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61. 发明授权

EP0324685B1 Procédé de mise en place d'un robot porte-outils destiné à des interventions en milieu humainement hostile 失效
标题翻译：将工具携带机器人引入人类环境的过程
公开(公告)号：EP0324685B1
公开(公告)日：1992-03-11
申请号：EP89400079.3
申请日：1989-01-11
申请人： HISPANO-SUIZA Société anonyme dite:
发明人： Gery, Daniel Edouard , Meunier, Philippe
IPC分类号： B25J9/06 , B25J18/00 , F22B37/00
CPC分类号： B25J18/00 , B25J9/06 , F22B37/005

62. 发明授权

EP0272205B1 Werkzeug für Roboter und Verwendung des Werkzeugs 失效
标题翻译：机器人工具及使用本工具
公开(公告)号：EP0272205B1
公开(公告)日：1992-01-29
申请号：EP87810641.8
申请日：1987-11-06
申请人： GEBRÜDER SULZER AKTIENGESELLSCHAFT
发明人： Servis, Wilhelm
IPC分类号： B25J15/00 , B25J9/10 , B25J18/00
CPC分类号： B25J9/08 , B25J9/10 , B25J15/00 , B25J18/00 , B25J19/00 , B25J19/0054

63. 发明授权

EP0187871B1 INDUSTRIAL ROBOT HAVING VARIABLE ARM STRUCTURE 失效
标题翻译：具有可变ARM结构的工业机器人
公开(公告)号：EP0187871B1
公开(公告)日：1991-06-26
申请号：EP85903705.3
申请日：1985-07-23
申请人： FANUC LTD.
发明人： NAKASHIMA, Seiichiro , TOYODA, Kenichi , TORII, Nobutoshi , TERADA, Akihiro , MIZUNO, Hitoshi Fanuc Hino Shataku 307
IPC分类号： B25J18/00
CPC分类号： B25J9/08 , B25J18/00
摘要： An industrial robot, in which the length of an arm tube (120) can be varied as necessary, consisting of an elbow portion (110) having driving gears (10, 12, 14), which are used to obtain a rotary force, at the outer ends of a plurality of coaxial, annular members (16, 18, 20), and connecting ends with pins (40, 42) and a connecting end with bolts (56) at the inner ends thereof; an arm tube (120) composed of coaxially-arranged members and capable of being connected detachably to the elbow portion (110); and a wrist driving portion (130) composed of coaxially-arranged members, connected detachably to the arm tube (120) by pins (48, 50) and bolts (58) and having gears (66, 68) for transmitting a rotary force to a wrist (88).

64. 发明授权

EP0190360B1 INDUSTRIAL ROBOT HAVING HOLLOW ARM STRUCTURE 失效
标题翻译：具有中空臂结构的工业机器人
公开(公告)号：EP0190360B1
公开(公告)日：1991-01-23
申请号：EP85903711.1
申请日：1985-07-26
申请人： FANUC LTD.
发明人： NAKASHIMA, Seiichiro , TOYODA, Kenichi , TORII, Nobutoshi Fuyo Haitsu 308 , TERADA, Akihiro , MIZUNO, Hitoshi Fanuc Hino Shataku 307
IPC分类号： B25J17/00 , B25J19/00
CPC分类号： B25J9/047 , B25J17/02 , B25J18/00 , B25J19/063
摘要： One end of a hollow robot arm (10), which consists of a plurality of tubes (12, 14, 16) arranged concentrically, and driving gears (18a, 21a, 24a), (18b, 24b) supported rotatably on both end portions of these tubes (12, 14, 16), is connected to a robot joint (30), and the other end thereof to a hollow wrist (56), to form a hollow arm structure. In an industrial robot provided with this hollow arm structure, sealing pipes (50, 58a, 58b, 58c) are provided at the portions of the hollow robot arm (10) at which the tubes (12, 14, 16) and driving gears (18a, 21a, 24a), (18b, 24b) are combined with each other, and a coating material supply pipe and a welding supply wire are inserted through these sealing pipes (50, 58a, 58b, 58c). Also, shear binding pins or bolts (20b, 26b) are provided at the joint portions of the tubes (12, 14, 16) and wrist (56) so as to protect the constituent parts of the robot against excessive load.

65. 发明公开

EP0201883A3 Advanced medical robot 失效
标题翻译：高级医疗机器人
公开(公告)号：EP0201883A3
公开(公告)日：1988-01-13
申请号：EP86106362
申请日：1986-05-09
申请人： ANDRONIC DEVICES Ltd.
发明人： McEwen, James Allen , Auchinleck, Geoffrey Fletcher , Osborne, John Calvin , Bohl, Rainer Mattias , Jager, Walter Johann
IPC分类号： A61B19/00
CPC分类号： B25J19/02 , A61B34/70 , A61B2017/00203 , A61B2034/742 , B25J9/1075 , B25J13/003 , B25J13/081 , B25J18/00 , B25J19/0004
摘要： An automatic device, such as a robot for moving a medical effector in close proximity to a portion of a living body, such as the limb of a patient. In one form, electronic sensing means senses a physiologic or morphologic condition of a patient to whose limb or body the medical effector is in close proximity and generates signals which are applied to the inputs of a computer or microelectronic processor, which electrically processes and analyses such signals and generates control signals for controlling the operation of the robot to move the medical effector so as to achieve a desired diagnostic or therapeutic effect.

66. 发明公开

EP0202415A2 Antriebsvorrichtung zur Erzeugung von Schwenkbewegungen und weiteren Bewegungen 失效
标题翻译：用于产生摆动运动等动作的驱动装置。
公开(公告)号：EP0202415A2
公开(公告)日：1986-11-26
申请号：EP86103590.5
申请日：1986-03-17
申请人： Arnold Müller GmbH & Co. KG
发明人： Wurst, Karl-Heinz, Dipl.-Ing.
IPC分类号： B25J17/02 , B25J18/00 , B25J9/12 , B25J9/08
CPC分类号： B25J9/12 , B25J9/08 , B25J17/0258 , B25J18/00 , Y10T74/18576 , Y10T74/19014 , Y10T74/1906 , Y10T74/19665
摘要： Es wird eine Antriebsvorrichtung zum Erzeugen von Schwenkbewegungen und weiteren Bewegungen vorgeschlagen, mit einem Gelenkantrieb (10), der im Gelenk eine Antriebseinheit (14) aus zwei Motoren (M1, M2) mit Getriebe für eine Schwenkbetätigung um eine Gelenkachse (13) und eine Drehbetätigung um eine Drehachse (24) aufweist. Der Gelenkantrieb (10) ist lösbar und auswechselbar an einem insbesondere linearen Antriebselement (30) angebracht. Seine Abtriebs-Drehbewegung um dessen Drehachse (24) wird als Antriebs-Drehbewegung in das Antriebselement (30) eingeleitet. Letzteres besteht z.B. aus einem Linearantrieb mit auf feststehender Gewindespindel (32) umlaufender Spindelmutter (34) im verschiebbaren Tisch. Die Abtriebs-Drehbewegung wird vom Gelenkantrieb (10) über Getriebe auf die Spindelmutter (34) zu deren Drehantrieb und damit zur Translationsbewegung des Tisches übertragen.
摘要翻译：公开了一种用于在关节产生枢转运动和进一步的动作，与驱动单元的关节驱动器（10）的驱动装置（14）包括两个电动机（M1，M2）与变速箱用于绕铰链轴线（13）和一旋转致动器的枢转操作绕旋转轴线（24）。关节驱动器（10）被可移除地和可替换地附连到特定的线性驱动器元件（30）。围绕旋转（24）的其轴线他的从动旋转运动被引入作为在驱动元件（30）的旋转驱动运动。后者是例如的与环绕在可动台的主轴螺母（34）固定的螺纹轴（32）的线性驱动器。从动旋转运动从所述关节驱动（10）通过传动装置的主轴螺母（34），用于它们的旋转驱动，从而表中的平移运动传送。

67. 发明授权

EP3822046B1 ROBOTERSTRUKTUR 有权
公开(公告)号：EP3822046B1
公开(公告)日：2024-05-08
申请号：EP19208678.3
申请日：2019-11-12
IPC分类号： B25J9/14 , B25J9/10 , B25J18/00 , B25J9/04
CPC分类号： B25J9/142 , B25J9/1075 , B25J18/00 , B25J9/04

68. 发明公开

EP3401063A1 ARM FOR MULTI-JOINT ROBOT, AND MULTI-JOINT ROBOT 有权转让
公开(公告)号：EP3401063A1
公开(公告)日：2018-11-14
申请号：EP18171266.2
申请日：2018-05-08
申请人： ABB Schweiz AG
发明人： Cao, Xiaodong , Zhu, Zhu , Sha, Jiajie
IPC分类号： B25J9/00 , B25J18/00
CPC分类号： B25J9/0009 , B25J9/042 , B25J18/00
摘要： The present disclosure provides an arm (101) for a multi-joint robot, and a multi-joint robot. The arm (101) is formed by a first half portion (301) and a second half portion (302) engaged with each other, an upper portion of each of the first and second half portions (301, 302) being provided with a protrusion (105, 106), the protrusions (105, 106) being substantially parallel to each other, a lower portion of the first half portion (301) being provided with a supporting member (103), the two half portions being engaged with each other via an engagement surface (303) which is in a plane extending between the two protrusions (105, 106), the shape of a lower portion (304) of the second half portion (302) matching the shape of an outer circumference of the supporting member (103).

69. 发明公开

EP3348359A1 ROBOT 审中-公开
公开(公告)号：EP3348359A1
公开(公告)日：2018-07-18
申请号：EP16843948.7
申请日：2016-09-07
申请人： Kawasaki Jukogyo Kabushiki Kaisha
发明人： WAKITA, Daisuke
IPC分类号： B25J11/00 , B25J19/06
CPC分类号： B25J9/1664 , B25J11/00 , B25J18/00 , B25J19/06 , Y10S901/09 , Y10S901/27
摘要： Included are: a plurality of arm mechanisms (3) that couple between a base (2) and a bracket (4), each arm mechanism including an arm (18) whose proximal end portion is swingably coupled to the base, a pair of links (21, 22) parallel to each other, the pair of links being disposed such that a proximal-end-side link sandwiched portion (20) of the arm mechanism is rotatably sandwiched between proximal end portions of the respective links, and such that a distal-end-side link sandwiched portion (29) of the bracket (4) is rotatably sandwiched between distal end portions of the respective links, and an urging unit (27) connecting between the pair of links in a bridging manner and configured to urge the pair of links toward each other; a link dislocation detection unit (5) mounted to the pair of links; and a controller (61) configured to control an operation of the arm. The link dislocation detection unit includes a detector (41b) mounted to a middle portion of one of the pair of links, the detector being configured to detect that the middle portion of the one of the pair of links and a middle portion of the other one of the pair of links have become spaced apart from each other by more than a predetermined distance.

70. 发明公开

EP3342563A1 REMOTE CONTROL ROBOT SYSTEM 审中-公开
公开(公告)号：EP3342563A1
公开(公告)日：2018-07-04
申请号：EP16838718.1
申请日：2016-05-27
申请人： Kawasaki Jukogyo Kabushiki Kaisha
发明人： HASHIMOTO, Yasuhiko , KAMON, Masayuki
IPC分类号： B25J13/08 , B25J5/00 , B25J19/04
CPC分类号： A61B34/37 , A61B34/32 , B23P19/04 , B23P21/00 , B23P21/002 , B23Q15/12 , B25J3/00 , B25J3/04 , B25J9/0081 , B25J9/0084 , B25J9/0087 , B25J9/1602 , B25J9/161 , B25J9/1612 , B25J9/1628 , B25J9/163 , B25J9/1633 , B25J9/1646 , B25J9/1653 , B25J9/1664 , B25J9/1669 , B25J9/1674 , B25J9/1682 , B25J9/1689 , B25J9/1697 , B25J11/008 , B25J13/00 , B25J13/003 , B25J13/006 , B25J13/02 , B25J13/025 , B25J13/06 , B25J13/065 , B25J13/08 , B25J13/084 , B25J13/085 , B25J13/087 , B25J13/088 , B25J18/00 , B25J19/023 , B25J19/028 , B25J19/04 , G06F3/017 , G06T7/62 , G06T7/70 , H04N5/23219 , H04N7/181 , Y10S901/02 , Y10S901/03 , Y10S901/08 , Y10S901/09 , Y10S901/10 , Y10S901/27 , Y10S901/41 , Y10S901/46 , Y10S901/47
摘要： A robot main body (1) having a robotic arm (10), a remote control device (2) that includes a robotic arm operational instruction input part (70) for an operator to control by touching, to input an operational instruction for the robotic arm, and a contactless action detecting part (71) configured to detect a contactless action including at least one given operation instructing action of the operator, and a control device (3) communicably connected to the remote control device and configured to control operation of the robot main body, are provided. The control device includes a memory part (32) configured to store operational instruction content data defining an operation mode of the robot main body corresponding to the at least one operation instructing action, an operational instruction content identifying module (34) configured to identify the operation mode of the robot main body corresponding to one of the operation instructing action detected by the contactless action detecting part based on the operational instruction content data, and a motion controlling module (33) configured to control operation of the robot main body based on the operation mode identified by the operational instruction content identifying module.

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