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    Apparatus for controlling stiffness of output link in moving mechanism
    4.
    发明授权
    Apparatus for controlling stiffness of output link in moving mechanism 有权

    公开(公告)号：US09902064B2

    公开(公告)日：2018-02-27

    申请号：US15413450

    申请日：2017-01-24

    申请人： NATIONAL CANCER CENTER

    发明人： Kwang Gi Kim ,  Hyun Chul Jung ,  Chang Nho Cho

    IPC分类号： B25J17/00 ,  B25J17/02 ,  B25J18/00 ,  B25J9/16 ,  B25J19/00

    CPC分类号： B25J9/1641 ,  B25J18/00 ,  B25J19/00

    摘要： A stiffness control apparatus includes a base member, an output link configured to move along a plane parallel to a surface of the base member, and at least one stiffness control unit configured to control stiffness of the output link. The at least one stiffness control unit includes a shaft including a first end and a second end, the first end being rotatably coupled to the base member, a rotating member including an elongated hole into which the second end of the shaft is movably inserted, and rotatably arranged by the shaft at a position having contact with the output link on an outer side or an inner side the output link, and an elastic member between the second end of the shaft and at least one inner wall of the elongated hole in a longitudinal direction thereof.

    CABLE MANAGEMENT SYSTEM AND DEVICES
    6.
    发明申请
    CABLE MANAGEMENT SYSTEM AND DEVICES 审中-公开
    电缆管理系统和设备

    公开(公告)号：US20170059059A1

    公开(公告)日：2017-03-02

    申请号：US15120272

    申请日：2015-03-03

    申请人： DROSSBACH NORTH AMERICA INCORPORATED

    发明人： David A. CARRUTHERS

    IPC分类号： F16L3/01 ,  B25J19/00 ,  F16L57/02

    CPC分类号： F16L3/01 ,  B25J19/00 ,  B25J19/0025 ,  B66C13/12 ,  F16L57/02 ,  H02G3/0468 ,  H02G3/32 ,  H02G11/006

    摘要： The present invention relates to a system and devices for guiding flexible corrugated hoses in industrial and robotic applications, where it is common to require tubing and electrical cables to be routed to various locations. A device for guiding such flexible hoses is described, comprising a rigid tube for containing a length of flexible corrugated hose and a spring element. A first end of the spring is fixed to an end of the tube, and a second end of the spring is fixed to an end of the flexible corrugated hose. The flexible corrugated hose may be drawn out of the tube against the force of the spring element, in a longitudinal direction. A fitting for a robotic arm is also described, comprising an arc-shaped wall comprising a portion of a cylinder wall, with first and second plates fixed to top and bottom edges of the arc-shaped wall. The first and second plates of this device may be mounted within a joint of a robotic arm.

    摘要翻译： 技术领域本发明涉及用于在工业和机器人应用中引导柔性波纹软管的系统和装置，其中通常需要将管道和电缆路由到各种位置。 描述了用于引导这种柔性软管的装置，其包括用于容纳一定长度的柔性波纹软管和弹簧元件的刚性管。 弹簧的第一端固定到管的一端，并且弹簧的第二端固定到柔性波纹软管的端部。 柔性波纹软管可以克服弹簧元件的力在纵向方向上从管中拉出。 还描述了一种用于机器人臂的配件，其包括包括气缸壁的一部分的弧形壁，其中第一和第二板固定到弧形壁的顶部和底部边缘。 该装置的第一和第二板可以安装在机器臂的接头内。

    SHOCK-ABSORBING DEVICE FOR A HUMANOID ROBOT
    7.
    发明申请
    SHOCK-ABSORBING DEVICE FOR A HUMANOID ROBOT 审中-公开
    人体机器人的吸收装置

    公开(公告)号：US20170043487A1

    公开(公告)日：2017-02-16

    申请号：US15303724

    申请日：2015-05-07

    申请人： SOFTBANK ROBOTICS EUROPE

    发明人： Vincent CLERC ,  Ludovic TESSIER ,  Fabien MUGNIER

    IPC分类号： B25J19/00 ,  F21V15/04 ,  H04R1/02 ,  F16F1/377 ,  F16F1/36

    CPC分类号： B25J19/0091 ,  B25J19/00 ,  F16F1/3605 ,  F16F1/377 ,  F16F2224/0225 ,  F16F2224/025 ,  F21V15/04 ,  H04R1/025 ,  H04R1/028

    摘要： A shock-absorbing device for a humanoid robot, comprises a rigid structure linked to the humanoid robot, a deformable outer shell, and a shock-absorber; the shock-absorber consisting of a flexible cellular structure comprising a set of cells emerging in a main direction, and being secured to the rigid structure at a first end in the main direction, and linked to the deformable outer shell at a second end opposite the first in the main direction. Advantageously, the outer shell is also linked directly to the rigid structure by means of at least one absorbent fixing of silent block type. The invention relates also to a humanoid robot, and in particular the head of a humanoid robot, comprising such a shock-absorbing device.

    摘要翻译： 用于人形机器人的减震装置包括连接到人形机器人的刚性结构，可变形外壳和减震器; 所述减震器包括柔性多孔结构，所述柔性多孔结构包括在主方向上出现的一组单元，并且在主方向上的第一端处固定到所述刚性结构，并且在与所述可变形外壳相对的第二端处连接 首先在主要方向。 有利的是，外壳还通过沉默块型的至少一种吸收固定直接连接到刚性结构。 本发明还涉及类人形机器人，特别涉及类人机器人的头部，其包括这种减震装置。

    REMOTE CENTER OF MOTION DEFINITION USING LIGHT SOURCES FOR ROBOT SYSTEMS
    8.
    发明申请
    REMOTE CENTER OF MOTION DEFINITION USING LIGHT SOURCES FOR ROBOT SYSTEMS 审中-公开
    使用光源的机器人系统的远程运动定义中心

    公开(公告)号：US20170007335A1

    公开(公告)日：2017-01-12

    申请号：US15115783

    申请日：2015-01-22

    申请人： KONINKLIJKE PHILIPS N.V.

    发明人： ALEKSANDRA POPOVIC ,  HAYTHAM ELHAWARY

    IPC分类号： A61B34/30 ,  G01B11/27 ,  B25J9/06 ,  B25J9/12 ,  A61B90/11 ,  B25J19/00

    CPC分类号： A61B34/30 ,  A61B90/11 ,  A61B90/13 ,  A61B2034/301 ,  A61B2090/3945 ,  B25J9/06 ,  B25J9/12 ,  B25J19/00 ,  G01B11/27 ,  Y10S901/23 ,  Y10S901/50

    摘要： A robot system includes a robot linkage (202) having one or more arms connected by two joints (220, 222). The joints each including a joint axis of rotation (206 or 208) and a light source (128) aligned with the respective joint axis. The light sources are configured to direct light along the respective joint axis such that light from the light sources intersects at a position along an instrument (204) being held in an operational position by the robot linkage to define a remote center of motion (RCM) for the robot linkage.

    摘要翻译： 机器人系统包括具有通过两个接头（220,222）连接的一个或多个臂的机器人连杆机构（202）。 每个接头包括与各个接头轴线对准的关节旋转轴线（206或208）和光源（128）。 光源被配置为沿着相应的关节轴引导光，使得来自光源的光在沿着仪器（204）的位置处相交，所述位置通过机器人连杆保持在操作位置，以限定远程运动中心（RCM） 用于机器人联动。

    Robotic devices with ambient indications of joint status
    10.
    发明授权
    Robotic devices with ambient indications of joint status 有权
    具有联合状态的环境指示的机器人设备

    公开(公告)号：US09375841B1

    公开(公告)日：2016-06-28

    申请号：US14288438

    申请日：2014-05-28

    申请人： Google Inc.

    发明人： Kevin Kemper

    IPC分类号： B25J19/02 ,  B25J9/16

    CPC分类号： B25J9/1674 ,  B25J13/085 ,  B25J17/00 ,  B25J19/00

    摘要： In examples, robotic devices with ambient indications of joint status are provided. An example robotic device includes one or more actuators coupled through one or more joints to form a robotic manipulator, and an indicator co-located in proximity to the one or more joints to provide visual feedback on the robotic manipulator at the one or more joints and about the one or more joints. The visual feedback may include information indicative of an operating status of the one or more joints including an indication of an amount of torque that the one or more joints is experiencing. The robotic device also includes a controller programmable to control the indicator co-located proximal to the one or more joints to provide the visual feedback indicative of the operating status of the one or more joints.

    摘要翻译： 在实例中，提供具有联合状态的环境指示的机器人装置。 示例性机器人装置包括通过一个或多个关节耦合以形成机器人操纵器的一个或多个致动器，以及与所述一个或多个关节相邻的指示器，以在所述一个或多个关节处对所述机器人操纵器提供视觉反馈， 关于一个或多个关节。 视觉反馈可以包括指示一个或多个关节的操作状态的信息，包括一个或多个关节经历的扭矩量的指示。 所述机器人装置还包括可编程的控制器，用于控制所述指示器位于所述一个或多个关节附近，以提供指示所述一个或多个关节的操作状态的视觉反馈。