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1. 发明授权

US08303238B2 Kinematic device for supporting and programmably moving a terminal element in a machine or an instrument 失效
标题翻译：用于支持和可编程地移动机器或仪器中的终端元件的运动装置
公开(公告)号：US08303238B2
公开(公告)日：2012-11-06
申请号：US10648730
申请日：2003-08-22
申请人： Markus Thurneysen , Reymond Clavel
发明人： Markus Thurneysen , Reymond Clavel
IPC分类号： B25J17/02
CPC分类号： B25J17/0266 , B23Q1/4852 , B23Q1/5462 , B25J9/0039 , B25J9/0072 , Y10T74/20335 , Y10T409/307672 , Y10T409/309576
摘要： The invention concerns a kinematic device for supporting and programmably moving a terminal element. The platform (11) bearing the terminal element (12) is linked by four swivel joints (9) and (10) with two legs each consisting of two support rods (7) or (8) forming deformable parallelograms mounted each on slides (3) or (4) mobile in the x direction. The pivot plate (29) articulated on the platform (11) about the hinge pin (30) is controlled by the control rods (27), controlling pivoting (14) and lateral displacement (18) connected respectively by the swivel joints (26, 13 and 17) to the slides (3, 12 and 26). It consists in a parallel kinematics with four degrees of freedom, namely three translational and one rotational whereof the angle can be greater than 120°.
摘要翻译：本发明涉及用于支持和可编程地移动终端元件的运动学装置。承载端子元件（12）的平台（11）通过四个旋转接头（9）和（10）连接，两个腿部由两个支撑杆（7）或（8）组成，每个支撑杆（7）或（8）形成在每个载玻片上的可变形平行四边形）或（4）在x方向移动。围绕铰链销（30）铰接在平台（11）上的枢转板（29）由控制杆（27）控制，控制由旋转接头（26）分别连接的枢转（14）和横向位移（18） 13和17）到幻灯片（3,12和26）。它包括具有四个自由度的平行运动学，即三个平移和一个旋转角度可以大于120°。

2. 发明授权

US06979932B2 Production machine 失效
标题翻译：生产机
公开(公告)号：US06979932B2
公开(公告)日：2005-12-27
申请号：US10478952
申请日：2002-05-17
申请人： Jens Hamann , Uwe Ladra , Elmar Schäfers
发明人： Jens Hamann , Uwe Ladra , Elmar Schäfers
IPC分类号： B23Q1/54 , B25J9/16 , B25J17/02 , G05B19/404 , H02N2/00 , H01L41/08
CPC分类号： B25J9/1623 , B23Q1/5462 , B25J9/0039 , B25J17/0266 , G05B19/404 , G05B2219/39176 , G05B2219/40267 , G05B2219/40272 , G05B2219/41206 , G05B2219/41264 , G05B2219/41344
摘要： Parallel kinematics with rod guidance are nowadays used in machine tools, production machines and robotics. Changes in rod length caused by the special position of the moving work platform (P), by its acceleration and other force impact, can lead to positional errors. Such errors are eliminated by means of piezo-actuators (PA1–PA6) which are integrated into the rods (S1 to S6).
摘要翻译：平行运动学与杆导向现在用于机床，生产机器和机器人。由移动工作台（P）的特殊位置引起的杆长度变化，加速等冲击力可能导致位置误差。通过集成到杆（S1至S6）中的压电致动器（PA 1 -PA 6）来消除这种误差。

3. 发明申请

US20020069544A1 COUNTERBALANCED COORDINATE POSITIONING MACHINE 失效
标题翻译：平衡坐标定位机
公开(公告)号：US20020069544A1
公开(公告)日：2002-06-13
申请号：US09341332
申请日：1999-07-09
发明人： DAVID R MCMURTRY
IPC分类号： G01B005/008
CPC分类号： B25J17/0266 , B25J9/0039 , B25J19/0016 , G01B5/008 , G01B5/012
摘要： A coordinate positioning machine has an operating module such as a tool or probe (10) mounted for translational motion relative to a table (16) with three degrees of freedom by means of three articulated linkages (18). Each of the linkages is made up of a torsion box (22) which is pivotally mounted to a vertical pillar (20) with one degree of freedom, and a pair of struts (26), each of which is pivotally mounted with two degrees of freedom to the torsion box at one end, and to the operating module at the other. The linkages cooperate to prevent all rotational motion of the operating module, while allowing translation. Motion of the operating module is actuated manually, and the mass thereof is counterbalanced by an articulated counterbalance arm which guides a cable that is in turn connected to a fusee. Displacement of the operating module is measured using scale and readhead encoders. Motion of the operating module can be restricted to a single plane by means of locking devices operating between the struts, thereby to enable scanning of a surface in a series of parallel planes.
摘要翻译：坐标定位机具有操作模块，例如工具或探针（10），其通过三个铰接的联动装置（18）相对于具有三个自由度的工作台（16）安装成平移运动。每个连杆由扭转箱（22）构成，扭转箱（22）以一个自由度枢转地安装到竖直的支柱（20）上，以及一对支柱（26），每个支柱枢转地安装有两个自由到一端的扭转盒，另一端的操作模块。这些连杆协作以防止操作模块的所有旋转运动，同时允许翻译。操作模块的运动被手动致动，并且其质量由铰接的平衡臂平衡，该平衡臂引导连接到熔丝的电缆。使用刻度和读数头编码器测量操作模块的位移。可以通过在支柱之间操作的锁定装置将操作模块的运动限制在单个平面上，从而能够扫描一系列平行平面中的表面。

4. 发明授权

US12059804B2 Bidirectional kinematic mount 有权
公开(公告)号：US12059804B2
公开(公告)日：2024-08-13
申请号：US16881475
申请日：2020-05-22
申请人： MAKO Surgical Corp.
发明人： Timothy Wade Perez
IPC分类号： A61B34/37 , A61B90/00 , B25J9/00 , B25J9/04 , B25J9/10 , A61B34/20
CPC分类号： B25J9/1065 , A61B34/37 , A61B90/39 , B25J9/0039 , B25J9/042 , A61B2034/2063 , A61B2090/3945
摘要： A kinematic mounting key engageable with a kinematic mounting receiver is provided. The kinematic mounting key comprises a base kinematic element, a first protrusion, and a second protrusion. Each of the first protrusion and the second protrusion defines a clearance channel and comprises a kinematic element. The clearance channels and the kinematic elements are configured so that the kinematic mounting key is engageable with the kinematic mounting receiver in a first arrangement at six points of contact and in a second arrangement at six points of contact that are at least partially different from the six points of contact of the first arrangement.

5. 发明申请

US20070066986A1 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：US20070066986A1
公开(公告)日：2007-03-22
申请号：US11517813
申请日：2006-09-08
申请人： Dan Sanchez
发明人： Dan Sanchez
IPC分类号： A61B17/32
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。

6. 发明申请

US20040150291A1 Production machine 失效
标题翻译：生产机
公开(公告)号：US20040150291A1
公开(公告)日：2004-08-05
申请号：US10478952
申请日：2003-12-01
发明人： Jens Hamann , Uwe Ladra , Elmar Schafers
IPC分类号： H01L041/04 , H02N002/00
CPC分类号： B25J9/1623 , B23Q1/5462 , B25J9/0039 , B25J17/0266 , G05B19/404 , G05B2219/39176 , G05B2219/40267 , G05B2219/40272 , G05B2219/41206 , G05B2219/41264 , G05B2219/41344
摘要： Parallel kinematics with rod guidance are nowadays used in machine tools, production machines and robotics. Changes in rod length caused by the special position of the moving work platform (P), by its acceleration and other force impact, can lead to positional errors. Such errors are eliminated by means of piezo-actuators (PA1-PA6) which are integrated into the rods (S1 to S6).
摘要翻译：平行运动学与杆导向现在用于机床，生产机器和机器人。由移动工作台（P）的特殊位置引起的杆长度变化，加速等冲击力可能导致位置误差。通过集成到杆（S1至S6）中的压电致动器（PA1-PA6）来消除这种误差。

7. 发明申请

US20040103738A1 3~6-DOF decoupling structure parallel micromanipulator 审中-公开
标题翻译： 3〜6-DOF去耦结构平行显微操纵器
公开(公告)号：US20040103738A1
公开(公告)日：2004-06-03
申请号：US10419497
申请日：2003-04-21
申请人： Hebei University of Technology
发明人： Feng Gao , Jianjun Zhang , Weimin Li , Hui Zhao , Binbin Peng
IPC分类号： B25J017/00
CPC分类号： B25J7/00 , B25J9/0015 , B25J9/0039 , B25J9/0042 , B25J17/0266 , Y10T74/20305
摘要： 3null6-DOF decoupling structure modular reconfigurable parallel micromanipulator can be configured to different structures and degrees of freedom for different task requirement and work environment. Integral structure of reconfigurable modules like fixed platform module, 2-PSS limb module, 2-PUS limb module, 1-PSS limb module, 2-PUS limb module, 1-PUU limb module, moving platform module and driver module are described. Decoupling structure parallel micromanipulators of 3-, 4-, 5- and 6-DOF are constructed by the reconfigurable modules and theirs structure is described in detail. The invention has the merits of multiplicity and multifunction. What's more, it can solve the problem of the rather large assembly error in the full assembly and the baddish manufacturing process in the integral structure.
摘要翻译： 3〜6-DOF去耦结构模块化可重构并行显微操作器可以配置为不同的结构和自由度，适用于不同的任务要求和工作环境。描述了固定平台模块，2-PSS肢体模块，2-PUS肢体模块，1-PSS肢体模块，2-PUS肢模块，1-PUU肢体模块，移动平台模块和驱动模块的可重构模块的整体结构。 3，4-，5-和6-DOF的并联结构平行显微操作器由可重构模块构成，其结构详细描述。本发明具有多重性和多功能性的优点。此外，它可以解决整体组装中相当大的装配误差和整体结构中的糟糕制造过程的问题。

8. 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。

9. 发明授权

US06397485B1 Counterbalanced coordinate positioning machine 失效
标题翻译：平衡坐标定位机
公开(公告)号：US06397485B1
公开(公告)日：2002-06-04
申请号：US09341332
申请日：1999-07-09
申请人： David R McMurtry
发明人： David R McMurtry
IPC分类号： B01B5008
CPC分类号： B25J17/0266 , B25J9/0039 , B25J19/0016 , G01B5/008 , G01B5/012
摘要： A coordinate positioning machine has an operating module such as a tool or probe (10) mounted for translational motion relative to a table (16) with three degrees of freedom by means of three articulated linkages (18). Each of the linkages is made up of a torsion box (22) which is pivotally mounted to a vertical pillar (20) with one degree of freedom, and a pair of struts (26), each of which is pivotally mounted with two degrees of freedom to the torsion box at one end, and to the operating module at the other. The linkages cooperate to prevent all rotational motion of the operating module, while allowing translation. Motion of the operating module is actuated manually, and the mass thereof is counterbalanced by an articulated counterbalance arm 90 which guides a cable 96 that is in turn connected to a fusee. Displacement of the operating module is measured using scale and readhead encoders (40,50). Motion of the operating module can be restricted to a single plane by means of locking devices (132) operating between the struts 26, thereby to enable scanning of a surface in a series of parallel planes.
摘要翻译：坐标定位机具有操作模块，例如工具或探针（10），其通过三个铰接的联动装置（18）相对于具有三个自由度的工作台（16）安装成平移运动。每个连杆由扭转箱（22）构成，扭转箱（22）以一个自由度枢转地安装到竖直的支柱（20）上，以及一对支柱（26），每个支柱枢转地安装有两个自由到一端的扭转盒，另一端的操作模块。这些连杆协作以防止操作模块的所有旋转运动，同时允许翻译。操作模块的运动被手动致动，并且其质量由铰接的平衡臂90平衡，该平衡臂90引导连接到熔丝的电缆96。使用刻度和读数头编码器测量操作模块的位移（40,50）。可以通过在支柱26之间操作的锁定装置（132）将操作模块的运动限制在单个平面上，从而能够扫描一系列平行平面中的表面。

10. 发明授权

US5960672A Device for generating a defined position and orientation of at least one platform 失效
标题翻译：用于产生至少一个平台的定义的位置和取向的装置
公开(公告)号：US5960672A
公开(公告)日：1999-10-05
申请号：US844708
申请日：1997-04-18
申请人： Gunter Pritschow , Karl-Heinz Wurst
发明人： Gunter Pritschow , Karl-Heinz Wurst
IPC分类号： B23Q1/00 , B23Q1/44 , B23Q1/54 , B25J17/00 , B25J17/02 , F16M11/12 , F16M11/18 , G05G11/00
CPC分类号： B25J9/0072 , B23Q1/5462 , B25J17/0266 , B25J9/0039 , F16M11/046 , F16M11/125 , F16M11/18 , Y10T74/20317 , Y10T74/20341
摘要： A device for generating a defined position and orientation of at least one platform includes rod elements arranged in at least one four-bar linkage. The at least one four-bar linkage is pivotably connected to the platform. The angular position of the at least one four-bar linkage is motorically adjustable for changing an orientation of the platform.
摘要翻译：用于产生至少一个平台的限定位置和取向的装置包括以至少一个四杆连杆布置的杆元件。所述至少一个四杆连杆可枢转地连接到所述平台。所述至少一个四杆连杆的角度位置是可动的，以便改变平台的定向。

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