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公开(公告)号：US20190077026A1
公开(公告)日：2019-03-14
申请号：US16191543
申请日：2018-11-15
申请人： OLYMPUS CORPORATION
发明人： Shuya JOGASAKI , Noriaki YAMANAKA
CPC分类号： B25J15/0233 , A61B17/29 , A61B34/71 , A61B2017/2902 , A61B2017/2936 , A61B2017/2937 , A61B2017/2939 , B25J15/08
摘要： A gripping mechanism according to the present invention is provided with: two gripping pieces pivoted about a pivoting axis; a gripper main body that supports the gripping pieces at a distal-end portion; a pulley that is supported about a rotation axis that is parallel to the pivoting axis; an opening wire that is wound around the pulley that has one end secured to the gripping pieces or the gripper main body, and that causes tensile forces that cause the rotation axis to be moved in one direction pulley, wherein the pulley is disposed so that a resultant force of the tensile forces in the opening wire that acts on the rotation axis becomes greater than the pulling force, and so that a moment that causes the gripping pieces to be pivoted in the directions in which the gripping pieces are opened relative to each other is generated.
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公开(公告)号：US09742227B2
公开(公告)日：2017-08-22
申请号：US15235097
申请日：2016-08-11
申请人： Genesis Robotics LLP
发明人： James Brent Klassen
IPC分类号： H02K1/16 , H02K1/27 , H02K1/20 , H02K16/04 , H02K5/16 , H02K1/14 , B25J9/12 , H02K1/02 , H02K1/06 , H02K3/04 , H02K5/04 , H02K9/00 , H02K21/24 , H02K15/04 , H02K7/08 , H02K9/02 , H02K3/12 , H02K41/03
CPC分类号： H02K1/24 , B25J9/0009 , B25J9/12 , B25J15/0009 , B25J15/0233 , B25J15/08 , B25J17/00 , B25J19/0029 , H02K1/02 , H02K1/06 , H02K1/08 , H02K1/14 , H02K1/16 , H02K1/20 , H02K1/27 , H02K1/274 , H02K1/278 , H02K1/2793 , H02K1/32 , H02K3/04 , H02K3/12 , H02K3/24 , H02K3/26 , H02K5/04 , H02K5/16 , H02K5/18 , H02K7/08 , H02K7/14 , H02K9/005 , H02K9/02 , H02K9/19 , H02K15/04 , H02K16/04 , H02K19/10 , H02K21/00 , H02K21/14 , H02K21/22 , H02K21/24 , H02K41/031 , H02K2201/12 , H02K2213/03
摘要： An electric machine comprise a first carrier having an array of electromagnetic elements and a second carrier having electromagnetic elements defining magnetic poles, the second carrier being arranged to move relative to the first carrier. An airgap is provided between the first carrier and the second carrier. The electromagnetic elements of the first carrier include posts, with slots between the posts, one or more electric conductors in each slot, the posts of the first carrier having a post height in mm. The first carrier and the second carrier together define a size of the electric machine. The magnetic poles having a pole pitch in mm. The size of the motor, pole pitch and post height are selected to fall within a region in a space defined by size, pole pitch and post height that provides a benefit in terms of force or torque per weight per excitation level.
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公开(公告)号：US09610686B2
公开(公告)日：2017-04-04
申请号：US14343858
申请日：2012-09-06
申请人： Jae-Bok Song , Hwi-Su Kim
发明人： Jae-Bok Song , Hwi-Su Kim
CPC分类号： B25J9/06 , B25J9/046 , B25J9/08 , B25J15/0233 , B25J17/00 , B25J18/002 , B25J19/0016 , B25J19/002 , Y10T74/20329
摘要： The present invention provides a torque-free robot arm, comprising: a base unit; and a first link in which one end is rotatably connected to the base unit to form a first joint as a rotary shaft horizontal to the ground and the center of gravity is separated from the first joint, wherein the first link includes one end arranged at the first joint, the other end arranged along the longitudinal direction of the first link, and a first counter balancer for compensating the gravity of the first link when the first link is rotated around the first joint.
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公开(公告)号：US20160303743A1
公开(公告)日：2016-10-20
申请号：US15102081
申请日：2014-10-20
申请人： Covidien LP
发明人： Brian Rockrohr
CPC分类号： B25J15/0226 , A61B17/00234 , A61B34/30 , A61B34/71 , A61B34/77 , A61B2017/00323 , A61B2017/2934 , A61B2017/2936 , A61B2034/305 , B25J15/0233
摘要： An end effector for use and connection to a robot arm of a robotic surgical system, wherein the end effector is controlled and/or articulated by at least one cable extending from a respective motor of a control device of the robot surgical system, is provided. The end effector includes a wrist assembly, and a jaw assembly. The jaw assembly includes a cam pulley rotatably supported on at least one support plate of the jaw assembly, wherein the cam pulley is operatively connected to a proximal end of each of the jaws of the jaw assembly such that rotation of the cam pulley results in one of an opening and closing of the jaw assembly.
摘要翻译： 一种用于使用和连接到机器人手术系统的机器人手臂的末端执行器，其中末端执行器通过从机器人手术系统的控制装置的相应电机延伸的至少一根电缆来控制和/或铰接。 末端执行器包括腕部组件和钳口组件。 夹爪组件包括可旋转地支撑在钳口组件的至少一个支撑板上的凸轮滑轮，其中凸轮滑轮可操作地连接到钳口组件的每个钳口的近端，使得凸轮滑轮的旋转导致一个 的钳口组件的打开和关闭。
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公开(公告)号：US20140117689A1
公开(公告)日：2014-05-01
申请号：US14063639
申请日：2013-10-25
申请人： PHD, Inc.
IPC分类号： B25J15/00
CPC分类号： B25J15/0028 , B25J15/0233 , B25J15/0293
摘要： A device for gripping an object including a gripper head, an actuator, and a cable assembly. The gripper head includes at least one movable jaw. The actuator is located remotely from the gripper head. The cable assembly connects the gripper head to the actuator and is configured to drive the gripper head by the actuator.
摘要翻译： 一种夹持物体的装置，包括夹头，致动器和电缆组件。 夹持头包括至少一个活动夹爪。 执行器远离夹具头。 电缆组件将夹持头连接到致动器，并且构造成通过致动器驱动夹持头。
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公开(公告)号：US11685056B2
公开(公告)日：2023-06-27
申请号：US17683756
申请日：2022-03-01
申请人： PHD, Inc.
发明人： Matthew R. Williams
CPC分类号： B25J15/0009 , B25J15/0233 , B25J15/0253 , B25J15/10
摘要： A gripper tooling includes: a gripper having a gripper body and an angular jaw; a rotor fixedly connected to the angular jaw; and a tooling member for gripping a workpiece, the tooling member including: a base pivotally connected to the rotor; a middle segment pivotally connected to the base; a distal segment pivotally connected to the middle segment; an adducting tendon having a proximal end attached to the rotor and a distal end attached to the distal segment, the rotor for rotating relative to the base and thereby for tensioning the adducting tendon; and an abducting tendon having a proximal end attached to the base and a distal end attached to the distal segment such that the tooling member can autonomously grip the workpiece as the angular jaw rotates toward the workpiece and the tooling member autonomously returns to an ungripped position as the angular jaw rotates away from workpiece.
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公开(公告)号：US09937626B2
公开(公告)日：2018-04-10
申请号：US15102081
申请日：2014-10-20
申请人： Covidien LP
发明人： Brian Rockrohr
CPC分类号： B25J15/0226 , A61B17/00234 , A61B34/30 , A61B34/71 , A61B34/77 , A61B2017/00323 , A61B2017/2934 , A61B2017/2936 , A61B2034/305 , B25J15/0233
摘要： An end effector for use and connection to a robot arm of a robotic surgical system, wherein the end effector is controlled and/or articulated by at least one cable extending from a respective motor of a control device of the robot surgical system, is provided. The end effector includes a wrist assembly, and a jaw assembly. The jaw assembly includes a cam pulley rotatably supported on at least one support plate of the jaw assembly, wherein the cam pulley is operatively connected to a proximal end of each of the jaws of the jaw assembly such that rotation of the cam pulley results in one of an opening and closing of the jaw assembly.
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公开(公告)号：US09821471B2
公开(公告)日：2017-11-21
申请号：US15304038
申请日：2015-05-07
发明人： Jérémy Laville , Gilles Fauchet , Thibault Depost
CPC分类号： B25J15/0009 , B25J15/0233 , B25J15/086 , B25J15/103
摘要： A hand intended for a humanoid robot comprising a palm and several fingers, each of the fingers being able to be displaced in relation to the palm between a position of rest maintained by spring effect and a compressed position obtained by driving a link part with the palm countering the spring effect, comprises a motorized shaft, linked to the link part of each of the fingers, and configured to respectively displace at least one first finger and at least one second finger, from the position of rest to the compressed position, by rotation of the motorized shaft respectively in a first direction of rotation and in an opposite direction.
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公开(公告)号：US20170047798A1
公开(公告)日：2017-02-16
申请号：US15235036
申请日：2016-08-11
申请人： Genesis Robotics LLP
发明人： James Brent KLASSEN
CPC分类号： H02K1/24 , B25J9/0009 , B25J9/12 , B25J15/0009 , B25J15/0233 , B25J15/08 , B25J17/00 , B25J19/0029 , H02K1/02 , H02K1/06 , H02K1/08 , H02K1/14 , H02K1/16 , H02K1/20 , H02K1/27 , H02K1/274 , H02K1/278 , H02K1/2793 , H02K1/32 , H02K3/04 , H02K3/12 , H02K3/24 , H02K3/26 , H02K5/04 , H02K5/16 , H02K5/18 , H02K7/08 , H02K7/14 , H02K9/005 , H02K9/02 , H02K9/19 , H02K15/04 , H02K16/04 , H02K19/10 , H02K21/00 , H02K21/14 , H02K21/22 , H02K21/24 , H02K41/031 , H02K2201/12 , H02K2213/03
摘要： An electric machine comprise a first carrier having an array of electromagnetic elements and a second carrier having electromagnetic elements defining magnetic poles, the second carrier being arranged to move relative to the first carrier. An airgap is provided between the first carrier and the second carrier. The electromagnetic elements of the first carrier include posts, with slots between the posts, one or more electric conductors in each slot, the posts of the first carrier having a post height in mm. The first carrier and the second carrier together define a size of the electric machine. The magnetic poles having a pole pitch in mm. The size of the motor, pole pitch and post height are selected to fall within a region in a space defined by size, pole pitch and post height that provides a benefit in terms of force or torque per weight per excitation level.
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公开(公告)号：US20150321343A1
公开(公告)日：2015-11-12
申请号：US14270548
申请日：2014-05-06
IPC分类号： B25J9/00
CPC分类号： B25J19/068 , B25J9/0015 , B25J9/104 , B25J9/1075 , B25J15/0233 , Y10T74/20323
摘要： Compliant manipulators are provided, in which the manipulators include a plurality of slideably interlocked filaments each having a proximate end and a distal end. The interlocked filaments can be formed from a flexible material. The compliant manipulators can also include at least one filament-actuating device operatively connected to the respective distal ends of the plurality of slideably interlocked filaments. The at least one filament-actuating device can be manipulated directly or remotely to push and/or pull the respective filaments to impart a desired movement to the manipulator. The stiffness or flexibility of the manipulators can also be controlled to provide varying degrees of stiffness during use.
摘要翻译： 提供了合适的操纵器，其中操纵器包括多个可滑动地互锁的细丝，每个丝具有近端和远端。 互锁长丝可以由柔性材料形成。 顺应的操纵器还可以包括至少一个灯丝致动装置，其可操作地连接到多个可滑动互锁的灯丝的相应远端。 可以直接或远程地操纵至少一个灯丝致动装置以推动和/或拉动相应的细丝以向操纵器施加期望的运动。 也可以控制操纵器的刚性或柔性，以在使用过程中提供不同程度的刚度。
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