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1. 发明授权

EP2407954B1 Dispositif actionneur hexapode 有权转让
公开(公告)号：EP2407954B1
公开(公告)日：2018-06-27
申请号：EP11173458.8
申请日：2011-07-11
申请人： THALES
发明人： Alet, Robert , Le Guillou, René
IPC分类号： G09B9/12 , G09B9/14 , B25J9/00 , B25J17/02 , B25J11/00
CPC分类号： G09B9/12 , B25J9/0042 , B25J17/0266 , G09B9/14 , Y10T74/20341 , Y10T74/20354

2. 发明公开

EP3250348A1 ROBOTIC ARM AND WRIST MECHANISMS 审中-公开
标题翻译：机器人手臂和手腕机构
公开(公告)号：EP3250348A1
公开(公告)日：2017-12-06
申请号：EP16743948.8
申请日：2016-01-26
申请人： iRobot Corporation
发明人： CLAFFEE, Mark R. , OHM, Timothy R. , AMARAL, Erik , MOZEIKA, Annan M.
IPC分类号： B25J18/04 , B25J17/00 , B25J9/10
CPC分类号： F16H25/20 , B25J17/0266 , F16H35/18 , F16H2025/2062
摘要： A robot includes a support, a movable member coupled to the support to permit gimbal rotation about a pitch axis and a yaw axis, and first and second linear actuators connected to each of the support and the movable member and operable to rotate the movable member about the pitch axis and the yaw axis. The first linear actuator is pivotally attached to the movable member at a first pivot point. The second linear actuator is pivotally attached to the movable member at a second pivot point. The first and second pivot points are each angularly offset from the pitch axis and the yaw axis by about 45 degrees and are located on the same side of the pitch axis.

3. 发明公开

EP2407954A3 Dispositif actionneur hexapode 有权转让
标题翻译： Hexapod执行器装置
公开(公告)号：EP2407954A3
公开(公告)日：2015-01-21
申请号：EP11173458.8
申请日：2011-07-11
申请人： Thales
发明人： Alet, Robert , Le Guillou, René
IPC分类号： G09B9/12 , G09B9/14 , B25J9/00 , B25J17/02 , B25J11/00
CPC分类号： G09B9/12 , B25J9/0042 , B25J17/0266 , G09B9/14 , Y10T74/20341 , Y10T74/20354
摘要： La présente invention concerne un dispositif actionneur hexapode notamment utilisé dans des simulateurs de vol ou de conduite. Le dispositif actionneur hexapode (20) comportant six jambes (21, 22, 23, 24, 25, 26). Une première extrémité (212, 222, 232, 242, 252, 262) de chaque jambe (21, 22, 23, 24, 25, 26) est notamment mobilisable selon un segment de droite (210, 220, 230, 240, 250, 260) grâce à un chariot motorisé. L'actionneur hexapode (20) comporte notamment six segments de droites (210, 220, 230, 240, 250, 260) pouvant être coplanaires ou inclinées par rapport au sol. Une deuxième extrémité (211, 221, 231, 241, 251, 261) de chaque jambe (21, 22, 23, 24, 25, 26) peut être montée libre sur une rotule à trois degrés de liberté en rotation. Chacune des rotules est solidaires d'une plate-forme mobile (203). L'invention se situe dans le domaine des systèmes permettant une mise en mouvement de cabines de pilotage par exemple.
摘要翻译：本发明涉及一种特别用于飞行模拟器或驾驶中的六足式致动器装置。具有六个腿（21,22,23,24,25,26）的六足式致动器装置（20）。每个支腿（21,22,23,24,25,26）的第一端部（212,222,232,242,252,262）尤其可以沿着线段（210,220,230,240,250）移动，，260）得益于机动手推车。六足式致动器（20）尤其包括可以相对于地面共面或倾斜的六个线段（210,220,230,240,250,260）。每个腿（21,22,23,24,25,26）的第二端（211,221,231,241,251,261）可以自由安装在具有三个旋转自由度的球上。每个球窝接头与可移动平台（203）成一体。本发明在于例如允许控制舱运动的系统领域。

4. 发明公开

EP2114280A4 IMPROVED MANIPULATOR 审中-公开
标题翻译：改进的机械手
公开(公告)号：EP2114280A4
公开(公告)日：2014-08-20
申请号：EP08725905
申请日：2008-02-21
申请人： MICRODEXTERITY SYSTEMS INC
发明人： STUART J MICHAEL
IPC分类号： A61B19/00
CPC分类号： A61B34/77 , A61B34/30 , A61B34/35 , A61B34/70 , A61B34/75 , A61B34/76 , A61B2034/304 , A61B2090/064 , B25J9/0072 , B25J9/106 , B25J17/0266 , Y10S901/19 , Y10T74/20305 , Y10T74/20311 , Y10T74/20323 , Y10T74/20329 , Y10T403/32 , Y10T403/32049

5. 发明授权

EP2517841B1 A device for moving and positioning a member in space 失效
标题翻译：一种用于在空间上移动和定位的一部分
公开(公告)号：EP2517841B1
公开(公告)日：2014-07-30
申请号：EP12163553.6
申请日：2012-04-10
申请人： Marchesini Group S.p.A.
发明人： Monti, Giuseppe
IPC分类号： B25J17/02
CPC分类号： B25J17/0266 , Y10S901/27 , Y10T74/20305 , Y10T74/20317

6. 发明公开

EP2623273A3 Parallel link robot 审中-公开
标题翻译：机器人的并行链路
公开(公告)号：EP2623273A3
公开(公告)日：2014-06-04
申请号：EP13152368.0
申请日：2013-01-23
申请人： Kabushiki Kaisha Yaskawa Denki
发明人： Fukudome, Kazuhiro , Mihara, Nobuhiko
IPC分类号： B25J17/02 , B25J9/00
CPC分类号： B25J18/00 , B25J9/003 , B25J9/0051 , B25J17/0266 , Y10S901/27 , Y10T74/20305
摘要： A parallel link robot includes a first arm including a first joint portion; a second arm including a second joint portion swingably engaging with the first joint portion, the second arm being connected to the first arm to make up a link mechanism; and a biasing mechanism unit which biases the second joint portion toward the first joint portion. The biasing mechanism unit includes a connection member attached to the second arm and the connection member includes a locking portion configured to lock the connection member to the second arm.

7. 发明公开

EP2686145A1 MANIPULATOR 有权
标题翻译：与两个球形部分机械臂的并联机器人
公开(公告)号：EP2686145A1
公开(公告)日：2014-01-22
申请号：EP12709535.4
申请日：2012-03-13
申请人： EB-invent GmbH
发明人： EHRENLEITNER, Franz
IPC分类号： B25J15/02 , B23Q1/54 , B66F7/22
CPC分类号： B25J11/00 , A61G7/008 , B23Q1/5462 , B25J9/0048 , B25J17/0266 , B66F7/22 , F04C2270/0421 , Y10T409/30924
摘要： The invention relates to a device for rotating an object (19) around an axis which is stationary relative to the device (2), a so-called turning device. The device according to the invention has two partial manipulators (3, 3'), each having a base part (5, 5') to which an upper arm (6, 6') is rotatably hinged around a base axis (9, 9'), to which upper arm a lower arm (7, 7') is rotatably hinged around an arm axis (10, 10'), which lower arm has an end axis (11, 11'). The base axis, the arm axis and the end axis of each partial manipulator intersect each other at one central point (12, 12'), the connection line thereof defining the turning axis (1). An intermediate piece (8) is mounted rotatably around the two end axes (11, 11') between the two lower arms (7, 7'), and is or forms an object holder (14) for the object to be rotated. The invention is useful in particular in the medical field for recumbency, chairs or tables. In one configuration, the device can also be used for plate bending.

8. 发明授权

EP1807159B1 Golf swing trainer 有权转让
标题翻译：高尔夫挥杆莱纳
公开(公告)号：EP1807159B1
公开(公告)日：2013-11-06
申请号：EP05792682.6
申请日：2005-09-12
申请人： Rokeach, Leo , Grädener, Alina
发明人： Rokeach, Leo , Grädener, Alina
IPC分类号： A63B69/36 , B25J17/02
CPC分类号： B25J17/0266 , A63B69/365 , A63B2220/51 , A63B2225/09 , B25J9/0042

9. 发明公开

EP2643127A1 ROBOT PARALLELE A DEUX DEGRES DE LIBERTE PRESENTANT DEUX CHAINES CINEMATIQUES DONT LA RAIDEUR EN FLEXION EST MAXIMISEE 审中-公开
标题翻译：带双自由度并联机器人，两个运动链MAXIMIERTEFR刚度BEND
公开(公告)号：EP2643127A1
公开(公告)日：2013-10-02
申请号：EP11785671.6
申请日：2011-11-21
申请人： CNRS Dire , Ecole Centrale De Nantes , ECOLE NORMALE SUPERIEURE DE CACHAN
发明人： BRIOT, Sébastien , CARO, Stéphane , GERMAIN, Coralie
IPC分类号： B25J9/10 , B25J17/02
CPC分类号： B25J18/00 , B25J9/1065 , B25J17/0266 , Y10S901/15 , Y10T74/20329
摘要： A parallel robot is composed of two kinematic chains connecting a base to a platform having two degrees of freedom so that the platform is movable with respect to the base in a plane (x, z) of a space (x, y, z) in which the directions x, y and z are orthogonal to one another. The kinematic chains each having a bend connecting a proximal sub-chain, itself connected to the base, and a distal sub-chain, itself connected to the platform. The proximal sub-chain drives the bend in translation in the plane (x, z). The distal sub-chain of at least one of the two kinematic chains includes two rods separated from each other in the direction (y). The first and second ends of each rod are connected to the bend and the platform, respectively, by respective systems of connections composed of two pivots with axes orthogonal to each other.

10. 发明公开

EP2629941A1 A SELF-RECONFIGURABLE MOBILE MANIPULATOR 有权
标题翻译：自我重新配置的移动机器人
公开(公告)号：EP2629941A1
公开(公告)日：2013-08-28
申请号：EP10774163.9
申请日：2010-10-18
申请人： Tecnalia France , Centre National de la Recherche Scientifique
发明人： BARADAT, Cédric , YANG, Hai , PIERROT, François , KRUT, Sébastien , SAENZ, Agustin
IPC分类号： B25J17/02
CPC分类号： B25J5/00 , B25J9/0045 , B25J9/08 , B25J17/0266
摘要： The manipulator comprises a mobile plate (1 ) for carrying an end-effector, connected to a plurality of legs, each of which comprises a distal end connected to the mobile plate (1 ) and a proximal end connected to a supporting object (6) by a clamping device (5a), a plurality of distal links (21 a, 22a), a plurality of intermediate links (23a, 24a, 25a, 26a) and a plurality of proximal links (27a, 28a, 29a), an actuator (31 a, 32a) connected between each pair of longitudinally adjacent intermediate links (23a-24a, 25a-26a), the distal links (21 a, 22a), connecting the intermediate links (23a-24a, 25a-26a) with the mobile plate (1 ) by a system of distal revolute joints (41 a, 7a, 8a) comprising a distal lockable joint (41 a), and the proximal links (27a, 28a, 29a), connecting the intermediate links (23a-24a, 25a-26a) with a system of proximal joints (42a, 43a, 44a, 45a) comprising lockable proximal joints (42a, 43a, 44a). The manipulator is able to achieve manipulation, self- reconfiguration and locomotion movements without needing actuators directly acting on each joint.
摘要翻译：该操纵器包括用于承载端部执行器的移动板（1），所述端部执行器连接到多个腿，每个腿包括连接到移动板（1）的远端和连接到支撑物体（6）的近端，通过夹紧装置5a将多个远侧连杆21a，22a，多个中间连杆23a，24a，25a，26a和多个近侧连杆27a，28a，29a，致动器（23a-24a，25a-26a）连接在一对纵向相邻的中间连杆（23a-24a，25a-26a）之间的中间连杆（31a，32a）通过包括远侧可锁定接头（41a）的远侧旋转接头系统（41a，7a，8a）和所述近侧连杆（27a，28a，29a）的系统连接所述中间连杆（23a-24a ，25a-26a）与包括可锁定的近侧关节（42a，43a，44a）的近侧关节系统（42a，43a，44a，45a）连接。操纵器能够实现操纵，自我重构和运动运动，而不需要致动器直接作用于每个关节。

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