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61. 发明授权

US4221516A Master-slave manipulator 失效
标题翻译：主从操纵器
公开(公告)号：US4221516A
公开(公告)日：1980-09-09
申请号：US911232
申请日：1978-05-31
申请人： Lester W. Haaker , Demetrius G. Jelatis
发明人： Lester W. Haaker , Demetrius G. Jelatis
IPC分类号： B25J3/00 , B25J3/04 , B25J19/00
CPC分类号： B25J3/00 , B25J19/002
摘要： An improved remote control master-slave manipulator of the type by which an operator working on one side of a protective barrier wall may perform work on the opposite side of that wall. The improved manipulator is characterized by a unique power assist tong system permitting increased handling capacity. It has a rotating counterweight system for improved balancing of the manipulator in its "Y" motion forwardly away from the operator. It has means for translating linear motion into rotary motion for transfer through the barrier wall and retranslation into linear motion. The wrist joint assemblies are remotely removable, replaceable and interchangeable as are the tong assemblies.
摘要翻译：一种改进的遥控主从操纵器，其中在保护性障碍墙的一侧上工作的操作者可以在该墙的相对侧上进行作业。改进的操纵器的特征在于独特的动力辅助钳系统允许增加的处理能力。它具有旋转的配重系统，用于在操纵器向前远离操作者的“Y”运动中改善操纵器的平衡。它具有将直线运动转换成旋转运动以将其转移通过阻挡壁并重新转换成直线运动的装置。腕关节组件可远程拆卸，可替换和可互换，如钳组件一样。

62. 发明授权

US4168782A Remote access manipulator 失效
标题翻译：远程访问操纵器
公开(公告)号：US4168782A
公开(公告)日：1979-09-25
申请号：US806232
申请日：1977-06-13
申请人： Robert H. Sturges, Jr.
发明人： Robert H. Sturges, Jr.
IPC分类号： F22B37/02 , B25J3/04 , B25J9/16 , F22B37/00 , G21C17/003 , G21F7/06 , B25J3/00
CPC分类号： F22B37/006 , B25J3/04
摘要： A remote access manipulator for performing operations on equipment located in areas where human access is limited. The manipulator comprises a slave carriage located in the equipment on which the operation is to be performed, such as a nuclear steam generator, for carrying tools and inspection devices for performing operations on the equipment together with a master carriage located in a scale model of the equipment and electrically connected to the slave carriage for controlling the movement of the slave carriage. The slave carriage is capable of advancing across a surface of the equipment to position the devices which it carries. The manipulator further comprises a slave manipulator arm used to move the slave carriage into and out of the equipment on which the operation is to be performed in conjunction with a master manipulator arm located in the scale model for controlling the movement of the slave manipulator arm.
摘要翻译：一种远程访问操纵器，用于对位于人员访问受限区域的设备执行操作。操纵器包括位于其上将执行操作的设备中的从属托架，例如核蒸汽发生器，用于运送工具和用于在设备上执行操作的检查装置以及位于设备并且电连接到从车架以控制从车厢的移动。从车架能够穿过设备的表面，以便定位其所携带的设备。操纵器还包括从动操纵臂，用于将从动滑架与位于操纵杆上的主机械手臂一起移动到与要执行操作的设备相关的设备上，以控制从动操纵臂的移动。

63. 发明授权

US4062455A Remote manipulator 失效
标题翻译：遥控器
公开(公告)号：US4062455A
公开(公告)日：1977-12-13
申请号：US743962
申请日：1976-11-22
申请人： Carl R. Flatau
发明人： Carl R. Flatau
IPC分类号： B25J3/00 , B25J3/04 , B25J19/00
CPC分类号： B25J3/04 , B25J19/002
摘要： A remote manipulator of the force reflecting servomaster-slave type comprises manipulator elements capable of at least seven distinct motions corresponding to respective degrees of freedom. The manipulator elements include an upper arm journalled in a shoulder assembly and a lower arm operatively connected to the upper arm by an elbow assembly. A gripping device such as a conventional tong is secured to the lower end of the lower arm through a wrist mechanism. Two cooperating motors establish an input output transmission through a differential gear system which permits two motions about axes extending perpendicularly to each other. One axis defines the longitudinal axis of the shoulder assembly. The other axis defines the longitudinal axis of the upper manipulator arm. The parallel drive shafts of the two motors transmit the drive power through parallel gear trains to the differential gear system, whereby coaxial shafts are avoided for the two motions. A third motor may be provided for a third motion, whereby the power transmission may extend through a hollow shaft, thus providing three motions, although using only one hollow shaft.
摘要翻译：力反映伺服机器人 - 从属类型的远程操纵器包括能够对应于相应自由度的至少七个不同运动的操纵器元件。操纵器元件包括轴颈安装在肩部组件中的上臂和通过弯头组件可操作地连接到上臂的下臂。诸如常规钳的夹持装置通过手腕机构固定到下臂的下端。两个协作电机通过差速齿轮系统建立输入输出传动装置，其允许围绕彼此垂直延伸的轴线的两个运动。一个轴限定肩部组件的纵向轴线。另一个轴限定上部操纵臂的纵向轴线。两个电动机的并联驱动轴通过平行齿轮系将驱动力传递到差速齿轮系统，从而避免了两个运动的同轴轴。可以提供第三马达用于第三运动，由此动力传递可以延伸穿过空心轴，因此提供三个运动，尽管仅使用一个中空轴。

64. 发明授权

US4045958A Multi-directional positioner 失效
标题翻译：多向定位器
公开(公告)号：US4045958A
公开(公告)日：1977-09-06
申请号：US670571
申请日：1976-03-25
申请人： William M. Wells
发明人： William M. Wells
IPC分类号： B23Q3/18 , B25J3/04 , B25J9/14 , B25J17/02 , F15B7/00 , F01C9/00
CPC分类号： F15B7/005 , B25J17/0275 , B25J3/04 , B25J9/148
摘要： A multi-directional positioner for moving one element relative to another element wherein a socket in a housing receives a ball with a rotating fit with a portion of the ball projecting outwardly of the socket and being connected to one element and the housing being connected to the other element. An arcuate groove in the socket extends in a plane passing generally through the center of the ball and receives a piston which is pivotally connected to the adjacent side of the ball. An arcuate groove in the outer surface of the ball extends in a plane passing generally through the center of the ball and perpendicular to the groove in the socket and receives a piston which is pivotally connected to the adjacent portion of the housing. Fluid is introduced under pressure selectively into the arcuate grooves in the ball and the arcuate groove in the socket to impart relative movement between the ball and the housing.
摘要翻译：一种用于相对于另一元件移动一个元件的多向定位器，其中壳体中的插座接收球，其具有与所述球的一部分的旋转配合，所述球的一部分从所述插座向外突出并且连接到一个元件，并且所述壳体连接到其他元素插座中的弧形槽在通常通过球的中心的平面中延伸，并接收可枢转地连接到球的相邻侧的活塞。球的外表面中的弧形凹槽在通常通过球的中心并且垂直于插座中的凹槽的平面中延伸，并接收枢转地连接到壳体的相邻部分的活塞。流体在压力下被选择性地引入球中的弧形槽和插座中的弓形凹槽中，以赋予球和壳体之间的相对运动。

65. 发明授权

US3637092A Material-handling apparatus 失效
标题翻译：材料处理设备
公开(公告)号：US3637092A
公开(公告)日：1972-01-25
申请号：US3637092D
申请日：1970-04-30
申请人： GEN ELECTRIC
发明人： GEORGE RAYMOND L , KRUSZONA EDWARD G , LANIEWSKI JOHN P , WOOD NORMAN H
IPC分类号： B25J3/04 , B25J3/00
CPC分类号： B25J3/04
摘要： An articulated boom having a single joint intermediate the ends thereof is pivoted at one end about a horizontal axis of a support member. The support member is in turn connected to a mount member and pivoted about a vertical axis thereof. The other end of the boom has end effectors and end effector positioning elements located thereon. A control member smaller in size but similar in form to the articulated boom having a single joint intermediate the ends thereof is also pivoted at one end about another horizontal axis of another support member and a handle is provided at the other end thereof. The other support member is connected to the one support member and pivotal to a limited extent about another vertical axis. Hydraulic actuators, control valves and control linkages are interconnected with the boom and the control member so that movement of the handle causes the boom to mimic the movement of the control member and also so that forces encountered by the end effector on the boom are reflected back, reduced in magnitude, however, to the handle held by the operator.
摘要翻译：在其端部之间具有单个接头的铰接臂在一端围绕支撑构件的水平轴线枢转。支撑构件又连接到安装构件并围绕其垂直轴线枢转。起重臂的另一端具有位于其上的末端执行器和末端执行器定位元件。尺寸较小但形状相似的铰链式起重臂在其端部之间具有单一接头的控制构件也在另一端围绕另一支撑构件的另一水平轴线枢转，并且在其另一端设有把手。另一个支撑构件连接到一个支撑构件并且围绕另一竖直轴线枢转到有限的程度。液压执行机构，控制阀和控制联动装置与起重臂和控制构件相互连接，使得手柄的移动使得起重臂模拟控制构件的移动，并且还使臂臂上的端部执行器遇到的力被反射回然而，这个数量减少到了操作者所持有的手柄。

66. 发明授权

US3400541A Manipulator apparatus 失效
标题翻译：机械手装置
公开(公告)号：US3400541A
公开(公告)日：1968-09-10
申请号：US59662766
申请日：1966-11-23
申请人： WESTINGHOUSE ELECTRIC CORP
发明人： LLOYD WAYNE B , SCHLISSLER EARL R
IPC分类号： B25J3/04 , B25J9/14 , F15B21/04
CPC分类号： B25J3/04 , B25J9/14 , F15B21/04 , Y10T137/2036

67. 发明授权

US3333716A Lifting boom control device 失效
标题翻译：起重臂控制装置
公开(公告)号：US3333716A
公开(公告)日：1967-08-01
申请号：US51690865
申请日：1965-12-28
申请人： GEN ELECTRIC
发明人： ZIEGLER EDWIN E
IPC分类号： B25J3/04 , B66C13/18 , B66C23/90 , F15B9/00
CPC分类号： F15B9/00 , B25J3/04 , B66C13/18 , B66C23/90 , B66C2700/06

68. 发明授权

US2846084A Electronic master slave manipulator 失效
标题翻译：电子主从机械手
公开(公告)号：US2846084A
公开(公告)日：1958-08-05
申请号：US51710555
申请日：1955-06-21
申请人： GOERTZ RAYMOND C , THOMPSON WILLIAM M , OLSEN ROBERT A
发明人： GOERTZ RAYMOND C , THOMPSON WILLIAM M , OLSEN ROBERT A
IPC分类号： B25J3/04 , G05D3/12
CPC分类号： B25J3/04 , G05D3/121

69. 发明申请

US20230038804A1 MASTER-SLAVE SYSTEM AND CONTROLLING METHOD 有权
公开(公告)号：US20230038804A1
公开(公告)日：2023-02-09
申请号：US17784120
申请日：2020-12-08
申请人： Kawasaki Jukogyo Kabushiki Kaisha
发明人： Masayuki KAMON , Hiroki TAKAHASHI , Kai SHIMIZU , Yuki TAKAYAMA , Jun FUJIMORI , Hiroki KINOSHITA
IPC分类号： B25J3/04 , B25J13/02
摘要： A master-slave system includes: a master unit including an operation end, an operation detector that detects operational information inputted by a force being applied to the operation end, and a force applier that gives a force to the operation end; a slave unit including an action part, and an operation part that moves the action part; and a control device. The control device outputs, according to a regulating condition and the operational information, a command for causing the operation part to operate the action part to carry out operation reflecting the regulating condition. The control device outputs, according to the regulating condition, a command for causing the force applier to give a force to the operation end against the input to the operation end that commands the given movement of the action part.

70. 发明申请

US20230031545A1 ROBOTIC KITCHEN SYSTEMS AND METHODS IN AN INSTRUMENTED ENVIRONMENT WITH ELECTRONIC COOKING LIBRARIES 有权
公开(公告)号：US20230031545A1
公开(公告)日：2023-02-02
申请号：US17816399
申请日：2022-07-30
申请人： MBL LIMITED
发明人： Mark OLEYNIK
IPC分类号： B25J9/16 , B25J9/00 , B62D57/032 , G05B19/42 , B25J13/02 , B25J11/00 , B25J19/02 , B25J3/04 , A47J36/32 , B25J15/00
摘要： Embodiments of the present disclosure are directed to methods, computer program products, and computer systems of a robotic apparatus with robotic instructions replicating a food preparation recipe. In one embodiment, a robotic control platform, comprises one or more sensors; a mechanical robotic structure including one or more end effectors, and one or more robotic arms; an electronic library database of minimanipulations; a robotic planning module configured for real-time planning and adjustment based at least in part on the sensor data received from the one or more sensors in an electronic multi-stage process file, the electronic multi-stage process recipe file including a sequence of minimanipulations and associated timing data; a robotic interpreter module configured for reading the minimanipulation steps from the minimanipulation library and converting to a machine code; and a robotic execution module configured for executing the minimanipulation steps by the robotic platform to accomplish a functional result.

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