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    ROBOTIC PROCESSING SYSTEM
    5.
    发明申请
    ROBOTIC PROCESSING SYSTEM 审中-公开

    公开(公告)号：US20180056528A1

    公开(公告)日：2018-03-01

    申请号：US15689986

    申请日：2017-08-29

    申请人： HIGHRES BIOSOLUTIONS, INC.

    发明人： Nigel COCHRAN ,  Ulysses GILCHRIST ,  Blaine STEVENSON ,  Paul HARPER

    IPC分类号： B25J19/06

    CPC分类号： B25J19/063 ,  B25J15/02 ,  B25J19/065 ,  Y10S901/49

    摘要： A robotic transport system including a drive section connected to a frame, an articulated arm operably coupled to the drive section providing the articulated arm with arm motion in at least one axis of motion moving at least a portion of the articulated arm in a collaborative space, corresponding to the frame, from a first location to another different location in the collaborative space, the articulated arm having an end effector with a workpiece grip having workpiece engagement members engaging and holding a workpiece during workpiece transport, by the arm motion in the at least one axis of motion, wherein at least one of the workpiece engagement members is frangible compliant, having a frangible compliant coupling between a distal portion of the at least one of the workpiece engagement members and a base portion of the end effector from which the at least one of the workpiece engagement members depends.

    Concentric opposed cam actuator
    6.
    发明授权
    Concentric opposed cam actuator 有权
    同心相对的凸轮致动器

    公开(公告)号：US09561595B1

    公开(公告)日：2017-02-07

    申请号：US14490382

    申请日：2014-09-18

    申请人： Google Inc.

    发明人： Brian Dellon

    IPC分类号： B25J17/00 ,  F16H25/12 ,  B25J15/02 ,  B25J9/14 ,  B25J9/10

    CPC分类号： B25J9/144 ,  B25J9/109 ,  B25J9/14 ,  B25J9/146 ,  B25J15/02 ,  B25J15/0226 ,  B25J15/028 ,  B25J17/00 ,  F16H25/125 ,  F16H35/18 ,  Y10S901/28

    摘要： An example device may include a rounded outer incline ramp and a rounded inner incline ramp surrounding a central axis. The rounded inner incline ramp and the rounded outer incline ramp may be inversely aligned relative to the central axis. The device may also include a piston carrier oriented in a direction parallel to the central axis. The piston carrier may include a first piston including a first roller positioned on the two ramps at a first point, where the first piston is configured to act on the two ramps in a direction parallel to the central axis. The piston carrier may also include a second piston including a second roller positioned on the two ramps at a second point opposite the first point, where the second piston is configured to act on the two ramps in a direction parallel to the central axis.

    摘要翻译： 示例性装置可以包括圆形外倾斜斜坡和围绕中心轴的圆形内倾斜斜面。 圆形的内倾斜斜坡和圆形的外倾斜斜面可以相对于中心轴线反向对准。 该装置还可以包括沿平行于中心轴线的方向定向的活塞载体。 活塞支架可以包括第一活塞，第一活塞包括在第一点处定位在两个斜面上的第一辊，其中第一活塞构造成在平行于中心轴线的方向上作用在两个斜面上。 活塞支架还可以包括第二活塞，第二活塞包括位于两个斜面上的第二滚子，该第二滚子在与第一点相对的第二点处，其中第二活塞构造成在平行于中心轴线的方向上作用在两个斜面上。

    HARSH ENVIRONMENT ROBOT END EFFECTOR
    7.
    发明申请
    HARSH ENVIRONMENT ROBOT END EFFECTOR 失效
    HARSH ENVIRONMENT机器人终端效应器

    公开(公告)号：US20100201143A1

    公开(公告)日：2010-08-12

    申请号：US12701424

    申请日：2010-02-05

    申请人： DEAN EHNES ,  THEODORE VANDERHEYDEN ,  TRAVIS WHITE ,  JASON BREWER ,  BILL POLLY

    发明人： DEAN EHNES ,  THEODORE VANDERHEYDEN ,  TRAVIS WHITE ,  JASON BREWER ,  BILL POLLY

    IPC分类号： B25J15/00 ,  B25J15/02 ,  B66C1/44

    CPC分类号： B25J15/02 ,  B25J9/142 ,  B66C1/44 ,  B66C1/46

    摘要： A harsh environment robot end effector includes an end effector frame connectable to a material handling robot, one or more pickup arms rotatingly coupled to the frame, and pickup arm airbag actuator air bags for opening and closing the pickup arms. One or more positioning palms may be provided, which are rotatingly coupled to the end effector frame and provided with actuator air bags for opening and closing. One or more adjustable pushdowns having airbags attached to their heads are provided to grip a load between the pushdown and pickup arm. A mechanical synchronizer may be provided to couple the pickup arms.

    摘要翻译： 恶劣环境机器人末端执行器包括可连接到材料处理机器人的端部执行器框架，旋转地联接到框架的一个或多个拾取臂，以及用于打开和关闭拾取臂的拾取臂安全气囊执行器气囊。 可以设置一个或多个定位手掌，其旋转地联接到端部执行器框架并且设置有用于打开和关闭的致动器气囊。 提供一个或多个具有安装在其头部上的安全气囊的可调节的下推式，用于夹紧下推和拾取臂之间的负载。 可以提供机械同步器来连接拾取臂。

    Rolling blade cup gripper
    9.
    发明授权
    Rolling blade cup gripper 失效
    滚刀杯夹钳

    公开(公告)号：US06254156B1

    公开(公告)日：2001-07-03

    申请号：US09365314

    申请日：1999-07-30

    申请人： John P. Sherwin ,  David R. Voves

    发明人： John P. Sherwin ,  David R. Voves

    IPC分类号： B25J1508

    CPC分类号： B25J15/02 ,  B65G47/907

    摘要： An end effector for handling stacks of plastic cups, dishes, and similar items. The end effector includes a bracket for coupling the end effector to the end of a robot arm. A main plate or body with a top side, a bottom side, and a plurality of apertures is connected to the bracket and supports the major components of the end effector. The end effector includes at least one bay positioned in the bottom side of the main body. Within each bay is a multiple-piece blade support block that helps guide the blades located within the bay. One or more roller blocks are positioned at predetermined points along the length of the bay, preferably between two pieces of the blade support block. Each roller block has an arcuate track that holds a roller assembly. Each roller assembly has a link which extends through one of the apertures in the main body. Each roller assembly is also coupled to a curved blade. One or more linear actuators are positioned on the top side of the main body. The driven rod of each actuator is coupled to one or more of the roller assembly links. When the actuators are activated, the roller assemblies move in their tracks and the blades slide between an open position and a closed position.

    摘要翻译： 用于处理塑料杯，盘子和类似物品的堆叠的末端执行器。 末端执行器包括用于将末端执行器联接到机器人手臂的端部的支架。 具有顶侧，底侧和多个孔的主板或主体连接到支架并支撑端部执行器的主要部件。 末端执行器包括位于主体的底侧中的至少一个间隔。 每个托架内都有一个多片刀片支撑块，可帮助引导位于托架内的刀片。 一个或多个辊块位于沿着隔间的长度的预定点处，优选地位于两片叶片支撑块之间。 每个滚子组件具有保持滚子组件的弧形轨道。 每个辊组件具有延伸穿过主体中的一个孔的连杆。 每个辊组件也联接到弯曲的叶片。 一个或多个线性致动器定位在主体的顶侧上。 每个致动器的从动杆联接到一个或多个辊组件连杆。 当致动器被激活时，辊组件在其轨道中移动，并且叶片在打开位置和关闭位置之间滑动。

    Endoscopic robotic surgical tools and methods
    10.
    发明授权
    Endoscopic robotic surgical tools and methods 失效
    内窥镜机器人手术工具及方法

    公开(公告)号：US5954692A

    公开(公告)日：1999-09-21

    申请号：US890366

    申请日：1997-07-09

    申请人： Kevin W. Smith ,  Juergen Andrew Kortenbach ,  Charles R. Slater ,  Anthony I. Mazzeo ,  Theodore C. Slack, Jr. ,  Thomas O. Bales

    发明人： Kevin W. Smith ,  Juergen Andrew Kortenbach ,  Charles R. Slater ,  Anthony I. Mazzeo ,  Theodore C. Slack, Jr. ,  Thomas O. Bales

    IPC分类号： A61B1/00 ,  A61B17/00 ,  A61B19/00 ,  B25J3/04 ,  B25J9/06 ,  B25J9/10 ,  B25J15/02 ,  A61M37/00

    CPC分类号： B25J15/02 ,  A61B34/70 ,  A61B34/71 ,  A61B34/76 ,  B25J3/04 ,  B25J9/06 ,  B25J9/104 ,  A61B17/00234 ,  A61B2017/00477 ,  A61B2034/2059

    摘要： The methods and devices of the invention include an encoder, an endoscopic robotic instrument, and an encoder/robotic instrument interface. A preferred embodiment of the encoder has a chest/shoulder plate provided with telescoping tubes and joints. Each joint is provided with a direct drive potentiometer to monitor movement and provide a corresponding signal. The chest plate is preferably adaptable to a large range of human chest sizes and the telescopic segments are strapped to the arms of the practitioner at the elbows. A pistol grip is provided at the wrist end of the telescopic segments. According to the presently preferred embodiment, the encoder encodes flexion and rotation at the shoulder, elbow and wrist of each arm in addition to gripping at each hand. The encoding device is coupled to a circuit which operates a servo system. The servo system includes a series of servo motors. A series of pulleys corresponding to the number of servo motors are arranged in a housing. The robotic instrument preferably comprises two arms mounted at the distal end of a multi-lumen tube. Each arm has rotational and flexional joints corresponding to the shoulder, elbow, and wrist of the practitioner. Tendons are coupled to the pulleys of the servo motors and are fed through the multi-lumen tube to the joints of the two arms.

    摘要翻译： 本发明的方法和装置包括编码器，内窥镜机器人仪器和编码器/机器人仪器接口。 编码器的优选实施例具有设置有伸缩管和接头的胸/肩板。 每个接头都配有一个直接驱动电位器来监控运动并提供相应的信号。 胸板优选适应于大范围的人胸部尺寸，并且伸缩部分在肘部处被绑在医师的手臂上。 在伸缩段的腕端设有手枪把手。 根据目前优选的实施例，编码器除了在每只手握持之外还编码每个臂的肩部，肘部和手腕的屈曲和旋转。 编码装置耦合到操作伺服系统的电路。 伺服系统包括一系列伺服电机。 与伺服马达的数量对应的一系列滑轮布置在壳体中。 机器人装置优选地包括安装在多腔管的远端处的两个臂。 每个臂具有对应于从业者的肩部，肘部和手腕的旋转和弯曲关节。 肌腱联接到伺服电动机的皮带轮，并通过多腔管馈送到两个臂的关节。