Автономный робот для покраски

Полезная модель может быть использована в области дизайна интерьера при покраске внутренней части помещений. Автономный робот для покраски содержит подвижное основание 1, оснащенное баком для краски и насосом. Основание 1 содержит ряд датчиков, выполненных с возможностью определения местоположения основания 1 и обнаружения препятствий, по существу, вертикальную подъемную колонну 4, на конце которой расположена сочлененная рука робота 5, увенчанная головкой 6. Головка 6 содержит пистолет с краской, подключенный к насосу, камеру, выполненную с возможностью распознавания поверхностей, подлежащих покраске и обрисовке, и датчик приближения. Полезная модель позволяет уменьшить усилия и время, необходимые для выполнения покраски и обрисовки труднодоступных поверхностей при распознавании препятствий в рабочей зоне. 4 з.п. ф-лы, 3 ил. РОССИЙСКАЯ ФЕДЕРАЦИЯ (19) RU (11) (13) 201 578 U1 (51) МПК B05B 13/00 (2006.01) B25J 9/14 (2006.01) ФЕДЕРАЛЬНАЯ СЛУЖБА ПО ИНТЕЛЛЕКТУАЛЬНОЙ СОБСТВЕННОСТИ (12) ОПИСАНИЕ ПОЛЕЗНОЙ МОДЕЛИ К ПАТЕНТУ (52) СПК B05B 13/00 (2020.05); B25J 9/14 (2020.05) (21)(22) Заявка: 2020112398, 26.03.2020 (24) Дата начала отсчета срока действия патента: (73) Патентообладатель(и): СОСА ГОНСАЛЕС, С.Л. (ES) Дата регистрации: 22.12.2020 Приоритет(ы): (30) Конвенционный приоритет: 13.02.2020 ES U202030243 (45) Опубликовано: 22.12.2020 Бюл. № 36 2 0 1 5 7 8 R U (54) АВТОНОМНЫЙ РОБОТ ДЛЯ ПОКРАСКИ (57) Реферат: Полезная модель может быть использована в области дизайна интерьера при покраске внутренней части помещений. Автономный робот для покраски содержит подвижное основание 1, оснащенное баком для краски и насосом. Основание 1 содержит ряд датчиков, выполненных с возможностью определения местоположения основания 1 и обнаружения препятствий, по существу, вертикальную подъемную колонну 4, на конце которой расположена сочлененная рука робота 5, Стр.: 1 увенчанная головкой 6. Головка 6 содержит пистолет с краской, подключенный к насосу, камеру, выполненную с возможностью ...

Пространственный механизм с шестью степенями свободы

Полезная модель относится к робототехнике и может быть использована при позиционировании различных объектов. Пространственный механизм содержит основание, выходное звено в форме замкнутого кольца и шесть кинематических цепей. Кинематические цепи соединяют установленные на основании управляющие линейные приводы с выходным звеном. Основание выполнено в виде шести направляющих, концы которых закреплены на двух кольцевых ребрах жесткости с образованием цилиндрической формы. Линейные приводы имеют возможность перемещения по направляющим. Каждый привод шарнирно соединен с изогнутым промежуточным звеном одной из шести кинематических цепей с наружной стороны основания. Кинематические цепи сопряжены с выходным звеном с его наружной стороны в трех местах с помощью спаренных шарниров. В результате обеспечивается расширение технологических возможностей пространственного механизма. 2 ил. РОССИЙСКАЯ ФЕДЕРАЦИЯ (19) RU (11) (13) 207 790 U1 (51) МПК B25J 1/02 (2006.01) F16H 21/46 (2006.01) ФЕДЕРАЛЬНАЯ СЛУЖБА ПО ИНТЕЛЛЕКТУАЛЬНОЙ СОБСТВЕННОСТИ (12) ОПИСАНИЕ ПОЛЕЗНОЙ МОДЕЛИ К ПАТЕНТУ (52) СПК B25J 1/02 (2021.08); F16H 21/46 (2021.08) (21)(22) Заявка: 2021115487, 31.05.2021 (24) Дата начала отсчета срока действия патента: Дата регистрации: 16.11.2021 (73) Патентообладатель(и): Родионов Юрий Витальевич (RU) (45) Опубликовано: 16.11.2021 Бюл. № 32 (56) Список документов, цитированных в отчете о поиске: RU 202579 U1, 25.02.2021. RU 2714147 C1, 12.02.2020. RU 2667236 C1, 17.09.2018. SU 1668784 A1, 07.08.1991. US 4976582 A1, 11.12.1990. 2 0 7 7 9 0 R U (54) Пространственный механизм с шестью степенями свободы (57) Реферат: Полезная модель относится к робототехнике образованием цилиндрической формы. Линейные и может быть использована при приводы имеют возможность перемещения по позиционировании различных объектов. направляющим. Каждый привод шарнирно Пространственный механизм содержит соединен с изогнутым промежуточным звеном основание, выходное звено в форме замкнутого одной из шести ...

Selectively Bendable Remote Gripping Tool

A hand-held remote access device, such as a gripping tool, includes a jaw portion having a pair of jaws movable relative to each other between fully clamped and fully opened positions thereof, a handle portion spaced apart from the jaw portion by a bendable central portion that has a hollow, corrugated member having alternating ridges and grooves that is bendable so as to attain a predetermined shape. 1. A hand-held gripping device , comprising:a jaw portion comprising a pair of jaws movable relative to each other between fully clamped and fully opened positions thereof;a handle portion spaced apart from the jaw portion by a selectively extendible central portion, the handle portion comprising a first manually-actuatable trigger operatively connected to the jaw portion by a selectively extendible pull member at least substantially disposed within the central portion, whereby actuation of the trigger is operative to move the pull member to thereby selectively position the pair of jaws between the fully clamped and fully opened position thereof;a central portion comprising a hollow, corrugated member having alternating ridges and grooves, said member being bendable so as to attain a predetermined shape;at least one cord operatively connecting the handle portion to the jaw portion, said at least one cord extending through said central portion.2. The hand-held gripping device of , the hand-held gripping device of , wherein said handle portion has a second manually-actuatable trigger that adjusts the orientation of said jaw portion by effecting a change in the shape of the corrugated member.3. The hand-held gripping device of claim 1 , wherein at least ⅔of said central portion comprises said corrugated member.4. The hand-held gripping device of claim 1 , wherein at least a portion of said central portion is in telescoping relationship with an adjacent portion of said central portion.5. The hand-held gripping device of claim 1 , further comprising a locking member ...

Collaborative robotic equipment

The invention relates to collaborative robotic equipment comprising a supporting structure ( 1 ) supporting an arm ( 2 ) that can be moved along at least one axis and the end of which is equipped with a tool ( 6 ), characterized in that said arm comprises a first horizontal portion ( 21 ), able to move on a vertical axis (X) and connected to the supporting structure by a first pivot ( 211 ), a second pivot ( 212 ) providing the rotary connection of a second horizontal portion ( 22 ) to the first portion ( 21 ), an end fitting ( 3 ) providing connection between the second portion and a motorized tool-holding linear actuator ( 4 ) which is fitted with a manual-control stick ( 5 ) collaborating with a main force sensor ( 54 ) to control the vertical movement of the tool ( 6 ) and amplify the manual effort.

ILLUMINATING GRABBER TOOL WITH FLEXIBLE MEMBER AND MAGNETIC ELEMENTS

An elongate grabber tool that has a handle including an actuator on the first end of a first shaft, and grasping means located on the distal end of a second shaft. The shafts are connected together by a hinge, and linkage between the controller and engagement elements to control the grasping means is disclosed. Said second shaft includes a flexible element and an illuminating element. Said grasping means may include at least one magnetic element. 1. A device comprising:a flexible elongate shaft (“shaft”), the shaft adapted for manual deformation in at least two orthogonal dimensions, the shaft having a handle end and a grabber end;a grabber feature, the grabber feature coupled to the shaft grabber end, the grabber feature adapted to apply force to temporarily couple with an object;a handle, the handle coupled to the shaft handle end; andan actuator, the actuator having a user end and a grabber end, the user end coupled with the handle and adapted to accept and transfer mechanical force to the grabber end, and the grabber end coupled with the grabber feature and adapted to accept and transfer mechanical force from the user end to the grabber feature.2. The device of claim 1 , wherein the shaft may rotate in relation to the handle on an axis orthogonal to the two orthogonal dimensions of deformation.3. The device of claim 1 , wherein the shaft further comprises a first intermediate elongate length (“first length”) claim 1 , and a second deforming length (“second length”) claim 1 , the first length is ridged and the second length may is adapted for said manual deformation.4. The device of claim 3 , further comprising a hinge claim 3 , the hinge adapted to rotatably couple the first length and the second length.5. The device of claim 4 , wherein the hinge enables folding movement of the second length in relation to the first length.6. The device of claim 1 , further comprising a magnet claim 1 , the magnet coupled to the grabber feature.7. The device of claim 1 , ...

Selectively Bendable Remote Gripping Tool

A hand-held remote access device, such as a gripping tool, includes a jaw portion having a pair of jaws movable relative to each other between fully clamped and fully opened positions thereof, a handle portion spaced apart from the jaw portion by a bendable central portion that has a hollow, corrugated member having alternating ridges and grooves that is bendable so as to attain a predetermined shape. 1. A hand-held gripping device , comprising: a gripping portion having a gripping arm movable relative to between a fully clamped position and a fully opened position;a handle portion spaced apart from the gripping portion by a central portion, the central portion comprising at least two separate portions comprising a hollow, corrugated member having alternating ridges and grooves, said corrugated member being bendable so as to attain a predetermined shape so that a user can preposition said central portion into a desired bent configuration;wherein the handle portion comprises a first manually-actuatable trigger operatively connected to the gripping portion by a pull member at least substantially disposed within the central portion, whereby actuation of the trigger is operative to move the pull member to thereby selectively position the gripping arm between the fully clamped position and the fully opened position;said pull member comprising at least one cord operatively connecting the handle portion to the gripping portion, said at least one cord extending through said central portion,wherein the at least two separate portions of the central portion comprise a plurality of interconnected connectors which together define a passageway through which said pull member passes through.2. The device as set forth in claim 1 , wherein said at least two separate portions comprise a plurality of connector bodies that interconnect with each other.3. The device as set forth in claim 1 , wherein at least ⅔rds of the central portion comprises said corrugated member.4. The device as ...

Telescoping Retrieving Device with Flexible Portion

The present technology provides a device for retrieving objects. The device has a proximate elongate member () extending from a handle () and a flexible elongate member () coupled with the proximate elongate member and slidable between a retracted configuration and an extended configuration. The device has a holding member () operatively coupled with the flexible elongate member. Some embodiments have an actuating system configured to operate certain types of holding members with an actuating member () to enable the holding member to hold/release an object. Some embodiments have a locking system configured to lock the flexible elongate member to the proximate elongate member. 1. A device for retrieving an object , the device comprising:a handle;{'b': '120', 'a proximate elongate member () extending from the handle;'}{'b': '130', 'a flexible elongate member () slidably coupled with the proximate elongate member, the flexible elongate member slidable between a retracted configuration and an extended configuration;'}{'b': '140', 'a holding member () operatively coupled with a distal end of the flexible elongate member, the distal end being distal from the proximate elongate member; and'}{'b': '113', 'an actuating system having an actuating member (), the actuating system configured to operatively engage the actuating member and the holding member in at least the extended configuration of the flexible elongate member and thereby allow actuating the holding member to hold the object by actuating the actuating member.'}2. The device according to claim 1 , wherein the actuating member is operatively coupled with the handle.3. The device according to claim 1 , wherein the holding member comprises one or more of a claw member having multiple claws claim 1 , a grasp claim 1 , a gripper claim 1 , a hook claim 1 , a pincer claim 1 , a needle claim 1 , a sharp point claim 1 , or a magnet.4. The device according to claim 1 , wherein at least portions of the proximate elongate ...

Selectively Bendable Remote Gripping Tool

A selectively bendable remote access gripping tool, includes a jaw portion having a pair of jaws or nets movable relative to each other between clamped and opened positions thereof, a handle portion spaced apart from the jaw portion by a bendable central portion that has a hollow, corrugated member that is bendable, and a cord extending through the hollow bendable member that connects the jaw portion and the handle portion. 1. A selectively bendable remote gripping tool comprising: a jaw portion comprising at least one of: (i) a pair of net assemblies having a frame and a net coupled to said frame , said net assemblies movable relative to each other between closed and opened positions thereof; and (ii) sharp cutting implements associated with said jaw portion , a handle portion spaced apart from the jaw portion by a selectively extendible central portion , the handle portion comprising a first actuatable trigger operatively connected to the jaw portion by a pull member at least substantially disposed within the central portion , whereby actuation of the trigger is operative to move the pull member to thereby selectively position the pair of jaw portion between the closed and opened positions thereof; wherein the central portion comprises at least two separate portions comprising hollow , corrugated members that have alternating ridges and grooves , said central portion being bendable; and said pull member comprising at least one cord operatively connecting the handle portion to the jaw portion , said at least one cord extending through said central portion.2. The tool as set forth in claim 1 , wherein the actuatable trigger comprises a manually operable release trigger.3. The tool as set forth in claim 1 , wherein said pair of sharp cutting implements comprise a cutting blade.4. The tool as set forth in claim 1 , further comprising a locking member associated with said central portion to fix two adjacent members of said central portion in an engaged position claim 1 ...

Selective magnet pick-up component

Metal and other magnetized objects are often dropped into hard-to-reach, magnetic-rich places where a retrieval tool will often latch onto the surrounding metal, all but the target object. This makes the retrieval of the target object with an ordinary magnet very difficult or sometimes even impossible. The invention relates to a magnetic retrieval tool with a selectively on/off component, allowing the magnetic force to be exerted only when the target becomes localized. Said magnetic force or field, will be encapsulated either by shielding, or by a second magnet that will neutralize the magnetic field turning the magnet “off” until the object is reached. 1. A tool for retrieval of metal objects. Said tool includes a shaft and flexible outside sheath , wherein the improvement comprises: a plungeable shaft which moves vertically inside said housing; a non magnetized cap attached to the distal end of said housing; and a magnet attached to end of said shaft.2. A tool for retrieving magnetized objects: wherein the improvement comprises the sum of all parts in claim 1 , resulting in a selectively magnetized or unmagnetized component. Metal and other magnetized objects are often dropped into hard-to-reach places.Often said places are also surrounded by other magnetized surfaces which makes retrieval with an ordinary magnet very difficult or impossible. This difficulty is partly due to the inability of said magnet to turn off until the target object is reached, and then “selectively” turn on and grab the object that is to be retrieved. The invention relates to a magnetic retrieval tool with a selectively on/off component, allowing the magnetic force to be exerted only when the target becomes localized. Said magnetic force or field will be encapsulated either by shielding or by a second magnet that will neutralize the magnetic field turning the magnet “off” until the object is reached. According to the drawings, shows an overall diagram of the invention embodiment. show an ...

MULTI FUNCTIONAL RETRIEVAL TOOL ENCOPASSING AN ARRAY OF USES TO ACCOMODATE TREESTAND HUNTERS

A handy compact multifunctional tool used primarily by tree stand hunters, to help make every day hunting from an elevated position more enjoyable as well as to help get you out of the inevitable pinches that hunting throws your way. Having a series of rotatable grapples used for various purposes, including: retrieval of dropped or left behind items, grappling of tree limbs to be removed from the hunter's line of sight, a place to hang weapons or accessories while not in use. A handy dry storage compartment for storage of whatever the user sees fit is conveniently located in side of unit. Magnets are located on the sides and bottom for retrieval of dropped magnetically retrievable items. The grapples are attached to a shank or main body that will later be described which is attached to a rope used for lowering tool and retrieving items etc. When not in use the main body is designed to accommodate the winding and unwinding of attached rope which doubles as a tree stand hunters hoist rope. 1. A multifunctional tree stand accessory with multiple retrieval uses , as well as other uses , generally but not exclusively , used by persons in confining elevated positions for extended periods of time , the tool can be used to retrieve dropped or left below items vertically and can also be used to retrieve items horizontally including small tree limbs that can be grappled and pulled in to user and broken off to clear hunters line of sight , unit can also be used as a handy set of hooks to hang objects from when not in use , a handy dry storage compartment is also included giving this unit even more features. unit is designed as follows: A generally square or triangular shaped mid to lower body , with the upper portion of body being tapered gradually to a point , the edges of the upper-mid to lower section of body are swaged or concaved to create a depression in the edges , the bottom edges have a small bump or tit left that functions as a stopper this swag and tit keeps the ...

METHOD FOR TRACKING A HAND-GUIDED ROBOT, HAND-GUIDED ROBOT, COMPUTER PROGRAM, AND ELECTRONICALLY READABLE STORAGE MEDIUM

A method is provided for tracking a hand-guided robot including a control unit and at least one manipulator coupled to an end effector, in which the manipulator includes a plurality of joints and links and the end effector is manually displaceable within an operational volume. In the method, the control unit determines at least one movement information of each joint during and/or after a manual or partially manual displacement of the end effector, and a position and orientation information of the end effector inside the operational volume during and/or after the displacement of the end effector using the determined movement information of each joint and a software-based kinematic and dynamic model of the manipulator stored in a memory of the control unit. 1. A method for tracking a hand-guided robot , the hand-guided robot comprising a control unit and a manipulator coupled to an end effector , wherein the manipulator comprises a plurality of joints and links and the end effector is manually displaceable within an operational volume , the method comprising:determining, by the control unit, at least one movement information of each joint during and/or after an at least partially manual displacement of the end effector; anddetermining, by the control unit, a position and orientation information of the end effector inside the operational volume during and/or after the displacement of the end effector using the determined movement information of each joint and a software-based kinematic and dynamic model of the manipulator stored in a memory of the control unit.2. The method of claim 1 , wherein the kinematic and dynamic model is an absolutely accurate model.3. The method of claim 1 , wherein the movement information of a joint comprises an information on a rotational movement of the joint claim 1 , a translational movement of the joint claim 1 , a torque applied to the joint claim 1 , a force applied to the joint claim 1 , or a combination thereof.4. The method of ...

Tracking-Enabled Extended Reach Tool System and Method

An extended-reach tool system may include a gimbal positioned adjacent a surface opening; an extended-reach arm having a tool and engaging the gimbal; a sensor system for measuring a position of the arm relative to the gimbal and a position and spatial orientation of the tool relative to the opening; a computer control that converts one or both of the rotational and linear measurements from the sensor system into spatial location representations for virtual representations of 3-D models of the workpiece and tool, determines a position and orientation of the tool relative to the opening and workpiece, and adjusts the virtual representations of the 3-D models of the workpiece and tool as the arm and tool move relative to the workpiece, representing a real-time orientation of the tool relative to the workpiece; and a display for displaying the virtual representations of the 3-D models of the workpiece and tool. 1. A tracking-enabled extended-reach tool system for acting upon a workpiece , the tool system comprising:a gimbal adapted to be positioned adjacent an opening in a surface;an extended-reach arm having a first end and a second end, the extended-reach arm further including an end effector including a tool adjacent the first end, the extended-reach arm engaging the gimbal for relative rotational movement and relative slidable movement through the opening such that the end effector and the tool are positioned on a side of the surface opposite the second end;a sensor system for measuring gimbal and end effector rotations, measuring a linear position of the extended-reach arm relative to the gimbal, and measuring a position and spatial orientation of the tool relative to the opening;a computer control connected to receive rotational and linear measurements from the sensor system, convert the rotational and the linear measurements into spatial location representations for virtual representations of three-dimensional (3-D) models of the workpiece and the tool, ...

Selectively Bendable Remote Gripping Tool

A selectively bendable remote access gripping tool, includes a jaw portion having a pair of jaws or nets movable relative to each other between clamped and opened positions thereof, a handle portion spaced apart from the jaw portion by a bendable central portion that has a hollow, corrugated member that is bendable, and a cord extending through the hollow bendable member that connects the jaw portion and the handle portion. 1. A selectively bendable remote gripping tool comprising:a jaw portion comprising a pair of net assemblies movable relative to each other between fully clamped and fully opened positions thereof; a handle portion spaced apart from the jaw portion by a selectively extendible central portion, the handle portion comprising a first actuatable trigger operatively connected to the jaw portion by a selectively extendible pull member at least substantially disposed within the central portion, whereby actuation of the trigger is operative to move the pull member to thereby selectively position the pair of net assemblies between the fully clamped and fully opened position thereof; wherein the central portion comprises at least two separate portions comprising hollow, corrugated members that have alternating ridges and grooves, said central portion being bendable so as to position said tool into a desired bent configuration; and said pull member comprising at least one cord operatively connecting the handle portion to the jaw portion, said at least one cord extending through said central portion.2. The tool as set forth in claim 1 , wherein the actuatable trigger comprises a manually operable release trigger.3. The tool as set forth in claim 1 , wherein said pair of net assemblies comprises one structure with a loose net and an opposing paired structure with a taut net.4. The tool as set forth in claim 1 , wherein said net assemblies are substantially concentrically aligned when said net assemblies are in said closed position.5. A selectively bendable ...

ELECTROMECHANICAL SYSTEM FOR INTERACTION WITH AN OPERATOR

An electromechanical system operates through physical interaction with an operator, and includes a plurality of joints providing multiple degrees of freedom (DOF), including actuated joints and unactuated joints. The unactuated joints are distal with respect to the actuated joints and are in redundant DOF to the actuated joints. The system includes a plurality of actuators each configured to actuate one or more of the actuated joints, and a plurality of sensors each positioned with respect to a respective one of the actuated and unactuated joints. Each sensor is configured to measure corresponding joint data indicative of a position or angle of the respective actuated or unactuated joints. A controller in communication with the sensors receives the measured joint data as feedback signals, generates control signals using the feedback signals, and transmits the control signals to the actuators to thereby control an actuation state of the actuators. 1. An electromechanical system operable through physical interaction with an operator , the electromechanical system comprising:a plurality of joints providing multiple degrees of freedom (DOF), the plurality of joints including actuated joints and unactuated joints, the unactuated joints being distal with respect to the actuated joints and lying in redundant DOF to the actuated joints;a plurality of actuators each configured to actuate one or more of the actuated joints;a plurality of sensors each positioned with respect to a respective one of the actuated and unactuated joints, and each configured to measure corresponding joint data indicative of a position or angle of the respective actuated or unactuated joints; anda controller in communication with the plurality of sensors and configured to receive the measured joint data as feedback signals, generate control signals using the feedback signals, and transmit the control signals to the actuators to thereby control an actuation state of the actuators.2. The ...

SCRUBBER

Disclosed herein are scrubbers comprising: a squeezable handle having at least one grip ; a head having a pair of jaws , the head configured to receive a scrubbing member ; an arm connecting the handle to the head ; and a cable connecting the handle to the head . Also disclosed are methods of cleaning an item, the method comprising the steps of: obtaining the above-described scrubber; placing the item in the space between the jaws of the head ; squeezing the grips of the head such that the scrubbing member is in contact with the item; moving the scrubber along the length of the item; adjusting the force on the grips as the contours of the item changes along its length so as to maintain contact between the scrubbing member and the item. 1100. A scrubber comprising:{'b': 102', '114, 'a squeezable handle having at least one grip ;'}{'b': 106', '110', '106', '112, 'a head having a pair of jaws , the head configured to receive a scrubbing member ;'}{'b': 104', '102', '106, 'an arm connecting the handle to the head ; and'}{'b': 102', '106, 'a cable connecting the handle to the head .'}2104. The scrubber of claim 1 , wherein the cable runs through the interior of the arm .3104. The scrubber of claim 1 , wherein the cable is either entirely or partially exterior to the arm .4102114. The scrubber of claim 1 , wherein the handle comprises two grips .5116114. The scrubber of claim 1 , further comprising a proximal joint claim 1 , about which at least one grip pivots.6114116. The scrubber of claim 5 , wherein both grips pivot about the proximal joint .7102106. The scrubber of claim 1 , wherein the cable is a contiguous cable that connects the handle to the head .8. The scrubber of claim 1 , wherein the cable is fragmented into two or more segments.9104. The scrubber of claim 1 , wherein the arm is a single piece claim 1 , rigid member.10104. The scrubber of claim 1 , wherein the arm comprises two or more segments that are connected through joints.11104122. The scrubber of claim ...

TRACKING-ENABLED EXTENDED REACH TOOL SYSTEM AND METHOD

A tracking-enabled extended-reach tool system acting upon a workpiece. The tool system includes a gimbal positioned adjacent an opening in a surface, a sensor system, a computer control, and a display. The extended-reach arm has a first end, a second end, an end effector including a tool adjacent the first end. The extended-reach arm engages the gimbal for relative rotational movement and relative slidable movement through the opening positioning the end effector and the tool on a side of the surface opposite the second end. The sensor system is configured to measure a linear position of the extended-reach arm relative to the gimbal. The computer control receives signals from the sensor system indicative of the linear position of the extended-reach arm relative to the gimbal. The display is connected to the computer control and displays a representation of the workpiece and the tool relative to each other in real time. 111-. (canceled)12. A tracking-enabled extended-reach tool system for acting upon a workpiece , the tool system comprising:a gimbal configured for positioning adjacent an opening in a surface;an extended-reach arm having a first end and a second end, the extended-reach arm further including an end effector including a tool adjacent the first end, the extended-reach arm engaging the gimbal for rotational movement and slidable movement through the opening to position the end effector and the tool on a side of the surface opposite the second end;a sensor system configured to measure a linear position of the extended-reach arm relative to the gimbal, and a position and spatial orientation of the tool relative to the opening;a computer control configured to receive signals from the sensor system indicative of the linear position of the extended-reach arm relative to the gimbal and one or both of the position and spatial orientation of the tool relative to the opening, wherein the computer control determines a position or an orientation of the tool relative ...

Disc Retriever

A disc retriever includes an extendable, telescoping pole and a rigid hook configured to interface with various types of disc golf discs and secure a disc within the retriever by reaching across and/or under the disc, receiving the disc into an opening of the hook, and retaining the disc golf disc within the opening of the hook by at least one of gravity, pressure, and/or friction while the pole is pulled and/or manipulated by a user to retrieve the disc golf disc from the unreachable area. 1. A disc retriever , comprising:a rigid hook configured to configured to selectively retain a disc within an opening of the rigid hook when a flight plate of the disc is oriented in each of upwards and downwards direction.2. The disc retriever of claim 1 , wherein a width of the opening comprises at least about 0.80 inches.3. The disc retriever of claim 1 , wherein the rigid hook comprises a rubberized coating that increases a coefficient of friction with the disc as compared to a non-coated rigid hook.4. The disc retriever of claim 1 , wherein the rigid hook comprises a first radial bend claim 1 , a second radial bend comprising a landing zone claim 1 , and an extended tab.5. The disc retriever of claim 4 , wherein the rigid hook comprises at least one nipple that extends from the landing zone.6. The disc retriever of claim 4 , wherein the rigid hook comprises a back hook that extends from an outer surface of the second radial bend.7. The disc retriever of claim 4 , wherein the disc is retained in the rigid hook when at least one of a portion of a rim of the disc and an edge of a flight plate of the disc contacts the landing zone claim 4 , and when at least a portion of at least one of a top side and an underside of the flight plate contacts the extended tab.8. The disc retriever of claim 4 , wherein the disc is retained in the rigid hook by at least one of gravity and friction.9. The disc retriever of claim 1 , wherein the rigid hook is selectively attachable to a pole.10. The ...

NON-CONDUCTIVE MAGNETIC RETRIEVAL TOOL

A non-conductive retrieval tool with a magnet connected a handle by a linkage assembly. The linkage assembly can be adjustable to maintain an orientation or position based on manipulation of a user, and can be made of a non-conductive material to safely operate in electrical applications. In some embodiments, the tool can include a socket portion near the magnet to apply torque to work pieces.

FLEXIBLE SURGICAL INSTRUMENT WITH STRUCTURAL BONES IN A CROSSED ARRANGEMENT

The present disclosure generally relates to a surgical instrument. In some embodiments, the flexible surgical instrument, comprising: a distal structural body comprising first distal structural segment and second distal structural segment, the first distal structural segment comprising a first distal fixing disk and first distal segment structural backbones, the second distal structural segment comprising a second distal fixing disk and second distal segment structural backbones; and a proximal structural body comprising a proximal structural segment, the proximal structural segment comprising a proximal fixing disk, first proximal segment structural backbones, and second proximal segment structural backbones, the first proximal segment structural backbones being connected to the first distal segment structural backbones in a crossed arrangement; or the second proximal segment structural backbones being connected to the second distal segment structural backbones in a crossed arrangement. 1. A flexible surgical instrument , comprising:a distal structural body comprising first distal structural segment and second distal structural segment, the first distal structural segment comprising a first distal fixing disk and first distal segment structural backbones, the second distal structural segment comprising a second distal fixing disk and second distal segment structural backbones; anda proximal structural body comprising a proximal structural segment, the proximal structural segment comprising a proximal fixing disk, first proximal segment structural backbones, and second proximal segment structural backbones, the first proximal segment structural backbones being connected to the first distal segment structural backbones in a crossed arrangement; or the second proximal segment structural backbones being connected to the second distal segment structural backbones in a crossed arrangement.2. The flexible surgical instrument of claim 1 , wherein the proximal structural ...

ROBOT SYSTEM

A robot system includes: a robot that is movable according to an external force applied thereto by a worker; a force detecting unit that is provided in the robot and that detects the magnitude of an external force acting on the robot; a warning part that vibrates the robot when an external force having a magnitude equal to or greater than a first predetermined threshold is detected by the force detecting unit; and a stop part that stops the robot when an external force having a magnitude equal to or greater than a second predetermined threshold that is greater than the first predetermined threshold is detected by the force detecting unit. 1. A robot system comprising:a robot that is movable according to an external force applied thereto by a worker;a force detecting unit that is provided in the robot and that detects the magnitude of an external force acting on the robot;a warning part that vibrates the robot when an external force having a magnitude equal to or greater than a first predetermined threshold is detected by the force detecting unit; anda stop part that stops the robot when an external force having a magnitude equal to or greater than a second predetermined threshold that is greater than the first predetermined threshold is detected by the force detecting unit.2. The robot system according to claim 1 ,wherein the force detecting unit detects the direction of the external force; andthe warning part makes the vibration different depending on the direction of the external force.3. The robot system according to claim 1 , wherein the warning part changes the vibration according to the magnitude of the external force.4. A robot system comprising:a robot that is movable according to an external force applied thereto by a worker;a force detecting unit that is provided in the robot and that detects the magnitude and the direction of an external force acting on the robot;a warning part that issues a warning when an external force having a magnitude equal to or ...

Robotic device

Apparatus for spraying a material on a surface comprises at least one elongate member having a distal end and a proximal end, at least one spray nozzle mounted at the distal end of the elongate member for spraying the material in a spray pattern, the spray nozzle being connected to a spray material input at the proximal end of the elongate member, a camera mounted at the distal end of the elongate member and connected to a camera output at the proximal end of the elongate member, the camera being arranged to capture images of the spray pattern, and a control mechanism arranged to control the operation of the spray nozzle from the proximal end of the elongate member.

NON-CONDUCTIVE MAGNETIC RETRIEVAL TOOL

A non-retrieval tool with a magnet connected a handle by a linkage assembly. The linkage assembly can be adjustable to maintain an orientation or position based on manipulation of a user, and can be made of a non-conductive material to safely operate in electrical applications. In some embodiments, the tool can include a socket portion near the magnet to apply torque to work pieces. 1. A retrieval tool comprising:a handle;a linkage assembly coupled to the handle, wherein the linkage assembly is at least one of constructed of an electrically non-conductive material and coated with an electrically non-conductive material, and wherein the linkage assembly includes:a starting link coupled to the handle and having a starting link round portion opposite the handle;a mid-link including a mid-link frustoconical portion frictionally coupled to the starting link round portion and a mid-link round portion opposite the mid-link frustoconical portion; anda terminal link including a terminal link opening adapted to frictionally couple to the mid-link round portion.2. The retrieval tool of claim 1 , wherein the terminal link includes a magnet.3. The retrieval tool of claim 1 , wherein the terminal link includes collapsible jaws.4. The retrieval tool of claim 1 , wherein the mid-link includes a neck that forms a space between the mid-link frustoconical portion and the mid-link round portion.5. The retrieval tool of claim 1 , wherein the starting link includes threads that threadably engage with threads disposed on the handle.6. The retrieval tool of claim 2 , wherein the magnet is disposed within a housing of the terminal link.7. The retrieval tool of claim 6 , wherein the terminal link includes a wall within the housing on a side of the housing opposite the mid-link.8. The retrieval tool of claim 7 , wherein the terminal link includes a barrier opposite the wall and forming the housing.9. The retrieval tool of claim 6 , wherein the housing is cylindrically-shaped.10. The retrieval ...

Measuring arm with multifunctional end

A three-dimensional measuring device, comprising an arm having a free end provided with an interface body carrying a measuring member and a grip member enabling an operator to point the measuring member at a zone of the object that is to be measured. The interface body has a front face in which at least one electrical connector is accessible and from which there extends a projecting tubular coupling part for coupling to the measuring member, an annular grippable body being engaged on the tubular coupling part and extending over the front surface and the electrical connector, a retaining element being mounted on the grippable body to co-operate with the tubular coupling part in order to hold the grippable body pressed against the front face of the interface body.

MEASURING ARM WITH MULTIFUNCTIONAL END

A three-dimensional measuring device, comprising an arm having a free end provided with an interface body carrying a measuring member and a handle enabling an operator to point the measuring member at a zone of the object that is to be measured, the measuring device being characterized in that the handle is tubular in shape with a grippable outside surface and an inside surface that defines a housing in which there is engaged a reinforcing portion of a fastener base, which portion has an end portion that projects from the handle and that is fastened to the interface body. 1. A three-dimensional measuring device , comprising: a fastener base,', 'a first segment connected to the base by a first hinge,', 'a second segment connected to the first segment by a second hinge,', 'an interface body connected to the second segment by a third hinge, and', 'position sensors associated with the hinges and electrically connected to an electronic acquisition unit for supplying the electronic acquisition unit with position measurement signals measuring the positions of the segments relative to one another, the interface body carrying a measuring member and a handle enabling an operator to point the measuring member at a zone of the object that is to be measured,, 'an arm made up of articulated elements includingwherein the handle is tubular in shape with a grippable outside surface and an inside surface defining a housing in which there is engaged a reinforcing portion of a fastener base having an end portion that projects from the handle and that is fastened to the interface body, the reinforcing portion extending at least in part level with at least a portion of the grippable outside surface.2. The device according to claim 1 , wherein said end portion of the fastener base includes an acquisition control button that acts on a switch electrically connected to the control unit.3. The device according to claim 1 , wherein the handle is fastened to the fastener base by at least one ...

MEASURING ARM WITH MULTIFUNCTIONAL END

A three-dimensional measuring device, comprising an arm having a free end provided with an interface body and a handle enabling an operator to point the measuring member at a zone of the object that is to be measured. The handle is secured to a fastener base having an end portion that includes a slideway extending transversely relative to the longitudinal direction of the handle in order to co-operate with a slideway of the interface body, the interface body and the end portion of the fastener support having both complementary abutment means so as to define a mutual engagement position of the slideways and also complementary locking means that oppose disengagement of the slideways, the complementary locking means including a control lever that is hinged to the end portion of the fastener base between an activation position for activating the locking means and an inactivation position for inactivating the locking means. 1. A three-dimensional measuring device , comprising: a fastener base,', 'a first segment connected to the base by a first hinge,', 'a second segment connected to the first segment by a second hinge,', 'an interface body connected to the second segment by a third hinge, and', 'position sensors associated with the hinges and electrically connected to an electronic acquisition unit for supplying the electronic acquisition unit with position measurement signals measuring the positions of the segments relative to one another, the interface body carrying a measuring member and a handle enabling an operator to point the measuring member at a zone of the object that is to be measured,, 'an arm made up of articulated elements includingwherein the handle is secured to a fastener base having an end portion that includes a slideway extending transversely relative to the longitudinal direction of the handle in order to co-operate with a slideway of the interface body, the interface body and the end portion of the fastener support having both complementary ...

MEASURING ARM WITH MULTIFUNCTIONAL END

A three-dimensional measuring device, comprising an arm having a free end provided with an interface body carrying a measuring member and a grip member enabling an operator to point the measuring member at a zone of the object that is to be measured. The measuring member includes a male cylindrical portion having a portion engaged in a tubular coupling part secured to the interface body, the tubular coupling part is provided with a coupling locking mechanism comprising a tab mounted on a pin provided with a first annular sealing gasket bearing against a surface of the tubular coupling part, and a second annular sealing gasket is mounted between the tubular coupling part and the male cylindrical portion to be deformed between them when the male cylindrical portion is mounted in the tubular coupling part secured to the interface body. 1. A three-dimensional measuring device , comprising: a fastener base,', 'a first segment connected to the base by a first hinge,', 'a second segment connected to the first segment by a second hinge,', 'an interface body connected to the second segment by a third hinge, and', 'position sensors associated with the hinges and electrically connected to an electronic acquisition unit for supplying the electronic acquisition unit with position measurement signals measuring the positions of the segments relative to one another, the interface body carrying a measuring member and a grip member enabling an operator to point the measuring member at a zone of the object that is to be measured,, 'an arm made up of articulated elements includingwherein the measuring member includes a male cylindrical portion having a portion engaged in a tubular coupling part secured to the interface body, the tubular coupling part is provided with a coupling locking mechanism comprising a tab mounted on a pin provided with a first annular sealing gasket bearing against a surface of the tubular coupling part, and a second annular sealing gasket is mounted between the ...

REMOTELY OPERATED DEVICE

Apparatus for spraying a material on a surface comprises at least one elongate member () having a distal end and a proximal end, at least one spray nozzle () mounted at the distal end of the elongate member for spraying the material in a spray pattern, a ground-engaging member () mounted at the distal end of the elongate member and arranged to facilitate translational movement of the apparatus over a ground surface, a camera () mounted at the distal end of the elongate member () and connected to a camera output, the camera being arranged for capturing images of the spray pattern and the camera output being arranged to facilitate the viewing of images of the spray pattern from the proximal end of the elongate member, and a control mechanism arranged to control the operation of the spray nozzle from the proximal end of the elongate member. 1. Apparatus for spraying an insulation material on a void having a ground surface , comprising:an elongate member having a distal end and a proximal end, and defining a longitudinal axis;a spray nozzle mounted at the distal end for spraying the insulation material in a spray pattern;a ground-engaging member mounted at the distal end and arranged to facilitate translational movement of the apparatus over the ground surface in response to pushing the elongate member in a direction of the longitudinal axis and in response to pulling the elongate member in a direction of the longitudinal axis;a camera mounted at the distal end and connected to a camera output, the camera adapted to create a captured image of the spray pattern and the camera output adapted to facilitate viewing of the captured image from the proximal end of the elongate member; anda control mechanism adapted to control the spray nozzle from the proximal end of the elongate member.2. The apparatus as claimed in claim 1 , wherein the ground-engaging member includes a support member provided with any one of a sled claim 1 , a ball and wheels.3. The apparatus as claimed in ...

COLLABORATIVE ROBOT HAND BEARING FOR HIGH-TORQUE TIGHTENING APPLICATIONS

An apparatus for coupling a robot arm to a tool that is suspended by an ergonomic arm capable of supporting 3D motion of the tool within a working volume. The apparatus includes a tool sleeve configured to accept the tool, a freely rotating rotary fitting coupled to the tool sleeve, and a coupling that couples a distal end of the robot arm to the rotary fitting. When the tool is inserted into the tool sleeve, the tool is free to rotate around the rotational axis with respect to the robot arm, such that a motion of the distal end of the robot arm does not impose a torque between the robot arm and the tool around the rotational axis, and such that motion of the distal end of the robot arm repositions or reorients the tool within at least a portion of the working volume. 1. An apparatus for coupling a robot arm to a tool , comprising:a tool sleeve configured to accept the tool, wherein the tool is suspended by an ergonomic arm capable of supporting 3D motion of the tool within a working volume;a rotary fitting coupled to the tool sleeve, the rotary fitting freely rotating around a rotational axis; anda coupling that couples a distal end of the robot arm to the rotary fitting, wherein when the tool is inserted into the tool sleeve, the tool is free to rotate around the rotational axis with respect to the robot arm, such that a motion of the distal end of the robot arm does not impose a torque between the robot arm and the tool around the rotational axis, and such that the motion of the distal end of the robot arm repositions or reorients the tool within at least a portion of the working volume.2. The apparatus of claim 1 , wherein the repositioning includes translating the tool in a horizontal or vertical direction claim 1 , and wherein the reorienting includes rotating the tool around a desired axis that is different from the rotational axis of the rotary fitting.3. The apparatus of claim 1 , wherein the rotary fitting is at least one of a ball bearing slip fitting or ...

TRANSPORT ASSIST APPARATRUS

According to one embodiment, a transport assist apparatus includes a backpack, a straight-move support unit and a drive unit. The straight-move support unit is connected to the backpack and includes a support member configured to be driven so as to make an end of the support member contact a floor surface. The drive unit is connected to the backpack and the straight-move support unit and drives the support member in a direction of moving the end toward the floor surface in accordance with lifting up of at least one of a target person and a target object by a user, or in a direction of moving the end away from the floor surface in accordance with setting down of the at least one of the target person and the target object by the user. 1. A transport assist apparatus , comprising:a backpack;a straight-move support unit connected to the backpack and comprising a support member configured to be driven so as to make an end of the support member contact a floor surface; anda drive unit connected to the backpack and the straight-move support unit and configured to drive the support member in a direction of moving the end toward the floor surface in accordance with lifting up of at least one of a target person and a target object by a user, or in a direction of moving the end away from the floor surface in accordance with setting down of the at least one of the target person and the target object by the user.2. The apparatus according to claim 1 , wherein the drive unit comprises a pivot shaft which is pivotable to a forward side or a backward side of the user claim 1 , andthe apparatus further comprises a pivotal support unit having an end and another end, the end is connected to the drive unit, the other end pivots in centered on the pivot shaft so as to move toward the forward side with the other end contacting the floor surface, or so as to move toward the backward side with the other end contacting the floor surface.3. The apparatus according to claim 2 , wherein the ...

ILLUMINATED OBJECT VIEWING AND RETRIEVING TOOL

An illuminated object viewing and retrieval tool having a body including a control rod guide portion and a housing, a display screen mounted on the housing, an elongated flexible member extending from the control rod guide portion and a control rod extending through an open passage of the control rod guide portion to an outer end connected to a grasping mechanism having finger elements that are movable relative to an outer housing mounted to the control rod guide portion and which expand outwardly relative to one another and the open end of the outer housing, a camera device including a lens mounted within the outer housing to record images through the outer open end of the outer housing and a light source mounted within the outer housing adjacent the lens to cast light outwardly of the outer open end of the outer housing, and power source for connecting to the camera device, the light source and the display screen so that images from the camera lens may be viewed on the display screen. 1. An illuminated object viewing and retrieval tool comprising a body , including a control rod guide portion and a housing , a display screen mounted within the housing , an elongated flexible tubular member extending from the control rod guide portion of the body and a control rod extending through an open passage of the control rod guide portion to an inner end , the control rod also extending from the body through the flexible tubular member to an outer housing which is secured to an outer end portion of the flexible tubular member , a grasping mechanism mounted so as to be movable with respect to an outer open end of the outer housing from a non-deployed position within the outer housing to a deployed position where finger elements of the grasping mechanism expand outwardly relative to one another and the open end of the outer housing , the grasping mechanism is connected to be moved relative to the outer housing by the control rod , a camera device mounted within the outer ...

Selectively Bendable Remote Gripping Tool

A hand-held gripping device that allows a surgeon to reach interior portions of a person's anatomy, includes a gripping portion having a pair of jaws and/or nets movable relative to each other between fully clamped and fully opened positions thereof, a handle portion spaced apart from the jaw portion by a bendable central portion that is hollow and corrugated, with a cord extending therethrough.

Transformable Cable Volume Structure

A structure comprises an elongate, resiliently deformable cable, a body section comprising a cable-receiving aperture, said aperture being dimensioned so as to retain a length of said cable within it in use while permitting relative movement of said cable relative to the aperture in a direction along the length of the cable upon application of a set manipulating force, and retaining means for retaining the cable at a set position relative to the body section absent application of said force, wherein the cable at least partially defines the shape of the structure, and said shape may be changed by application of said manipulating force thus causing relative movement between the cable and the body section in a direction along the length of the cable. 144-. (canceled)45. A structure having a shape , the structure comprising:an elongate, resiliently deformable cable,a body section comprising a cable-receiving aperture, said aperture being dimensioned so as to retain a length of said cable within said aperture in use while permitting relative movement of said cable relative to the aperture in a direction along the length of the cable upon application of a set manipulating force, andretaining means for retaining the cable at a set position relative to the body section absent application of said force,wherein the cable at least partially defines the shape of the structure, and said shape may be changed by application of said manipulating force thus causing relative movement between the cable and the body section in a direction along the length of the cable.46. The structure according to claim 45 , further comprising an actuable member which engages with said cable claim 45 , such that movement of said cable relative to the body section causes corresponding movement of the actuable member relative to the body section.47. The structure according to claim 46 , wherein the retaining means comprises a skeleton connected to the body section and to the actuable member claim 46 , ...

CONTAINER SEAL REMOVAL DEVICE

A device includes a body, a first arm-member, a second arm-member and a curved-end. The device is useful for gripping and removing a seal from an object via biasing means. In particular, the device is useful for removing an airtight seal from a container. The containers may include medication, food products, etc. The device may be of particular use for users who do not possess necessary hand dexterity and may eliminate the need for individuals to seek assistance to access food or medication. 1. A device for gripping and removing a seal from an object , the device comprising: a first arm-member having a first gripping-tip;', 'a second arm-member having a second gripping-tip; and', 'wherein the first arm-member and the second arm-member are able to move between an open-configuration and a closed-configuration, the open-configuration including the first-arm member and the second arm-member being substantially parallel and having a space therebetween, and the closed-configuration including the first gripping-tip and the second-gripping tip being pressed together and being configured to biasingly-grip the seal on the object such that said seal is able to be manipulated in relation to said object.', 'a curved-end connecting the first arm-member and the second arm-member in a substantially arcuate-bend; and'}], 'a body including a continuous length formed into a substantially U-shaped configuration, the U-shaped configuration including2. The device of claim 1 , wherein the body is made from a flexible claim 1 , resilient material configured for manipulation between the open-configuration and the closed-configuration.3. The device of claim 2 , wherein the flexible claim 2 , resilient material is a spring-metal material.4. The device of claim 2 , wherein the flexible claim 2 , resilient material is a rubber material.5. The device of claim 2 , wherein the flexible claim 2 , resilient material is a plastic material.6. The device of claim 1 , wherein the body further includes a ...

Device and Method for Controlled Motion of a Tool

The present invention relates to devices and methods for controlled motion of a tool. In one embodiment, the device can support a tool needed to perform an activity requiring a highly-precise, stable motion, while also accommodating a person's hand for the purposes of moving the tool. In another embodiment, the device of the present invention allows for rotational motion of a tool independently of the directive motion of the tool. In yet another embodiment, the present invention relates to the design of a force transducer useful in a cooperative robot. The device and methods of the present invention are particularly useful for microsurgery or other tasks that are typically performed using cooperative robotics. 1. A device for reducing tremor in a tool , comprising:a grip suitable for engaging a tool,a sensor assembly connected to the grip,a micromanipulator associated with the grip, andat least one microprocessor operatively connected with the micromanipulator and the sensor assembly,wherein when a force is applied to the grip, the sensor assembly sends an input signal to the microprocessor indicative of the applied force, upon receiving the input signal, the microprocessor sends an output signal to the micromanipulator directing the micromanipulator to apply movement to the grip in the direction of the applied force.223.-. (canceled)24. The device of claim 1 , wherein the grip comprises a first portion claim 1 , and a second portion configured to hold the tool and to rotate relative to the first portion; wherein the first portion is configured to allow a user to apply forces to the first portion without causing the second portion to rotate relative to the first portion.25. The device of claim 24 , wherein the second portion is configured so that the rotation of the second portion relative to the first portion has a fixed point on or near the tip of the tool.26. The device of claim 24 , wherein the grip is configured so that the second portion can be rotated without ...

RETRIEVAL DEVICES AND RELATED METHODS OF USE

According to an example of the present disclosure, a retrieval device having a contracted state and an expanded state may include at least three support members each having a lumen, a fixed proximal end, and a movable distal end, and at least two members movable relative to the support members. Each movable member may include a first end and a second end and extending distally through a lumen of a support member and proximally through a lumen of a different support member. The device may include a stop located at the second end of at least one movable member to restrict movement of the second end after moving a distance distally during movement of the retrieval device toward the expanded state. 1. A retrieval device having a contracted state and an expanded state , comprising:at least three support members each having a lumen, a fixed proximal end, and a movable distal end;at least two members movable relative to the support members, each movable member including a first end and a second end and extending distally through a lumen of a support member and proximally through a lumen of a different support member; anda stop located at the second end of at least one movable member to restrict movement of the second end after moving a distance distally during movement of the retrieval device toward the expanded state.2. The retrieval device of claim 1 , wherein the at least two movable members include three movable members.3. The retrieval device of claim 1 , wherein the stop includes a coupling securing the second ends of the at least two movable members together.4. The retrieval device of claim 3 , wherein the coupling includes a tube surrounding the second ends.5. The retrieval device of claim 1 , wherein each of the movable members includes a preformed U-shaped bend located distally of the movable distal ends of the support members.6. The retrieval device of claim 5 , wherein the U-shaped bend urges the support members toward the contracted state.7. The retrieval ...

Device and Method for Controlled Motion of a Tool

The present invention relates to devices and methods for controlled motion of a tool. In one embodiment, the device can support a tool needed to perform an activity requiring a highly-precise, stable motion, while also accommodating a person's hand for the purposes of moving the tool. In another embodiment, the device of the present invention allows for rotational motion of a tool independently of the directive motion of the tool. In yet another embodiment, the present invention relates to the design of a force transducer useful in a cooperative robot. The device and methods of the present invention are particularly useful for microsurgery or other tasks that are typically performed using cooperative robotics. 1. A device for reducing tremor in a tool , comprising:a grip suitable for engaging a tool,a sensor assembly connected to the grip,a micromanipulator associated with the grip, andat least one microprocessor operatively connected with the micromanipulator and the sensor assembly,wherein when a force is applied to the grip, the sensor assembly sends an input signal to the microprocessor indicative of the applied force, upon receiving the input signal, the microprocessor sends an output signal to the micromanipulator directing the micromanipulator to apply movement to the grip in the direction of the applied force.2. The device of claim 1 , wherein the micromanipulator is associated with the grip via the sensor assembly.3. The device of claim 1 , wherein the output signal is produced by applying a gain to the input signal.4. The device of claim 1 , further comprising a tool.5. The device of claim 5 , wherein the tool is selected from the group consisting of a forceps claim 5 , scalpel claim 5 , needle claim 5 , and drill.6. The device of claim 1 , further comprising a base claim 1 , wherein an end of the sensor assembly is connected to the base.7. The device of claim 6 , wherein the base comprises the micromanipulator.8. The device of claim 6 , wherein the base ...

SERVICE APPARATUS FOR USE WITH ROTARY MACHINES

A system for use in maintaining a turbine assembly includes a plurality of blades and a plurality of vanes. The system includes an insertion apparatus including an insertion end, a steering end opposite the insertion end, and a body extending from the insertion end to the steering end. The insertion end is positionable proximate at least one blade of the plurality of blades using a steering interface. The system also includes a service apparatus for use in maintaining the turbine assembly. The service apparatus includes at least one maintenance device and an anchoring feature. The service apparatus is proximate the insertion end of the insertion apparatus and is positionable in a plurality of orientations via the steering interface. The anchoring feature is configured to releasably couple the service apparatus to at least one blade of the plurality of blades. 1. A system for use in maintaining a turbine assembly , the turbine assembly including a plurality of blades and a plurality of vanes , said system comprising:an insertion apparatus comprising an insertion end, a steering end opposite said insertion end, and a body extending from said insertion end to said steering end, wherein said insertion end is positionable proximate at least one blade of the plurality of blades using a steering interface; anda service apparatus for use in maintaining the turbine assembly, said service apparatus including at least one maintenance device and an anchoring feature, wherein said service apparatus is proximate said insertion end of said insertion apparatus and is positionable in a plurality of orientations via said steering interface, and wherein said anchoring feature is configured to releasably couple said service apparatus to at least one blade of the plurality of blades.2. The system in accordance with claim 1 , further comprising a guide apparatus configured to extend through a port of the turbine assembly and define a path for said insertion apparatus.3. The system in ...

FLEXIBLE SURGICAL INSTRUMENT WITH STRUCTURAL BONES IN A CROSSED ARRANGEMENT

A flexible surgical instrument has structural bones backbones in crossed arrangement, the flexible surgical instrument includes a flexible continuum structure comprising a distal structure, a proximal structure and a middle connection body; the distal structure includes a first distal and a second distal segment, the proximal structure includes a proximal segment; first segment structural backbone(s) on the proximal segment and first segment structural backbone(s) on the first distal segment are fixedly connected respectively one to one or are of the same structural backbone; second segment structural backbone(s) on the proximal segment and second segment structural backbone(s) the second distal segment are fixedly connected respectively one to one or are of the same structural backbone; the middle connection body includes two passage fixing plates, between which structural backbone guiding passage(s) and structural backbone cross guiding passage(s) are fixedly connected; the first segment structural backbone(s) () extends through the structural backbone cross guiding passage(s) (), the second segment structural backbone(s) extends through the structural backbone guiding passage(s). 1. A flexible surgical instrument with structural backbones in crossed arrangement , wherein said flexible surgical instrument includes a flexible continuous body structure comprising a distal structural body , a proximal structural body , and a middle connection body; said distal structural body includes a first distal segment including a first distal spacing disk , a first distal fixing disk , and a first distal segment structural backbone , and a second distal segment including a second distal spacing disk , a second distal fixing disk , and a second distal segment structural backbone; said proximal structural body includes a proximal segment including a proximal spacing disk , a proximal fixing disk , first proximal segment structural backbone(s) and second proximal segment ...

Device and Method for Controlled Motion of a Tool

The present invention relates to devices and methods for controlled motion of a tool. In one embodiment, the device can support a tool needed to perform an activity requiring a highly-precise, stable motion, while also accommodating a person's hand for the purposes of moving the tool. In another embodiment, the device of the present invention allows for rotational motion of a tool independently of the directive motion of the tool. In yet another embodiment, the present invention relates to the design of a force transducer useful in a cooperative robot. The device and methods of the present invention are particularly useful for microsurgery or other tasks that are typically performed using cooperative robotics. 123-. (canceled)24. A device for controlling a tool , comprising:a micromanipulator;a grip configured to hold the tool and to be grasped by a user;at least one sensor; a first subassembly comprising a first support, a second support, a first flexible element operably connected to the first support and the second support, and a second flexible element operably connected to the first support and the second support; and', 'a second subassembly comprising a third support, a fourth support, a third flexible element operably connected to the third support and the fourth support, and a fourth flexible element, operably connected to the third support and the fourth support;', 'wherein the first and the second flexible elements are substantially parallel to each other;', 'wherein the third and the fourth flexible elements are substantially parallel to each other; and', 'wherein the first and the second subassemblies are operably connected and substantially in series with each other;, 'a flexible assembly comprisingwherein the grip is operably connected to the first support and the micromanipulator is operably connected to the fourth support;wherein the at least one sensor is configured to generate an output responsive to an input of an external force or an external ...

Flexible continuum structure capable of realizing posture feedback

A flexible continuum structure capable of realizing a posture feedback is provided. The flexible continuum structure can comprise a flexible continuum structure body and a posture feedback mechanism. The flexible continuum structure body can comprise a distal structural body, a proximal structural body and a middle connecting body. The distal structural body can comprise distal spacing disks, a distal fixation disk and distal structural backbones. The proximal structural body can comprise proximal spacing disks, a proximal fixation disk and proximal structural backbones. The middle connecting body can comprise a proximal guide channel fixing plate, a distal guide channel fixing plate and a structural backbone guide channel. One end of the structural backbone is connected to the proximal fixation disk, and the other end passes through the proximal spacing disks, the structural backbone guide channel and the distal spacing disks and is then securely connected to the distal fixation disk.

MANIPULATOR AND MANIPULATOR SYSTEM

The manipulator includes a main unit a elongated member that extends from the main unit a bending assembly connected to the elongated member a coupling member for transmission of power for putting the bending assembly into operation, a drive unit for generating power for the coupling member and a regulator that is interposed between the bending assembly and the drive unit and urges the coupling member in a direction of intersecting a path taken by the coupling member 1. A manipulator comprising:a main unit,a elongated member that extends from the main unit,a bending assembly connected to the elongated member,a drive unit that generates power for bending of the bending assembly,a first coupling member for transmission of the power for bending of the bending assembly,a second coupling member for transmission of the power for bending of the bending assembly in a direction different from a direction of bending of the bending assembly by the first coupling member, anda regulator that is interposed between the bending assembly and the drive unit, and includes a first moving member that urges the first coupling member in a direction intersecting a path taken by the first coupling member, a second moving member that urges the second coupling member in a direction intersecting a path taken by the second coupling member and a regulating portion that moves the first moving member and the second moving member in the same direction.2. The manipulator according to claim 1 , wherein:the first moving member gives a preset urge to the first coupling member.3. The manipulator according to claim 1 , wherein:the first moving member has given an urge to the first coupling member, andthe second moving member gives an urge to the second coupling member in a direction opposite to a direction in which the first coupling member is urged.4. The manipulator according to claim 1 , which includes:a first support member designed such that the first moving member urges the first coupling member ...

Foldible reaching and grasping tool

A reaching and grabbing tool is provided. The tool includes a trigger assembly having a trigger and a handle. A jaw assembly is provided having at least one jaw operably connected to the trigger to move the at least one jaw. A hinge assembly is disposed between the trigger assembly and the jaw assembly, the hinge assembly being selectively lockable between an operating position and a folded position.

TOOL FOR CATCHING IC PACKAGE

A tool for catching an IC package comprises a main body, a plurality of operation arms and a plurality of clamping arms. The main body has a base and a plurality of lateral portions rotating relative to the base. The operation arms each extends upwardly from a top portion of a corresponding lateral portion. The clamping arms each extends downwardly from a lateral portion and is formed with a clasping portion at a free end thereof, the clasping portion has a latching slot. The operation arms bring the lateral portions to rotate inwardly and open the clamping arms. 1. A tool for catching an IC package comprising:a main body having a base and a pair of lateral portions rotating relative to the base,a pair of operation arms extending upwardly from top portions of the corresponding lateral portions, respectively;a pair of clamping arms extending downwardly from the corresponding lateral portions respectively, each of said clamping arms forming a clasping portion at a free end thereof; whereinduring operation, the operation arms bring the lateral portions to rotate inwardly and open the clamping arms.2. The tool as claimed in claim 1 , wherein said pair of lateral portions are located on two sides of the base claim 1 , and each of the lateral portions connects with the operation arm and the clamping arm.3. The tool as claimed in claim 2 , wherein each of the lateral portions connects with the base at the bottom claim 2 , and the lateral portion and the base form a gap to provide a rotating space for the lateral portion.4. The tool as claimed in claim 2 , wherein an arrangement direction of the base and the lateral portions define a longitudinal direction claim 2 , a width of the base is larger than a width of the lateral portion along the longitudinal direction.5. The tool as claimed in claim 2 , wherein each of the operation arms includes a first segment extending from the top of the lateral portion upwardly and inwardly along an inclined direction claim 2 , a second ...

TIE-DOWN DEVICE

A tie down device for securing cargo to a vehicle roof rack comprising: a telescoping rod; a first end of the telescoping rod; a second end of the telescoping rod; and a hook attached to a distal end of the rod. In one particular embodiment, the first end may include a handle and the hook attaches to the opposing telescoping end. The telescoping rod may expand to various lengths and in one particular embodiment may expand up to 76 inches in length. 1. A tie down device adapted for securing cargo to a vehicle roof rack comprising:a. a telescoping rod, where the telescoping rod may vary in length;b. a first end of the telescoping rod;c. a second end of the telescoping rod; andd. a hook extending from the second end of the telescoping rod.2. The tie down device according to claim 1 , where the first end includes a handle.3. The tie down device according to claim 1 , where the hook is flexible.4. The tie down device according to claim 1 , where the telescoping rod expands to various lengths.5. The tie down device according to claim 4 , where the telescoping rod expands up to 76 inches in length.6. A method for using a telescoping rod securing cargo on a vehicle roof rack comprising the steps of:a. extending an adjustable telescoping rod over cargo placed on a vehicle roof rack where the telescoping rod includes a first end and a second end with a hook extending from the second end;b. attaching the hook to a strap extending under the cargo at a midpoint;c. pulling the strap over the cargo to the outside of the roof rack; andd. securing the cargo in place by tying down the strap on the outside of the edge of the roof rack. 1. Field of InventionThe present invention relates to a device that is used to assist in the securing of items in a roof rack of a vehicle.2. Description of Related ArtMany individuals use roof racks that are placed on vehicles such as automobiles or sport utility vehicles to secure luggage or other items such as a canoe or a kayak. These roof racks ...

RETRIEVAL DEVICES AND RELATED METHODS OF USE

According to an example of the present disclosure, a retrieval device having a contracted state and an expanded state may include at least three support members each having a lumen, a fixed proximal end, and a movable distal end, and at least two members movable relative to the support members. Each movable member may include a first end and a second end and extending distally through a lumen of a support member and proximally through a lumen of a different support member. The device may include a stop located at the second end of at least one movable member to restrict movement of the second end after moving a distance distally during movement of the retrieval device toward the expanded state. 120-. (canceled)21. A retrieval device , comprising:a grasper movable between a fully contracted state and an expanded state, the grasper including a plurality of movable members and a plurality of support members, wherein, the grasper only moves from the fully contracted state to the expanded state after:entireties of each of the plurality of movable members move distally by a distance relative to each of the plurality of support members while the support members remain in the same position.22. The retrieval device of claim 21 , wherein claim 21 , after each of the plurality of movable members has moved distally by the distance claim 21 , further distal movement of first ends of each of the plurality of movable members causes distal ends of the support members to bow radially outward from a central longitudinal axis of the grasper.23. The retrieval device of claim 22 , wherein the further distal movement of the first ends of each of the plurality of movable members causes portions of each of the plurality of movable members to bow radially outward from the central longitudinal axis of the grasper.24. The retrieval device of claim 21 , further including a stop claim 21 , wherein:second ends of the plurality of movable members are coupled to the stop; andthe stop is configured ...

Tube positioning device

The present invention provides a tube positioning device for setting a tube within a narrow passageway. The tube positioning device includes a flexible elongated member that removably secures to a handle and a fitting member. The elongated member includes a first end and a second end, wherein each the first end and the second include a fastener. The handle includes a gripping member perpendicularly affixed to a connection member, wherein the connection member includes a fastener on a first end that removably secures to the first end of the elongated member. The fitting member includes a pair of fasteners disposed on opposing ends thereof, wherein a first fastener removably secures to the second end of the elongated member and a second fastener removably secures to a tube.

MEDICAL HOLDING ARM FOR INCORPORATION INTO A SURGICAL NAVIGATION SYSTEM

A holding device for medical purposes holds an attached device. The holding device has a proximal end for attaching the holding device to a base and a distal end for receiving the attached device. The holding device also has a first arm segment and a second arm segment. The first arm segment is connected to a first joint and the second arm segment is connected to a second joint. Each joint is releasable or lockable. The holding device further has an operator control device for releasing and/or locking the first or second joint for placing the holding device in a desired pose. The holding device also has a controller for controlling the holding device and at least one receiver for electromagnetic radiation connected to the controller for transmitting signals to the controller based on received electromagnetic signals of a surgical navigation system. 1. A holding device for holding a surgical mechatronic assistance system and/or a surgical instrument , the holding device comprising:a proximal end configured to attach to a base and a distal end configured to receive the surgical mechatronic assistance system and/or the surgical instrument;a first arm segment and a second arm segment, the first arm segment being connected to a first joint and the second arm segment being connected to a second joint, each of the first and second joints being releasable or lockable;an operator control device for releasing and/or locking the first joint and/or the second joint for placing the holding device in a desired pose;a controller for controlling the holding device; andat least one receiver for electromagnetic radiation in electrical communication with the controller and configured to transmit signals to the controller based on received electromagnetic signals of a surgical navigation system, wherein:the holding device is configured to be operated in a navigation mode and an operator mode,in the operator mode, the holding device is configured to be operated manually via an operator ...

ARTICULATED ARM COORDINATE MEASURING MACHINE HAVING THERMAL COMPENSATION

An articulated arm coordinate measuring machine (AACMM) includes one or more heater elements that cooperate with a processor to maintain one or more components in the AACMM within a predetermined temperature range. 1. A portable articulated arm coordinate measuring machine (AACMM) for measuring the coordinates of an object in space , comprising:a base;a manually positionable arm portion having an opposed first end and second end, the arm portion being rotationally coupled to the base, the arm portion including a plurality of connected arm segments, each arm segment including at least one position transducer for producing a position signal and at least one temperature sensor for producing a temperature signal;at least one heater element associated with at least one of the plurality of connected arm segments;a measurement probe coupled to the first end;an electronic circuit that receives the temperature signal and activates the at least one heater element when a measured temperature is less than a predetermined temperature range.2. The AACMM of claim 1 , wherein the plurality of connected arm segments includes a first arm segment and a second arm segment.3. The AACMM of claim 2 , further comprising a first axis-assembly and a second axis assembly coupled between the base and the first arm segment.4. The AACMM of claim 3 , further comprising a first heater element thermally coupled to the first-axis assembly.5. The AACMM of claim 4 , wherein the first axis-assembly includes a bearing cartridge having a shaft and a housing operably coupled by a pair of bearings claim 4 , the first heater element being thermally coupled to one of the shaft or housing.6. The AACMM of claim 3 , further comprising a third-axis rotary assembly and a fourth-axis rotary assembly coupled between the first arm segment and the second arm segment.7. The AACMM of claim 4 , further comprising a second heater element thermally coupled to one of the third rotary assembly and the fourth rotary assembly ...

GRIPPING DEVICE FOR A CO-HANDLING ROBOT, AND CO-HANDLING ROBOT EQUIPPED WITH SUCH A DEVICE

The invention relates to a gripping device () comprising a gripping member () designed to come into contact with an object to be manipulated () and control means for controlling a joining and a separation of the gripping member and the object to be manipulated, the control means being associated with a contact () able to generate a joining and/or separating control signal intended for the control means when the contact is activated. According to the invention, the gripping member is slidably mounted in the device between a non-pushed-in position and a pushed-in position, the contact being positioned in the device so as to be activated by the gripping member when the gripping member is in the pushed-in position. The invention also relates to a co-handling robot comprising such a device. 1. A gripping device for a co-handling robot , comprising a pick-up member intended to come into contact with an object to be handled and means for controlling the attachment and detachment of the pick-up member and the object to be handled , the control means being associated with a contact switch capable of generating a control signal for attachment and/or detachment to be sent to the control means when the contact switch is activated , the device being characterized in that the pick-up member is mounted slidably in the device between a non-depressed position and a depressed position , the contact switch being positioned in the device so as to be activated by the pick-up member when the pick-up member is in the depressed position , the pick-up member being kept in a non-depressed position when the object is suspended on the pick-up member.2. The device as claimed in claim 1 , wherein the contact switch is configured to generate a control signal for detachment and attachment to be sent to the control means when the contact switch is activated.3. The device as claimed in claim 1 , wherein the pick-up member comprises a suction cup intended to come into contact with the object and a ...

Devices for the Support of Tools

A positionable tool support device is mounted near a work surface for supporting a tool for a user. The tool support device includes a surface mount to secure the tool support device to a support surface. A gravity-balancing articulated arm assembly is coupled to and extends from the surface mount. The gravity-balancing articulated arm assembly is selectively adjustable about both vertical and horizontal axes. A rigid support extension is coupled to the gravity-balancing articulated arm assembly for selective rotation relative to the gravity-balancing articulated arm assembly. A flexible tensile member is coupled to and extends, in a relaxed state, vertically downward from the rigid support extension. The tensile member is coupled to the tool. 1. A positionable tool support device , configured to be mounted near a work surface for supporting a tool for a user , comprising:a surface mount configured to secure the tool support device to a support surface;a gravity-balancing articulated arm assembly coupled to and extending from the surface mount, said gravity-balancing articulated arm assembly being selectively adjustable about both vertical and horizontal axes relative to the surface mount;a support extension coupled to the gravity-balancing articulated arm assembly; anda flexible tensile member coupled to and extending, in a relaxed state, vertically downward from the rigid support extension, wherein the tensile member is configured to be coupled to the tool.2. The positionable tool support device of claim 1 , wherein the support extension is selectively rotatable relative to the gravity-balancing articulated arm assembly.3. The positionable tool support device of claim 1 , wherein said rigid support extension extends above the user of the tool support device.4. The positionable tool support device of claim 1 , wherein the gravity-balancing articulated arm assembly extends upward from the surface mount.5. The positionable tool support device of claim 1 , wherein the ...

Robotic Device

Apparatus for spraying a material on a surface comprises at least one elongate member having a distal end and a proximal end, at least one spray nozzle mounted at the distal end of the elongate member for spraying the material in a spray pattern, the spray nozzle being connected to a spray material input at the proximal end of the elongate member, a camera mounted at the distal end of the elongate member and connected to a camera output at the proximal end of the elongate member, the camera being arranged to capture images of the spray pattern, and a control mechanism arranged to control the operation of the spray nozzle from the proximal end of the elongate member. 137-. (canceled)38. A method of spraying a thermal insulation material on a surface of an underfloor void , the method comprising: the elongate member;', 'a spray nozzle mounted at the distal end of the elongate member for spraying the thermal insulation material in a spray pattern, wherein the spray nozzle is connected to a spray material input at the proximal end of the elongate member and is mounted for motorised movement relative to the distal end of the elongate member;', 'a camera mounted at the distal end of the elongate member and connected to a camera output at the proximal end of the elongate member, wherein the camera is arranged to capture images of the spray pattern; and', 'a control mechanism arranged to control operation of the spray nozzle from the proximal end of the elongate member; and, 'inserting an elongate member of an apparatus through an opening of the underfloor void, wherein the elongate member has distal and proximal ends, and the apparatus includesspraying the thermal insulation material on the surface of the underfloor void, wherein the apparatus allows an operator to carry out operations within the void while the operator remains outside the void.39. The method as claimed in claim 38 , further comprising rotating the spray nozzle about a longitudinal axis of the elongate ...

Form-able remote manipulation device

A form-able remote manipulation device comprised of an elongated form-able sheath and grasping distal end used in conjunction with an air wedge as a method for unlocking an automobile without causing damage to said automobile. The method of using an air wedge in conjunction with a form-able remote manipulation device which is infinitely position-able allows the end user to efficiently unlock a modern automobile that current tools will not allow. The grasping portion of this device may be forced outward or inward in order to grapple or release an object that the user wants to manipulate in order to unlock said automobile. Rotation of the device will cause the object in which it is grappled with to become rotated along with the device if rotated. This remote manipulation device may also include, but not limit to, a wired or wireless camera attachment, wired or wireless light attachment, permanent magnet attachment, or electric-magnet attachment, that may be used in a non line of sight or an obscured view application.

MEDICAL HOLDING ARM HAVING ANNULAR LED DISPLAY MEANS

A holding apparatus, in particular a holding arm and/or tripod, for medical purposes, comprises a proximal end for attaching the holding apparatus to a base and a distal end for receiving an add-on device; at least one first and one second arm segment, where the first arm segment is connected to a first joint and the second arm segment is connected to a second joint, where each joint is releasable and lockable; an operating device for releasing and/or locking the respective joint for putting the holding apparatus into a desired pose; and a first display unit which is arranged on the first joint and a second display unit which is arranged on the second joint. The first and/or second display unit is configured to display at least one status of the holding apparatus and/or of an add-on device that is different from the releasing and/or locking of the respective joint. The invention further relates to a method. 1. A holding apparatus for holding a surgical mechatronic assistance system or a surgical instrument , the holding apparatus comprising:a proximal end for attaching the holding apparatus to a base and a distal end for receiving an add-on device;at least one first and one second arm segment, wherein the first arm segment is connected to a first joint and the second arm segment is connected to a second joint, wherein each joint is releasable and lockable;an operating device for releasing and/or locking the respective joint for putting the holding apparatus into a desired pose; anda first display unit arranged on the first joint and a second display unit arranged on the second joint,wherein the first and/or the second display unit is configured to display at least one status of the holding apparatus and/or of the add-on device that is different from the releasing and/or locking of the respective joint.2. The holding apparatus of claim 1 , wherein the first and the second display units each have at least one light source.3. The holding apparatus of claim 2 , wherein ...

ATTACHMENT APPARATUS FOR REMOTE ACCESS TOOLS

Apparatuses and methods for attaching a minimal access tool to a user's boy (e.g., wrist or forearm) so that movements of the user's forearm, wrist, hand and fingers can control movements at a distal end of the minimal access tool. In particular, described herein are forearm attachment devices (which may be used with or integrated into) a minimal access tool including a cuff configured to secure to the user's forearm and a coupling joint configured to connect the cuff to the frame so that the cuff may move relative to the frame with between 1 and 4 degrees of freedom. 1. A minimal access tool that mounts to a user so that the tool may roll about the user's forearm , the tool comprising:a frame comprising an elongate tool shaft having a tool axis;a cuff having a passage therethrough that is configured to hold a wrist or forearm of the user;a first gimbal rotationally coupled between the frame and the cuff so that there is a first rotational degree of freedom between the frame and the cuff about a first axis;a bearing between the frame and the cuff and configured to slide or roll so that there is a roll rotational degree of freedom between the frame and the cuff about the tool axis;wherein, when the cuff is attached to the user's wrist or forearm, the tool axis and the first axis intersect within the passage through the cuff.2. The tool of claim 1 , wherein the first gimbal is rotatably coupled to the frame and the bearing is slideably coupled to the first gimbal.3. The tool of claim 1 , wherein the bearing is slideably coupled to the frame and the first gimbal is rotatably coupled to the bearing.4. The tool of claim 1 , further comprising a second gimbal rotationally coupled between the frame and the cuff so that there is a second rotational degree of freedom between the frame and the cuff about a second axis claim 1 , wherein claim 1 , when the cuff is attached to the user's wrist or forearm claim 1 , the tool axis claim 1 , the first axis and the second axis ...

APPARATUS AND METHOD FOR ASSISTING TOOL USE

Apparatus and related methods for assisting tool use includes one or more motors, a wrist support and a shaft coupled to the one or more motors. The shaft includes a coupling to couple to a tool to enable a user resting a hand with the wrist on the wrist support to hold and manipulate the tool with one or more fingers. The apparatus can include a controller configured to: receive position data indicative of a position of an active end of the tool; receive constraint data indicative of one or more regions of space in which the active end should not be positioned; and process the position and constraint data to control the one or more motors to bias the active end out of a region indicated by the constraint data when a position indicated by the position data is within the region indicated by the constraint data. 1. Apparatus for assisting tool use , the apparatus comprising:one or more motors;a wrist support;a shaft coupled to the one or more motors, wherein the shaft comprisesa coupling to couple to a tool to enable a user resting a hand with the wrist on the wrist support to hold and manipulate the tool with one or more fingers of the hand; and receive position data indicative of a position of an active end of a tool coupled to the coupling;', 'receive constraint data indicative of one or more regions of space in which the active end of the tool should not be positioned; and', 'process the position and constraint data to control the one or more motors to bias the active end of the tool out of the region when a position indicated by the position data is within a region indicated by the constraint data., 'a controller configured to2. Apparatus according to claim 1 , wherein the one or more motors are back driveable claim 1 , thereby enabling a user to move a tool attached to the coupling without energising the one or more motors.3. Apparatus according to claim 1 , whereinthe one or more regions are configured to constrain a range of movement of the active end and ...

SHEET FOR ASSEMBLING DEVICE, AND DEVICE

This sheet for assembling a device includes: a movable mechanism body forming portion (); a supporting body forming portion (); and a connecting part forming portion () connecting and angle-adjustably holding the aforementioned bodies. The movable mechanism body forming portion includes: a base body forming portion () forming a base body with a bent portion; a drive body forming portion () disposed in parallel to the base body, forming a drive body with a bent portion; a bent portion connecting portion forming portion () connecting the base body and the drive body at the bent portions; and a movable mechanism base end portion forming portion () integrating the base body and the drive body at base ends. The supporting body forming portion includes a supporting body main body forming portion that forms a supporting body main body having a length corresponding to the movable mechanism portion. The present disclosure relates to a sheet for assembling a device capable of manufacturing a device having a complicated structure from a single sheet, and the device.Various conventional devices have been proposed and used in various fields. For example, robot hand devices and the like are used not only in the manufacturing field but also in various places such as high-altitude places, bottom of the sea, and outer space.However, since various devices such as conventional robot hands are configured by combining a large number of metal parts, such devices cannot be used in places where metals are not usable, and damaged parts cannot be replaced easily, requiring a considerable amount of time to repair.As described above, problems with the conventional devices are that the places in which the devices can be used are limited depending on the materials for forming the devices, and that repairs and replacements are not easily performed.Therefore, an object of the present disclosure is to provide a device that has few restrictions on materials for forming the device and can be easily ...

WEARABLE HAND ROBOT

The inventive concept relates to a wearable hand robot mounted on a finger to bend the finger by an external force transmitted through a wire. The wearable hand robot is capable of preventing an injury to a user's hand by the wire, achieving simplification of the structure of a finger cap and an improvement in a wearing sensation, and stably moving the finger while having a tactile sensation 1. A wearable hand robot comprising:at least one first wire disposed to extend toward a distal end portion of a finger and change an extension direction to a direction toward a root of the finger;a second wire disposed to extend toward the distal end portion of the finger along the back of the finger;a finger strap having a plurality of finger holders mutually connected along a lengthwise direction of the finger, wherein each of the plurality of finger holders includes a finger mounting part mounted on the back of the finger and configured to form a second wire passage through which the second wire moves and a pair of finger grips protruding from the finger mounting part so as to be opposite to each other and having a first wire passage formed therein through which the first wire moves, the pair of finger grips being configured to grip the finger while partially surrounding the finger;a finger cap mounted on the distal end portion of the finger, wherein the finger cap has a wire direction changing part that is provided on the outside of the finger cap and to which the first wire is coupled so as to be exposed, the wire direction changing part being configured to change a moving direction of the first wire, and a wire fixing part that is provided on an extension line of the second wire passage between the wire direction changing part and the finger strap and to which a distal end portion of the second wire is fixed;a back-of-hand support part including a second wire guide configured to guide movement of the second wire, the back-of-hand support part being supported on the back of ...

MANIPULATOR

A manipulator, including: 1. A manipulator , comprising:a drive unit for generating a driving force, anda treatment tool that is driven by the drive unit and attachable to and detachable from the drive unit, wherein the treatment tool includes:a distal end having at least one joint driven by the drive unit,a lock unit that is actuated to lock at least one of joints at the distal end,a lock-operating unit for operating the lock unit, anda control unit that is operated such that the lock unit is operated by the lock-operating unit and such that when the drive unit is driven, the drive unit is deactivated, and even with the treatment tool detached from the drive unit, the lock unit keeps on with locking.2. The manipulator according to claim 1 ,wherein the treatment tool includes:a driving force transmission unit that transmits of a driving force generated by the drive unit to the distal end, andan elongated member that couples the distal end to the driving force transmission unit, wherein the lock unit blocks off transmission of a driving force at the driving force transmission unit.3. The manipulator according to claim 2 ,wherein the drive unit is attachable to and detachable from the driving force transmission unit, and the lock-operating unit is operated thereby disengaging the drive unit out of the driving force transmission unit and blocking off the transmission of driving force by the lock unit.4. The manipulator according to claim 1 ,wherein the treatment tool is configured such that when the treatment tool is connected to the drive unit in a state of detachment of the treatment tool out of the drive unit and locking of the distal end by the lock unit, the locking of the distal end by the lock unit is cleared by operation of the lock-operating unit or a command from the control unit.5. The manipulator according to claim 1 ,wherein the distal end includes a grasping part that grasps a tissue piece,the grasping part is opened and closed by the joints.6. A ...

SYSTEM AND METHOD FOR PROVIDING FEEDBACK DURING MANUAL JOINT POSITIONING

A system and method of providing feedback during manual joint positioning includes a computer-assisted device having an articulated structure including a joint and a control unit coupled to the articulated structure. To provide feedback to a user during manual positioning of the joint by a user, the control unit is configured to determine a first target position for the joint, release a brake associated with the joint when the joint is moving toward the first target position, apply the brake when the joint is moving away from the first target position, and change the first target position to a second target position when the joint is at the first target position. 1. A computer-assisted device comprising:an articulated structure comprising a joint; anda control unit coupled to the articulated structure; determine a first target position for the joint;', 'release a brake associated with the joint when the joint is moving toward the first target position;', 'apply the brake when the joint is moving away from the first target position; and', 'change the first target position to a second target position when the joint is at the first target position., 'wherein, to provide feedback to a user during manual positioning of the joint by the user, the control unit is configured to2. The computer-assisted device of claim 1 , wherein to determine whether the joint is moving toward the first target position claim 1 , the control unit is configured to determine a velocity of the joint relative to the first target position.3. The computer-assisted device of claim 1 , wherein to apply the brake when the joint is moving away from the first target position claim 1 , the control unit is configured to apply the brake with a braking force based on a velocity of the joint.4. The computer-assisted device of claim 1 , wherein the control unit is further configured to apply the brake to slow down the joint when the joint is close to the first target position.5. The computer-assisted device ...

SYSTEM AND METHOD FOR MANIPULATING ROBOTIC DEVICE

The present disclosure provides a system and a method for manipulating a robotic device. The system includes a human interface device for obtaining information associated with a position and/or movement of a user's finger using the human interface device; and a robotic device for simulating the position and/or movement of the user's finger in real time. The robotic device is in communication with the human interface device. The operating system of the robotic device of the present disclosure can accurately simulate the functions of human hand. 1. A system for manipulating a robotic device , comprising:a human interface device for obtaining information associated with a position and/or a movement of a user's finger using the human interface device; anda robotic device for simulating the position and/or movement of the user's finger in real time, wherein the robotic device is in communication with the human interface device.2. The system of claim 1 , wherein the human interface device comprises a glove sleeved on the robotic device.3. The system of claim 2 , wherein the glove comprises a plurality of sensors for obtaining the information associated with the position and/or movement of the user's finger.4. The system of claim 2 , wherein the glove comprises a first processor; the robotic device comprises a second processor in communication with the first processor of the glove.5. The system of claim 4 , wherein the robotic device comprises a robotic arm having a plurality of components similar to the user's fingers.6. The system of claim 5 , wherein the robotic device further comprises a movement control mechanism configured to control movements of the plurality of components in response to a signal generated by the second processor.7. The system of claim 6 , wherein:the movement control mechanism comprises a plurality of swing arms, a plurality of motors for driving the swing arms, and a plurality of traction lines connected to the swing arms; andeach traction line, ...

Holding arm for medical purposes with two mechatronic interfaces

Die Erfindung betrifft Haltearm (1) für medizinische Zwecke, mit einem proximalen Ende (2) zum Befestigen des Haltearms (1) an einer Basis (204) und einem distalen Ende (4) zum Aufnahmen eines chirurgischen mechatronischen Assistenzsystems (200), zwei oder mehr Armsegmenten (10, 12, 14, 16, 18, 20, 22) und zwei oder mehr Gelenken (11, 13, 15, 17, 19, 21, 23), mittels denen die Armsegmente (10, 12, 14, 16, 18, 20, 22) gelenkig miteinander verbunden sind, wobei jedes Gelenk (11, 13, 15, 17, 19, 21, 23) mittels einer Bedieneinrichtung (28) freigebbar und arretierbar ist. Erfindungsgemäß sind zwei Schnittstellen (6, 8) an dem proximalen Ende (2) zum Verbinden des Haltearm (1) mit einer Energiequelle sowie mit einer externen Steuereinheit (206) zum Übertragen von Signalen an den und von dem Haltearm (1) und an dem distalen Ende (4) zum Koppeln des Haltearms (1) mit dem Assistenzsystem (200) zum Steuern des Assistenzsystems (200) vorgesehen. The invention relates to a holding arm (1) for medical purposes, having a proximal end (2) for attaching the holding arm (1) to a base (204) and a distal end (4) for receiving a surgical mechatronic assistance system (200), two or three More arm segments (10, 12, 14, 16, 18, 20, 22) and two or more joints (11, 13, 15, 17, 19, 21, 23), by means of which the arm segments (10, 12, 14, 16 , 18, 20, 22) are hinged together, wherein each hinge (11, 13, 15, 17, 19, 21, 23) by means of an operating device (28) is releasable and lockable. According to the invention, two interfaces (6, 8) are provided at the proximal end (2) for connecting the support arm (1) to a power source and to an external control unit (206) for transmitting signals to and from the support arm (1) and to the distal end (4) for coupling the support arm (1) to the assistance system (200) for controlling the assistance system (200).

Platform manipulator with three degrees of freedom

FIELD: mechanical engineering.SUBSTANCE: invention relates to mechanical engineering, in particular to robotics, and can be used in spatial manipulators of a parallel structure used in automatic lines, training centers and surgery. The manipulator has a movable platform and a support base. The platform is made in the form of a circular sector, with the sides of which three rod movable supports are movably connected. Each support is made in the form of a supporting two-pair link. The first link is made with one-movable rotational and two-movable cylindrical kinematic pairs. The second link has two two-movable cylindrical kinematic pairs with non-parallel axes of rotation. The third link is made with a two-movable cylindrical kinematic pair and a three-movable spherical joint.EFFECT: simplified design and reduced size of the manipulator, increased rigidity and positioning accuracy, and increased working space are provided.4 cl, 2 dwg РОССИЙСКАЯ ФЕДЕРАЦИЯ (19) RU (11) (13) 2 751 780 C1 (51) МПК B25J 1/02 (2006.01) ФЕДЕРАЛЬНАЯ СЛУЖБА ПО ИНТЕЛЛЕКТУАЛЬНОЙ СОБСТВЕННОСТИ (12) ОПИСАНИЕ ИЗОБРЕТЕНИЯ К ПАТЕНТУ (52) СПК B25J 1/02 (2021.01) (21)(22) Заявка: 2020123193, 07.07.2020 (24) Дата начала отсчета срока действия патента: (73) Патентообладатель(и): Пожбелко Владимир Иванович (RU) Дата регистрации: 16.07.2021 (45) Опубликовано: 16.07.2021 Бюл. № 20 2 7 5 1 7 8 0 R U (54) ПЛАТФОРМЕННЫЙ МАНИПУЛЯТОР С ТРЕМЯ СТЕПЕНЯМИ СВОБОДЫ (57) Реферат: Изобретение относится к машиностроению, в вращательной и двухподвижной цилиндрической частности к робототехнике, и может быть кинематическими парами. Второе звено имеет две использовано в пространственных манипуляторах двухподвижные цилиндрические кинематические параллельной структуры, применяемых в пары с непараллельными осями вращения. Третье автоматических линиях, отрабатывающих центрах звено выполнено с двухподвижной и хирургии. Манипулятор содержит подвижную цилиндрической кинематической парой и платформу и опорное основание. Платформа ...

Manipulator

FIELD: manipulators.SUBSTANCE: invention relates to manipulators operating in a sealed volume, and can be used in technological processes of electronic devices manufacturing, treatment of radioactive, toxic and explosive substances. Proposed manipulator comprises housing, motion drive, gripper and spring-and-hinged tie-rod to couple the grip with the case. Spring-articulated link is formed by two spring-and-hinged branches arranged on opposite sides of the grip, which are interconnected to form internal hinges by spring pins and fixed by means of ball supports in the housing. Free ends of spring-hinged branches coming out of housing are connected with drive of movements.EFFECT: invention provides sterility of working volume and accuracy of sample positioning.1 cl, 7 dwg РОССИЙСКАЯ ФЕДЕРАЦИЯ (19) RU (11) (13) 2 722 505 C1 (51) МПК B25J 1/02 (2006.01) ФЕДЕРАЛЬНАЯ СЛУЖБА ПО ИНТЕЛЛЕКТУАЛЬНОЙ СОБСТВЕННОСТИ (12) ОПИСАНИЕ ИЗОБРЕТЕНИЯ К ПАТЕНТУ На основании пункта 1 статьи 1366 части четвертой Гражданского кодекса Российской Федерации патентообладатель обязуется заключить договор об отчуждении патента на условиях, соответствующих установившейся практике, с любым гражданином Российской Федерации или российским юридическим лицом, кто первым изъявил такое желание и уведомил об этом патентообладателя и федеральный орган исполнительной власти по интеллектуальной собственности. (52) СПК (21)(22) Заявка: 2019134088, 23.10.2019 (24) Дата начала отсчета срока действия патента: (73) Патентообладатель(и): Никитин Александр Андреевич (RU) Дата регистрации: 01.06.2020 (56) Список документов, цитированных в отчете о поиске: RU 2693963 C1, 08.07.2019. SU 1194808 A1, 30.11.1985. SU 517482 A1, 15.06.1976. GB 2311149 A, 17.09.1997. Приоритет(ы): (22) Дата подачи заявки: 23.10.2019 (54) МАНИПУЛЯТОР (57) Реферат: Изобретение относится к манипуляторам, работающим в герметизированном объеме, и может быть использовано в технологических процессах изготовления электронных приборов, обработке ...

Flexible actuator of manipulator

FIELD: machine building.SUBSTANCE: invention relates to flexible actuator of manipulator. Flexible actuator of the manipulator is formed by movable elements interconnected by hinges in the form of installed in a crosswise manner flat springs. Adjacent hinges are mutually perpendicular to each other. End movable elements are connected by flexible tie-rods.EFFECT: reduced wear of hinges.1 cl, 6 dwg РОССИЙСКАЯ ФЕДЕРАЦИЯ (19) RU (11) (13) 2 691 807 C1 (51) МПК B25J 1/02 (2006.01) ФЕДЕРАЛЬНАЯ СЛУЖБА ПО ИНТЕЛЛЕКТУАЛЬНОЙ СОБСТВЕННОСТИ (12) ОПИСАНИЕ ИЗОБРЕТЕНИЯ К ПАТЕНТУ На основании пункта 1 статьи 1366 части четвертой Гражданского кодекса Российской Федерации патентообладатель обязуется заключить договор об отчуждении патента на условиях, соответствующих установившейся практике, с любым гражданином Российской Федерации или российским юридическим лицом, кто первым изъявил такое желание и уведомил об этом патентообладателя и федеральный орган исполнительной власти по интеллектуальной собственности. (52) СПК (21)(22) Заявка: 2018100191, 09.01.2018 (24) Дата начала отсчета срока действия патента: (73) Патентообладатель(и): Никитин Александр Андреевич (RU) Дата регистрации: 18.06.2019 (56) Список документов, цитированных в отчете о поиске: SU 1335455 A1, 07.09.1987. SU Приоритет(ы): (22) Дата подачи заявки: 09.01.2018 716810 A1, 25.02.1980. RU 2008200 C1, 28.02.1994. US 4348634 A1, 07.09.1982. (54) Гибкий исполнительный орган манипулятора (57) Реферат: Изобретение к гибкому исполнительному органу манипулятора. Гибкий исполнительный орган манипулятора образован подвижными элементами, соединенными между собой шарнирами в виде установленных крест-накрест R U 2 6 9 1 8 0 7 Адрес для переписки: 660113, г. Красноярск, ул. Карбышева, 4б, кв. 27, Никитин Александр Андреевич Стр.: 1 C 1 C 1 (45) Опубликовано: 18.06.2019 Бюл. № 17 2 6 9 1 8 0 7 09.01.2018 (72) Автор(ы): Никитин Александр Андреевич (RU) R U B25J 1/02 (2019.02) плоских пружин. Смежные шарниры сориентированы относительно ...

Spatial manipulator

FIELD: robotics.SUBSTANCE: invention relates to robotics and can be used in multi-position machining centers, on assembly lines and in multifunctional technological units. The manipulator contains a support base, a movable actuator with a rotary drive and working bodies. The executive device is made in the form of structural modules kinematically interconnected, assembled in one plane into a closed kinematic chain. The kinematic chain consists of closed triangular contours, each of which is formed from six identical double-hinged links. At the ends of the links, there are cylindrical hinges with perpendicular axes of rotation. Each side of the closed loop consists of two double-hinged links. Working bodies are installed on structural modules.EFFECT: invention simplifies the design and assembly of the manipulator and expands its working area.9 cl, 9 dwg РОССИЙСКАЯ ФЕДЕРАЦИЯ (19) RU (11) (13) 2 758 377 C1 (51) МПК B25J 1/02 (2006.01) ФЕДЕРАЛЬНАЯ СЛУЖБА ПО ИНТЕЛЛЕКТУАЛЬНОЙ СОБСТВЕННОСТИ (12) ОПИСАНИЕ ИЗОБРЕТЕНИЯ К ПАТЕНТУ (52) СПК B25J 1/02 (2021.05) (21)(22) Заявка: 2021104632, 24.02.2021 (24) Дата начала отсчета срока действия патента: (73) Патентообладатель(и): Пожбелко Владимир Иванович (RU) Дата регистрации: 28.10.2021 Приоритет(ы): (22) Дата подачи заявки: 24.02.2021 (45) Опубликовано: 28.10.2021 Бюл. № 31 2 7 5 8 3 7 7 R U (54) ПРОСТРАНСТВЕННЫЙ МАНИПУЛЯТОР (57) Реферат: Изобретение относится к робототехнике и может быть использовано в многопозиционных обрабатывающих центрах, на сборочных конвейерах и в многофункциональных технологических установках. Манипулятор содержит опорное основание, подвижное исполнительное устройство с вращательным приводом и рабочие органы. Исполнительное устройство выполнено в виде кинематически связанных между собой структурных модулей, собранных в одной плоскости в замкнутую кинематическую цепь. Кинематическая цепь Стр.: 1 состоит из замкнутых контуров треугольной формы, каждый из которых образован из шести одинаковых двухшарнирных ...

Dynamic manipulator

FIELD: machine building.SUBSTANCE: invention relates to machine building, namely, to manipulators operating at underground mines and in test chambers, and can be used as high-speed power machine intended for destruction of rocks by impact method. Dynamic manipulator for destruction of strong rocks comprises percussion device, driving, ball tight support made of three spherical elements, a parallelogram mechanism with a central hinge, a sword and a pipe mounted therein, connected to the spherical hermetic support inner spherical element, an input pulse driving mechanism and a control handle associated with it for controlling the speed and energy of the input pulse. In the pipe the rod is arranged with the possibility of translational movement and the central hinge of the parallelogram mechanism is rigidly fixed, the driven link of which consists of several parallelograms and is connected to the impact device, and its driving link consists of one parallelogram and is connected to rod, setting mechanism of input pulse and handle for controlling speed and energy parameters of input pulse. Parallelogram mechanism is in form of a mechanism of a multiple-lever-hinged parallelogram.EFFECT: as a result, providing increased service area and wider range of speed and energy parameters.1 cl, 2 dwg РОССИЙСКАЯ ФЕДЕРАЦИЯ (19) RU (11) (13) 2 723 846 C1 (51) МПК B25J 1/02 (2006.01) E21B 1/12 (2006.01) ФЕДЕРАЛЬНАЯ СЛУЖБА ПО ИНТЕЛЛЕКТУАЛЬНОЙ СОБСТВЕННОСТИ (12) ОПИСАНИЕ ИЗОБРЕТЕНИЯ К ПАТЕНТУ На основании пункта 1 статьи 1366 части четвертой Гражданского кодекса Российской Федерации патентообладатель обязуется заключить договор об отчуждении патента на условиях, соответствующих установившейся практике, с любым гражданином Российской Федерации или российским юридическим лицом, кто первым изъявил такое желание и уведомил об этом патентообладателя и федеральный орган исполнительной власти по интеллектуальной собственности. (52) СПК (21)(22) Заявка: 2019132722, 14.10.2019 (24) Дата начала ...

Cleaning Robot For Underwater Use

수중의 슬러지 등을 청소할 수 있는 수중 청소로봇이 제공된다. 개시되는 수중 청소로봇은 수중에 위치하는 슬러지를 청소하기 위하여 슬러지와 접촉하는 슬러지 처리부; 상기 슬러지 처리부에 가해지는 충격을 흡수하도록 상기 슬러지 처리부에 가해지는 하중에 따라 변형되는 충격흡수부; 및 상기 충격흡수부가 연결되는 로봇몸체;를 포함하여 구성될 수 있으며, 상기 충격흡수부에 가해지는 하중을 측정하기 위한 하중 측정부를 추가로 포함할 수 있다. 이러한 수중 청소로봇에 의하면, 슬러지나 벽면 등 외부 부하로부터 가해지는 충격을 충격흡수부를 통해 완화함으로써 수중 청소로봇의 파손이나 고장을 최소화할 수 있게 된다. An underwater cleaning robot capable of cleaning sludge in the water is provided. The underwater cleaning robot includes a sludge processing unit for contacting the sludge to clean the sludge located in the water; An impact absorbing portion deformed according to a load applied to the sludge disposal portion to absorb impact applied to the sludge disposal portion; And a robot body to which the shock absorbing part is connected, and may further include a load measuring part for measuring a load applied to the impact absorbing part. According to such an underwater cleaning robot, the impact applied from an external load such as sludge or a wall surface is alleviated through the shock absorbing portion, so that breakage or failure of the underwater cleaning robot can be minimized.

Dynamic manipulator

FIELD: mining. SUBSTANCE: invention relates to dynamic manipulator for destruction of rocks. Manipulator comprises percussion device, driving, ball tight support made of three spherical elements, parallelogram mechanism with central hinge, a sword and a pipe mounted in it, connected to the spherical hermetic support inner spherical element, the input pulse setting mechanism and the associated with it input speed and energy parameters control handle, at that, rod is arranged with possibility of translational movement of rod and rigidly fixed central hinge of parallelogram mechanism, which driven link consists of several parallelograms and connected by one end to impact device, and its driving link consists of one parallelogram and is connected to rod, setting mechanism of input pulse and handle for controlling speed and energy parameters of input pulse. Parallelogram mechanism is in form of a mechanism of a multiple-lever-hinged parallelogram. EFFECT: technical result consists in increase of service area and expansion of speed and energy parameters range. 1 cl, 2 dwg РОССИЙСКАЯ ФЕДЕРАЦИЯ (19) RU (11) (13) 2 721 506 C1 (51) МПК B25J 1/02 (2006.01) E21B 1/12 (2006.01) ФЕДЕРАЛЬНАЯ СЛУЖБА ПО ИНТЕЛЛЕКТУАЛЬНОЙ СОБСТВЕННОСТИ (12) ОПИСАНИЕ ИЗОБРЕТЕНИЯ К ПАТЕНТУ На основании пункта 1 статьи 1366 части четвертой Гражданского кодекса Российской Федерации патентообладатель обязуется заключить договор об отчуждении патента на условиях, соответствующих установившейся практике, с любым гражданином Российской Федерации или российским юридическим лицом, кто первым изъявил такое желание и уведомил об этом патентообладателя и федеральный орган исполнительной власти по интеллектуальной собственности. (52) СПК (21)(22) Заявка: 2019131203, 01.10.2019 (24) Дата начала отсчета срока действия патента: (73) Патентообладатель(и): Никитин Александр Андреевич (RU) Дата регистрации: 19.05.2020 (56) Список документов, цитированных в отчете о поиске: RU 2691351 C1, 11.06.2019. RU 2686166 C1, 24.04. ...

Flexible executive member of manipulator

FIELD: physics. SUBSTANCE: invention relates to manipulators manipulating objects at a distance in difficult conditions, for example, in a deep vacuum, radioactive or aggressive medium, at high pressure. Flexible actuating element of the manipulator is formed by movable elements 1 interconnected by means of hinges with fixed flat-cross flat springs 2. Adjacent hinges are mutually perpendicular to each other. End movable elements are connected by flexible rods 13. From one end to extreme movable element by means of flat springs 5 and 7 gripping jaws 6 are connected. From the other end control handle 11 is connected to the extreme movable element. EFFECT: technical result consists in improvement of product quality. 1 cl, 9 dwg РОССИЙСКАЯ ФЕДЕРАЦИЯ (19) RU (11) (13) 2 716 293 C1 (51) МПК B25J 1/02 (2006.01) ФЕДЕРАЛЬНАЯ СЛУЖБА ПО ИНТЕЛЛЕКТУАЛЬНОЙ СОБСТВЕННОСТИ (12) ОПИСАНИЕ ИЗОБРЕТЕНИЯ К ПАТЕНТУ На основании пункта 1 статьи 1366 части четвертой Гражданского кодекса Российской Федерации патентообладатель обязуется заключить договор об отчуждении патента на условиях, соответствующих установившейся практике, с любым гражданином Российской Федерации или российским юридическим лицом, кто первым изъявил такое желание и уведомил об этом патентообладателя и федеральный орган исполнительной власти по интеллектуальной собственности. (52) СПК (21)(22) Заявка: 2019102546, 29.01.2019 (24) Дата начала отсчета срока действия патента: (73) Патентообладатель(и): Никитин Александр Андреевич (RU) Дата регистрации: 11.03.2020 (56) Список документов, цитированных в отчете о поиске: SU 1335455 A1, 07.09.1987. SU 1268412 A1, 07.11.1986. RU 2156689 C2, 27.09.2000. US 6705177 B2, 16.03.2004. Приоритет(ы): (22) Дата подачи заявки: 29.01.2019 (54) ГИБКИЙ ИСПОЛНИТЕЛЬНЫЙ ОРГАН МАНИПУЛЯТОРА (57) Реферат: Изобретение относится к манипуляторам, друга взаимоперпендикулярно. Торцевые осуществляющим манипуляции предметов на подвижные элементы соединены гибкими тягами расстоянии в трудных условиях, ...

System and method for providing feedback during manual joint orientation

一种在手动关节定位期间提供反馈的系统和方法，该系统和方法包括计算机辅助医疗装置。计算机辅助医疗装置包括铰接臂和耦接到铰接臂的控制单元，其中铰接臂包括关节。控制单元被配置为通过确定关节的目标位置、确定关节的相对于目标位置的运动学特性，以及基于关节的运动学特性提供反馈，在关节的手动定位期间提供反馈。

Manipulator with vacuum chamber

FIELD: physics. SUBSTANCE: invention relates to vacuum engineering, namely, to design of manipulators operating in vacuum. Manipulator with vacuum chamber comprises actuator, which is made with possibility of progressive and swinging motions by means of mechanism of manual drive with control handle and bellows. Vacuum chamber is provided with a cover having a sealed cavity connected to the vacuum source. On the cover the above mechanism of manual drive is mounted, the control handle of which is connected to the actuating element, which is made in the form of a stage table. Bellows are separated by aforesaid tight cover cavity. EFFECT: invention provides higher reliability of vacuum chamber sealing. 1 cl, 1 dwg РОССИЙСКАЯ ФЕДЕРАЦИЯ (19) RU (11) (13) 2 713 999 C1 (51) МПК B25J 21/00 (2006.01) B25J 1/02 (2006.01) ФЕДЕРАЛЬНАЯ СЛУЖБА ПО ИНТЕЛЛЕКТУАЛЬНОЙ СОБСТВЕННОСТИ (12) ОПИСАНИЕ ИЗОБРЕТЕНИЯ К ПАТЕНТУ На основании пункта 1 статьи 1366 части четвертой Гражданского кодекса Российской Федерации патентообладатель обязуется заключить договор об отчуждении патента на условиях, соответствующих установившейся практике, с любым гражданином Российской Федерации или российским юридическим лицом, кто первым изъявил такое желание и уведомил об этом патентообладателя и федеральный орган исполнительной власти по интеллектуальной собственности. (52) СПК (21)(22) Заявка: 2018127112, 23.07.2018 (24) Дата начала отсчета срока действия патента: (73) Патентообладатель(и): Никитин Александр Андреевич (RU) Дата регистрации: 11.02.2020 Приоритет(ы): (22) Дата подачи заявки: 23.07.2018 (54) МАНИПУЛЯТОР С ВАКУУМНОЙ КАМЕРОЙ (57) Реферат: Изобретение относится к вакуумной технике, источником вакуума. На крышке смонтирован а именно к конструкции манипуляторов, упомянутый механизм ручного привода, рукоятка работающих в вакууме. Манипулятор с управления которого связана с исполнительным вакуумной камерой содержит исполнительный органом, выполненным в виде предметного орган, выполненный с возможностью ...

Robot system

本发明涉及一种机器人系统，该机器人系统既能防止过大的外力施加于机器人又能防止作业中断，从而提高作业效率。机器人系统(10)包括：机器人(1)，其能够根据操作者(A)所施加的外力而进行动作；力检测单元(2)，其被设置于机器人(1)，用于检测作用于机器人(1)的外力的大小；警告单元(3、4)，在力检测单元(2)检测到大于或等于预定的第一阈值的大小的外力时，警告单元(3、4)使机器人(1)振动；以及停止单元(4)，在力检测单元(2)检测到大于或等于预定的第二阈值的外力时，停止单元(4)使机器人(1)停止，其中，预定的第二阈值大于预定的第一阈值。

Selectively bendable remote gripping tool

A hand-held gripping device that allows a surgeon to reach interior portions of a person's anatomy, includes a gripping portion having a pair of jaws and/or nets movable relative to each other between fully clamped and fully opened positions thereof, a handle portion spaced apart from the jaw portion by a bendable central portion that is hollow and corrugated, with a cord extending therethrough.

Selectively bendable remote gripping tool

A selectively bendable remote access gripping tool, includes a jaw portion having a pair of jaws or nets movable relative to each other between clamped and opened positions thereof, a handle portion spaced apart from the jaw portion by a bendable central portion that has a hollow, corrugated member that is bendable, and a cord extending through the hollow bendable member that connects the jaw portion and the handle portion.

Selectively bendable remote gripping tool

A hand-held gripping device that allows one of a surgeon, a dentist, and an orthodontist to reach interior portions of a person's anatomy, includes a gripping portion having a pair of jaws or nets movable relative to each other between fully clamped and fully opened positions thereof, a handle portion spaced apart from the jaw portion by a bendable central portion that has a hollow, bendable corrugated member with at least one cord extending therethrough. The retrieval of a thrombus to promptly address ischemic issues is made possible due to the flexible corrugated member being able to access small vessels in a patient's brain, as well as magnetic properties of the thrombus and/or jaws, nets, bags, or flexible fingers, of the grasping end, thus facilitating removal of the thrombus.

Flexible/rigidifiable cable assembly

A FLEXIBLE YET RIGIDIFIABLE CABLE ASSEMBLY CAPABLE OF BEING SELECTIVELY TENSIONED. A PLURALITY OF ELONGATE LINK MEMBERS EACH HAVE AN AXIAL BORE TO RECEIVE A CABLE. AT ONE END OF EACH LINK MEMBER ARE TWO SPACED, PARALLEL PROJECTIONS PROVIDING A SLOT THEREBETWEEN, THE PROJECTIONS HAVING SERRATIONS AT THEIR APEX. AT THE SECOND END OF EACH LINK MEMBER IS A PROJECTING TONGUE HAVING SERRATED SEMICIRCULAR RELIEFS ON EITHER SIDE. IN ASSEMBLED RELATION, THE PARALLEL PROJECTIONS OF ONE END OF A LINK MEMBER ARE ENGAGEABLE WITH AND JOURNALED TO THE SEMI-CIRCULAR RELIEFS ON EITHER SIDE OF THE TONGUE OF ANOTHER LINK MEMBER. A SPRING BETWEEN EACH LINK MEMBER PERMITS FLEXIBILITY OF THE CABLE ASSEMBLY BY MAINTAINING THE LINKS IN A DISENGAGED RELATION, THE CABLE ASSEMBLY BEING RIGIDIFIABLE UPON OVERCOMING THE BIAS OF THE SPRINGS THROUGH TENSIONING OF THE CABLE WHEREBY THE LINKS ENGAGE.

Dynamic manipulator

FIELD: machine building.SUBSTANCE: invention relates to machine building and can be used in dynamic manipulators operating at underground mines and in test chambers and intended for destruction of rocks by impact method. Manipulator comprises a driving, a ball tight support with a retainer and a sword tube mounted in it, in which a post is installed with possibility of translational movement, having a driving mechanism on one end with a control handle. Mechanism of multi-link hinged parallelogram arranged in sword pipe and fixed inside it by means of central hinge separating said parallelogram on driven and drive links, wherein drive link consists of one parallelogram and is connected to the other end of the rod, and the driven link consists of several parallelograms and is connected to the percussion device installed inside the pipe.EFFECT: as a result, a range of possibilities of using a sword manipulator is expanded as an energy machine for destroying hard rock.1 cl, 2 dwg РОССИЙСКАЯ ФЕДЕРАЦИЯ (19) RU (11) (13) 2 691 351 C1 (51) МПК B25J 1/02 (2006.01) E21B 1/12 (2006.01) ФЕДЕРАЛЬНАЯ СЛУЖБА ПО ИНТЕЛЛЕКТУАЛЬНОЙ СОБСТВЕННОСТИ (12) ОПИСАНИЕ ИЗОБРЕТЕНИЯ К ПАТЕНТУ На основании пункта 1 статьи 1366 части четвертой Гражданского кодекса Российской Федерации патентообладатель обязуется заключить договор об отчуждении патента на условиях, соответствующих установившейся практике, с любым гражданином Российской Федерации или российским юридическим лицом, кто первым изъявил такое желание и уведомил об этом патентообладателя и федеральный орган исполнительной власти по интеллектуальной собственности. (52) СПК (21)(22) Заявка: 2018100177, 11.07.2018 (24) Дата начала отсчета срока действия патента: (73) Патентообладатель(и): Никитин Александр Андреевич (RU) Дата регистрации: 11.06.2019 (56) Список документов, цитированных в отчете о поиске: SU 117241 A1, 27.11.1959. SU Приоритет(ы): (22) Дата подачи заявки: 11.07.2018 1705559 A1, 15.01.1992. SU 1147829 A, 30.03.1985. SU 963847 ...

The flexible Continuum Structure of gesture feedback can be achieved

本发明涉及一种可实现姿态反馈的柔性连续体结构，包括柔性连续体结构本体和姿态反馈机构；柔性连续体结构本体包括远端结构体、近端结构体和中部连接体；远端结构体包括远端间隔盘、远端固定盘和远端结构骨；近端结构体包括近端间隔盘、近端固定盘和近端结构骨；中部连接体包括近端通道固定板、远端通道固定板和结构骨引导通道；结构骨的一端与近端固定盘紧固连接，另一端依次穿过近端间隔盘、结构骨引导通道、远端间隔盘后与远端固定盘紧固连接；姿态反馈机构包括同姿态反馈结构体、第一比例反馈结构体和第二比例反馈结构体中的一个或多个。

A wrist part of industrial robot

본 고안은 산업용 로봇의 손목부에 관한 것으로, 5축 구동모터(1)와, 5축 구동 유니버셜 조인트(2)와, 5축 구동기어(3) 및, 상기 5축 구동모터(1)의 동력을 감속시키는 5축 감속기(4)가 각각 일정각을 이루면서 배치되는 한편, 6축 구동모터(5)와, 6축 구동 유니버셜 조인트(6)와, 6축 제 1 구동 기어(7)와, 6축 제 2 구동 기어(8) 및, 상기 6축 구동모터(5)의 동력을 감속시키는 6축 감속기(9)가 각각 일정각을 이루면서 배치되는 구조로 되어, 산업용 로봇의 손목부는 각각의 구동모터에서 각각의 유니버셜 조인트 및 각각의 구동기어를 통하여 각각의 감속기로 동력이 전달될 수 있도록 되어 있기 때문에 오프셋에 따른 로봇의 암구조가 간단하면서도 동력 손실이 적게 발생되고, 또한 장비의 메카니즘이 간단하기 때문에 제조시에 제조공정이 간단해지게 되는 것이다. The present invention relates to a wrist of an industrial robot, the 5-axis drive motor (1), 5-axis drive universal joint (2), 5-axis drive gear (3) and the power of the 5-axis drive motor (1) The five-axis reducer (4) for reducing the speed is arranged at a predetermined angle, respectively, the six-axis drive motor (5), the six-axis drive universal joint (6), the six-axis first drive gear (7), 6 The shaft second drive gear 8 and the six-axis reducer 9 for decelerating the power of the six-axis drive motor 5 are arranged to form a predetermined angle, respectively, the wrist portion of the industrial robot, each drive motor Since the power can be transmitted to each reducer through each universal joint and each drive gear, the arm structure of the robot according to the offset is simple, but the power loss is low, and the mechanism of the equipment is simple. The manufacturing process is simplified at the time of manufacture.

Flexible surgical instrument with structural bones in a crossed arrangement

A flexible surgical instrument has structural backbones in crossed arrangement, the flexible surgical instrument includes a flexible continuum structure comprising a distal structure, a proximal structure and a middle connection body; the distal structure includes a first distal segment and a second distal segment, the proximal structure includes a proximal segment; first segment structural backbone(s) on the proximal segment and first segment structural backbone(s) on the first distal segment are fixedly connected respectively one to one or are of the same structural backbone; second segment structural backbone(s) on the proximal segment and second segment structural backbone(s) the second distal segment are fixedly connected respectively one to one or are of the same structural backbone; the middle connection body includes two passage fixing plates, between which structural backbone guiding passage(s) and structural backbone cross guiding passage(s) are fixedly connected; the first segment structural backbone(s) ( 163, 123 ) extends through the structural backbone cross guiding passage(s) ( 153 ), the second segment structural backbone(s) extends through the structural backbone guiding passage(s).

Patent FR2407796B1

MEASURING ARM WITH MULTIFUNCTIONAL END

Dispositif de mesure tridimensionnelle, comprenant un bras ayant une extrémité libre pourvue d'un corps d'interface portant un organe de mesure et une poignée (301) permettant à un opérateur de pointer l'organe de mesure vers une zone de l'objet à mesurer, caractérisé en ce que la poignée est de forme tubulaire avec une surface extérieure préhensible (302) et une surface intérieure (303) définissant un logement dans lequel est engagée une portion de renfort (601) d'une embase de fixation (600) ayant une portion d'extrémité (602) qui est en saillie de la poignée et qui est fixée au corps d'interface. Three-dimensional measuring device, comprising an arm having a free end provided with an interface body carrying a measuring member and a handle (301) allowing an operator to point the measuring member towards an area of the object to be measure, characterized in that the handle is tubular in shape with a grippable outer surface (302) and an inner surface (303) defining a housing in which is engaged a reinforcing portion (601) of a fixing base (600) having an end portion (602) which projects from the handle and which is attached to the interface body.

Remote handling device

DEVICE FOR SEARCHING FOR AND SEIZING METAL PARTS AT DIFFICULT ACCESS AREAS

LE DISPOSITIF EST CONSTITUE PAR UNE SECTION D'UN PROFILE 1 DE MATIERE PLASTIQUE SOUPLE, TRANSPARENTE OU TRANSLUCIDE, COMPORTANT UN EVIDEMENT CYCLINDRIQUE LONGITUDINAL 4 RENFERMANT DEPUIS UNE EXTREMITE DU PROFILE 1, SUR UNE PARTIE DE LA LONGUEUR DE CE DERNIER, UN TUBE CYLINDRIQUE RIGIDE 5, SUR LA PARTIE RESTANTE DE LA LONGUEUR DU PROFILE 1, UNE SERIE D'AMPOULES ELECTRIQUES 6, ET, A L'EXTREMITE OPPOSEE DU PROFILE 1 UN AIMANT PERMANENT CYCLINDRIQUE 10. L'UN AU MOINS DES DEUX CONDUCTEURS ELECTRIQUES LONGITUDINAUX 7 ALIMENTANT LES AMPOULES 6 ET NOYES DANS LE PROFILE 1 EST UN CONDUCTEUR RIGIDE. APPLICATION A LA RECUPERATION DE PIECES METALLIQUES, PAR EXEMPLE DE VIS ET D'ECROU, TOMBEES DANS DES CAVITES D'ACCES DIFFICILE, PAR EXEMPLE AU COURS DE TRAVAUX SUR DES MOTEURS DE VEHICULES AUTOMOBILES. THE DEVICE IS CONSTITUTED BY A SECTION OF A PROFILE 1 OF FLEXIBLE, TRANSPARENT OR TRANSLUCENT PLASTIC MATERIAL, INCLUDING A LONGITUDINAL CYCLINDRICAL RECESS 4 ENCLOSING FROM AN END OF PROFILE 1, OVER PART OF THE LENGTH OF THE LATTER, A RIGID TUBE 5 , ON THE REMAINING PART OF THE LENGTH OF PROFILE 1, A SERIES OF ELECTRIC BULBS 6, AND, AT THE OPPOSITE END OF PROFILE 1, A PERMANENT CYCLINDRICAL MAGNET 10. ONE AT LEAST OF TWO LONGITUDINAL ELECTRIC CONDUCTORS 7 POWERING THE BULBS 6 AND FLOATS IN PROFILE 1 IS A RIGID CONDUCTOR. APPLICATION TO THE RECOVERY OF METAL PARTS, FOR EXAMPLE OF SCREWS AND NUT, FALLED IN CAVITIES OF DIFFICULT ACCESS, FOR EXAMPLE DURING WORK ON MOTORS OF MOTOR VEHICLES.

Assistance device for handling sanding tool for treating surface of fuselage panel of aircraft, has sanding tool whose intersection of axes of rotation is separated from center of abrasive surface of tool by specific distance

The device has a link (20) i.e. standard Cardan joint, between a movable support (22) and a sanding tool (16) having two axes of rotation (50, 50') perpendicular to each other and perpendicular to a normal axis (N). The intersection of the axes of rotation is separated from a center (O) of an abrasive surface (14) of the sanding tool by a distance less than 20 percent of the largest dimension of the abrasive surface. The movable support is connected to a reference frame by another link, where the movable support includes handles for gripping by an operator.

MEASURING ARM WITH MULTIFUNCTIONAL END

Dispositif de mesure tridimensionnelle, comprenant un bras ayant une extrémité libre pourvue d'un corps d'interface (100) portant un organe de mesure (500) et un organe de préhension (300) permettant à un opérateur de pointer l'organe de mesure vers une zone de l'objet à mesurer . Le corps d'interface comprend une face frontale (104) sur laquelle débouche au moins un connecteur électrique (120) et en saillie de laquelle s'étend une pièce tubulaire d'accouplement (110) à l'organe de mesure, un corps préhensible (200) annulaire étant engagé sur la pièce tubulaire d'accouplement et s'étendant par-dessus la surface frontale et le connecteur électrique, un élément de retenue (204) étant monté sur le corps préhensible pour coopérer avec la pièce tubulaire d'accouplement pour maintenir le corps préhensible appliqué contre la face frontale du corps d'interface. Three-dimensional measuring device, comprising an arm having a free end provided with an interface body (100) carrying a measuring member (500) and a gripping member (300) allowing an operator to point the measuring member to an area of the object to be measured. The interface body comprises a front face (104) onto which at least one electrical connector (120) emerges and projecting from which extends a tubular coupling part (110) to the measuring member, a gripping body (200) annular being engaged on the tubular coupling piece and extending over the front surface and the electrical connector, a retainer (204) being mounted on the gripping body to cooperate with the tubular coupling piece to maintain the gripping body applied against the front face of the interface body.

Magnetic attraction manipulation instrument

MEASURING ARM WITH MULTIFUNCTIONAL END

Dispositif de mesure tridimensionnelle, comprenant un bras ayant une extrémité libre pourvue d'un corps d'interface (100) portant un organe de mesure (500) et un organe de préhension (300) permettant à un opérateur de pointer l'organe de mesure vers une zone de l'objet à mesurer . L'organe de mesure comprend une partie cylindrique mâle (502) ayant une portion engagée dans une pièce tubulaire d'accouplement (110) solidaire du corps d'interface, la pièce tubulaire d'accouplement est pourvue d'un mécanisme de verrouillage (1100) de l'accouplement comprenant une manette (112) montée sur un axe (115) pourvu d'un premier joint d'étanchéité (117) annulaire en appui contre une surface de la pièce tubulaire d'accouplement, et un deuxième joint d'étanchéité (505) annulaire est monté entre la pièce tubulaire d'accouplement et la partie cylindrique mâle pour être déformé entre eux lorsque la partie cylindrique mâle est montée dans la pièce tubulaire d'accouplement solidaire du corps d'interface.

GRIPPING DEVICE FOR CO-MANIPULATOR ROBOT AND CO-MANIPULATOR ROBOT EQUIPPED WITH SUCH A DEVICE

L'invention concerne un dispositif de préhension (5) comprenant un organe de saisie (10) destiné à venir au contact d'un objet à manipuler (100) et des moyens de commande d'une solidarisation et d'une désolidarisation de l'organe de saisie et de l'objet à manipuler, les moyens de commande étant associés à un contacteur (16) apte à générer un signal de commande de la solidarisation et/ou de la désolidarisation à destination des moyens de commande lorsque le contacteur est activé. Selon l'invention l'organe de saisie est monté coulissant dans le dispositif entre une position non enfoncée et une position enfoncée, le contacteur étant disposé dans le dispositif de sorte à être activé par l'organe de saisie lorsque l'organe de saisie est en position enfoncée. L'invention concerne également un robot de co-manipulation comprenant un tel dispositif. The invention relates to a gripping device (5) comprising a gripping member (10) intended to come into contact with an object to be manipulated (100) and means for controlling a fastening and a separation of the gripping member and the object to be manipulated, the control means being associated with a contactor (16) adapted to generate a control signal of the connection and / or the separation to the control means when the contactor is activated . According to the invention the gripping member is slidably mounted in the device between an unpressed position and a depressed position, the contactor being arranged in the device so as to be activated by the gripping member when the gripping member is in the depressed position. The invention also relates to a co-manipulation robot comprising such a device.

MEASURING ARM WITH MULTIFUNCTIONAL END

Dispositif de mesure tridimensionnelle, comprenant un bras ayant une extrémité libre pourvue d'un corps d'interface portant un organe de mesure et une poignée (301) permettant à un opérateur de pointer l'organe de mesure vers une zone de l'objet à mesurer, caractérisé en ce que la poignée est de forme tubulaire avec une surface extérieure préhensible (302) et une surface intérieure (303) définissant un logement dans lequel est engagée une portion de renfort (601) d'une embase de fixation (600) ayant une portion d'extrémité (602) qui est en saillie de la poignée et qui est fixée au corps d'interface. A three-dimensional measuring device, comprising an arm having a free end provided with an interface body carrying a measuring member and a handle (301) allowing an operator to point the measuring member towards an area of the object to be measuring, characterized in that the handle is tubular in shape with a gripping outer surface (302) and an inner surface (303) defining a housing in which is engaged a reinforcing portion (601) of a fixing base (600) having an end portion (602) which projects from the handle and which is fixed to the interface body.

Collaborative system with optimized management

Titre : Dispositif collaboratif à pilotage optimisé L’invention concerne un dispositif (1) collaboratif comprenant :- un bras (3) robotisé incluant au moins un moteur (32) ;- un outil (4) solidarisé à une extrémité libre du bras (3) robotisé ;- une unité informatique (5) reliée au bras (3) robotisé pour transmettre des consignes de pilotage du bras (3) robotisé,caractérisé en ce que le dispositif (1) comprend également une articulation (6) ayant une liaison souple,le dispositif (1) intégrant au moins un capteur (7) paramétré pour détecter des forces exercées sur la liaison souple, l’unité informatique (5) étant configurée pour :- recevoir des données du capteur (7) ;- traduire lesdites données en couples subis au niveau dudit ou desdits moteurs (32) du bras (3) robotisé ;- générer des consignes d’atténuation des couples subis,- piloter ledit ou lesdits moteurs (32) du bras (3) robotisé avec les consignes d’atténuation. Figure pour l’abrégé : Fig. 1 Title: Collaborative device with optimized control The invention relates to a collaborative device (1) comprising: - a robotic arm (3) including at least one motor (32); - a tool (4) secured to a free end of the arm (3) ) robotic; - a computer unit (5) connected to the robotic arm (3) to transmit instructions for controlling the robotic arm (3), characterized in that the device (1) also comprises an articulation (6) having a flexible connection , the device (1) integrating at least one sensor (7) configured to detect forces exerted on the flexible link, the computer unit (5) being configured to: - receive data from the sensor (7); - translate said data in torques undergone at the level of said motor (s) (32) of the robotic arm (3); - generating setpoints for attenuating the torques undergone, - controlling said motor (s) (32) of the robotic arm (3) with the setpoints of mitigation. Figure for the abstract: Fig. 1

Improvement in handling grippers

Remote manipulator installation for contamination site

This installation is of the type comprising a gripper member (2) which can be actuated by a control means (5) to which it is connected by means located inside a flexible body (3). According to the invention, the hydraulic receiver cylinder (11) of the member (2) is connected by circuits (23, 24) to a management unit (4) containing the means for calibrating and monitoring the circuits, while the means (5) for controlling the member (2) comprises a lever (45) capable of actuating: - on the one hand, the piston (50) of an emitter cylinder (47) connected by a circuit (58) to the small cross-section chamber (C1) of a pressuriser (73), this chamber itself being connected to a fluid supply circuit (75) and to the circuit (23a) extending as far as the gripper chamber (13a) of the girpper member (2), - and, on the other hand, a pressure regulator (48) which, developing a pressure which is proportional to the working travel of the lever (45), is interposed between a fluid source (100) and the large cross-section chamber (C2) of the pressuriser (73).

Collaborative robotic equipment

The invention relates to collaborative robotic equipment comprising a supporting structure (1) supporting an arm (2) that can be moved along at least one axis and the end of which is equipped with a tool (6), characterized in that said arm comprises a first horizontal portion (21), able to move on a vertical axis (X) and connected to the supporting structure by a first pivot (211), a second pivot (212) providing the rotary connection of a second horizontal portion (22) to the first portion (21), an end fitting (3) providing connection between the second portion and a motorized tool-holding linear actuator (4) which is fitted with a manual-control stick (5) collaborating with a main force sensor (54) to control the vertical movement of the tool (6) and amplify the manual effort.

Illuminable picker

An illuminable picker comprises a cylindrical member including cells provided therein, a control member disposed at the rear end of the cylindrical member and including a bolt for fitting a spring thereon, as the bolt is pressed to move, it may contact with the electrode output end of the cells, a sleeve mounted at the front end of the cylindrical member for confining the cells and including a spring fitted thereon and a string fixed at the front end thereof, the string including an expandable claw attached at the front end thereof, a tube secured at the front end of the sleeve for inserting the string and positioning the claw, a bulb affixed on the tube and including anode and cathode output wires, the anode output wire fixed on the tube, while the cathode output wire passing through the sleeve and contacting with the cathode output end of the cells, thereby simultaneously obtaining the picking and illumining purpose.

MEASURING ARM WITH MULTIFUNCTIONAL END

Dispositif de mesure tridimensionnelle, comprenant un bras ayant une extrémité libre pourvue d'un corps d'interface (100) portant un organe de mesure (500) et un organe de préhension (300) permettant à un opérateur de pointer l'organe de mesure vers une zone de l'objet à mesurer . L'organe de mesure comprend une partie cylindrique mâle (502) ayant une portion engagée dans une pièce tubulaire d'accouplement (110) solidaire du corps d'interface, la pièce tubulaire d'accouplement est pourvue d'un mécanisme de verrouillage (1100) de l'accouplement comprenant une manette (112) montée sur un axe (115) pourvu d'un premier joint d'étanchéité (117) annulaire en appui contre une surface de la pièce tubulaire d'accouplement, et un deuxième joint d'étanchéité (505) annulaire est monté entre la pièce tubulaire d'accouplement et la partie cylindrique mâle pour être déformé entre eux lorsque la partie cylindrique mâle est montée dans la pièce tubulaire d'accouplement solidaire du corps d'interface. Three-dimensional measuring device, comprising an arm having a free end provided with an interface body (100) carrying a measuring member (500) and a gripping member (300) allowing an operator to point the measuring member to an area of the object to be measured. The measuring member comprises a male cylindrical part (502) having a portion engaged in a tubular coupling part (110) integral with the interface body, the tubular coupling part is provided with a locking mechanism (1100 ) of the coupling comprising a lever (112) mounted on a shaft (115) provided with a first annular seal (117) bearing against a surface of the tubular coupling part, and a second seal annular seal (505) is mounted between the tubular coupling part and the male cylindrical part to be deformed between them when the male cylindrical part is mounted in the tubular coupling part integral with the interface body.

Expandable basket collection device

manipulator

Manipulator (1) mit einem Fuß-Drehgelenk (4) und/oder mindestens einem Schwenk-Drehgelenk (5) und zumindest einem Arm (6), der einen Tool Center Point zur Bewegung im Raum aufweist, wobei an einem des zumindest einem Arm (6) mindestens eine Prozesseinheit (11) angeordnet ist, deren Steuerung oder Regelung durch mindestens eine ein Signal empfangende und/oder aussendende Messeinheit (2) erfolgt, welche die Manipulatorposition und/oder die Manipulatorgeschwindigkeit im Raum erfasst und ein die Manipulatorposition und/oder die Manipulatorgeschwindigkeit wiederspiegelndes Signal an die Prozesseinheit (11) übermittelt, wobei die Steuerung oder Regelung der Prozesseinheit (11) von der Manipulatorposition und/oder Manipulatorgeschwindigkeit abhängig ist. Manipulator (1) having a foot swivel joint (4) and / or at least one swivel swivel joint (5) and at least one arm (6) which has a tool center point for movement in space, wherein on at least one arm ( 6) at least one process unit (11) is arranged, whose control or regulation by at least one signal receiving and / or emitting measuring unit (2) takes place, which detects the manipulator position and / or the manipulator speed in space and the manipulator position and / or Manipulator speed reflecting signal to the process unit (11) transmitted, the control or regulation of the process unit (11) is dependent on the manipulator position and / or manipulator speed.

Retrieval devices and related methods of use

According to an example of the present disclosure, a retrieval device having a contracted state and an expanded state may include at least three support members each having a lumen, a fixed proximal end, and a movable distal end, and at least two members movable relative to the support members. Each movable member may include a first end and a second end and extending distally through a lumen of a support member and proximally through a lumen of a different support member. The device may include a stop located at the second end of at least one movable member to restrict movement of the second end after moving a distance distally during movement of the retrieval device toward the expanded state.

Telescoping retrieving device with flexible portion

The present technology provides a device for retrieving objects. The device has a proximate elongate member (120) extending from a handle (110) and a flexible elongate member (130) coupled with the proximate elongate member and slidable between a retracted configuration and an extended configuration. The device has a holding member (140) operatively coupled with the flexible elongate member. Some embodiments have an actuating system configured to operate certain types of holding members with an actuating member (113) to enable the holding member to hold/release an object. Some embodiments have a locking system configured to lock the flexible elongate member to the proximate elongate member.