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1. 发明公开

EP3000565A2 ROBOTER UND DARAUS BESTEHENDE ROBOTERSTRASSE SOWIE VERFAHREN ZUM STEUERN DES ROBOTERS 审中-公开
标题翻译：机器人和物品现有道路机器人和方法用于控制机器人
公开(公告)号：EP3000565A2
公开(公告)日：2016-03-30
申请号：EP15186675.3
申请日：2015-09-24
申请人： Gerhard Schubert GmbH
发明人： Fohrer, Kurt
IPC分类号： B25J9/00 , B25J9/04 , B25J9/10
CPC分类号： B25J9/0018 , B25J9/0072 , B25J9/04 , B25J9/1065
摘要： Um Roboter (50) innerhalb einer Roboterstraße (100) zum Umsetzen von einzelnen Produkten (P) in Trays (T) möglichst nahe beieinander anordnen zu können und dadurch die Länge der Roboterstraße (100) zu reduzieren, wird erfindungsgemäß vorgeschlagen, bei einem Roboterarm (10), bei dem Oberarm (5), Unterarm (6) und Roboter-Hand (7) jeweils um zueinander parallele Haupt-Schwenkachsen (1, 2, 3) verschwenkbar sind, die Roboter (50) mit diesen Haupt-Schwenkachsen (1, 2, 3) in Durchlaufrichtung (X') der Produkte (P) anzuordnen und zusätzlich jeden der Roboterarme (10) um eine Quer-Schwenkachse (12) in oder entgegen der Durchlaufrichtung (X') begrenzt verschwenken zu können.
摘要翻译：一种用于在托盘（T）将所述各个产品（P）的机器人线（100）内的机器人（50）为尽可能靠近安排彼此，从而减少所述机器人线（100）的长度，它是根据本发明提出的，（与机器人臂 10）（对于上臂5），下臂（6）和所述机械手（7）在每种情况下约相互平行的主枢转轴线（1，2，3）是可枢转的，具有这些主枢转轴线的机器人（50）（1 ，2，3）（在行进方向X“）来安排制品（P），并且每个所述机器人臂（10）绕在横向枢轴轴线（12）或反向于通道方向（X除的”以能够枢转的限制）。

2. 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）。

3. 发明公开

EP2429775A1 IMPROVED MANIPULATOR 无效
标题翻译：改进的机器人
公开(公告)号：EP2429775A1
公开(公告)日：2012-03-21
申请号：EP10770325.8
申请日：2010-04-29
申请人： MicroDexterity Systems, Inc.
发明人： STUART, J., Michael , BEER, Joel, N. , BOWLING, David, G. , KETCHEL, John, S.
IPC分类号： B25J17/00
CPC分类号： B25J17/0266 , A61B34/30 , A61B34/37 , A61B34/77 , A61B2034/304 , A61B2090/064 , B25J9/0072 , Y10T74/20305
摘要： A manipulator, such as for use in medical procedures, is provided. The manipulator includes a body and a first actuator system connected to the body at a first attachment point and is capable of moving the first attachment point with at least three degrees of freedom. A second actuator system is connected to the body at a second attachment point and is capable of moving the second attachment point with at least three degrees of freedom. A third actuator system is connected to the body at a third attachment point and is capable of moving the third attachment point with at least one degree of freedom.
摘要翻译：提供了诸如用于医疗程序的操纵器。该操纵器包括主体和第一致动器系统，该第一致动器系统在第一连接点处连接到主体并且能够以至少三个自由度移动第一连接点。第二致动器系统在第二附接点处连接到本体并且能够以至少三个自由度移动第二附接点。第三致动器系统在第三附接点处连接到主体并且能够以至少一个自由度移动第三附接点。

4. 发明授权

EP1341647B1 INDUSTRIAL ROBOT 有权
公开(公告)号：EP1341647B1
公开(公告)日：2009-04-08
申请号：EP01979148.2
申请日：2001-10-19
申请人： ABB AB
发明人： BROGARDH, Torgny
IPC分类号： B25J17/02 , B25J9/10 , B66C5/04 , B23Q1/54
CPC分类号： B23Q1/5462 , B25J9/0036 , B25J9/0042 , B25J9/0072 , B25J17/0266 , Y10T74/20335 , Y10T74/20341
摘要： An industrial robot for movement of an object in space comprising a platform arranged for carrying the object, a first arm arranged for influencing the platform in a first movement and comprising a first actuator and two links, each of which comprises an outer joint arranged in the platform and an inner joint arranged in the first actuator, a second arm arranged for influencing the platform in a second movement and comprising a second actuator and two links, each of which comprises an outer joint arranged in the platform and an inner joint arranged in the second actuator, and a third arm arranged for influencing the platform in a third movement and comprising a third actuator and a link, which comprises an outer joint arranged in the platform and an inner joint arranged in the third actuator. The first actuator comprises a first motor, a first path arranged in a first plane and a first carriage linearly movable along the first path, whereby the two inner joints are displaceable in parallel, the second actuator comprises a second motor, a second path arranged in a second plane and a second carriage linearly movable along the second path, whereby the two inner joints are displaceable in parallel, and the third actuator comprises a third motor, a third path arranged in a third plane and a third carriage linearly movable along the third path, whereby the inner joint is linearly displaceable.

5. 发明授权

EP1694472B1 PARALLEL KINEMATIC MANIPULATOR FOR LARGE WORKSPACE 有权转让
标题翻译：运动并联机构大的工作空间
公开(公告)号：EP1694472B1
公开(公告)日：2008-04-16
申请号：EP04809081.5
申请日：2004-12-16
申请人： ABB AB
发明人： BROG RDH, Torgny
IPC分类号： B25J9/02 , B25J9/06 , B25J17/02
CPC分类号： B25J17/0266 , B25J9/0072 , Y10T74/20305 , Y10T74/20335
摘要： The present invention relates to an industrial robot comprising: a platform (16) arranged for carrying the object, a first arm (7) arranged for influencing the platform in a first movement and comprising a first actuator having a first path (1) and a first carriage (4) linearly movable along the first path, a second arm (8) arranged for influencing the platform in a second movement, comprising a second actuator having a second path (2) and a second carriage (5) linearly movable along the first path, a third arm arranged for influencing the platform in a third movement, and a control unit controlling the movements of the platform. The first and second arm are arranged rotatable in such way that the platform is movable between opposite sides of a second plane (D) passing through and continuously following the first and second carriage The control unit comprises control means adapted to upon command perform a reconfiguration of the platform and the arms of the robot, wherein the reconfiguration comprises moving the platform between opposite sides of the second plane.

6. 发明授权

EP1320448B1 A MANIPULATOR TO MOVE AN OBJECT IN THE SPACE WITH AT LEAST THREE ARMS 有权
标题翻译：操纵器上移动物体在空间至少有三个ARMS
公开(公告)号：EP1320448B1
公开(公告)日：2008-01-23
申请号：EP01958792.2
申请日：2001-08-20
申请人： ABB AB
发明人： BROGARDH, Torgny
IPC分类号： B25J9/10 , B25J17/02 , B25J18/06
CPC分类号： B23Q1/5462 , B25J9/0072 , B25J17/0266
摘要： The invention includes a manipulator to move an object with at least three arms in the space. A first and a second arm, including two parallel links, are fixed to an element with a three-dimensional joint arrangement. The joint arrangement is arranged on the same symmetry axis within the element.

7. 发明公开

EP1809447A2 PARALLELKINEMATISCHE VORRICHTUNG 有权
标题翻译：具有平行-DEVICE起重机器人
公开(公告)号：EP1809447A2
公开(公告)日：2007-07-25
申请号：EP05790667.9
申请日：2005-10-04
申请人： Ehrenleitner, Franz
发明人： Ehrenleitner, Franz
IPC分类号： B25J17/02 , B25J9/04 , B25J18/00
CPC分类号： B66C23/82 , B25J9/0072 , B25J17/0266 , B66C13/08 , B66F7/0633 , B66F7/08
摘要： The invention relates to the kinematic connection of a fixed platform (2) to a mobile platform (3) comprising up to six degrees of freedom in closed kinematic chains, (parallel kinematics), the connecting elements being rods, (actuators) of adjustable length, optionally consisting partially of rods of a constant length, (passive rods) and optionally cables. The invention is characterised in that three connecting elements of this type engage with a common point of one of the platforms (2, 3), forming a triple point (P3). In embodiments of the invention, said triple point can be configured as a pseudo triple point to produce a simple mechanical configuration, without losing the advantages of the invention. The inventive kinematics can be used for lifting tables, tackle for overhead conveyors, lifting robots, articulated arm-type robots, excavators, mills, cutting devices etc..

8. 发明公开

EP1560681A1 FOUR-DEGREE-OF-FREEDOM PARALLEL MANIPULATOR FOR PRODUCING SCHÖNFLIES MOTIONS 审中-公开
标题翻译：与四个自由度并联机器人于产生美丽的流动运动
公开(公告)号：EP1560681A1
公开(公告)日：2005-08-10
申请号：EP03770827.8
申请日：2003-11-05
申请人： McGILL UNIVERSITY
发明人： ANGELES, Jorge , MOROZOV, Alexei
IPC分类号： B25J17/02 , B23Q1/54
CPC分类号： B23Q1/5456 , B23Q1/52 , B23Q1/5462 , B23Q1/5468 , B23Q1/5481 , B23Q1/626 , B25J9/0072 , B25J17/0266 , Y10T74/20305 , Y10T74/20317 , Y10T74/20329
摘要： The present invention relates to a manipulating device (A) for producing Schönflies motions comprising a parallel array of at least two legs (B), each leg (B) including an actuator unit (C) having first and second ends and producing a pan-tilt motion, each leg ( B) also including a passive unit (D) having first and second ends, the first end of the passive unit (D) being coupled to the first end of the actuator unit (C) such that the passive unit (D) reacts to the pan-tilt motion, a base (1) connected to the second end of each actuator unit (C), all second ends having a constant relative position with respect to one another; and a common end-effector (36) connected to the second end of all passive units (D) such that the common end-effector (36) is provided with a Schönflies motion by the legs (B).

9. 发明授权

EP1133265B1 SURGICAL MANIPULATOR 有权
标题翻译：手术操纵
公开(公告)号：EP1133265B1
公开(公告)日：2004-07-07
申请号：EP99961736.8
申请日：1999-11-22
申请人： Microdexterity Systems Inc.
发明人： CHARLES, Steve, T. , STOUGHTON, Robert , STUART, J., Michael , BRONISZ, Larry
IPC分类号： A61B19/00 , B25J9/10 , B25J17/02
CPC分类号： B25J9/1065 , A61B34/30 , A61B34/77 , A61B2034/304 , A61B2034/742 , A61B2090/064 , A61B2090/506 , B25J9/0072 , B25J17/0266
摘要： A surgical manipulator (10) can manipulate a medical tool (12) with one or more degrees of freedom. In preferred embodiments, the manipulator (10) is a parallel mechanism including a plurality of arms (21, 22) pivotally supporting a medical tool (12), with the orientation of the medical tool (12) being adjusted by varying the position of joints (23, 24) mounted on the arms (21, 22). The motions of the joints (23, 24) can be controlled such that the tool (12) is pivoted about a virtual pivot point located within the body wall of a patient (30). The manipulator (10) can enhance the dexterity of an operator and enable the operator to perform medical procedures more easily than by hand.

10. 发明公开

EP1133265A1 SURGICAL MANIPULATOR 有权
标题翻译：手术操纵
公开(公告)号：EP1133265A1
公开(公告)日：2001-09-19
申请号：EP99961736.8
申请日：1999-11-22
申请人： Microdexterity Systems Inc.
发明人： CHARLES, Steve, T. , STOUGHTON, Robert , STUART, J., Michael , BRONISZ, Larry
IPC分类号： A61B19/00
CPC分类号： B25J9/1065 , A61B34/30 , A61B34/77 , A61B2034/304 , A61B2034/742 , A61B2090/064 , A61B2090/506 , B25J9/0072 , B25J17/0266
摘要： A surgical manipulator (10) can manipulate a medical tool (12) with one or more degrees of freedom. In preferred embodiments, the manipulator (10) is a parallel mechanism including a plurality of arms (21, 22) pivotally supporting a medical tool (12), with the orientation of the medical tool (12) being adjusted by varying the position of joints (23, 24) mounted on the arms (21, 22). The motions of the joints (23, 24) can be controlled such that the tool (12) is pivoted about a virtual pivot point located within the body wall of a patient (30). The manipulator (10) can enhance the dexterity of an operator and enable the operator to perform medical procedures more easily than by hand.

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