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Небесная энциклопедия

Космические корабли и станции, автоматические КА и методы их проектирования, бортовые комплексы управления, системы и средства жизнеобеспечения, особенности технологии производства ракетно-космических систем

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Мониторинг СМИ

Мониторинг СМИ и социальных сетей. Сканирование интернета, новостных сайтов, специализированных контентных площадок на базе мессенджеров. Гибкие настройки фильтров и первоначальных источников.

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05-04-2012 дата публикации

Spindle head structure rotatable in a/b axes

Номер: US20120082526A1

Автор: Dianjun Wang, Lin Qu, Liping Wang, Rui YAO, Xiaoqiang Tang, Zhufeng Shao

Принадлежит: TSINGHUA UNIVERSITY

A spindle head structure rotatable in A/B axes is provided, comprising: a spindle support, an intermediate support, a base support, an upper telescopic strut and a lower telescopic strut. The spindle support may be adapted to be fixed with a spindle. The intermediate support may be connected with the spindle support via two coaxial upper revolute pairs. The base support may be connected with the intermediate support via two coaxial lower revolute pairs. The upper telescopic strut may be connected between the spindle support and the intermediate support. And the lower telescopic strut may be connected between the intermediate support and the base support.

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Номер записи: 1

12-04-2012 дата публикации

Robot arm assembly

Номер: US20120085191A1

Автор: Bo Long

Принадлежит: Hon Hai Precision Industry Co Ltd, Hongfujin Precision Industry Shenzhen Co Ltd

A robot arm assembly includes a first arm, a second arm; a first transmission assembly and a second transmission assembly. The first transmission assembly includes a first rotation shaft having a first bevel gear portion, a second rotation shaft having a second bevel gear portion engaging with the first bevel gear portion, and a third rotation shaft non-rotatably connected to the second rotation shaft. The second transmission assembly includes a forth rotation shaft and a fifth rotation shaft. The forth rotation shaft is rotatably sleeved on the first rotation shaft and includes a forth bevel gear potion. The fifth rotation shaft is rotatably sleeved on the second rotation shaft and includes a fifth bevel gear portion engaging with the forth bevel gear portion. An end of the fifth rotation shaft opposite to the fifth bevel gear portion is connected to the second arm.

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Номер записи: 2

12-04-2012 дата публикации

Vehicle armrest

Номер: US20120085870A1

Автор: David John Coote, Oliver Trevor Horton

Принадлежит: BAE SYSTEMS plc

An armrest for use by a pilot whilst operating a side stick inceptor has on its underside a number of secondary controls which can be operated when the side stick is not being used, the armrest then acting as a handgrip enabling the pilot to operate the secondary controls with a steady hand.

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Номер записи: 3

03-05-2012 дата публикации

Prismatic/revolute orienting apparatus

Номер: US20120103123A1

Автор: John E. McInroy, John F. O'brien

Принадлежит: UNIVERSITY OF WYOMING

A two degree-of-freedom parallel device for orienting or pointing an end effector with vibration suppression is described. The two end effector degrees-of-freedom are decoupled by connecting fast actuators to the effector by passive joints. The stiffness of the linkages and the high speed of the revolute and prismatic actuators employed permit the application of large feedback useful for disturbance rejection.

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Номер записи: 4

17-05-2012 дата публикации

Method and apparatus for joint motion simulation

Номер: US20120123592A1

Автор: Bruce F. White, Forest J. Carignan

Принадлежит: Advanced Mechanical Technology Inc

A joint motion simulator to simulate biomechanical motion includes a mount to which a prosthetic device is mounted, actuators coupled to the mount to drive the mount, and a programmable controller to drive the actuators to translate the mount and to rotate the mount with a center of rotation controllable independent of translation. The simulator can include a linear actuator to translate the mount in a linear direction substantially parallel to the axis of rotation. The linear actuator can include a piston within a sleeve, the piston being coupled to the mount and being hydraulically driven to translate the mount, and the actuators can be coupled to the sleeve. The controller may be programmed to vary the center of rotation with linear translation and rotation of the mount. Sensors may be included that measure displacement of the actuators. The controller may drive the actuators based on the measured displacement.

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Номер записи: 5

14-06-2012 дата публикации

Jointed mechanical devices

Номер: US20120150322A1

Автор: Huseyin Atakan Varol, Michael Goldfarb, Skyler Ashton Dalley, Tuomas Emory Wiste

Принадлежит: VANDERBILT UNIVERSITY

A jointed mechanical device is provided. The device includes at least one element ( 204 ) having a fixed end and a deflectable end. The device also includes at least one actuating structure ( 206 ) having a first end coupled to at least the deflectable end of the element, where the actuating structure includes at least one elastic element ( 214 ) in series with at least one non-elastic element. The device further includes at least one force actuator ( 202 ) configured to apply an actuator force to a second end of the actuating structure. Additionally, the device includes a control system ( 315 ) for adjusting an operation of the force actuator based at least one actuation input, an amount of the actuator force, and an amount of displacement generated by the force actuator.

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Номер записи: 6

21-06-2012 дата публикации

Three-axis robotic system with linear bearing supports

Номер: US20120152050A1

Автор: Bruce Richardson

Принадлежит: Accel Biotech Inc

A three-axis robotic system. On the first and second axes, respective linear bearings have movable carriages, and backbone-free linear bases acting as exclusive support or linear bearing supports. A first motor is mounted to the first linear bearing support and coupled to the first carriage. The second linear bearing support is attached at one end to the first carriage and may be orthogonal to the first linear bearing support. A second motor is mounted to the second linear bearing support and coupled to the second carriage. A third axis member is attached to the second carriage. The third axis member may be orthogonal to the first and second linear bearing supports. A third carriage is slidable on the third axis member. A third motor is mounted to the third axis member and coupled to the third carriage. Each respective motor and carriage may be coupled by a belt or leadscrew.

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Номер записи: 7

28-06-2012 дата публикации

Remote-controlled actuator and plastic forming method for attitude altering member

Номер: US20120160050A1

Автор: Yoshitaka Nagano, Yukihiro Nishio

Принадлежит: NTN Corp

A remote controlled actuator includes an elongated guide section ( 3 ) of a curved shape, a distal end member ( 2 ) fitted to a tip of the guide section for alteration in attitude, and a work tool ( 1 ) provided in the distal end member. A drive shaft ( 22 ) for transmitting a driving force of a work tool drive source ( 41 ) to the work tool and a curved guide hole ( 30 a ) extending to its opposite ends are accommodated inside the guide section. A wire-like attitude altering member ( 31 ) is inserted within the guide hole for selective advance or retraction and then is driven by an attitude altering drive source ( 42 ) to alter the attitude of the distal end member. The attitude altering member has a curved shape identical with the curved shape of the guide hole under a natural condition while it has not yet been inserted into the guide hole.

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Номер записи: 8

26-07-2012 дата публикации

Robot End Effector with Cable Management

Номер: US20120186381A1

Автор: Dennis Lee Robinson, Roland Lomerson, Jr.

Принадлежит: AMF Automation Technologies LLC

Cable manager 30 is positioned between the distal end of a robot arm 16 and the robot end effector 18 . Elongated cable carrier 44 positioned in a circular cable track 34 extends in an arc about the axis of connection 17 between the robot arm and the end effector. One end 56 of the cable carrier moves with the robot arm and the other end 54 moves with the end effector. The cable carrier forms a U-shape 60 between its ends so that the movements of the ends of the cable carrier result in the U-shape accommodating the change in distance between the ends of the utility line and the cable carrier. Utility lines 62 are gathered in one or more cables that extend through the cable carrier to provide the end effector with the controls necessary for its operation.

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Номер записи: 9

09-08-2012 дата публикации

Robot

Номер: US20120198955A1

Автор: Keisuke Yonehara, Manabu Okahisa, Yusuke Hayashi

Принадлежит: Yaskawa Electric Corp

A robot according to an embodiment includes a base, a first structure, a second structure, and a third structure. The first structure is connected to the base to be rotatable about a first axis. The second structure is connected to the first structure to be rotatable about a second axis orthogonal to the first axis. The third structure is connected to the second structure to be rotatable about a third axis parallel to the second axis. The first structure and the third structure are formed by using cast materials having a same shape.

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Номер записи: 10

30-08-2012 дата публикации

Articulated robot wrist

Номер: US20120216650A1

Автор: Giorgio Pernechele, Giuseppe Paparella, Mauro Amparore

Принадлежит: Comau SpA

Disclosed herein are embodiments of an articulated robot wrist which can comprise a first body comprising a first and a second end, said first end being intended to be mounted on a robot component that is rotatable around a first axis; a second body comprising a first and a second end, said first end being rotatably mounted on said second end of said first body, around a second axis inclined with respect to said first axis; and a third body comprising a first and a second end, said first end being rotatably mounted on said second end of said second body, around a third axis inclined with respect to said second axis, wherein said first and third axes are both substantially orthogonal to said second axis, and wherein in at least one position of said robot wrist said first and third axes are substantially aligned with each other.

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Номер записи: 11

06-09-2012 дата публикации

Cmm with modular functionality

Номер: US20120222323A1

Автор: Hogar Tait

Принадлежит: HEXAGON METROLOGY AB

An articulated arm CMM system comprises an articulated arm comprising a plurality of articulated arm members, a measuring probe at a distal end, and a base at a proximal end, the base comprising a docking portion. The articulated arm CMM system also includes a plurality of feature packs configured to electronically connect to the articulated arm via the docking portions and provide additional electronic functionality.

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Номер записи: 12

11-10-2012 дата публикации

Line management system and a method for routing flexible lines for a robot

Номер: US20120255388A1

Автор: Stan H. Mcclosky

Принадлежит: Individual

A line management system for a robot includes a flexible line, a structure clamp coupled to a first end of the flexible line to attach the flexible line to a support structure of the robot, an arm clamp coupled to the second end of the flexible line to attach the flexible line to an outer arm of the robot, a coupling device moveably coupled to the robot structure, wherein the flexible line is attached to the coupling device at an intermediate point along a length thereof.

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Номер записи: 13

01-11-2012 дата публикации

Vehicle door cable abutment

Номер: US20120272776A1

Автор: Kristyna Salamey, Richard K. Mette

Принадлежит: GM GLOBAL TECHNOLOGY OPERATIONS LLC

A cable fitting includes a hollow cylinder sized to receive a portion of a sheath therein; and a lever including a blade supported on the cylinder; a pivot about which the blade pivots; an engagement member secured to the blade and spaced from the pivot in a first direction; and a tab secured to the blade and including a surface spaced from the pivot in a second direction opposite the first direction and on which force can be applied to elastically pivot the engagement member away from an engaged position.

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Номер записи: 14

01-11-2012 дата публикации

Adjustable Folding Handlebar for Human Powered Vehicles

Номер: US20120272777A1

Автор: John Irven Tolhurst

Принадлежит: John Irven Tolhurst

Embodiments of the present invention comprise a folding handlebar to allow the rider to adopt an aerodynamic riding position without superfluous bars protruding left and right and a control system so the rider has full access to braking and gear changing whether riding in the aero or non aero position.

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Номер записи: 15

08-11-2012 дата публикации

Chair adjustment mechanism

Номер: US20120280549A1

Автор: Jacob Goldszer

Принадлежит: JGR Copa LLC

An adjustment mechanism for a chair includes a housing and an adjustment element that is movable relative to the housing into a selectable one of at least two adjustment positions. Preferably, when assembled to a chair, the housing, possibly along with other elements of the chair, such as the armrest, completely encloses interlocking adjustment surfaces of the adjustment mechanism with the exception of a guide slot of the housing through which movement of the adjustment element is permitted between the at least two adjustment positions. The guide slot has a maximum width dimension sufficiently small to inhibit or prevent foreign objects from coming into contact with the interlocking adjustment surfaces of the adjustment mechanism.

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Номер записи: 16

13-12-2012 дата публикации

Vertical articulated robot

Номер: US20120312116A1

Автор: Keisuke Yonehara, Ryuta Kagawa, Takashi Hatanaka, Takashi Sanada, Tomoyuki Shiraki

Принадлежит: Yaskawa Electric Corp

A vertical articulated robot includes a base, a turning base, a first upper arm, a second upper arm, a front arm, a wrist assembly, a first motor, a second motor, a third motor, a fourth motor, and a wire body. The wire body includes a first wire portion, a second wire portion, a third wire portion, a fourth wire portion, a fifth wire portion, and a sixth wire portion. The first wire portion extends from the turning base along a third rotation axis and is connected to an outer surface of the first upper arm. The second wire portion extends from the first wire portion along a plane perpendicular to the third rotation axis and is connected to an outer surface of the first upper arm. The third wire portion extends in a U-shape from the second wire portion.

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Номер записи: 17

03-01-2013 дата публикации

Semiconductor stocker systems and methods

Номер: US20130000254A1

Автор: Lutz Rebstock

Принадлежит: Dynamic Micro Systems Semiconductor Equipment GmbH

In an embodiment, the present invention discloses cleaned storage processes and systems for high level cleanliness articles, such as extreme ultraviolet (EUV) reticle carriers. A decontamination chamber can be used to clean the stored workpieces. A purge gas system can be used to prevent contamination of the articles stored within the workpieces. A robot can be used to detect the condition of the storage compartment before delivering the workpiece. A monitor device can be used to monitor the conditions of the stocker.

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Номер записи: 18

03-01-2013 дата публикации

Robotic Movement System

Номер: US20130000438A1

Автор: Alexander G. Ouellet

Принадлежит: Individual

A robotic movement system includes at least one orb-based transmission assembly that includes an orb mount structure to or in which a magnet is mounted. At least one motor and a plurality of rollers are also mounted to the orb mount structure. The rollers contact an orb, which is rotated via rotation of the rollers for displacement and rotation of the robotic platform. The orb also includes a magnet having a magnetic attraction to the magnet mounted to the orb mount structure to hold the orb in contact with the rollers. In exemplary embodiments, the robotic movement system can function as a navigation and displacement mechanism for a displaceable robotic system or as a robotic joint for robots or for living beings.

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Номер записи: 19

24-01-2013 дата публикации

Wall-mounted faucet control module

Номер: US20130019708A1

Автор: Li-Chen Huang

Принадлежит: Alexander Yeh Ind Co Ltd

A wall-mounted faucet control module comprises: two control handles, three joints and a panel set. Each control handle has a containment space for accepting the joints. The joint has an insertion aperture, the insertion aperture of each joint has a different cross-sectional shape such that the control handle can be installed with the various control rod. The panel set has an assembling panel and two ornament covers, the ornament cover engages with the connecting slot of the assembling panel, and the two ornament covers respectively have an assembling hole with different diameter such that the assembling panel can be installed with the main body of the various water valve. The joints, the sleeves and the ornament covers can be correspondingly alternated for the various water valves, the control handles and the panel set can be installed with the various water valves, which can provide variety and convenience.

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Номер записи: 20

31-01-2013 дата публикации

Robot and method for manufacturing the same

Номер: US20130025399A1

Автор: Atsushi Ichibangase, Kaori SAKAKI, Takahiro Umezaki

Принадлежит: Yaskawa Electric Corp

A robot according to an aspect of an embodiment includes: an articulated arm; and a speed reducer that is provided in a joint of the articulated arm. The articulated arm performs a multi-axis operation. The speed reducer has rigidity for which an acquisition value obtained by acquiring a deflection amount of a predetermined representative position at the articulated arm for each dimension of a three-dimensional coordinate system is not more than a threshold corresponding to a target precision of the articulated arm.

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Номер записи: 21

31-01-2013 дата публикации

Rigidly-linked articulating wrist with decoupled motion transmission

Номер: US20130030449A1

Автор: Kenneth Grace

Принадлежит: Intuitive Surgical Operations Inc

The present invention is a device having a rigidly linked jaw that is decoupled from an articulating wrist. The device provides for articulating motion as well as actuation that may be used in grasping, cutting, suturing or the like.

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Номер записи: 22

31-01-2013 дата публикации

Control apparatus and control method for robot arm, robot, control program for robot arm, and integrated electronic circuit

Номер: US20130030569A1

Автор: Masaki Yamamoto, Taichi Sato, Yudai FUDABA, Yuko Tsusaka

Принадлежит: Panasonic Corp

There is provided a control apparatus and control method for robot arm, robot, control program for robot arm, and integrated electronic circuit, which can improve robot arm operability upon performing tasks such as cooperative conveyance and direct teaching. The grip portion separated from the end effector attached to the robot arm is provided. When a person grips and shifts the grip portion, a tracking control unit controls so that the robot arm follows the shift. A fixing switch unit switches between a fixing state where, upon switching to “playback mode”, a fixing portion is located at a fixed position to fix the end effector and the grip portion to maintain a gap distance therebetween and a relatively shiftable state where, upon switching to “teaching mode”, the fixing portion is located at an accommodated position to relatively shift them from each other without maintaining the gap distance.

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Номер записи: 23

14-02-2013 дата публикации

Industrial robot

Номер: US20130036851A1

Автор: Shigeyuki Kaino, Yasuyuki Kitahara

Принадлежит: Nidec Sankyo Corp

An industrial robot may include a main body section, a first arm, a second arm, a third arm, a first speed reducer which connects the main body section and the first arm a second speed reducer which connects the first arm and the second arm, and a connecting mechanism which connects the input shaft of the first speed reducer and the input shaft of the second speed reducer, and a second drive motor which drives the third arm. The speed reduction ratio of the first and second speed reducer are set such that the movement loci of a third articulation section which connects the second and third arm are rectilinear. The connecting mechanism connects the input shafts predetermined speed ratio. The second drive motor is mounted on the second arm closer to the tip than where a third articulation section is located.

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Номер записи: 24

21-03-2013 дата публикации

Robot apparatus, robot system, and method for manufacturing packaged product of string-shaped object

Номер: US20130067869A1

Автор: Hiroshi Takata, Shingo TATEBE

Принадлежит: Yaskawa Electric Corp

A robot apparatus includes a turning base, a lower arm, an upper arm, a wrist unit, a hand, and a controller. The hand is provided on the wrist unit to hold or release a longitudinally intermediate portion of a noodle lump. The controller controls operations of the turning base, the lower arm, the upper arm, the wrist unit, and the hand. The controller controls the turning base, the lower arm, the upper arm, and the wrist unit so that the hand moves the noodle lump obliquely upward at least in a part of a path from a holding position at which the noodle lump is held and a releasing position at which the noodle lump is released.

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Номер записи: 25

28-03-2013 дата публикации

Gear unit and robot

Номер: US20130074651A1

Автор: Hiroki Sanemasa, Masatoshi FURUICHI

Принадлежит: Yaskawa Electric Corp

A gear unit includes an inner shaft and an outer shaft concentrically arranged to make up two concentric output shafts; and a first and a second input shaft extending in a direction orthogonal to the output shafts and operatively connected to the inner shaft and the outer shaft, respectively. The inner shaft includes an inner gear attached thereto and the outer shaft includes an outer gear attached thereto. The inner gear and the outer gear are arranged in a mutually-opposing relationship. The first input shaft and the second input shaft are spaced apart from each other by a specified distance along an axial direction of the output shafts. The first input shaft includes a first input gear meshing with the inner gear and the second input shaft includes a second input gear meshing with the outer gear.

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Номер записи: 26

28-03-2013 дата публикации

Surgical system entry guide

Номер: US20130079794A9

Автор: Anthony K. McGrogan, Craig R. Ramstad, Daniel H. Gomez, Eugene F. Duval, Jeffrey D. Brown, Nicola Diolaiti, Paul E. Lilagan, Robert E. Holop, Thomas G. Cooper

Принадлежит: Intuitive Surgical Operations Inc

An entry guide tube and cannula assembly, a surgical system including the assembly, and a method of surgical instrument insertion are provided. In one embodiment, the assembly includes a cannula having a proximal portion that operably couples to an accessory clamp of a manipulator arm, and a distal tubular member coupled to the proximal portion, the tubular member having an opening for passage of at least one instrument shaft. The assembly also includes an entry guide tube rotatably coupled to the proximal portion of the cannula, the entry guide tube including a plurality of channels for passage of a plurality of instrument shafts, wherein the entry guide tube is rotatably driven relative to the proximal portion of the cannula by rotation of at least one instrument shaft about a longitudinal axis of the entry guide tube.

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Номер записи: 27

09-05-2013 дата публикации

Lightweight electronic system for automotive applications and method

Номер: US20130114234A1

Автор: Chris R. Snider, Mark A. Jackson

Принадлежит: Delphi Technologies Inc

A lightweight audio player for vehicular application is virtually “fastenerless” and includes a fold-up case formed of polymer based material molded to provide details to accept audio devices, as well as the circuit boards required for electrical control and display. The case is of composite structure, including an insert molded electrically conductive wire mesh screen. The wire mesh provides shielding and grounding of the circuit boards via exposed wire mesh pads and adjacent ground clips. Side wall closure members define self-engaging attachment features for affixing to the case, providing electrical self-grounding with the wire screen and thermal grounding with internal power devices. The major components and subassemblies are self-fixturing during the final assembly process, eliminating the need for dedicated tools, fixtures and assembly equipment.

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Номер записи: 28

16-05-2013 дата публикации

Robot arm assembly

Номер: US20130118286A1

Автор: Bo Long

Принадлежит: Hon Hai Precision Industry Co Ltd, Hongfujin Precision Industry Shenzhen Co Ltd

A robot arm assembly includes a first mechanical arm, a second mechanical arm, a third mechanical arm, a first transmission assembly and a second transmission assembly. The first mechanical arm, the second mechanical arm and the third mechanical arm are rotatably connected together in that order, and are respectively configured to rotate along a first axis A, a second axis B and a third axis C. The first transmission assembly is assembled within the first mechanical arm and the second mechanical arm, and is further coupled with the third mechanical arm. The second transmission assembly is assembled within the first mechanical arm and sleeved on the first transmission assembly, the second transmission assembly is further coupled with the second mechanical arm.

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Номер записи: 29

16-05-2013 дата публикации

Robot arm assembly

Номер: US20130118288A1

Автор: Zhen-Xing Liu

Принадлежит: Individual

A robot arm assembly includes a supporting arm, first and second mechanical arms, a first driving member, a second driving member, a first transmission mechanism between the first mechanical arm and the first driving member, and a second transmission mechanism between the second mechanical arm and the second driving member. The first driving member drives the first transmission mechanism to rotate the first mechanical arm. The second driving member drives the second transmission mechanism to rotate the second mechanical arm. The first driving member and the second driving member are both carried in the supporting arm and are arranged side by side.

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Номер записи: 30

23-05-2013 дата публикации

Robot arm assembly

Номер: US20130125690A1

Автор: Bo Long

Принадлежит: Hon Hai Precision Industry Co Ltd, Hongfujin Precision Industry Shenzhen Co Ltd

A robot arm assembly includes a base, a first arm rotatably connected to the base, a second arm rotatably connected to the first arm, a third arm rotatably connected to the second arm, a first driving mechanism, a second driving mechanism, and a third driving mechanism. The first driving mechanism includes a first driving member mounted on the base for driving the first arm. The second driving mechanism includes a second driving member mounted on the base and a first transmission shaft securely connected to the second driving member for driving the second arm. The third driving mechanism includes a third driving member mounted on the base and a second transmission shaft securely connected to the third driving member for driving the third arm. The first and second transmission shafts are placed inside the first arm substantially symmetrically with each other about an axis of the first arm.

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Номер записи: 31

06-06-2013 дата публикации

Piezoelectric motor, drive unit, robot hand, robot, electronic component transporting apparatus, electronic component inspecting apparatus, and printer

Номер: US20130140951A1

Автор: Koichi Kamijo, Osamu Miyazawa

Принадлежит: Seiko Epson Corp

A piezoelectric motor includes a piezoelectric element, a first support member, a second support member, a third support member, and a fourth support member that support the piezoelectric element, a elastic portion that presses the first support member and the second support member, a case that comes in contact with the third support member and the fourth support member, and a pressing plate that presses the elastic portion.

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Номер записи: 32

01-08-2013 дата публикации

Fast Runner Limb Articulation System

Номер: US20130192406A1

Автор: Johnny Godowski

Принадлежит: Individual

A robotic limb structure which is capable of achieving high speeds. In the context of a biped, the structure is used for a pair of hind limbs. The limb structure includes a primary driven link—such as a thigh pivoting about a hip joint in the case of a hind limb. Secondary links are pivotally connected to the primary driving link. Auxiliary links are provided to constrain the motion between the links. Elastic trim elements are also provided to define a “relaxed” state for the limb and to influence the resonance characteristics of the structure. The control system takes advantage of the resonant characteristics of the structure as a whole.

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Номер записи: 33

22-08-2013 дата публикации

Substrate transfer apparatus

Номер: US20130213171A1

Автор: Jae Chul Hwang, Myung Nam KWAG

Принадлежит: SAMSUNG ELECTRONICS CO LTD

A substrate transfer apparatus has a plurality of arms which rotate on different shafts. A first driver rotates the first arm, a second driver rotates a second arm coupled to the first arm, a third driver rotates a third arm coupled to the second arm, and a fourth arm rotates with rotation of the third arm and is coupled to the third arm. The drivers control rotation of the arms to perform different operations in transferring the substrate between different processing locations.

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Номер записи: 34

22-08-2013 дата публикации

Manipulator system

Номер: US20130213172A1

Автор: Ken'ichi Yasuda, Takahiro Maeda

Принадлежит: Yaskawa Electric Corp

From a desired wrist joint position and a desired elbow rotation angle, a temporary elbow joint position is calculated on the assumption that a distance between a shoulder joint and an elbow joint is fixed. The shoulder joint has a first axis, a second axis, and a third axis, and the elbow joint has a fourth axis. From the calculated temporary elbow joint position, temporary angles of the first and second axes or temporary angles of the first to fourth axes are determined. The temporary angles are corrected in accordance with at least one evaluation function calculated from the temporary angles.

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Номер записи: 35

26-09-2013 дата публикации

Pivoting structure for a brake lever

Номер: US20130247707A1

Автор: Judy Wu

Принадлежит: Individual

A pivoting structure for a brake lever includes a connector having one end connected to a handle of a bicycle and another end having a assembling space opened thereon; a brake lever having one end which is assembled to the assembling space; and a pivoting set having a horizontal shaft and a vertical shaft, one end of the horizontal shaft inserted through a wall of the assembling space, the vertical shaft passing through one end of the brake lever, another end of the horizontal shaft connected to the vertical shaft. Therefore, the brake lever is vertically and horizontally pivotable on the connector via the pivoting set.

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Номер записи: 36

03-10-2013 дата публикации

Robotic arm with five-bar spherical linkage

Номер: US20130255425A1

Автор: Bruce M. Schena

Принадлежит: Individual

A robotic arm for a minimally invasive surgical system includes a parallel spherical five-bar linkage adapted to spherically rotationally move a robotic surgical tool coupled to the parallel five-bar spherical linkage about a remote center of spherical rotation. The five-bar spherical linkage is posed in only a range of compact poses. A constraint limits the parallel five-bar spherical linkage to only the range of compact poses.

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Номер записи: 37

17-10-2013 дата публикации

Robot and robot installation method

Номер: US20130269465A1

Автор: Nobuyuki Furukawa, Yuuki Ohara

Принадлежит: Yaskawa Electric Corp

A robot includes a base unit hoisted up from below a bottom surface portion of a chamber defining a work space and connected to the bottom surface portion of the chamber. The robot further includes an arm unit carried into the chamber from above the chamber and connected to an upper portion of the base unit connected to the bottom surface portion of the chamber.

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Номер записи: 38

14-11-2013 дата публикации

Local magnetic actuation of surgical devices

Номер: US20130298715A1

Автор: Alan J. Herline, Christian Di Natali, Pietro Valdastri

Принадлежит: VANDERBILT UNIVERSITY

A method of actuating a surgical device is described. A surgical tool is inserted into a body cavity of a patient through a natural orifice. A distal end of an actuation tool is inserted through a surgical access port in the body of the patient. The distal end of the actuation tool is positioned proximal to an external wall of the body cavity opposite the surgical tool. A magnetic coupling is established between the distal end of the actuation tool and the surgical tool. When the magnetic coupling is established, distal end of the actuation tool is located at the external wall of the body cavity and the surgical tool is located at the internal wall of the body cavity. The surgical tool is manipulated using the actuation tool through the magnetic coupling.

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Номер записи: 39

21-11-2013 дата публикации

Industrial Robot With A Ring-Shaped Trailing Stop

Номер: US20130305866A1

Автор: Christoph Groll, Franz Liebl, Rainer Krumbacher

Принадлежит: KUKA ROBOTER GMBH

The invention relates to an industrial robot which comprises a robot arm having multiple connecting links that are connected by means of joints, in which at least two adjacent connecting links, respectively, are connected by means of a joint, which is designed as a swivel joint, can be adjusted by means of a motor and is defined in its maximum rotatable adjustment angle by means of a mechanical stop device, which connecting links comprise a stop projection which is connected to one of the two adjacent connecting links, an engaging piece which is connected to the other one of the two adjacent connecting links and a drag stop which can be adjusted by the engaging piece, which drag stop comprises a drag stop body and an annular body which is connected with the drag stop body which is pivoted in an annular groove in an inner wall of a housing component of one of the two adjacent connecting links.

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Номер записи: 40

21-11-2013 дата публикации

Industrial robot with actuators extending in a primary hand enclosure

Номер: US20130305869A1

Автор: Rainer Krumbacher

Принадлежит: KUKA ROBOTER GMBH

An industrial robot has a robot arm with a linkage and an arm extension that is pivotable at the linkage. The arm extension has an arm enclosure that is pivotable at the linkage. The arm extension has a primary hand enclosure that can rotate, means of a first actuator that has a first drive shaft, at the arm enclosure around an arm axle extending in the longitudinal dimension of the arm extension. The arm extension has a first-hand element that is adjustable around a first-hand axle relative to the primary hand enclosure by means of a second actuator that has a second drive shaft, and a second-hand element that is adjustable around a second-hand axle relative to the first-hand element by means of a third actuator that has a third drive shaft. The first, second and third actuators are arranged in the primary hand enclosure with their respective drive shafts extending essentially parallel to and at a distance from the arm axle.

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Номер записи: 41

28-11-2013 дата публикации

Implement and operator control for use with same

Номер: US20130312566A1

Автор: Chadwick A. Shaffer

Принадлежит: Toro Co

A power equipment unit such as an electric snowthrower, lawn mower, or the like, and a control system for use with the same. In one embodiment, a key is provided that functions as both a conventional removable key, and also as a push button mechanism to provide dual actuation functionality for a lever of the control system.

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Номер записи: 42

05-12-2013 дата публикации

Wrist unit of industrial robot

Номер: US20130319160A1

Автор: Akihiro OIKAWA

Принадлежит: FANUC Corp

A wrist unit of an industrial robot including an eccentric rocking-type reduction gear. The eccentric rocking-type reduction gear includes a hollow forming part forming a hollow part along the rotation center axial line; a through shaft supported rotatably at the hollow forming part and passing through the hollow part to transmit a rotation from the third wrist drive motor from a first wrist element side to a second wrist element side; a plurality of crankshafts arranged around the through shaft and having input gears at ends of the side of the first wrist element; and a gear member provided rotatably centered about the rotation center axial line, the gear member having a first gear to which a rotational force from the second wrist drive motor is input and a second gear with which the input gears of the plurality of crankshafts engage.

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Номер записи: 43

16-01-2014 дата публикации

Lightweight audio system for automotive applications and method

Номер: US20140016274A1

Автор: Allen E. Oberlin, Curtis Allen Stapert, Jeffrey T. Bell, Joseph K. Huntzinger, Kevin Earl Meyer, Michael G. Coady, Robert L. Vadas, Timothy D. Garner, Vineet Gupta

Принадлежит: Delphi Technologies Inc

A lightweight radio/Audio player for vehicular application includes a case and frontal interface formed of polymer based material molded to provide details to accept audio devices and radio receivers, as well as the circuit boards required for electrical control and display. The case and frontal interface are of composite structure, including an insert molded electrically conductive wire mesh screen that has been pre-formed to contour with the molding operation. The wire mesh provides shielding and grounding of the circuit boards via exposed wire mesh pads and adjacent ground clips.

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Номер записи: 44

23-01-2014 дата публикации

Umbilical member arrangement structure of industrial robot having hollow member

Номер: US20140020498A1

Автор: Satoshi Adachi

Принадлежит: FANUC Corp

An umbilical member arrangement structure capable of being used in a waterproof application, wherein a hollow portion may be independently used for wiring of a work tool, while the motion of an umbilical member for the work tool may be stabilized. A bent hollow member has a first flange attached to a first opening. Between the first flange and a first wrist element, a liquid-tight first seal member is disposed. At a second opening formed on the back side of a forearm base part, a second flange is arranged at a rear end of an I-shaped pipe, and a liquid-tight second seal member, similar to the first seal member 82, is disposed between the second flange and the rear end surface of the base part. The bent hollow member is rotatably connected to the I-shaped pipe via a bearing and an oil seal.

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Номер записи: 45

23-01-2014 дата публикации

Method and Apparatus for Lining Pipe with Multiple Convoluted Bends and Varied Orientations with a Structural Membrane

Номер: US20140020499A1

Автор: Kent Weisenberg

Принадлежит: Quest Inspar LLC

The invention provides an improved method and robotic apparatus for applying a structural membrane lining in conduits. The remotely controlled robot comprises a series of segment blocks maintained in alignment by flexible linear rods supported in spherical swivel bushings. The rods allow for articulation as the robot negotiates bends. Segment blocks include radial guide finger pinions and guide fingers for concentric positioning. Fingers are of engineered plastics and brass to provide ballast weight for perpendicular alignment and contain high frequency air turbine vibrators. Steering vertebrae are included to maintain concentricity of the lining dissipation cup through bends. Also included are electric servo motors controlling cables and take up wheels controlling the angle of the segment blocks. The device includes a flexible motor shaft rotating through a second segment block attached to a flexible shaft connected to a rotating shaft operating a liner dissipation component mounted to the first segment block.

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Номер записи: 46

06-02-2014 дата публикации

Mobile robotic manipulator system

Номер: US20140035306A1

Автор: Daniel Aukes, Harsha Prahlad, Pablo E. Garcia, Roy D. Kombluh, Susan Kim, Thomas P. Low

Принадлежит: SRI International Inc

Robotic hands and finger modules include an under-actuated finger with multiple joints including a distal joint, an intermediate joint, and a proximal joint. A brake subsystem in communication with each of the joints selectively locks and unlocks the joints individually. A robotic hand can selectively lock the joints of a finger individually such that one or more joints are locked while one or more joints are unlocked. In addition, the finger module can drive a tendon coupled to the joints to flex the underactuated finger in a manner determined by which of the joints is locked and which of the joints is unlocked. A robotic hand can move an underactuated finger with its distal and proximal joints unlocked until the finger makes contact with an object, and lock the proximal joint, in response to contact made with the object, while the distal joint remains unlocked.

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Номер записи: 47

20-02-2014 дата публикации

Lightweight audio system for automotive applications and method

Номер: US20140049101A1

Автор: Allen E. Oberlin, Chris R. Snider, Curtis Allen Stapert, Dan D. Carman, Donald G. Moeschberger, Edgar Glenn Hassler, Gary L. Stahl, Jeffrey T. Bell, Jerry J. Wendling, John Michael Matly, Joseph K. Huntzinger, Kevin Earl Meyer, Kip R. Piel, Michael E. Fye, Michael G. Coady, Paul A. Uglum, Paul C. Burton, Philip M. Scott, Quan N. Nguyen, Rick L. Hatcher, Robert L. Vadas, Tim A. Kenworthy, Timothy D. Garner, Vineet Gupta, William R. Reed

Принадлежит: DELPHI TECHNOLOGIES, INC.

A lightweight radio/CD player for vehicular application includes a case and frontal interface formed of polymer based material molded to provide details to accept audio devices and radio receivers, as well as the circuit boards required for electrical control and display. The case and frontal interface are of composite structure, including an insert molded electrically conductive wire mesh screen that has been pre-formed to contour with the molding operation. The wire mesh provides shielding and grounding of the circuit boards via exposed wire mesh pads and adjacent ground clips.

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Номер записи: 48

27-02-2014 дата публикации

Dual scara arm

Номер: US20140056678A1

Автор: Anthony Chesna, Antonio F. Pietrantonio, Hakan Elmali, Ulysses Gilchrist

Принадлежит: Brooks Automation Inc

A substrate transport apparatus having a drive section and a scara arm operably connected to the drive section to move the scara arm. The scara arm has an upper arm and at least one forearm. The forearm is movably mounted to the upper arm and capable of holding a substrate thereon. The upper arm is substantially rigid and is adjustable for changing a predetermined dimension of the upper arm.

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Номер записи: 49

06-03-2014 дата публикации

Robot

Номер: US20140060233A1

Автор: Akihiro Gomi, Akio Niu, Masaki Motoyoshi

Принадлежит: Seiko Epson Corp

A robot includes a base, a first arm that rotates around a first rotation axis, a second arm that rotates around a second rotation axis extending in a direction different than the first rotation axis, a third arm that rotates around a third rotation axis extending in a direction parallel to the second rotation axis, a first inertia sensor at the first arm, a second (a) inertia sensor at the third arm, a first angle sensor at a first drive source, a third angle sensor at a third drive source, and the drive sources rotate the respective arms. Angular velocities from the first inertia sensor and the first angle sensor are fed back to a first drive source control unit. Angular velocities from the second (a) inertia sensor and the third angle sensor are fed back to a second drive source control unit.

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Номер записи: 50

06-03-2014 дата публикации

Multiple joints robot having cover on end effector attachment

Номер: US20140060236A1

Автор: Hideyuki Watanabe

Принадлежит: FANUC Corp

A multiple joint robot includes a wrist part provided with a reduction gear unit capable of receiving an end effector and of transmitting power to the end effector. The reduction gear unit includes a fixed part fixed to the wrist part by means of a fixing element, a rotational part rotatable relative to the fixed part, and a sealing element provided in a circumference of the rotational part. There is a cover at the fixed part of the reduction gear unit, and the fixing element and the sealing element are covered by the cover. The cover is provided to flatten a convex portion or a concave portion formed by the fixing element.

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Номер записи: 51

13-03-2014 дата публикации

Umbilical member arrangement structure of parallel link robot

Номер: US20140069222A1

Автор: Hyunchul Souk

Принадлежит: FANUC Corp

An umbilical member arrangement structure capable of properly arranging an umbilical member in a parallel link robot. A first additional actuator is arranged on a passive link part of a parallel link robot. An Umbilical member is withdrawn from an opening formed on a generally circular bottom surface of a base part, while having a margin, approaches the passive link part, while extending in an intersecting direction with respect to a longitudinal direction of the passive link part, and is connected to the first additional actuator. The “intersecting direction” means a direction extending at an angle of 70 to 110 degrees, preferably 80 to 100 degrees, more preferably about 90 degrees, with respect to the longitudinal direction of the passive link part.

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Номер записи: 52

27-03-2014 дата публикации

Robot having soft arms for locomotion and grip purposes

Номер: US20140083230A1

Автор: Andrea Arienti, Barbara Mazzolai, Cecilia Laschi, Marcello Calisti, Michele Giorelli, Paolo Dario

Принадлежит: Individual

A robot having an overall structure inspired by the Octopus vulgaris is described. The robot has soft arms joined in a radial manner to a central support. The soft arms have the capability of lengthening, shortening and wrapping around in a coil-shape manner. The extremely simple movements and coordination of the soft arms are effective because of the interaction between the single actions. For example during locomotion, while some arms act as a support for stability, the others provide for thrusting allowing the robot to advance. Once near the target, some arms provide for stability whereas the others can bend so as to wrap around and transport external entities.

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Номер записи: 53

02-01-2020 дата публикации

SURGICAL SYSTEM STERILE DRAPE

Номер: US20200000490A1

Автор: Brown Jeffrey D., Cooper Thomas G., Duval Eugene F., Gomez Daniel H., Holop Robert E., McGrogan Anthony K., Ramstad Craig R.

Принадлежит:

A drape includes a first drape portion configured to receive a manipulator arm of a surgical system and a pocket coupled to a distal portion of the first drape portion. The pocket is configured to receive a manipulator of the surgical system. The pocket includes a flexible membrane positionable between an output of the manipulator and an input of a surgical instrument mountable to the manipulator. In some embodiments, the flexible membrane is located at a distal end of the pocket. In some embodiments, the flexible membrane is configured to allow an actuating force to be transmitted from the output of the manipulator to the input of the surgical instrument. In some embodiments, the pocket provides a sterile barrier between the manipulator and the surgical instrument. In some embodiments, the drape further includes a rotatable seal configured to couple a proximal opening of the pocket to the first drape portion. 1. A drape comprising:a first drape portion configured to receive a manipulator arm of a surgical system; anda pocket coupled to a distal portion of the first drape portion; the pocket is configured to receive a manipulator of the surgical system; and', 'the pocket includes a flexible membrane positionable between an output of the manipulator and an input of a surgical instrument mountable to the manipulator., 'wherein2. The drape of claim 1 , wherein the flexible membrane is located at a distal end of the pocket.3. The drape of claim 1 , wherein the pocket is configured to provide a sterile barrier between the manipulator and the surgical instrument.4. The drape of claim 1 , wherein an outer surface of the pocket is sterile.5. The drape of claim 1 , wherein the flexible membrane is configured to allow an actuating force to be transmitted from the output of the manipulator to the input of the surgical instrument.6. The drape of claim 1 , wherein the output of the manipulator is configured to control a grip claim 1 , a translation claim 1 , a wrist claim 1 , or ...

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Номер записи: 54

02-01-2020 дата публикации

Energy Recovering Legged Robotic Device

Номер: US20200001450A1

Автор: Olivier Marc X., Smith Fraser M.

Принадлежит:

A legged robotic device is disclosed. The legged robotic device can include a plurality of support members coupled together for relative movement defining a plurality of degrees of freedom, which can correspond to degrees of freedom of a human leg. The legged robotic device can also include actuators to apply forces or torques to the support members in the degrees of freedom. In addition, the legged robotic device can include potential energy storage mechanisms associated with the degrees of freedom operable to store potential energy as a result of relative movement of the support members in the degrees of freedom and to provide at least a portion of the stored potential energy to the support members as compensating forces or torques to assist the actuators. In one aspect, elastic potential energy can be stored. A spring rate and/or a zero position of the potential energy storage mechanisms can be dynamically variable. 1. A legged robotic device , comprising:a plurality of support members coupled together for relative movement defining a plurality of degrees of freedom, at least one of the plurality of degrees of freedom corresponding to at least one degree of freedom of a human leg;a primary actuator to apply a force or a torque to the support members in the at least one of the plurality of degrees of freedom;a potential energy storage mechanism associated with the at least one of the plurality of degrees of freedom operable to store potential energy as a result of relative movement of the support members in the at least one of the plurality of degrees of freedom and to provide at least a portion of the stored potential energy to the support members as a compensating force or torque to assist the primary actuator, wherein at least one of a zero position or a preload of the potential energy storage mechanism is dynamically variable; anda secondary actuator operable to move an anchor location of the potential energy storage mechanism to facilitate varying the at ...

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Номер записи: 55

02-01-2020 дата публикации

SUBSTRATE TRANSPORT APPARATUS WITH MULTIPLE MOVABLE ARMS UTILIZING A MECHANICAL SWITCH MECHANISM

Номер: US20200001453A1

Автор: HOFMEISTER CHRISTOPHER, Hosek Martin, Krishnasamy Jay, Krupyshev Alexander G., Majczak Krysztof A.

Принадлежит:

A substrate transport apparatus including a frame, a drive section connected to the frame and including at least one independently controllable motor, at least two substrate transport arms connected to the frame and comprising arm links arranged for supporting and transporting substrates, and a mechanical motion switch coupled to the at least one independently controllable motor and the at least two substrate transport arms for effecting the extension and retraction of one of the at least two substrate transport arms while the other one of the at least two substrate transport arms remains in a substantially retracted configuration. 1. A substrate transport apparatus comprising:a drive section having at least two independently controllable motors;an articulated arm including a first SCARA arm being configured to extend in a first direction and a second SCARA arm being configured to extend in a second direction substantially opposite the first direction, each of the first and second SCARA arms having an end effector for holding a substrate thereon; anda coupling operably coupling each of the first and second SCARA arms to each other and to a respective one of the at least two independently controllable motors substantially continuously;the coupling being configured so that relative movement between the at least two independently controllable motors effects extension and retraction of a respective one of the first and second SCARA arms substantially independent of each other.2. The substrate transport apparatus of claim 1 , wherein the coupling includes a parallelogram linkage between an arm segment of the first SCARA arm and a corresponding arm segment of the second SCARA arm claim 1 , the parallelogram linkage being configured so that the arm segment of the first SCARA arm and the corresponding arm segment of the second SCARA arm remain substantially parallel during extension and retraction of the first and second SCARA arms.3. The substrate transport apparatus of ...

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Номер записи: 56

03-01-2019 дата публикации

Systems and methods for tendon-driven robotic mechanisms

Номер: US20190001487A1

Автор: Randall Blake Hellman, Veronica J. Santos

Принадлежит: UNIVERSITY OF CALIFORNIA

Systems and methods for an actuation system including a plurality of single actuation units for modular control of a tendon-driven robotic mechanism are disclosed.

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Номер записи: 57

20-01-2022 дата публикации

Offset remote center manipulator for robotic surgery

Номер: US20220015850A1

Автор: Thomas G. Cooper, Todd R. Solomon

Принадлежит: Intuitive Surgical Operations Inc

Medical, surgical, and/or robotic devices and systems often including offset remote center parallelogram manipulator linkage assemblies which constrains a position of a surgical instrument during minimally invasive robotic surgery are disclosed. The improved remote center manipulator linkage assembly advantageously enhances the range of instrument motion while at the same time reduces the overall complexity, size, and physical weight of the robotic surgical system.

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Номер записи: 58

11-01-2018 дата публикации

ROBOTIC LINKAGE

Номер: US20180008125A1

Автор: OEN Joshua T., PISTOR Christoph Matthias

Принадлежит: INTUITIVE SURGICAL OPERATIONS, INC.

A robotic link may include a link having an outer wall surface and an inner wall surface, and a pair of outer hinge portions on a first end of the link. Each outer hinge portion may have an inner bearing surface positioned between the inner wall surface and an outer ear. The link may include a pair of inner hinge portions on a second end of the link. Each inner hinge portion may have an outer bearing surface positioned between the outer wall surface and an inner ear. 1. (canceled)2. A link of a controllable kinematic chain , comprising:a first end, a second end, and a wall extending between the first end and the second end, wherein the wall comprises an outer wall surface and an inner wall surface;an outer ear extending in a first axial direction away from the first end;an inner bearing surface defined at the first end of the wall, the inner bearing surface extending between the outer ear and the inner wall surface;an inner ear extending in a second axial direction away from the second end; andan outer bearing surface defined at the second end of the wall, the outer bearing surface extending between the inner ear and the outer wall surface,wherein the link is configured to mate with links of a corresponding structure such that the outer bearing surface is configured to support an outer ear of a link with a corresponding structure, and the inner bearing surface is configured to support the inner ear of another link with a corresponding structure.3. The link of claim 2 , wherein the link comprises a polymer.4. The link of claim 2 , wherein the link comprises PEEK.5. The link of claim 2 , further comprising:an additional outer ear extending in the first axial direction away from the first end and positioned diametrically opposite across the link from the outer ear; andan additional inner bearing surface defined at the first end of the wall, the additional inner bearing surface extending between the additional outer ear and the inner wall surface.6. The link of claim 2 ...

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Номер записи: 59

15-01-2015 дата публикации

Wrist structure unit of industrial robot

Номер: US20150013491A1

Автор: Masayoshi Mori

Принадлежит: FANUC Corp

A spur gear deceleration mechanism unit ( 30 ) of a wrist structure unit is adapted to be driven in a first deceleration ratio structure or a second deceleration ratio structure. The first deceleration ratio structure uses at least a first spur gear ( 31 ) fitted onto an output shaft of a wrist inner frame driving motor ( 21 ) and a second spur gear ( 32 ) rotatably supported by a first auxiliary shaft ( 41 ). The second deceleration ratio structure uses at least the first spur gear, a first additional spur gear ( 51 ) rotatably supported by an additional auxiliary shaft ( 50 ), and a second additional spur gear ( 52 ) rotatably supported integrally with the first additional spur gear by the additional auxiliary shaft.

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Номер записи: 60

18-01-2018 дата публикации

SURGICAL SYSTEM INSTRUMENT MOUNTING

Номер: US20180014852A1

Автор: Brown Jeffrey D., Cooper Thomas G., Duval Eugene F., Gomez Daniel H., Holop Robert E., McGrogan Anthony K., Ramstad Craig R., ROGERS Theodore W., Solomon Todd R.

Принадлежит: INTUITIVE SURGICAL OPERATIONS, INC.

Robotic surgical systems and methods of coupling a surgical instrument to a manipulator arm are provided. In one embodiment, a system includes a base; a setup link operably coupled to the base, the setup link locating a remote center of motion for the robotic surgical system; a proximal link operably coupled to the setup link; and a distal link operably coupled to the proximal link. A plurality of instrument manipulators are rotatably coupled to a distal end of the distal link, each of the instrument manipulators including a plurality of actuator outputs distally protruding from a distal end of a frame. 1. An apparatus comprising a surgical instrument manipulator , the surgical instrument manipulator comprising:a frame comprising an outer shell and an inner frame, the inner frame being movably coupled to the outer shell, and the inner frame having a distal end;a plurality of actuator outputs protruding distally from the distal end of the inner frame;an instrument support feature mounted to outer shell, the instrument support feature having a distal end and being configured to support a surgical instrument during engagement of the plurality of actuator outputs with a corresponding plurality of actuator inputs of the surgical instrument; anda latching mechanism coupled to the inner frame, the latching mechanism being configured to move the distal end of the inner frame toward the distal end of the instrument support feature to operably engage the plurality of actuator outputs with the plurality of actuator inputs while the surgical instrument is supported, by the instrument support feature, in a stationary position relative to the instrument support feature.2. The apparatus of claim 1 , the latching mechanism being further configured to move the distal end of the inner frame away from the distal end of the instrument support feature to operably disengage the plurality of actuator outputs from the plurality of actuator inputs while the surgical instrument is supported ...

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Номер записи: 61

18-01-2018 дата публикации

Surgical system for positioning prosthetic component and/or for constraining movement of surgical tool

Номер: US20180014894A1

Автор: Alon Mozes, Benny Hagag, Brian D. Schmitz, Daniel Odermatt, Hyosig Kang

Принадлежит: Mako Surgical Corp

A surgical system for positioning a prosthetic component includes a robotic arm and a surgical tool having an end effector configured to be coupled to the robotic arm. The system further includes a controller programmed to generate control signals, based on a planned pose of the prosthetic component, that cause the robotic arm to allow movement of the surgical tool in at least one degree of freedom and to constrain movement of the surgical tool in other degrees of freedom, wherein the controller is programmed to generate control signals that cause the robotic arm to maintain the constraint as the prosthetic component is implanted on the anatomy.

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Номер записи: 62

16-01-2020 дата публикации

Robotic linkage

Номер: US20200015658A1

Автор: Christoph Matthias Pistor, Joshua T. Oen

Принадлежит: Intuitive Surgical Operations Inc

A flexible instrument comprises a first link and a second link that each comprise a first end, a second end, and a wall extending between the first end and the second end, the wall comprising an outer wall surface and an inner wall surface; an outer ear extending in a first axial direction away from the first end of the link; an inner bearing surface defined at the first end of the link, the inner bearing surface extending between the outer ear and the inner wall surface; an inner ear extending in a second axial direction away from the second end of the link; and an outer bearing surface defined at the second end of the wall, the inner bearing surface extending between the inner ear and the outer wall surface. The instrument further comprises at least one of a position sensor and an orientation sensor located along the wall of the instrument.

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Номер записи: 63

16-01-2020 дата публикации

OFFSET REMOTE CENTER MANIPULATOR FOR ROBOTIC SURGERY

Номер: US20200015919A1

Автор: Cooper Thomas G., Solomon Todd R.

Принадлежит:

Medical, surgical, and/or robotic devices and systems often including offset remote center parallelogram manipulator linkage assemblies which constrains a position of a surgical instrument during minimally invasive robotic surgery are disclosed. The improved remote center manipulator linkage assembly advantageously enhances the range of instrument motion while at the same time reduces the overall complexity, size, and physical weight of the robotic surgical system. 1. An apparatus comprising:a base link having a proximal end and a distal end;a first link having a proximal end and a distal end, the first link proximal end rotatably coupled to the base link distal end;a second link having a proximal end and a distal end, the second link proximal end rotatably coupled to the first link distal end, the second link constrained from rotating relative to the base link such that the second link and base link are parallel with each other; andan instrument holder link rotatably coupled to the second link distal end, the instrument holder link constrained from rotating relative to the first link such that the instrument holder link and the first link are parallel with each other;wherein the second link is bent at an angle so as to provide clearance for the first link to rest on the second link.2. The apparatus of claim 1 , further comprising at least one pulley and at least one flexible element coupled to the pulley that is configured to constrain shaft motion relative to the center of rotation.3. The apparatus of claim 1 , the instrument holder configured to slidably extend the surgical instrument along a longitudinal axis of the instrument holder.4. The apparatus of claim 1 , the first link housing at least one motor for driving the manipulator.5. The apparatus of claim 1 , further comprising a mounting base claim 1 , wherein the base further comprises a linkage axis coupling the proximal and distal ends claim 1 , the base link proximal end directly coupled to the mounting ...

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Номер записи: 64

17-04-2014 дата публикации

Multiple-joint industrial robot

Номер: US20140102240A1

Автор: Masato Yamamoto, Shinji Kitamura, Takahiro Inada

Принадлежит: Kawasaki Jukogyo KK

A wrist portion of a robot includes: a first movable portion configured to rotate relative to an arm portion around a first wrist axis; a second movable portion configured to rotate relative to the first movable portion around a second wrist axis; a third movable portion configured to rotate relative to the second movable portion around a third wrist axis; and a cable insertion portion through which an effector cable is inserted, the effector cable being used to supply electric power to an end effector attached to the third movable portion. The cable insertion portion is provided at the first movable portion so as to be located on the first wrist axis. Two motors among a plurality of motors configured to drive the wrist portion are attached to the first movable portion so as to sandwich the cable insertion portion in a direction perpendicular to the first wrist axis.

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Номер записи: 65

17-04-2014 дата публикации

Umbilical member attachment device of robot

Номер: US20140103168A1

Автор: Hirokazu KUME

Принадлежит: FANUC Corp

An umbilical member attachment device including a first umbilical member-use first fastening part and second fastening part respectively fastening a first umbilical member to a first member and second member, and a second umbilical member-use first fastening part and second fastening part respectively fastening a second umbilical member to a first member and second member. These fastening parts are arranged offset in position from each other on a surface of the robot so that the first umbilical member and the second umbilical member do not cross, and at a reference posture, and so that a distance between the first umbilical member-use second fastening part and the second umbilical member-use second fastening part becomes broader than a distance between the first umbilical member-use first fastening part and the second umbilical member-use first fastening part.

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Номер записи: 66

17-02-2022 дата публикации

ROBOTIC SURGERY SYSTEM INCLUDING POSITION SENSORS USING FIBER BRAGG GRATINGS

Номер: US20220047341A1

Автор: Larkin David Q., Shafer David C.

Принадлежит:

A method for determining a shape of a lumen in an anatomical structure comprises reading information from a plurality of strain sensors disposed substantially along a length of a flexible medical device when the flexible medical device is positioned in the lumen. When the flexible medical device is positioned in the lumen, the flexible medical device conforms to the shape of the lumen. The method further comprises computationally determining, by a processing system, the shape of the lumen based on the information from the plurality of strain sensors. 120-. (canceled)21. A method for determining a shape of a lumen in an anatomical structure , the method comprising:reading information from a plurality of strain sensors disposed substantially along a length of a flexible medical device when the flexible medical device is positioned in the lumen, wherein when the flexible medical device is positioned in the lumen, the flexible medical device conforms to the shape of the lumen; andcomputationally determining, by a processing system, the shape of the lumen based on the information from the plurality of strain sensors.22. The method of claim 21 , wherein the flexible medical device includes a fiber optic cable extending along the length of the flexible medical device claim 21 , and wherein the plurality of strain sensors is configured on the fiber optic cable.23. The method of claim 22 , wherein the fiber optic cable includes a plurality of optical cores claim 22 , and wherein each optical core of the plurality of optical cores includes at least one strain sensor of the plurality of strain sensors.24. The method of claim 23 , wherein each optical core of the plurality of optical cores includes a plurality of sensor regions claim 23 , wherein at each sensor region claim 23 , a strain sensor on a first optical core of the plurality of optical cores is aligned with a strain sensor on each other optical core of the plurality of optical cores.25. The method of claim 24 , ...

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Номер записи: 67

05-02-2015 дата публикации

Control Element for an Industrial Truck

Номер: US20150033899A1

Автор: Christoph Wegener, Hendrik Geilsdorf

Принадлежит: Jungheinrich AG

A control element for an industrial truck with two control levers ( 12, 14 ) and at least one switch ( 22, 24 ) arranged between the control levers, wherein the control levers ( 12, 14 ) are designed respectively for a biaxial movement (K) and are distanced from each other spatially such that the control levers, with the fingers of a hand positioned between the levers without grasping, and the at least one switch between the control levers can be operated.

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Номер записи: 68

31-01-2019 дата публикации

LEVER ASSEMBLY FOR POSITIVE LOCK ADJUSTABLE SEAT POST

Номер: US20190031264A1

Автор: Calendrille, JR. John L., Laird Andrew

Принадлежит: Fox Factory, Inc

A method and apparatus for a seat post assembly that is adjustable to an upper, intermediate, and lower seat post position using a locking member and a sleeve member coupled to an actuator for securing and releasing an inner tube with respect to an outer tube. The actuator may move the sleeve member to release the locking member from engagement with the outer tube to adjust the inner tube and thus the seat post assembly to the upper, intermediate, or lower seat post positions. The actuator and the sleeve may be biased into an initial position that urges the locking member into engagement with outer tube to lock the inner tube to the outer tube. 1a support member, said support member comprising an adjustably secured opening at a first distal end and a support structure at an opposite distal end;a housing, said housing rotatably supporting a first lever and a second lever for manual operation by a user, said housing mountable directly to said support structure to orient said first lever and said second lever in a first orientation and inversely mountable to said support structure to orient said first lever and said second lever in a second orientation;at least one cable coupled with the first lever and with a suspension system;said first lever configured to rotate through a first angular distance to pull an amount of cable necessary to cause an adjustment to said suspension component; andsaid second lever configured to rotate through only a portion of the first angular distance of said first lever, wherein a portion of said second lever overlaps a portion of said first lever, and wherein a force applied to said second lever in one direction causes the first lever to move in a same direction at a same time.. A lever assembly for shifting a suspension system between at least two positions, said lever assembly comprising: This patent application is a continuation application of and claims the benefit of co-pending U.S. patent application Ser. No. 15/593,020, filed May 11 ...

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Номер записи: 69

15-02-2018 дата публикации

Weld Gun Part Clamp Device And Method

Номер: US20180043462A1

Автор: Kilibarda Velibor

Принадлежит:

A combination component handling and connecting device connectable to a multi-axis robot for use in moving and connecting components and subassemblies includes a housing and an actuator fixedly connected to the housing. The actuator includes an actuating link movable from a first position to a second position. Connected to the actuating link is an end effector for concurrent movement with the actuating link. The component handling and connecting device includes a clamp having a first jaw and a second jaw. The second jaw is connected to the actuating link for selectively moving the second jaw toward the first jaw operative to engage a component. 120-. (canceled)21. A method for component handling and connecting of components through through use of a multi-axis robot having an end effector , the end effector having a first clamp jaw and a second clamp jaw , the method comprising:moving an end effector actuator connected to one of a first clamp jaw or a second clamp jaw in a first direction to a clamp open position defining a clamp throat;maneuvering the end effector to position a first component and a second component in the clamp throat;moving the end effector actuator in a second direction to a clamp closed position, the clamp engaging the first component and the second component with the first clamp jaw and the second clamp jaw; andfixedly connecting the first component and the second component together by the first or the second clamp jaw in the clamp closed position.22. The method of further comprising:engaging one of the first component or the second component in a support member positioned in the clamp throat.23. The method of wherein moving the end effector actuator to the clamp closed position and connecting the first component and the second component comprises a single actuator.24. The method of wherein the step of fixedly connecting the first and the second component together comprises welding the first and the second component together.25. The method of ...

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Номер записи: 70

19-02-2015 дата публикации

Lever actuated gimbal plate

Номер: US20150047454A1

Автор: S. Christopher Anderson, Thomas G. Cooper

Принадлежит: Intuitive Surgical Operations Inc

A force transmission transmits forces received by three levers to an input gimbal plate having three support points. The input gimbal play may in turn transmit the force to a wrist assembly coupled to a surgical tool. A first gimbal support point is supported by a first lever having a fulcrum with one degree of rotational freedom. Second and third gimbal support points may be supported by second and third levers having fulcrums with two degrees of rotational freedom. These fulcrums may include a first axle coupled to the lever and a second axle that supports the first axle and provides the fulcrum for the supported lever. A spring may draw the second and third levers toward one another. The force transmission may include a parallelogram linkage that includes a rocker link pivotally coupled to the first lever and having a flat surface that supports the first gimbal support point.

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Номер записи: 71

13-02-2020 дата публикации

Local Control Robotic Surgical Devices and Related Methods

Номер: US20200046440A1

Автор: Eric Markvicka, Jack Mondry, Joe Bartels, Shane Farritor, Tom Frederick

Принадлежит: University of Nebraska

The various robotic medical devices include robotic devices that are disposed within a body cavity and positioned using a support component disposed through an orifice or opening in the body cavity. Additional embodiments relate to devices having arms coupled to a device body wherein the device has a minimal profile such that the device can be easily inserted through smaller incisions in comparison to other devices without such a small profile. Further embodiments relate to methods of operating the above devices.

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Номер записи: 72

08-05-2014 дата публикации

Multiaxial Joint, Particularly for Robotics

Номер: US20140126951A1

Автор: Frank Blase, Leif Kniese, Rudolf Bannasch

Принадлежит: IGUS GMBH

The present invention relates to a multi-axial joint ( 1 ), particularly for robotics. The multiaxial joint comprises a distal joint section ( 2 ) and a proximal joint section ( 4 ) that are pivotably and swivably connected relative to each other via at least one rotatory pivot joint ( 26 ) with a rotational axis ( P ) and at least one rotatory swivel joint ( 13 ) connected in series with the pivot joint ( 26 ) and having a swivel axis (R) extending perpendicular to the rotational axis (P). With such a multiaxial joint it is possible to realize two degrees of freedom. To achieve a compact constructional shape, the pivot joint ( 26 ) and the swivel joint ( 13 ) are united by being slid into each other to form a structural unit. The multiaxial joint ( 1 ) is particularly intended to enable an operation via traction means so as to simulate the movement of an animal or human joint. To absorb great forces, a forked ( 28 ) structure may be chosen.

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Номер записи: 73

13-02-2020 дата публикации

SEMICONDUCTOR STOCKER SYSTEMS AND METHODS

Номер: US20200051845A1

Автор: Rebstock Lutz

Принадлежит:

In an embodiment, the present invention discloses cleaned storage processes and systems for high level cleanliness articles, such as extreme ultraviolet (EUV) reticle carriers. A decontamination chamber can be used to clean the stored workpieces. A purge gas system can be used to prevent contamination of the articles stored within the workpieces. A robot can be used to detect the condition of the storage compartment before delivering the workpiece. A monitor device can be used to monitor the conditions of the stocker. 1. A method for decontaminating a workpiece , wherein the workpiece comprises a first container for storing an article , wherein the first container is stored within a second container , the method comprisingtransferring the workpiece to a first station, wherein the first station is configured to decontaminate the workpiece;establishing a vacuum ambient within the first station;pumping volume between the first container and the second container;monitoring an outgassing of the workpiece, wherein the outgassing is caused by the vacuum ambient and by the pumping;flowing an inactive gas to the first station;flowing an active gas to the volume between the first container and the second container;transferring the workpiece out of the first station.2. A method as in claim 1 , further comprising opening the first container.3. A method as in claim 1 , further comprising opening the second container.4. A method as in claim 1 , further comprising transferring the workpiece from a load port to the first station.5. A method as in claim 1 , further comprising transferring the workpiece from a storage chamber to the first station.6. A method as in claim 1 , further comprising transferring the workpiece from the first station to an unload port.7. A method as in claim 1 , further comprising transferring the workpiece from the first station to a storage chamber.8. A method for storing a multi-compartment workpiece claim 1 , wherein the multi-compartment workpiece ...

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Номер записи: 74

04-03-2021 дата публикации

SURGICAL SYSTEM FOR POSITIONING PROSTHETIC COMPONENT AND/OR FOR CONSTRAINING MOVEMENT OF SURGICAL TOOL

Номер: US20210059771A1

Автор: Hagag Benny, Kang Hyosig, Mozes Alon, ODERMATT Daniel, Schmitz Brian D.

Принадлежит: MAKO Surgical Corp.

An end effector for a computer-assisted surgical system includes a mount configured to be coupled to an arm and a housing coupled to the mount and configured to interchangeably support a first operating, member and a second operating member. When the housing supports the first operating member, the housing is configured to prevent translation of the first operating member relative to the mount. When the housing supports the second operating member, the housing is configured to allow translation of the second operating member relative to the mount along a first axis. 1. A surgical system , comprising:a robotic arm; andan end effector at a distal end of the robotic arm, the end effector configured to interchangeably support a first operating member and a second operating member;wherein, when the end effector supports the second operating member, the end effector provides a passive joint.2. The surgical system of claim 1 , wherein when the end effector supports the first operating member claim 1 , the end effector is configured to prevent translation of the first operating member relative to the distal end of the robotic arm.3. The surgical system of claim 1 , wherein the end effector is configured to provide the passive joint by allowing translation of the second operating member in a longitudinal direction of the second operating member.4. The surgical system of claim 3 , wherein the end effector is configured to provide the passive joint by preventing movement of the second operating member in a radial direction of the second operating member.5. The surgical system of claim 1 , wherein:when the end effector supports the first operating member, the end effector is configured to allow rotation of the first operating member; andwhen the end effector supports the second operating member, the end effector is configured to allow rotation of the second operating member.6. The surgical system of claim 1 , wherein the first operating member comprises a cutting tool.7. The ...

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Номер записи: 75

21-02-2019 дата публикации

DUAL ARM ROBOT

Номер: US20190054612A1

Автор: Kremerman Izya

Принадлежит:

A robot assembly for transporting a substrate is presented. The robot assembly having a first arm and a second arm supported by a column, the first arm further having a first limb, the first limb having a first set of revolute joint/line pairs configured to provide translation and rotation of the distal most link of the first limb in the horizontal plane. The assembly further having a second arm further having a second limb, the second limb comprising a second set of revolute joint/link pairs configured to provide translation and rotation of a distalmost link of the second limb in the horizontal plane. The first limb and second limb further having proximal revolute joints having a common vertical axis of rotation and a proximal inner joint housed in a common housing. The assembly further having an actuator assembly coupled to the first set of revolute joint/link pairs and to the second set of revolute joint/link pairs to effect rotation and translation of the distalmost links of the first limb and the second limb, each of the first limb and the second limb defining, in conjunction with the actuator assembly, at least three degrees of freedom per limb, whereby the distalmost links of the first limb and the second limb are independently horizontally translatable for extension and retraction. 1. A robot assembly comprising: 'a column supported on a base;', 'a vertical motion assembly comprising a rotatable driving member mounted to the column for rotation about a vertical axis parallel to the vertically extending rails;', 'a carriage mounted for reciprocating travel along the pair of vertically extending rails, the carriage comprising a stage configured to support a motor thereon, and a prismatic joint engageable with the column, the stage including a transmission mechanism engageable with the rotatable driving member to transfer rotary motion of the rotatable driving member to linear motion of the carriage;', 'at least one robot arm having an end effector mounting ...

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Номер записи: 76

22-05-2014 дата публикации

Robot

Номер: US20140137686A1

Автор: Kazuyoshi Nogami, Nobukazu Miyauchi

Принадлежит: Yaskawa Electric Corp

A robot includes a plurality of arm elements, a joint portion, and a motor. The joint portion is configured to connect the adjacent arm elements to each other so that they are movable with respect to each other. The motor is configured to generate a driving force to the joint portion. The outer shell of the motor is connected to the arm element, capable of transmitting stress to the arm element, and the motor is connected to the arm element or the joint portion, capable of transmitting stress to the arm element or the joint portion.

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Номер записи: 77

12-03-2015 дата публикации

Robot arm and robot

Номер: US20150068347A1

Автор: Daisuke Kirihara, Kazuto Yoshimura

Принадлежит: Seiko Epson Corp

A robot arm increases a plurality of arm sections that are turnably connected. The arm sections include a plurality of links and an actuator section that turns the plurality of links. The actuator section includes: a cylindrical cover provided on an outer surface; a motor that turns the plurality of links; a motor frame included in the motor; a reduction gear that decelerates rotation from the motor and outputs a torque; a collar fixed to the reduction gear; and a wire body including at least one of a wire and a pipe. At least a part of the wire body is housed between a surface including a first small body section formed by the motor frame and the collar and a surface including a second small body section of the cylindrical cover.

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Номер записи: 78

27-02-2020 дата публикации

Surgical instrument system including replaceable end effectors

Номер: US20200060680A1

Автор: Frederick E. Shelton, IV, Jerome R. Morgan

Принадлежит: Ethicon LLC

A surgical instrument system that includes a housing and a rotatable drive shaft, a motor operably coupled to the drive shaft, and a plurality of replaceable end effectors that can be connected to the housing. Each replaceable end effector includes a drive screw that is turned a fixed number of revolutions by the motor-driven rotatable drive shaft when the end effector is connected to the housing. Each end effector further comprises a firing member operably coupled with the drive screw of the end effector. The drive screw is configured to displace the firing member over a firing length as a result of the fixed number of revolutions. In certain embodiments, each replaceable end effector can include a drive screw with a thread pitch set to the firing length divided by the fixed number of revolutions.

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Номер записи: 79

08-03-2018 дата публикации

ROBOT

Номер: US20180065251A1

Автор: GOMI Akihiro, MOTOYOSHI Masaki, NIU Akio

Принадлежит:

A robot includes a base, a first arm that rotates around a first rotation axis, a second arm that rotates around a second rotation axis extending in a direction different than the first rotation axis, a third arm that rotates around a third rotation axis extending in a direction parallel to the second rotation axis, a first inertia sensor at the first arm, a second (a) inertia sensor at the third arm, a first angle sensor at a first drive source, a third angle sensor at a third drive source, and the drive sources rotate the respective arms. Angular velocities from the first inertia sensor and the first angle sensor are fed back to a first drive source control unit. Angular velocities from the second (a) inertia sensor and the third angle sensor are fed back to a second drive source control unit. 1. A controller controlling a robot including a base , a first arm that is coupled to the base and is rotated around a first rotation axis , a second arm that is rotated around a second rotation axis in a direction different from the first rotation axis , a first inertia sensor that is installed at the first arm , a first drive source that rotates the first arm through a first angular velocity command , and a first angle sensor that detects the rotation angle of the first drive source , comprising:a processor that is configured to feed back a first correction component, which is derived from a first angular velocity of the first arm around the first rotation axis obtained from the first inertia sensor and a second angular velocity of the first arm around the first rotation axis obtained from the first angle sensor, and controls the first drive source.2. The controller according to claim 1 , wherein the processor is configured to control a second arm that is coupled to the first arm based on an output from a second inertia sensor installed at the second arm.3. The controller according to claim 1 , wherein the second arm is coupled to the first arm claim 1 , andthe processor ...

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Номер записи: 80

28-02-2019 дата публикации

Touch Screen Testing Platform for Engaging a Dynamically Positioned Target Feature

Номер: US20190064981A1

Автор: Jenkinson David Ross

Принадлежит:

A touch screen testing platform may be used to engage a dynamically positioned target feature being displayed on a touch screen enabled device during a testing protocol. The platform may record imagery displayed by the touch screen device and then analyze the imagery to locate the target feature within a reference coordinate system. The platform may recognize that the target feature is missing from the imagery and respond by causing the touch screen device to scroll through a command menu and/or toggle through virtual screens. Once located, the platform may instruct a robotic device tester to select the target feature by contacting the touch screen at the identified location using a conductive tip designed to simulate a user's fingertip. Prior to running a test, the camera may be focused to a point that is offset from the display screen of the touch screen device. 1. A system for testing a touch screen device , the system comprising:a camera configured to record an image of a touch screen of the touch screen device;a robot configured to move a tip to contact the touch screen; and receiving, from the camera, the image of the touch screen;', 'determining, based at least in part on the image, a coordinate location of a target feature displayed on the touch screen; and', 'causing the robot to provide an input to the touch screen device by moving the tip to contact the touch screen at the coordinate location to engage with the target feature on the touch screen, the input to the touch screen device to simulate a user selection of the target feature., 'a controller configured to control movement of the tip by the robot by2. The system of claim 1 , wherein the controller causing the robot to provide the input to the touch screen device comprises the controller providing an instruction to the robot to move the tip to contact the touch screen at the coordinate location.3. The system of claim 1 , wherein the controller is further configured to control movement of the tip by ...

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Номер записи: 81

11-03-2021 дата публикации

LEVER ASSEMBLY FOR POSITIVE LOCK ADJUSTABLE SEAT POST

Номер: US20210070387A1

Автор: Calendrille, JR. John L., Laird Andrew

Принадлежит: Fox Factory, Inc

A method and apparatus for a seat post assembly that is adjustable to an upper, intermediate, and lower seat post position using a locking member and a sleeve member coupled to an actuator for securing and releasing an inner tube with respect to an outer tube. The actuator may move the sleeve member to release the locking member from engagement with the outer tube to adjust the inner tube and thus the seat post assembly to the upper, intermediate, or lower seat post positions. The actuator and the sleeve may be biased into an initial position that urges the locking member into engagement with outer tube to lock the inner tube to the outer tube. 1a support member, said support member comprising an adjustably secured opening at a first distal end and a support structure at an opposite distal end;a housing, said housing rotatably supporting a first lever and a second lever for manual operation by a user, said housing mountable directly to said support structure to orient said first lever and said second lever in a first orientation and inversely mountable to said support structure to orient said first lever and said second lever in a second orientation;at least one cable coupled with the first lever and with said suspension system;said first lever configured to rotate through a first angular distance to pull an amount of cable necessary to cause an adjustment to said suspension component; andsaid second lever configured to rotate through only a portion of the first angular distance of said first lever, wherein a portion of said second lever overlaps a portion of said first lever, and wherein a force applied to said second lever in one direction causes the first lever to move in a same direction at a same time.. A lever assembly for shifting a suspension system between at least two positions, said lever assembly comprising: This patent application is a continuation application of and claims the benefit of co-pending U.S. patent application Ser. No. 16/147,010, filed Sep ...

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Номер записи: 82

25-03-2021 дата публикации

SURGICAL SYSTEM INSTRUMENT STERILE ADAPTER

Номер: US20210085411A1

Автор: Holop Robert E., McGrogan Anthony K., Ramstad Craig R.

Принадлежит: INTUITIVE SURGICAL OPERATIONS, INC.

A sterile drape comprises a plurality of sleeves and a plurality of sterile adapters each at a distal end of a corresponding drape sleeve. Each sterile adapter includes a housing configured to receive a distal face of an instrument manipulator having a plurality of manipulator actuator outputs, a membrane interface at a distal end of the housing that includes a plurality of actuator interfaces, and a pair of supports coupled to the housing to retain a surgical instrument having a plurality of instrument actuator inputs so that the plurality of instrument actuator inputs are opposite to corresponding manipulator actuator outputs with a corresponding actuator interface between each corresponding instrument actuator input and manipulator actuator output. Each sterile adapter also comprises a rotatable seal adapted to couple a proximal opening of each drape sleeve to a rotatable element at a distal end of the manipulator arm. 1. A sterile drape , comprising:a plurality of drape sleeves, each of the drape sleeves including an exterior surface to be adjacent a sterile field for performing a surgical procedure and an interior surface to be adjacent a non-sterile instrument manipulator coupled to a manipulator arm of a robotic surgical system; a housing configured to receive a distal face of the instrument manipulator having a plurality of manipulator actuator outputs;', 'a membrane interface disposed at a distal end of the housing, the membrane interface including a plurality of actuator interfaces; and', 'a pair of supports coupled to the housing, the pair of supports configured to retain a surgical instrument having a plurality of instrument actuator inputs so that the plurality of instrument actuator inputs are positioned opposite to corresponding manipulator actuator outputs with a corresponding actuator interface between each corresponding instrument actuator input and manipulator actuator output; and', 'a rotatable seal adapted to couple a proximal opening of each of ...

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Номер записи: 83

02-04-2015 дата публикации

Linear driving mechanism with self-weight compensation, operation input device, and surgery assistance system

Номер: US20150090065A1

Автор: Kosuke Kishi

Принадлежит: Olympus Corp

When the mass of the first moving body is defined as M 1, the mass of the second moving body is defined as M 2, the distance between a first intersection point of a perpendicular line from a rotation center of the rotation axis to the first moving body and a first gravity center of the first moving body when the distance between the first intersection point and the first gravity center in the first moving body is the shortest is defined as L 1, and the distance between a second intersection point of a perpendicular line from the rotation center of the rotation axis to the second moving body and a second gravity center of the second moving body when the distance between the second intersection point and the second gravity center in the second moving body is the shortest is defined as L2, M2=(L1/L2)×M1 is satisfied.

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Номер записи: 84

19-06-2014 дата публикации

Gripping Element And Gripper Input Module For A Haptic Input System

Номер: US20140165770A1

Автор: Jonas Forster, Omid Abri, Stephan Schrader

Принадлежит: How to Organize (H2O) GmbH

A gripping element for arrangement on an adapter element in order to form a gripper input module for a haptic input system for controlling an object, including a receptacle for holding at least two fingers of a user therein, wherein, at least in one portion, the receptacle has a functional connection to at least one sensor means, and at least one connection element for arranging the gripping element on the adapter element, wherein the receptacle is configured such that movement information of a movement of at least one finger of the user in the receptacle can be detected by the sensor means and hence the movement information can be transmitted for controlling the at least one object. There is also disclosed a corresponding adapter element, a gripper input module consisting of a gripping element and adapter element, and also to a haptic input system and medical instrument system.

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Номер записи: 85

09-04-2015 дата публикации

Industrial robot

Номер: US20150096401A1

Автор: Kazunori Matsumoto, Takashi Nagai, Wataru Takahashi

Принадлежит: Panasonic Intellectual Property Management Co Ltd

An industrial robot of the present disclosure includes a manipulator, a control device for controlling the manipulator, and a connection cable that connects the manipulator to the control device. The manipulator includes a fixed base section, a first motor, a first detecting section, a power supply section, a first casing, and a first power supply cable. The first motor operates the manipulator. The first detecting section detects the state of the first motor. The power supply section supplies electric power to the first detecting section. The first casing stores the first motor and the first detecting section. The first power supply cable connects the first detecting section to the power supply section. The power supply section is disposed in the base section.

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Номер записи: 86

01-04-2021 дата публикации

FEMORAL SURGICAL INSTRUMENT AND METHOD OF ASSEMBLING SAME

Номер: US20210093330A1

Автор: Amaral Francisco A., CHANEY REBECCA L., Lee Jonathan C., Livorsi Carl F., Lubensky Janelle M., Macumber William R., Tsukayama Craig S., Walcutt Jeffrey M., Young Duncan G.

Принадлежит:

An orthopaedic surgical instrument may include an elongated body with a proximal end and distal end. A clamp lever may be pivotally coupled to the proximal end of the elongated body. The clamp lever may be moveable between a locked position and an unlocked position. A biasing element may be configured to bias the clamp lever to the locked position. 1. An orthopaedic surgical instrument for use with a surgical broach and a depth stop , the orthopaedic surgical instrument comprising:an elongated body having (i) a distal end that is configured to be impacted by an impaction tool, (ii) a proximal end having a guide pin extending therefrom, the guide pin being configured to be received in an aperture formed in the surgical broach, (iii) a cavity defined therein, the cavity having an open proximal end, and (iv) a plurality of mounting brackets each of which is configured to be coupled to a mounting bracket of the depth stop, each mounting bracket being positioned on the elongated body a predetermined distance from the distal end of the elongated body,a clamp lever pivotally coupled to the elongated body, the clamp lever including a distally extending arm having its distal end positioned in the cavity and a proximally extending arm extending out of the open proximal end of the cavity, the proximally extending arm having a catch formed in its proximal end, wherein the clamp lever is moveable between (i) a locked position in which the catch is spaced a first distance from the guide pin, and (ii) an unlocked position in which the catch is spaced a second distance from the guide pin that is greater than the first distance, anda biasing element configured to bias the proximally extending arm to the locked position.2. The orthopaedic surgical instrument of claim 1 , wherein the catch is configured to engage a flange of the surgical broach when the clamp lever is in the locked position.3. The orthopaedic surgical instrument of claim 1 , wherein the biasing element is a spring.4. ...

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Номер записи: 87

26-06-2014 дата публикации

Apparatus for driving a scara robot and driving method thereof

Номер: US20140174240A1

Автор: Chih-Cheng Peng, Hsin-Hsien Wu, Tsao-Hsiang WANG

Принадлежит: Delta Robot Automatic Co Ltd

An apparatus for driving a SCARA robot is provided. The apparatus includes a body, a horizontal rotating arm, a linear motor coil and a vertical magnetic axis. The linear motor coil is disposed on the horizontal rotating arm, and the vertical magnetic axis is passed through the linear motor coil. Wherein, the vertical magnetic axis can be driven by the linear motor coil of the horizontal rotating arm by a non-contact magnetic force.

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Номер записи: 88

28-03-2019 дата публикации

FLEXIBLE ROBOTIC ACTUATORS

Номер: US20190091858A1

Автор: BRANCH Jamie L., FISH Carina R., ILIEVSKI Filip, JIN Lihua, MARTINEZ Ramses V., MORIN Stephen A., NUNES Rui M.D., SHEPHERD Robert F., STOKES Adam, Suo Zhigang, Whitesides George M.

Принадлежит:

Systems and methods for providing flexible robotic actuators are disclosed. Some embodiments of the disclosed subject matter include a soft robot capable of providing a radial deflection motions; a soft tentacle actuator capable of providing a variety of motions and providing transportation means for various types of materials; and a hybrid robotic system that retains desirable characteristics of both soft robots and hard robots. Some embodiments of the disclosed subject matter also include methods for operating the disclosed robotic systems. 1. A robotic system comprising: an actuator comprising a plurality of fluid channels, and', 'a pressurizing inlet coupled to the plurality of fluid channels, wherein the pressurizing inlet is configured to receive a pressurized fluid to pressurize the plurality of fluid channels to cause a movement of the soft robot and', 'a robotic control system coupled to the soft robot, wherein the robotic control system is configured to provide the pressurized fluid to the pressurizing inlet, wherein the plurality of fluid channels is arranged so that a bending direction of the actuator changes as a function of a pressure level in respective fluid channels., 'a soft robot comprising'}2. The robotic system of claim 1 , further comprising one or more pumps and one or more valves coupled to the pressurizing inlet.3. The robotic system of claim 2 , wherein each of the one or more pumps is coupled to one of the plurality of fluid channels claim 2 , and each of the one or more valves is coupled to one or more of the plurality of fluid channels.4. The robotic system of claim 1 , wherein the robotic control system is configured to actuate the actuator using an actuation sequence associated with the plurality of fluid channels.5. The robotic system of claim 4 , wherein in the actuation sequence claim 4 , the pump and valve are selected to actuate claim 4 , independently claim 4 , the one of the plurality of fluid channels that the pump and valve ...

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Номер записи: 89

28-03-2019 дата публикации

DUAL SCARA ARM

Номер: US20190096726A1

Автор: Chesna Anthony, Elmali Hakan, Gilchrist Ulysses, Pietrantonio Antonio F.

Принадлежит:

A substrate transport apparatus having a drive section and a scara arm operably connected to the drive section to move the scara arm. The scara arm has an upper arm and at least one forearm. The forearm is movably mounted to the upper arm and capable of holding a substrate thereon. The upper arm is substantially rigid and is adjustable for changing a predetermined dimension of the upper arm. 1. A substrate transport apparatus comprising:a drive section defining a first axis of rotation; and an upper arm pivotally joined to the drive section to rotate about the first axis of rotation relative to the drive section, the upper arm being an elongated substantially rectilinear member terminating at opposite ends, the upper arm being located relative to the drive section so that the first axis of rotation is at one end of the opposite ends of the upper arm,', 'a first forearm, having a first end effector depending therefrom, and being pivotally joined to the upper arm at another end of the opposite ends of the upper arm, a joint between the first forearm and the upper arm defining a first elbow joint of the scara arm, and', 'a second forearm, having a second end effector depending therefrom, and being pivotally joined to the upper arm at a same end of the opposite ends of the upper arm as the first forearm, another joint between the second forearm and the upper arm defining a second elbow joint of the scara arm,', 'wherein the first elbow joint and second elbow joint are independent of each other., 'a scara arm movably connected to the drive section, the scara arm including2. The apparatus of claim 1 , wherein the first elbow joint defines a second axis of rotation claim 1 , and the second elbow joint defines a third axis of rotation claim 1 , and wherein the second axis of rotation is radially closer to the first axis of rotation than the third axis of rotation.3. The apparatus of claim 1 , further comprising a controller connected to the drive section claim 1 , the ...

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Номер записи: 90

21-04-2016 дата публикации

Surgical instrument system including replaceable end effectors

Номер: US20160106431A1

Автор: Frederick E. Shelton, IV, Jerome R. Morgan

Принадлежит: Ethicon Endo Surgery LLC

A surgical instrument system that includes a housing and a rotatable drive shaft, a motor operably coupled to the drive shaft, and a plurality of replaceable end effectors that can be connected to the housing. Each replaceable end effector includes a drive screw that is turned a fixed number of revolutions by the motor-driven rotatable drive shaft when the end effector is connected to the housing. Each end effector further comprises a firing member operably coupled with the drive screw of the end effector. The drive screw is configured to displace the firing member over a firing length as a result of the fixed number of revolutions. In certain embodiments, each replaceable end effector can include a drive screw with a thread pitch set to the firing length divided by the fixed number of revolutions.

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Номер записи: 91

19-04-2018 дата публикации

High Capacity Robot Arm

Номер: US20180104828A1

Автор: Ha Tuan Thuc, Hosek Martin

Принадлежит:

A robot arm includes a wrist, an end effector, and an adjustable joint coupling the end effector to the wrist. The adjustable joint includes a member received in a socket. In one example, the member is a ball. In another example, the member is a tang. In both examples, an upper flange and a lower flange can be used to couple the wrist to a forearm. 118-. (canceled)19. A robot arm comprising:a wrist;an end effector coupled to the wrist by an adjustable joint including a rotating portion for rotating the end effector with respect to the wrist and a two point mount for adjusting and leveling the end effector relative to the wrist, where the adjustable joint comprises a socket on the wrist and a tang of the end effector received in the socket; anda leveling adjustment at the adjustable joint.20. The robot arm of where the socket includes an ear and the tang includes a pin received in the ear.21. The robot arm of further comprising a set screw in the wrist abutting the tang for adjusting pitch of the end effector.22. The robot arm of where the adjustable joint and the leveling adjustment are configured to independently adjust pitch and roll of the end effector on the wrist.23. The robot arm of where the adjustable joint comprises brackets attached by fasteners to opposite sides of the wrist claim 19 , where each bracket comprises an adjustment screw configured to contact the end effector and a set screw on the bracket configured to contact the adjustment screw.24. The robot arm of where each bracket comprises two of the set screws configure to contact a same one of the adjustment screws at different angles.25. The robot arm of where the adjustable joint comprises a shoulder adjustment screw connecting the wrist to the tang of the end effector claim 19 , and a set screw on the wrist configured to abut the tang for adjusting pitch of the end effector relative to the wrist.26. The robot arm of where the adjustable joint comprises lateral side portions of the wrist which ...

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Номер записи: 92

30-04-2015 дата публикации

Robot

Номер: US20150114161A1

Автор: Shingo Hoshino, Tetsuya Kawase

Принадлежит: Seiko Epson Corp

A robot according to an aspect of the invention includes an enclosure having an opening formed therein, a lid section that is provided on the enclosure in a detachable manner and blocks at least part of the opening, an attachment and detachment section which is provided on the lid section on the side facing the opening of the enclosure and to and from which a replaceable part is attached and detached, and a holding mechanism that allows the enclosure to hold the lid section when the lid section is detached from the enclosure.

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Номер записи: 93

30-04-2015 дата публикации

Robot

Номер: US20150114162A1

Автор: Daisuke Kirihara, Daisuke Sato

Принадлежит: Seiko Epson Corp

A robot includes a joint as a first member, a link as a second member rotating around a third primary rotational axis in a bending and stretching manner with respect to the joint, a wiring board installed in the joint so that the first surface faces in a direction roughly perpendicular to the third primary rotational axis, and having a connector as a connection section to be connected to one end of an FPC as a flat cable disposed on the first surface, and a reel provided to the link, and formed by winding the other end side of the FPC around a rotational axis roughly parallel to the third primary rotational axis, and the FPC is connected to the first surface roughly perpendicularly to the first surface.

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Номер записи: 94

02-04-2020 дата публикации

Compact direct drive spindle

Номер: US20200101598A1

Автор: Robert T. Caveney

Принадлежит: Brooks Automation Inc

A substrate transport apparatus including a frame, at least one arm link rotatably connected to the frame and a shaftless drive section. The shaftless drive section including stacked drive motors for rotating the at least one arm link relative to the frame through a shaftless interface, each of the stacked drive motors including a stator having stator coils disposed on a fixed post fixed relative to the frame and a rotor substantially peripherally surrounding the stator such that the rotor is connected to a respective one of the at least one arm link for rotating the one of the at least one arm link relative to the frame causing an extension or retraction of the one of the at least one arm link, where the stacked drive motors are disposed in the at least one arm link so that part of each stator is within a common arm link.

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Номер записи: 95

02-06-2022 дата публикации

SUBSTRATE PROCESSING APPARATUS

Номер: US20220172972A1

Автор: CAVENEY ROBERT T., Drew Mitchell, Gilchrist Ulysses, Krishnasamy Jayaraman, MOURA Jairo

Принадлежит:

A substrate processing apparatus including a frame, a first SCARA arm connected to the frame, including an end effector, configured to extend and retract along a first radial axis; a second SCARA arm connected to the frame, including an end effector, configured to extend and retract along a second radial axis, the SCARA arms having a common shoulder axis of rotation; and a drive section coupled to the SCARA arms is configured to independently extend each SCARA arm along a respective radial axis and rotate each SCARA arm about the common shoulder axis of rotation where the first radial axis is angled relative to the second radial axis and the end effector of a respective arm is aligned with a respective radial axis, wherein each end effector is configured to hold at least one substrate and the end effectors are located on a common transfer plane. 1. A substrate processing apparatus comprising:a frame;a drive section connected to the frame, the drive section having a drive axis of rotation;a first arm includingan upper arm link connected to the drive section for rotation about the drive axis of rotation,a forearm link rotatably coupled to the upper arm link about an elbow axis, andan end effector rotatably coupled to the forearm link about a wrist axis; anda second arm includingan upper arm link connected to the drive section for rotation about the drive axis of rotation,a forearm link rotatably coupled to the upper arm link about an elbow axis, andan end effector rotatably coupled to the forearm link about a wrist axis;wherein the first arm is configured so that the second arm is rotatable about the drive axis of rotation in a retracted configuration between the upper arm and forearm of the first arm independent of a position of the first arm.2. The substrate processing apparatus of claim 1 , wherein the drive section includes a coaxial shaft arrangement configured to connect the first and second arms to the drive section.3. The substrate processing apparatus of ...

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Номер записи: 96

10-07-2014 дата публикации

Introducing device system

Номер: US20140190305A1

Автор: Yasuhiro Okamoto

Принадлежит: OLYMPUS MEDICAL SYSTEMS CORP

An introducing device system includes: an insertion portion; a bending portion which is provided at the insertion portion; an operation portion through which an input operation is performed for bending the bending portion; a pulling member connected to the bending portion and pulled in accordance with the operation through the operation portion; a detection section that detects a moving state of the pulling member; a driving unit that rotationally drives; a driving force transmitting unit including an inner circumferential surface configured to be able to contact an outer circumferential surface of the driving unit, and an outer circumference on which the pulling member is wound, the driving force transmitting unit being reduced in diameter in accordance with pulling of the pulling member; and a driving unit control section controls the driving unit when the moving state detected by the detection section is different from a state determined in advance.

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Номер записи: 97

07-05-2015 дата публикации

Actuator and manipulator including the same

Номер: US20150122071A1

Автор: Byung June CHOI, Jeong Hun Kim, Jong Won Lee, Kyung Shik Roh, Se Gon ROH, Yong Jae Kim, Youn Baek Lee

Принадлежит: SAMSUNG ELECTRONICS CO LTD

Disclosed is a manipulator including a wire driving actuator to bend base and terminal sections of a joint assembly in multiple directions by a base section wire and a terminal section wire. The terminal section driving wire is operatively connected to the base section driving wire such that the terminal section driving wire is moved by a distance equal to a movement distance of the base section driving wire. Accordingly, it is possible to prevent bending of the terminal section upon bending the base section.

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Номер записи: 98

03-05-2018 дата публикации

Surgical robotic tools, data architecture, and use

Номер: US20180116735A1

Автор: Christopher A. Julian, Gary S. Guthart, Michael J. Tierney, Robert G. Younge, Stephen J. Blumenkranz, Thomas G. Cooper

Принадлежит: Intuitive Surgical Operations Inc

Robotic surgical tools, systems, and methods for preparing for and performing robotic surgery include a memory mounted on the tool. The memory can perform a number of functions when the tool is loaded on the tool manipulator: first, the memory can provide a signal verifying that the tool is compatible with that particular robotic system. Secondly, the tool memory may identify the tool-type to the robotic system so that the robotic system can reconfigure its programming. Thirdly, the memory of the tool may indicate tool-specific information, including measured calibration offsets indicating misalignment of the tool drive system, tool life data, or the like. This information may be stored in a read only memory (ROM), or in a nonvolatile memory which can be written to only a single time. The invention further provides improved engagement structures for coupling robotic surgical tools with manipulator structures.

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Номер записи: 99

14-05-2015 дата публикации

Controller shifting device

Номер: US20150128751A1

Автор: Cheng-Jy Tien, Chih-Chuan Yang, Eric VAN OLST

Принадлежит: Karma Medical Products Co Ltd

A controller shifting device for interconnecting an armrest and a controller of a powered wheelchair includes an adjustment mechanism. The adjustment mechanism includes a casing, a first connection seat connected to the casing for connection with the armrest, and a second connection seat connected to the casing for installation of the controller. When the casing rotates from an operating position to a folded position, the second connection seat is lowered for placing the controller below the armrest.

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Номер записи: 100