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31. 发明专利

JP5379022B2 Small counter balance for the robotic surgery system 有权
公开(公告)号：JP5379022B2
公开(公告)日：2013-12-25
申请号：JP2009547359
申请日：2008-01-16
申请人：インテュイティブサージカル, インコーポレイテッド
发明人：トーマスジー．クーパー，
IPC分类号： A61B19/00
CPC分类号： A61B34/30 , A61B34/37 , A61B34/71 , A61B90/50 , A61B2090/5025 , A61B2090/506 , A61B2090/508 , B25J19/0016 , G02B7/001 , Y10T29/49826 , Y10T74/20311 , Y10T74/2154
摘要： In one embodiment of the invention, an apparatus is provided including a linkage and a balancing mechanism coupled to the linkage around a pivotal joint. The linkage couples to a support structure at a first end and support a weight applied to a second end. The balancing mechanism counter balances the weight applied to the second end of the linkage. As the linkage is deformed to vertically adjust the height of the weight with a different moment arm length, the balancing mechanism varies a cable path length to modify the compression of a spring and a tension in a cable to adjust the amount of counter balance force applied to the linkage.

32. 发明专利

JP2013202696A Linear body processor 有权
标题翻译：线性体处理器
公开(公告)号：JP2013202696A
公开(公告)日：2013-10-07
申请号：JP2012070839
申请日：2012-03-27
申请人： Fanuc Ltd , ファナック株式会社
发明人： KUME HIROKAZU
IPC分类号： B25J19/00 , H02G11/00
CPC分类号： F16L3/08 , F16L3/01 , Y10T74/20311
摘要： PROBLEM TO BE SOLVED: To provide a small linear body processor having a simpler technique than a conventional technique.SOLUTION: A linear body processor (10) passes a plurality of linear bodies (30) between a first engaging member (11) and a second engaging member (12), which are engaged to each other and relatively rotate around a prescribed rotation axis of a robot (1). The linear body processor (10) includes a pipe member (25) which is mounted on the second engaging member (12) coaxially with the rotation axis and through which the plurality of linear bodies (30) are passed, and linear body fixing parts provided in both of the first engaging member (11) and the second engaging member (12), respectively. Each of the linear body fixing parts fixes the plurality of linear bodies (30) in such a manner that the plurality of linear bodies (30) form a substantial U-shape or a substantial J-shape at one end or both ends of the pipe member (25). In each of the linear body fixing parts, at least two linear bodies of the plurality of linear bodies are disposed to be adjacent to each other in a band shape, and all of at least two linear bodies are made to abut on an inner peripheral surface at an end or in the vicinities of both ends of the pipe member (25) in a relative rotation angle range between the first engaging member (11) and the second engaging member (12).
摘要翻译：要解决的问题：提供一种具有比常规技术更简单的技术的小线性体处理器。解决方案：线性体处理器（10）将多个线状体（30）在第一接合构件（11）和第二接合构件接合构件（12），其彼此接合并且围绕机器人（1）的规定旋转轴线相对旋转。线状体处理器（10）包括：管构件（25），其与旋转轴线同轴地安装在第二接合构件（12）上，并且多个直线体（30）穿过该构件，并且设置线性体固定部分别在第一接合构件（11）和第二接合构件（12）中。每个直线体固定部分以多个直线体（30）在管的一端或两端形成大致U形或大致J形的方式固定多根直线体（30）会员（25）。在线状体固定部的每一个中，多个线状体的至少两个线状体以带状配置为彼此相邻，并且使至少两个线状体全部抵接在内周面在第一接合构件（11）和第二接合构件（12）之间的相对旋转角度范围内，在管构件（25）的两端的端部或附近。

33. 发明专利

JP5220035B2 Improved manipulator 有权
公开(公告)号：JP5220035B2
公开(公告)日：2013-06-26
申请号：JP2009550917
申请日：2008-02-21
申请人：マイクロデクステラティー・システムズ・インコーポレーテッド
发明人：スチュアート，ジェイ・マイケル
IPC分类号： A61B19/00
CPC分类号： A61B34/77 , A61B34/30 , A61B34/35 , A61B34/70 , A61B34/75 , A61B34/76 , A61B2034/304 , A61B2090/064 , B25J9/0072 , B25J9/106 , B25J17/0266 , Y10S901/19 , Y10T74/20305 , Y10T74/20311 , Y10T74/20323 , Y10T74/20329 , Y10T403/32 , Y10T403/32049

34. 发明专利

JP5076824B2 Hanging type robot 有权
公开(公告)号：JP5076824B2
公开(公告)日：2012-11-21
申请号：JP2007296799
申请日：2007-11-15
申请人：株式会社デンソーウェーブ
发明人：滋竹田
IPC分类号： B25J9/02
CPC分类号： B25J9/026 , Y10T74/20305 , Y10T74/20311

35. 发明专利

JP2012096332A Robot wrist structure and robot 有权
标题翻译：机器人手腕结构和机器人
公开(公告)号：JP2012096332A
公开(公告)日：2012-05-24
申请号：JP2010247656
申请日：2010-11-04
申请人： Yaskawa Electric Corp , 株式会社安川電機
发明人： ICHIBAGASE ATSUSHI , SANADA TAKASHI , KABAHARA KEI
IPC分类号： B25J19/00
CPC分类号： B25J17/0283 , B25J19/0025 , Y10S901/15 , Y10S901/29 , Y10S901/42 , Y10T74/20305 , Y10T74/20311 , Y10T74/20317 , Y10T74/20335
摘要： PROBLEM TO BE SOLVED: To provide a robot wrist structure and a robot capable of reducing interference with peripheral equipment.SOLUTION: A wrist 20 of the robot 10 includes a first wrist arm 40a rotating around a first axis, a second wrist arm 40b arranged in a tip of the first wrist arm 40a and rocking around a second axis of substantially crossing with the first axis, a wrist flange 42 arranged at a tip of the second wrist arm 40b and rotating around a third axis existing in a twist position with the second axis, an intermediate member 44 fixed to the wrist flange 42, and a filament body 25b connected to an end effector 22 fixed to the intermediate member 44. The filament body 25b is wired up to the end effector 22 by being pulled out to the outside from the intermediate member 44 by passing through the inside of the second wrist arm 40, the wrist flange 42 and the intermediate member 44.
摘要翻译：要解决的问题：提供一种机器人手腕结构和能够减少与外围设备的干扰的机器人。解决方案：机器人10的手腕20包括绕第一轴线旋转的第一腕臂40a，布置在第一手腕40a的尖端中的第二手腕臂40b，并围绕第二轴基本上与第第一轴线，设置在第二手腕臂40b的尖端并围绕存在于第二轴线的扭转位置的第三轴线旋转的腕部凸缘42，固定到腕部凸缘42的中间构件44和连接到到固定到中间构件44的末端执行器22.灯丝主体25b通过穿过第二腕关节40的内部而被从中间构件44拉出到外部，直到端部执行器22，手腕凸缘42和中间构件44.版权所有（C）2012，JPO＆INPIT

36. 发明专利

JP2012056082A Multi-joint manipulator, and robot system 有权
标题翻译：多联合操纵器和机器人系统
公开(公告)号：JP2012056082A
公开(公告)日：2012-03-22
申请号：JP2011283819
申请日：2011-12-26
申请人： Yaskawa Electric Corp , 株式会社安川電機
发明人： HANIYA KAZUHIRO , OKAHISA MANABU , ICHIBAGASE ATSUSHI
IPC分类号： B25J9/06 , B25J19/00
CPC分类号： B25J9/06 , B25J9/0087 , B25J9/08 , B25J9/126 , B25J17/025 , B25J19/0029 , Y10T74/20311 , Y10T74/20317 , Y10T74/20329
摘要： PROBLEM TO BE SOLVED: To provide a manipulator that facilitates a teaching method, and can hold a heavy load in a narrow space.SOLUTION: The multi-joint manipulator includes: an arm group including a plurality of arm bodies provided in series and joint parts rotatably connecting two adjacent arm bodies; and a base where a joint part rotatably connected to one end of the arm group is mounted, the base being prepared on an installation plane of the multi-joint manipulator which is a plane perpendicular to a rotation axis of the joint part. Rotation axes of adjacent joint parts are perpendicular to each other, and perpendicular rotation axes of joint parts perpendicular to the installation plane are in alignment with one straight line when the plurality of arm bodies are erected with respect to the installation plane.
摘要翻译：要解决的问题：提供便于教学方法的操纵器，并且可以在狭窄的空间中承受重的负载。解决方案：多关节机械手包括：臂组，其包括串联设置的多个臂体和可旋转地连接两个相邻臂体的接合部分; 以及基部，其中安装有可旋转地连接到所述臂组的一端的接合部，所述基部准备在所述多关节机械手的安装平面上，所述多关节操纵器是与所述接合部的旋转轴线垂直的平面。相邻接合部的旋转轴线彼此垂直，并且当多个臂体相对于安装面竖立时，与安装面垂直的接合部的垂直旋转轴线与一条直线对齐。版权所有（C）2012，JPO＆INPIT

37. 发明专利

JP4831867B2 Industrial robot and its method of operation 有权
公开(公告)号：JP4831867B2
公开(公告)日：2011-12-07
申请号：JP2000589319
申请日：1999-12-08
申请人：エービービーエービー
发明人：レイフテルデン， , カール−エリックフォールスルンド，
IPC分类号： B25J19/00
CPC分类号： B25J19/0029 , Y10T74/20311

38. 发明专利

JP2011218527A Umbilical member arrangement unit of robot arm section 有权
标题翻译：机器人部件的ICAL ICAL ICAL。。。。。。。。
公开(公告)号：JP2011218527A
公开(公告)日：2011-11-04
申请号：JP2010093219
申请日：2010-04-14
申请人： Fanuc Ltd , ファナック株式会社
发明人： IBAYASHI JUN , JINUSHI MUNEHIRO , KUME HIROKAZU
IPC分类号： B25J19/00
CPC分类号： B25J19/0025 , Y10S901/29 , Y10T74/20311
摘要： PROBLEM TO BE SOLVED: To provide an umbilical member arrangement unit of a robot arm section, which is capable of efficiently avoiding contact and interference between the umbilical member and peripheral equipment or the like without using a guide member or the like.SOLUTION: The umbilical member arrangement unit includes: a first fixing member (24) which is attached to a nonrotating part, and by which the umbilical member (14) is fixed so as not to be slid; and a second fixing member (25) which is configured to be rotatable integrally with a rotating part (22), and by which the umbilical member is fixed so as not to be slid. When the rotating portion is located at the center position of a rotational motion range thereof around a longitudinal axis (18), the first fixing member is positioned so as to direct the umbilical member in a first tangential line direction, and the second fixing member is positioned so as to direct the umbilical member in a second tangential line direction approximately orthogonal to the first tangential line direction. In addition, both fixing members are positioned in the same region in relation to two regions defined by a boundary plane including the longitudinal axis and parallel to the second tangential line direction.
摘要翻译：要解决的问题：提供一种机器人手臂部分的脐带部件布置单元，其能够在不使用引导部件等的情况下有效地避免脐部件与外围设备之间的接触和干扰。解决方案：脐部件布置单元包括：第一固定部件（24），其安装在非旋转部件上，脐部件（14）固定成不滑动; 以及第二固定构件（25），其被构造成与旋转部分（22）一体旋转，并且所述脐构件固定成不滑动。当旋转部分位于围绕纵向轴线（18）的旋转运动范围的中心位置时，第一固定构件被定位成在第一切线方向上引导脐带构件，并且第二固定构件定位成在大致垂直于第一切线方向的第二切线方向上引导脐带构件。此外，两个固定构件相对于由包括纵向轴线并平行于第二切线方向的边界平面限定的两个区域定位在相同的区域中。版权所有（C）2012，JPO＆INPIT

39. 发明专利

JP2010518972A Improved manipulator 有权
公开(公告)号：JP2010518972A
公开(公告)日：2010-06-03
申请号：JP2009550917
申请日：2008-02-21
申请人：マイクロデクステラティー・システムズ・インコーポレーテッド
发明人：スチュアート，ジェイ・マイケル
IPC分类号： A61B19/00
CPC分类号： A61B34/77 , A61B34/30 , A61B34/35 , A61B34/70 , A61B34/75 , A61B34/76 , A61B2034/304 , A61B2090/064 , B25J9/0072 , B25J9/106 , B25J17/0266 , Y10S901/19 , Y10T74/20305 , Y10T74/20311 , Y10T74/20323 , Y10T74/20329 , Y10T403/32 , Y10T403/32049
摘要：【課題】
【解決手段】医療処置にて使用されるもののようなマニプレータが提供される。該マニプレータは、本体と、第一の装着点にて本体と接続され且つ、第一の装着点を少なくとも３自由度にて動作させることのできる第一のアクチュエータシステムとを含む。第二のアクチュエータシステムは、第二の装着点にて本体と接続され且つ、第二の装着点を少なくとも３自由度にて動作させることができる。第三のアクチュエータシステムは、本体と一体化され且つ、本体の少なくとも一部分を少なくとも１自由度にて動作させることができる。
【選択図】図８

40. 发明专利

JP4261598B2 Striatum processing structure of an industrial robot 有权
公开(公告)号：JP4261598B2
公开(公告)日：2009-04-30
申请号：JP2007197752
申请日：2007-07-30
申请人：ファナック株式会社
发明人：一隆中山 , 俊彦井上 , 貴敏岩山
IPC分类号： B25J19/00
CPC分类号： B25J19/0029 , B25J17/0283 , F16L3/1091 , H02G11/00 , Y10T74/20311 , Y10T74/20335

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