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1. 发明公开

EP3342547A1 POSITIONIEREINHEIT 有权
公开(公告)号：EP3342547A1
公开(公告)日：2018-07-04
申请号：EP17150050.7
申请日：2017-01-02
申请人： Manz AG
发明人： FREUNDT, Dr. Martin
IPC分类号： B25J9/00
CPC分类号： B25J9/0033
摘要： Die Erfindung betrifft eine Positioniereinheit (1, 101, 201, 301), umfassend zwei Steuerschlitten (2, 3, 202, 203, 502) und einen Arbeitsschlitten (4, 204, 304, 404),
- wobei die zwei Steuerschlitten (2, 3, 202, 203, 502) und der Arbeitsschlitten (4, 204, 304, 404) auf Strecken verfahrbar sind, die zueinander parallel verlaufen,
- wobei am Arbeitsschlitten (4, 204, 304, 404) ein Arbeitsarm (5, 305, 405) an einem Arbeitsfußpunkt (8, 308) angelenkt ist und an den Steuerschlitten (2, 3, 202, 203, 502) jeweils ein Steuerarm (6, 7) an jeweils einem Steuerfußpunkt (9, 10) angelenkt ist,
- wobei die Steuerarme (6, 7) an einer Steuerstelle (11) des Arbeitsarms (5, 305, 405) an diesem angelenkt sind, wobei die Steuerstelle (11) eine vordefinierte Lambdadistanz (d) von einem ein Arbeitsstellen-Ende (12) bildenden, dem Arbeitsfußpunkt (8, 308) weggewandten Ende des Arbeitsarms (5, 305, 405) beabstandet ist, und
- die zwei Steuerfußpunkte (9, 10) und der Arbeitsfußpunkt (8, 308) ein Dreieck aufspannen.
Die Erfindung ist dadurch gekennzeichnet, dass wenigstens zwei Schlitten der zwei Steuerschlitten (2, 3, 202, 203, 502) und des Arbeitsschlittens (4, 204, 304, 404) an einer gemeinsamen Führung (13, 213, 513) verfahrbar angeordnet sind.

2. 发明公开

EP3119338A4 AUTOMATIC PUSH-OUT TO AVOID RANGE OF MOTION LIMITS 有权
公开(公告)号：EP3119338A4
公开(公告)日：2017-11-15
申请号：EP15765708
申请日：2015-03-17
申请人： INTUITIVE SURGICAL OPERATIONS
发明人： GRIFFITHS PAUL G , MOHR PAUL W , ITKOWITZ BRANDON D , NIXON THOMAS R , DEVENGENZO ROMAN
IPC分类号： A61B90/00 , A61B34/30 , A61B34/35 , A61B90/50
CPC分类号： A61B34/35 , A61B34/30 , A61B90/03 , A61B90/50 , A61B2090/5025 , B25J9/0033 , B25J9/1689 , B25J19/0004 , F16M13/022
摘要： A compensated constant force spring device includes a bracket, a drum rotatably supported by the bracket, and a constant force spring wound on the drum. A motor is fixed to the bracket and provides a compensating force to the drum. The motor may be located in an interior volume of the drum. A control module may coupled to the motor to control the compensating force. A position sensor may be coupled to the control module. The compensating force may be responsive to a signal from the position sensor. The constant force spring may support a load and counterbalance gravitational forces on the load. The compensating force may be adjusted when the load approaches an end of a range of travel.

3. 发明公开

EP2444209A1 Method for generating kinematical structures of a reconfigurable parallel robot with vertical actuators and its comprising system 有权
标题翻译：用于运动学结构的制备方法Rekonfigurabilen并联机器人具有垂直和致动器系统besthenedes
公开(公告)号：EP2444209A1
公开(公告)日：2012-04-25
申请号：EP10177506.2
申请日：2010-09-18
申请人： Universitatea Tehnica din Cluj-Napoca
发明人： Brisan, Cornel , Hiller, Manfred
IPC分类号： B25J9/16
CPC分类号： B25J9/1615 , B25J9/0033 , B25J9/0072 , G05B2219/50162
摘要： This invention refers to a method for generating kinematical structures of a reconfigurable parallel robot and offers the possibility of establishing different structure varieties of parallel robots with different degrees of freedom. Interchangeable connection elements have been designed in order to be able to apply the method and generate the system.
The method combines two types of kinematic chains: PSU (Prismatic - Spherical - Universal) which is constructed from a prismatic joint (1) as an active joint, a spherical joint (2), a connecting element with constant length (3) and respectively a universal joint (4); PSR (Prismatic - Spherical - Rotational) which is constructed from a prismatic joint (5) as an active joint, a spherical joint (6), a connecting element with constant length (7), and respectively a rotational joint (8).
摘要翻译：本发明涉及一种方法，用于产生一个可重新配置的并联机器人的运动学结构，并提供建立不同结构品种不同自由度的并联机器人的可能性。可互换的连接元件被设计，以便能够应用的方法和产生的系统，该方法结合了两种类型的运动链的PSU（棱镜 - 球形 - 通用）。所有这些是从棱柱接头（1）构成为，以活性接头，球形接头（2），具有恒定长度的连接元件（3）和分别的万向接头（4）; PSR（棱镜 - 球形 - 旋转），其是从一个棱柱接头（5）构造为以活动关节，球形关节（6），具有恒定长度（7）分别连接元件，以及旋转接头（8）。

4. 发明公开

EP3119311A4 CONSTANT FORCE SPRING WITH ACTIVE BIAS 有权
公开(公告)号：EP3119311A4
公开(公告)日：2017-11-08
申请号：EP15764074
申请日：2015-03-17
申请人： INTUITIVE SURGICAL OPERATIONS
发明人： DEVENGENZO ROMAN L , GRIFFITHS PAUL G
IPC分类号： A61B90/00 , A61B34/30
CPC分类号： A61B34/35 , A61B34/30 , A61B90/03 , A61B90/50 , A61B2090/5025 , B25J9/0033 , B25J9/1689 , B25J19/0004 , F16M13/022
摘要： A compensated constant force spring device includes a bracket, a drum rotatably supported by the bracket, and a constant force spring wound on the drum. A motor is fixed to the bracket and provides a compensating force to the drum. The motor may be located in an interior volume of the drum. A control module may coupled to the motor to control the compensating force. A position sensor may be coupled to the control module. The compensating force may be responsive to a signal from the position sensor. The constant force spring may support a load and counterbalance gravitational forces on the load. The compensating force may be adjusted when the load approaches an end of a range of travel.

5. 发明公开

EP3119311A1 CONSTANT FORCE SPRING WITH ACTIVE BIAS 有权
标题翻译： KONSTANTKRAFTFEDER MIT AKTIVER VORSPANNUNG
公开(公告)号：EP3119311A1
公开(公告)日：2017-01-25
申请号：EP15764074.9
申请日：2015-03-17
申请人： Intuitive Surgical Operations, Inc.
发明人： DEVENGENZO, Roman L. , GRIFFITHS, Paul G.
IPC分类号： A61B90/00
CPC分类号： A61B34/35 , A61B34/30 , A61B90/03 , A61B90/50 , A61B2090/5025 , B25J9/0033 , B25J9/1689 , B25J19/0004 , F16M13/022
摘要： A compensated constant force spring device includes a bracket, a drum rotatably supported by the bracket, and a constant force spring wound on the drum. A motor is fixed to the bracket and provides a compensating force to the drum. The motor may be located in an interior volume of the drum. A control module may coupled to the motor to control the compensating force. A position sensor may be coupled to the control module. The compensating force may be responsive to a signal from the position sensor. The constant force spring may support a load and counterbalance gravitational forces on the load. The compensating force may be adjusted when the load approaches an end of a range of travel.
摘要翻译：机器人和/或外科手术装置，系统和方法包括运动连杆结构和相关联的控制系统，其配置为便于准备使用的系统。在一些实施例中，主动驱动的关节将移动支撑多个操纵器的平台结构，以响应于其中一个操纵器的移动，通过将作为一个单元的多个操纵器作为一个单元移动与工作空间对准，促进并加速整个系统的布置。还提供了系统和方法以保持运动链中的一个，一些或所有关节脱离与关节相关联的运动限制的硬停止或物理范围，或者为了保持一个或多个关节的运动的期望范围，退出设置模式时的运动链。

6. 发明授权

EP3119311B1 CONSTANT FORCE SPRING WITH ACTIVE BIAS 有权
公开(公告)号：EP3119311B1
公开(公告)日：2018-12-26
申请号：EP15764074.9
申请日：2015-03-17
申请人： Intuitive Surgical Operations, Inc.
发明人： DEVENGENZO, Roman L. , GRIFFITHS, Paul G.
IPC分类号： A61B90/00 , A61B34/30
CPC分类号： A61B34/35 , A61B34/30 , A61B90/03 , A61B90/50 , A61B2090/5025 , B25J9/0033 , B25J9/1689 , B25J19/0004 , F16M13/022
摘要： Devices, systems, and methods include a teleoperated system including a kinematic structure having a joint, a drive or brake system for controlling the joint, and a computing unit coupled with the drive or brake system. The computing unit is configured to detect that the joint is between a software defined range of motion limit for the joint and a physical range of motion limit for the joint, the software defined range of motion limit being spaced a distance apart from the physical range of motion limit and delay for a duration of time, in response to detecting the joint between the software defined range of motion limit and the physical range of motion limit, applying the drive or brake system to stop motion of the joint.

7. 发明公开

EP3154748A1 A PARALLEL KINEMATIC MANIPULATOR SYSTEM AND CONTROL METHOD THEREFOR 有权
标题翻译：平行机动力手术器械系统（STEUERUNGSVERFAHRENDAFÜR）
公开(公告)号：EP3154748A1
公开(公告)日：2017-04-19
申请号：EP15806983.1
申请日：2015-06-10
申请人： Xenidev AB
发明人： GRANSTRAND, Oskar L.
IPC分类号： B25J9/00 , B25J9/16
CPC分类号： B25J17/00 , B25J9/0033 , B25J9/1623 , G05B2219/37094 , G05B2219/37325 , Y10S901/28
摘要： A parallel kinematic manipulator system having three degrees of freedom and a method of controlling and visualizing work objects using force feedback and oscillation algorithms is provided. Three co-planar linear actuators operate symmetrically and parallel to an effector arm and are pivotally connected by three magnetic disc swivel joints to a base plate. The disc swivel joints each include a convex upper and lower swivel member having two dimensional gear patterns structured into their contacting and non-sliding surfaces. A pulsed illumination source consists of an annular LED array and is synchronized to the oscillation frequencies of the system to provide visual filtering capabilities. A control unit includes a method for keeping a work object balanced by force feedback and without the need for angle sensors at the end-effector, as well as methods for rotation of work objects and control of the pulsed illumination source. Sound trap ridges are included as part of the housing to reduce system noise.
摘要翻译：提供了一种具有三个自由度的平行运动学操纵器系统和使用力反馈和振荡算法来控制和可视化工作对象的方法。三个共面线性致动器对称地平行于执行器臂并且通过三个磁盘旋转接头枢转地连接到基板。盘旋转接头各自包括具有构造成其接触和非滑动表面的二维齿轮图案的凸形上下旋转构件。脉冲照明源由环形LED阵列组成，并与系统的振荡频率同步，以提供可视化过滤功能。控制单元包括用于通过力反馈保持工作对象平衡的方法，并且不需要端部执行器处的角度传感器，以及用于工作对象的旋转和脉冲照明源的控制的方法。作为外壳的一部分，包括声音阱脊，以减少系统噪音。

8. 发明公开

EP3117966A1 HYBRID ROBOT 审中-公开
标题翻译： HYBRIDROBOTER
公开(公告)号：EP3117966A1
公开(公告)日：2017-01-18
申请号：EP15184648.2
申请日：2015-09-10
申请人： Akademia Gorniczo-Hutnicza im. Stanislawa Staszica w Krakowie
发明人： KARPIEL, Grzegorz , PETKO, Maciej , KOBUS, Konrad , STANGEL-WÓJCIKIEWICZ, Klaudia
IPC分类号： B25J9/00
CPC分类号： B25J9/0033 , B25J9/0072 , B25J9/1065
摘要： The hybrid robot with five degrees of freedom, comprising a base, links connected with joints and a gripper is characterized according to the invention in that it comprises two planar mechanisms ( A and B ), which are perpendicularly oriented in space, so that when the first planar mechanism ( A ) is in a horizontal plane then the second planar mechanism ( B ) is in a vertical plane and the first planar mechanism (A) comprises two prismatic joints, the first prismatic joint ( 1 ) and the second prismatic joint ( 2 ), running on guides, the first guide ( I ) and the second guide ( II ), and two revolute joints, the first revolute joint ( a ) and the second revolute joint ( b ) connected through the third guide ( III ), wherein the first revolute joint ( a ) is connected to the third guide ( III ) through the third prismatic joint ( 3 ), while the guides, the first guide (I) and second guide ( II ) form the base of the robot, whereas the second planar mechanism ( B ) enclose three prismatic joints ( 4, 5 , 6 ) running on the third guide ( III ), wherein these prismatic joints ( 4 , 5 , 6 ) are connected through the link system (IV ) connected by the revolute joints ( c ).
摘要翻译：具有五个自由度的混合机器人，包括基座，与关节连接的连杆和夹具，根据本发明的特征在于它包括在空间中垂直取向的两个平面机构（A和B），使得当第一平面机构（A）处于水平面，则第二平面机构（B）处于垂直平面，第一平面机构（A）包括两个方形接头，第一棱柱形接头（1）和第二棱形接头如图2所示，在第一导向件（I）和第二导向件（II）的导轨上运行，通过第三导向件（III）连接的两个旋转接头，第一旋转接头（a）和第二旋转接头（b）其中所述第一旋转接头（a）通过所述第三棱柱接头（3）连接到所述第三导向件（III），而所述导向件，所述第一导向件（I）和第二导向件（II）形成所述机器人的基部，而第二平面机构（B）包围三个棱镜在第三导向件（III）上运行的接头（4,5,6），其中这些方形接头（4,5,6）通过由旋转接头（c）连接的连杆系统（IV）连接。

9. 发明授权

EP2444209B1 Method for generating kinematical structures of a reconfigurable parallel robot with vertical actuators and its comprising system 有权
标题翻译：用于运动学结构的制备方法Rekonfigurabilen并联机器人具有垂直和致动器系统besthenedes
公开(公告)号：EP2444209B1
公开(公告)日：2015-04-22
申请号：EP10177506.2
申请日：2010-09-18
申请人： Universitatea Tehnica din Cluj-Napoca
发明人： Brisan, Cornel , Hiller, Manfred
IPC分类号： B25J9/16
CPC分类号： B25J9/1615 , B25J9/0033 , B25J9/0072 , G05B2219/50162

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