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1. 发明公开

EP3318372A2 METHOD AND APPARATUS FOR COMPLIANT ROBOTIC END-EFFECTOR 有权转让
标题翻译：符合机器人末端执行器的方法和设备
公开(公告)号：EP3318372A2
公开(公告)日：2018-05-09
申请号：EP17196698.9
申请日：2017-10-16
申请人： The Boeing Company
发明人： TROY, James J , WRIGHT, Daniel J , LEA, Scott W
IPC分类号： B25J17/02 , G01B5/06
CPC分类号： B25J9/1692 , B25J17/0208 , B25J17/0233 , B25J17/0275 , G01B3/20 , G01B3/28 , G01B5/06
摘要： A method and apparatus for performing an operation on a workpiece using a multi-axis compliant end-effector for attachment to a robotic device. The end-effector is positioned at a nominal location of a workpiece feature on which the operation is to be performed. The end-effector is passively aligned with the workpiece feature by contacting the end-effector with the workpiece feature. The operation is performed on the workpiece feature in response to aligning the end effector with the workpiece feature.
摘要翻译：一种用于使用多轴顺应末端执行器附接到机器人装置来对工件执行操作的方法和装置。末端执行器定位在要执行操作的工件特征的标称位置处。通过使末端执行器与工件特征接触，末端执行器被动地与工件特征对准。响应于末端执行器与工件特征对准，对工件特征执行操作。

2. 发明公开

EP3294183A1 TORQUE SENSING IN A SURGICAL ROBOTIC WRIST 审中-实审转让
公开(公告)号：EP3294183A1
公开(公告)日：2018-03-21
申请号：EP16723483
申请日：2016-05-13
申请人： CAMBRIDGE MEDICAL ROBOTICS LTD
发明人： HARES LUKE DAVID RONALD , MARSHALL KEITH
IPC分类号： A61B34/30 , A61B34/35 , B25J9/16 , B25J17/02
CPC分类号： A61B34/76 , A61B34/30 , A61B34/35 , A61B2034/305 , A61B2090/066 , B25J9/1689 , B25J13/085 , B25J17/0275
摘要： A surgical robotic component comprising an articulated terminal portion, the terminal portion comprising: a distal segment having an attachment connected thereto, an intermediate segment, and a basal segment whereby the terminal portion is attached to the remainder of the surgical robotic component. The terminal portion further comprises a first articulation between the distal segment and the intermediate segment, the first articulation permitting relative rotation of the distal segment and the intermediate segment about a first axis, and a second articulation between the intermediate segment and the basal segment, the second articulation permitting relative rotation of the intermediate segment and the basal segment about a second axis. The intermediate segment comprises: a third articulation permitting relative rotation of the distal segment and the basal segment about third and fourth axes, a first torque sensor configured to sense torque about the third axis, and a second torque sensor configured to sense torque about the fourth axis. The first, second and third articulations are arranged such that in at least one configuration of the third articulation the first and second axes are parallel and the third and fourth axes are transverse to the first axis.

3. 发明授权

EP3025668B1 TOOL HOLDING ARTICULATED ARM 有权
公开(公告)号：EP3025668B1
公开(公告)日：2017-08-30
申请号：EP15193677.0
申请日：2015-11-09
申请人： MITAKA KOHKI CO., LTD.
发明人： NAKATA, Yusuke
IPC分类号： A61B50/20 , A61B90/11 , A61B90/50 , F16C11/06 , F16C11/10 , F16C39/04 , A61B17/00
CPC分类号： B25J17/0275 , A61B1/00149 , A61B50/20 , A61B90/50 , A61B2017/00544 , A61B2090/508 , B25J17/00 , B25J18/00 , F16M11/14 , F16M11/2064 , F16M11/2078 , F16M13/022 , F16M2200/022 , Y10S901/22 , Y10S901/28 , Y10S901/29

4. 发明公开

EP2888084A1 VORRICHTUNG ZUM GREIFEN, BEWEGEN UND POSITIONIEREN EINES GEGENSTANDS IM RAUM 有权
标题翻译：设备用于接入时，移动与定位中的对象空间
公开(公告)号：EP2888084A1
公开(公告)日：2015-07-01
申请号：EP13762401.1
申请日：2013-08-20
申请人： Güdel GmbH
发明人： MATTER, Manferd
IPC分类号： B25J17/02
CPC分类号： B25J17/0208 , B25J17/0266 , B25J17/0275
摘要： A device for gripping, moving and positioning an object in space has a platform (10) which is driven so as to be displaceable in three dimensions overhead, and a gripper tool which is mounted on the platform (10) so as to be capable of floating movement. When gripping the object, the gripper tool executes an adjusting movement which it can be aligned to compensate for. The gripper tool is articulated to the platform (10) by means of at least three, preferably an even number of, generally four, Cardan joint arms arranged in a square.

5. 发明公开

EP2261520A4 VACUUM PAD DEVICE 有权
标题翻译：真空封闭装置
公开(公告)号：EP2261520A4
公开(公告)日：2012-11-21
申请号：EP09722946
申请日：2009-03-16
申请人： KOREA PNEUMATIC SYS CO LTD
发明人： CHO HO-YOUNG
IPC分类号： F16B47/00
CPC分类号： B25B11/007 , B25J15/0616 , B25J17/0275 , B65G47/91 , F16B47/00

6. 发明公开

EP2498956A1 FLUIDISCH BETREIBBARE AUSGLEICHSEINHEIT 有权
标题翻译：流体操作补偿单元
公开(公告)号：EP2498956A1
公开(公告)日：2012-09-19
申请号：EP10801377.2
申请日：2010-12-14
申请人： Festo AG & Co. KG
发明人： KAMINSKI, Ruwen , NEUMANN, Rüdiger , HILDEBRANDT, Alexander
IPC分类号： B25J9/14 , B25J17/02
CPC分类号： B25J9/142 , B25J17/0275
摘要： The invention relates to a regulating unit operated by use of a fluid, comprising two coupling plates (2, 3) arranged at a distance from each other and between which at least two linear adjusting means (4, 5, 6) operated by use of a fluid are arranged for the variable adjustment of tilting between the first and the second coupling plate (2, 3). The linear adjusting means (4, 5, 6) respectively comprise at least one fluid chamber (39) respectively having at least one elastically deformable wall area (38) designed for a modification of the length of the respective linear adjusting means (4, 5, 6) when the fluid chamber (39) is pressurised, and an articulated device (8) arranged between the two coupling plates (2, 3), for relative movement of the two coupling plates (2, 3) about two pivoting axes (15, 16) perpendicular to each other.

7. 发明公开

EP2261520A2 VACUUM PAD DEVICE 有权
标题翻译： VAKUUMVERSCHLUSSVORRICHTUNG
公开(公告)号：EP2261520A2
公开(公告)日：2010-12-15
申请号：EP09722946.2
申请日：2009-03-16
申请人： Korea Pneumatic System Co., Ltd
发明人： CHO, Ho-Young
IPC分类号： F16B47/00
CPC分类号： B25B11/007 , B25J15/0616 , B25J17/0275 , B65G47/91 , F16B47/00
摘要： The present invention relates to a vacuum pad device used in a vacuum transport system. The pad device includes a housing, a pad unit connected to the housing through a ball joint such that the pad unit is rotatable, and a piston arranged in the housing and controlling the rotation of the pad unit. The pad unit is bonded to an object at a desirable rotation angle, and controlled such that the rotation angle is fixed by the movement of a piston operating via compressed air. Consequently, the object can be transported in an accurate and safe manner. Preferably, the vacuum pad device of the present invention further includes a vacuum pump arranged in the housing unit the piston.
摘要翻译：本发明涉及在真空输送系统中使用的真空垫装置。垫装置包括壳体，垫单元，其通过球窝接头连接到壳体，使得垫单元可旋转;以及活塞，布置在壳体中并控制垫单元的旋转。垫单元以期望的旋转角度结合到物体，并被控制成使得通过经由压缩空气的活塞的运动来固定旋转角度。因此，可以以准确和安全的方式运输物体。优选地，本发明的真空吸盘装置还包括在壳体单元中布置有活塞的真空泵。

8. 发明授权

EP1588063B1 SYSTEME D'ARTICULATION, NOTAMMENT POUR EQUIPEMENTS UTILISES EN ROBOTIQUE ET MONTURES DE LUNETTES 有权转让
标题翻译：联席会议制度，尤其是在机器人和狭窄的地方二手设备BRILL
公开(公告)号：EP1588063B1
公开(公告)日：2008-06-11
申请号：EP04704262.7
申请日：2004-01-22
申请人： Chene, Richard , Delamour, Dominique , Rodi, Olivier
发明人： Chene, Richard , Delamour, Dominique , Rodi, Olivier
IPC分类号： F16C11/06 , B25J17/02 , G02C5/22
CPC分类号： B25J17/0275 , F16C11/06 , F16C11/10 , G02C5/2236 , G02C5/2263 , G02C2200/30 , Y10T403/459
摘要： The invention relates to a hinge system comprising one end (1) belonging to a first rigid element (7) and one end (3) belonging to a second rigid element (8), said ends having support surfaces which can be matched to one another. According to the invention, elastic means (18) are provided in order to maintain the pressure contact between the aforementioned surfaces. The inventive system also comprises at least one immaterial pivot point which can move in two orthogonal planes within the limits allowed by guide means (6) and means (19a-b) which only authorise pivoting in one plane or in a certain number of planes having a determined orientation.

9. 发明授权

EP0911570B1 Mécanisme de pointage à deux mouvements de rotation indépendants, sans point mort 有权
标题翻译：有两个独立的旋转运动，无死定向排列
公开(公告)号：EP0911570B1
公开(公告)日：2004-01-21
申请号：EP98402568.4
申请日：1998-10-15
申请人： ACC Ingenierie & Maintenance
发明人： Delorme, Gérard , Daviot, Jacques
IPC分类号： F16M11/12
CPC分类号： H01Q3/08 , B25J17/0275 , F16M11/105 , F16M11/18 , F16M11/2021 , H01Q1/18

10. 发明公开

EP0930136A3 End arm manipulator 审中-公开
标题翻译：机器人臂机械臂
公开(公告)号：EP0930136A3
公开(公告)日：2000-01-12
申请号：EP98309247.9
申请日：1998-11-11
申请人： BTM CORPORATION
发明人： Sawdon, Edwin G. , Petit, Brian D.
IPC分类号： B25J18/00 , B25J15/00
CPC分类号： F16C11/106 , B23K37/0452 , B25J1/02 , B25J15/00 , B25J17/0275
摘要： An end arm manipulator includes a base, an arm pivotably mounted to the base and a workpiece interfacing member coupled to the arm. In another aspect of the present invention, multiple arms are coupled to the base and are movable independent of each other. In still another aspect of the present invention, generally spherical balls are adjustably mounted between a clamping member and a cavity of the base.

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