second link to provide substantially only straight movement of the end effector relative to the drive when the first arm is extended or retracted.
摘要翻译： 一种包括驱动器的输送装置; 连接到所述驱动器的第一臂，其中所述第一臂包括与所述驱动器串联连接的第一连杆，第二连杆和末端执行器，其中所述第一连杆和所述第二连杆具有不同的有效长度; 以及用于限制端部执行器相对于第二连杆的旋转的系统，以在第一臂伸出或缩回时基本上仅使端部执行器相对于驱动器直线移动。
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公开(公告)号：US5593293A
公开(公告)日：1997-01-14
申请号：US936642
申请日：1992-08-28
申请人： Masaki Machino , Sumiyoshi Ito , Shojiro Danmoto , Fumio Kanno , Takao Komiya
发明人： Masaki Machino , Sumiyoshi Ito , Shojiro Danmoto , Fumio Kanno , Takao Komiya
CPC分类号： B25J9/0009 , B25J15/0253 , B25J17/0208 , B25J17/0241 , B25J18/02 , B25J19/0091 , B25J9/023 , B25J9/08 , B25J9/105 , Y10T74/20335
摘要： A hand mechanism for a robot is attached to the distal end of an arm portion of a robot and has independent modules for executing predetermined elementary motions, which modules can be combined with each other in selected arbitrary combinations to attain desired elementary motions. The hand mechanism includes a holder module which includes a fixing member fixed to the arm portion, an attaching plate to be attached to other modules and a coupling mechanism for coupling the fixing member and the attaching plate. The coupling mechanism includes angle an adjustment pin for adjusting the attaching angle of the attaching plate about the arm portion, and a shear pin bolt for releasing a coupling state between the fixing member and the attaching plate upon application of a shock to the hand mechanism.
摘要翻译： 用于机器人的手机构附接到机器人的臂部分的远端，并且具有用于执行预定的基本运动的独立模块，这些模块可以以选定的任意组合彼此组合以获得期望的基本运动。 手持机构包括保持器模块，其包括固定到臂部的固定构件，附接到其它模块的安装板和用于联接固定构件和安装板的联接机构。 联接机构包括用于调节安装板围绕臂部分的安装角度的调节销和用于在对手动机构施加冲击时释放固定构件和安装板之间的联接状态的剪切销螺栓的角度。
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公开(公告)号：US5314293A
公开(公告)日：1994-05-24
申请号：US941859
申请日：1992-09-08
CPC分类号： B25J9/044 , B25J19/063 , B25J9/102 , B25J9/105 , Y10T74/18856 , Y10T74/19181 , Y10T74/20323
摘要： An articulated direct drive robotic manipulator providing rotation of first and second arms about first and second parallel axes including first and second motors for driving the rotation of the first and second arms. A pedestal is mounted on a base, the first motor is directly coupled to a rotatable column in the pedestal for providing a first robot arm with a first degree of freedom, a second motor is coupled to a rotatable column coaxial to the first column for providing the manipulator with a second degree of freedom by rotation of the second arm. The distal end of the second arm includes support for an end effector for movement about a third axis which is a vertical axis and a fourth axis which is a rotational axis and support for a quill. Also included is a modular device adapted to be coupled to the end of the quill which can move within horizontal planes passing through the third axis to provide a fifth degree of freedom.
摘要翻译： 铰接的直接驱动机器人操纵器提供围绕第一和第二平行轴线的第一和第二臂的旋转，包括用于驱动第一和第二臂的旋转的第一和第二马达。 基座安装在基座上，第一电动机直接联接到基座中的可旋转柱，用于提供具有第一自由度的第一机器人臂，第二电动机联接到与第一列同轴的可旋转柱，用于提供 通过第二臂的旋转具有第二自由度的操纵器。 第二臂的远端包括用于端部执行器的支撑件，用于围绕作为垂直轴线的第三轴线和作为旋转轴线的第四轴线和用于支撑件的运动。 还包括适于联接到套筒的端部的模块化装置，其可以在穿过第三轴线的水平平面内移动以提供第五自由度。
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公开(公告)号：US4749898A
公开(公告)日：1988-06-07
申请号：US13523
申请日：1987-02-11
申请人： Seizo Suzuki , Teruomi Nakaya , Yoshio Hayashi
发明人： Seizo Suzuki , Teruomi Nakaya , Yoshio Hayashi
IPC分类号： H02K15/16 , B23Q1/54 , B25J9/10 , B25J9/14 , F16C23/10 , G05D3/00 , H01L21/00 , H01L41/09 , H02K7/075
CPC分类号： H01L21/67138 , B23Q1/5481 , B25J9/105 , B25J9/108 , B25J9/14 , F16C23/10 , H02K7/075 , H02N2/0095 , Y10T74/2111
摘要： A superprecision positioning device includes an output shaft rotor, a plurality of eccentric shaft rotors including an inner eccentric shaft rotor and an outer eccentric shaft rotor, and a bearing base cylinder, electrically rotating and driving mechanism portions being provided between the eccentric shaft rotor and the output shaft rotor, and between the outer eccentric shaft rotor and the bearing base cylinder, respectively, whereby the eccentric shaft rotors and the output shaft rotor may be independently rotated and controlled. With this arrangement, movement in three degrees of freedom may be achieved by translational movement and rotation of the output shaft in a two-dimensional surface, and if an axially movable support shaft is inserted in the output shaft, an article being positioned may be moved with four degrees of freedom in total, providing superprecision positioning in units of 1/10 micron.
摘要翻译： 超精度定位装置包括输出轴转子，包括内偏心轴转子和外偏心轴转子的多个偏心轴转子和轴承基座圆筒，电旋转和驱动机构部分设置在偏心轴转子和 输出轴转子和外偏心轴转子与轴承座圆筒之间，由此能够独立地旋转和控制偏心轴转子和输出轴转子。 通过这种布置，可以通过在二维表面中的输出轴的平移运动和旋转来实现三自由度的运动，并且如果轴向可移动的支撑轴插入输出轴中，则定位的物品可以移动 总共具有四个自由度，以1/10微米的单位提供超精密定位。
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公开(公告)号：US4642021A
公开(公告)日：1987-02-10
申请号：US617541
申请日：1984-06-05
申请人： Makoto Kikuchi
发明人： Makoto Kikuchi
CPC分类号： B25J9/105 , B25J17/0283 , B25J9/102 , Y10T74/1955
摘要： A manipulation arm mechanism for an industrial robot is provided with a pivotable arm in which a first shaft driven by a drive motor is carried for rotation about an axis extending in a longitudinal direction of the arm. The first shaft has secured to its front end a rear casing, on which a front casing is carried for rotation about an oblique axis slanted relative to the first shaft axis. A head mounting shaft capable of attaching thereto a working head such as, for example, a handling gripper is carried in the front casing to be rotable about an axis which extends in axial alignment with the first shaft axis only when the front casing is at a predetermined angular position about the oblique axis. Second and third shafts driven by respective drive motors pass through the first shaft and present into the rear casing their front ends, to which the front casing and the head mounting shaft are drivingly connected through gear trains respectively. Each axis of the second and third shafts is radially offset from the first shaft axis. This offset arrangement ensures a relatively large space reserved just behind the front casing, so that the working range of the working head about the oblique shaft can be broadened.
摘要翻译： 用于工业机器人的操纵臂机构设置有可枢转臂，其中由驱动电动机驱动的第一轴被承载用于围绕在臂的纵向方向上延伸的轴线旋转。 第一轴已经固定到其前端，后壳体被承载，前壳体围绕相对于第一轴轴线倾斜的倾斜轴线旋转。 能够附接到工作头（例如，处理夹持器）上的头部安装轴被承载在前壳体中，以便仅在前壳体处于相对位置时才能够与轴线对准延伸的轴线旋转 围绕倾斜轴线的预定角度位置。 由相应的驱动电动机驱动的第二和第三轴通过第一轴并且呈现在后壳体中，其前端分别通过齿轮系驱动地连接到前壳体和头部安装轴。 第二轴和第三轴的每个轴线都与第一轴轴线径向偏移。 该偏移布置确保了在前壳体后面保留相对较大的空间，从而可以使工作头围绕斜轴的工作范围变宽。
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公开(公告)号：US4636134A
公开(公告)日：1987-01-13
申请号：US732722
申请日：1985-05-10
申请人： Leif Tellden
发明人： Leif Tellden
CPC分类号： B25J9/048 , B25J17/0258 , B25J18/025 , B25J9/1005 , B25J9/102 , B25J9/105
摘要： An arrangement in an industrial robot for driving translatory motion of a unit which is mounted in a gimbal-type suspension having two mutually perpendicular axes. A motor with associated resolver is mounted in the pivotable frame of the gimbal-type suspension, the frame being capable of being swung in one direction. The motor drives a pinion which meshes with a rack by a shaft, the shaft also constituting one journal of the machine part in which the translatorily movable machine part is movably arranged. The shaft is rotatably journalled to both the frame and the machine part through each of its bearings.
摘要翻译： 用于驱动安装在具有两个相互垂直轴线的万向型悬架中的单元的平移运动的工业机器人中的布置。 具有相关联的旋转变压器的电动机安装在万向型悬架的可枢转框架中，该框架能够在一个方向上摆动。 电动机通过轴驱动与齿条啮合的小齿轮，该轴也构成机器部件的一个轴颈，其中可移动地设置可转动机械部件。 轴通过其每个轴承可转动地支撑在框架和机器部件两者上。
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公开(公告)号：US12049001B2
公开(公告)日：2024-07-30
申请号：US17685492
申请日：2022-03-03
发明人： Yonghun Kang , Kyungshik Roh , Sangjun Jung
CPC分类号： B25J18/025 , B25J9/102 , B25J9/105 , H02K7/116 , H02K7/14 , H05K1/0277
摘要： Disclosed is a robot including a variable length unit coupled to one section of at least one arm unit, wherein the variable length unit may include a motor, a first cam having at least one slit having a specific inclination in one area thereof, and a second cam, at least a portion of which is disposed in an interior of the first cam, and having at least one first boss that passes through the at least one slit of the first cam, wherein the first cam may be rotated through driving of the motor, the second cam may be linearly moved while the at least one first boss is guided by the at least one slit in correspondence to rotation of the first cam, and a length of the at least one arm unit may vary in correspondence to linear motion of the second cam.
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公开(公告)号：US20180200011A1
公开(公告)日：2018-07-19
申请号：US15918281
申请日：2018-03-12
发明人： Brett Zubiate , Howard Choset
CPC分类号： A61B34/30 , A61B1/0055 , A61B1/0057 , A61B1/008 , A61B34/70 , A61B34/71 , A61B2017/00314 , A61B2017/00323 , A61B2034/301 , A61B2034/306 , A61B2034/715 , B25J9/065 , B25J9/104 , B25J9/105 , Y10S901/21
摘要： An articulate probe device includes a first mechanism, a second mechanism, and an overtube mechanism. The first mechanism includes a proximal link which is movable coupled to a first intermediate link, a plurality or intermediate links, and a distal link which is moveably coupled to a second one of the intermediate links. The second mechanism includes a proximal link which is movable coupled to a first intermediate link, a plurality of intermediate links, and a distal link which is moveably coupled to a second one of the intermediate links. The overtube mechanism includes a proximal link which is movable coupled to a first intermediate link, a plurality of intermediate links, and a proximal link which is moveably coupled to a second one of the intermediate links. Further, at least one of the first mechanism, second mechanism, and overtube mechanism is steerable and extendable beyond the other mechanisms.
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