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51. 发明授权

US09545727B1 Robotic fingers and end effectors including same 有权
标题翻译：机器人手指和末端执行器包括相同
公开(公告)号：US09545727B1
公开(公告)日：2017-01-17
申请号：US14933732
申请日：2015-11-05
申请人： iRobot Corporation
发明人： Steven V. Shamlian , Mark R. Claffee , Erik Amaral , Timothy R. Ohm , Annan M. Mozeika
IPC分类号： B25J15/10 , B25J15/12
CPC分类号： B25J15/08 , B25J9/1045 , B25J13/084 , B25J15/0009
摘要： A robotic end effector includes a finger and at least one actuator. The finger extends from a proximal end to a distal end along a finger axis. The finger includes a first phalanx proximate the proximal end, a second phalanx proximate the distal end, and a knuckle joint including at least one vertebra interposed between and separating the first and second phalanxes. The knuckle joint is configured to permit the second phalanx to pivot relative to the first phalanx about a pivot axis transverse to the finger axis. Each vertebra has an axial thickness extending along the finger axis and a lateral width extending perpendicular to its axial thickness, and its lateral width is greater than its axial thickness. The at least one actuator is operable to move the second phalanx relative to the first phalanx about the pivot axis.
摘要翻译：机器人末端执行器包括手指和至少一个致动器。手指从手指轴线的近端延伸到远端。手指包括靠近近端的第一指骨，靠近远端的第二指骨，以及包括插入在第一和第二指骨之间并分离第一和第二指骨的至少一个椎骨的关节关节。关节关节构造成允许第二指骨相对于第一指骨围绕横向于手指轴线的枢转轴线枢转。每个椎骨具有沿指状轴线延伸的轴向厚度和垂直于其轴向厚度延伸的横向宽度，并且其横向宽度大于其轴向厚度。至少一个致动器可操作以围绕枢转轴线相对于第一指骨移动第二指骨。

52. 发明授权

US09120230B2 Gripping and releasing apparatus and method 有权
标题翻译：抓取和释放装置和方法
公开(公告)号：US09120230B2
公开(公告)日：2015-09-01
申请号：US14518184
申请日：2014-10-20
申请人： CORNELL UNIVERSITY
发明人： Hod Lipson , John R. Amend, Jr. , Heinrich Jaeger , Eric Brown
IPC分类号： B25J15/00 , B66C1/44 , B25J15/12
CPC分类号： B25J15/0023 , B25J15/12 , Y10S901/31
摘要： A passive universal gripper includes a mass of granular material encased in an elastic membrane. Using a combination of positive and negative pressure, the gripper can rapidly grip and release a wide range of objects that are typically challenging for conventional universal grippers, such as flat objects, soft objects, or objects with complex geometries. The gripper passively conforms to the shape of a target object, then vacuum-hardens to grip it rigidly; later using positive pressure to reverse this transition—releasing the object and returning to a deformable state. The apparatus and method enable the fast ejection of objects from the gripper, as well as essentially instantaneous reset time between releasing and gripping.
摘要翻译：被动通用夹具包括一块包裹在弹性膜中的颗粒材料。使用正压和负压的组合，夹具可以快速地夹持和释放对于常规通用夹具（例如平坦物体，软物体或具有复杂几何形状的物体）通常具有挑战性的各种物体。夹具被动地符合目标物体的形状，然后真空硬化以牢固地夹紧; 稍后使用正压力来反转该转变 - 释放物体并返回到可变形状态。该装置和方法能够快速地从夹具中排出物体，以及在释放和夹紧之间基本上即时的复位时间。

53. 发明授权

US08950795B2 Robotic grabber and method of use 有权
标题翻译：机器人抓取器和使用方法
公开(公告)号：US08950795B2
公开(公告)日：2015-02-10
申请号：US13863634
申请日：2013-04-16
申请人： Raytheon Company
发明人： Frederick B. Koehler , Ward D. Lyman , Terry M. Sanderson
IPC分类号： B66C1/44 , B25J15/00 , B25J15/12 , F03G7/06
CPC分类号： F03G7/065 , B25J9/1085 , B25J15/12 , Y10S901/31
摘要： A robotic finger includes a shape-memory alloy and a shape-memory polymer connected to and adjacent to the shape-memory alloy. Heating the shape-memory polymer causes it to soften, heating the shape-memory alloy causes the alloy to bend in the direction of the shape-memory polymer to press the shape-memory polymer against an object to be grasped, and cooling the shape-memory polymer causes it to stiffen and to retain its shape. An opposing member is positioned to cooperate with the finger to grasp an object positioned between the finger and the opposing member. A selectively controllable heat source is capable of applying heat to the finger.
摘要翻译：机器人手指包括形状记忆合金和形状记忆合成物，该形状记忆合金与形状记忆合金连接并邻近形状记忆合金。加热形状记忆聚合物使其软化，加热形状记忆合金导致合金在形状记忆聚合物的方向上弯曲以将形状记忆聚合物压靠待被抓握的物体，记忆聚合物使其变硬并保持其形状。相对的构件定位成与手指配合以抓住位于手指和相对构件之间的物体。选择性控制的热源能够对手指施加热量。

54. 发明授权

US08523509B2 Robot 有权
标题翻译：机器人
公开(公告)号：US08523509B2
公开(公告)日：2013-09-03
申请号：US12588765
申请日：2009-10-27
申请人： Kang Min Park , Ja Woo Lee , Yong-Jae Kim
发明人： Kang Min Park , Ja Woo Lee , Yong-Jae Kim
IPC分类号： B25J15/12 , B25J17/02 , B25J15/10 , B25J18/00 , F16H29/20
CPC分类号： B25J15/0009 , B25J9/104
摘要： A robot has a structure in which finger joints do not interfere with each other. The robot includes a first actuator driving the finger joint, a first power transmission, a second actuator driving the finger joint, and a second power transmission. The first actuator and the first power transmission are coupled with a wrist joint so that the position of the first actuator and the first power transmission is changed. Accordingly, even if the wrist joint operates, the distance between the first actuator and the finger joint is constantly maintained.
摘要翻译：机器人具有其中手指关节不彼此干涉的结构。机器人包括驱动指关节的第一致动器，第一动力传递装置，驱动手指关节的第二致动器和第二动力传递装置。第一致动器和第一动力传动装置与腕关节联接，使得第一致动器和第一动力传动装置的位置改变。因此，即使腕关节动作，也能够始终保持第一致动器与手指关节之间的距离。

55. 发明申请

US20130041502A1 FAST GRASP CONTACT COMPUTATION FOR A SERIAL ROBOT 有权
标题翻译：快速GRASP联系人计算一个串行机器人
公开(公告)号：US20130041502A1
公开(公告)日：2013-02-14
申请号：US13207911
申请日：2011-08-11
申请人： Jianying Shi , Brian Hargrave , Myron A. Diftler
发明人： Jianying Shi , Brian Hargrave , Myron A. Diftler
IPC分类号： G06F19/00 , B25J17/00 , B25J15/12 , B25J9/16
CPC分类号： B25J9/1612 , B25J15/0009
摘要： A system includes a controller and a serial robot having links that are interconnected by a joint, wherein the robot can grasp a three-dimensional (3D) object in response to a commanded grasp pose. The controller receives input information, including the commanded grasp pose, a first set of information describing the kinematics of the robot, and a second set of information describing the position of the object to be grasped. The controller also calculates, in a two-dimensional (2D) plane, a set of contact points between the serial robot and a surface of the 3D object needed for the serial robot to achieve the commanded grasp pose. A required joint angle is then calculated in the 2D plane between the pair of links using the set of contact points. A control action is then executed with respect to the motion of the serial robot using the required joint angle.
摘要翻译：系统包括控制器和串联机器人，其具有通过接头互连的链接，其中机器人能够响应于指令的抓握姿态来抓住三维（3D）物体。控制器接收包括指令抓握姿态的输入信息，描述机器人的运动学的第一组信息，以及描述被抓握对象的位置的第二组信息。控制器还在二维（2D）平面中计算串联机器人与串行机器人所需的3D对象表面之间的一组接触点，以实现指令性抓握姿势。然后使用该组接触点在一对链路之间的2D平面中计算所需的关节角度。然后使用所需的关节角度对串行机器人的运动执行控制动作。

56. 发明授权

US08333417B2 Manipulator tool and holding and/or expanding tool with at least one manipulator tool 有权
标题翻译：操纵器工具和具有至少一个操纵器工具的固定和/或扩展工具
公开(公告)号：US08333417B2
公开(公告)日：2012-12-18
申请号：US12762962
申请日：2010-04-19
申请人： Rudolf Bannasch , Leif Kniese
发明人： Rudolf Bannasch , Leif Kniese
IPC分类号： B25J15/12
CPC分类号： B25B9/00 , A61B10/06 , A61B17/02 , A61B17/0206 , A61B17/22031 , A61B17/221 , A61B17/29 , A61B17/30 , A61B17/3421 , A61B2017/003 , A61B2017/00323 , A61B2017/00862 , A61B2017/2215 , A61B2017/2902 , A61B2017/2926 , A61B2017/2932 , A61B2017/301 , B25B7/02 , B25J15/10
摘要： One or more embodiments of a flexible manipulator tools are provided. The flexible manipulator tool can include a distal end movable in at least one manipulation plane with respect to a proximal end. The flexible manipulator tool can also include at least two cheeks extending side by side to and spaced apart from each other.
摘要翻译：提供了柔性操纵器工具的一个或多个实施例。柔性操纵器工具可以包括相对于近端在至少一个操纵平面中可移动的远端。柔性操纵器工具还可以包括彼此并排延伸并彼此间隔开的至少两个脸颊。

57. 发明授权

US07654595B2 Articulated driving mechanism, method of manufacturing the mechanism, and holding hand and robot using the mechanism 有权
标题翻译：多关节驱动机构及其制造方法，并用手抓握机器人
公开(公告)号：US07654595B2
公开(公告)日：2010-02-02
申请号：US10518756
申请日：2003-06-23
申请人： Kazuo Yokoyama , Atsushi Ono , Katsuhiko Asai , Yuji Adachi , Masaki Yamamoto
发明人： Kazuo Yokoyama , Atsushi Ono , Katsuhiko Asai , Yuji Adachi , Masaki Yamamoto
IPC分类号： B25J15/12
CPC分类号： B25J9/142 , B25J15/10
摘要： A multi-joint drive mechanism includes a bone-member layer member (101) in which a plurality of bone members are arranged in arrays and in a generally planar fashion, the plurality of bone members being movably coupled at coupling portions (3A), and elastically expanding/contracting members (3) which are arranged so as to stretch over the coupling portions on one side or both sides of the bone-member layer member and moreover which are fixed between the plurality of bone members, wherein the multi-joint drive mechanism drives flexural motions of joints between the plurality of adjoining bone members by expanding or contracting the elastically expanding/contracting member.
摘要翻译：多关节驱动机构包括骨构件层构件（101），其中多个骨构件以阵列方式布置并且以大致平面的方式布置，所述多个骨构件在联接部分（3A）处可移动地联接，以及弹性扩张/收缩构件（3），其布置成在骨构件层构件的一侧或两侧上的连接部分上延伸，并且还固定在多个骨构件之间，其中多关节驱动机构通过扩张或收缩弹性膨胀/收缩构件来驱动多个相邻的骨构件之间的接合部的弯曲运动。

58. 发明授权

US07083210B2 Electric tweezers 失效
标题翻译：电动镊子
公开(公告)号：US07083210B2
公开(公告)日：2006-08-01
申请号：US10499124
申请日：2003-01-15
申请人： Naoki Muramatsu , Tomoyoshi Tada
发明人： Naoki Muramatsu , Tomoyoshi Tada
IPC分类号： B25J15/12
CPC分类号： B25B9/00 , B25B9/02 , B25J7/00 , B25J15/12
摘要： Electric tweezers 1 includes a gripping member 13 for releasing/gripping an object, a base member 11 having an engagement portion to be engaged with the one end portion of the gripping member, a holder member 62 for fixedly coupling one end portion of the gripping member 13 and having a penetrating hollow cylindrical portion, a switch 57 for rotating and stopping a motor, a transformation mechanism 30 coupled with a shaft 52a of the motor 52 for transforming a rotation of the motor 52 in one direction into a quantity of translational displacement in a predetermined reciprocating direction with respect to the other end portion 13g of the gripping member, and an attaching section for attaching the base member 11 to a plurality of different positions relative to the holder member 62.
摘要翻译：电动镊子1包括用于释放/夹持物体的夹持构件13，具有与夹持构件的一个端部接合的接合部的基部构件11，用于将夹持构件的一个端部固定地联接的保持构件62 13，具有贯通的中空圆柱形部分，用于旋转和停止马达的开关57;与马达52的轴52a耦合的变换机构30，用于将马达52的一个方向的旋转转换成一定量的平移位移在相对于夹持构件的另一端部13g的预定往复方向上，以及用于将基部构件11相对于保持构件62附接到多个不同位置的安装部。

59. 发明授权

US06935666B2 Gripper and method of manufacturing the gripper 有权
标题翻译：夹具和夹具的制造方法
公开(公告)号：US06935666B2
公开(公告)日：2005-08-30
申请号：US10296813
申请日：2001-03-30
申请人： Naoki Muramatsu , Tomoyoshi Tada
发明人： Naoki Muramatsu , Tomoyoshi Tada
IPC分类号： B25B9/00 , B25B9/02 , B25J7/00 , B25J15/12 , B25J15/08
CPC分类号： B25J15/0475 , B25B9/00 , B25B9/02 , B25J7/00 , B25J15/12
摘要： The present invention is a gripper comprising a motor 12 for driving a connecting nut 126 that is translated, a gripping finger 103 having at least two sides of substantial V shape and a shared portion 103g for joining one ends of the two sides, and provided with the other ends of the sides, a base member 110 with a notch 110c for engaging the other end portion of the gripping member 103, a holder member 145 having a groove 145e for engaging the base member 110 detachably and the hollow portions 145m and 145h that are penetrated, and a magnetic member 128 composed of a permanent magnet inserted into the hollow portions 145m and 145h of the holder member 145, with one end connected to the connecting nut 126, and the other end magnetically connected to the shared portion 103g of the gripping finger 103.
摘要翻译：本发明是一种夹持器，其包括用于驱动被平移的连接螺母126的马达12，具有至少两个大致V形的夹持爪103和用于连接两侧的一端的共用部103g，侧面的另一端具有基部构件110，其具有用于接合夹持构件103的另一端部的凹口110c;保持构件145，其具有用于可拆卸地接合基座构件110的凹槽145e和中空部分145 m和145h，以及磁性构件128，其由插入到保持构件145的145μm和145h的中空部分中的永磁体构成，一端连接到连接螺母126，另一端磁连接到夹持指103的共享部分103g。

60. 发明授权

US5688013A Handling device with movable pins for gripping an object 失效
标题翻译：处理装置，用于夹持物体的可动销
公开(公告)号：US5688013A
公开(公告)日：1997-11-18
申请号：US446633
申请日：1995-05-25
申请人： Friedhelm Sehrt
发明人： Friedhelm Sehrt
IPC分类号： B25J15/08 , B25B1/24 , B25J15/10 , B25J15/12
CPC分类号： B25B1/2421 , B25J15/106 , Y10S294/902 , Y10S294/907
摘要： A handling device for mechanically gripping, holding, moving or otherwise handling objects of any shape having a defined or undefined position, in particular for handling equipment such as industrial robots, consists of a large number of holding pins which are lowered onto the object to be held, are movably mounted in the longitudinal direction in bores of a holding pin guide plate, and are used to clamp the objects. The objects are released once again by pushing back the holding pins by an ejector plate.
摘要翻译： PCT No.PCT / DE93 / 01102 Sec。 371日期：1995年5月25日 102（e）日期1995年5月25日PCT 1993年11月19日PCT公布。 WO94 / 12323 PCT出版物日期1994年6月9日一种用于机械地夹持，保持，移动或以其他方式处理具有限定或未定义位置的任何形状的物体的处理装置，特别是用于诸如工业机器人的处理设备，由大量的下降的保持销组成被保持物体沿着长度方向可移动地安装在保持销引导板的孔中，并且用于夹持物体。通过用推出器板推回保持销，再次释放物体。

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