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公开(公告)号：US11065759B2
公开(公告)日：2021-07-20
申请号：US14377696
申请日：2013-02-08
摘要： A hermetically sealed multi-axis articulated arm apparatus for use within a sealable isolator chamber is disclosed. In one general aspect, it comprises a rotational shaft that passes through an opening in the chamber, a sealing member disposed within the chamber for sealing the shaft to an inner surface of the chamber, interconnected hermetically sealed arm segments operably attached to the linear motion shaft; an end effector operably attached to a terminal arm segment among the arm segments, and at least one fully enclosed drive system for driving and controlling the shaft and the arm segments. The rotational shaft can further be a linear motion shaft for which the sealing member is a bellows. The materials for the parts of the apparatus exposed to the atmosphere of the chamber can be compatible with an aseptic and cleanable environment and the surfaces of the arm segments can be shaped to avoid pooling of contaminants.
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公开(公告)号：US10857674B2
公开(公告)日：2020-12-08
申请号：US15568654
申请日：2016-04-14
发明人： Masato Yokota , Shiguma Iijima
摘要： A robot system and a robot are capable of easily defining a position of a target object with respect to a robot. The robot system includes a first robot, a first cell which is provided with the first robot and is capable of moving, and a positioning unit which is provided in an inner portion of the first cell and positions a target object.
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73.发明授权公开(公告)号：US10857666B2
公开(公告)日：2020-12-08
申请号：US16223003
申请日：2018-12-17
摘要： A hermetically sealed multi-axis articulated arm apparatus for use within a sealable isolator chamber comprises a rotational shaft that passes through an opening in the chamber, a sealing member disposed within the chamber for sealing the shaft to an inner surface of the chamber, a plurality of interconnected hermetically sealed arm segments, operably attached to the linear motion shaft; an end effector operably attached to a terminal arm segment among the plurality of arm segments, and at least one fully enclosed drive system for driving and controlling the shaft and the plurality of arm segments. The linear motion shaft may have a sealing member in the form of a bellows. The materials for the parts of the apparatus exposed to the atmosphere of the chamber are compatible with an aseptic and cleanable environment and the surfaces of the arm segments are shaped to avoid pooling of contaminants.
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公开(公告)号：US20200332955A1
公开(公告)日：2020-10-22
申请号：US16960627
申请日：2019-01-11
申请人： Yaskawa Nordic AB
摘要： The invention relates to a robot cell comprising a protective casing, which surrounds a robot, and at least one station, which is served by the robot. A door assembly is provided on the protective casing in order to, in an open position, provide access to an access opening through which the station from the outside of the protective casing can be served by an operator, and in order to, in a closed position, close the access opening. The door assembly comprises a door leaf, which from the closed position of the door assembly is movable aside along an arcuate path and into the protective casing, in which the door leaf in the open position of the door assembly closes a passageway within the protective casing between the robot and the station, wherein the arcuate path follows a circular arc around a vertical geometric axis (A) through a central portion of the station.
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公开(公告)号：US10782676B2
公开(公告)日：2020-09-22
申请号：US15877028
申请日：2018-01-22
发明人： Martin Besik , Radovan Kout , Jiri Malý , Petr Masilko , Vaclav Sula , Lukas Urban
IPC分类号： B23K9/00 , G05B19/418 , B23K31/02 , B23K37/04 , B25J21/00 , B25J9/00 , B23K37/00 , B23K37/02 , B23K9/095 , B23K9/10 , B25J9/08 , B23K9/12
摘要： A modular work cell for a production robot includes a base module, on which at least one production robot is arranged, disposed inside the modular work cell. The modular work cell further includes wall elements, a control cabinet, an access, and a feed unit for workpieces which is arranged between the access and the production robot. The base module, the control cabinet, the feed unit and the access form a mechanically and electrically interconnected transport assembly configured for transport. The wall elements can be transported separate from the transport assembly.
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公开(公告)号：US10675754B2
公开(公告)日：2020-06-09
申请号：US15886988
申请日：2018-02-02
发明人： Ichiro Aoyama , Yasuhiko Asano , Makoto Ishida , Shintaro Dobashi , Hiroyuki Miyano , Toru Igarashi
摘要： A robot system includes a first robot and a second robot, and the second robot has a base, a shaft provided translationally along an axis direction of a first axis on the base, and an arm provided rotatably with respect to the shaft, and the first robot can perform work on a work object that can be carried by the second robot.
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公开(公告)号：US20200164528A1
公开(公告)日：2020-05-28
申请号：US16085446
申请日：2017-03-16
发明人： Isaac M. Giesen
摘要： A remote arm for a manipulator is disclosed, which has a boom tube having a distal end and housing a mechanical communication chain. A floating gearbox assembly is coupled to the boom tube and has an outer framework rigidly coupled to the distal end of the boom tube. An inner framework is retained by the outer framework and is rotatable relative to the outer framework. A drive gear is disposed in the inner framework. which is in mechanical communication with the mechanical communication chain. A wrist joint has a wrist joint housing and an output gear is disposed in the wrist joint housing, where the wrist joint housing is configured to detachably couple to the outer framework. The output gear is configured to mechanically communicate with the drive gear when the wrist joint housing is coupled to the outer framework.
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公开(公告)号：US20190381652A1
公开(公告)日：2019-12-19
申请号：US16223003
申请日：2018-12-17
摘要： A hermetically sealed multi-axis articulated arm apparatus for use within a sealable isolator chamber comprises a rotational shaft that passes through an opening in the chamber, a sealing member disposed within the chamber for sealing the shaft to an inner surface of the chamber, a plurality of interconnected hermetically sealed arm segments, operably attached to the linear motion shaft; an end effector operably attached to a terminal arm segment among the plurality of arm segments, and at least one fully enclosed drive system for driving and controlling the shaft and the plurality of arm segments. The linear motion shaft may have a sealing member in the form of a bellows. The materials for the parts of the apparatus exposed to the atmosphere of the chamber are compatible with an aseptic and cleanable environment and the surfaces of the arm segments are shaped to avoid pooling of contaminants.
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公开(公告)号：US20190255700A1
公开(公告)日：2019-08-22
申请号：US16402919
申请日：2019-05-03
申请人： NTN CORPORATION
发明人： Kenzou NOSE , Hiroshi ISOBE , Naoki MARUI
摘要： A working device has a configuration with seven degrees of freedom, and is configured to perform work using an end effector. The working device includes: a linear motion unit having three degrees of freedom; a rotary unit having three degrees of freedom; and a rotary drive mechanism having one degree of freedom. The rotary drive mechanism is configured to rotate the rotary unit relative to the linear motion unit. The linear motion unit is mounted on a mount such that a base portion thereof is fixed to the mount. The rotary drive mechanism is mounted on an output portion of the linear motion unit. The rotary unit is mounted on an output portion of the rotary drive mechanism. The end effector is mounted on an output portion of the rotary unit.
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公开(公告)号：US20190255699A1
公开(公告)日：2019-08-22
申请号：US16402909
申请日：2019-05-03
申请人： NTN CORPORATION
发明人： Hiroshi ISOBE , Kenzou NOSE , Naoki MARUI , Hiroyuki YAMADA
摘要： A working device includes: a linear motion unit having three degrees of freedom and obtained by combining three linear motion actuators; and a rotary unit having three degrees of freedom and obtained by combining a plurality of rotating mechanisms each having one or more rotational degrees of freedom. The linear motion unit is mounted on a mount such that a base portion of the linear motion unit is fixed to the mount. A base portion of the rotary unit is fixedly mounted on an output portion of the linear motion unit. End effectors are mounted on both the output portion of the linear motion unit and an output portion of the rotary unit.
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