公开(公告)号：US20040052630A1

公开(公告)日：2004-03-18

申请号：US10653969

申请日：2003-09-04

申请人： FANUC LTD.

发明人： Byo Nihei ,  Toshihiko Inoue ,  Jun Ibayashi ,  Takatoshi Iwayama

IPC分类号： B25J011/00

CPC分类号： H05K9/0098 ,  B25J13/085 ,  B25J19/0029 ,  B25J19/0075 ,  B25J19/023 ,  Y10T74/20311

摘要： A cable laying structure for a robot, which does not interfere with external devices in a periphery of a forearm. Camera (or force sensor) and hand control cables and motor control cables CB are drawn into a robot mechanism through a connection panel of a base of a robot main body. While allowing the motor control cables to sequentially diverge, the control cables CB are arranged in a robot arm along an upper arm portion and guided to the forearm. The control cables CB are introduced into the forearm with a shield and a sheath removed, and clamped at an appropriate position. After reaching an end effector-mounting face, the control cables CB are connected to a camera (or force sensor) C/S and a hand. The forearm is formed of conductive material and grounded on the base of the robot main body so as to have the same electric potential as the base by using means such as an earth cable or the like, and therefore the forearm is utilized in replacement of the shield.

摘要翻译： 一种用于机器人的电缆敷设结构，其不干扰前臂周围的外部装置。 摄像机（或力传感器）和手控电缆和电机控制电缆CB通过机器人主体的基座的连接面板被拉入机器人机构。 在允许电动机控制电缆顺序发散的同时，控制电缆CB沿着上臂部分布置在机器人手臂中并被引导到前臂。 控制电缆CB被引入前臂中，其中屏蔽层和护套被移除，并被夹紧在适当的位置。 在到达末端执行器安装面之后，控制电缆CB连接到相机（或力传感器）C / S和手。 前臂由导电材料形成，并且在机器人主体的基部上接地，以便通过使用诸如地电缆等的装置与基座具有相同的电位，因此使用前臂来代替 屏蔽。

公开(公告)号：US20030083651A1

公开(公告)日：2003-05-01

申请号：US10310579

申请日：2002-12-04

发明人： Yulun Wang ,  Darrin R. Uecker ,  Keith Phillip Laby ,  Jeff Wilson ,  Steve Jordan ,  James Wright

IPC分类号： A61B018/18 ,  A61B017/04 ,  B25J011/00 ,  A61B017/12 ,  A61B017/06 ,  G06F019/00

CPC分类号： A61B17/11 ,  A61B17/0469 ,  A61B17/29 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B34/70 ,  A61B34/71 ,  A61B34/72 ,  A61B34/75 ,  A61B34/76 ,  A61B34/77 ,  A61B46/10 ,  A61B50/00 ,  A61B90/361 ,  A61B2017/00199 ,  A61B2017/00243 ,  A61B2017/00252 ,  A61B2017/0046 ,  A61B2017/00477 ,  A61B2017/00703 ,  A61B2017/00973 ,  A61B2017/1107 ,  A61B2017/1135 ,  A61B2017/2927 ,  A61B2017/2929 ,  A61B2034/2059 ,  A61B2034/742 ,  A61B2090/064 ,  B25J9/1689 ,  G05B2219/45119

摘要： A system for performing minimally invasive cardiac procedures. The system includes a pair of surgical instruments that are coupled to a pair of robotic arms. The instruments have end effectors that can be manipulated to hold and suture tissue. The robotic arms are coupled to a pair of master handles by a controller. The handles can be moved by the surgeon to produce a corresponding movement of the end effectors. The movement of the handles is scaled so that the end effectors have a corresponding movement that is different, typically smaller, than the movement performed by the hands of the surgeon. The scale factor is adjustable so that the surgeon can control the resolution of the end effector movement. The movement of the end effector can be controlled by an input button, so that the end effector only moves when the button is depressed by the surgeon. The input button allows the surgeon to adjust the position of the handles without moving the end effector, so that the handles can be moved to a more comfortable position. The system may also have a robotically controlled endoscope which allows the surgeon to remotely view the surgical site. A cardiac procedure can be performed by making small incisions in the patient's skin and inserting the instruments and endoscope into the patient. The surgeon manipulates the handles and moves the end effectors to perform a cardiac procedure such as a coronary artery bypass graft.

公开(公告)号：US20010025411A1

公开(公告)日：2001-10-04

申请号：US09825315

申请日：2001-04-03

发明人： Urs Probst

IPC分类号： B23P019/00 ,  B25J011/00

CPC分类号： F16C32/06 ,  B23Q1/38 ,  B23Q1/58 ,  B23Q5/28 ,  B23Q11/0003 ,  F16C29/025 ,  F16C2322/39 ,  Y10T29/53174 ,  Y10T29/53178 ,  Y10T29/53183

摘要： A linear guide comprises a support element and a carriage sliding on the support element. The carriage has two hollow cylinders sliding on an air bearing on the support element and a body arranged between them. The support element and the two hollow cylinders of the carriage are separated by a gap to which compressed air can be applied. A linear motor formed from a u-shaped stator and an armature is foreseen as drive mechanism for the carriage. During operation, heat dissipation occurs in the armature which heats the carriage. In order to maintain changes in the thickness of the gap within predetermined limits, the support element and/or those parts of the carriage whose temperature influence the thickness of the gap are heated to a predetermined temperature.

摘要翻译： 线性引导件包括支撑元件和在支撑元件上滑动的托架。 滑架具有在支撑元件上的空气轴承上滑动的两个中空圆柱体和布置在它们之间的主体。 托架的支撑元件和两个中空圆柱体被可以施加压缩空气的间隙分开。 由U型定子和电枢形成的线性电动机被预见为用于滑架的驱动机构。 在操作过程中，在加热支架的电枢中发生散热。 为了保持间隙厚度在预定限度内的变化，支撑元件和/或其温度影响间隙厚度的托架部分被加热到预定温度。

公开(公告)号：US20040149692A1

公开(公告)日：2004-08-05

申请号：US10670868

申请日：2003-09-25

发明人： Matzoka Masanori

IPC分类号： B25J011/00

CPC分类号： B23K11/314 ,  Y10T409/304256

摘要： A welding robot for spot welding is disclosed. The welding robot is capable of grinding electrode tips promptly and clearly. The welding robot 1 includes a servo gun 5 provided at a front end of a multi-joint arm 2, in which a pair of electrode tips for the spot welding are installed, and a control unit 3 for controlling a servo motor 6 of the servo gun in a welding process or a grinding process of the electrode tips. A dresser 18 for grinding the pair of the electrode tips includes a servo motor 27 for rotating a grinding cutter 30. The control unit 3 controls the servo motor 27 of the dresser and controls the servo motor 6 of the servo gun in order to adjust a pressure of the pair of the electrode tips installed in the servo gun with respect to the cutter. In a finishing grinding process of the electrode tips, the speed of revolution of the cutter is increased and the pressure applied to the cutter is reduced relative to the speed and pressure applied in a rough finishing process.

摘要翻译： 公开了一种用于点焊的焊接机器人。 焊接机器人能够及时清晰地研磨电极头。 焊接机器人1包括设置在多关节臂2的前端的伺服枪5，其中安装有用于点焊的一对电极头，以及用于控制伺服的伺服电动机6的控制单元3 在焊接过程中或电极尖端的磨削过程中。 用于研磨一对电极头的修整器18包括用于旋转磨削机30的伺服电动机27.控制单元3控制修整器的伺服电动机27并且控制伺服电动机的伺服电动机6，以便调整 相对于切割器安装在伺服枪中的一对电极尖端的压力。 在电极尖端的精加工过程中，刀具的旋转速度增加，并且施加到切割器的压力相对于粗加工过程中施加的速度和压力而降低。

公开(公告)号：US20040123353A1

公开(公告)日：2004-06-24

申请号：US10707610

申请日：2003-12-24

申请人： REIS GMBH + CO. MASCHINENFABRIK

发明人： Axel Fischer ,  Eberhard Kroth

IPC分类号： B25J011/00

CPC分类号： B23K26/0884 ,  B25J19/0037

摘要： A buckling arm robot for machining workpieces with laser radiation has at least a first axis, a second axis, a third axis, a fourth axis, and a fifth axis. A laser device is arranged in the second axis and configured to emit a laser beam. The laser beam emitted by the laser device is guided within the third, fourth, and fifth axes before striking a workpiece to be machined.

摘要翻译： 用于用激光辐射加工工件的屈曲臂机器人具有至少第一轴线，第二轴线，第三轴线，第四轴线和第五轴线。 激光装置布置在第二轴上并被配置为发射激光束。 在撞击待加工的工件之前，激光装置发射的激光束在第三，第四和第五轴线内被引导。

公开(公告)号：US20030095859A1

公开(公告)日：2003-05-22

申请号：US09992307

申请日：2001-11-19

发明人： Mark J. Morman

IPC分类号： B25J011/00

CPC分类号： B23Q1/38 ,  B23Q7/10 ,  B23Q7/1431

摘要： A pallet changer is rotatable around a pin which releasably engages a shop floor. A pneumatic load module assembly creates a cushion of air which supports the pallet changer for manual rotation. The pin can be released from the floor to allow linear horizontal movement of the pallet changer or the cushion of air when it is necessary to repair, refurbish or replace equipment adjacent the pallet changer.

摘要翻译： 一个托盘交换器围绕可释放地接合车间的销可旋转。 气动负载模块组件产生支撑用于手动旋转的托盘更换器的空气缓冲垫。 当需要修理，翻新或更换靠近托盘交换器的设备时，销可以从地板释放，以允许托盘交换器或空气缓冲垫的线性水平移动。

公开(公告)号：US20040052628A1

公开(公告)日：2004-03-18

申请号：US10648730

申请日：2003-08-22

发明人： Markus Thurneysen ,  Reymond Clavel

IPC分类号： B25J011/00

CPC分类号： B25J17/0266 ,  B23Q1/4852 ,  B23Q1/5462 ,  B25J9/0039 ,  B25J9/0072 ,  Y10T74/20335 ,  Y10T409/307672 ,  Y10T409/309576

摘要： The invention concerns a kinematic device for supporting and programmably moving a terminal element. The platform (11) bearing the terminal element (12) is linked by four swivel joints (9) and (10) with two legs each consisting of two support rods (7) or (8) forming deformable parallelograms mounted each on slides (3) or (4) mobile in the x direction. The pivot plate (29) articulated on the platform (11) about the hinge pin (30) is controlled by the control rods (27), controlling pivoting (14) and lateral displacement (18) connected respectively by the swivel joints (26, 13 and 17) to the slides (3, 12 and 26). It consists in a parallel kinematics with four degrees of freedom, namely three translational and one rotational whereof the angle can be greater than 120null.

摘要翻译： 本发明涉及用于支持和可编程地移动终端元件的运动学装置。 承载端子元件（12）的平台（11）通过四个旋转接头（9）和（10）连接，两个腿部由两个支撑杆（7）或（8）组成，每个支撑杆（7）或（8）形成在每个载玻片上的可变形平行四边形 ）或（4）在x方向移动。 围绕铰链销（30）铰接在平台（11）上的枢转板（29）由控制杆（27）控制，控制由旋转接头（26）分别连接的枢转（14）和横向位移（18） 13和17）到幻灯片（3,12和26）。 它包括具有四个自由度的平行运动学，即三个平移和一个旋转角度可以大于120°。

公开(公告)号：US20020197139A1

公开(公告)日：2002-12-26

申请号：US10179855

申请日：2002-06-26

发明人： Hiroshi Chinbe ,  Yoshiya Endo ,  Naoki Shimakawa ,  Ichiro Fukuwatari ,  Yoshiaki Hayashida ,  Yoshio Takakura ,  Akio Matsuyama ,  Hideto Kohketsu

IPC分类号： B65B069/00 ,  B25J011/00

CPC分类号： H01L21/67766 ,  Y10S414/138

摘要： The objective of the present invention is to provide a transfer device for substrate capable of preventing deformation or breakage of substrate due to bending stress, by reducing the amount of dead weight deflection of substrate, such as large mother glass boards, etc. Also, on this transfer device for substrate, provided with supporting members in opposite directions disposed in extension from two sides of a storage device, and designed in such a way as to introduce or remove substrate by raising and lowering the hand of a transfer machine inserted into the storage device between said supporting members, said supporting members are comprised of a plurality of supporting members in parallel formed with a gap between the supporting members facing each other and that said hand is comprised of a plurality of transversal hand supporting members in the direction of breadth positioned between said parallel supporting members, and of a longitudinal hand supporting member in the direction of length, positioned between said supporting members facing each other, and connecting said transversal hand supporting members, at the lifting position of the hand.

摘要翻译： 本发明的目的是提供一种能够防止由于弯曲应力引起的基板的变形或断裂的基板的转印装置，通过减少诸如大型母玻璃板等的基板的自重偏转量等。另外，在 该基板传送装置设置有从存储装置的两侧延伸设置的相反方向的支撑构件，并且以这样的方式设计，以便通过升高和降低插入到存储装置中的转印机的手来引入或移除基板 所述支撑构件由多个支撑构件构成，所述多个支撑构件平行地形成有支撑构件彼此面对的间隙，并且所述手由沿着宽度方向的多个横向支撑构件组成 在所述平行的支撑构件之间以及沿着l的方向的纵向手持支撑构件 位于所述支撑构件彼此面对并且在手的提升位置处连接所述横向支撑构件。

公开(公告)号：US20020096956A1

公开(公告)日：2002-07-25

申请号：US09977039

申请日：2001-10-12

发明人： Gamze Erten

IPC分类号： H02K021/12 ,  B25J011/00

CPC分类号： H02K41/031 ,  H02K2201/18

摘要： Magnetic forces are used as a controlled actuation mechanism to move and position objects of interest. In one embodiment, a first spherical surface has at least one magnetic positioner attached. A second spherical surface is positioned to move relative to the first spherical surface. A plurality of controlled electromagnets are spaced about the second spherical surface. Control logic energizes at least one of the controlled electromagnets to create magnetic interaction with at least one magnetic positioner to move the first spherical surface relative to the second spherical surface.

摘要翻译： 磁力被用作控制的致动机构来移动和定位感兴趣的物体。 在一个实施例中，第一球形表面具有附接的至少一个磁性定位器。 第二球形表面被定位成相对于第一球形表面移动。 多个受控电磁体围绕第二球面间隔开。 控制逻辑激励至少一个受控电磁体以产生与至少一个磁性定位器的磁性相互作用，以使第一球形表面相对于第二球形表面移动。

公开(公告)号：US20020026794A1

公开(公告)日：2002-03-07

申请号：US09909548

申请日：2001-07-19

发明人： Mohsen Shahinpoor ,  Kwang J. Kim

IPC分类号： A61F002/08 ,  A61F002/54 ,  A61F002/74 ,  B25J011/00 ,  B64G006/00

CPC分类号： B25J9/1095 ,  A61F2/08 ,  A61F2/50 ,  A61F2002/0894 ,  A61F2002/501 ,  A61F2002/5066 ,  B25J9/0006 ,  B64G6/00

摘要： New artificial muscles and actuators, that are operated by hydrogen gas as working fluid stored interstitially in metal hydrides as a hydrogen sponge. These artificial muscles and actuators are operated both electrically and thermally. The artificial muscles and actuators have fast response, are compact/light-weight, are noiseless, and produce high-power density. They can be used for biomedical, space, defense, micro-machines, and industrial applications.

摘要翻译： 由氢气作为工作流体操作的新的人造肌肉和致动器以空间作为氢海绵间歇地存储在金属氢化物中。 这些人造肌肉和致动器都电和热操作。 人造肌肉和执行器响应快，体积小，重量轻，无噪音，产生高功率密度。 它们可用于生物医学，空间，防御，微型机器和工业应用。