公开(公告)号：US09610694B2

公开(公告)日：2017-04-04

申请号：US14366821

申请日：2012-12-21

申请人： Areva NC

发明人： Patrice Duval ,  Jean-Jacques Marchal ,  Luc Collette

IPC分类号： B25J21/02 ,  B25J9/02 ,  G21F7/04 ,  B25J9/10

CPC分类号： B25J21/02 ,  B25J9/023 ,  B25J9/1035 ,  G21F7/04

摘要： Device for handling objects in a glove box comprising a carriage (2) to support the objects to be handled, a base (6) relative to which the carriage (2) can be moved along a horizontal axis (X), means of driving the carriage (2) along the first axis (X), these drive means comprising an electric motor (14) arranged such that its drive shaft is orthogonal to the axis (X) and projects opposite the base (6), a transmission shaft (18) parallel to the motor (14), a rack (22) fixed to the base (6) along the axis (X) and a pinion (24) directly fixed in rotation to the transmission shaft (18) and engaging with the rack (22), a transmission belt (20) mechanically connecting the drive shaft of the motor (14) to the transmission shaft (18), the electric motor (14) being declutchable and the carriage possibly being moved manually along the axis (X).

公开(公告)号：US20140076087A1

公开(公告)日：2014-03-20

申请号：US13988545

申请日：2010-11-22

申请人： Dennis George Hugo Bosboom ,  Johannes Jacobus Fütterer ,  Johan Bosboom

发明人： Dennis George Hugo Bosboom ,  Johannes Jacobus Fütterer ,  Johan Bosboom

IPC分类号： B25J9/10 ,  F16H21/44

CPC分类号： B25J9/1035 ,  A61B10/0233 ,  A61B34/30 ,  A61B2010/045 ,  A61B2017/00991 ,  A61B2017/3409 ,  A61B2034/304 ,  F16H21/44 ,  Y10T74/18984 ,  Y10T74/20305

摘要： The present invention is related to a motor system, a motor, and to a robot arm device comprising the same. According to the invention, a motor is provided comprising a rack having a periodic surface thereon which is engaged by a plurality of engaging elements. By driving the engaging elements back and forth towards the surface structure in a periodic and time shifted manner, a linear motion can be brought about.

摘要翻译： 本发明涉及一种电动机系统，电动机以及包括该电机系统的电动机。 根据本发明，提供一种电动机，其包括其上具有周期表面的齿条，其被多个接合元件接合。 通过以周期性和时间移动的方式朝向表面结构来回驱动接合元件，可以产生线性运动。

公开(公告)号：US20090129900A1

公开(公告)日：2009-05-21

申请号：US12272250

申请日：2008-11-17

申请人： Takao Ito ,  Shunichi Shiriya ,  Seiji Nakoshi ,  Toshihiro Ojima

发明人： Takao Ito ,  Shunichi Shiriya ,  Seiji Nakoshi ,  Toshihiro Ojima

IPC分类号： B65H7/00

CPC分类号： B25J9/046 ,  B25J9/009 ,  B25J9/042 ,  B25J9/1035 ,  B25J9/1065 ,  B25J18/04 ,  F16H19/04 ,  F16H37/124 ,  F16H2037/128

摘要： A transferring apparatus is composed of a first arm swingably provided around a first axis of a pedestal, a second arm whose length is different to the first arm is swingably provided around a second axis, a hand attached to the front end of the second arm, and a first motor to reciprocatingly swings the first arm provided in the pedestal. A first pinion is fixed to the pedestal concentrically to the first shaft, and a second pinion is fixed to the base end of the second arm concentrically with the second axis. Further, racks are provided in the both of left and right side of the first pinion and the second pinion. A large transferring apparatus is composed so that two transferring apparatus are arranged in one pair, the hand are mutually coupled by a transfer beam.

摘要翻译： 传送装置由可摆动地设置在基座的第一轴线上的第一臂构成，与第一臂的长度不同的第二臂可摆动地围绕第二轴线设置，附接到第二臂的前端的手， 以及第一电动机，用于使设置在基座中的第一臂往复摆动。 第一小齿轮与第一轴同心地固定在基座上，第二小齿轮与第二轴同心地固定到第二臂的基端。 此外，齿条设置在第一小齿轮和第二小齿轮的左右两侧。 组合了大的传送装置，使得两个传送装置一对布置，手由传送光束相互耦合。

公开(公告)号：US09272412B2

公开(公告)日：2016-03-01

申请号：US14086985

申请日：2013-11-22

申请人： HON HAI PRECISION INDUSTRY CO., LTD.

发明人： Ming-Lung Guo

IPC分类号： B25J9/04 ,  B25J9/10

CPC分类号： B25J9/041 ,  B25J9/1035

摘要： A workpiece transfer device includes a base, a rotating portion rotatably mounted on the base, and a transfer mechanism mounted on the rotating portion. The transfer mechanism includes a rotational housing, at least one bearing table, and a driving device. The bearing table is received in the rotational housing. The bearing table is configured to support a workpiece. The driving device is operable to drive the bearing table to slide in the rotational housing.

摘要翻译： 工件传送装置包括基座，可旋转地安装在基座上的旋转部分和安装在旋转部分上的传送机构。 传送机构包括旋转壳体，至少一个轴承台和驱动装置。 轴承台被接收在旋转外壳中。 轴承台配置为支撑工件。 驱动装置可操作以驱动轴承台在旋转壳体中滑动。

公开(公告)号：US20140196561A1

公开(公告)日：2014-07-17

申请号：US14155361

申请日：2014-01-15

申请人： KABUSHIKI KAISHA YASKAWA DENKI

发明人： Shingi TAKAHASHI ,  Takuya OKADA ,  Tomoyuki SHIRAKI

IPC分类号： B25J18/04 ,  B25J17/02

CPC分类号： B25J18/04 ,  B25J9/1035 ,  B25J17/02 ,  B25J17/025 ,  Y10T74/20317 ,  Y10T74/20335

摘要： A robot according to an embodiment includes a first link, a second link, an actuator, and an external gear. The second link is rotatably connected to the first link. The actuator rotationally drives the second link. The external gear is connected to the actuator. The second link includes an internal gear engaged with the external gear.

摘要翻译： 根据实施例的机器人包括第一连杆，第二连杆，致动器和外部齿轮。 第二连杆可旋转地连接到第一连杆。 致动器旋转地驱动第二连杆。 外部齿轮连接到执行机构。 第二连杆包括与外齿轮接合的内齿轮。

公开(公告)号：US5006035A

公开(公告)日：1991-04-09

申请号：US346280

申请日：1989-03-31

申请人： Seiichiro Nakashima ,  Kenichi Toyoda ,  Nobutoshi Torii

发明人： Seiichiro Nakashima ,  Kenichi Toyoda ,  Nobutoshi Torii

IPC分类号： B25J9/04 ,  B25J9/06 ,  B25J9/10 ,  B25J9/12 ,  B25J19/00 ,  G05B19/23

CPC分类号： B25J9/046 ,  B25J19/0029 ,  B25J19/005 ,  B25J9/1035 ,  B25J9/12 ,  G05B19/23 ,  G05B2219/45083 ,  G05B2219/50078 ,  G05B2219/50084

摘要： An industrial robot has a robot unit (10) comprising a fixed base (12) and movable robot components (16, 18, 20) operatively controlled by driving motors (M.theta., MW, MU, M.alpha., M.beta., M.gamma.) provided with absolute position detecting encoders (EC.theta., ECW, ECU, EC.alpha., EC.beta., EC.gamma.). The swivel body (16) among the movable robot components, mounted on the fixed base (12) is mounted, on its mount, with the driving motor (M.theta.) for operatively controlling the same, and is mounted with and holds a battery (46) for supplying a backup voltage to the encoders of the driving motors (MW, MU, M.alpha., M.beta., M.gamma.) for operatively controlling the movable robot components (18, 20). The battery is connected electrically by cables (48, 49) to the encoders (EC.theta., ECW, ECU, EC.alpha., EC.beta., EC.gamma.).

摘要翻译： 工业机器人具有机器人单元（10），其包括固定基座（12）和通过驱动马达（Mθ，MW，MU，Mα，Mβ，Mγ）可操作地控制的可移动机器人部件（16,18,20） 提供绝对位置检测编码器（EC theta，ECW，ECU，EC alpha，EC beta，EC gamma）。 安装在固定基座（12）上的可移动机器人部件中的旋转体（16）在其安装件上安装有用于可操作地控制其的驱动电动机（Mθ），并且安装并保持电池 46，用于向驱动电动机（MW，MU，Mα，Mβ，Mγ）的编码器提供备用电压，用于可操作地控制可移动机器人部件（18,20）。 电池通过电缆（48,49）电连接到编码器（ECθ，ECW，ECU，EC alpha，EC beta，EC gamma）。

公开(公告)号：US4828451A

公开(公告)日：1989-05-09

申请号：US81744

申请日：1987-08-05

申请人： Tadafumi Mikoshi ,  Hitoshi Oka ,  Akira Fukuda

发明人： Tadafumi Mikoshi ,  Hitoshi Oka ,  Akira Fukuda

IPC分类号： B25J9/04 ,  B25J9/06 ,  B25J9/10 ,  B25J9/16 ,  B25J17/02 ,  B25J19/00 ,  G05B19/18

CPC分类号： G05B19/182 ,  B25J17/0258 ,  B25J19/0008 ,  B25J9/046 ,  B25J9/06 ,  B25J9/1035 ,  B25J9/1666 ,  B25J9/1676 ,  G05B2219/39364 ,  G05B2219/40362

摘要： An industrial robot provided with at least six joints and adapted to have at least six degrees of freedom, wherein rotational joints rotatable around axes extending lengthwise of the arm and bending joints swingable around perpendicular axes extending perpendicularly to the lengthwise direction of the arm, thereby enabling the position and attitude control for a wrist at the arm and the obstacle avoiding control to change height of an elbow portion at the arm so as to avoid the obstacle.

摘要翻译： 一种具有至少六个接头并适于具有至少六个自由度的工业机器人，其中旋转接头可围绕臂纵向延伸的轴线旋转，并且弯曲接头围绕垂直于臂的纵向方向延伸的垂直轴线摆动，从而使能 在手臂处的手腕的位置和姿态控制以及障碍物避免控制以改变手臂处的肘部的高度，以避免障碍。

公开(公告)号：US3760956A

公开(公告)日：1973-09-25

申请号：US3760956D

申请日：1971-08-23

申请人： BURCH CONTROLS INC

发明人： BURCH A

IPC分类号： B25J5/02 ,  B25J9/04 ,  B25J9/10 ,  B25J18/02 ,  G05B19/06 ,  B25J9/00

CPC分类号： B25J5/02 ,  B25J9/041 ,  B25J9/101 ,  B25J9/1035 ,  B25J18/02 ,  G05B19/063

摘要： An article-handling apparatus having a roller-supported base and a telescopic post assembly extending upwardly from the base. The telescopic post assembly includes a first post section secured to the base and a second post section slidably supported on the first post section and interconnected thereto by a first drive unit, such as a fluid pressure cylinder. A telescopically extendible boom assembly is rotatably supported on the upper end of the second post section and a second drive unit coacts therebetween for permitting selected swinging movement of the boom assembly. The boom assembly includes a telescopically extendible and retractable section which moves substantially radially relative to the post assembly and is movably controlled by a third drive unit, also preferably a fluid pressure cylinder. The movable boom section has an article gripping device mounted thereon which includes relatively movable gripping jaws controlled by a fourth drive unit, also preferably a fluid pressure cylinder. The base may be provided with a fifth drive unit for causing rotation of the support rollers to permit the apparatus to be rollingly moved between remote locations.

摘要翻译： 一种物品处理装置，具有一个辊支撑的基座和一个从基座向上延伸的伸缩柱组件。 伸缩柱组件包括固定到基座的第一柱部分和可滑动地支撑在第一柱部分上并通过诸如流体压力缸的第一驱动单元与其相互连接的第二柱部分。 可伸缩伸缩臂组件可旋转地支撑在第二柱部分的上端上，第二驱动单元与它们之间共同作用，以允许悬臂组件的选择的摆动运动。 起重臂组件包括可伸缩伸缩的部分，其相对于柱组件基本上径向移动，并且可由第三驱动单元，优选流体压力缸可动地控制。 活动臂部具有安装在其上的物品夹持装置，其包括由第四驱动单元控制的相对可动的夹爪，还优选为流体压力缸。 基座可以设置有第五驱动单元，用于使支撑辊旋转以允许装置在远程位置之间滚动移动。

公开(公告)号：US20170072561A1

公开(公告)日：2017-03-16

申请号：US15261127

申请日：2016-09-09

申请人： Karl Storz GmbH & Co. KG

发明人： Sebastian Schlegel ,  Bastian Blase

IPC分类号： B25J9/10 ,  F16H1/22 ,  A61B34/00

CPC分类号： B25J9/1035 ,  A61B17/07207 ,  A61B34/30 ,  A61B34/70 ,  A61B2017/00473 ,  A61B2017/00477 ,  A61B2034/302 ,  F16H1/22 ,  Y10S901/25

摘要： A minimally invasive manipulating system and a manipulating apparatus for instruments are disclosed. The apparatus comprises a frame and at least one instrument carrier including a holding section for an instrument arm. The instrument carrier is movably mounted to the frame and arranged to be coupled with at least one drive. The instrument carrier is at least sectionally rotatable about its longitudinal axis. The holding section comprises a driving interface that involves at least one transmission port. An instrument drive is assigned to the transmission port. The instrument carrier comprises a transmission section in which at least one transmission element is arranged that is configured for motion transmission between the instrument drive and the transmission port. The at least one transmission element is arranged concentrically with respect to the longitudinal axis. The transmission port is arranged off-center with respect to the longitudinal axis.

摘要翻译： 公开了微创操纵系统和仪器操纵装置。 该装置包括框架和至少一个仪器载体，其包括用于仪器臂的保持部分。 仪器载体可移动地安装到框架并布置成与至少一个驱动器联接。 仪器载体至少可围绕其纵向轴线旋转。 保持部分包括涉及至少一个传输端口的驱动接口。 仪表驱动器被分配到传输端口。 仪器载体包括传输部分，其中布置有至少一个传输元件，其构造成用于仪器驱动器和传输端口之间的运动传输。 至少一个传动元件相对于纵向轴线同心地布置。 传输端口相对于纵向轴线偏心设置。

公开(公告)号：US20100096868A1

公开(公告)日：2010-04-22

申请号：US12531280

申请日：2008-08-19

申请人： Mohsen Saadat

发明人： Mohsen Saadat

IPC分类号： B25J15/00 ,  B25J15/02 ,  B25J15/08

CPC分类号： B25J15/08 ,  B25J9/1035 ,  B25J9/104 ,  B25J9/105 ,  B25J9/1065 ,  B25J9/109 ,  B25J15/0266 ,  B25J15/106

摘要： The invention relates to a gripper mechanism for machines, robots and manipulation devices, comprising at least one moving gripping finger, operated by coupling to an operating mechanism by two drive shafts. As a result of operating the gripping finger by two connecting bars, in turn each driven by the drive shafts, it is possible to move the gripping finger through a rotation over 180° through the path or range thereof and hence securely transmit forces and torques without tipping or getting in an unstable position. According to the invention, the drive shafts are divided axially into at least two parts in order to be housed completely in an enclosed and unitary gripper housing, protected from dust and dirt and hermetically sealed. The different parts of the drive shafts are centered on one another and positively connected by means of axial toothing, in the form of pinion gears and pins, and have a carrier support bearing.

摘要翻译： 本发明涉及一种用于机器，机器人和操纵装置的夹持机构，包括至少一个移动的夹持指状物，其通过由两个驱动轴联接到操作机构而操作。 作为由两个连接杆操作夹持指状物的结果，其又由驱动轴驱动，可以通过其夹持通道或其范围通过超过180°的旋转来移动夹持指状物，并且因此可以牢固地传递力和扭矩而没有 倾斜或处于不稳定的位置。 根据本发明，驱动轴被轴向分成至少两个部分，以便完全容纳在封闭且整体的夹持器壳体中，防止灰尘和污物并被密封。 驱动轴的不同部分彼此对中并且以小齿轮和销的形式通过轴向齿形正确连接，并且具有载体支撑轴承。