公开(公告)号：US10040203B2

公开(公告)日：2018-08-07

申请号：US15807296

申请日：2017-11-08

申请人： FANUC CORPORATION

发明人： Yoshinori Ochiishi

IPC分类号： B25J15/00 ,  B25J15/04 ,  B25J9/12 ,  B25J15/02

CPC分类号： B25J15/0095 ,  B25J9/123 ,  B25J15/0061 ,  B25J15/0253 ,  B25J15/026 ,  B25J15/0433

摘要： A robot hand includes: a first movable member including a first pushing surface pushed against a first surface of a workpiece and a second pushing surface pushed against a second surface of the workpiece, intersecting the first surface, supported in a manner capable of moving in a first direction perpendicular to the first pushing surface, a second movable member supported by the first movable member in a manner capable of relatively moving in a second direction intersecting a movement direction of the first movable member, a third pushing surface pushed against a third surface facing the second surface, an actuator for pressing the first and the second movable members in the first direction, and a pressing force conversion mechanism converting a part of the pressing force generated by the actuator into a pressing force in a direction of moving the second movable member relative to the first movable member.

公开(公告)号：US20170341227A1

公开(公告)日：2017-11-30

申请号：US15604431

申请日：2017-05-24

申请人： Board of Regents, The University of Texas System

发明人： Luis Sentis ,  Nicholas Paine

IPC分类号： B25J9/12 ,  H02K5/24 ,  G01L5/00 ,  H02K11/24 ,  H02K9/197 ,  B25J13/08 ,  B25J9/10 ,  G01L1/04 ,  F16H25/20 ,  F16H25/22

CPC分类号： H02K11/24 ,  B25J9/123 ,  B25J19/0054 ,  B25J19/0091 ,  F16H25/2204 ,  F16H2025/2096 ,  H02K5/20 ,  H02K7/06 ,  H02K9/19

摘要： A robotic actuator may include a series elastic actuator (SEA) that includes an elastic element made of a viscoelastic material. The viscoelastic material may have hardness, stiffness, hysteresis, or damping properties suitable for a particular robotic application. The elastic element may include two portions of the viscoelastic material in compression with each other in the SEA. The SEA may include a motor to generate mechanical power, a speed reduction element to amplify motor torque, an encoder to measure deflection of the viscoelastic elastomer due to an applied force, and a transmission mechanism. The transmission mechanism may be connected to the motor using a pulley and may route mechanical power to an output joint. The SEA may be a prismatic SEA or another type of linear actuator. The motor may include a 3D printed liquid cooling jacket that includes removable fluid seals and that is assembled and disassembled using removable screws.

公开(公告)号：US09776322B2

公开(公告)日：2017-10-03

申请号：US15355489

申请日：2016-11-18

申请人： CellaVision AB

发明人： Jan Nilsson ,  Hans Bengtsson ,  Ragnar Segersten ,  Conny Gillström

IPC分类号： B25J9/12 ,  G01N35/00

CPC分类号： B25J9/123 ,  G01N35/00029 ,  G01N35/0099 ,  G01N2035/00039 ,  Y10T74/20317

摘要： An analyzer is disclosed for optical analysis of a biological specimen. In at least one embodiment, the analyzer includes optics which includes a camera, intermediate optics and front optics. The intermediate optics is movably arranged and the front optics is fixedly arranged. An analyzer for optical analysis of a biological specimen, in at least one embodiment includes a robot for transporting a slide to be analyzed. The robot is controlled by at least three motors to allow movement of the robot in three dimensions. The robot includes a handling device configured to grip the slide.

公开(公告)号：US20170247201A1

公开(公告)日：2017-08-31

申请号：US15589964

申请日：2017-05-08

申请人： BECKHOFF AUTOMATION GMBH

发明人： Uwe Prüssmeier

IPC分类号： B65G54/02 ,  H02K16/04 ,  H02K41/03 ,  H02K7/14 ,  B65G35/06 ,  B65G47/96

CPC分类号： B65G54/02 ,  B25J5/02 ,  B25J9/023 ,  B25J9/123 ,  B65G35/06 ,  B65G47/962 ,  H02K7/14 ,  H02K16/00 ,  H02K16/04 ,  H02K41/031

摘要： A linear transport system can have a carriage guide rail having a first and a second carriage, which are arranged in such a way that they can be moved independently of one another on the carriage guide. The XY table for this linear transport system can comprise a carrying structure and a first and a second linear guide, which are embodied with an angular offset relative to one another and each have a first and a second guide element, e.g., which can be moved relative to one another along a linear track. In one arrangement, the first guide elements of the first and second linear guides are connected to the carrying structure. The second guide element of the second linear guide can be connected to the first carriage and the second guide element of the second linear guide can be connected to the second carriage.

公开(公告)号：US20170005596A1

公开(公告)日：2017-01-05

申请号：US15194943

申请日：2016-06-28

申请人： Seiko Epson Corporation

发明人： Tomoaki TAKAHASHI

IPC分类号： H02N2/00 ,  B25J17/00 ,  B25J9/12

CPC分类号： H02N2/0075 ,  B25J9/123 ,  B25J15/0293 ,  H02N2/004 ,  H02N2/026 ,  H02N2/103

摘要： The invention relates to a piezoelectric actuator including: a first piezoelectric vibrator including a first diaphragm and first piezoelectric elements that are provided on the first diaphragm and include a first electrode, a second electrode, and a piezoelectric material layer held by the first electrode and the second electrode; a second piezoelectric vibrator including a second diaphragm and second piezoelectric elements that are provided on the second diaphragm and include a first electrode, a second electrode, and a piezoelectric material layer held by the first electrode and the second electrode; and an inductor. The layout of the first piezoelectric vibrator in the first diaphragm is the same as the layout of the second piezoelectric vibrator in the second diaphragm. The positions of the first piezoelectric elements on the first diaphragm correspond to the positions of the second piezoelectric elements on the second diaphragm. The second electrode of the first piezoelectric elements corresponds to the second electrode of the second piezoelectric elements. The corresponding second electrodes are connected via the inductor.

摘要翻译： 本发明涉及一种压电致动器，包括：第一压电振动器，包括第一膜片和第一压电元件，所述第一压电元件设置在第一膜片上，并且包括第一电极，第二电极和由第一电极保持的压电材料层， 第二电极; 第二压电振子，包括设置在所述第二振膜上的第二振动膜和第二压电元件，并且包括由所述第一电极和所述第二电极保持的第一电极，第二电极和压电材料层; 和电感器。 第一隔膜中的第一压电振动器的布局与第二隔膜中的第二压电振动器的布局相同。 第一隔膜上的第一压电元件的位置对应于第二隔膜上的第二压电元件的位置。 第一压电元件的第二电极对应于第二压电元件的第二电极。 相应的第二电极通过电感器连接。

公开(公告)号：US20160167224A1

公开(公告)日：2016-06-16

申请号：US14566271

申请日：2014-12-10

申请人： Oceaneering International, Inc.

发明人： Samuel T. Foster ,  Eric A. King ,  Stephen F. Fromyer ,  Stephen Sywak

IPC分类号： B25J9/12 ,  G05B11/01 ,  F16H25/20

CPC分类号： B25J9/123 ,  A63G31/06 ,  F16H25/20 ,  G05B11/011 ,  G09B9/12

摘要： A motion base comprises lower and upper plates, a plurality of lateral stabilizers coupled in-between and connected to the lower and upper plates, a plurality of actuators, and one or more associated active controllers. Actuators typically comprise a body operatively connected to the upper plate and the lower plate, a rod movably disposed at least partially within the body, where the rod and body define an actuator effective length; and a controllable rod extender configured to selectively extend the rod out from and retract the rod into the body. After determining a desired parameter such as length and an actual parameter such as length, velocity, acceleration, impulse, force, or the like, or a combination thereof for each of the plurality of actuators, a control signal is sent to each controllable rod extender as needed to change the current effective state of that parameter of each actuator by moving each such actuator's extendable rod into or out from each such actuator's body such that the current parameter for each of the plurality of actuators matches the desired parameter for that actuator.

摘要翻译： 运动基座包括下板和上板，耦合在其中并连接到下板和上板之间的多个横向稳定器，多个致动器以及一个或多个相关联的主动控制器。 致动器通常包括可操作地连接到上板和下板的主体，至少部分地可移动地设置在主体内的杆，其中杆和主体限定致动器的有效长度; 以及可控制的杆延伸器，其构造成选择性地将杆伸出并将杆缩回到主体中。 在确定多个致动器中的每个的长度和实际参数（诸如长度，速度，加速度，脉冲，力等）或其组合的期望参数之后，将控制信号发送到每个可控制的扩展器 根据需要通过将每个这样的致动器的可延伸杆移动到每个这样的致动器本体中或从每个这样的致动器本体移出来改变每个致动器的该参数的当前有效状态，使得多个致动器中的每一个的每个的当前参数匹配该致动器的期望参数。

公开(公告)号：US5248923A

公开(公告)日：1993-09-28

申请号：US700162

申请日：1991-05-15

申请人： Kaoru Kimura ,  Syuichi Tounai ,  Toshio Omata

发明人： Kaoru Kimura ,  Syuichi Tounai ,  Toshio Omata

IPC分类号： B25J9/06 ,  B25J5/00 ,  B25J9/12 ,  H02K41/03

CPC分类号： H02K41/033 ,  B25J5/00 ,  B25J9/123 ,  H02K2201/18 ,  Y10T74/20317

摘要： In order to obtain a manipulator using a plane pulse motor showing advantageous features such that even in a case where a moment of force is applied to the manipulator in a falling direction, the moment can be sustained by magnetic attraction caused by the pulse motor, the weight of the manipulator is reduced, the degree of freedom of the movement can be increased, and a rotating mechanism for a tool itself is eliminated; a plurality of movable members are provided on a stator of the plane pulse motor, a rotatable shaft is provided on each movable member so as to extend vertically, the rotatable shafts are connected with each other through a connecting member, a required tool is secured to the connecting member, and the movements of the movable members are made controllable in a manner correlated with each other. The manipulator using the plane pulse motor of the aforementioned construction is most adapted to be used in combination with an industrial robot and the like.

公开(公告)号：US20190145748A1

公开(公告)日：2019-05-16

申请号：US16092430

申请日：2017-03-31

申请人： RENISHAW PLC

发明人： Stephen Mark ANGOOD

IPC分类号： G01B5/00 ,  B25J19/00 ,  B25J9/00 ,  B25J9/12

CPC分类号： G01B5/0004 ,  B25J9/0012 ,  B25J9/0066 ,  B25J9/123 ,  B25J19/0016 ,  G01B5/0002 ,  G01B5/0014 ,  G01B5/0016

摘要： A non-Cartesian coordinate positioning machine that includes an extendable leg assembly for positioning a component such as a measurement probe within a working volume of the machine. The extendable leg assembly includes a first member and a second member which move relative to one another when the extendable leg assembly changes length. The first member including an axial arrangement of magnets forming part of a linear motor for extending and retracting the extendable leg assembly, and at least one resilient member for absorbing at least some of any axial thermal expansion or contraction of the magnets in use.

公开(公告)号：US20190084165A1

公开(公告)日：2019-03-21

申请号：US16188921

申请日：2018-11-13

申请人： Soft Robotics, Inc.

发明人： Jeffrey CURHAN ,  Craig DEMELLO ,  Thomas WOMERSLEY ,  William GUNNER

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

CPC分类号： B25J15/0023 ,  B25J9/1005 ,  B25J9/123 ,  B25J9/142 ,  B25J15/0213 ,  B25J15/026 ,  B25J15/103 ,  B25J15/12

摘要： Exemplary embodiments relate to unique structures for robotic end-of-arm-tools (EOATs). According to some embodiments, two or more fingers or actuators may be present on an EOAT, and the actuators may be connected to a hub through one or more sets of pivots attached to linkages that allow the distances between the pivots to be varied. Compared to conventional EOATs, exemplary embodiments increase the range of motion of the actuators, improve grip posture, boost gripping force, and balance the loads on the actuators.

公开(公告)号：US20180116172A1

公开(公告)日：2018-05-03

申请号：US15797530

申请日：2017-10-30

申请人： Lely Patent N.V.

发明人： Dirk Kraaij ,  Michiel Brevet

IPC分类号： A01K1/12 ,  B25J9/16 ,  A01J5/003

CPC分类号： A01K1/12 ,  A01J5/003 ,  A01J5/017 ,  B25J9/046 ,  B25J9/123 ,  B25J9/144 ,  B25J9/1633 ,  B25J19/0012 ,  B25J19/0016 ,  G05B2219/45113 ,  Y10S901/02

摘要： Milking robot device for automatically milking a dairy animal, comprising a milking box having milking cups and a robot arm having an end effector for applying the milking cups to the teats of the dairy animal, on which milking box the robot arm is suspended above the dairy animal to be milked. The robot arm comprises a first arm part connected to the milking box by a first joint, and a second arm part connected to the first arm part by a second joint and provided with an end effector. The first and second arm part, respectively, is pivotable in a vertical plane with respect to the milking box and the first arm part, respectively, by a first and second actuator, respectively. The end effector is movable within an operating range by the robot arm. The milking robot comprises a weight compensation device having a spring device between the milking box and the robot arm. This is configured to exert a first torque about the first joint and a second torque about the second joint, in such a way that, viewed over the operating range, the first torque compensates for the torque exerted by gravity on the arm about the first joint by at least half, in particular by at least 90%, and the second torque compensates for the torque exerted by gravity on the arm about the second joint by at least half, in particular by at least 90%. Consequently, a compact robot arm is provided, the joints which are suspended relatively high up can be protected from dirt in an efficient manner, and they can be operated using much lighter actuators, so that a great deal of energy can also be saved.