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1. 发明授权

US10632630B2 Robot joint and robot including the same 有权
公开(公告)号：US10632630B2
公开(公告)日：2020-04-28
申请号：US15943231
申请日：2018-04-02
申请人： ABB Schweiz AG
发明人： Kaiyuan Cao , Xiaodong Cao , Yun Ha , Zhu Zhu , Jiajie Sha
IPC分类号： B25J19/00 , H01R35/02 , B25J17/00 , B25J17/02 , H05K1/03
CPC分类号： B25J19/0025 , B25J17/00 , B25J17/02 , B25J19/0029 , H01R35/025 , H05K1/0393 , Y10T74/20311
摘要： A robot joint and a robot using the robot joint is provided. The robot joint includes a first part and a second part configured to be rotatable with each other around a joint axis. A flexible printed circuit board is further included with a first fixing point and a second fixing point respectively fastened to the first part and the second part. The flexible printed circuit board is spiral-shaped prior to bending. With the relative rotation of the first part and the second part, the flexible printed circuit board is bent at various bending portions. This makes the robot joint more compact with a larger rotation range and a long lifetime in a cost effective way.

2. 发明授权

US09987743B2 Trainable modular robotic apparatus and methods 有权
公开(公告)号：US09987743B2
公开(公告)日：2018-06-05
申请号：US14208709
申请日：2014-03-13
申请人： Brain Corporation
发明人： Eugene Izhikevich , Dimitry Fisher , Jean-Baptiste Passot
IPC分类号： G05G9/00 , G05G13/00 , B25J9/00 , B25J9/10 , B25J9/08
CPC分类号： B25J9/0009 , B25J9/08 , B25J9/104 , Y10T74/20305 , Y10T74/20311
摘要： Apparatus and methods for a modular robotic device with artificial intelligence that is receptive to training controls. In one implementation, modular robotic device architecture may be used to provide all or most high cost components in an autonomy module that is separate from the robotic body. The autonomy module may comprise controller, power, actuators that may be connected to controllable elements of the robotic body. The controller may position limbs of the toy in a target position. A user may utilize haptic training approach in order to enable the robotic toy to perform target action(s). Modular configuration of the disclosure enables users to replace one toy body (e.g., the bear) with another (e.g., a giraffe) while using hardware provided by the autonomy module. Modular architecture may enable users to purchase a single AM for use with multiple robotic bodies, thereby reducing the overall cost of ownership.

3. 发明授权

US09694493B2 Umbilical member arrangement structure of parallel link robot 有权
公开(公告)号：US09694493B2
公开(公告)日：2017-07-04
申请号：US14018342
申请日：2013-09-04
申请人： FANUC CORPORATION
发明人： Hyunchul Souk
IPC分类号： B25J9/00 , B25J19/00
CPC分类号： B25J9/0078 , B25J9/0051 , B25J19/0025 , Y10T74/20311
摘要： An umbilical member arrangement structure capable of properly arranging an umbilical member in a parallel link robot. A first additional actuator is arranged on a passive link part of a parallel link robot. An Umbilical member is withdrawn from an opening formed on a generally circular bottom surface of a base part, while having a margin, approaches the passive link part, while extending in an intersecting direction with respect to a longitudinal direction of the passive link part, and is connected to the first additional actuator. The “intersecting direction” means a direction extending at an angle of 70 to 110 degrees, preferably 80 to 100 degrees, more preferably about 90 degrees, with respect to the longitudinal direction of the passive link part.

4. 发明授权

US09480532B2 Manipulator 有权
公开(公告)号：US09480532B2
公开(公告)日：2016-11-01
申请号：US13943512
申请日：2013-07-16
申请人： J. Michael Stuart
发明人： J. Michael Stuart
IPC分类号： A61B19/00 , B25J9/10 , B25J17/02 , B25J9/00
CPC分类号： A61B34/77 , A61B34/30 , A61B34/35 , A61B34/70 , A61B34/75 , A61B34/76 , A61B2034/304 , A61B2090/064 , B25J9/0072 , B25J9/106 , B25J17/0266 , Y10S901/19 , Y10T74/20305 , Y10T74/20311 , Y10T74/20323 , Y10T74/20329 , Y10T403/32 , Y10T403/32049
摘要： A manipulator, such as for use in medical procedures, is provided. The manipulator includes a body and a first actuator system connected to the body at a first attachment point and capable of moving the first attachment point with at least three degrees of freedom. A second actuator system is connected to the body at a second attachment point and capable of moving the second attachment point with at least three degrees of freedom. A third actuator system is integrated with the body and is capable of moving at least a portion of the body with at least one degree of freedom.

5. 发明申请

US20160157946A1 COMPACT COUNTER BALANCED ARMS 审中-公开
标题翻译：紧凑型平衡机
公开(公告)号：US20160157946A1
公开(公告)日：2016-06-09
申请号：US15043548
申请日：2016-02-13
申请人： Intuitive Surgical Operations, Inc.
发明人： Thomas G. Cooper
IPC分类号： A61B34/30 , A61B34/37 , A61B90/50 , B25J19/00
CPC分类号： A61B34/30 , A61B34/37 , A61B34/71 , A61B90/50 , A61B2090/5025 , A61B2090/506 , A61B2090/508 , B25J19/0016 , G02B7/001 , Y10T29/49826 , Y10T74/20311 , Y10T74/2154
摘要： In one embodiment of the invention, a counter balanced arm is disclosed including, a first link having a first rotating transmission device, a second link having a first rotating transmission device and a compression spring, a third rotating transmission device coupled between the first and second links, and a cable routed over the rotating transmission devices coupled between the second link and the compression spring. The compression spring forms a tension in the cable to counter balance a load applied to an end of the second link of the counter balanced arm.
摘要翻译：在本发明的一个实施例中，公开了一种平衡臂，包括具有第一旋转传动装置的第一连杆，具有第一旋转传动装置和压缩弹簧的第二连杆，连接在第一和第二传动装置之间的第三旋转传动装置连杆和连接在第二连杆和压缩弹簧之间的旋转传动装置上的电缆。压缩弹簧在电缆中形成张力，以平衡施加到反平衡臂的第二连杆的端部的负载。

6. 发明申请

US20150321344A1 CEILING MOUNTED ROBOT 有权
标题翻译：天花板安装机器人
公开(公告)号：US20150321344A1
公开(公告)日：2015-11-12
申请号：US14691941
申请日：2015-04-21
申请人： Seiko Epson Corporation
发明人： Seiji HAHAKURA , Masato YOKOTA
IPC分类号： B25J9/00 , B25J19/04
CPC分类号： B25J9/0018 , B25J9/044 , B25J19/0029 , B25J19/0033 , B25J19/023 , B25J19/025 , B25J19/04 , Y10T74/20311
摘要： A ceiling mounted robot includes a first member; a first arm portion that is rotatably provided on the first member via a first joint portion; a second arm portion that is rotatably provided on the first arm portion via a second joint portion; a wiring portion that is inserted into the first arm portion and the second arm portion; and a connector portion that is connected to the wiring portion.
摘要翻译：天花板安装机器人包括第一构件; 第一臂部，其经由第一接合部可旋转地设置在所述第一构件上; 第二臂部，其经由第二接合部可旋转地设置在所述第一臂部上; 布线部，其插入到所述第一臂部和所述第二臂部中; 以及连接部，其与所述配线部连接。

7. 发明授权

US09180595B2 Multiple-joint industrial robot 有权
标题翻译：多联合工业机器人
公开(公告)号：US09180595B2
公开(公告)日：2015-11-10
申请号：US14117579
申请日：2012-04-02
申请人： Takahiro Inada , Shinji Kitamura , Masato Yamamoto
发明人： Takahiro Inada , Shinji Kitamura , Masato Yamamoto
IPC分类号： B25J17/02 , B25J19/00
CPC分类号： B25J17/0283 , B25J19/0029 , Y10S901/29 , Y10T74/20311
摘要： A wrist portion of a robot includes: a first movable portion configured to rotate relative to an arm portion around a first wrist axis; a second movable portion configured to rotate relative to the first movable portion around a second wrist axis; a third movable portion configured to rotate relative to the second movable portion around a third wrist axis; and a cable insertion portion through which an effector cable is inserted, the effector cable being used to supply electric power to an end effector attached to the third movable portion. The cable insertion portion is provided at the first movable portion so as to be located on the first wrist axis. Two motors among a plurality of motors configured to drive the wrist portion are attached to the first movable portion so as to sandwich the cable insertion portion in a direction perpendicular to the first wrist axis.
摘要翻译：机器人的手腕部包括：第一可动部，其构造成相对于围绕第一腕轴的臂部旋转; 第二可移动部分，其构造成围绕第二手腕轴线相对于第一可移动部分旋转; 第三可移动部分，其构造成围绕第三手腕轴线相对于第二可动部分旋转; 以及电缆插入部分，通过所述电缆插入部分插入效应器电缆，所述效应器电缆用于向连接到所述第三可移动部分的末端执行器提供电力。电缆插入部设置在第一可动部上，以位于第一腕轴上。配置成驱动腕部的多个电动机中的两个电动机被安装在第一可动部上，以便将电缆插入部分沿垂直于第一腕轴的方向夹持。

8. 发明申请

US20150258692A1 HORIZONTAL MULTIPLE ARTICULATION TYPE ROBOT 审中-公开
公开(公告)号：US20150258692A1
公开(公告)日：2015-09-17
申请号：US14728561
申请日：2015-06-02
申请人： Seiko Epson Corporation
发明人： Christoph MEYERHOFF , Kazushige AKAHA
IPC分类号： B25J18/04 , B25J9/04
CPC分类号： B25J18/04 , B25J9/042 , B25J9/044 , B25J9/06 , Y10S901/27 , Y10S901/28 , Y10T74/20305 , Y10T74/20311 , Y10T74/20329
摘要： A horizontal multijoint type robot is so constructed that it comprises a first arm connected through a first joint shaft to a base, a second arm connected through a second joint shaft to the first arm, and a working shaft provided rotatably and movably up and down on the distal end of the second arm, and that the arm length L1 of the first arm and the arm length L2 of the second arm are equal to each other so that the second arm is able to overlap the first arm.

9. 发明申请

US20150258679A1 TRAINABLE MODULAR ROBOTIC APPARATUS AND METHODS 有权
标题翻译：可培训的模块化机器人和方法
公开(公告)号：US20150258679A1
公开(公告)日：2015-09-17
申请号：US14209578
申请日：2014-03-13
申请人： Brain Corporation
发明人： Eugene Izhikevich , Dimitry Fisher , Jean-Baptiste Passot , Heathcliff Hatcher , Vadim Polonichko
IPC分类号： B25J9/00 , B25J13/00 , G06N99/00
CPC分类号： B25J9/0081 , A63H29/22 , A63H30/04 , B25J9/104 , B25J13/00 , G06N99/005 , Y10T74/20305 , Y10T74/20311 , Y10T74/20317
摘要： Apparatus and methods for a modular robotic device with artificial intelligence that is receptive to training controls. In one implementation, modular robotic device architecture may be used to provide all or most high cost components in an autonomy module that is separate from the robotic body. The autonomy module may comprise controller, power, actuators that may be connected to controllable elements of the robotic body. The controller may position limbs of the toy in a target position. A user may utilize haptic training approach in order to enable the robotic toy to perform target action(s). Modular configuration of the disclosure enables users to replace one toy body (e.g., the bear) with another (e.g., a giraffe) while using hardware provided by the autonomy module. Modular architecture may enable users to purchase a single AM for use with multiple robotic bodies, thereby reducing the overall cost of ownership.
摘要翻译：具有接受训练控制的人造智能的模块化机器人装置的装置和方法。在一个实现中，模块化机器人设备架构可以用于在与机器人主体分离的自主模块中提供全部或最高成本的组件。自主模块可以包括可以连接到机器人身体的可控元件的控制器，电源，致动器。控制器可将玩具的四肢定位在目标位置。用户可以利用触觉训练方法，以使机器人玩具能够执行目标动作。本公开的模块化配置使得用户可以在使用由自主模块提供的硬件的同时，用另一个（例如，长颈鹿）来替换一个玩具体（例如熊）。模块化架构可以使用户能够购买单个AM以用于多个机器人体，从而降低总拥有成本。

10. 发明申请

US20150246449A1 INDUSTRIAL ROBOT 有权
标题翻译：工业机器人
公开(公告)号：US20150246449A1
公开(公告)日：2015-09-03
申请号：US14633288
申请日：2015-02-27
申请人： NACHI-FUJIKOSHI CORP.
发明人： Takashi SAKAI , Shunsuke KOSAKA , Akira KUNISAKI
IPC分类号： B25J19/00 , B25J17/02
CPC分类号： B25J19/0025 , Y10T74/20311
摘要： A cable drawn from a lower arm of a robot into a first upper arm part of an upper arm is further drawn out to an exterior space of the robot through a first hole of a second upper arm part. The cable is drawn in contact with a sidewall part of the second upper arm part, and is disposed in a wrist arrangement portion through a second hole. A slack part is formed taking account of a length of the cable pulled by a wrist when the wrist pivots in the wrist arrangement portion, and the cable is drawn to a tool through a through hole of the wrist.
摘要翻译：从机器人的下臂拉入上臂的第一上臂部的电缆通过第二上臂部的第一孔进一步被拉出到机器人的外部空间。电缆被拉伸与第二上臂部分的侧壁部分接触，并且通过第二孔布置在手腕布置部分中。考虑到当腕部在腕部配置部分枢转时由手腕拉出的电缆的长度形成松弛部分，并且电缆通过手腕的通孔被拉到工具。

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