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1. 发明授权

EP2220467B1 WAAGE 有权转让
公开(公告)号：EP2220467B1
公开(公告)日：2015-07-15
申请号：EP08857277.1
申请日：2008-10-15
申请人： Sartorius Lab Instruments GmbH & Co. KG
发明人： LAUBSTEIN, Michael , LAUKE, Jürgen
IPC分类号： G01G21/28
CPC分类号： G01G21/286 , Y10S901/22

2. 发明公开

EP3025668A1 TOOL HOLDING ARTICULATED ARM 有权
标题翻译：工具控制铰接臂
公开(公告)号：EP3025668A1
公开(公告)日：2016-06-01
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
摘要： A tool holding articulated arm 1 has articulations 4 each holding a ball 6 between a presser 11 and a front opening 8 of a housing 7. With small acting force of the presser 11, a strong fixing force is obtained at each articulation 4. The presser 11 has a cup shape whose circumferential edge e comes into linear contact with the surface of the ball 6 to exert a strong holding force on the surface of the ball 6.
摘要翻译：保持关节臂1的工具具有铰接件4，每个铰接件4将球6保持在外壳7的压紧器11和前开口8之间。通过压紧器11的小作用力，在每个铰接件4处获得强固定力。 11具有杯形，其圆周边缘e与球6的表面线性接触，以在球6的表面上施加强保持力。

3. 发明公开

EP2576159A1 STRUCTURE GONFLABLE ARTICULEE ET BRAS ROBOTISE COMPORTANT UNE TELLE STRUCTURE 审中-公开
标题翻译：铰接式膨胀结构和机器人的手臂DERATIGEN结构
公开(公告)号：EP2576159A1
公开(公告)日：2013-04-10
申请号：EP11722107.7
申请日：2011-05-31
申请人： Commissariat à l'Énergie Atomique et aux Énergies Alternatives
发明人： RIWAN, Alain , VOISEMBERT, Sébastien
IPC分类号： B25J18/06
CPC分类号： B25J18/06 , Y10S901/21 , Y10S901/22 , Y10S901/23 , Y10S901/27 , Y10T74/20323
摘要： Articulated structure comprising an inflatable tubular casing (1) which contains a fluid under pressure and has a central axis (2) along which are defined at least one fixed-geometry portion (1.1) and one variable-geometry portion (1.2), the arm comprising means (7, 8, 9, 10) for deforming the variable-geometry portion, the casing and the deforming means being arranged to generate curvature in the variable-geometry portion in such a way that the variable-geometry portion maintains a substantially constant volume. Robot arm comprising such a structure.

4. 发明公开

EP2335884A1 Fluidisch betreibbarer Manipulator 有权
标题翻译： Fluidisch betreibbarer机械手
公开(公告)号：EP2335884A1
公开(公告)日：2011-06-22
申请号：EP09015514.4
申请日：2009-12-15
申请人： FESTO AG & Co. KG
发明人： Fischer, Markus , Kaminski, Ruwen , Neumann, Rüdiger, Dr. , Hildebrandt, Alexander, Dr.
IPC分类号： B25J9/14 , B25J18/06
CPC分类号： B25J18/06 , B25J9/142 , Y10S901/22 , Y10T74/20323
摘要： Die Erfindung betrifft einen fluidisch betreibbaren Manipulator aus mehreren längs einer Erstreckungskurve (10) gestapelt angeordneten Manipulatorsegmenten (5), die jeweils wenigstens eine Koppelplatte (19) und wenigstens zwei, quer zur Erstreckungskurve (10) beabstandet an der Koppelplatte (19) angeordnete, fluidisch getrennt ausgebildete Fluidkammern (20) umfassen, wobei jede der Fluidkammern (20) wenigstens einen elastisch deformierbaren Wandbereich (25) aufweist, der dazu ausgebildet ist, bei Beaufschlagung der jeweiligen Fluidkammer (20) mit einem Fluid eine Volumenänderung der Fluidkammer (20) für eine Linearbewegung im Wesentlichen parallel zur Erstreckungskurve (10) zu ermöglichen und wobei eine Haupterstreckungsfläche (26) der Koppelplatte (19) für eine Anordnung zumindest im Wesentlichen senkrecht zur Erstreckungskurve (10) vorgesehen ist. Erfindungsgemäß ist vorgesehen, dass die wenigstens zwei Fluidkammern (20) einstückig mit der wenigstens einen Koppelplatte (19) ausgebildet sind.
摘要翻译：操纵器具有在与延伸曲线横向的联接板（19）中彼此间隔一定距离的流体室（20）的区段，其中腔室彼此流体分离。每个腔室具有可弹性变形的壁区域，用于改变腔室的体积，以便当流体被供应到腔室时将板平行于曲线线性移动。板的主延伸表面垂直于曲线布置，并且室与板形成为单件。

5. 发明公开

EP3196484A4 ACTUATOR DEVICE, POWER ASSIST ROBOT, AND HUMANOID ROBOT 有权
公开(公告)号：EP3196484A4
公开(公告)日：2018-05-16
申请号：EP15839751
申请日：2015-08-26
申请人： ADVANCED TELECOMMUNICATIONS RES INSTITUTE INTERNATIONAL
发明人： NODA TOMOYUKI , MORIMOTO JUN
IPC分类号： F15B15/10 , A61F2/68 , A61H3/00 , B25J9/00 , B25J9/10 , B25J9/14 , B25J11/00 , B25J13/08 , B25J19/00 , F01B19/04
CPC分类号： A61F2/68 , A61F2002/74 , A61H1/00 , A61H3/00 , B25J9/0006 , B25J9/104 , B25J9/1045 , B25J9/1075 , B25J9/14 , B25J9/142 , B25J9/144 , B25J13/085 , B25J13/087 , F15B15/10 , F15B15/103 , F16C1/12 , Y10S901/21 , Y10S901/22
摘要： [Object] To provide a hybrid actuator attaining both driving force and responsiveness, capable of reducing inertia of a movable portion. [Solution] A pneumatic air muscle has a cylinder (112) provided in a flexible member (100) forming a pneumatic artificial muscle. At the center of an upper lid element (109) of the cylinder, a through hole is opened, and an inner wire (103) of a Bowden cable passes through this through hole and is coupled by means of a spring (106) to a bottom portion of the cylinder. When the pneumatic artificial muscle contracts, the inner wire (103) and the pneumatic air muscle move together because of the stopper (105), and the contraction force is transmitted. In contrast, when the pneumatic air muscle extends, the stopper (105) is disengaged, while the tension of inner wire (103) is kept by the spring (106) to prevent slacking.

6. 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

7. 发明公开

EP3196484A1 ACTUATOR DEVICE, POWER ASSIST ROBOT, AND HUMANOID ROBOT 有权
标题翻译：致动器装置，动力辅助机器人和人体机器人
公开(公告)号：EP3196484A1
公开(公告)日：2017-07-26
申请号：EP15839751.3
申请日：2015-08-26
申请人： Advanced Telecommunications Research Institute International
发明人： NODA, Tomoyuki , MORIMOTO, Jun
IPC分类号： F15B15/10 , A61F2/68 , A61H3/00 , B25J11/00 , B25J19/00
CPC分类号： A61F2/68 , A61F2002/74 , A61H1/00 , A61H3/00 , B25J9/0006 , B25J9/104 , B25J9/1045 , B25J9/1075 , B25J9/14 , B25J9/142 , B25J9/144 , B25J13/085 , B25J13/087 , F15B15/06 , F15B15/103 , F15B15/1404 , F16C1/12 , Y10S901/21 , Y10S901/22
摘要： [Object] To provide a hybrid actuator attaining both driving force and responsiveness, capable of reducing inertia of a movable portion.
[Solution] A pneumatic air muscle has a cylinder (112) provided in a flexible member (100) forming a pneumatic artificial muscle. At the center of an upper lid element (109) of the cylinder, a through hole is opened, and an inner wire (103) of a Bowden cable passes through this through hole and is coupled by means of a spring (106) to a bottom portion of the cylinder. When the pneumatic artificial muscle contracts, the inner wire (103) and the pneumatic air muscle move together because of the stopper (105), and the contraction force is transmitted. In contrast, when the pneumatic air muscle extends, the stopper (105) is disengaged, while the tension of inner wire (103) is kept by the spring (106) to prevent slacking.
摘要翻译：本发明提供一种兼具驱动力和响应性的混合型致动器，其能够降低可动部的惯性。解决方案气动肌肉具有设置在形成气动人造肌肉的柔性部件（100）中的圆筒（112）。在圆筒的上部盖元件（109）的中心打开通孔，鲍登拉索的内部金属丝（103）穿过该通孔并通过弹簧（106）连接到圆柱体的底部。当气动人造肌肉收缩时，由于止动件（105），内部线材（103）和气动空气肌肉一起移动，并且收缩力被传递。相反，当气动肌肉伸展时，止动件105脱开，同时内弹簧106保持内钢丝103的张力以防止松弛。

8. 发明授权

EP2335884B1 Fluidisch betreibbarer Manipulator 有权
标题翻译：流体机械手操作
公开(公告)号：EP2335884B1
公开(公告)日：2012-09-05
申请号：EP09015514.4
申请日：2009-12-15
申请人： FESTO AG & Co. KG
发明人： Fischer, Markus , Kaminski, Ruwen , Neumann, Rüdiger, Dr. , Hildebrandt, Alexander, Dr.
IPC分类号： B25J9/14 , B25J18/06
CPC分类号： B25J18/06 , B25J9/142 , Y10S901/22 , Y10T74/20323

9. 发明公开

EP2220467A1 WAAGE 有权转让
公开(公告)号：EP2220467A1
公开(公告)日：2010-08-25
申请号：EP08857277.1
申请日：2008-10-15
申请人： SARTORIUS AG
发明人： LAUBSTEIN, Michael , LAUKE, Jürgen
IPC分类号： G01G21/28
CPC分类号： G01G21/286 , Y10S901/22
摘要： The invention relates to a balance comprising at least one adjusting device having a drive, wherein the drive of the adjusting device is configured as a fluidic drive to which pressure can be applied by a pressure source disposed outside the scales via a pressure connection.
摘要翻译：本发明涉及一种包括至少一个具有驱动器的调节装置的天平，其中，调节装置的驱动器构造成流体驱动器，通过压力连接装置可以通过设置在秤盘外部的压力源施加压力。

10. 发明授权

EP2834047B1 SYSTEMS AND METHODS FOR PROVIDING FLEXIBLE ROBOTIC ACTUATORS 有权
标题翻译：用于提供柔性机器人执行器的系统和方法
公开(公告)号：EP2834047B1
公开(公告)日：2018-05-09
申请号：EP13714786.4
申请日：2013-03-15
申请人： President and Fellows of Harvard College
发明人： MORIN, Stephen, A. , SHEPHERD, Robert, F. , STOKES, Adam , ILIEVSKI, Filip , MARTINEZ, Ramses, V. , BRANCH, Jamie, L. , FISH, Carina, R. , JIN, Lihua , NUNES, Rui, M.D. , SUO, Zhigang , WHITESIDES, George, M.
IPC分类号： B25J9/16 , A47L9/28 , B25J9/10 , B25J9/14
CPC分类号： B25J9/142 , A47L9/2836 , B25J9/1075 , B25J9/1697 , Y10S901/22 , Y10T74/20305
摘要： Systems and methods for providing flexible robotic actuators are disclosed. Some embodiments of the disclosed subject matter include a soft robot capable of providing a radial deflection motions; a soft tentacle actuator capable of providing a variety of motions and providing transportation means for various types of materials; and a hybrid robotic system that retains desirable characteristics of both soft robots and hard robots. Some embodiments of the disclosed subject matter also include methods for operating the disclosed robotic systems.

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