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1. 发明授权

EP3325224B1 DRIVE MECHANISMS FOR ROBOT ARMS 有权转让
公开(公告)号：EP3325224B1
公开(公告)日：2024-10-23
申请号：EP16744496.7
申请日：2016-07-22
IPC分类号： B25J9/10 , B25J17/02
CPC分类号： B25J9/102 , B25J17/0258 , Y10S901/25 , Y10S901/26

2. 发明公开

EP4399063A1 A MULTI-AXIS ROBOT 审中-实审
公开(公告)号：EP4399063A1
公开(公告)日：2024-07-17
申请号：EP22777569.9
申请日：2022-09-06
申请人： Victrex Manufacturing Limited
发明人： ELMQUIST, Joseph , DOUGHERTY, Stephen , ANDERSON, Andrew
IPC分类号： B25J9/10
CPC分类号： B25J9/102 , B25J9/0012

4. 发明公开

EP4343169A3 SPEED REDUCER AND ROTATING DEVICE 审中-实审
公开(公告)号：EP4343169A3
公开(公告)日：2024-05-15
申请号：EP24155992.1
申请日：2022-06-14
申请人： Nabtesco Corporation
发明人： NAKAMURA, Koji , KAMAGATA, Shuichi
IPC分类号： B25J9/10 , F16H1/32
CPC分类号： B25J9/102 , F16H1/32 , F16H2001/32320130101 , F16H55/08
摘要： A speed reducer 1 for an industrial robot according to the present invention, comprises an input gear 30 provided on an input shaft 3, the input gear 30 engaging with the transmission gears 20, 20A, 20B, 20C to synchronously rotate the transmission gears 20, 20A, 20B, 20C, wherein the input gear 30 and the transmission gears 20, 20A, 20B, 20C engage with each other with 6 to 8 teeth, and wherein the input gear 30 and the transmission gears 20, 20A, 20B, 20C are configured such that a pressure angle is no less than 14.5° and no more than 20.0°, a tooth thickness is no less than 3 mm and no more than 30 mm and a module (a pitch circle diameter/the number of teeth) is no less than 0.8 and no more than 3.0.

5. 发明授权

EP3112097B1 WIRE DRIVING DEVICE AND MANIPULATOR 有权
公开(公告)号：EP3112097B1
公开(公告)日：2018-09-12
申请号：EP15752658.3
申请日：2015-02-23
申请人： Olympus Corporation
发明人： KISHI, Kosuke
IPC分类号： A61B34/30 , B25J9/10 , F16H19/00 , F16H35/00 , A61B1/005
CPC分类号： A61B34/71 , A61B1/0016 , A61B1/0057 , A61B34/30 , A61B2034/301 , A61B2034/715 , B25J9/102 , B25J9/104 , F16H3/20 , F16H3/30 , F16H9/10 , F16H19/005 , F16H2007/0865
摘要： Slack is compensated for without causing a wire to slip at a pulley. Provided is a wire driving device (1) including: a pair of wires (17, 18) one ends of which are attached to a movable member (16a) and that antagonistically drive the movable member; a pair of pulleys (20, 21) to which the other ends of the individual wires are secured and around which the individual wires are wound; a pair of driven gears (22, 23) that are coaxially secured to the individual pulleys; a drive gear (24) that is connected to a driving source that generates motive power; and a pair of movable gears (25, 26) that are disposed between the drive gear and the individual driven gears and that can transmit the motive power of the driving source to the driven gears from the drive gear, wherein the movable gears are provided in a movable manner so that the movable gears engage with the drive gear and the driven gears when the drive gear is rotated in the direction in which the pulleys take up the wires, and so that the engagements of the movable gears with at least one of the drive gear and the driven gears are released when the drive gear is rotated in the direction in which the pulleys let out the wires.

6. 发明公开

EP3337646A1 BRAS DE ROBOT ARTICULÉ 有权转让
公开(公告)号：EP3337646A1
公开(公告)日：2018-06-27
申请号：EP16747836.1
申请日：2016-07-12
申请人： DUFAU, Ludovic
发明人： DUFAU, Ludovic
IPC分类号： B25J17/02 , B25J9/06
CPC分类号： B25J17/0275 , B25J9/06 , B25J9/102 , B25J9/1045 , B25J17/025 , B25J17/0291 , F16C19/16 , F16C19/36 , F16C2380/00 , Y10S901/23 , Y10S901/25 , Y10S901/28
摘要： The invention relates to an articulated robot arm (1) which comprises a plurality of trapezoidal truncated cylinders (2) disposed in succession around an internal holding member (4), each trapezoidal truncated cylinder (2) being configured to pivot about the internal holding member (4), the internal holding member (4) having angular control means for controlling the rotation of each trapezoidal truncated cylinder (2).

7. 发明公开

EP3325224A1 DRIVE MECHANISMS FOR ROBOT ARMS 有权转让
公开(公告)号：EP3325224A1
公开(公告)日：2018-05-30
申请号：EP16744496.7
申请日：2016-07-22
申请人： Cambridge Medical Robotics Ltd
发明人： JACKSON, Thomas Bates , HARES, Luke David Ronald , MARSHALL, Keith , RANDLE, Steven James
IPC分类号： B25J9/10 , B25J17/02
CPC分类号： A61B34/30 , A61B2017/0069 , A61B2034/305 , B25J9/102 , B25J17/0258 , B25J17/0275 , B25J18/04 , F16H19/001 , Y10S901/25 , Y10S901/26
摘要： A robot arm comprising a joint mechanism for articulating one limb of the arm relative to another limb of the arm about two non-parallel rotation axes, the mechanism comprising: an intermediate carrier attached to a first one of the limbs by a first revolute joint having a first rotation axis and to a second one of the limbs by a second revolute joint having a second rotation axis; a first drive gear disposed about the first rotation axis, the first drive gear being fast with the carrier; a second drive gear disposed about the second rotation axis, the second drive gear being fast with the second one of the limbs; a first drive shaft for driving the first drive gear to rotate about the first rotation axis, the first drive shaft extending along the first one of the limbs and having a first shaft gear thereon, the first shaft gear being arranged to engage the first drive gear; a second drive shaft for driving the second drive gear to rotate about the second rotation axis, the second drive shaft extending along the first one of the limbs and having a second shaft gear thereon, the second shaft gear being arranged to engage the second drive gear; the second drive shaft comprising a prismatic joint whereby the length of the shaft can vary in response to motion of the carrier about the first axis.

8. 发明授权

EP3068590B1 VORRICHTUNG NACH ART EINES KNICKARMROBOTERS 有权
标题翻译：根据KNICK-ARM机器人的类型的装置
公开(公告)号：EP3068590B1
公开(公告)日：2017-12-06
申请号：EP14786606.5
申请日：2014-10-07
申请人： Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. , Universität Rostock
发明人： WANNER, Martin Christoph , KNY, Reinhart , WOLLENBERG, Michael , DRYBA, Steffen
IPC分类号： B25J9/04 , B25J9/10
CPC分类号： B25J9/106 , B25J9/046 , B25J9/102 , Y10S901/15 , Y10S901/17

9. 发明公开

EP2759741A4 LINK ACTUATING DEVICE 有权
标题翻译： VERBINDUNGSBETÄTIGUNGSVORRICHTUNG
公开(公告)号：EP2759741A4
公开(公告)日：2016-07-13
申请号：EP12833391
申请日：2012-09-11
申请人： NTN TOYO BEARING CO LTD
发明人： ISOBE HIROSHI , YAMADA HIROYUKI , NISHIO YUKIHIRO
IPC分类号： B25J9/00 , B25J9/10 , B25J17/00 , F16H21/46 , F16H37/14
CPC分类号： F16H19/08 , B25J9/0048 , B25J9/102 , F16H21/46 , F16H37/14 , Y10T74/18792 , Y10T74/188
摘要： A distal side link hub (15) is connected with a proximal end side link hub (14) through three sets of link mechanisms (11 to 13) for alteration in posture. At least two sets of the link mechanisms include an actuator (30) for arbitrarily changing the posture of the distal end side link hub (15) relative to the proximal end side link hub (14) by rotating a proximal side end link member (11a to 13a) and a reduction gear unit (31) for reducing the speed of and transmitting the operation amount of the actuator (30) to the proximal side end link member (11a to 13a). The reduction gear unit (31) includes a geared speed reducing section (33) having a small gear (36) rotated by the actuator (30) and a large gear (37) provided in the proximal side end link member (11a to 13a). The radius of pitch circle of the large gear (37) is chosen to be equal to or greater than the arm length (L) of the proximal side end link member (11a to 13a).
摘要翻译：远端侧连接轮毂（15）通过三组连杆机构（11至13）与近端侧连接轮毂（14）连接，用于改变姿势。至少两组连杆机构包括致动器（30），用于通过使近端侧连杆构件（11a）旋转来随意地改变远端侧连杆毂（15）相对于基端侧连杆毂（14）的姿势至减速齿轮单元31，用于降低致动器30的操作量到基端侧连杆构件11a至13a的速度。减速装置（31）包括具有由致动器（30）旋转的小齿轮（36）和设置在基端侧连杆部件（11a〜13a）中的大齿轮（37）的齿轮减速部（33）。选择大齿轮（37）的节圆半径等于或大于近端侧连杆部件（11a〜13a）的臂长（L）。

10. 发明公开

EP3036072A1 INDUSTRIEROBOTER MIT WENIGSTENS EINEM ANTRIEB 审中-实审转让
标题翻译：工业机械麻省理工学院EINEM ANTRIEB
公开(公告)号：EP3036072A1
公开(公告)日：2016-06-29
申请号：EP14750241.3
申请日：2014-08-12
申请人： KUKA Roboter GmbH
发明人： KRUMBACHER, Rainer
IPC分类号： B25J9/10 , B25J9/12 , B25J19/00
CPC分类号： B25J17/00 , B25J9/102 , B25J9/126 , B25J19/0029
摘要： The invention relates to an industrial robot (1), comprising a robot arm (2), which is formed having members (9, 10, 12) and is formed to bear a load and to move said load in space, having articulations (11), which connect the members (9, 10, 12) such that they can move relative to each other by means of drives (13) and gearing systems (14) associated with the drives (13), of which members at least one first member (9) has a first housing (9a) and at least one second member (10) has a second housing (10a), said housings being formed to transmit forces and moments that occur owing to the dead weight of the robot arm (2) and/or of the load to at least one adjacent member (9, 10) in each case; wherein the first member (9) is articulated in a rotatable manner in relation to the second member (10) by means of one of the drives (13), and said drive (13) has a drive housing (15), a rotor (16) and also a stator (17), which is connected to the drive housing (15), and the drive housing (15) is fastened to the first housing (9a) of the first member (9) and forms an outer wall section (2a) of the robot arm (2), said outer wall section transmitting the forces and moments; wherein one of the gearing systems (14) is associated with said drive (13) and has an output member (19) and an input member (20), which is connected to the rotor (16) of the drive (13), and in which the output member (19) of the gearing system (14) is connected to a flange (22), the flange (22) is mounted such that the flange (22) can rotate in relation to the drive housing (15), and the second housing (10a) of the second member (10) is fastened to the flange (22).
摘要翻译：工业机器人的机器人臂包括通过具有相应的驱动器和相关联的变速器的关节连接的连续的链条，用于移动链接。第一和第二连杆具有相应的第一和第二壳体，其将由机器人臂的重量或由臂承载的负载产生的力和力矩传递到相邻链节。可旋转地连接第一和第二连杆的第一驱动器包括驱动壳体，转子和连接到驱动壳体的定子。驱动器壳体固定到第一连杆的第一壳体并且形成机器臂的外壁。与第一驱动器相关联的变速器包括与第一驱动器的转子连接的输入连杆。第一驱动器的输出连接到紧固到第二壳体并相对于驱动器壳体可旋转的凸缘。

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