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41. 发明公开

EP2263838A1 CLAMP DEVICE AND TRANSFER ROBOT 有权
标题翻译： KLEMMVORRICHTUNG UND TRANSFERROBOTER
公开(公告)号：EP2263838A1
公开(公告)日：2010-12-22
申请号：EP09722695.5
申请日：2009-03-18
申请人： Toyota Jidosha Kabushiki Kaisha
发明人： AOKI, Sota , TOMIDA, Koji , TOHYAMA, Shinji
IPC分类号： B25J15/08 , B25J9/06 , B25J18/06
CPC分类号： B25J9/06 , B25J5/007 , B25J15/022 , Y10T74/20305
摘要： To provide a clamping device capable of clamping an object even when variations are large, and a wheeled platform. A clamping device 10 includes an actuator that moves straight, a link 2 that extends in a direction perpendicular to a straight-movement direction of the actuator, and a clamp portion 3 rotatably attached at both ends of the link 2, the clamp portion comprising a nail portion 3a to clamp a portion to be clamped 8. The actuator moves straight and the clamp portion 3 rotates in such a manner that the clamp portion 3 opens from the inside toward the outside to clamp the portion to be clamped 8.
摘要翻译：提供即使在变化较大时能够夹持物体的夹紧装置和轮式平台。夹紧装置10包括直线移动的致动器，沿着与致动器的直线运动方向垂直的方向延伸的连杆2，以及可旋转地安装在连杆2的两端的夹紧部3，夹持部包括钉子部分3a夹紧待夹紧的部分8.致动器直线移动，并且夹紧部分3以这样的方式旋转，使得夹持部分3从内侧向外部打开以夹紧待夹紧部分8。

42. 发明授权

EP1922181B1 MODULE FOR THE MANUFACTURING OF AUTOMATED MOVING STRUCTURE AND AUTOMATED MOVING MODULAR STRUCTURE 有权
标题翻译：模块用于制作自动移动结构和模块化结构以及自动移动
公开(公告)号：EP1922181B1
公开(公告)日：2010-12-08
申请号：EP06795145.9
申请日：2006-07-19
申请人： Salpo S.r.l.
发明人： VACCANI, Lucio
IPC分类号： B25J18/06
CPC分类号： B25J9/06 , B25J18/06 , Y10T74/20305 , Y10T74/20329
摘要： A module (1) for the manufacturing of automated moving structures, comprising a first substantially plate-like element (2) and a second substantially plate-like element (3), which face each other and are mutually articulated so that they can oscillate by way of the interposition of hinge means (4) and means (5) for actuating the relative oscillation of the first and second substantially plate-like elements. The automated moving modular structure comprises two or more modules (1) arranged in series to each other; the second substantially plate-like element (3) of each module (1) coincides with the first substantially plate-like element (2) of the module (1) that follows it.

43. 发明公开

EP2079564A2 STEERABLE MULTI-LINKED DEVICE HAVING A MODULAR LINK ASSEMBLY 有权
标题翻译：具有多个连接和模块化连接组件可控装置
公开(公告)号：EP2079564A2
公开(公告)日：2009-07-22
申请号：EP07863475.5
申请日：2007-10-24
申请人： Cardiorobotics, Inc.
发明人： ZUBIATE, Brett , CHOSET, Howie , DEGANI, Amir , SCHWERIN, Michael
IPC分类号： B25J17/02
CPC分类号： F16G13/18 , A61B1/005 , A61B90/50 , A61B2017/003 , A61M25/0105 , B25J9/06 , B25J18/06 , Y10T74/20213 , Y10T74/20305
摘要： A steerable multi-linked device. The device includes a first multi-linked mechanism and a second multi-linked mechanism. At least one of the first and second multi-linked mechanisms is steerable and includes a modular link assembly at an end thereof. The modular link assembly includes a base, and a tip removably connected to the base.

44. 发明公开

EP1976672A1 ROBOTIC ARMS WITH COAXIALLY MOUNTED HELICAL SPRING MEANS 有权
标题翻译：与同轴安装线圈弹簧装置的机器人手臂
公开(公告)号：EP1976672A1
公开(公告)日：2008-10-08
申请号：EP07700337.4
申请日：2007-01-08
申请人： Oliver Crispin Robotics Limited
发明人： BUCKINGHAM, Robert, Oliver , GRAHAM, Andrew, Crispin
IPC分类号： B25J18/06
CPC分类号： B25J18/06 , A61B2034/306 , B25J9/06 , B25J9/104 , Y10T74/20323
摘要： A robotic arm comprising a plurality of segments (10) , each comprising articulated links (11) , and means (24) for causing each segment to bend so the arm can follow a serpentine path. A helical spring (37) is provided coaxially with the arm to urge the links to an initial datum position, and to distribute the bending over the links of each segment .

45. 发明授权

EP1498228B1 Articulated robot 有权
标题翻译：关节臂
公开(公告)号：EP1498228B1
公开(公告)日：2007-09-12
申请号：EP04016447.7
申请日：2004-07-13
申请人： KAWASAKI JUKOGYO KABUSHIKI KAISHA
发明人： Hashimoto, Yasuhiko , Yamaki, Eiichi
IPC分类号： B25J9/04 , B25J9/06 , H01L21/68
CPC分类号： B25J9/06 , B25J9/042 , H01L21/67766 , Y10T74/20305

46. 发明公开

EP1800808A1 PROCESSING AND TRANSFERRING APPARATUS 有权
标题翻译：加工和转移设备
公开(公告)号：EP1800808A1
公开(公告)日：2007-06-27
申请号：EP05785701.3
申请日：2005-09-21
申请人： HONDA MOTOR CO., Ltd.
发明人： OHTAKE, Yoshito, HONDA ENGINEERING CO., LTD. , MIWA, Hiroshi, HONDA ENGINEERING CO., LTD. , KITAMURA, Nagahisa, HONDA ENGINEERING CO., LTD.
IPC分类号： B25J9/06 , B62D65/06 , B62D65/18
CPC分类号： B25J5/02 , B25J9/0084 , B25J9/0087 , B25J9/046 , B25J9/06 , Y10T29/5177 , Y10T29/53974
摘要： It is an object to provide a machining and conveying apparatus in which a moving range of a movable arm is widened and a degree of operational freedom of the movable arm is heightened so that constraint of a work machining condition can be eased.
A machining and conveying apparatus 1 has a first rotational moving unit 15 that is provided between a base end of a movable arm 2 and a base plate 16 so as to rotationally move the movable arm 2 about a rotation shaft 14 vertical to rotation shafts 5, 6 and 7 of joints of the movable arm 2, and a second rotational moving unit 20 that is provided to an arm piece 11 at the base end of the movable arm 2 so as to rotationally move the movable arm 2 about a rotation shaft 19 vertical to both the rotation shaft 14 of the first rotational moving unit and the rotation shafts 5, 6 and 7 of the joints.
摘要翻译：其目的在于提供一种加工输送装置，该加工输送装置的可动臂的移动范围变宽，可动臂的操作自由度变高，能够缓和加工条件的制约。加工输送装置1具有：第一旋转移动单元15，其设置在可动臂2的基端与底板16之间，以使可动臂2绕与旋转轴5垂直的旋转轴14旋转移动; 第一旋转移动单元20设置于可动臂2的基端的臂片11上，以使可动臂2围绕旋转轴19旋转地移动连接到第一旋转移动单元的旋转轴14和接头的旋转轴5,6和7。

47. 发明授权

EP1654517B1 PROVIDING SENSORY FEEDBACK TO THE OPERATOR OF A PORTABLE COORDINATE MEASUREMENT MACHINE 有权
标题翻译： SINN反馈为运营商一个便携式三坐标测量机供养
公开(公告)号：EP1654517B1
公开(公告)日：2006-11-22
申请号：EP04781127.8
申请日：2004-08-13
申请人： FARO TECHNOLOGIES INC.
发明人： RAAB, Simon , SAJEDI, Seyed, Ali , HASLOECHER, Kenneth, J. , BARBER, Marc
IPC分类号： G01B21/04 , G01B5/00 , G01B5/008
CPC分类号： B23Q35/04 , B25J9/06 , B25J17/025 , B25J19/0016 , B25J19/0091 , G01B5/008 , G01B11/005 , G01B11/25 , G01B21/045
摘要： A method for providing feedback to the operator of a portable coordinate measurement machine which comprises an articulated arm having jointed arm segments is presented. The method includes sensing deformation of a portion of the articulated arm when the arm is placed under a load, the deformation being an indication of the magnitude of the external force being applied to the arm, and providing feedback to the operator of the CMM in response to the sensed external forces.

48. 发明公开

EP1654517A1 PROVIDING SENSORY FEEDBACK TO THE OPERATOR OF A PORTABLE COORDINATE MEASUREMENT MACHINE 有权
标题翻译：向便携式坐标测量机的操作者提供感测反馈
公开(公告)号：EP1654517A1
公开(公告)日：2006-05-10
申请号：EP04781127.8
申请日：2004-08-13
申请人： FARO TECHNOLOGIES INC.
发明人： RAAB, Simon , SAJEDI, Seyed, Ali , HASLOECHER, Kenneth, J. , BARBER, Marc
IPC分类号： G01B21/04 , G01B5/00 , G01B5/008
CPC分类号： B23Q35/04 , B25J9/06 , B25J17/025 , B25J19/0016 , B25J19/0091 , G01B5/008 , G01B11/005 , G01B11/25 , G01B21/045
摘要： A method for providing feedback to the operator of a portable coordinate measurement machine which comprises an articulated arm having jointed arm segments is presented. The method includes sensing deformation of a portion of the articulated arm when the arm is placed under a load, the deformation being an indication of the magnitude of the external force being applied to the arm, and providing feedback to the operator of the CMM in response to the sensed external forces.
摘要翻译：提出了一种用于向便携式坐标测量机的操作员提供反馈的方法，该便携式坐标测量机包括具有铰接臂段的铰接臂。该方法包括当臂放置在负载下时感测关节臂的一部分的变形，该变形指示施加到臂的外力的大小，并且响应地向CMM的操作者提供反馈感知外力。

49. 发明公开

EP1050383A4 ARM STRUCTURE FOR MAN TYPE WORKING ROBOTS 有权
标题翻译： MANIPULATORARMSTRUKTURFÜRROBOTER MIT MENSCHLICHER MORPHOLOGIE
公开(公告)号：EP1050383A4
公开(公告)日：2002-01-09
申请号：EP98947950
申请日：1998-10-20
申请人： HONDA MOTOR CO LTD
发明人： TAKENAKA TORU , KAWAI TAKAYUKI , HASEGAWA TADAAKI , MATSUMOTO TAKASHI , GOMI HIROSHI , TAKAHASHI HIDEAKI
IPC分类号： B25J19/06 , B25J5/00 , B25J9/06 , B25J17/02 , B25J18/00 , B25J9/00
CPC分类号： B25J9/06 , B25J17/025 , Y10T74/20329
摘要： An arm structure for man type working robots, capable of eliminating to as great an extent as possible the occurrence of a singular point condition of a shoulder joint during a regular operation thereof, and securing a smooth motion of the arm, wherein the positions and attitudes of first to third joints (11, 13, 15) of a shoulder joint unit (5) and a position of an elbow joint (6) with respect to the third joint (15) are set so that the elbow joint (6) is above a horizontal plane (S) passing an intersection of shafts (10, 12, 14) of the first to third joints (11, 13, 15) of the shoulder joint unit (5) when the shoulder joint unit (5) is moved to a singular condition thereof in which the first shaft (10) of the first joint (11) constituting the shoulder joint unit (5) and the third shaft (14) of the third joint (15) thereof become coaxial, with the elbow joint (6) positioned on the side of a trunk (1).
摘要翻译：一种用于人型工作机器人的臂结构，其能够尽可能地消除在其正常操作期间发生肩关节的奇异点状况并确保该臂的平稳运动，其中位置和姿态（5）的第一至第三关节（11,13,15）和肘关节（6）相对于第三关节（15）的位置被设定为使得肘关节（6）为（5）移动时通过肩关节单元（5）的第一至第三关节（11,13,15）的轴（10,12,14）的交点的水平面（S）在构成肩关节单元（5）的第一关节（11）的第一轴（10）和第三关节（15）的第三轴（14）变为同轴的单一状态下，肘关节（6）位于行李箱（1）的侧面。

50. 发明公开

EP1154880A1 SUBSTRATE TRANSPORT APPARATUS WITH MULTIPLE ARMS ON A COMMON AXIS OF ROTATION 审中-公开
标题翻译：设备运送SUBSTRATES具有多一个共同的旋转轴MOTIERTEN ARMS
公开(公告)号：EP1154880A1
公开(公告)日：2001-11-21
申请号：EP99961771.5
申请日：1999-11-23
申请人： BROOKS AUTOMATION, INC.
发明人： HOFMEISTER, Christopher, A.
IPC分类号： B25J18/00 , B25J18/02 , B25J9/06
CPC分类号： B25J9/06 , B25J9/042 , H01L21/67766 , Y10S414/137
摘要： A substrate transport apparatus B having a drive section (24), two independently movable arm assemblies (66, 68) connected to the drive section on a common axis of rotation D, and substrate holders (38, 39) connected to the arm assemblies. The drive section includes three coaxial drive shafts (50a, 50b, 50c) with a pulley connected to one of the shafts. The arm assemblies are connected to respective ones of the two other shafts.

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