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141. 发明申请

US20060133918A1 Horizontal articulated robot 有权
标题翻译：水平铰接机器人
公开(公告)号：US20060133918A1
公开(公告)日：2006-06-22
申请号：US11304935
申请日：2005-12-15
申请人： Kazushige Akaha
发明人： Kazushige Akaha
IPC分类号： B66C23/00
CPC分类号： B25J15/0052 , B25J9/042 , B25J19/0025 , Y10S414/131 , Y10T74/20311 , Y10T74/20335
摘要： A horizontal articulated robot has a plurality of horizontal arms coupled by joint shafts, and a working shaft disposed at the extreme end of an extreme end arm among the horizontal arms has mounting portions of an end effector formed to both the upper and lower ends thereof. With this arrangement, there can be provided a horizontal articulated robot that can cope with various work transport forms and various types of works by one type of a robot by selectively using the upper and lower sides of a working shaft.
摘要翻译：水平铰接机器人具有由关节轴联接的多个水平臂，并且设置在水平臂中的末端臂的末端的工作轴具有形成在其上端和下端的端部执行器的安装部分。通过这种布置，可以提供一种通过选择性地使用工作轴的上侧和下侧，通过一种类型的机器人能够应对各种作业传送形式和各种类型的作品的水平铰接式机器人。

142. 发明授权

US07029224B2 Method and apparatus for transferring a thin plate 失效
标题翻译：传递薄板的方法和装置
公开(公告)号：US07029224B2
公开(公告)日：2006-04-18
申请号：US10384791
申请日：2003-03-11
申请人： Keishi Kubo , Keiichi Yoshizumi , Hiroyuki Takeuchi , Koji Handa , Takaaki Kassai
发明人： Keishi Kubo , Keiichi Yoshizumi , Hiroyuki Takeuchi , Koji Handa , Takaaki Kassai
IPC分类号： B25J17/02
CPC分类号： H01L21/67742 , B25J15/103 , H01L21/68707 , Y10T74/20335
摘要： A method for transferring a thin plate is provided, in which three or more grasping claws of a transfer arm grasp the periphery of the thin plate in order to transfer it to a predetermined transfer position, and three or more holding claws hold the periphery of the thin plate in the transfer position. The transfer arm rotates about a shaft which is in a direction of a vector sum of a first vector perpendicular to a surface of the thin plate before transfer, and a second vector perpendicular to the surface of the thin plate after the transfer, to transfer the thin plate with changing the posture thereof.
摘要翻译：提供一种用于传送薄板的方法，其中传送臂的三个或更多个把持爪抓住薄板的周边以便将其传送到预定的传送位置，并且三个或更多个夹持爪保持薄板处于转移位置。传送臂围绕转轴旋转，该轴在转印之前沿垂直于薄板的表面的第一矢量的矢量方向和在转印之后垂直于薄板表面的第二矢量转动，改变其姿势的薄板。

143. 发明申请

US20050273198A1 Method and device for controlling manipulators 失效
标题翻译：用于控制操纵器的方法和装置
公开(公告)号：US20050273198A1
公开(公告)日：2005-12-08
申请号：US11141899
申请日：2005-06-01
申请人： Rainer Bischoff
发明人： Rainer Bischoff
IPC分类号： B25J9/10 , B25J9/16 , B25J13/00 , G05B19/18 , G06F19/00
CPC分类号： B25J9/1692 , B25J9/1682 , G05B2219/39008 , G05B2219/39045 , G05B2219/39046 , G05B2219/39051 , G05B2219/39114 , G05B2219/39397 , Y10T74/20207 , Y10T74/20305 , Y10T74/20311 , Y10T74/20329 , Y10T74/20335
摘要： The invention relates to a method for controlling a plurality of manipulators, such as multiaxial or multiaxle industrial robots. At least one manipulator functions as the reference manipulator and is moved in a plurality of preset poses within its working area at which internal position values are determined as first desired poses. For each desired pose, subsequently a first actual pose of the reference manipulator is determined by an external measuring system. Subsequently at least one further manipulator moves up to specific poses of the reference manipulator as second desired poses and for each of these poses an actual pose of the further manipulator is determined by an external measuring system. On the basis of actual-desired deviations between the thus determined desired and actual poses of the two manipulators, subsequently a parameter model for the further manipulator is established and with it it is possible to compensate simultaneously both its own errors and those of the reference manipulator. The method according to the invention can be used in conjunction with a simplified, improved cooperation between manipulators.
摘要翻译：本发明涉及一种用于控制多个操作器的方法，例如多轴或多轴工业机器人。至少一个操纵器用作参考操纵器并且在其工作区域内以多个预设姿势移动，在该区域内确定内部位置值作为第一期望姿态。对于每个期望的姿态，随后参考操纵器的第一实际姿势由外部测量系统确定。随后，至少一个另外的操纵器移动到参考操纵器的特定姿势作为第二期望姿态，并且对于这些姿势中的每一个，另外的操纵器的实际姿势由外部测量系统确定。基于这样确定的两个操纵器的期望和实际姿态之间的实际期望的偏差，随后建立用于另外的操纵器的参数模型，并且随之可以同时补偿其自身的误差和参考机械手的误差。根据本发明的方法可以与操纵器之间的简化，改进的协作结合使用。

144. 发明申请

US20050234327A1 Robotic arm for patient positioning assembly 有权
标题翻译：机器臂用于患者定位组件
公开(公告)号：US20050234327A1
公开(公告)日：2005-10-20
申请号：US11129122
申请日：2005-05-13
申请人： Michael Saracen , Aaron Carrano , Toby Henderson
发明人： Michael Saracen , Aaron Carrano , Toby Henderson
IPC分类号： A61B5/05 , A61B6/04 , A61B6/08 , A61N5/10 , B66C23/48
CPC分类号： B66C23/48 , A61B6/0457 , A61B6/4458 , A61B6/4464 , A61B6/548 , A61N5/1049 , A61N5/107 , A61N2005/105 , Y10T74/20335
摘要： A robotic patient positioning assembly including a patient treatment couch, and a robotic arm coupled to the patient treatment couch. The robotic arm is configured to move the patient treatment couch along five rotational degrees of freedom and one substantially vertical, linear degree of freedom.
摘要翻译：一种机器人患者定位组件，包括患者治疗床，以及联接到患者治疗床上的机器臂。机器人臂构造成沿着五个旋转自由度和一个基本垂直的线性自由度移动患者治疗床。

145. 发明申请

US20050172750A1 Industrial robot 有权
标题翻译：工业机器人
公开(公告)号：US20050172750A1
公开(公告)日：2005-08-11
申请号：US10502205
申请日：2003-02-05
申请人： Sonke Kock , Roland Oesterlein , Torgny Brogardh
发明人： Sonke Kock , Roland Oesterlein , Torgny Brogardh
IPC分类号： B25J11/00 , B25J9/10 , B25J17/02 , B25J18/00
CPC分类号： B25J9/107 , B25J17/0266 , Y10T74/20305 , Y10T74/20335
摘要： An industrial robot including a parallel kinematic manipulator (2) of an object (7a) in space, where the manipulator (2) includes a stationary platform (6), a movable platform (7) for carrying the object (7a), at least three arms (3, 4, 5) connecting the platforms (6,7). Each arm comprises a first arm part ( ) connected to the stationary platform for manipulating the movable platform (7).
摘要翻译：一种工业机器人，包括空间中的物体（7a）的平行运动学操纵器（2），所述机械手（2）包括固定平台（6），用于承载所述物体（7a）的可移动平台（7）连接平台（6,7）的至少三个臂（3,4,5）。每个臂包括连接到用于操纵可移动平台（7）的固定平台的第一臂部分（）。

146. 发明申请

US20050159075A1 Linkage system 有权
标题翻译：联动系统
公开(公告)号：US20050159075A1
公开(公告)日：2005-07-21
申请号：US10986455
申请日：2004-11-12
申请人： Hiroshi Isobe , Keisuke Sone , Tomomi Ishikawa
发明人： Hiroshi Isobe , Keisuke Sone , Tomomi Ishikawa
IPC分类号： B25J17/00 , B25J17/02 , F16H21/54 , A63H33/12
CPC分类号： B25J17/0266 , B25J9/0048 , Y10T74/20329 , Y10T74/20335
摘要： A linkage system which offers high rigidity and good assemblability and producibility, and enables parts such as rotary transmission components and actuators to be readily installed. A linkage system includes an input member disposed on an input side, an output member disposed on an output side, and three or more link mechanisms, each link mechanism consisting of end links rotatably coupled to the input member and the output member, respectively, a center link rotatably coupled to the end links on the input side and the output side, and four revolute joints by which the end links are rotatably coupled to the input and output members, and to the center link. The link mechanism being geometrically identical with respect to a center cross-sectional plane relative on the input and output sides. Each of the revolute joints of the link mechanism includes bearings that support at both ends of the revolute joint.
摘要翻译：提供高刚性，良好的组装性和可生产性的联动系统，并且能够容易地安装诸如旋转传动部件和致动器的部件。联动系统包括设置在输入侧的输入构件，设置在输出侧的输出构件和三个或更多个连杆机构，每个连杆机构由分别可旋转地联接到输入构件和输出构件的端部连杆组成，中心连杆可旋转地联接到输入侧和输出侧的端部连杆，以及四个旋转接头，端部连杆可旋转地连接到输入和输出构件以及中心连杆。连杆机构在输入侧和输出侧相对于中心横截面平面几何相同。连杆机构的旋转接头中的每一个包括支撑在旋转接头两端的轴承。

147. 发明申请

US20050016316A1 Control member with tensed cables 失效
标题翻译：带有拉紧电缆的控制构件
公开(公告)号：US20050016316A1
公开(公告)日：2005-01-27
申请号：US10496595
申请日：2002-12-06
申请人： Florian Gosselin
发明人： Florian Gosselin
IPC分类号： B25J9/04 , B25J17/00 , G05G9/00 , G05G9/04 , G05G9/047 , F16C1/12
CPC分类号： G06F3/016 , G05G9/04796 , G05G2009/04777 , Y10T74/20335 , Y10T74/2042
摘要： The control unit includes an arm (21) sliding inside of a sheath (20) the angle of which can be varied and which is supported by three tensed cables (25; 26; 27) arranged in a triangle and unwinding with a certain degree of resistance from force feedback motors (16; 17; 18). The wrist (23) of the control unit can be moved according to at least the three degrees of translational freedom, without having to be afraid of encountering the cables; the control unit is simple, inexpensive and possesses a satisfactory degree of stiffness. A friction-creating means, possibly consisting of another tensed cable and dependant on a motor, is placed between the sheath (20) and the arm (21). This unit can be used for telemanipulation, telesurgery, CAD, games, etc.
摘要翻译：所述控制单元包括一个在一个护套（20）的内部滑动的臂（21），该臂（20）的角度可以改变，并且由三个布置成三角形的三条电缆（25; 26; 27）支撑，并且以一定程度来自力反馈电动机（16; 17; 18）的阻力。控制单元的手腕（23）可以至少按照三个平移自由度移动，而不必害怕遇到电缆; 控制单元简单，便宜，具有令人满意的刚度。由护套（20）和臂（21）之间的摩擦产生装置，可能由另一拉紧的电缆组成并且依赖于电动机。本机可用于远程操纵，远程外科，CAD，游戏等。

148. 发明申请

US20040253079A1 Surgical instrument with a universal wrist 有权
标题翻译：外科手术用万能手腕
公开(公告)号：US20040253079A1
公开(公告)日：2004-12-16
申请号：US10460382
申请日：2003-06-11
发明人： Dan Sanchez
IPC分类号： B25J003/00
CPC分类号： A61B19/22 , A61B34/30 , A61B34/37 , A61B34/70 , A61B90/361 , A61B2034/304 , A61B2034/305 , B25J3/04 , B25J9/0039 , B25J13/02 , B25J17/0266 , Y10T74/20335
摘要： A robotically controlled endoscopic medical instrument that includes an end effector coupled to a wrist. The wrist provides two separate degrees of freedom about the same pivot point. The end effector can be moved and actuated by pins. The pins allow for a compact minimally invasive medical instrument that has a wrist with two degrees of freedom.
摘要翻译：一种机器人控制的内窥镜医疗器械，其包括连接到手腕的端部执行器。手腕在相同的枢轴点上提供了两个独立的自由度。端部执行器可以通过销移动和致动。引脚允许具有两个自由度的手腕的紧凑型微创医疗器械。

149. 发明授权

US06795750B2 Industrial robot 有权
标题翻译：工业机器人
公开(公告)号：US06795750B2
公开(公告)日：2004-09-21
申请号：US10148630
申请日：2002-09-09
申请人： Ove Kullborg
发明人： Ove Kullborg
IPC分类号： B25J1702
CPC分类号： B25J19/0025 , B25J17/0283 , Y10T74/20335
摘要： The present invention concerns an industrial robot (1) comprising an upper arm (2) that can be rotated around a first axis (A), a wrist (6) supported by the upper arm that can be rotated around a second axis (B), a hollow turning device (3, 30) supported by the wrist that can be rotated around a third axis (C) that at its front end comprises a turning disk (8, 33) for attachment of a tool, at least one supply line (K) that runs along the upper arm, that the turning device (3, 30) comprises a collar section (10, 36) with a conical envelope surface (12, 45) attached to the turning disk (8, 33), through which at least one opening (14,40) is arranged for the reception of supply lines (K) that pass through the turning device, whereby the opening has an axial extension along a normal (16) perpendicular to the envelope surface (12), where the supply lines are arranged to run through the opening in a direction that has a component parallel to the third axis (C), which opening is arranged to control in a transverse direction and allow in a longitudinal direction displacement of the supply lines. The present invention relates also to a turning device for supply lines in an industrial robot with a robot arm that can be rotated, a method for drawing supply lines, use of the turning device in an industrial robot with a robot arm that can be rotated and use of the industrial robot or the turning device in a welding process.
摘要翻译：本发明涉及一种工业机器人（1），其包括可围绕第一轴线（A）旋转的上臂（2），由上臂支撑的可绕第二轴线（B）旋转的手腕（6），由手腕支撑的中空转动装置（3,30），其能够围绕第三轴线（C）旋转，所述第三轴线（C）在其前端包括用于附接工具的转动盘（8,33），至少一个供给线（K），所述转动装置（3,30）包括具有附接到所述转动盘（8,33）的锥形包络面（12,45）的套环部分（10,36），所述圆锥形包络面通过其中至少一个开口（14,40）布置成用于接收通过所述转动装置的供给线（K），由此所述开口沿着垂直于所述包络面（12）的法线（16）具有轴向延伸，其中供应管线被布置成沿具有平行于第三轴线（C）的部件的方向穿过开口，该开口被布置成co 在横向方向上延伸并允许供应管线的纵向位移。本发明还涉及一种具有可旋转的机器人手臂的工业机器人中的供给线的转向装置，用于抽取供给线的方法，在具有可旋转的机器人手臂的工业机器人中使用该转动装置，以及在焊接过程中使用工业机器人或车削装置。

150. 发明授权

US06699235B2 Platform link wrist mechanism 有权
标题翻译：平台链接手腕机构
公开(公告)号：US06699235B2
公开(公告)日：2004-03-02
申请号：US10186176
申请日：2002-06-28
申请人： Daniel T. Wallace , S. Christopher Anderson , Scott Manzo
发明人： Daniel T. Wallace , S. Christopher Anderson , Scott Manzo
IPC分类号： A61B1700
CPC分类号： A61B34/70 , A61B17/00234 , A61B34/30 , A61B34/71 , A61B34/72 , A61B2017/2929 , A61B2017/2934 , A61B2034/304 , A61B2034/305 , Y10S606/914 , Y10T74/20305 , Y10T74/20317 , Y10T74/20335
摘要： The present invention provides a robotic surgical tool for use in a robotic surgical system to perform a surgical operation. The robotic surgical tool includes a wrist mechanism disposed near the distal end of a shaft which connects with an end effector. The wrist mechanism includes a distal member configured to support the end effector, and a plurality of rods extending generally along an axial direction within the shaft and movable generally along this axial direction to adjust the orientation of the distal member with respect to the shaft. The distal member has a base to which the rods are rotatably connected by orthogonal linkage assemblies. Advancement or retraction of a first rod generally along the axial direction tips the base through a first angle so that the distal member faces a first articulated direction, such as to provide pitch. The addition of a second angle allows the distal member to direct the end effector in essentially a compound angle or in a second articulated direction in relation to the shaft of the surgical tool, such as to provide yaw. The robotic surgical tool may also include provisions for roll movement. Roll movement is achieved by rotating the plurality of rods around a longitudinal axis or the central axis of the shaft parallel to the axial direction. The robotic surgical tool includes a tool base disposed near the proximal end of the shaft.
摘要翻译：本发明提供一种用于机器人手术系统中的用于执行外科手术的机器人手术工具。机器人手术工具包括设置在与末端执行器连接的轴的远端附近的手腕机构。手腕机构包括构造成支撑端部执行器的远端构件，以及大体上沿轴向方向延伸的多个杆，并且大体上可沿该轴向方向移动，以调节远侧构件相对于轴的取向。远端构件具有基座，杆通过正交连杆组件可旋转地连接到基座。通常沿着轴向方向推进或缩回第一杆将第一角度提升到基部，使得远端构件面向第一铰接方向，例如提供间距。增加第二角度允许远侧构件相对于外科手术工具的轴以基本上复合的角度或第二铰接方向引导末端执行器，例如提供偏航。机器人手术工具还可以包括用于辊运动的设置。通过围绕平行于轴向方向的轴的纵向轴线或中心轴线旋转多个杆来实现滚动运动。机器人手术工具包括设置在轴的近端附近的工具基座。

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