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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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Форма поиска

Поддерживает ввод нескольких поисковых фраз (по одной на строку). При поиске обеспечивает поддержку морфологии русского и английского языка
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Применить Всего найдено 1527. Отображено 100.
05-07-2012 дата публикации

Collision protection device

Номер: US20120168413A1
Автор: Gernot Trauner, Michael Richtsfeld, Stefan Ehrenbrandner
Принадлежит: FRONIUS INTERNATIONAL GMBH

The invention relates to a collision protection device ( 1 ) for connecting a welding torch ( 2 ) connected to a hose pack ( 4 ) to a robot arm ( 3 ) of a welding robot, comprising two coupling elements ( 6, 7 ) that is adapted to be detachably connected to each other by means of magnets ( 8 ), wherein one coupling element ( 6 ) is designed to be connected to the welding torch ( 2 ) or to a torch coupling ( 5 ) that is adapted to be connected to the welding torch ( 2 ), and the other coupling element ( 7 ) is designed to be connected to the robot arm ( 3 ), and the coupling elements ( 6, 7 ) have openings ( 10, 11 ), characterized in that the openings ( 10, 11 ) in the coupling elements ( 6, 7 ) are designed for feeding the hose pack ( 4 ) through, and that the coupling element ( 6 ) that is adapted to be connected to the welding torch ( 2 ) or to the torch coupling ( 5 ), or the torch coupling ( 5 ) comprises elements ( 15 ) to be connected to the hose pack ( 4 ).

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Номер записи: 1
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: 2
04-07-2013 дата публикации

Process Turning Disc With A Cable Guide

Номер: US20130168505A1
Автор: Ljungkvist Joachim
Принадлежит:

A process turning disc includes a first flange configured to support a cable package in a first direction and a second flange configured to support a cable package in a second direction opposite to the first direction. A connecting member connected to the first and the second flanges is configured to support a cable package in a third direction perpendicular to the first direction. A cable guide is fastened to the process turning disc in a detachable manner and includes a cable clamp configured to support a cable package in a fourth direction opposite to the third direction. The cable guide further includes two sliding surfaces configured to support a cable package in the first and the second directions outside of the cable clamp. A bending movement of the cable package is thereby allowed in a plane perpendicular to the axis of rotation of the process turning disc. 1. A process turning disc comprising: a first flange configured to support a cable package in a first direction , a second flange configured to support a cable package in a second direction which is opposite to the first direction , a connecting member connected to the first and the second flanges and configured to support a cable package in a third direction which is perpendicular to the first direction , a cable guide fastened to the process turning disc in a detachable manner and comprising a cable clamp which is configured to support a cable package in a fourth direction which is opposite to the third direction ,characterized in that the cable guide further comprises two sliding surfaces configured to support a cable package in the first and the second directions outside of the cable clamp.2. The process turning disc according to claim 1 , wherein the first direction is parallel with an axis of rotation of the process turning disc.3. The process turning disc according to claim 1 , wherein the sliding surface extend over a sector at least 30 degrees about the axis of rotation of the process turning ...

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Номер записи: 3
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: 4
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: 5
07-01-2021 дата публикации

METHOD FOR MONITORING A SUPPLY SYSTEM OF A ROBOT

Номер: US20210001499A1
Автор: Hitz Bastian
Принадлежит:

A method monitors a supply system of a robot having a robot arm and a robot hand movable relative thereto. The supply system has a supply chain, in particular a cable assembly, and a guide for the supply chain. The supply chain is guided along the robot arm in order to supply the robot hand. The supply system also has a number of sensors for monitoring at least one state variable of the supply system. The functional capability of the supply system is concluded, inferred or predicted from values for the state variable that are determined by the sensors. 115-. (canceled)16. A method for monitoring a supply system of a robot having a robot arm and a robot hand movable relative to the robot arm , the method comprising:providing the supply system with a supply chain and a guide for the supply chain;guiding the supply chain along the robot arm for supplying the robot hand;monitoring at least one state variable of the supply system by using a plurality sensors of the supply system; anddrawing conclusions as to a functionality of the supply system based on values for the state variable ascertained by the sensors.17. The method according to claim 16 , which further comprises providing a cable assembly as the supply chain.18. The method according to claim 16 , which further comprises providing the supply chain with an electrical cable and integrating one of the sensors in the electrical cable.19. The method according to claim 18 , which further comprises providing the one sensor as a bend sensor.20. The method according to claim 18 , which further comprises providing the one sensor as a line element of the electrical cable claim 18 , feeding a sensor signal into the line element and evaluation a response signal of the line element.21. The method according to claim 20 , which further comprises:performing a plurality of individual measurements in a course of a measurement cycle;feeding a measurement signal into the line element per individual measurement;generating a stop ...

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Номер записи: 6
04-01-2018 дата публикации

ROBOT, CONTROL DEVICE, AND ROBOT SYSTEM

Номер: US20180001487A1
Автор: MIYASAKA Hidekatsu, NAKANO Sho
Принадлежит:

In a robot, each of a first flexible member and a second flexible member has a portion fixed to an n-th arm, a portion that is fixed to an (n+1)-th arm, and a portion that is positioned between the n-th arm and the (n+1)-th arm and is wound around a member in a folded state. The portion of the first flexible member that is fixed to the n-th arm is positioned on the member side from the portion of the second flexible member that is fixed to the n-th arm. The portion of the second flexible member that is fixed to the (n+1)-th arm is positioned on the member side from the portion of the first flexible member that is fixed to the (n+1)-th arm. 1. A robot comprising:an n-th arm (n is an integer of 1 or larger);an (n+1)-th arm that is rotatably provided on the n-th arm;a member provided between the n-th arm and the (n+1)-th arm;a first flexible member that has at least one of wiring and a tube cluster; anda second flexible member that has at least one of wiring and a tube cluster,wherein each of the first flexible member and the second flexible member has a portion fixed to the n-th arm, a portion fixed to the (n+1)-th arm, and a portion that is positioned between the n-th arm and the (n+1)-th arm and is wound around the member in a folded state,wherein the portion of the first flexible member that is fixed to the n-th arm is positioned on the member side from the portion of the second flexible member that is fixed to the n-th arm, andwherein the portion of the second flexible member that is fixed to the (n+1)-th arm is positioned on the member side from the portion of the first flexible member that is fixed to the (n+1)-th arm.2. The robot according to claim 1 , further comprising:a bundle of flexible members that includes the first flexible member and the second flexible member,wherein the bundle has a first fixed portion fixed to the n-th arm, a second fixed portion fixed to the (n+1)-th arm, and a folded portion that is positioned between the n-th arm and the (n+1)-th ...

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Номер записи: 7
03-01-2019 дата публикации

WINDING STRUCTURE OF JOINT OF ROBOT AND ROBOT HAVING THE SAME

Номер: US20190001509A1
Автор: Chen Xinpu, HU Feng, Shu Wenquan, Xiong Youjun
Принадлежит:

A winding structure of a joint of a robot includes a first servo, a second servo connected to the first servo, the second servo being rotatable with respect to the first servo, a flexible printed circuit board (FPCB) configured to connect the first servo to the second servo; and a winding assembly connected to the first servo. The winding assembly is used to wind the FPCB thereon. 1. A winding structure of a joint of a robot , comprising:a first servo;a second servo connected to the first servo, the second servo being rotatable with respect to the first servo;a flexible printed circuit board (FPCB) configured to connect the first servo to the second servo; anda winding assembly connected to the first servo, the winding assembly being configured to wind the FPCB thereon.2. The winding structure of claim 1 , wherein the winding assembly comprises a winding disc and a fixing member claim 1 , the winding disc is connected to the first servo and configured to wind the FPCB thereon claim 1 , the fixing member is connected to the first servo and configured to fix one end of the FPCB to the first servo.3. The winding structure of claim 2 , wherein the winding disc comprises a support and a ring claim 2 , the support is connected to the first servo claim 2 , the ring is connected to the support and configured to wind the FPCB thereon.4. The winding structure of claim 3 , wherein the support comprises a main body claim 3 , a limiting portion having two ends connected to a top of the main body claim 3 , a FPCB holding portion extending a bottom of the limiting portion away from the main body claim 3 , and a mounting portion protruding from a bottom of the main body claim 3 , the FPCB holding portion defines a first through hole allowing the FPCB to pass therethrough claim 3 , the ring comprises a ring body and a flange extending radially and outwardly from a lateral surface of the ring body claim 3 , the flange is fixed to the main body.5. The winding structure of further ...

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Номер записи: 8
08-01-2015 дата публикации

ATTACHMENT STRUCTURE FOR DRIVE CABLES OF ROBOT AND ROBOT APPARATUS PROVIDED THEREWITH

Номер: US20150007681A1
Автор: Murakami Wataru
Принадлежит: FANUC Corporation

An attachment structure for drive cables include a first fixing member and a second fixing member separate from the first fixing member, which are designed to fix the drive cables in a non-slidable manner. The first fixing member is disposed behind a pivot body of a robot so as to pivot together with the pivot body. The second fixing member is disposed so as to be spaced apart from the first fixing member in a direction parallel to a rotational axis of an arm of the robot. The drive cables are fixed so as to be convexly curved upward in a portion between the first fixing member and the second fixing member. 1. An attachment structure for drive cables of a robot ,wherein the robot comprises a movable part which is movable so that the robot has any given position and posture, and a stationary part which is fixed independently of the position and posture of the robot,wherein the movable part of the robot comprises:a pivot body attached to the stationary part so as to be able to pivot around a pivot axis;a first arm attached to the pivot body so as to be able to rotate around a first rotational axis; anda second arm attached to the first arm so as to be able to rotate around a second rotational axis,wherein the drive cables includes at least a power cable supplying power to a motor for driving the pivot body, the first arm and the second arm, and a signal cable for transmitting and receiving a signal to and from the motor,wherein the attachment structure comprises a first fixing member and a second fixing member separate from the first fixing member, each of which is configured to fix the drive cables non-slidably,wherein the first fixing member is disposed behind the pivot body so as to pivot together with the pivot body,wherein the second fixing member is disposed in the stationary part and at a distance away from the first fixing member in a direction parallel to the first rotational axis, andwherein the drive cables are fixed by the first fixing member and the ...

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Номер записи: 9
12-01-2017 дата публикации

COVER STRUCTURE OF ROBOT

Номер: US20170008177A1
Автор: EBIHARA Kenzo
Принадлежит: FANUC Corporation

In a cover structure of a robot, the robot includes two or more movable portions, is stored in a cover, and is mounted with an end effector in any one of the two or more movable portions. The cover is fixed to any one of the movable portions other than the movable portion mounted with the end effector among the two or more movable portions, and has a cover opening portion where the end effector is capable of passing. 1. A cover structure of a robot , the robot including two or more movable portions , stored in a cover , and mounted with an end effector in any one of the two or more movable portions , whereinthe cover is fixed to any one of the movable portions other than the movable portion mounted with the end effector among the two or more movable portions, and has a cover opening portion where the end effector is capable of passing.2. The cover structure of the robot according to claim 1 , whereinthe robot is a vertical articulated robot.32. The cover structure of the robot according to claim. claim 1 , whereinthe cover is attached to a rotating axis as the movable portion of a base portion of the vertical articulated robot.4. The cover structure of the robot according to claim 3 , whereinthe cover has a rotationally symmetric shape having substantially the same center as a rotational center of the rotating axis,a fixed wall is disposed outside a rotation trajectory of the cover,the fixed wall has a fixed wall opening portion, andthe cover is disposed so as to block the fixed wall opening portion.5. The cover structure of the robot according to claim 4 , whereinthe fixed wall is formed of at least one surface extending radially from substantially the same central axis as the rotational center of the rotating axis, andthe cover opening portion faces any one of a plurality of areas partitioned by the surface.6. The cover structure of the robot according to any one of to claim 4 , whereinanother cover blocking the cover opening portion is attached to a movable ...

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Номер записи: 10
09-01-2020 дата публикации

Robot wrist structure

Номер: US20200009747A1
Автор: Shunsuke ABIKO, Toshihiko Inoue
Принадлежит: FANUC Corp

A robot wrist structure includes a first wrist element that is supported by a forearm in a rotatable manner about a first axis; a second wrist element that is supported by the first wrist element in a rotatable manner about a second axis that is orthogonal to the first axis; and a third wrist element that is supported by the second wrist element in a rotatable manner about a third axis that is orthogonal to the second axis and that is disposed in the same plane as the first axis. Further the second wrist element is provided with, at a position at which the second axis is included, a second axial hollow hole that passes therethrough in a direction along the second axis.

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Номер записи: 11
19-01-2017 дата публикации

ROBOT SYSTEM AND CABLE

Номер: US20170015008A1
Автор: KOJIMA Takashi, YAMAZAKI Takema
Принадлежит:

A robot system includes a plurality of drive parts, a control unit that controls power for driving the drive parts by switching, and a cable that connects the drive parts and the control unit, wherein the cable has a plurality of power lines, a plurality of frame ground lines, and a shield, a first interposition object is provided between the plurality of power lines and the shield, and, in a section of the cable, respective centers of the plurality of frame ground lines are closer to the shield than respective centers of the plurality of power lines. 1. A robot system comprising:a plurality of drive parts;a control unit that controls power for driving the drive parts by switching; anda cable that connects the drive parts and the control unit,wherein the cable has a plurality of power lines, a plurality of frame ground lines, and a shield,a first interposition object is provided between the plurality of power lines and the shield, andin a section of the cable, respective centers of the plurality of frame ground lines are closer to the shield than respective centers of the plurality of power lines.2. The robot system according to claim 1 , wherein a second interposition object is provided between the plurality of power lines and the plurality of frame ground lines.3. The robot system according to claim 2 , wherein at least one of the first interposition object and the second interposition object is an insulator.4. The robot system according to claim 1 , wherein the power line includes a conductor wire and an insulator.5. The robot system according to claim 4 , wherein the frame ground line includes a conductor wire and an insulator claim 4 , anda thickness of the insulator of the frame ground line is thinner than a thickness of the insulator of the power line.6. The robot system according to claim 3 , wherein the insulator is at least one of air claim 3 , cotton claim 3 , or plastic.7. The robot system according to claim 2 , wherein at least one of the first ...

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Номер записи: 12
21-01-2021 дата публикации

ROBOT DRIVE UNIT AND ROBOT

Номер: US20210016432A1
Автор: MIZUKOSHI Tomoaki, NAKAYAMA Kazutaka
Принадлежит: FANUC Corporation

A robot drive unit is provided with: a housing; a shaft body that is relatively rotated with respect to the housing; rotating-body sealing members that is provided in the housing; a contact-surface member that is provided on the shaft body and that contact with the rotating-body sealing members; and a sealing member that seals a gap between the shaft body and the contact-surface member. 1. A robot drive unit comprising:a housing;a shaft body that is relatively rotated with respect to the housing;rotating-body sealing members that is provided in the housing;a contact-surface member that is provided on the shaft body and that contact with the rotating-body sealing members; anda sealing member that seals a gap between the shaft body and the contact-surface member.2. The robot drive unit according to claim 1 , wherein the rotating-body sealing members seal the gap while allowing relative rotation of the shaft body with respect to the housing.3. The robot drive unit according to claim 1 , further comprising a bearing that supports the shaft body so as to be rotatable with respect to the housing.4. The robot drive unit according to claim 3 , wherein the bearing is disposed at such a position so as to overlap with at least part of the contact-surface member in a direction along an axis of the shaft body.5. The robot drive unit according to claim 1 , wherein the contact-surface member is formed into a cylinder shape so as to cover the entire circumference of part of an outer circumferential surface of the shaft body in a direction along an axis of the shaft body.6. The robot drive unit according to claim 5 , wherein the sealing member seals a gap between an inner circumferential surface of the contact-surface member and the outer circumferential surface of the shaft body.7. The robot drive unit according to claim 6 , wherein a plurality of the sealing members are arranged in the direction of the axis.8. The robot drive unit according to claim 1 , wherein the contact-surface ...

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Номер записи: 13
21-01-2021 дата публикации

SYSTEM AND METHOD FOR CONFIGURING AND SERVICING A ROBOTIC HOST PLATFORM

Номер: US20210016433A1
Автор: Bidram Farhang, Doustmohammadi Afshin, Pourazadi Shahram
Принадлежит:

A robotic method and system for providing robotic functions associated with performing an automated task is disclosed. The system includes a host platform operably configured to provide at least some of the robotic functions for performing the automated task and having at least one interface operably configured to receive a modular component operable to provide additional robotic functions for performing the automated task. The system also includes a processor circuit disposed on at least one of the host platform land the modular component. The at least one interface includes a mechanical interface having mounting features that correspond to mounting features on the modular component for removably mounting the modular component, a signal interface for transmitting signals between the modular component and the host platform, and a data interface implemented on the processor circuit and operable to provide functionality for exchanging at least one of commands for performing the additional functions or data associated with the additional functions between the modular component and the processor circuit. 1. A robotic system for providing robotic functions associated with performing an automated task , the system comprising:a host platform operably configured to provide at least some of the robotic functions for performing the automated task and having at least one interface operably configured to receive a modular component, the modular component being operable to provide additional robotic functions for performing the automated task;a processor circuit disposed on at least one of the host platform and the modular component; and a mechanical interface having mounting features that correspond to mounting features on the modular component for removably mounting the modular component to the mechanical interface of the host platform;', 'a signal interface for transmitting signals between the modular component and the host platform; and', 'a data interface implemented on the ...

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Номер записи: 14
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: 15
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: 16
28-01-2016 дата публикации

ROBOT

Номер: US20160023360A1
Автор: ICHIBANGASE Atsushi, IZAWA Tamon, SAITO Hiroshi
Принадлежит: KABUSHIKI KAISHA YASKAWA DENKI

A robot includes a turnable base, a lower arm, an upper arm, a space, and a routing member. The turnable base is coupled to a base fixed to an installation surface. The turnable base is turnable about a first axis. The lower arm has a first base end coupled to the turnable base and rotatable about a second axis approximately orthogonal to the first axis. The upper arm has a second base end coupled to the lower arm and rotatable about a third axis approximately parallel to the second axis. The space is disposed in the lower arm and extends in a length direction of the lower arm. The routing member is routed in the space and has at least two bent portions bent in the space. 1. A robot comprising:a turnable base coupled to a base fixed to an installation surface, the turnable base being turnable about a first axis;a lower arm comprising a first base end coupled to the turnable base and rotatable about a second axis approximately orthogonal to the first axis;an upper arm comprising a second base end coupled to the lower arm and rotatable about a third axis approximately parallel to the second axis;a space disposed in the lower arm and extending in a length direction of the lower arm; anda routing member routed in the space and comprising at least two bent portions bent in the space.2. The robot according to claim 1 , wherein the routing member comprises one end coupled to a turnable portion of the lower arm and windable around the second axis claim 1 , and comprises another end coupled to a turnable portion of the upper arm and windable around the third axis.3. The robot according to claim 1 , further comprising a turnable support disposed between the second axis and the third axis in the space and rotatable about an axis approximately parallel to the second axis and the third axis claim 1 , wherein the routing member comprises a middle portion fixed to and supported by the turnable support.4. The robot according to claim 1 , wherein the routing member comprises a ...

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Номер записи: 17
26-01-2017 дата публикации

GUIDE SYSTEM FOR SUPPLY LINES AND ROBOT HAVING A GUIDE SYSTEM

Номер: US20170023154A1
Автор: JAEKER Thilo-Alexander, STEEGER Ralf
Принадлежит:

The invention relates to a guide system for supply lines for a handling device, particularly for a robot, having a guide base, a deflecting element guided along a linear travel path by the guide base, and a chain-like, hose-like or belt-like strand, where the deflecting element can travel along the travel path, from a retracted position into an extended position, by means of a tensile force acting on the strand and against a restoring force, the restoring force being generated by a restoring device located on or in the guide base. The restoring device displays at least one elastic cord or elastic belt that is guided around a deflecting device located on or in the guide base, adjacent to the retracted position of the deflecting element, and, adjoining it, a first section that is connected to the deflecting element, and a second section that is connected to the guide base. The invention furthermore relates to a handling device, particularly robot, having a guide system of this kind. 1. Guide system for supply lines for a handling device , particularly for a robot , having a guide base , a deflecting element guided along a linear travel path by the guide base , and a chain-like , hose-like or belt-like strand , in or on which the supply lines can be arranged , where the strand , forming a reversing bend , is guided around the deflecting element and displays two branches adjoining the ends of the reversing bend , each having a connecting point located on its free end , specifically a first connecting point that is stationary relative to the guide base and a second connecting point that moves relative to the guide base , and where the deflecting element can travel from a retracted position into an extended position , by means of a tensile force acting on the branch having the second connecting point and against a restoring force , where the restoring force can be generated by a restoring device located on or in the guide base , characterized in that the restoring device ...

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Номер записи: 18
28-01-2021 дата публикации

ARTICULATED ARM ROBOT JOINT ARRANGEMENT

Номер: US20210023722A1
Автор: Reekers Andre, Riedel Martin, Schober Wolfgang, Torres Jorge, Zasche Moritz, Zurmuehlen Florian
Принадлежит:

A joint arrangement for an articulated arm robot includes a first structural member and a second structural member which is mounted, in particular floatingly mounted, in a pivot bearing on the first structural member. A first cable has a first cable portion arranged on the first structural member and a second cable portion arranged on the second structural member. The first and second cable portions are connected in a first cable loop. In one embodiment the joint arrangement has a torque sensor. 110-. (canceled)11. A joint arrangement for an articulated arm robot , comprising:a first structural member of the robot;a second structural member mounted on the first structural member in a pivot bearing;at least one first cable having a first cable portion arranged on the first structural member and a second cable portion arranged on the second structural member;wherein the first and second cable portions are connected in a first cable loop; and a torque sensor configured for recording an axial torque between the first and second structural member, or', 'an electric drive configured for adjusting the first and second structural member with respect to one another., 'at least one of12. The joint arrangement of claim 11 , wherein the second structural member is mounted on the first structural member in a cantilever manner.13. The joint arrangement of claim 12 , wherein at least one of the torque sensor or electronic drive is at least partly covered by the first cable loop.14. The joint arrangement of claim 11 , wherein:the at least one first cable comprises a plurality of first cables, each having respective first and second cable portions connected in a cable loop; and the cable loops are arranged one inside the other,', 'the cable loops are curved in the same direction,', 'the cable loops extend in the same direction, or', 'the cable loops encompass the pivot bearing in the same direction., 'at least one of15. The joint arrangement of claim 14 , wherein a radial offset ...

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Номер записи: 19
29-01-2015 дата публикации

ROBOT AND MANUFACTURING METHOD OF THE SAME

Номер: US20150027261A1
Автор: HIRO Tatsuo, KANAMORI Takahiko, OKAHISA Manabu
Принадлежит: KABUSHIKI KAISHA YASKAWA DENKI

A robot according to an aspect of an embodiment includes a robot arm, an attaching portion, an end effector, an end-effector-side cable, and a robot-side cable. The attaching portion is provided on a leading end of the robot arm. The end effector is attached to the attaching portion. The end-effector-side cable extends from the end effector. The robot-side cable is arranged along the robot arm and is connected to the end-effector-side cable by terminal connection at a position closer to the end effector than the attaching portion. 1. A robot comprising:a robot arm;an attaching portion provided on a leading end of the robot arm;an end effector attached to the attaching portion;an end-effector-side cable extending from the end effector; anda robot-side cable arranged along the robot arm and connected to the end-effector-side cable by terminal connection at a position closer to the end effector than the attaching portion.2. The robot according to claim 1 , wherein the robot-side cable and the end-effector-side cable include therein wiring through which power is supplied from the robot arm to the end effector of the robot.3. The robot according to claim 1 , further comprising a connection portion via which the robot-side cable is connected to the end-effector-side cable claim 1 , whereinthe connection portion is covered with an insulative tube.4. The robot according to claim 2 , further comprising a connection portion via which the robot-side cable is connected to the end-effector-side cable claim 2 , whereinthe connection portion is covered with an insulative tube.5. The robot according to claim 1 , wherein the end effector includes a spot welding gun.6. The robot according to claim 2 , wherein the end effector includes a spot welding gun.7. The robot according to claim 3 , wherein the end effector includes a spot welding gun.8. The robot according to claim 4 , wherein the end effector includes a spot welding gun.9. The robot according to claim 1 , wherein the robot- ...

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Номер записи: 20
01-02-2018 дата публикации

Robot System

Номер: US20180029239A1
Автор: Fodor Robert, Von Tiesenhausen Cyrill
Принадлежит:

The invention relates to a robot system comprising (I) a robot () for guiding an application part (). The robot () has the following: (a) a robot arm () with a base (), a region () which is proximal to the base (), a region () which is distal to the base (), and a securing device () for securing the application part (), in particular in a removable manner, said securing device () being arranged in the distal region (); b) a grounding (); and (c) a cable () for connecting to the application part () and to a control device (), in particular in a removable manner, comprising at least one signal line () and/or at least one energy supply line (), a protection conductor (), a distal connection means () for electrically connecting the application part () to the cable (), in particular in a removable manner, and a proximal connection means () for electrically connecting the control device () to the cable (), in particular in a removable manner; and (II) an adapter () which has an electric line for () for electrically connecting the protection conductor () of the cable () to the grounding () of the robot (), in particular in a removable manner. The invention further relates to a method for producing a robot system of the aforementioned type and to a use of a robot system of the aforementioned type. 1. Robot system with:{'b': 100', '300', '100, 'claim-text': [{'b': '110', 'claim-text': [{'b': '112', 'a base ();'}, {'b': 114', '112, 'an area () that is proximal to the base ();'}, {'b': 116', '112', '130', '300', '130', '116, 'an area () that is distal to the base (); and a mounting device () for the, in particular detachable, mounting of the application part (), wherein the mounting device () is disposed in the distal area ();'}], '(a) a robot arm () with'}, {'b': '180', '(b) a grounding (); and'}, {'b': 200', '300', '500, 'claim-text': [{'b': 250', '240, 'at least one signal line () and/or at least one power supply line ();'}, {'b': '230', 'a protective conductor ();'}, {'b': ...

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Номер записи: 21
17-02-2022 дата публикации

METHOD OF MANUFACTURING A CUSHION

Номер: US20220048268A1
Автор: BALDINGER Andreas, FERNER Tobias, WOHLKINGER Walter, ZILLICH Michael
Принадлежит:

Method for producing a cushion with a casing made of an airtight casing material and a flexible, polydirectionally air-permeable filling body which is arranged in the casing and which is materially connected to the casing. The method includes at least the following steps: coating a first mold cavity of a molding tool with a curable, flowable and/or sprayable plastic material to form a first casing shell, coating a second mold cavity of the molding tool with the curable, flowable and/or sprayable plastic material to form a second casing shell, inserting a pre-produced filling body into the first casing shell located in the first mold cavity, and joining together of the first and second casing shells located in the first mold cavity and in the second mold cavity before the plastic material cures or fully reacts. 1. A method for producing a cushion with a casing made of an airtight casing material and a flexible , polydirectionally air-permeable filling body which is arranged in the casing and which is materially connected to the casing , wherein the method comprises at least the following steps:coating a first mold cavity of a molding tool with a curable, flowable and/or sprayable plastic material to form a first casing shell,coating a second mold cavity of the molding tool with the curable, flowable and/or sprayable plastic material to form a second casing shell,inserting a pre-produced filling body into the first casing shell located in the first mold cavity,joining together the first and second casing shells located in the first mold cavity and in the second mold cavity before the curable, flowable and/or sprayable plastic material cures or fully reacts, such that the curable, flowable and/or sprayable plastic material of the first and second casing shells penetrates an entire surface on the filling body.2. The method according to claim 1 , wherein the coating of the first mold cavity and the second mold cavity with the curable claim 1 , flowable and/or sprayable ...

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Номер записи: 22
30-01-2020 дата публикации

EXPLOSION-PROOF ROBOT

Номер: US20200030989A1
Автор: Hisakawa Kyohei, Kamiyoshi Atsushi, Kobori Syuhei, Okazaki Hiroyoshi, Onishi Ken, Shukutani Koji
Принадлежит: MITSUBISHI HEAVY INDUSTRIES, LTD.

An explosion-proof robot is an explosion-proof robot which is capable of self-propulsion on a field and includes: an explosion-proof casing of a hollow shape inside of which at least one electric component is placed; and a cover including a nonmetal material and covering at least part of an outer surface of the explosion-proof casing. 1. An explosion-proof robot capable of self-propulsion on a field , comprising:an explosion-proof casing of a hollow shape inside of which at least one electric component is placed; anda cover including a nonmetal material and covering at least part of an outer surface of the explosion-proof casing.2. The explosion-proof robot according to claim 1 , wherein the cover covers at least a side face of the explosion-proof casing.3. The explosion-proof robot according to claim 1 , wherein the cover includes a nonmetal material which is electrically conductive.4. The explosion-proof robot according to claim 3 , wherein an inner surface resistance value and an outer surface resistance value of the cover are 1.0×10Ω or less.5. The explosion-proof robot according to claim 1 , wherein the cover is formed to be softer than the explosion-proof casing.6. The explosion-proof robot according to claim 1 , wherein the nonmetal material includes leather.7. The explosion-proof robot according to claim 1 , wherein the nonmetal material includes conductive synthetic rubber.8. The explosion-proof robot according to claim 1 , further comprising a self-propelled unit provided on at least one surface of the explosion-proof casing claim 1 ,wherein the nonmetal material is provided to cover at least around the self-propelled unit of the explosion-proof casing. The present disclosure relates to an explosion-proof robot that can be used in an explosive atmosphere.Explosion-proof equipment to which explosion-proof measures are applied from the viewpoint of industrial safety is used for disaster prevention work and building maintenance work in the explosive ...

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Номер записи: 23
05-02-2015 дата публикации

Robot

Номер: US20150039125A1
Автор: Kaori SAKAKI, Masato Ito, Shingi Takahashi, Tomoyuki Shiraki
Принадлежит: Yaskawa Electric Corp

A robot includes: a stage unit; a rotation base connected to the stage unit in a rotatable manner around a predetermined rotating axis; an arm unit connected to the rotation base and having a base end rotatable around a first rotation axis that is substantially orthogonal to the rotating axis; a first attachment unit provided to the rotation base, arranged in an outside, in a rotation radius direction, of the rotation base and nearer to the stage unit than the first rotation axis, and formed so that one part of a balancer is attached thereto; and a second attachment unit provided to the arm unit and formed so that another part of the balancer is attached thereto.

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Номер записи: 24
12-02-2015 дата публикации

WIRING STRUCTURE FOR ROBOT ARM

Номер: US20150040713A1
Автор: HIRANO Akifumi
Принадлежит: YAMAHA HATSUDOKI KABUSHIKI KAISHA

A wiring structure for a robot arm includes a pair of arm members that each have a hollow shaft shape including a first end section and a second end section, and that are arranged to be parallel to each other. A wire-shaped body is introduced into the arm member from the first end section and led out of the arm member through the second end section so as to penetrate at least one of the pair of arm members in an axis direction of the arm member. A regulating member is provided at least in an intermediate region of the arm member in the longitudinal direction to regulate a displacement of the wire-shaped body within the arm member in a radial direction of the arm member. 1. A wiring structure for a robot arm , comprising:a pair of arm members that each have a hollow shaft shape including a first end section and a second end section, and that are arranged to be parallel to each other;a wire-shaped body introduced into the arm member from the first end section and led out of the arm member through the second end section so as to penetrate at least one of the pair of arm members in an axis direction of the arm member; anda regulating member provided at least in an intermediate region of the arm member in the axis direction to regulate a displacement of the wire-shaped body within the arm member in a radial direction of the arm member.2. The wiring structure for a robot arm according to claim 1 , wherein the regulating member has a shape surrounding an outer circumference of the wire-shaped body.3. The wiring structure for a robot arm according to claim 2 , wherein the regulating member surrounds an entire outer circumference of the wire-shaped body.4. The wiring structure for a robot arm according to claim 2 , wherein the regulating member is a buffer material that is formed of an elastic material and is interposed between an inner circumferential surface of the arm member and the wire-shaped body.5. The wiring structure for a robot arm according to claim 4 , wherein ...

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Номер записи: 25
18-02-2016 дата публикации

SELECTIVE COMPLIANCE ASSEMBLY ROBOT ARM

Номер: US20160046020A1
Автор: CHANG Yu-Jung, CHEN Yao-Hui, Cheng Chia-Yu, CHUO Yung-Tsai, WANG Fu-Ching
Принадлежит:

A SCARA arm includes a base, a first arm, a second arm, a third linear shaft motor, and a fourth shaft motor. On the base is disposed a first shaft motor. The first arm is connected to and driven by the first shaft motor rotate in a horizontal direction. The second arm is fixed to a second shaft motor which is connected to the first arm to rotate the second arm in the horizontal direction. The third linear shaft motor includes a linear motor stator which extends in a vertical direction and is fixed to the second arm, and a linear motor mover which is sleeved onto the linear motor stator and movable along the vertical direction. The fourth shaft motor is drivingly connected to the linear motor mover and a rotary shaft, respectively, and another end of the rotary shaft is inserted out of the second arm. 1. A selective compliance assembly robot arm comprising:a base, on which being disposed a first shaft motor;a first arm with one end connected to the first gear reduction mechanism of the first shaft motor being driven to rotate in a horizontal direction by the first shaft motor;a second arm with one end fixed to a second shaft motor, the second shaft motor being connected to another end of the first arm to drive the second arm to rotate in the horizontal direction;a third linear shaft motor including a linear motor stator and a linear motor mover, the linear motor stator extending in a vertical direction perpendicular to the horizontal direction and being fixed to the second arm, the linear motor mover being sleeved onto the linear motor stator and movable along the vertical direction; anda fourth shaft motor being drivingly connected to the linear motor mover and being connected to one end of a rotary shaft, so as to drive the rotary shaft to rotate, another end of the rotary shaft being inserted out of the second arm.2. The selective compliance assembly robot arm as claimed in claim 1 , wherein the fourth shaft motor is fixed to a driven member by a fourth-shaft- ...

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Номер записи: 26
03-03-2022 дата публикации

Electrothermal Manipulator

Номер: US20220063110A1
Автор: KIM Byoungsoo, KIM Min Ku, KONG Hyunjoon, LEE Chi Hwan, LEE Jonghwi
Принадлежит:

Provided herein are manipulators for handling fragile layers and related methods of handling using the manipulators. The manipulators comprise a contact surface with thermally responsive recess features and a microelectric heater in thermal contact with the contact surface. In this manner, the manipulator is an electrothermal manipulator, with changes in temperature providing a contact force to pick-up a transferable layer material and a release force to facilitate release of the transferable from the manipulator. 1. A manipulator comprising:a contact layer having a contact surface with thermally responsive recess features;a microelectric heater in thermal contact with the contact surface;an electrical power source electrically connected to the microelectric heater; a thermally actuated geometry with microelectric heater actuation; and', 'a thermally relaxed geometry without microelectric heater actuation,', 'wherein the thermally actuated geometry is different than the thermally relaxed geometry., 'wherein the thermally responsive recess features have2. The manipulator of claim 1 , wherein the contact layer comprises a polymeric hydrogel or an elastomer.3. The manipulator of claim 1 , wherein the contact layer:is soft with an anisotropic elastic modulus less than or equal to 10 kPa, with the elastic modulus in a direction perpendicular to an alignment direction of the recess features that is 1.5 to 2.5 times lower than the elastic modulus in a direction parallel to the alignment direction of the recess features;has an average thickness that is greater than or equal to 100 μm and less than or equal to 1 cm;{'sup': 2', '2, 'has a footprint that is greater than or equal to 10 mmand less than or equal to 350 cm;'}has a thermal responsivity that is equal to or less than 10 seconds;has a recess feature porosity of between 90% and 98%; and/orhas recess features that are aligned microchannels with an average channel diameter of between 0.1 μm and 500 μm.4. The manipulator ...

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Номер записи: 27
03-03-2022 дата публикации

PROTECTIVE CAP FOR A ROBOT END EFFECTOR

Номер: US20220063113A1
Автор: III James Thomas, McCartney, Pavlik Frantisek
Принадлежит: WaferPath, Inc.

An end effector for a robot comprises a body and two arms depending from the body. Each arm includes mating features defined therein and a sensor located therein. A protective cap is coupled to each arm, each protective cap including mating features for interlocking with the mating features of the arms. The protective caps may each be coupled to the end effector by a single fastener. 1. An end effector for a robot , comprising:a body;an arm depending from the body, the arm including mating features defined therein;a sensor located in the arm; anda protective cap coupled to the arm, the protective cap including mating features for interlocking with the mating features of the arm.2. The end effector of further comprising a single fastener to couple the protective cap to the arm.3. The end effector of wherein the mating features of the arm and the mating features of the protective cap are tongue-and-groove features.4. The end effector of wherein the single fastener is parallel to a longitudinal axis of the end effector.5. The end effector of wherein the single fastener is perpendicular to a longitudinal axis of the end effector.6. The end effector of wherein the end effector and the protective cap are formed from the same material.7. The end effector of wherein the protective cap is formed from an ablative material.8. The end effector of wherein the protective cap is formed from a shock absorbing material.9. The end effector of wherein the protective cap is formed from a deformable material.10. The end effector of further comprising a second arm depending from the body claim 1 , the second arm including mating features defined therein;a sensor located in the second arm; anda protective cap coupled to the second arm, the protective cap including mating features for interlocking with the mating features of the second arm.11. The end effector of wherein the sensor located in the arm and the sensor located in the second arm are an optical emitter and receiver pair that ...

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Номер записи: 28
14-02-2019 дата публикации

Protective Device for an Effector of a Manipulator, Device for Manipulating Workpieces, and a Method for Actuating a Device for Manipulating Workpieces

Номер: US20190047160A1
Автор: Höppner Hannes, Weitschat Roman
Принадлежит:

A protective device for an effector of a manipulator includes a shell having a plurality of chambers, wherein the shell is flexurally slack and bounds a fillable and/or evacuable pressure space. The protective device further includes at least one first pulling means for pulling back the shell, and at least one actuator for applying a tensile force to the at least one first pulling means. A device for manipulating workpieces includes a robotic manipulator having an effector, and the protective device disposed proximate the effector. 123-. (canceled)24. A protective device for an end effector of a robotic manipulator , the protective device comprising:a shell;the shell defining a plurality of chambers.25. The protective device of claim 24 , further comprising an information technology user interface.26. The protective device of claim 25 , wherein the user interface is operable to output information.27. The protective device of claim 26 , wherein the user interface comprises a light module.28. The protective device of claim 27 , wherein the light module is operable to produce light in at least one of different colors or changing colors.29. The protective device of claim 27 , further comprising communication symbols on the shell claim 27 , wherein the communication symbols are displayable with the aid of the light module.30. The protective device of claim 24 , wherein at least in sections of the shell are one of transparent or translucent.31. The protective device of claim 25 , wherein the user interface is operable to receive information input.32. The protective device of claim 31 , wherein the user interface is at least one of a keypad claim 31 , a touchpad claim 31 , or a touchscreen.33. The protective device of claim 32 , wherein the at least one of a keypad claim 32 , touchpad claim 32 , or touchscreen is arranged on the outside on the shell.34. The protective device claim 32 , wherein the at least one of a keypad claim 32 , touchpad claim 32 , or touchscreen is ...

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Номер записи: 29
26-02-2015 дата публикации

SUCTION STRUCTURE HAVING PLURALITY OF SUCTION ASSEMBLIES

Номер: US20150053286A1
Автор: CHEN XING-HUA, Gao Jie, Zhang Jian-Feng
Принадлежит:

A suction structure includes a connection member and at least one suction assembly coupled to the connection member. The at least one suction assembly includes a base, a suction member, at least one first buffering member, at least one second buffering member, and at least one pushing member. The at least one suction assembly is assembled on the base. The at least one first buffering member is at least partially housed in the base. The at least one second buffering member forms a sleeve around at least a portion of the base. The at least one pushing member cooperates with the base and has a first end coupled to the at least one first buffering member and a second end at least partially exposed from with the suction member. 1. A suction structure comprising:a connection member; a base;', 'a suction member coupled to the base;', 'at least one first buffering member at least partially housed in the base;', 'at least one second buffering member forming a sleeve around at least a portion of the base; and', 'at least one pushing member cooperating with the base and having a first end coupled to the at least one first buffering member and a second end at least partially exposed from within the suction member., 'at least one suction assembly coupled to the connection member, the at least one suction assembly comprising2. The suction structure of claim 1 , wherein the at least one suction assembly further comprises at least one fixing block corresponding to the at least one first buffering member claim 1 , a first end of the at least one first buffering member is fixed to the corresponding fixing block and a second end of the at least one first buffering member is fixed to the corresponding pushing member.3. The suction structure of claim 2 , wherein the base is a hollow cylinder with an open end and a closed end claim 2 , a flange protrudes on the closed end of the base claim 2 , the suction member is positioned in a side of the flange away from the base claim 2 , and the ...

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Номер записи: 30
10-03-2022 дата публикации

Method For Adjusting A Protective Function During Operation Of A Machine By Generating An Unmonitored Window Region Having Protective Devices, And Protective Apparatus

Номер: US20220072710A1
Автор: Bär Felix, GRAF RENE, Gross Ralf, Loskyll Matthias
Принадлежит:

The invention relates to a method for adjusting a protective function during operation of a machine (), in which a transfer region () is monitored by a plurality of protective devices (L, L), the transfer region () being arranged between a risk region (), in which a dangerous movement is performed by the machine (), and a surrounding region (), the transfer region () being monitored by first protective devices (L) in respective first monitoring directions (UI) and, independently thereof, by second protective devices (L) in respective second monitoring directions (U), at least one of the first protective devices (L) and at least one of the second protective devices (L) being arranged relative to one another in such a way that the first monitoring direction (UI) of the at least one first protective device (L) and the second monitoring device (U) of the at least one second protective device (L) have a point of intersection (S). 1. A method for adjusting a protective function during operation of the machine , the method comprising:monitoring a transition region by first and second non-separating protective devices, wherein the transition region is arranged between a danger area in which a dangerous movement is carried out with the machine and a surrounding area, wherein the transition region is monitored with the first non-separating protective devices along respective first monitoring directions and, independently therefrom, with the second non-separating protective devices along respective second monitoring directions, a plurality of the first non-separating protective devices and a plurality of the second non-separating protective devices are arranged relative to one another in such a way that the first monitoring directions of the first non-separating protective devices and the second monitoring directions of the second non-separating protective devices have respective points of intersection, andadjusting a position and/or dimensions of an unmonitored window region ...

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Номер записи: 31
10-03-2022 дата публикации

ROBOTIC TOOL CHANGERS AND METHODS OF USE

Номер: US20220072716A1
Автор: Kaul Lukas Sebastian
Принадлежит: Toyota Research Institute, Inc.

A robotic tool changer is provided including a tool adapter. The tool adapter includes a body having a robot wall, a tool wall, and a side wall extending from the robot wall to the tool wall. A rear opening is formed in the side wall and the tool wall through which a tool element extends to enter a tool hole formed in the body. The tool adapter also includes a locking member movable relative to the body between an open position in which the locking member permits positioning of the tool element into or out of the tool hole through the rear opening, and a closed position in which the locking member prohibits positioning of the tool element into or out of the tool hole through the rear opening. 1. A tool adapter comprising:a body having a robot wall, a tool wall, and a side wall extending from the robot wall to the tool wall, a rear opening is formed in the side wall and the tool wall through which a tool element extends to enter a tool hole formed in the body; anda locking member rotatably movable about a central axis relative to the body between an open position in which the locking member permits positioning of the tool element into or out of the tool hole through the rear opening, and a closed position in which the locking member prohibits positioning of the tool element into or out of the tool hole through the rear opening.2. The tool adapter of claim 1 , wherein the locking member has a first edge and a second edge defining an opening claim 1 , the opening of the locking member overlapping the rear opening of the side wall of the body when the locking member is in the open position claim 1 , the locking member covering the rear opening of the side wall of the body when the locking member is in the closed position.3. The tool adapter of claim 2 , further comprising:a motor;a pinion gear rotatably fixed to the body and in communication with the motor; anda plurality of teeth provided on an inner surface of the locking member, the plurality of teeth and configured ...

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Номер записи: 32
02-03-2017 дата публикации

Safety system for industrial robot

Номер: US20170057095A1
Автор: David Brandt, Esben H Oestergaard, Grzegorz Zięba
Принадлежит: Universal Robots AS

A safety system for an industrial robot, specifically an industrial robot and a method for implementing a safety system via predefined safety functions. To perform such safety functions the robot comprises in a joint connecting two robot arm sections a first position sensor ( 132 ) for sensing the angular orientation on an input side of a gear in the joint, and a second position sensor ( 133 ) for sensing an angular orientation on an output side of the gear.

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Номер записи: 33
20-02-2020 дата публикации

ARTICULATED MECHANISM WITH PROTECTIVE SLEEVE AT JOINT

Номер: US20200055181A1
Автор: "Caron LEcuyer Louis Joseph", FAUTEUX Philippe, MESSIER Sebastien, Picard Alexandre
Принадлежит:

An assembly of links and motorized joint unit of a mechanism comprises one or more pairs of links, each said link having a tubular body, at least one end of each of the tubular body being an open end having at least one connector. A motorized joint unit has a first portion received in the open end of the tubular body of a first of the links, the motorized joint unit secured to the at least one connector of the first of the links, a second portion rotatable relative to the first portion by actuation of the motorized joint unit, the second portion received in the open end of the tubular body of a second of the links, the motorized joint unit secured to the at least one connector of the second of the links. A protective sleeve has a tubular body rotatably mounted over the at least one connector of each of the first and the second link, the protective sleeve concealing the connectors and a joint between the pair of links. 1. An assembly of links and motorized joint unit of a mechanism , comprising:at least pair of links, each said link having a tubular body, at least one end of each of the tubular body being an open end having at least one connector; a first portion received in the open end of the tubular body of a first of the links, the motorized joint unit secured to the at least one connector of the first of the links,', 'a second portion rotatable relative to the first portion by actuation of the motorized joint unit, the second portion received in the open end of the tubular body of a second of the links, the motorized joint unit secured to the at least one connector of the second of the links; and, 'a motorized joint unit having'}a protective sleeve having a tubular body rotatably mounted over the at least one connector of each of the first and the second link, the protective sleeve concealing the connectors and a joint between the pair of links.2. The assembly according to claim 1 , wherein the protective sleeve and a portion of each of the links adjacent to the ...

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Номер записи: 34
03-03-2016 дата публикации

CONNECTING DEVICE AND CONNECTING DEVICE FOR ROBOT MANIPULATOR

Номер: US20160062046A1
Автор: Chang Ming-Chieh, LEE TE-HUA, WANG YONG-XIN
Принадлежит:

A connecting device configured to couple to a robot arm and a robot tool includes a first connecting part including a fixing member having at least one first magnetic part, at least one first optical fiber connector, and at least one first electrical connector which are coupled to the fixing member. A second connecting part which is removable and securely coupled to the first connecting part including a fixing member having at least one second magnetic part, at least one second optical fiber connector, and at least one first conduction connector which are coupled to the fixing member. The first magnetic part and the second magnetic part have opposite magnetic force. When the first magnetic part contacts the second magnetic part, the first optical fiber connector connect to the second optical fiber connector and the first electrical connector connects to the first conduction connector. 1. A connecting device configured to couple a robot arm to a robot tool comprising:a first connecting part comprising a fixing member of the first connecting part having at least one first magnetic part, at least one first optical fiber connector, and at least one first electrical connector, wherein the first magnetic part, the first optical fiber connector and the first electrical connector are coupled to the fixing member of the first connecting part;a second connecting part removable and securely coupled to the first connecting part, wherein the second connecting part comprising: a fixing member of the second connecting part having at least one second magnetic part, at least one second optical fiber connector, and at least one first conduction connector, wherein the second magnetic part, the second optical fiber connector and the second electrical connector are coupled to the fixing member of the second connecting part, whereinthe first magnetic part and the second magnetic part have corresponding opposite magnetic forces, and when the first magnetic part contacts the second ...

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Номер записи: 35
28-02-2019 дата публикации

ROBOT AND PARALLEL LINK ROBOT

Номер: US20190061144A1
Автор: Yamamoto Masahiro
Принадлежит: FANUC Corporation

Provided is a robot including at least one joint, and at least two links and coupled with each other by the joint. At least one of the links and includes an inner layer made of carbon fiber reinforced plastic, and an outer layer made of elastic material and covering an outer peripheral surface of at least part of the inner layer in a longitudinal direction over an entire circumference, the layers being integrally stacked. 1. A robot comprising:at least one joint; andat least two links coupled with each other by the joint,wherein at least one of the links includes an inner layer made of carbon fiber reinforced plastic, and an outer layer made of elastic material and covering an outer peripheral surface of at least part of the inner layer in a longitudinal direction over an entire circumference, the layers being integrally stacked.2. A parallel link robot comprising:a foundation unit;a movable unit;a plurality of arms coupling the foundation unit and the movable unit in parallel; anda plurality of actuators disposed in the foundation unit and configured to drive the plurality of arms, respectively, whereineach arm in the plurality of arms includes a drive link driven by an actuator in the plurality of actuators, and a passive link coupled with the drive link by a joint,each passive link includes two link members parallel to each other, andat least one of the link members includes an inner layer made of carbon fiber reinforced plastic, and an outer layer made of elastic material and covering an outer peripheral surface of at least part of the inner layer in a longitudinal direction over an entire circumference, the layers being integrally stacked.3. The parallel link robot according to claim 2 , wherein the link member other than the link member having a stack structure is made of carbon fiber reinforced plastic.4. The parallel link robot according to claim 2 , wherein each link member includes the inner layer and the outer layer integrally stacked.5. The parallel link ...

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Номер записи: 36
28-02-2019 дата публикации

FLUID AND CABLE MANAGEMENT ADAPTER FOR DELIVERING UTILITIES TO AN OPERABLE MACHINE COMPONENT

Номер: US20190061177A1
Автор: Hastings Alexander, Lamb Paul, Stauffer Luke
Принадлежит:

A material delivery interface includes a fixed assembly that is coupled to a primary structural attachment. The fixed assembly includes a fluid inlet and a wired input, wherein the fixed assembly defines a central axis. A rotational assembly is rotationally coupled to the fixed assembly and that rotates about the central axis with respect to the fixed assembly. The rotational assembly includes an inner portion having a fluid outlet in fluid communication with the fluid inlet and an outer portion having a wired output, wherein a conduit extends from the wired input to the wired output. 1. A material delivery interface comprising:a central fluid hub having an outer fixed portion and an inner rotating portion, wherein a fluid channel is continually defined between the outer fixed and inner rotating portions;a cable assembly having a stationary member coupled to the fixed outer portion of the central fluid hub and a rotating disk that is configured to rotationally operate cooperatively with the rotating inner portion, wherein the rotating disk and the inner rotating portion rotate cooperatively relative to the outer fixed portion;an upper connection of the outer fixed portion that is configured to be fixedly attached to a utility delivery apparatus for delivering a fluid material to the fluid channel and at least an electrical current to the cable assembly; anda lower connection of the inner rotating portion and the rotating disk, wherein the lower connection is configured to connect to a robotic apparatus that utilizes the fluid material and the electrical current, wherein the lower connection rotationally operates relative to the upper connection.2. The material delivery interface of claim 1 , further comprising:a spirally wound divider that extends in a coiled configuration within the cable assembly, wherein the spirally wound divider is coupled to the stationary member at a first divider end and to the rotating disk at a second divider end to define a continuous ...

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Номер записи: 37
10-03-2016 дата публикации

UMBILICAL MEMBER CLAMPING DEVICE FOR CLAMPING UMBILICAL MEMBERS VIA ELASTIC BODY

Номер: US20160067870A1
Автор: KONO EIJI, Kurebayashi Hidenori
Принадлежит: FANUC Corporation

An umbilical member clamping device includes a base member attached to a body of a robot, an elastic body provided so as to surround a periphery of an umbilical member bundle including umbilical members, a clamp member secured to the base member so as to press the umbilical member bundle to the base member via the elastic body, and an insert member inserted to a corner portion of a space which receives the umbilical member bundle and which is defined by the clamp member and the base member when the clamp member is secured to the base member. 1. An umbilical member clamping device used to attach a plurality of umbilical members to an industrial robot , comprising:a base member attached to a body of the robot;an elastic body provided so as to surround a periphery of an umbilical member bundle including the umbilical members;a clamp member secured to the base member so as to press the umbilical member bundle to the base member via the elastic body; andan insert member inserted to a corner portion of a space which receives the umbilical member bundle and which is defined by the clamp member and the base member when the clamp member is secured to the base member.2. The umbilical member clamping device according to claim 1 , wherein the elastic body includes a sheet-like member wound around the umbilical member bundle.3. The umbilical member clamping device according to claim 1 , wherein the clamp member has a shape which curves so as to project in an opposite direction from the base member.4. The umbilical member clamping device according to claim 1 , wherein the elastic body has a hollow cylindrical shape. 1. Technical FieldThe present invention relates to an umbilical member clamping device for clamping a plurality of umbilical members, which is used in an industrial robot.2. Description of the Related ArtIn an industrial robot, various umbilical members are attached to the body of the robot. Examples of the umbilical members include a cable for supplying power or ...

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Номер записи: 38
11-03-2021 дата публикации

ROBOT

Номер: US20210069895A1
Автор: Watanabe Hideyuki
Принадлежит: FANUC Corporation

A robot including a second arm supported by a first arm so as to be swingable around an axis line, the second arm has an arm main body supported by the first arm in a swingable manner, and a cover which is attached to the arm main body. The robot further includes an interface member attached to the cover, a cable support member one where end of which is fixed to the arm main body and the other end of which is exposed outside the second arm by passing through a hole or a cutout provided in the interface member, and a seal which seals a space between the cable support member and the interface member and which allows movement of the cable support member in a direction along the axis line with respect to the interface member. 1. A robot comprising:a base;a first arm supported by the base so as to be swingable around a first axis line; and,a second arm supported by the first arm so as to be swingable around a second axis line that is parallel to the first axis line, wherein,the second arm includes: an arm main body supported by the first arm so as to be swingable around the second axis line; and a cover attached to the arm main body,the robot further comprises:an interface member which is attached to the cover and to which at least one of a cable or a pipe is connected;a cable support member where one end of the cable support member is fixed to the arm main body and the other end of which is exposed outside the second arm by passing through a hole or a cutout which is provided in the interface member; and,a seal which seals a space between the cable support member and the interface member and which allows movement of the cable support member in a direction along the second axis line with respect to the interface member.2. The robot according to claim 1 , wherein the cable support member comprises an arm side member where one end of the arm side member is fixed to the arm main body and the other end of which is exposed outside the second arm by passing through the hole or ...

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Номер записи: 39
24-03-2022 дата публикации

Omega Wire Routing

Номер: US20220088772A1
Автор: Dellon Brian
Принадлежит: Boston Dynamics, Inc.

A robot includes an input link, an output link, and a wire routing. The output link is coupled to the input link at an inline twist joint where the output link is configured to rotate about the longitudinal axis of the output link relative to the input link. The wire routing traverses the inline twist joint to couple the input link and the output link. The wire routing includes an input link section, an output link section, and an omega section. A first position of the wire routing coaxially aligns at a start of the omega section on the input link with a second position of the wire routing at an end of the omega section on an output link. 1. A robot comprising:an input link;an output link coupled to the input link at an inline twist joint, the output link configured to rotate about a longitudinal axis of the output link relative to the input link; anda wire routing traversing the inline twist joint coupling the input link and the output link, the wire routing comprising an input link section, an output link section, and an omega section,wherein a first position of the wire routing coaxially aligns at a start of the omega section on the input link with a second position of the wire routing at an end of the omega section on an output link.2. The robot of claim 1 , further comprising a wire routing guide coaxially aligning the first position of the wire routing with the second position of the wire routing.3. The robot of claim 1 , further comprising a manipulator arm comprising the input link and the output link.4. The robot of claim 3 , further comprising:a body; andfour legs coupled to the body.5. The robot of claim 1 , wherein the wire routing is seated in a recess formed in the input link and the output link adjacent to the joint seam.6. The robot of claim 1 , wherein claim 1 , in the omega section claim 1 , the wire routing comprises a first loop and a second loop claim 1 , the first loop extending in a first direction around the input link and a second direction ...

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Номер записи: 40
16-03-2017 дата публикации

ROBOT PROVIDED WITH WRIST INCLUDING HOLLOW MOVABLE ELEMENT AND HAVING WATERPROOF STRUCTURE

Номер: US20170072573A1
Автор: INOUE Toshihiko, MOTOKADO Tomoyuki
Принадлежит: FANUC Corporation

A robot capable of preventing adhesion of a cutting fluid or the like on components thereof. The robot includes a robot arm, and a wrist connected to a distal end of the robot arm and including a plurality of movable elements connected to each other, and the movable elements being hollow elements, an end effector connected to a distal end of the wrist, a wire member laid to extend through the respective movable elements, and a cover to be mounted on the wrist so as to surround a connection between the two movable elements connected to each other. 1. A robot comprising:a robot arm;a wrist connected to a distal end of the robot arm, and including a plurality of movable elements movably connected to each other, each of the movable elements being hollow;an end effector connected to a distal end of the wrist;a wire member laid so as to extend through the respective movable elements; anda cover mounted on the wrist so as to surround a connection between two of the movable elements connected to each other.2. The robot according to claim 1 , wherein the wrist includes:a first movable element connected to the distal end of the robot arm so as to be rotatable about a first axis; anda second movable element connected to a distal end of the first movable element so as to be rotatable about a second axis orthogonal to the first axis,wherein the cover surrounds the connection between the first movable element and the second movable element.3. The robot according to claim 2 , wherein the first movable element includes:a first hollow part connected to the distal end of the robot arm so as to be rotatable about the first axis; anda first extension part extending from the first hollow part,wherein the second movable element includes:a second hollow part; anda second extension part extending from the second hollow part and connected to a distal end of the first extension part so as to be rotatable about the second axis,wherein the wire member is laid so as to extend through the first ...

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Номер записи: 41
12-03-2020 дата публикации

End Effector Protection System

Номер: US20200078964A1
Автор: Lachner Johannes, STOCKSCHLÄDER Julian, ZUNKE Richard
Принадлежит:

An end effector protection system for at least partially enveloping an end effector of a manipulator. The system includes at least one enveloping structure which is designed to at least partially envelop the end effector of the manipulator, the enveloping structure being movably arranged in order to adjust the degree of the envelope of the end effector. In this way, the risk of injury originating from the end effector can be reduced and/or eliminated. 116-. (canceled)17. An end effector protection system for at least partially enveloping an end effector of a robotic manipulator , the end effector protection system comprising:at least one enveloping structure configured to at least partially envelop the end effector of the robotic manipulator;wherein the enveloping structure is movable relative to the end effector in order to set a degree of envelopment of the end effector; andat least one velocity-dependent damping element associated with the enveloping structure and configured to counteract a movement of the enveloping structure as a function of velocity.18. The end effector protection system of claim 17 , wherein the enveloping structure is configured to be movable in a direction substantially parallel to a tool impact direction of the end effector.19. The end effector protection system of claim 17 , wherein the enveloping structure comprises at least two protective elements arranged in a uniformly distributed manner around a circumference of the end effector.20. The end effector protection system of claim 19 , wherein the protective elements are configured for movement independently of one another.21. The end effector protection system of claim 19 , wherein the protective elements are arranged in at least first and second rows around the end effector.22. The end effector protection system of claim 21 , wherein:the protective elements of the first row are arranged circumferentially offset with respect to the protective elements of the second row; andthe protective ...

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Номер записи: 42
25-03-2021 дата публикации

ROBOT AND OPERATION METHOD FOR ROBOT

Номер: US20210086367A1
Автор: CHOI Taeyoung, Park Sunggil, Ryu Seukwoo, SON Changwoo, SON Seyul
Принадлежит: LG ELECTRONICS INC.

Disclosed is a robot. The robot includes a manipulator for performing movement, a scoop connected to the manipulator, and for receiving matter, and a controller for controlling the robot, wherein the controller increases temperature of a first part of the scoop when the robot performs a scooping operation of putting the matter into the scoop. 1. A robot comprising:a manipulator configured to perform movement;a scoop connected to the manipulator, and configured to receive matter therein; anda controller configured to control the robot,wherein the controller is further configured to increase a temperature of a first part of the scoop when the robot performs a scooping operation of moving the scoop into the matter.2. The robot of claim 1 , wherein the controller increases the temperature of the first part when a strength value of the matter measured during the scooping operation exceeds a threshold strength value.3. The robot of claim 2 , further comprising a sensor configured to measure an external force value applied to the robot to measure the strength value of the matter claim 2 ,wherein the controller determines whether the strength value of the matter exceeds the threshold strength value by determining whether the external force value applied to the robot during the scooping operation exceeds a threshold external force value.4. The robot of claim 2 , wherein the controller is further configured to:stop the scooping operation when the strength value of the matter measured during the scooping operation exceeds the threshold strength value, andrestart the scooping operation when the strength value of the matter measured during the scooping operation becomes less than the threshold strength value.5. The robot of claim 1 , wherein the controller is further configured to increase a temperature of a second part of the scoop when the robot performs a release operation of moving the matter within the scoop to a serving container.6. The robot of claim 5 , wherein the ...

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Номер записи: 43
25-03-2021 дата публикации

ROBOT WIRING ADDITIONAL ROUTING METHOD AND ROBOT

Номер: US20210086375A1
Автор: NAKAYAMA Kazutaka
Принадлежит: FANUC Corporation

A robot wiring additional routing method that includes detaching some fasteners to detach a cover member from a housing member, thus forming a gap between the detached cover member and the housing member; disposing additional wiring at such a position as to be routed across an inside and an outside of the housing member via the formed gap; and, in a state in which a spacer that maintains the gap is sandwiched between the cover member and the housing member, attaching the detached cover member to the housing member by the detached fasteners or other fasteners. 1. A robot wiring additional routing method in which additional wiring is additionally routed for a robot that is provided with a plurality of housing members that are coupled so as to be relatively movable; a cover member that is detachably attached to at least one of the housing members by means of fasteners; and existing wiring that is routed via a communication space communicating with internal spaces of the housing members , the method comprising:detaching some of the fasteners to detach the cover member from the corresponding housing member, thus forming a gap between the detached cover member and the housing member;disposing the additional wiring at such a position as to be routed across an inside and an outside of the housing member, via the formed gap; andattaching the detached cover member to the housing member with the detached fasteners or other fasteners, in a state in which the cover member and the housing member are separated from each other by a thickness of the spacer by sandwiching a spacer that maintains the gap between the cover member and the housing member.2. A robot wiring additional routing method according to claim 1 , further comprising:disposing an elastic member that surrounds an outer circumference of the additional wiring at the position of the gap; andfixing the additional wiring at the position of the gap by sandwiching and elastically deforming the elastic member between the ...

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Номер записи: 44
02-04-2015 дата публикации

ROBOTIC ARRANGEMENT FOR USE IN MEDICAL FIELDS

Номер: US20150090063A1
Автор: FROEHLICH Florian, Hagn Ulrich, Lantermann Sophie, Passig Georg, Seibold Ulrich
Принадлежит:

A robotic arrangement for use in medical fields has a robot arm having, in particular, a plurality of hinges, an instrument holder provided on the robot arm in order to receive a medical instrument, and supply lines which can be connected to the instrument. An adapter element is used for connecting the supply lines to the instrument. 1. A robotic arrangement for use in medical fields , comprising:a robot arm having a plurality of hinges,an instrument holder provided on the robot arm in order to receive a medical instrument, andsupply lines which can be connected to the instrument, whereinan adapter element for connecting the supply lines to the instrument.2. The robotic arrangement of claim 1 , wherein all instrument supply lines are connected to the adapter element.3. The robotic arrangement of claim 1 , wherein claim 1 , for the purpose of force transmission claim 1 , the instrument is connected substantially the instrument holder.4. The robotic arrangement of claim 1 , wherein the adapter element and the instrument are connected to the instrument holder via a common holder element.5. The robotic arrangement of claim 1 , wherein the adapter element and the instrument are connected separately to the instrument holder via mechanical holder elements.6. The robotic arrangement of claim 1 , wherein the adapter element comprises a plurality of adapter modules respectively connected to at least one supply line.7. The robotic arrangement of claim 1 , wherein the adapter element comprises a standard adapter element adapted to be connected to additional adapter elements.8. The robotic arrangement of claim 7 , wherein the additional adapter elements surround the standard adapter element annularly and are preferably rotatable around the standard adapter element.9. The robotic arrangement of claim 1 , wherein the robot arm and/or supply lines leading to the adapter element are surrounded by a sterile drape claim 1 , possibly with multiple lumens claim 1 , or by separate drapes ...

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Номер записи: 45
31-03-2016 дата публикации

ROBOT

Номер: US20160089794A1
Автор: NAKANO Sho, NIU Akio
Принадлежит:

A robot includes an nth arm (n is a natural number), an (n+1)th arm rotatably supported with respect to the nth arm, and a connection destination selection part that can select a connection destination of a cable routing present inside of the nth arm from a cable routing present outside of the nth arm and a cable routing present inside of the (n+1)th arm. 1. A robot comprising:an nth arm (n is a natural number);an (n+1)th arm rotatably supported with respect to the nth arm; anda connection destination selection part that can select a connection destination of a cable routing present inside of the nth arm from a cable routing present outside of the nth arm and a cable routing present inside of the (n+1)th arm.2. The robot according to claim 1 , wherein the connection destination selection part includes a relay that can connect and detach the cable routing present inside of the nth arm to and from a cable routing communicating with the outside from the inside of the nth arm and a cable routing reaching the inside of the (n+1)th arm.3. The robot according to claim 2 , wherein the relay includes at least two connecting parts that can connect the cable routings and connection directions of the cable routings to the respective connecting parts are different from each other.4. The robot according to claim 1 , wherein the (n+1)th arm includes an (n+1)th connecting part for connecting the cable routing present inside of the (n+1)th arm and an cable routing present outside of the (n+1)th arm.5. The robot according to claim 1 , wherein the nth arm includes an nth connecting part for connecting the cable routing present inside of the nth arm and the cable routing present outside of the nth arm claim 1 , andthe nth connecting part is present within a circle having a radius as a distance between a part of the nth arm farthest from a rotation shaft of the nth arm and the rotation shaft and centered at the rotation shaft.6. The robot according to claim 5 , wherein the nth arm ...

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Номер записи: 46
05-05-2022 дата публикации

INDUSTRIAL ROBOT

Номер: US20220134540A1
Автор: Beckhoff Hans, Büchinger Leo, Janssen Dirk, Kastler Peter, Maier Clemens, Morscher Thomas, Pehlivan Armin, Pfister Michael, Prüssmeier Uwe, Zech Christoph
Принадлежит:

An industrial robot comprises a modular robot arm having a plurality of arm modules, where a rotation transfer device for optical signal transmission is provided in an arm module or between a first and a second arm module. The rotation transfer device comprises an optomechanical rotation interface having a first interface side and a second interface side, which face each other and are substantially rotationally symmetrical and complementary. The first and second interface sides are configured to rotate relative to each other. The first and second interface sides are mechanically mounted with respect to each other, with a radial plain bearing on one interface side and a slide bearing shell complementary thereto on the other interface side. A gap is formed between the first and second interface sides, in the axial direction of the rotation transfer device, across which the optical signal transmission takes place.

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Номер записи: 47
19-03-2020 дата публикации

ROBOTIC ARM WITH QUICK-CONNECT CLAMPING SYSTEM AND DOCKING CRADLE

Номер: US20200086504A1
Автор: "CARON LECUYER Louis-Joseph", FORGET Jean-Francois, FORTIN Louis-Pierre, POULIN Sylvain
Принадлежит:

A system comprising an articulated robot arm including assembly of links interconnected with motorized joint units at joints between the links for movements of the links relative to one another, one of the links being a base link. A docking cradle is adapted to be connected to a structure and configured for being releasably connected and for supporting the articulated robot arm. A coupling configuration is between the base link and the docking cradle for powering contact to be made. A clamping system includes one or more clamp members and a clamp lever for locking the base link to the docking cradle at the coupling configuration. 1. A system comprising:an articulated robot arm including assembly of links interconnected with motorized joint units at joints between the links for movements of the links relative to one another, one of the links being a base link;at least one docking cradle adapted to be connected to a structure and configured for being releasably connected and for supporting the articulated robot arm;a coupling configuration between the base link and the docking cradle for powering contact to be made; anda clamping system including at least one clamp member and a clamp lever for locking the base link to the docking cradle at the coupling configuration.2. The system according to claim 1 , wherein the coupling configuration includes a cavity defined by the base link and by the clamping system.3. The system according to claim 2 , wherein the clamp member has sections forming the cavity and separated by a gap claim 2 , and the clamp lever includes a cam-shaped end to open and close the gap.4. The system according to claim 3 , further comprising a pin and pin receptacle set between the clamp lever and the docking cradle for vertical alignment of the docking cradle with the base link.5. The system according to claim 2 , wherein the coupling configuration includes a male block on the docking cradle for being coupled into the cavity.6. The system according to ...

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Номер записи: 48
05-04-2018 дата публикации

HORIZONTAL ARTICULATED ROBOT

Номер: US20180093376A1
Автор: TERANAKA Ryosuke
Принадлежит:

A horizontal articulated robot includes a support unit, a movable unit provided in the support unit, from which an end effector is detachable, and a control unit that controls the movable unit, wherein the control unit is provided in the support unit and the end effector is connected to the control unit. 1. A horizontal articulated robot comprising:a support unit;a movable unit provided in the support unit, from which an end effector is detachable; anda control unit that controls the movable unit,wherein the control unit is provided in the support unit, andthe end effector is connected to the control unit.2. The horizontal articulated robot according to claim 1 , wherein a wire connecting the end effector and the control unit includes at least one of a signal line and a power supply line.3. The horizontal articulated robot according to claim 1 , wherein the support unit has a base claim 1 , andthe control unit is located inside of the base.4. The horizontal articulated robot according to claim 3 , wherein the movable unit has a first arm claim 3 ,the first arm is provided directly or indirectly on the base rotatably about a first rotation axis, anda first housing having a part overlapping with the base as seen from an axis direction of the first rotation axis is provided in the support unit.5. The horizontal articulated robot according to claim 4 , wherein the movable unit has a second arm provided on the first arm and rotatable about a second rotation axis claim 4 ,a pipe connecting the first housing and the second arm is provided, anda wire connecting the end effector and the control unit passes through the pipe.6. The horizontal articulated robot according to claim 1 , wherein the control unit has a connecting part capable of connecting a teaching apparatus teaching an operation of the movable unit.7. The horizontal articulated robot according to claim 4 , wherein the control unit has a connecting part capable of connecting a teaching apparatus teaching an ...

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Номер записи: 49
06-04-2017 дата публикации

MEDICAL DEVICES HAVING SMOOTHLY ARTICULATING MULTI-CLUSTER JOINTS

Номер: US20170095922A1
Автор: Awtar Shorya, COSTA Peter F., HOLMES Christopher K., Johnson Bruce, LAROSE Brian Douglas, Licht James Michael, Sharma Deepak, SULLIVAN Randall, Zimmerman Zachary
Принадлежит:

An articulating joint comprising a multi-cluster joint where every consecutive pair of links is interfaced by a gimbal, which offers rotation about two orthogonal axes within the same plane. Thus, the articulating joint comprises an alternating sequence of links and gimbals. Furthermore, there may be multiple cables attached to one or more of the links. As these cables are selectively pulled and released, one can achieve any desired articulation of the articulating joint. There may be a transmission member extending through the links and gimbals, parallel to the central longitudinal axis of the joint in its nominal non-articulated condition. This transmission member may be either a tension member that is pulled on (e.g. a cable or flexible pull rod) and that loads the articulating joint in compression, or the transmission member may be a flexible push rod that loads the articulating joint in tension. 1. A medical device having an articulating multi-cluster joint with a tight minimum bend radius that may be smoothly actuated , the device comprising:an elongate tool shaft;an articulation input at a proximate end of the tool shaft;an end-effector at a distal end of the elongate tool shaft; 'a plurality of joint clusters wherein each joint cluster has a joint cluster axis in a non-articulated state, and when fully articulated has the same minimum bend radius in any direction of articulation that is 1.2× or less than a diameter of the multi-cluster joint, and wherein each joint cluster provides two orthogonal degrees of rotational freedom, further wherein each joint cluster includes an opening passing through the joint cluster along the joint cluster axis;', 'wherein the multi-cluster joint is between the tool shaft and the end-effector, and includesan end-effector transmission cable extending through the opening of each joint cluster of the multi-cluster joint; anda cable management guide routed through the openings of the joint clusters, the cable management guide ...

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Номер записи: 50
26-03-2020 дата публикации

Robot unit

Номер: US20200094423A1
Автор: Shoichi MORIMURA
Принадлежит: Okuma Corp

A robot unit includes a robot main body that is an arm-type robot including multiple links connected to one another via at least one joint, and one or more protective housings that cover and protect at least a portion of a circumferential surface of one or more of the multiple links. One or more fastening portions that attach and detach the protective housing are provided on a circumferential surface of the one or more of the multiple links.

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Номер записи: 51
12-04-2018 дата публикации

MACHINE TOOL

Номер: US20180099420A1
Автор: Hoshino Yoshinori
Принадлежит: FANUC Corporation

A machine tool includes: an exterior cover covering a machining area where a workpiece on a worktable is machined by a machining tool; an articulated robot arranged inside the exterior cover and configured to replace the workpiece on the worktable; a controller configured to control a posture of the articulated robot and a coordinate point at which a hand of the articulated robot is positioned; and an air nozzle arranged inside the exterior cover and configured to remove scattered matter that has been generated during machining of the workpiece and has adhered at least to the hand when the articulated robot is set at a predetermined posture or when the hand is moved to a predetermined coordinate point. 1. A machine tool comprising:an exterior cover covering a machining area where a workpiece on a worktable is machined by a machining tool;an automatic transfer machine arranged inside the exterior cover and configured to replace the workpiece on the worktable;a control unit configured to control a posture of the automatic transfer machine and a coordinate point at which a hand of the automatic transfer machine is positioned; anda removal unit arranged inside the exterior cover and configured to remove scattered matter that has been generated during machining of the workpiece and has adhered at least to the hand when the automatic transfer machine is set at a predetermined posture or when the hand is moved to a predetermined coordinate point.2. The machine tool according to claim 1 , wherein the removal unit is a fluid-flow generator unit configured to use a fluid to remove the scattered matter adhering at least to the hand.3. The machine tool according to claim 2 , wherein:a retraction area into which the automatic transfer machine is retracted during the machining of the workpiece is provided inside the exterior cover;the control unit is configured to position at least the hand in the retraction area while the workpiece is being machined; andthe fluid-flow generator ...

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Номер записи: 52
04-04-2019 дата публикации

ROBOT

Номер: US20190099901A1
Автор: GOTO Yoshinobu, NIU Akio, OWA Takuya, Takahashi Masaru
Принадлежит:

A robot includes a robot main body that includes a base and a robot arm connected to the base, a motor that is provided inside the robot main body and drives the robot arm, a control board that is provided inside the robot main body, a power supply board that supplies electric power to the control board, and a drive board that drives the motor based on a command from the control board, and in which the robot main body includes a suction hole from which a pipe to which a suction device for sucking gas inside the robot main body is connected is detachable. 1. A robot comprising:a robot main body that includes a base and a robot arm connected to the base;a motor that is provided inside the robot arm and drives the robot arm;a control board that is provided inside the base;a power supply board that is provided inside the base and supplies electric power to the control board; anda drive board that is provided inside the base or inside the robot arm and drives the motor based on a command from the control board,wherein the robot main body includes a suction hole from which a pipe, to which a suction device for sucking gas inside the robot main body is connected, is detachable.2. The robot according to claim 1 ,wherein the base includes the suction hole.3. The robot according to claim 1 ,wherein the robot main body is configured to include metal, andthe metal is grounded.4. The robot according to claim 1 ,wherein the robot arm includes an A-arm and a B-arm that is cantilevered by the A-arm.5. The robot according to claim 1 ,wherein the robot arm includes a first arm that is connected to the base and that rotates with respect to the base, andthe motor includes a first motor that is provided in the first arm and drives the first arm.6. The robot according to claim 5 ,wherein the robot arm includes a second arm that is connected to the first arm and that rotates with respect to the first arm, andthe motor includes a second motor that is provided in the second arm and drives ...

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Номер записи: 53
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: 54
30-04-2015 дата публикации

Tooling System with Electronic Signal Maintenance

Номер: US20150120041A1
Автор: Kaminski Ulrich, Kogel Manfred, Rola Martin Douglas, Wiedenhöfer Peter, WISE DAVID, Wohlfarth Klaus
Принадлежит: APEX BRANDS, INC.

Devices and methods for providing power to tools when the tools are not attached to a robotic device. The power source may be an energy storage device that is attached to a tool frame of a tool cluster. The power provides for the tools to be maintained in a ready state which expedites and/or eliminates the initiation process when the tools and the tool cluster are subsequently reattached to the robotic device. This reduces the time necessary for the tools to be used in the assembly process thereby increasing the efficiency of the tooling system. 1. A method providing power to one or more tools during a manufacturing process , the method comprising:attaching a tool cluster to a robotic device and providing power through the robotic device to each of a plurality of tools on the tool cluster;performing operations with the tools while the tool cluster is attached to and powered through the robotic device;performing a functional test on the tools of the tool cluster while the tool cluster is attached to the robotic device and after performing the operations, the functional test determining whether the tool is operating according to predetermined criteria;detaching the tool cluster from the robotic device;providing power to the tools through an alternate power source separate from the robotic device while the tool cluster is detached from the robotic device, the power source providing a lesser amount of voltage to the tools than the robotic device, the lesser amount of voltage being adequate to maintain the tools in a functional ready state;reattaching the tool cluster to the robotic device and again providing power to the tools through the robotic device; andperforming operations with the tools without again performing the functional test on the tools.2. The method of claim 1 , further comprising recharging the alternate power source through the robotic device while the tool cluster is attached to the robotic device.3. The method of claim 1 , further comprising ...

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Номер записи: 55
07-05-2015 дата публикации

COVER ATTACHMENT STRUCTURE FOR ROBOT AND ROBOT HAVING THE SAME

Номер: US20150122070A1
Автор: Yamaguchi Hiroshi
Принадлежит:

A cover attachment structure for attaching a cover to a predetermined component of a robot includes a first component, a second component and a third component. The first component is disposed to the predetermined component of the robot. The second component is disposed to an inner part of the cover. The first component and the second component are engaged with each other through the third component. The first component and the second component are drawn to each other by the third component in a manner that the predetermined component and the cover are brought close to each other. 1. A cover attachment structure for a robot to attach a cover to a predetermined component of the robot , the cover attachment structure comprising:a first component disposed to the predetermined component of the robot;a second component disposed to an inner part of the cover; anda third component through which the first component and the second component are engaged with each other on an inner side of the cover, whereinthe third component causes the first component and the second component to be drawn to each other in a manner that the predetermined component and the cover are brought close to each other.2. The cover attachment structure according to claim 1 , whereinthe first component has a cylindrical shape having a first diameter,the second component has a cylindrical shape having a second diameter that is different from the first diameter,one of the first component and the second component is an inner side component, and the other of the first component and the second component is an outer side component,an inside diameter of the outer side component is larger than an outside diameter of the inner side component, such that the inner side component is able to be inserted inside the outer side component,the third component is held on an inner side of the outer side component and is engaged with an outer circumference of the inner side component, andthe third component is an elastic ...

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Номер записи: 56
28-04-2016 дата публикации

Robot

Номер: US20160120021A1
Автор: Izumi Iida
Принадлежит: Seiko Epson Corp

A robot includes: a wiring board which is a flexible printed wiring board including a first board wiring line through which current having a first frequency flows in a wiring direction and a second board wiring line through which current having a second frequency which is a frequency smaller than the first frequency flows in the wiring direction; and a shield board which is a flexible printed wiring board including a conductor and which is overlapped with the wiring board in a thickness direction, in which, in an orthogonal direction which is orthogonal to the wiring direction and the thickness direction, a first conductor edge which is one end portion of the conductor, the first board wiring line, the second board wiring line, a second conductor edge which is another end portion of the conductor are lined in this order, and a distance from the second conductor edge to the second board wiring line is shorter than a distance from the first conductor edge to the first board wiring line.

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Номер записи: 57
07-05-2015 дата публикации

Robot, controller, and robot system

Номер: US20150127147A1
Автор: Daisuke Sato, Isamu Sejimo, Izumi Iida, Munenori Sawada, Shigenori SASAI, Takema YAMAZAKI
Принадлежит: Seiko Epson Corp

A robot includes a robot arm, a drive unit that drives the robot arm, a first control unit that controls drive of the drive unit, a plurality of detection units at least one of which is an angular velocity sensor as an inertial sensor, and a wiring unit that series-connects the plurality of detection units and the first control unit.

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Номер записи: 58
27-05-2021 дата публикации

ROBOT SYSTEM, CONVEYING DEVICE, AND WIRING METHOD

Номер: US20210157296A1
Автор: MATSUKANE Kazuyoshi, OHTSUBO Naoyuki
Принадлежит: KABUSHIKI KAISHA YASKAWA DENKI

A robot system includes a robot configured to perform work on a workpiece positioned in a working region and a conveying device configured to convey the workpiece to the working region. The conveying device includes a turning part configured to rotate about a center axis, a guide supporting the turning part rotatably about the center axis and having a hollow in the guide extending along the center axis, a workpiece holder configured to hold the workpiece and provided at the turning part to move together with the turning part along a circular orbit around the center axis passing the working region, a first device provided at the turning part, and a linear object passing through the hollow in the guide and connecting the first device and a second device provided around the guide. 1. A robot system comprising:a robot configured to perform work on a workpiece positioned in a working region; anda conveying device configured to convey the workpiece to the working region and comprising:a turning part configured to rotate about a center axis; a workpiece holder configured to hold the workpiece and provided at the turning part to move together with the turning part along a circular orbit around the center axis passing the working region;', 'a first device provided at the turning part; and', 'a linear object passing through the hollow in the guide and connecting the first device and a second device provided around the guide., 'a guide supporting the turning part rotatably about the center axis and having a hollow in the guide extending along the center axis;'}2. The robot system according to claim 1 , whereinthe guide has an upper end provided with an opening,the conveying device includes a support which supports the robot and which is provided on the upper end of the guide to have a passage in the opening, andthe linear object passes through the passage and is connected to the first device.3. The robot system according to claim 2 , whereinthe support has a bulge protruding ...

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Номер записи: 59
23-04-2020 дата публикации

CONTROL SYSTEM, CONTROL METHOD, AND CONTROL PROGRAM

Номер: US20200122318A1
Автор: Fujimoto Hiroshi, Hasegawa Akiyuki, Takahashi Taro
Принадлежит:

A control system according to an embodiment includes a motor configured to drive a link, a first sensor configured to detect information about the driving by the motor or information about a relation between the driving means and the load member as first sensor information, a second sensor configured to detect information about a displacement of the link as second sensor information, and a control unit configured to perform feedback control of the driving means so as to follow a command value in a two-inertial system model including an inertial system on a load side and an inertial system on a driving side. The control unit includes a disturbance observer configured to estimate a disturbance, and a filter configured to convert an estimated value of the disturbance into a driving force of the motor. 1. A control system comprising:driving means configured to drive a load member;a first sensor configured to detect information about the driving by the driving means or information about a relation between the driving means and the load member as first sensor information;a second sensor configured to detect information about a displacement of the load member as second sensor information; anda control unit configured to perform feedback control of the driving means so as to follow a command value in a two-inertial system model including an inertial system on a load side and an inertial system on a driving side, whereinthe control unit comprises:a disturbance observer configured to estimate a disturbance caused in the load member based on the first and second sensor information; anda filter configured to convert an estimated value of the disturbance into a driving force of the driving means, in which: when the filter is expressed by a transfer function, an order of a numerator of the filter is equal to an order of a denominator thereof; and the numerator includes inertia on the driving side and the denominator includes inertia on the load side.2. The control system ...

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Номер записи: 60
03-06-2021 дата публикации

Control Method for Robot System

Номер: US20210162591A1
Автор: KANAI Hiroyuki, TOSHIMITSU Shunsuke
Принадлежит:

A robot system includes a robot arm driven by an electric motor and a vehicle that is movable and supports the robot arm. A control method includes (a) moving the vehicle to a work station of a first type and (b) driving the robot arm in the work station of the first type. The (a) executes a first operation mode for, in a part of the movement to the work station of the first type, moving the vehicle in a state in which electric power is not supplied to the electric motor, starting supply of the electric power to the electric motor during the movement of the vehicle in the state in which the electric power is not supplied to the electric motor, and arranging the vehicle in the work station of the first type in a state in which the electric power is supplied to the electric motor. 1. A control method for a robot system , the robot system including:a robot arm driven by an electric motor; anda vehicle that is movable and supports the robot arm, the control method comprising:(a) moving the vehicle to a work station of a first type; and(b) driving the robot arm in the work station of the first type, whereinthe (a) executes a first operation mode for, in a part of the movement to the work station of the first type, moving the vehicle in a state in which electric power is not supplied to the electric motor, starting supply of the electric power to the electric motor during the movement of the vehicle in the state in which the electric power is not supplied to the electric motor, and arranging the vehicle in the work station of the first type in a state in which the electric power is supplied to the electric motor.2. The control method according to claim 1 , whereinthe robot system includes:a position detecting section configured to detect a position of the vehicle; anda storing section storing information concerning a position where the supply of the electric power to the electric motor should be started, andthe (a) includes, in the first operation mode, starting the ...

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Номер записи: 61
08-09-2022 дата публикации

DEVICE WITH COMPONENTS CONNECTED VIA A CONNECTION INTERFACE AND METHOD FOR CONNECTING COMPONENTS

Номер: US20220281125A1
Автор: DURAND Friedrich, FRASCH Tobias, HOOS Johannes, TRICK Markus, ZIMMERMANN Timo
Принадлежит:

Device for handling and/or processing parts, having first and second subassemblies separably connectable by a connection interface that results from a first contact section of the first subassembly being plugged and/or pressed in a connecting direction onto a second contact section of the second subassembly in a first orientation specified relative to the second contact section. The connection interface includes an electrical interface for transmitting electrical power and/or communication signals between the subassemblies and a fluid interface for transporting fluid between the subassemblies. The first and second contact sections are configured so the connection interface also results if the first contact section is plugged or pressed in the connecting direction onto the second contact section in a further orientation. The further orientation corresponds to the first orientation aside from a rotation of the first contact section by a specified angle about a rotation axis running in the connecting direction. 1. A device , in particular for the handling and/or processing of parts , having a first and a second subassembly which are separably connected or connectable by means of a connection interface , wherein the connection interface results from a first contact section of the first subassembly being plugged and/or pressed in a connecting direction onto a second contact section of the second subassembly in a first orientation that is specified relative to the second contact section , wherein the connection interface comprises firstly an electrical interface for the transmission of electrical power and/or of communication signals between the first and the second subassembly and secondly a fluid interface for the transport of fluid between the first and the second subassembly , wherein the first and the second contact section are configured such that the connection interface also results if the first contact section is plugged or pressed in the connecting direction ...

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Номер записи: 62
10-06-2021 дата публикации

Automated lifting device

Номер: US20210170574A1
Автор: Truelsen Flemming Bischoff
Принадлежит:

The present invention relates to a lifting device for lifting and vertically, and possibly horizontally, replacing an object. The lifting device comprises a first unit () configured with one or more catching parts such as suction pads and a second unit () configured to control vertical and optionally horizontal position of the object. 11212. A lifting device comprising a first unit () and a second unit () , the first unit () configured to catch , hold , or both catch and hold an object and provide power for moving the object in a vertical direction , and the second unit () configured to control a vertical position of the object ,{'b': '1', 'claim-text': [{'b': 3', '4', '12', '12', '4', '12', '11', '11', '5, 'a stationary vertically extending part (), a horizontally extending part () and a lifting part () having a first attachment position and a second attachment position, at the first attachment position the lifting part () is attached or fixed to the horizontally extending part () and at the second attachment position the lifting part () is attached or fixed to a longitudinal member (), the longitudinal member () comprising a catching part ();'}, {'b': 10', '11', '10', '11', '12, 'a sliding member () configured to slide in two directions between a first end position and a second end position along the longitudinal member (), and the actual position of the sliding member () relative to the longitudinal member () configured to determine lighting power of the lifting part ();'}], 'wherein the first unit () comprises{'b': '2', 'claim-text': [{'b': 3', '1, 'the first attachment position is fixed to the vertically extending part () of the first unit ();'}, {'b': 10', '1', '2', '10, 'the second attachment position is fixed to the sliding member () of the first unit () by a rigid joint configured to transfer all movements induced at the second attachment position by the second unit () to the sliding member ().'}], 'wherein the second unit () comprises a first attachment ...

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Номер записи: 63
31-05-2018 дата публикации

ROBOT APPARATUS

Номер: US20180147731A1
Автор: Yoshizawa Akitaka
Принадлежит:

The present invention provides a robot apparatus which can determine a contact state at a contact point without increasing the contact point, can be miniaturized, and also can decrease the cost. Contact points are provided in a hand device. Contact points are provided in a tool device, which come in contact with the contact points, respectively, when the tool device has been mounted on the hand device. A voltage detecting circuit is provided in the tool device, which detects a voltage between the contact points. The controlling circuit determines contact states between the contact points and the contact points, by using a value of the voltage which has been detected by the voltage detecting circuit. 118.-. (canceled)19. A robot apparatus comprising:a hand device;a hand side contact point which is provided in the hand device and to which a voltage is applied;a tool device which can be attached to and detached from the hand device;a tool side contact point which is provided in the tool device, and comes in contact with the hand side contact point as the tool device is mounted on the hand device;a tool side detecting unit which is provided in the tool device, and detects a voltage or a current of the tool side contact point; anda controlling unit which determines a contact state between the hand side contact point and the tool side contact point, by using a value of the voltage or the current that has been detected by the tool side detecting unit,wherein the controlling unit is electrically connected to the hand device.20. The robot apparatus according to claim 19 , wherein the controlling unit acquires claim 19 , through the hand side contact point and the tool side contact point claim 19 , the value of the voltage or the current that has been detected by the tool side detecting unit.21. The robot apparatus according to claim 19 , further comprising a hand side voltage detecting unit which detects a voltage or a current of the hand side contact point claim 19 ,wherein ...

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Номер записи: 64
31-05-2018 дата публикации

CONNECTION STRUCTURE

Номер: US20180147734A1
Автор: ABE Kenichirou, Morioka Masahiro, NAKAYAMA Kazutaka
Принадлежит:

A connection structure in which a robot link member including a first wall, a second wall facing the first wall with an interval, and a connecting wall connecting the first wall and the second wall is connected with a member to be connected contacting a surface of the first wall of the link member, which does not face the second wall, the connection structure includes a bolt penetrating the first and second walls and including a head part contacting the second wall and a screw part screwed into the member to be connected, and a deformation preventing member sandwiched between the first and second walls by tightening the bolt to prevent or reduce deformation of the walls in a direction in which the walls become closer to each other. 1. A connection structure in which a robot link member including a first wall extending in a predetermined direction , a second wall extending in the predetermined direction and facing the first wall with an interval in a thickness direction of the first wall , and a connecting wall extending in the predetermined direction and connecting the first and second walls is connected with a member to be connected so that a surface of the first wall of the link member comes into contact with the member to be connected , wherein the surface does not face the second wall , the connection structure comprising:a bolt penetrating the first and second walls and including a head part that comes into contact with the second wall and a screw part that is screwed into the member to be connected; anda deformation preventing member disposed near the bolt between the first and second walls and sandwiched between the first and second walls by tightening the bolt so that the deformation preventing member prevents or reduces deformation of the first and second walls in a direction in which the first and second walls become closer to each other.2. The connection structure according to claim 1 , wherein the link member is a tubular member manufactured by extrusion ...

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Номер записи: 65
17-06-2021 дата публикации

APPARATUS HAVING A CAPACITIVE SENSING SYSTEM AND ELECTRIC LINE(S)

Номер: US20210178606A1
Автор: CHAKOUR Yacine, COURTEVILLE Alain, Roziere Didier
Принадлежит:

An appliance includes: 2. The appliance according to claim 1 , characterized in that the threshold capacitance is determined by taking account of:a capacitance detection limit, dependent on a detection noise level of the capacitive detection electronics; and/oran infinite capacitance, as measured by the capacitive detection electronics in the absence of an object or electric line.3. The appliance according to claim 1 , characterized in that the dimension of the reference electric line corresponds to a total diameter of the conductors of said reference line.4. The appliance according to claim 1 , characterized in that the dimension of the reference object corresponds to:a width or a length of the reference object; ora width or a length of a reference object of the same width or the same length as the at least one measurement electrode.6. The appliance according to claim 1 , characterized in that at least one spacing means has an overall relative dielectric permittivity less than or equal to 2 claim 1 , in particular 1.5.7. The appliance according to claim 1 , characterized in that at least one spacing means is fixed to a surface of said appliance claim 1 , in particular to an outer surface of said appliance.8. The appliance according to claim 1 , characterized in that at least one spacing means is fixed to the electric line.9. The appliance according to claim 1 , characterized in that at least one spacing means is flexible and extends beyond the electric line claim 1 , seen from the at least one measurement electrode.10. The appliance according to claim 1 , characterized in that at least one spacing means is inflatable claim 1 , and/or has the form of a cylindrical brush with radial bristles claim 1 , and/or at least partly hollow claim 1 , or spongy claim 1 , or in the form of a foam.11. The appliance according to claim 1 , characterized in that it comprises at least one electrode claim 1 , called guard electrode claim 1 , arranged on the side opposite the detection ...

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Номер записи: 66
17-06-2021 дата публикации

IDENTIFICATION NUMBER SETTING SYSTEM, IDENTIFICATION NUMBER SETTING METHOD, AND ROBOT SYSTEM

Номер: US20210178612A1
Автор: MAEDA Akitoshi
Принадлежит:

An identification number setting system includes a first element component including a first storing section, coupled to a first branch communication line branching from a main line of a bus-type communication wire, and coupled to a power supply, a second element component including a second storing section, coupled to a second branch communication line branching from the main line, and coupled to the power supply to be capable of switching energization and disenergization, and a control device coupled to the main line and configured to communicate with the first element component and the second element component. The control device writes a first identification number in the first storing section in a first state and writes a second identification number different from the first identification number in the second storing section after the writing of the first identification number and in a second state. 1. An identification number setting system comprising:a first element component including a first storing section, coupled to a first branch communication line branching from a main line of a bus-type communication wire, and coupled to a power supply;a second element component including a second storing section, coupled to a second branch communication line branching from the main line, and coupled to the power supply to be capable of switching energization and disenergization; anda control device coupled to the main line and configured to communicate with the first element component and the second element component, whereinthe control device writes a first identification number in the first storing section in a first state in which electric power is supplied to the first element component and electric power is not supplied to the second element component and writes a second identification number different from the first identification number in the second storing section after the writing of the first identification number and in a second state in which electric ...

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Номер записи: 67
22-09-2022 дата публикации

ROBOT ARM LINK AND ROBOT

Номер: US20220297319A1
Автор: Gu Hao, Zhang Jiafan
Принадлежит:

Robot arm link () comprises a body made of non-metallic material, a transmission cable () made of conducive material and embedded within the body (), and at least one connector () arranged on the body () and coupled to the transmission cable (), each connector () adapted to be electrically connected to a connector () of a further robot arm link () of a same specification, a sensor (), or a power source () of the robot (). By embedding the transmission cable () within the non-metallic material to form the robot arm link (), there is no need to consider how to route the cable () and thus the difficulty of cable routing design can be significantly reduced. Furthermore, the efficiency of robot assembly and maintenance can be increased accordingly. In addition, the cables () arranged in the robot arm links () are not easily damaged, thereby increasing the service life of the robot. 1. A robot arm link for a robot , comprising:a body made of non-metallic material;a transmission cable made of conductive material and embedded within the body; andat least one connector arranged on the body and coupled to the transmission cable, each connector adapted to be electrically connected to a connector of a further robot arm link of a same specification, a sensor, or a power source of the robot.2. The robot arm link of claim 1 , wherein the transmission cable comprises at least one of the following:a signal transmission cable for transmitting signal of the sensor, ora power transmission cable for transmitting electrical power.3. The robot arm link of claim 2 , wherein the at least one connector comprises:a signal sub-conductor coupled to the signal transmission cable; anda power sub-conductor coupled to the power transmission cable, the signal sub-conductor and the power sub-conductor insulated from each other.4. The robot arm link of claim 1 , wherein the transmission cable is integrally formed in the body by injection molding the body.5. The robot arm link of claim 1 , wherein the ...

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Номер записи: 68
22-09-2022 дата публикации

INCREASED NUMBER OF LOAD PORTS ON FACTORY INTERFACE WITH ROBOT THAT MOVES ON TRACK

Номер: US20220297320A1
Автор: Breiling Maureen Frances, Koshti Sushant S., Reuter Paul B.
Принадлежит:

A factory interface includes a housing, a front surface of the housing having multiple load ports, a robot having an arm and an end effector, and a track attached to a floor within the housing. The robot is adapted to move horizontally along the track to multiple positions from which the arm can reach the end effector of the robot into a front opening unified pod attached to any of the multiple load ports. 1. A factory interface comprising:a housing;a front surface of the housing comprising a plurality of load ports;a robot having an arm and an end effector; anda track attached to a floor within the housing, wherein the robot is adapted to move horizontally along the track to multiple positions from which the arm can reach the end effector of the robot into a front opening unified pod attached to any of the plurality of load ports.2. The factory interface of claim 1 , wherein the track extends along a subset of the plurality of load ports that excludes at least the outermost load ports of the plurality of load ports.3. The factory interface of claim 1 , wherein the plurality of load ports comprise six load ports claim 1 , and wherein the multiple positions exclude at least the outermost two load ports of the six load ports.4. The factory interface of claim 1 , further comprising:a gas recirculation system;a track plenum surrounding the track; anda duct attached between the track plenum and a return duct of a gas recirculation system.5. The factory interface of claim 4 , further comprising at least one of a fan or a filter integrated within the duct to filter out contaminants that are created locally to the track plenum.6. The factory interface of claim 4 , further comprising:a pressure sensor to measure a pressure of an inside of the track plenum; and detect, using the pressure sensor, that the pressure within the track plenum does not meet a threshold pressure; and', 'deactivate the robot and the plurality of load ports in response to detecting the pressure., 'a ...

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Номер записи: 69
23-05-2019 дата публикации

HANDLING SYSTEM

Номер: US20190152071A1
Автор: DEISTER Viktor
Принадлежит:

1. Handling system. 2. A handling system with a handling arm () which preferably consists of several arm parts () which are movable by means of at least one drive and which are connected to each other via joints (), and with a supply device () having individual supply sections which serve to deliver electrical and/or fluidic energy to consumers, such as the respective drive, and which at least in part constitute a component of the handling arm () with its arm parts (), characterized in that the individual supply sections are combined to form a common main section () which at each end has a respective connection coupling part () which, with a casing (), surrounds and protects the supply sections and which, designed as an exchangeable unit, is mounted detachably on the handling arm () via receivers () located on the two coupling parts () and is accessible from the outside. 1468121820468202628222628404. A handling system , having a handling arm () , which preferably consists of several arm parts ( , ) moved by means of at least one drive , which arm parts are interconnected via joints ( , ) , and having a supply device () , which comprises individual supply strands , which serve the supply of electrical and/or fluidic energy to loads , such as the relevant drive , and which are at least partially part of the handling arm () and its arm parts ( , ) , characterized in that the individual supply strands are combined to form a common main strand () , which has a port-coupling part ( , ) at each end , which surrounds the supply strands with a protective sheath () and which , designed as a exchangeable unit , is mounted via the two coupling parts ( , ) on retainers () located on the handling arm () in a detachable manner and accessible from the outside.2262012628842628. The handling system according to claim 1 , characterized in that the first free end or first coupling part () of the main strand () is arranged on a joint () assigned to the first arm part () and its other ...

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Номер записи: 70
23-05-2019 дата публикации

Robot

Номер: US20190152072A1
Автор: KOJIMA Takashi, YAMAZAKI Takema
Принадлежит:

A robot includes a motor and a power supply section configured to supply electric power to the motor. The power supply section includes a first power supply circuit and a second power supply circuit and is located on the inside of the robot. 1. A robot comprising:a motor; anda power supply section configured to supply electric power to the motor, whereinthe power supply section includes a first power supply circuit and a second power supply circuit and is located on an inside of the robot.2. The robot according to claim 1 , whereina first input circuit and a first output circuit included in the first power supply circuit are electrically isolated,a second input circuit and a second output circuit included in the second power supply circuit are electrically isolated,an output terminal on a high-potential side of output terminals of the first output circuit and an output terminal on a low-potential side of output terminals of the second output circuit are connected, andthe power supply section applies, between an output terminal on a low-potential side of the output terminals of the first output circuit and an output terminal on a high-potential side of the output terminals of the second output circuit, a voltage obtained by adding up an output voltage of the first output circuit and an output voltage of the second output circuit.3. The robot according to claim 2 , wherein a rated output power value of the first power supply circuit is equal to a rated output power value of the second power supply circuit.4. The robot according to claim 2 , wherein an output voltage of the first power supply circuit is equal to an output voltage of the second power supply circuit.5. The robot according to claim 2 , wherein at least one of the first input circuit and the second input circuit includes a harmonic current suppression circuit.6. The robot according to claim 1 , further comprising an inverter circuit configured to convert electric power supplied from the power supply ...

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Номер записи: 71
08-06-2017 дата публикации

Robotic power and signal distribution using laminated cable with separator webs

Номер: US20170157781A1
Автор: Michael Sussman
Принадлежит: Individual

Systems and methods that facilitate cables to pass through moving, space-constrained joints and conveying power and/or signals to various robotic joint-associated elements utilize a unitary and flat laminated cable slack within the joint to accommodate the relative motion between mechanical elements of the joints. In various embodiments, the cable has multiple insulated sub-cables; each sub-cable is insulated and physically separable from all other sub-cables. Some of the sub-cables are separated from the cable and electrically connected to joint-associated components for conveying signals and power thereto without mechanically interfering with relative motion between mechanical elements of the joint.

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Номер записи: 72
08-06-2017 дата публикации

DEVICE FOR CONNECTION OF A TOOL TO AN INDUSTRIAL ROBOT ARM

Номер: US20170157782A1
Автор: Strobietto Elio
Принадлежит:

Described herein is a tool-change device, in particular for industrial robot arms, of the type comprising: 1. A device for connection of a tool to a robot arm , wherein said tool has electrical and/or service-fluid connections with said robot arm , said device comprising:an annular body designed to be mounted on the wrist of a robot arm and having a first face and a second face opposite to one another, outer side walls, and inner side walls; andan apparatus for fixing said body to a connection body coupled to said tool;wherein said second face of said body is designed to be coupled to a face of said connection body; andwherein said body comprises one or more bores or cavities that constitute passages or portions of said connections, and wherein said bores or cavities are designed to set themselves in a condition of mutual connection with corresponding bores or cavities made within said connection body;said device being wherein:in said body associated to said bores or cavities are at least one opening that opens out on said first face and/or at least one opening that opens out on at least one of the inner side walls of said body.2. The device according to claim 1 , wherein in said body moreover associated to said bores or cavities is at least one opening that opens out on at least one of the outer side walls of said body.3. The device according to claim 1 , wherein one of said bores and/or the corresponding opening house an electrical connector.4. The device according to claim 1 , wherein one of said bores and the corresponding opening are configured for supplying the operating fluid of said fixing apparatus.5. The device according to claim 1 , comprising an adapter flange having conduits that constitute passages or portions of said connections and that open out on the opposite faces of said flange claim 1 , namely claim 1 , on a first face that is to be coupled to said first face of said body claim 1 , to set itself in connection with said openings made on said ...

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Номер записи: 73
14-06-2018 дата публикации

Transfer System, Transfer Apparatus and Module

Номер: US20180161993A1
Автор: Igawa Tomohide, Sakaguchi Yuya, YAMADA Takaya
Принадлежит:

A transfer system is provided with a transfer apparatus that has an arm mechanism to transfer a workpiece, a control device that supplies electric power to the transfer apparatus and controls the motions of the transfer apparatus, and a power cable that connects between the control device and the transfer apparatus. The control device sends and receives a signal for controlling the transfer apparatus through the power cable. The transfer apparatus is provided with a plurality of motors for driving the transfer apparatus, a plurality of drive control sections for applying electric power supplied from the control device to the plurality of motors for driving the motor, and internal power lines that connect the plurality of drive control sections. The plurality of drive control sections each sends and receives the signal to and from the control device through the power cable and the internal power lines and drives the motor according to the signal. 2. The transfer system according to claim 1 , wherein a first power line that transmits electric power for driving the motor and', 'a second power line that transmits electric power for operating the drive control section, and, 'the power cable includes'} a third power line that transmits electric power for driving the motor and', 'a fourth power line that transmits electric power for operating the drive control section, wherein, 'the internal power line includes'}the control device and the drive control section send and receive the signal through the second power line and the fourth power line.3. The transfer system according to claim 2 , whereinthe drive control section comprisesa driving circuit board having a plurality of first power terminals to which the first power line or the third power line is connected, the first power terminals being electrically connected to each other, anda communication circuit board having a plurality of second power terminals to which the second power line or the fourth power line is ...

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Номер записи: 74
29-09-2022 дата публикации

INTEGRATED MOBILE MANIPULATOR ROBOT WITH ACCESSORY INTERFACES

Номер: US20220305672A1
Автор: Diaz-Lankenau Guillermo, HAMILTON CHRIS, Meduna Matthew, MURPHY MICHAEL, Saunders John Aaron
Принадлежит: Boston Dynamics, Inc.

A robot comprises a mobile base, a robotic arm operatively coupled to the mobile base, and at least one interface configured to enable selective coupling to at least one accessory. The at least one interface comprises an electrical interface configured to transmit power and/or data between the robot and the at least one accessory, and a mechanical interface configured to enable physical coupling between the robot and the at least one accessory. 1. A robot comprising:a mobile base;a robotic arm operatively coupled to the mobile base; and an electrical interface configured to transmit power and/or data between the robot and the at least one accessory; and', 'a mechanical interface configured to enable physical coupling between the robot and the at least one accessory., 'at least one interface configured to enable selective coupling to at least one accessory, the at least one interface comprising2. The robot of claim 1 , further comprising a coupling sensor configured to determine if the robot and the at least one accessory are physically coupled through the mechanical interface.3. The robot of claim 2 , wherein the coupling sensor is a magnetic sensor.4. The robot of claim 3 , wherein the magnetic sensor is a hall effect sensor.5. The robot of claim 3 , wherein the magnetic sensor is a reed switch.6. The robot of claim 2 , wherein the coupling sensor is a contactless sensor.7. The robot of claim 2 , further comprising a computer processor configured to receive a signal from the coupling sensor and output an error when it is determined based on the received signal that the robot and the at least one accessory are physically coupled through the mechanical interface and that an electrical connector of the electrical interface is not connected to a corresponding connector of the at least one accessory.8. The robot of claim 1 , wherein the at least one interface comprises a first interface and a second interface claim 1 , a first electrical interface configured transmit ...

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Номер записи: 75
30-05-2019 дата публикации

LINE-SHAPED-ITEM SECURING METHOD

Номер: US20190160695A1
Автор: ADACHI Satoshi, NAKAYAMA Kazutaka, TANAKA Yasuyoshi
Принадлежит: FANUC Corporation

Provided is a line-shaped-item securing method including an elastic-body disposing step of disposing an elastic body so as to surround the periphery of one or more line-shaped items; a compressing step of compressing the elastic body, disposed around the periphery of the line-shaped items in the elastic-body disposing step, in a direction perpendicular to the lengthwise direction of the line-shaped items to dimensions smaller than a gap in a robot, through which the line-shaped items are to be passed; a line-shaped-item inserting step of inserting a portion of the line-shaped items, surrounded by the elastic body compressed in the compressing step, into the gap; and an expanding step of releasing the elastic body from compression, with the line-shaped items inserted into the gap in the line-shaped-item inserting step, thereby expanding the elastic body. 1. A line-shaped-item securing method , comprising:an elastic-body disposing step of disposing an elastic body so as to surround a periphery of one or more line-shaped items;a compressing step of compressing the elastic body, disposed around the periphery of the line-shaped items in the elastic-body disposing step, in a direction perpendicular to a lengthwise direction of the line-shaped items to dimensions smaller than a gap in a robot, through which the line-shaped items are to be passed;a line-shaped-item inserting step of inserting a portion of the line-shaped items, surrounded by the elastic body compressed in the compressing step, into the gap; andan expanding step of releasing the elastic body from compression, with the line-shaped items inserted into the gap in the line-shaped-item inserting step, thereby expanding the elastic body.2. The line-shaped-item securing method according to claim 1 , wherein the gap is a cored hole of a cast component constituting the robot.3. The line-shaped-item securing method according to claim 1 , wherein the gap is formed between at least two wall faces of a cast component ...

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Номер записи: 76
08-07-2021 дата публикации

ROBOTIC ARM AND ROBOT HAVING THE SAME

Номер: US20210206000A1
Автор: DEMURA Nobuhiro, YONEYAMA Masato
Принадлежит: KAWASAKI JUKOGYO KABUSHIKI KAISHA

A robotic arm capable of reducing the size while suppressing damage to a plurality of elongated members inserted therein, is provided. The robotic arm to which an end effector is attached, includes plurality of elongated members extending to end effector, cylindrical housing defining a periphery of internal space configured to be a passage of plurality of elongated members, and an attaching structure provided to a tip end of the internal space of the cylindrical housing so as to attach the end effector to a tip-end part of the cylindrical housing. The attaching structure includes insertion holes formed corresponding to plurality of elongated members so as to insert the plurality of elongated members therein, and fixing members configured to fix the plurality of elongated members to the insertion holes, respectively. The cylindrical housing is formed so that the inner diameter is larger at the tip-end part than at a base-end part. 1. A robotic arm to which an end effector is attached , comprising:a plurality of elongated members extending to the end effector;a cylindrical housing defining a periphery of an internal space configured to be a passage of the plurality of elongated members; and insertion holes formed corresponding to the plurality of elongated members so as to insert the plurality of elongated members therein; and', 'fixing members configured to fix the plurality of elongated members to the insertion holes, respectively,, 'an attaching structure provided to a tip end of the internal space of the cylindrical housing so as to attach the end effector to a tip-end part of the cylindrical housing, the attaching structure includingwherein the cylindrical housing is formed so that the inner diameter is larger at the tip-end part than at a base-end part.2. The robotic arm of claim 1 , wherein each of the plurality of elongated members is one of wiring and piping.3. The robotic arm of claim 1 , wherein the cylindrical housing includes claim 1 , between the tip-end ...

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Номер записи: 77
29-06-2017 дата публикации

Multi-axis industrial scara robot

Номер: US20170182669A1
Автор: Bordegnoni Stefano, Ciniello Francesco
Принадлежит:

Described herein is a multi-axis industrial robot, in particular of a SCARA type, wherein the arm bearing the operating unit comprises a base body and a covering body, which constitute a hermetically closed housing that contains the actuation assembly of said unit. 1. A multi-axis industrial robot , in particular of a SCARA type , comprising:a base structure;a first arm pivotally connected to the base structure about a first axis of rotation;a second arm pivotally connected to said first arm about a second axis of rotation parallel to said first axis of rotation; andan operating unit carried by a shaft, which is mounted on said second arm and can be driven, by means of an actuation assembly, in a first movement of translation along a third axis and in a second movement of rotation about said third axis, said third axis being parallel to said first and second axes of rotation,wherein said second arm comprises:a base body fixed on which is said actuation assembly; anda covering body, which is mounted on said base body,wherein said base body and said covering body constitute a housing within which said actuation assembly is enclosed and separated from the external environment;said robot being characterized in that said second arm comprises an intermediate body, which is fixed on said base body and has a structure that is set at least in part between said covering body and said actuation assembly and is provided with portions for fixing said covering body on said intermediate body in such a way that said covering body is fixed on said base body through said intermediate body and constitutes, together with said base body, a housing within which said actuation assembly and said intermediate body are enclosed.2. The robot according to claim 1 ,wherein said intermediate body defines a wall, which is set between said covering body and said actuation assembly and is provided with said fixing portions;wherein carried on said wall are at least one connector member for ...

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Номер записи: 78
05-07-2018 дата публикации

INDUCTIVE COUPLING ACROSS A MOVING BOUNDARY OF A MOBILE DEVICE

Номер: US20180186242A1
Автор: Rhodes Richard
Принадлежит: Sphero, Inc.

A method of inductively coupling a first body and a second body is provided, wherein the first body rotates relative to the second body. During rotation, alignment is maintained between a first and second coil. Signals are sent and received between the coils. 1. A method of inductively coupling a first body and a second body , wherein the first body is rotatable relative to the second body , the method comprising:rotating the first body relative to the second body; andwhile rotating the first body, maintaining alignment of a first coil disposed in the first body to a second coil disposed in the second body; and '(a) sending a signal from the first coil to the second coil and (b) receiving a signal from the second coil at the first coil.', 'at least one of2. The method of claim 1 , wherein the second coil is fixed relative to an outer surface of the second body.3. The method of claim 1 , wherein the first coil is movable relative to an outer surface of the first body.4. The method of claim 1 , wherein the first body comprises a substantially spherical outer surface.5. The method of claim 1 , wherein the first body is configured to be rotated about an axis substantially parallel to the first coil.6. An apparatus comprising:a body comprising a body housing comprising an outer surface and an inner surface at least partially defining an interior body volume;a drive element rotatably engaged with the inner surface;a biasing mechanism for biasing the drive element into contact with the inner surface, wherein the biasing mechanism comprises a bearing disposed opposite the drive element; anda body coil disposed in the interior body volume and about the biasing mechanism.7. The apparatus of claim 6 , further comprising an accessory comprising:an accessory housing defining an interior accessory volume;an accessory coil disposed in the interior accessory volume; anda retaining element disposed proximate the accessory coil.8. The apparatus of claim 7 , wherein at least one of ...

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Номер записи: 79
02-10-2014 дата публикации

MULTI-AXIS ROBOT

Номер: US20140290416A1
Автор: DEMURA Nobuhiro, Taniuchi Ryo
Принадлежит:

A multi-axis robot includes: a base with a hollow; a support member with a hollow, the support member constituting a proximal end portion of an arm of the multi-axis robot; and a guide pipe configured to rotate together with the support member, the guide pipe being configured such that one end of the guide pipe is rotatably inserted in the base, and inner space of the guide pipe is in communication with inner space of the support member and inner space of the base. A notch is formed in a peripheral surface of an end portion of the guide pipe, the end portion being positioned in the base. A motor cable extends to reach the notch from radially outside of the guide pipe. 1. A multi-axis robot comprising:a base with a hollow;a support member with a hollow, the support member constituting a proximal end portion of an arm of the multi-axis robot, the support member being provided such that the support member is rotatable around a central axis of the base; and one end of the guide pipe is rotatably inserted in the base;', 'inner space of the guide pipe is in communication with inner space of the support member and inner space of the base; and', 'a first linear body is inserted in the guide pipe in a longitudinal direction of the guide pipe, wherein, 'a guide pipe provided in the support member and configured to rotate together with the support member, the guide pipe being configured such thata rotational center of the guide pipe deviates from a center of the first linear body,a notch, through which the first linear body is passed, is formed in a peripheral surface of an end portion of the guide pipe, the end portion being positioned in the base, andthe first linear body extends to reach the notch from radially outside of the guide pipe, such that a bending portion is formed around an outer peripheral surface of the guide pipe in a plane parallel to a rotation direction of the guide pipe, and extends from the notch to reach the inner space of the support member by passing ...

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Номер записи: 80
27-06-2019 дата публикации

ROBOT AND LINEAR-SHAPED-ITEM TREATING STRUCTURE THEREOF

Номер: US20190193285A1
Автор: ADACHI Satoshi
Принадлежит:

A robot includes at least one cover member disposed on outside in a direction of an axis of a second wrist unit that rotatably supports a tipmost first wrist unit, to which a tool is fixed, around a predetermined axis. The cover member includes a recessed part obtained by recessing at least a part of an outer peripheral edge around the axis in the direction of the axis. A fastener is provided to fix a plate that holds a linear-shaped item in a direction along the axis between the recessed part and the fastener. 1. A robot , comprising:at least one cover member disposed on outside in a direction of an axis of a second wrist unit that rotatably supports a tipmost first wrist unit, to which a tool is fixed, around a predetermined axis,wherein the cover member includes a recessed part obtained by recessing at least a part of an outer peripheral edge around the axis in the direction of the axis, and a fastener provided to fix a plate that holds a linear-shaped item in a direction along the axis between the recessed part and the fastener.2. The robot according to claim 1 , whereinthe recessed part is provided by partially recessing a part of an outer peripheral edge in a circumferential direction around the axis of the cover member over a predetermined width dimension.3. A linear-shaped-item treating structure of a robot claim 1 , comprising:{'claim-ref': {'@idref': 'CLM-00001', 'claim 1'}, 'a plate disposed so as to hold the linear-shaped item between the plate and the recessed part of the robot according to ; and'}a fastening member that fixes the plate by using the fastener of the cover member. This application is based on and claims priority to Japanese Patent Application No. 2017-248088, filed on Dec. 25, 2017, the entire content of which is incorporated herein by reference.The present invention relates to a robot and a linear-shaped-item treating structure thereof.In order to supply power or fluid to a tool such as a hand mounted on a wrist tip of a robot, a linear- ...

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Номер записи: 81
27-07-2017 дата публикации

ROBOT

Номер: US20170210016A1
Автор: GOTO Yoshinobu, NAKANO Sho
Принадлежит:

A robot includes a first arm that has a drive unit, a second arm that is disposed in the first arm, and that can be displaced with respect to the first arm by the drive unit, and a flexible member that is fixed to the first arm by a first fixing portion, and that is fixed to the second arm by a second fixing portion. The flexible member has a folding portion disposed between the first fixing portion and the second fixing portion, a first portion disposed between the first fixing portion and the folding portion, and a second portion disposed between the second fixing portion and the folding portion. At least one of the first portion and the second portion has a uniform portion both in a state where the drive unit is driven and in a state where the drive unit is not driven. 1. A robot comprising:a first arm that has a drive unit;a second arm that is disposed in the first arm, and that can be displaced with respect to the first arm by the drive unit; anda flexible member that is fixed to the first arm by a first fixing portion, and that is fixed to the second arm by a second fixing portion,wherein the flexible member has a folding portion disposed between the first fixing portion and the second fixing portion, a first portion disposed between the first fixing portion and the folding portion, and a second portion disposed between the second fixing portion and the folding portion, andwherein at least one of the first portion and the second portion has a uniform portion both in a state where the drive unit is driven and in a state where the drive unit is not driven.2. The robot according to claim 1 ,wherein the flexible member has an elongated shape, andwherein a longitudinal length of the uniform portion is longer than a radius of the flexible member.3. The robot according to claim 1 ,wherein the flexible member has an elongated shape, andwherein a longitudinal length of the uniform portion is longer than a diameter of the flexible member.4. The robot according to claim ...

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Номер записи: 82
04-08-2016 дата публикации

ROBOT

Номер: US20160221184A1
Автор: HANIYA Kazuhiro, Ito Masato, Sanada Takashi, Sueyoshi Satoshi
Принадлежит: KABUSHIKI KAISHA YASKAWA DENKI

A robot includes a base, a first arm, a second arm, a first motor, and a second motor. The first arm is disposed on the base and swingable about a first axis. The second arm is disposed on the first arm and swingable about a second axis. The first motor moves the first arm about the first axis. The second motor moves the second arm about the second axis. The first and second motors each include a body and a protrusion. The body has an axial dimension in a direction along an output shaft of each motor and a perpendicular dimension in a direction approximately perpendicular to the output shaft. The axial dimension is smaller than the perpendicular dimension. The protrusion protrudes from a surface of the body in a direction along the output shaft and is disposed at a position displaced from the output shaft. 1. A robot comprising:a base;a first arm disposed on the base and swingable about a first axis parallel to an installation surface on which the base is installed;a second arm disposed on the first arm and swingable about a second axis parallel to the first axis; a first body comprising an axial dimension in a direction along an output shaft of the first motor and a perpendicular dimension in a direction approximately perpendicular to the output shaft of the first motor, the axial dimension being smaller than the perpendicular dimension; and', 'a first protrusion protruding from a surface of the first body in a direction along the output shaft of the first motor and disposed at a position displaced from the output shaft of the first motor; and, 'a first motor configured to move the first arm about the first axis relative to the base, the first motor comprising a second body comprising an axial dimension in a direction along an output shaft of the second motor and a perpendicular dimension in a direction approximately perpendicular to the output shaft of the second motor, the axial dimension being smaller than the perpendicular dimension; and', 'a second protrusion ...

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Номер записи: 83
03-08-2017 дата публикации

Robot

Номер: US20170217025A1
Автор: Kyoko SOTOBAYASHI, Takeyuki NINOMIYA, Takuya Okada, Yasuyuki ISHIBE, Yoshitaka FUKUDOME
Принадлежит: Yaskawa Electric Corp

A robot includes a joint and a drive mechanism disposed in the joint. A reducer includes an output shaft and a fixed portion. A first seal seals a gap between the output shaft and the fixed portion. A first cover is fixed to the fixed portion and covers an outer surface of the fixed portion. An intermediate portion is fixed to an output-side portion of the output shaft. A second cover is fixed to an output-side portion of the intermediate portion and covers an outer surface and an output-side edge of the first cover. A second seal seals a gap between the first cover and the intermediate portion. A groove extends approximately over a circumference of the outer surface of the first cover.

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Номер записи: 84
02-07-2020 дата публикации

TRANSMISSION DEVICE AND ROBOTIC ARM

Номер: US20200206912A1
Автор: CHEN JAN-HAO, CHEN SHANG-TE, CHU Cheng-Yu, SUNG Chia-Chung, WU Meng-He
Принадлежит: INDUSTRIAL TECHNOLOGY RESEARCH INSTITUTE

A transmission device is provided, including a first housing, a second housing connected to the first housing, a third housing axially connected to the second housing, an adapter disposed on the third housing, a first power shaft actuating the first housing and the second housing to rotate, a second power shaft actuating the third housing to rotate, and a third power shaft actuating the adapter to rotate. The second and third power shafts are a coaxial structure. The first power shaft is an independent rod. Therefore, a motor loaded with a smaller rotation inertia and being thus cheaper can be used to drive the first power shaft, and the transmission device can have a reduced cost. 1. A transmission device , comprising:a first housing having a first end portion and a second end portion opposing each other;a second housing connected to the first end portion of the first housing;a first speed reducer disposed between the first end portion of the first housing and the second housing; anda first power shaft for actuating the first speed reducer to drive the second housing to rotate.2. The transmission device of claim 1 , wherein the first power shaft actuates the first speed reducer through a first transmission mechanism.3. The transmission device of claim 2 , further comprising a first motor for driving the first power shaft.4. The transmission device of claim 3 , wherein the first motor drives the first power shaft through a bevel gear set.5. The transmission device of claim 2 , wherein the first transmission mechanism is a gear set and transfers power of the first transmission mechanism through a connection structure to the first speed reducer claim 2 , and wherein the connection structure is a pipe.6. The transmission device of claim 2 , further comprising:a third housing axially connected to the second housing, wherein the first power shaft actuates the first speed reducer through the first transmission mechanism to drive the second housing and the third housing to ...

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Номер записи: 85
09-08-2018 дата публикации

ROBOT JOINT AND ROBOT INCLUDING THE SAME

Номер: US20180222063A1
Автор: Cao Kaiyuan, Cao Xiaodong, Ha Yun, Sha Jiajie, Zhu Zhu
Принадлежит:

A robot joint and a robot using the robot joint is provided. The robot joint includes a first part and a second part configured to be rotatable with each other around a joint axis. A flexible printed circuit board is further included with a first fixing point and a second fixing point respectively fastened to the first part and the second part. The flexible printed circuit board is spiral-shaped prior to bending. With the relative rotation of the first part and the second part, the flexible printed circuit board is bent at various bending portions. This makes the robot joint more compact with a larger rotation range and a long lifetime in a cost effective way. 1. A robot joint , comprising:a first part and a second part configured to be rotatable with each other around a joint axis; anda flexible printed circuit board including a first fixing point and second fixing point respectively fastened to the first part and the second part;whereinthe flexible printed circuit board prior to bending is spiral-shaped; andwith the relative rotation of the first part and the second part, the flexible printed circuit board is bent at various bending portions.2. The robot joint according to claim 1 , wherein;the spiral-shaped flexible printed circuit board winds around its center point from the first fixing point to the second fixing point by more than 360 degrees prior to the bending.3. The robot joint according to claim 1 , wherein:the bending portion occurs between a first portion and a second portion of the flexible printed circuit board.4. The robot joint according to claim 3 , wherein:the first portion and the second portion of the flexible printed circuit board have an overlapping area.5. The robot joint according to claim 1 , further comprising:an extension portion being arranged to radially extend from a curve portion of the spiral-shaped flexible printed circuit board between the first fixing point and the second fixing point prior to the bending.6. The robot joint ...

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Номер записи: 86
26-08-2021 дата публикации

LATERAL GRIPPER

Номер: US20210260774A1
Автор: CHU Chien-Chang, TAO Chia-Li
Принадлежит:

A lateral gripper includes a gripper mount, and two gripper jaw modules assembled on the gripper mount. Each gripper jaw module includes a sliding block and a gripper jaw. The sliding block drives the gripper jaw to slide on the gripper mount. The gripper jaw is configured to grip a drill box by multi-point contact, so that the freedom of the drill box is restricted, and the drill box can be stably carried by the gripper jaw modules. 1. A lateral gripper , comprising:a gripper mount comprising a transversely arranged linear sliding groove;two gripper jaw modules coupled to said linear sliding groove of said gripper mount and drivable by a driving device to move along said linear sliding groove relative to each other between a close position and an open position, each said gripper jaw module comprising a sliding block and a gripper jaw, said sliding block being a T-shaped block, said sliding block comprising a sliding end and a connecting surface, said sliding end being slidably coupled to said linear sliding groove, said gripper jaw being a L-shaped jaw mounted on said connecting surface, said gripper jaw comprising a mounting portion, an abutment surface and a gripping surface, said mounting portion corresponding to said connecting surface and combining said sliding block with said gripper jaw by fastening means, said abutment surface and said gripping surface being connected at right angles, said gripping surface comprising a plurality of mounting holes, said abutment surfaces and said gripping surfaces of said two gripper jaw modules defining a gripping space for gripping an object; anda plurality of positioning devices symmetrically mounted in said mounting holes on said gripping surfaces of said gripper jaws of said two gripper jaw modules.2. The lateral gripper as claimed in claim 1 , wherein said gripper mount further comprising a connection unit claim 1 , said connection unit having one end thereof connected to a driving device and an opposite end thereof ...

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Номер записи: 87
23-08-2018 дата публикации

ROBOT

Номер: US20180236671A1
Автор: AKAHA Kazushige, GOTO Yoshinobu, NAKANO Sho, YOSHIMURA Kazuto
Принадлежит:

A robot includes a robot arm that has an nth arm (n is an integer of 1 or greater) and an (n+1)th arm disposed in the nth arm so as to be pivotable around an (n+1)th pivot axis, and a motor unit that drives the (n+1)th arm. Each of the nth arm and the (n+1)th arm has a cover. A wire is disposed between the motor and the cover of the nth arm. A non-contact seal structure is formed using the cover of the nth arm and the cover of the (n+1)th arm. 1. A robot comprising:a robot arm that has an nth arm (n is an integer of 1 or greater) and an (n+1)th arm disposed in the nth arm so as to be pivotable around an (n+1)th pivot axis; anda motor that drives the (n+1)th arm,wherein each of the nth arm and the (n+1)th arm has a cover,wherein a wire is disposed between the motor and the cover of the nth arm, andwherein a non-contact seal structure is formed using the cover of the nth arm and the cover of the (n+1)th arm.2. The robot according to claim 1 ,wherein the non-contact seal structure is a labyrinth structure.3. The robot according to claim 1 ,wherein the non-contact seal structure has a gap formed between the cover of the nth arm and the cover of the (n+1)th arm, andwherein in a cross section taken along the (n+1)th pivot axis, the gap has a first gap which extends in a direction intersecting an axial direction of the (n+1)th pivot axis and a second gap which extends in a direction intersecting the extending direction of the first gap and which communicates with the first gap.4. The robot according to claim 1 ,wherein at least any one of the cover of the nth arm and the cover of the (n+1)th arm has a recess which is recessed in the direction intersecting the axial direction of the (n+1)th pivot axis.5. The robot according to claim 4 ,wherein the recess is located inside the non-contact seal structure.6. The robot according to claim 1 ,wherein the non-contact seal structure internally has a grease.7. The robot according to claim 6 ,wherein a worked penetration of the ...

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Номер записи: 88
01-08-2019 дата публикации

MODULAR TRANSPORT ROBOT AND TRANSPORT ROBOT SYSTEM

Номер: US20190232504A1
Автор: Bischoff Heike, Drees Sandra, Radetzki Uwe, Trendafilov Boris, Uck Kong Dong
Принадлежит: DEUTSCHE POST AG

Presented are embodiments of a modular transport robot for transporting consignments. The transport robot includes at least one base element for the structure of the transport robot, at least two expansion modules for the technical equipping of the transport robot, at least one consignment box for receiving consignments, and at least one control device. The base element and each of the expansion modules have corresponding connecting elements and are electrically connected to one another by an electrical connection. The base element has at least one wiring harness for electrically connecting the connecting elements of the base element to one another, and the base element and the expansion modules are designed correspondingly to one another such that the connecting elements of the expansion modules are selectively connectable directly to at least two connecting elements provided at different points, so as to form one common connection to the base element. 1) A modular transport robot for transporting consignments , comprising:at least one base element for the physical structure of the transport robot;at least two expansion modules for the technical equipping of the transport robot;at least one consignment box for receiving consignments; andat least one control device for controlling the transport robot;wherein the at least one base element and each of the expansion modules have corresponding connecting elements and are in each case electrically connected to one another by means of at least one electrical connection comprising the corresponding connecting elements;wherein the at least one base element has at least one wiring harness for electrically connecting the connecting elements of the base element to one another;wherein the at least one base element and the expansion modules are designed correspondingly to one another such that the connecting elements of the at least two expansion modules are in each case selectively connectable directly to at least two ...

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Номер записи: 89
01-08-2019 дата публикации

ROBOTIC POWER AND SIGNAL DISTRIBUTION USING LAMINATED CABLE WITH SEPARATOR WEBS

Номер: US20190232505A1
Автор: Sussman Michael
Принадлежит:

Systems and methods that facilitate cables to pass through moving, space-constrained joints and conveying power and/or signals to various robotic joint-associated elements utilize a unitary and flat laminated cable slack within the joint to accommodate the relative motion between mechanical elements of the joints. In various embodiments, the cable has multiple insulated sub-cables; each sub-cable is insulated and physically separable from all other sub-cables. Some of the sub-cables are separated from the cable and electrically connected to joint-associated components for conveying signals and power thereto without mechanically interfering with relative motion between mechanical elements of the joint. 18.-. (canceled)9. An electromechanical joint for a robot , the joint comprising:a plurality of mechanical elements configured for relative motion therebetween;passing through the joint, a cable comprising a plurality of insulated sub-cables in a unitary flat configuration for conveying power and signals, wherein:(i) the cable is slack within the joint to accommodate the relative motion;(ii) each of the sub-cables is insulated and separable from all other sub-cables along at least a portion of a length of the cable; and(iii) at least some of the sub-cables are only partially separated from the cable, via cuts along thinned insulating dividers disposed between the sub-cables, and the at least some of the sub-cables are electrically connected to at least one joint-associated component for conveying signals and power thereto without mechanically interfering with relative motion between mechanical elements of the joint.10. The joint of claim 9 , wherein separated lengths of at least two of the sub-cables are different from each other.11. The joint of claim 9 , wherein each of the sub-cables is separated from a neighboring sub-cable by an insulating divider that extends between and contacts the sub-cable and the neighboring sub-cable.12. The joint of claim 11 , wherein the ...

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Номер записи: 90
23-07-2020 дата публикации

ROBOT DEVICE AND THERMAL DISPLACEMENT AMOUNT ESTIMATION DEVICE

Номер: US20200230829A1
Автор: TANAKA Yasuyoshi
Принадлежит:

A robot device includes an arm mechanism that includes links and joints. A hand is mounted to a tip of the arm. A motor driver drives motors of the joints. A processor outputs, to the motor driver, a command value for moving a reference point of the hand to a target position. A storage device stores a first thermal displacement amount temporal variation representing a variation with respect to a continuous operation time period in a thermal displacement amount by which the hand reference point is displaced from a cool position to a heat balance position due to heat generation accompanying operation of the arm mechanism, and a second thermal displacement amount temporal variation representing a variation with respect to a continuous stopped time period in a thermal displacement amount by which the hand reference point returns from the heat balance position to the cool position accompanying stopping of operation of the arm mechanism. The processor refers to the first and second thermal displacement amount temporal variations to estimate a thermal displacement amount of the hand reference point based on the continuous operation time period and continuous stopped time period of the arm mechanism, and corrects the target position based on the estimated thermal displacement amount. 1. A robot device , comprising:an arm mechanism having a plurality of links and a plurality of joints connecting the plurality of links;an end effector mounted to a tip of the arm mechanism;a plurality of motors each of which generates motive power for each of the plurality of joints;a motor driver that drives the motors;a command value outputting section that outputs, to the motor driver, command values for each of the joints to move a reference point of the end effector to a target position;a storing section that stores data relating to a first thermal displacement amount temporal variation that represents a variation with respect to a continuous operation time period in a thermal ...

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Номер записи: 91
30-07-2020 дата публикации

MOUNTING BRACKET

Номер: US20200238543A1
Автор: SHIMIZU Ryouta
Принадлежит: FANUC Corporation

A mounting bracket includes: a first flange mounted on a wrist leading end surface of a robot allowing a linear object to penetrate therethrough along a rotation center axis of a wrist leading end, the first flange having a first through-hole through which the linear object passes; a second flange that is spaced apart from the first flange in a direction of the rotation center axis and on which an end effector is mounted; and a cylindrical coupling part coupling an outer edge of the first flange and an outer edge of the second flange, the coupling part is provided with opening parts through which the linear object penetrated through the first through-hole passes, and at least at positions of the opening parts, the outer edge of the second flange is disposed in a position closer to the rotation center axis than the outer edge of the first flange. 1. A mounting bracket comprising:a first flange that is mounted on a wrist leading end surface of a robot which allows a linear object to penetrate therethrough along a rotation center axis of a wrist leading end, the first flange having a through-hole through which the linear object passes;a second flange that is spaced apart from the first flange in a direction of the rotation center axis and on which an end effector is mounted; anda cylindrical coupling part that couples an outer edge of the first flange with an outer edge of the second flange, whereinthe coupling part is provided with an opening part through which the linear object penetrated through the through-hole passes, andat least at a position of the opening part, the outer edge of the second flange is disposed in a position closer to the rotation center axis than the outer edge of the first flange.2. The mounting bracket according to claim 1 , wherein an area of the first flange is larger than an area of the second flange.3. The mounting bracket according to claim 1 , wherein the opening part includes a first opening part and a second opening part claim 1 , an ...

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Номер записи: 92
07-09-2017 дата публикации

HAND STOCKER AND HAND

Номер: US20170252928A1
Автор: FUKUROTANI Takuji, MITSUE Toyoaki
Принадлежит: SUGINO MACHINE LIMITED

To provide a hand stocker with a simple structure. A hand stocker housing a hand for attaching on an actuator includes a housing board that houses the hand in a hung state and includes a hanging mechanism hanging the hand on a board surface facing the hand. The hanging mechanism includes: a hooking member that extends in a horizontal direction from the board surface to engage with a hanging portion disposed in the hand; a pressing member that prevents the hand hung on the hooking member from moving to a direction separating from the board surface; and a supporting member that restricts the hand hung on the hooking member from moving to a direction approaching the board surface. The hand is sandwiched between the pressing member and the supporting member and housed. 1. A hand stocker housing a hand for attaching on an actuator , the hand stocker comprising:a housing board that houses the hand in a hung state, the housing board including a hanging mechanism hanging the hand on a board surface facing the hand, wherein a hooking member that extends in a horizontal direction from the board surface to engage with a hanging portion disposed in the hand;', 'a pressing member that prevents the hand hung on the hooking member from moving to a direction separating from the board surface; and', 'a supporting member that restricts the hand hung on the hooking member from moving to a direction approaching the board surface, and, 'the hanging mechanism includesthe hand is sandwiched between the pressing member and the supporting member and housed.2. The hand stocker according to claim 1 , wherein:the hanging portion of the hand is a depressed portion or a through-hole in a gourd shape having a large diameter portion and a small diameter portion continuing to the large diameter portion,the pressing member is integrally disposed in a distal end portion of the hooking member,the pressing member has a shape configured to pass through the large diameter portion and configured to be ...

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Номер записи: 93
07-09-2017 дата публикации

CABLE-MANAGEMENT SYSTEM, A ROTARY JOINT AND A ROBOT

Номер: US20170252931A1
Автор: Wang Kangjian, ZHANG Shimin
Принадлежит:

The present application discloses a cable-management system. The cables are divided into an outer group of cables and an inner group of cables. The system comprises a first cable guide, a second cable guide and at least four fixing members, wherein the first cable guide has a circular tube-shaped space, and the outer group of cables is partly accommodated between the first cable guide and the second cable guide; the second cable guide has a circular tube-shaped, and the inner group of cables is partly accommodated between the second cable guide and the first rotary shaft portion; and the fixing members respectively secure both ends of the outer group of cables or the inner group of cables on and along the first and second rotary shaft portions in a form in which the cables are arranged in parallel with each other, so that remaining portions of the outer group of cables or the inner group of cables are bent and suspended along the first and second rotary shaft portions in a U-shaped. The present application also discloses a rotary joint and a robot. 1. A cable-management system that holds a plurality of cables arranged in a rotary joint connected to an articulated arm having rotary shaft portions which allow the arm to rotate on the axis given thereto , each of the rotary shaft portions being divided into two shaft portions , a first of which is fixed and a second of which is rotatable , the system facilitating rotation from a first angular position to a second angular position without damage to the cables , the cables are divided into the outer group of cables and the inner group of cables , the system comprises:a first cable guide, a second cable guide and at least four fixing members;the first cable guide has a circular tube-shaped space, and the outer group of cables is partly accommodated between the first cable guide and the second cable guide;the second cable guide has a circular tube-shaped space, and the inner group of cables is partly accommodated between ...

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Номер записи: 94
30-07-2020 дата публикации

METHOD FOR INVESTIGATING A FUNCTIONAL BEHAVIOR OF A COMPONENT OF A TECHNICAL INSTALLATION, COMPUTER PROGRAM, AND COMPUTER-READABLE STORAGE MEDIUM

Номер: US20200241979A1
Автор: Fankhauser Martin, KLINGEBIEL DENNIS, Mueller Thomas
Принадлежит:

An improved method for investigating a functional behavior of a component of a technical installation includes comparing a signal of the component to be investigated and representing the functional behavior of the component with a reference signal which describes an average functional behavior of identical components. During the comparison, a comparison variable describing the deviation of the signal from the reference signal is determined. In addition, a probability of the occurrence of the comparison variable is determined by using a predefinable distribution of a multiplicity of such comparative variables. A computer program and a computer readable storage medium are also provided. 114-. (canceled)15. A method for investigating a functional behavior of a component of a technical installation , the method comprising the following steps:comparing a signal of the component to be investigated and representing the functional behavior of the component to be investigated with a reference signal describing an average functional behavior of identical components; and determining a comparison variable describing a deviation of the signal from the reference signal, and', 'determining a probability of occurrence of the comparison variable by using a definable distribution of a plurality of such comparison variables., 'during the comparing step16. The method according to claim 15 , which further comprises defining the comparison variable as a maximum cumulative deviation (d) between the signal of the component to be investigated and the reference signal.17. The method according to claim 15 , which further comprises:{'sub': 'Ri', 'including a plurality of operating parameter values (X) as a function of time (t) in the signal of the component to be investigated;'}{'sub': 'Ri', 'including a plurality of reference values ({circumflex over (X)}) as a function of time (t) in the reference signal;'}{'sub': 'Ri', 'accumulating the operating parameter values (X) over time (t);'}{'sub': ...

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Номер записи: 95
14-09-2017 дата публикации

ROTATION AXIS MODULE AND ARTICULATED ROBOT

Номер: US20170259436A1
Автор: ABE Kenichiro, Morioka Masahiro, NAKAYAMA Kazutaka
Принадлежит:

A rotation axis module includes: an actuator which relatively rotates a fixed member and a movable member; a umbilical member which penetrates through the interior of the actuator to extend; a first fixing portion which fixes the umbilical member at a rotation axis of the fixed member or at a position corresponding to the vicinity thereof; a second fixing portion which fixes the umbilical member at an output axis of the movable member or in the vicinity thereof; a first relay portion which is positioned at a side of the fixed member, one end of the umbilical member being connected to the first relay portion; and a second relay portion which is positioned at a side of the movable member, the other end of the umbilical member being connected to the second relay portion. 1. A rotation axis module comprising:an actuator which relatively rotates a fixed member to which a first link is to be mounted and a movable member to which a second link is to be mounted;a umbilical member which penetrates through the interior of the actuator to extend;a first fixing portion which fixes the umbilical member to the fixed member;a second fixing portion which fixes the umbilical member to the movable member;a first relay portion which is positioned at a side of the fixed member, one end of the umbilical member being connected to the first relay portion; anda second relay portion which is positioned at a side of the movable member, the other end of the umbilical member being connected to the second relay portion.2. The rotation axis module according to claim 1 , wherein in the interior of the actuator claim 1 , the umbilical member transmits electricity in a space of a boundary portion between the movable member and the fixed member in a wireless manner using a wireless transmission unit which transmits electricity.3. The rotation axis module according to claim 1 , wherein in the interior of the actuator claim 1 , the umbilical member is provided with a rotary joint which transmits ...

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Номер записи: 96
06-08-2020 дата публикации

WRIST STRUCTURE OF ROBOT, AND ROBOT

Номер: US20200246981A1
Автор: MATSUI Hideo
Принадлежит: FANUC Corporation

A wrist structure of a robot capable of protecting an oil seal of a wrist structure from a high-pressure jet for cleaning or from external foreign matter or the like. A wrist structure of a robot includes a wrist body, a holder attached to the wrist body, a wrist flange rotatably supported by the holder, an oil storage provided between the wrist body and the holder, an oil seal disposed between the holder and the wrist flange and configured to prevent oil from leaking from the oil storage, and a cover that is formed integrally with the holder and that covers the oil seal from the outside between the holder and the wrist flange. 1. A wrist structure of a robot , comprising:a wrist body;a holder attached to the wrist body;a wrist flange rotatably supported by the holder;an oil storage provided between the wrist body and the holder;an oil seal disposed between the holder and the wrist flange to prevent oil leakage from the oil storage; anda cover formed integrally with the holder, and configured to cover the oil seal from the outside between the holder and the wrist flange.2. The wrist structure of the robot of claim 1 , wherein the cover includes a recess at its end surface facing the oil seal claim 1 , the recess forming a gap between the end surface and the oil seal.3. The wrist structure of the robot of claim 1 , wherein the wrist body includes a first engaging portion claim 1 ,wherein the holder includes a second engaging portion configured to engage the first engaging portion so as to fix the holder to the wrist body.4. The wrist structure of the robot of claim 3 , wherein the first engaging portion and the second engaging portion are screws.5. The wrist structure of the robot of claim 1 , wherein the holder includes a fastened portion fastened to the wrist body with a fastener claim 1 ,wherein the cover is disposed at a position projecting in a direction along a rotation axis (O) of the wrist flange with respect to the fastened portion.6. The wrist structure of ...

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Номер записи: 97
22-09-2016 дата публикации

MANIPULATOR

Номер: US20160271807A1
Автор: HIROKAWA Kiyoshi, Kawauchi Naoto
Принадлежит:

A manipulator includes an arm, a plurality of servo motors, a plurality of servo amplifiers, and a bellows container. The arm includes a plurality of joints and links. The plurality of servo motors is disposed in a first space in the arm and capable of driving each of the joints. The plurality of servo amplifiers is disposed in the first space and controls each of the servo motors. The bellows container includes a second space which is connected to the first space. In the manipulator, each of the first space and the second space is filled with oil, and the plurality of servo amplifiers are connected with a cable for serial communication or power-line carrier communication. 1. A manipulator comprising:an arm that includes a plurality of joints and links;a plurality of servo motors that is disposed in a first space in the arm and capable of driving each of the joints;a plurality of servo amplifiers that is disposed in the first space and controls each of the servo motors; anda bellows container that includes a second space that is connected to the first space, whereineach of the first space and the second space is filled with oil, andthe servo amplifiers are connected with a cable for serial communication or power-line carrier communication.2. The manipulator according to claim 1 , whereinthe first space comprises:a first internal space in a first link in which a first servo motor capable of driving a first joint and a first servo amplifier are disposed;a second internal space in a second link in which a second servo motor capable of driving a second joint and a second servo amplifier are disposed; anda passage that connects the first internal space and the second internal space, and in which the cable is disposed, andthe bellows container is connected to the first link.3. The manipulator according to claim 1 , whereinthe first space comprises:a first internal space in a first link in which a first servo motor capable of driving a first joint and a first servo ...

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Номер записи: 98
28-10-2021 дата публикации

Robot System and Control Method for Robot

Номер: US20210331319A1
Автор: KOBAYASHI Masakazu
Принадлежит:

An arm of a robot is configured to which an arm cover for covering a wire or a pipe placed outside of the arm is attachable. An input reception unit receives first input indicating attachment of the arm cover to the arm. A movable range determination unit determines a movable range of the robot to be a second movable range smaller than a first movable range without the attachment of the arm cover according to the first input. A robot control unit controls an operation of the robot according to the second movable range. 1. A robot system comprising:a robot having an arm configured to which an arm cover for covering a wire or a pipe placed outside of the arm is attachable;an input reception unit that receives first input indicating attachment of the arm cover to the arm;a movable range determination unit that determines a movable range of the robot to be a second movable range smaller than a first movable range without the attachment of the arm cover according to the first input; anda robot control unit that controls an operation of the robot according to the second movable range.2. The robot system according to claim 1 , whereinthe arm is configured to which a plurality of types of arm covers are attachable as the arm cover,the first input is input for a distinction of the attached arm cover among the plurality of types of arm covers, anda plurality of the second movable ranges corresponding to the plurality of types of arm covers are registered in the movable range determination unit in advance, and one of the plurality of the second movable ranges is selected according to the first input.3. The robot system according to claim 1 , whereinthe input reception unit is configured to receive second input having an influence on the movable range of the robot in addition to the first input, andthe movable range determination unit determines the second movable range from the first input and the second input using a machine-learned determination model.4. The robot system ...

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Номер записи: 99
29-09-2016 дата публикации

ADJUSTABLE LENGTH ROBOTIC CABLE FITTING

Номер: US20160279807A1
Автор: Cossette Romeo N., Wells Jeffrey G.
Принадлежит: ILLINOIS TOOL WORKS INC.

An adjustable cable fitting for a thru-arm cable of a robotic welding torch includes a female member formed of an elongated tubular body having a forward end, a rear end, and a through hole extending axially from the forward end to the rear end. The forward end includes a nose portion for connection to a welding cable. A male member is cooperable with the female member in a telescoping manner. The male member includes a shaft received in the through hole of the female member, a receiver connected to the shaft for receiving a power pin, and a through hole extending axially through the shaft and receiver. A nut is disposed on the shaft for locking a position of the shaft relative to the female member. Adjustment of a disposition of the male member relative to the female member varies an effective length of the power cable. 1. An adjustable cable fitting for a thru-arm cable of a robotic welding torch , the fitting comprising:a female member formed of an elongated tubular body having a forward end, a rear end, and a through hole extending axially from the forward end to the rear end;said forward end of said female member including a nose portion for connection to a welding cable;a male member cooperable with said female member in a telescoping manner;said male member including a shaft received in said through hole of said female member, a receiver connected to said shaft for receiving a power pin, and a through hole extending axially through said shaft and receiver; anda nut disposed on said shaft of said male member for locking a position of said shaft relative to said female member;wherein adjustment of a disposition of said male member relative to said female member varies an effective length of said power cable.2. The adjustable cable fitting of claim 1 , wherein said shaft has a generally smooth outer surface.3. The adjustable cable fitting of claim 2 , including a compressible sleeve disposed on said shaft claim 2 , wherein said nut is fitable around said ...

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Номер записи: 100