公开(公告)号：USD802041S1

公开(公告)日：2017-11-07

申请号：US29602027

申请日：2017-04-27

Applicant: ENGINEERING SERVICES INC.

Designer： Xiaojia He ,  Ziren Lu ,  Andrew A. Goldenberg

公开(公告)号：US20180319012A1

公开(公告)日：2018-11-08

申请号：US16035182

申请日：2018-07-13

Applicant: ENGINEERING SERVICES INC.

Inventor： Xiaojia He ,  Ziren LU ,  Andrew A. GOLDENBERG

IPC: B25J9/12 ,  B25J18/04

CPC classification number: B25J9/126 ,  B25J18/04 ,  B25J19/0029 ,  B25J19/0075

Abstract: A robotic arm includes at least two two-joint modules and at least a first link. Each two-joint module includes a housing, a pair of hollow rotary actuator assemblies and a pair of motor drives. Each actuator assembly has an axis and a hollow shaft and the axes are arranged at an angle to each other. The pair of hollow rotary actuator assemblies are arranged such that a back end of the actuator assemblies is inside the housing and a front end of the actuator assemblies extends outwardly of the housing, and attached to the housing such that cables can be fed from the outside of one of the actuator assemblies to the inside thereof and to the inside of the other actuator assemblies to the outside thereof. The pair of motor drives are operably attached to the actuator assemblies and the motor drives are outside the housing.

公开(公告)号：USD807936S1

公开(公告)日：2018-01-16

申请号：US29602024

申请日：2017-04-27

Applicant: ENGINEERING SERVICES INC.

Designer： Xiaojia He ,  Ziren Lu ,  Andrew A. Goldenberg

公开(公告)号：US10022861B1

公开(公告)日：2018-07-17

申请号：US15499604

申请日：2017-04-27

Applicant: ENGINEERING SERVICES INC.

Inventor： Xiaojia He ,  Ziren Lu ,  Andrew A. Goldenberg

IPC: B25J9/00 ,  B25J9/12 ,  B25J18/04

Abstract: A two joint module includes a housing and a pair of hollow rotary actuator assemblies. Each actuator assembly has an axis and a hollow shaft and the axes are arranged at an angle to each other. The pair of hollow rotary actuator assemblies are arranged back to back and attached to the housing such that cables can be fed from the outside of one of the pair of hollow rotary actuator assemblies to the inside thereof and to the inside of the other of the pair of hollow rotary actuator assemblies to the outside thereof. The disclosure also relates to a robotic arm. The robotic includes at least two two joint modules as described herein and at least a first link.

公开(公告)号：US09481096B2

公开(公告)日：2016-11-01

申请号：US14728765

申请日：2015-06-02

Applicant: Engineering Services Inc.

Inventor： Andrew A. Goldenberg ,  Brent Bailey ,  Matthew Gryniewski ,  Xiaojia He ,  Yi Yang

IPC: B25J18/02 ,  B25J19/00 ,  B25J17/00 ,  B25J9/08

CPC classification number: B25J18/02 ,  B25J9/08 ,  B25J17/00 ,  B25J19/0029 ,  Y10S901/23 ,  Y10T74/20317

Abstract: A robotic arm includes a first link and a first joint. The first link has internal link cables extending from one end to an opposed end thereof. The first joint is operably connected to the first link at one end thereof. The first joint has a hollow drive shaft, an off axis drive 121 and a first joint motor and first joint internal cables extending through the hollow drive shaft. The link cables and the first joint cables are operably connected. The robotic arm may further include a second joint operably connected to the first link. The second joint module has an active side, a passive side with electronic connectors, second joint internal cables, and a second joint motor and the active side is mechanically connected to the link and the electronic connectors of the passive side are operably connected to the link cables.

Abstract translation: 机器臂包括第一连杆和第一接头。 第一连杆具有从一端延伸到其相对端的内部连接电缆。 第一接头在其一端可操作地连接到第一连杆。 第一接头具有中空驱动轴，离轴驱动器121和第一接头电动机以及延伸穿过中空驱动轴的第一接头内部电缆。 连杆电缆和第一连接电缆可操作地连接。 机器人臂还可以包括可操作地连接到第一连杆的第二接头。 第二接头模块具有主动侧，具有电子连接器的无源侧，第二接头内部电缆和第二接头电动机，并且主动侧机械地连接到连杆，并且被动侧的电子连接器可操作地连接到连杆 电缆

公开(公告)号：US09044865B2

公开(公告)日：2015-06-02

申请号：US13789403

申请日：2013-03-07

Applicant: Engineering Services Inc.

Inventor： Andrew A. Goldenberg ,  Brent Bailey ,  Matthew Gryniewski ,  Xiaojia He ,  Yi Yang

IPC: B25J17/00 ,  B25J9/08

CPC classification number: B25J18/02 ,  B25J9/08 ,  B25J17/00 ,  B25J19/0029 ,  Y10S901/23 ,  Y10T74/20317

Abstract: A two joint module includes a module housing, a first joint and a second joint. The module housing has a structural support portion. The first joint has a first motor and a first motor axis and a first joint axis. The second joint has a second motor and a second motor axis and a second joint axis. The second joint axis is not parallel to the first joint axis. The first joint is attached to the structural support portion and the second joint is attached to the structural support portion.

Abstract translation: 两个接头模块包括模块壳体，第一接头和第二接头。 模块壳体具有结构支撑部分。 第一接头具有第一电动机和第一电动机轴线以及第一接头轴线。 第二接头具有第二电动机和第二电动机轴线以及第二接头轴线。 第二关节轴线不平行于第一关节轴线。 第一接头附接到结构支撑部分，第二接头附接到结构支撑部分。