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1. 发明授权

US11911899B2 Kinetic and dimensional optimization for a tendon-driven gripper 有权
公开(公告)号：US11911899B2
公开(公告)日：2024-02-27
申请号：US18168351
申请日：2023-02-13
申请人： Willow Garage, LLC
发明人： Matei Ciocarlie , Scott Stanford
IPC分类号： B25J9/10 , B25J15/08
CPC分类号： B25J9/1075 , B25J15/08 , Y10S901/21 , Y10S901/31 , Y10S901/36 , Y10S901/38
摘要： A tendon-driven robotic gripper is disclosed for performing fingertip and enveloping grasps. One embodiment comprises two fingers, each with two links, and is actuated using a single active tendon. During unobstructed closing, the distal links remain parallel, creating exact fingertip grasps. Conversely, if the proximal links are stopped by contact with an object, the distal links start flexing, creating a stable enveloping grasp. The route of the active tendon and the parameters of the springs providing passive extension forces are optimized in order to achieve this behavior. An additional passive tendon is disclosed that may be used as a constraint preventing the gripper from entering undesirable parts of the joint workspace. A method for optimizing the dimensions of the links in order to achieve enveloping grasps of a large range of objects is disclosed and applied to a set of common household objects.

2. 发明申请

US20180099417A1 Tendon Systems for Robots 审中-公开
公开(公告)号：US20180099417A1
公开(公告)日：2018-04-12
申请号：US15843413
申请日：2017-12-15
申请人： Timothy R. Beevers
发明人： Timothy R. Beevers
IPC分类号： B25J15/12 , B25J9/10 , B25J15/00 , B25J19/00 , B25J15/10
CPC分类号： B25J15/12 , B25J9/104 , B25J15/0009 , B25J15/10 , B25J19/0062 , Y10S901/21 , Y10S901/36
摘要： A method of assembling a portion of a robot, including, providing a robot arm having an exterior surface and providing a tendon retaining element, having a first half having a first major surface, defining open channels and a second half having a second major surface. Then, placing a tendon in each of the open channels of the first half and placing the second major surface on the first major surface, thereby creating a set of closed channels each having a tendon passing therethrough and creating a finished tendon retaining element. Finally, attaching the finished tendon retaining element about the exterior surface of the robot arm, so that the tendons extend along the length of the robot arm.

3. 发明授权

US09931665B2 Motorized adhesive dispensing module 有权
公开(公告)号：US09931665B2
公开(公告)日：2018-04-03
申请号：US14526114
申请日：2014-10-28
申请人： Flextronics AP, LLC
发明人： Dason Cheung , Murad Kurwa , Raymundo Alatorre Mercado
IPC分类号： B05C17/01 , B05C5/02 , B05C11/10 , B05C17/005
CPC分类号： B05C17/012 , B05C5/0225 , B05C11/1036 , B05C17/00553 , B05C17/0103 , B05C17/014 , Y10S901/16 , Y10S901/21
摘要： A liquid compound dispensing apparatus for dispensing a controlled amount of liquid compound onto a workpiece is described. The apparatus comprises a cartridge system. The cartridge system may accept a liquid compound cartridge containing liquid compound. The apparatus also comprises a plate, having a threaded bore, positioned above the cartridge system that is movable in a first and second direction, at least one plunger attached to the plate at a first end and attached to a piston at a second end. The piston is dimensioned to move within the liquid compound cartridge to displace liquid compound when the plate is moved in the second direction. A driving mechanism moves the plate in the first and the second directions to dispense product and comprises a motor, a threaded rod disposed through the threaded bore of the plate that is driven by a driving belt attached to the motor.

4. 发明授权

US09821477B2 Stabilizing apparatus for highly articulated probes with link arrangement, methods of formation thereof, and methods of use thereof 有权
公开(公告)号：US09821477B2
公开(公告)日：2017-11-21
申请号：US15180503
申请日：2016-06-13
申请人： Medrobotics Corporation
发明人： Robert Anderson , Gabriel Johnston , Ian J. Darisse , Joseph A. Stand , Luis Bettencourt , Todd Frangolis , Arnold E. Oyola , J. Christopher Flaherty
IPC分类号： B25J18/06 , A61B34/00 , A61B34/30 , B25J9/06
CPC分类号： B25J18/06 , A61B34/30 , A61B34/71 , B25J9/065 , Y10S901/21 , Y10T74/20323
摘要： An apparatus for driving an articulating probe comprises an elongate probe constructed and arranged to articulate in at least one predetermined degree of motion and to transition from a flexible state to a rigid state, and a force transfer mechanism constructed and arranged to apply a force to the probe. The force is selected from the group consisting of a force that causes probe to articulate in the at least one predetermined degree of motion and a force that causes the probe to transition from the flexible state to the rigid state. The base structure is attached to portion of the force transfer mechanism and the elongate probe; the base structure comprising one or more stabilizing elements constructed and arranged to resist undesired movement of the probe caused by force from the force transfer mechanism.

5. 发明申请

US20170291314A1 Robotic Manipulator With Supplementary Damping 审中-公开
公开(公告)号：US20170291314A1
公开(公告)日：2017-10-12
申请号：US15484515
申请日：2017-04-11
申请人： Persimmon Technologies, Corp.
发明人： Martin Hosek , Dennis Poole
IPC分类号： B25J19/00 , B25J9/10
CPC分类号： B25J19/0091 , B25J9/0012 , B25J9/0021 , B25J9/042 , B25J9/104 , B25J11/0095 , F16F9/306 , Y10S901/21
摘要： An apparatus including a plurality of robot arm links movably connected to one another, where a first one of the robot arm links includes a frame, where the frame has a first end movably connected onto a second one of the robot arm links; and at least one vibration damper arrangement on the frame of the first robot arm link, where the at least one vibration damper arrangement includes at least one viscoelastic element connected to the frame of the first robot arm link by a connection such that, as the frame of the first robot arm link experiences vibrations, the at least one viscoelastic element dampens the vibrations in the frame of the first robot arm link based upon viscoelasticity and the connection of the at least one viscoelastic element to the frame of the first robot arm link.

6. 发明申请

US20170100198A1 EXTENDABLE ARTICULATED PROBE DEVICE 审中-公开
公开(公告)号：US20170100198A1
公开(公告)日：2017-04-13
申请号：US15332881
申请日：2016-10-24
申请人： CARNEGIE MELLON UNIVERSITY
发明人： Brett Zubiate , Howard Choset
IPC分类号： A61B34/30 , A61B1/008 , A61B1/005 , B25J9/06 , B25J9/10
CPC分类号： A61B34/30 , A61B1/0055 , A61B1/0057 , A61B1/008 , A61B34/70 , A61B34/71 , A61B2017/00314 , A61B2017/00323 , A61B2034/301 , A61B2034/306 , A61B2034/715 , B25J9/065 , B25J9/104 , B25J9/105 , Y10S901/21
摘要： An articulate probe device includes a first mechanism, a second mechanism, and an overtube mechanism. The first mechanism includes a proximal link which is movable coupled to a first intermediate link, a plurality of intermediate links, and a distal link which is moveably coupled to a second one of the intermediate links. The second mechanism includes a proximal link which is movable coupled to a first intermediate link, a plurality of intermediate links, and a distal link which is moveably coupled to a second one of the intermediate links. The overtube mechanism includes a proximal link which is movable coupled to a first intermediate link, a plurality of intermediate links, and a proximal link which is moveably coupled to a second one of the intermediate links. Further, at least one of the first mechanism, second mechanism, and overtube mechanism is steerable and extendable beyond the other mechanisms.

7. 发明授权

US09440362B2 Robotic arm with spherical linkage 有权
标题翻译：机械臂与球形连杆
公开(公告)号：US09440362B2
公开(公告)日：2016-09-13
申请号：US14257597
申请日：2014-04-21
申请人： Hiwin Technologies Corp.
发明人： Ren-Jeng Wang
IPC分类号： G05G11/00 , B25J18/00 , B25J17/00 , B25J9/10
CPC分类号： B25J18/005 , A61B34/30 , A61B34/71 , B25J9/1045 , B25J17/00 , Y10S901/21 , Y10T74/20329
摘要： A robotic arm includes first and second bent links and a tool link pivotally connected in order, first to third wheels, and first to fourth imaginary axes intersecting at a center of spherical rotation. The first bent link and wheel are driven to rotate about the first and third imaginary axes respectively. A first flexible rope is wound around the first and second wheels and fixed to the second bent link for driving the second wheel and bent link to rotate about the second imaginary axis when the first wheel rotates. A second flexible rope is wound around the second and third wheels and fixed to the first bent link for driving the third wheel and the tool link to rotate about the fourth imaginary axis when the second wheel rotates. The robotic arm is relatively smaller, obstructs the operator less and produces a wider sphere of action.
摘要翻译：机器臂包括第一和第二弯曲连杆以及依次枢转地连接在第一至第三轮以及与球形旋转中心相交的第一至第四假想轴的工具连杆。第一弯曲连杆和轮驱动分别围绕第一和第三虚轴旋转。第一柔性绳索围绕第一和第二轮缠绕并固定到第二弯曲连杆，用于在第一轮旋转时驱动第二轮和弯曲连杆围绕第二假想轴转动。第二柔性绳索围绕第二和第三轮缠绕并固定到第一弯曲连杆，用于驱动第三轮，并且当第二轮旋转时，工具连杆绕第四假想轴旋转。机器人手臂相对较小，妨碍操作者较少并产生更宽的作用范围。

8. 发明申请

US20160199980A1 MECHANICAL ENERGY TRANSFER SYSTEM 审中-公开
标题翻译：机械能量转移系统
公开(公告)号：US20160199980A1
公开(公告)日：2016-07-14
申请号：US14993918
申请日：2016-01-12
申请人： Douglas H. DeCandia
发明人： Douglas H. DeCandia
IPC分类号： B25J9/10
CPC分类号： B25J9/10 , F16D51/00 , F16D55/00 , F16D63/008 , F16D67/06 , F16D2121/18 , F16D2125/66 , Y10S901/19 , Y10S901/21
摘要： The present invention relates to a mechanical energy transfer system that comprises a moving member that imparts energy to an engaging member as a friction force is applied to the moving member. The moving members may be rotating plates/disks, belts, or drums/cylinders. Upon engagement of the moving members by the engaging members, movement is transferred to the engaging members. Movement transfer may occur through the application of any frictional force, such as a magnetic force or a mechanical force.
摘要翻译：机械能量传递系统技术领域本发明涉及一种机械能量传递系统，其包括当向所述移动构件施加摩擦力时向所述接合构件施加能量的移动构件。移动构件可以是旋转板/盘，带或鼓/圆筒。在通过接合构件接合移动构件时，移动被转移到接合构件。运动转移可能通过施加任何摩擦力，如磁力或机械力而发生。

9. 发明申请

US20160176044A1 SYSTEMS AND METHODS FOR CHAIN JOINT CABLE ROUTING 审中-公开
标题翻译：链接电缆布线的系统和方法
公开(公告)号：US20160176044A1
公开(公告)日：2016-06-23
申请号：US14975544
申请日：2015-12-18
申请人： Kurion, Inc.
发明人： Matthew COLE , Paul Damon LINNEBUR , Dan Alan PRESTON , Ken SCHOFIELD
IPC分类号： B25J9/10 , B25J9/14 , B25J9/12 , B25J19/00
CPC分类号： B25J9/104 , B25J9/123 , B25J9/144 , B25J17/00 , B25J19/0029 , B25J19/0041 , F15B15/06 , Y10S901/09 , Y10S901/21 , Y10S901/28
摘要： The present disclosure relates to cable routing approaches that allow cables to pass through a traditional chain joint without reducing the strength capacity or impairing the range of motion of the joint. The routing approaches permit the cables to be housed inside the structure of the robotic arm and pass through the chain joint in a manner that does not limit the width of the chain.
摘要翻译：本公开涉及允许电缆穿过传统链接而不降低强度能力或损害接头的运动范围的电缆布线方法。路由方法允许电缆容纳在机器人手臂的结构内，并以不限制链条宽度的方式穿过链接头。

10. 发明申请

US20160114348A1 MOTORIZED ADHESIVE DISPENSING MODULE 有权
标题翻译：电动粘合分配模块
公开(公告)号：US20160114348A1
公开(公告)日：2016-04-28
申请号：US14526114
申请日：2014-10-28
申请人： Flextronics AP, LLC
发明人： Dason Cheung , Murad Kurwa , Raymundo Alatorre Mercado
IPC分类号： B05C5/02 , B25J9/00 , B25J9/10 , B05C17/01
CPC分类号： B05C17/012 , B05C5/0225 , B05C11/1036 , B05C17/00553 , B05C17/0103 , B05C17/014 , Y10S901/16 , Y10S901/21
摘要： A liquid compound dispensing apparatus for dispensing a controlled amount of liquid compound onto a workpiece is described. The apparatus comprises a cartridge system. The cartridge system may accept a liquid compound cartridge containing liquid compound. The apparatus also comprises a plate, having a threaded bore, positioned above the cartridge system that is movable in a first and second direction, at least one plunger attached to the plate at a first end and attached to a piston at a second end. The piston is dimensioned to move within the liquid compound cartridge to displace liquid compound when the plate is moved in the second direction. A driving mechanism moves the plate in the first and the second directions to dispense product and comprises a motor, a threaded rod disposed through the threaded bore of the plate that is driven by a driving belt attached to the motor.
摘要翻译：描述了用于将受控量的液体化合物分配到工件上的液体化合物分配装置。该装置包括盒系统。墨盒系统可以接受含有液体化合物的液体复合墨盒。该装置还包括一个具有螺纹孔的板，该螺纹孔位于盒系统上方，其可沿第一和第二方向移动，至少一个柱塞在第一端附接到板并在第二端连接到活塞。活塞的尺寸设计成在液体复合筒内移动，以便当板沿第二方向移动时移动液体化合物。驱动机构沿着第一和第二方向移动板以分配产品，并且包括电动机，通过板的螺纹孔设置的螺杆，该螺纹杆由连接到电动机的传动带驱动。

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