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公开(公告)号：US11964379B2
公开(公告)日：2024-04-23
申请号：US17588805
申请日：2022-01-31
发明人： Scott Wilkas , Martin Hosek
CPC分类号： B25J11/0095 , B25J9/0087 , B25J9/02 , B25J9/105
摘要： An apparatus includes a first arm comprising an unequal-link linkage having a first end effector; a second arm comprising an equal-link linkage having a second end effector; and a drive unit coupled to the first arm and the second arm, the drive unit being configured to move the first arm and the second arm. The first end effector is asymmetric to the second end effector. The first end effector is angled relative to the second end effector such that a first substrate support section on the first end effector is not positioned over or under a second substrate support section on the second end effector.
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公开(公告)号：US09950423B2
公开(公告)日：2018-04-24
申请号：US14784389
申请日：2014-04-11
申请人： KUKA Roboter GmbH
发明人： Rainer Krumbacher , Andre Reekers
CPC分类号： B25J9/105 , B25J9/0024 , B25J9/046 , B25J9/126 , Y10S901/23
摘要： An industrial robot includes a robot arm with multiple elements connected via joints, one element of which is designed as a linkage and another designed as an arm extension. The arm extension is mounted on one side of the linkage in a pivotal manner about a rotational axis by one of the joints and supports at least two other elements which form hand elements of the robot arm. An arm extension drive on the arm extension pivots the arm extension relative to the linkage, and a first hand element drive on the arm extension moves one of the hand elements relative to the arm extension. A motor shaft of the arm extension drive on the arm extension is offset from and runs parallel to the rotational axis, and a motor shaft of the first hand element drive on the arm extension is perpendicular to and spaced from the rotational axis.
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公开(公告)号：US20180056509A1
公开(公告)日：2018-03-01
申请号：US15803966
申请日：2017-11-06
IPC分类号： B25J9/04 , B25J18/04 , B25J15/00 , H01L21/677
CPC分类号： B25J9/043 , B25J9/042 , B25J9/104 , B25J9/105 , B25J15/0014 , B25J15/0052 , B25J18/04 , H01L21/67742 , Y10S901/14 , Y10S901/27
摘要： A transport apparatus including a drive; a first arm connected to the drive, where the first arm includes a first link, a second link and an end effector connected in series with the drive, where the first link and the second link have different effective lengths; and a system for limiting rotation of the end effector relative to the second link to provide substantially only straight movement of the end effector relative to the drive when the first arm is extended or retracted.
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公开(公告)号：US20170100198A1
公开(公告)日：2017-04-13
申请号：US15332881
申请日：2016-10-24
发明人： Brett Zubiate , Howard Choset
CPC分类号： A61B34/30 , A61B1/0055 , A61B1/0057 , A61B1/008 , A61B34/70 , A61B34/71 , A61B2017/00314 , A61B2017/00323 , A61B2034/301 , A61B2034/306 , A61B2034/715 , B25J9/065 , B25J9/104 , B25J9/105 , Y10S901/21
摘要： An articulate probe device includes a first mechanism, a second mechanism, and an overtube mechanism. The first mechanism includes a proximal link which is movable coupled to a first intermediate link, a plurality of intermediate links, and a distal link which is moveably coupled to a second one of the intermediate links. The second mechanism includes a proximal link which is movable coupled to a first intermediate link, a plurality of intermediate links, and a distal link which is moveably coupled to a second one of the intermediate links. The overtube mechanism includes a proximal link which is movable coupled to a first intermediate link, a plurality of intermediate links, and a proximal link which is moveably coupled to a second one of the intermediate links. Further, at least one of the first mechanism, second mechanism, and overtube mechanism is steerable and extendable beyond the other mechanisms.
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公开(公告)号：US20140205416A1
公开(公告)日：2014-07-24
申请号：US13833732
申请日：2013-03-15
IPC分类号： B25J18/04
CPC分类号： B25J9/043 , B25J9/042 , B25J9/104 , B25J9/105 , B25J15/0014 , B25J15/0052 , B25J18/04 , H01L21/67742 , Y10S901/14 , Y10S901/27
摘要： A transport apparatus including a drive; a first arm connected to the drive, where the first arm includes a first link, a second link and an end effector connected in series with the drive, where the first link and the second link have different effective lengths; and a system for limiting rotation of the end effector relative to the second link to provide substantially only straight movement of the end effector relative to the drive when the first arm is extended or retracted.
摘要翻译： 一种包括驱动器的输送装置; 连接到所述驱动器的第一臂，其中所述第一臂包括与所述驱动器串联连接的第一连杆，第二连杆和末端执行器，其中所述第一连杆和所述第二连杆具有不同的有效长度; 以及用于限制端部执行器相对于第二连杆的旋转的系统，以在第一臂伸出或缩回时基本上仅使端部执行器相对于驱动器直线移动。
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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
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。
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公开(公告)号：US20240131728A1
公开(公告)日：2024-04-25
申请号：US18402381
申请日：2024-01-02
申请人： Oshkosh Corporation
CPC分类号： B25J15/0213 , B25J9/105 , B65F3/048
摘要： A fully-electric grabber assembly includes a first grabber arm, a second grabber arm, an electric motor, and a plurality of gears. The plurality of gears includes a first gear coupled with the electric motor, an intermediate gear coupled with the first gear, and an arm gear coupled with the first grabber arm and the intermediate gear to facilitate pivoting the first grabber arm. The first gear is configured to rotate about an axis radially offset from a center thereof.
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公开(公告)号：US11787042B2
公开(公告)日：2023-10-17
申请号：US17115134
申请日：2020-12-08
IPC分类号： B25J9/04 , B25J18/04 , B25J15/00 , H01L21/677 , B25J9/10
CPC分类号： B25J9/043 , B25J9/042 , B25J9/105 , B25J15/0014 , B25J15/0052 , B25J18/04 , H01L21/67742 , B25J9/104 , Y10S901/14 , Y10S901/27
摘要： A transport apparatus including a drive with a drive axis and a first arm connected to the drive. The first arm includes a first link, a second link and an end effector connected in series with the drive. The end effector includes a substrate support section and a leg connecting the substrate support section to a wrist joint of the end effector with the second link. The leg has a first section connected to the wrist joint, a second section connected to the substrate support section, and a bend portion between the first and second sections such that the first and second sections are angled or offset relative to each other. Connection of the leg to the second link at the wrist joint is offset relative to a centerline of the substrate support section and offset relative to the drive axis.
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公开(公告)号：US09840004B2
公开(公告)日：2017-12-12
申请号：US14827506
申请日：2015-08-17
IPC分类号： B25J9/04 , B25J18/04 , B25J15/00 , H01L21/677
CPC分类号： B25J9/043 , B25J9/042 , B25J9/104 , B25J9/105 , B25J15/0014 , B25J15/0052 , B25J18/04 , H01L21/67742 , Y10S901/14 , Y10S901/27
摘要： A transport apparatus including a drive; a first arm connected to the drive, where the first arm includes a first link, a second link and an end effector connected in series with the drive, where the first link and the second link have different effective lengths; and a system for limiting rotation of the end effector relative to the second link to provide substantially only straight movement of the end effector relative to the drive when the first arm is extended or retracted.
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10.发明申请公开(公告)号：US20160114480A1
公开(公告)日：2016-04-28
申请号：US14784389
申请日：2014-04-11
申请人： KUKA ROBOTER GMBH
发明人： Rainer Krumbacher , Andre Reekers
CPC分类号： B25J9/105 , B25J9/0024 , B25J9/046 , B25J9/126 , Y10S901/23
摘要： An industrial robot includes a robot arm with multiple elements connected via joints, one element of which is designed as a linkage and another designed as an arm extension. The arm extension is mounted on one side of the linkage in a pivotal manner about a rotational axis by one of the joints and supports at least two other elements which form hand elements of the robot arm. An arm extension drive on the arm extension pivots the arm extension relative to the linkage, and a first hand element drive on the arm extension moves one of the hand elements relative to the arm extension. A motor shaft of the arm extension drive on the arm extension is offset from and runs parallel to the rotational axis, and a motor shaft of the first hand element drive on the arm extension is perpendicular to and spaced from the rotational axis.
摘要翻译： 工业机器人包括具有通过接头连接的多个元件的机器人臂，其中一个元件设计为连杆，另一个元件设计为臂伸出部。 臂延伸部通过关节之一围绕旋转轴线枢转地安装在连杆的一侧上，并且支撑形成机器人手臂的手部元件的至少两个其它元件。 臂伸展臂上的手臂延伸驱动装置相对于联动装置枢转臂延伸部分，并且臂伸出部上的第一手部件驱动器相对于手臂伸出部移动一个手部元件。 臂延伸部上的臂延伸驱动器的电动机轴偏离并平行于旋转轴线延伸，并且臂延伸部上的第一手元件驱动器的电机轴垂直于旋转轴线并与其间隔开。
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