Grab Has Swinging Movement In Plural Planes Patents (Class 414/735)
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Patent number: 9694493Abstract: An umbilical member arrangement structure capable of properly arranging an umbilical member in a parallel link robot. A first additional actuator is arranged on a passive link part of a parallel link robot. An Umbilical member is withdrawn from an opening formed on a generally circular bottom surface of a base part, while having a margin, approaches the passive link part, while extending in an intersecting direction with respect to a longitudinal direction of the passive link part, and is connected to the first additional actuator. The “intersecting direction” means a direction extending at an angle of 70 to 110 degrees, preferably 80 to 100 degrees, more preferably about 90 degrees, with respect to the longitudinal direction of the passive link part.Type: GrantFiled: September 4, 2013Date of Patent: July 4, 2017Assignee: FANUC CORPORATIONInventor: Hyunchul Souk
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Patent number: 9647513Abstract: An actuator unit, a robot including the same, and a reducing apparatus, the actuator unit including a driving unit; a sensor unit; a control unit; and a frame unit.Type: GrantFiled: May 8, 2014Date of Patent: May 9, 2017Assignee: SAMSUNG ELECTRONICS CO., LTD.Inventors: Jung-jun Park, Byeong-sang Kim, Kang-min Park, Jae-chul Hwang
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Patent number: 9636178Abstract: An articulating shaft system includes an elongated shaft and first and second articulating components. The elongated shaft extends along a main axis and has a distal end surface that is not perpendicular to the main axis. The first articulating component is co-axial with the main axis and is positioned adjacent to the distal end surface of the elongated shaft and has a proximal end surface and a distal end surface that are not perpendicular to the main axis. The second articulating component is co-axial with the main axis and is positioned adjacent to the distal end surface of the first articulating component and has a proximal end surface that is not perpendicular to the main axis. Rotating the first articulating component around the main axis positions the first and second articulating components at an angle relative to the main axis.Type: GrantFiled: December 5, 2012Date of Patent: May 2, 2017Assignee: Specialty Surgical Instrumentation, Inc.Inventor: Jerry R. Griffiths
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Patent number: 9550299Abstract: A robotic link mechanism comprising a pair of base elements connected by a passive flexible joint, such that flexure of the joint changes the mutual orientation of the base elements. A pair of obliquely truncated cylinders are confined between the base elements such that the obliquely formed end surfaces of the cylinders can rotate in sliding contact with each other, and the other end of each cylinder can rotate in sliding contact with its associated base element. Driving motors are attached to the base elements, each one controlled to rotate the cylinder associated with that base element, such that rotation of at least one of the cylinders causes the base elements to undergo change in their mutual orientation. The mechanism thus has a backbone composed of the passive flexible joint, which is supported and actuated by the oblique truncated cylindrical structure that serves as an active exoskeleton.Type: GrantFiled: November 29, 2012Date of Patent: January 24, 2017Assignee: Technion Research & Development Foundation Ltd.Inventors: Alon Wolf, Oded Salomon
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Patent number: 9540891Abstract: A device for handling drill string components for a drill rig. A slide is arranged displaceable on a longitudinal guide. A grip unit is swingable between a first position for receiving and delivering of drill string components beside the drill rig and a second position for assembling and disassembling of drill string components in the drill rig. The grip unit includes a rotator unit for rotation of a gripped drill string component. A rotational actuator supported by the slide has a rotational axis forming an angle with the length guide. A swing unit includes a first link portion that is connected to the rotational axis. A second link portion is connected to the grip unit and a swing joint portion.Type: GrantFiled: April 13, 2011Date of Patent: January 10, 2017Assignee: ATLAS COPCO CRAELIUS ABInventors: Misel Milivojevic, Ola Sylván, Mats Idoff, Björn Rundlöf, Johan Broström, Örjan Säker, Martin Ahlström
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Patent number: 9434077Abstract: The invention provides an articulating mechanism useful, for example, for remote manipulation of various surgical instruments and diagnostic tools within, or to, regions of the body. Movement of segments at the proximal end of the mechanism results in a corresponding, relative movement of segments at the distal end of the mechanism. The proximal and distal segments are connected by a set of cables in such a fashion that each proximal segment forms a discrete pair with a distal segment. This configuration allows each segment pair to move independently of one another and also permits the articulating mechanism to undergo complex movements and adopt complex configurations. The articulating mechanisms may also be combined in such a way to remotely mimic finger movements for manipulation of an object or body tissue.Type: GrantFiled: April 23, 2010Date of Patent: September 6, 2016Assignee: Intuitive Surgical Operations, IncInventors: David J. Danitz, Adam Gold
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Patent number: 9370866Abstract: A wrist unit of an industrial robot including an eccentric rocking-type reduction gear. The eccentric rocking-type reduction gear includes a hollow forming part forming a hollow part along the rotation center axial line; a through shaft supported rotatably at the hollow forming part and passing through the hollow part to transmit a rotation from the third wrist drive motor from a first wrist element side to a second wrist element side; a plurality of crankshafts arranged around the through shaft and having input gears at ends of the side of the first wrist element; and a gear member provided rotatably centered about the rotation center axial line, the gear member having a first gear to which a rotational force from the second wrist drive motor is input and a second gear with which the input gears of the plurality of crankshafts engage.Type: GrantFiled: March 18, 2013Date of Patent: June 21, 2016Assignee: FANUC CORPORATIONInventor: Akihiro Oikawa
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Patent number: 9346174Abstract: 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.Type: GrantFiled: July 18, 2013Date of Patent: May 24, 2016Assignee: FANUC CORPORATIONInventor: Satoshi Adachi
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Patent number: 9326825Abstract: A patient mountable robot includes a four link mechanism, three actuators, and a first robot base. The mechanism includes four links that form a closed loop structure. The four links include a base link that includes a spherical joint. The mechanism provides two rotational degrees of freedom about the spherical joint for a needle that is configured to pass through the spherical joint. A first actuator is attached to the mechanism and moves the mechanism to provide the first of the two rotational degrees of freedom. A second actuator is attached to the mechanism and moves the mechanism to provide the second of the two rotational degrees of freedom. The base link of the mechanism passes through the first robot base. A third actuator is attached to the first robot base and linearly translates the base link so that a translational degree of freedom is provided for the needle.Type: GrantFiled: June 17, 2014Date of Patent: May 3, 2016Assignee: Children's National Medical CenterInventors: Kevin Cleary, Reza Monfaredi, Raymond Sze, Karun Sharma, Nabile Safdar, Reza Seifabadi
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Patent number: 9321179Abstract: A wrist structure of an industrial robot including a second wrist power transmission part transmitting power of a second wrist motor to a second wrist element and a third wrist power transmission part transmitting power of a third wrist motor to a third wrist element. The second wrist power transmission part includes a hypoid gear set, a drive shaft, a first reduction gear part reducing a speed of rotation from the second wrist motor and transmitting the reduced rotation to the drive shaft, and a second reduction gear part reducing a speed of rotation from the drive shaft and transmitting the reduced rotation to the second wrist small gear, and the third wrist power transmission part includes a hypoid gear set and a third reduction gear part reducing a speed of rotation from the third wrist motor and transmitting the reduced rotation to the third wrist small gear.Type: GrantFiled: April 28, 2014Date of Patent: April 26, 2016Assignee: Fanuc CorporationInventor: Toshihiko Inoue
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Patent number: 9296113Abstract: A linear delta mechanism includes a base platform, a movable platform, and a plurality of guide sets. The base platform includes a base structure and a base stand. The base stand is disposed at a center location of the base structure. The movable platform is movable with respect to the base platform. The plurality of guide sets are connected to the base platform and configured to drive the movable platform. Each of the guide sets includes a linear actuator and an actuating rod. The linear actuators of the guide sets are symmetrically disposed around the base stand. Each of the actuating rods has a first end and a second end. The first end is driven by the linear actuator, and the second end is connected to the movable platform.Type: GrantFiled: October 4, 2013Date of Patent: March 29, 2016Assignee: DELTA ELECTRONICS, INC.Inventors: Chih-Cheng Peng, Tsao-Hsiang Wang, Hsin-Hsien Wu, Ming-Chi Yang
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Patent number: 9272414Abstract: A robot arm assembly includes a first robot arm, a second robot arm, a third robot arm, a connecting base, a first driving assembly, a second driving assembly, a third driving assembly, and a cable receiving tube. The connecting base includes a housing and a protection cover. A sidewall of the housing defines an opening. The protection cover covers the opening and is mounted on the housing. An end of the housing defines a cable inlet. The first driving assembly rotates the first robot arm. The second driving assembly rotates the second robot arm. The third driving assembly rotates the third robot arm. The cable receiving tube is received in the first robot arm, the second robot arm, and the third robot arm.Type: GrantFiled: October 9, 2013Date of Patent: March 1, 2016Assignees: HONG FU JIN PRECISION INDUSTRY (ShenZhen) CO., LTD., HON HAI PRECISION INDUSTRY CO., LTD.Inventor: Bo Long
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Patent number: 9180595Abstract: 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.Type: GrantFiled: April 2, 2012Date of Patent: November 10, 2015Assignee: KAWASAKI JUKOGYO KABUSHIKI KAISHAInventors: Takahiro Inada, Shinji Kitamura, Masato Yamamoto
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Patent number: 9168963Abstract: Embodiments disclosed herein relate to systems including a limbed vehicle having a plurality of controllably movable limbs (e.g., a limbed machine, limbed robot, etc.) and a plurality of spaced posts that the limbed vehicle may travel on using the limbs. As non-limiting examples, such disclosed embodiments of systems may be used to service an agriculture field, to enable travel over an environmentally-sensitive area or an area impassable by a conventional wheeled or tracked vehicle, and may be used in many other different applications. Embodiments disclosed herein also relate to methods of operating a limbed vehicle to travel on a plurality of spaced posts.Type: GrantFiled: December 28, 2007Date of Patent: October 27, 2015Assignee: The Invention Science Fund I, LLCInventors: Jeffrey A. Bowers, Roderick A. Hyde, Muriel Y. Ishikawa, Jordin T. Kare, Clarence T. Tegreene, Lowell L. Wood, Victoria Y.H. Wood
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Patent number: 9156161Abstract: A robot arm assembly includes a first robot arm, a second robot arm, and a third robot arm. The first robot arm includes a first body and a backlash adjusting assembly received in the first body. The backlash adjusting assembly includes a base plate, a protruding shaft perpendicularly coupled to the base plate, and an adjusting member. The base plate defines a slotted hole. The adjusting member is detachably inserted into the slotted hole and is detachably coupled to first body. The second robot arm includes a second body and a first transmission assembly rotatably coupled to the second body. The first transmission assembly includes a first adjusting gear, a first intermediate gear, and a second adjusting gear. The first intermediate gear meshes the first and second adjusting gear. The second adjusting gear is coupled to the second body. The first intermediate gear is sleeved on the protruding shaft.Type: GrantFiled: March 17, 2014Date of Patent: October 13, 2015Assignees: HONG FU JIN PRECISION INDUSTRY (ShenZhen) CO., LTD., HON HAI PRECISION INDUSTRY CO., LTD.Inventor: Bo Long
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Patent number: 9102065Abstract: An industrial robot has a robot arm with a linkage and an arm extension that is pivotable at the linkage. The arm extension has an arm enclosure that is pivotable at the linkage. The arm extension has a primary hand enclosure that can rotate, means of a first actuator that has a first drive shaft, at the arm enclosure around an arm axle extending in the longitudinal dimension of the arm extension. The arm extension has a first hand element that is adjustable around a first hand axle relative to the primary hand enclosure by means of a second actuator that has a second drive shaft, and a second hand element that is adjustable around a second hand axle relative to the first-hand element by means of a third actuator that has a third drive shaft. The first, second and third actuators are arranged in the primary hand enclosure with their respective drive shafts extending essentially parallel to and at a distance from the arm axle.Type: GrantFiled: May 21, 2013Date of Patent: August 11, 2015Assignee: Kuka Roboter GmbHInventor: Rainer Krumbacher
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Patent number: 9091391Abstract: A motion platform includes a base, a platform, and a suspension supporting the platform above the base. Strings preload the platform toward the base while the suspension pushes the platform away from the base. Actuators pull and release the strings to manipulate the platform in multiple degrees of freedom.Type: GrantFiled: October 1, 2010Date of Patent: July 28, 2015Assignee: Varian Medical Systems International AGInventor: Stefan Jochem Thieme-Marti
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Patent number: 9073647Abstract: A launch system comprises a nose section comprising a nose coupling surface, a tail section comprising a tail coupling surface facing the nose coupling surface and a mast coupling the nose and tail sections. The mast is configured to expand and retract to displace the nose and tail sections within a range of distances from one another. In a retracted state, the nose and tail sections are either structurally coupled to one another at the nose and tail coupling surfaces or structurally coupled to at least one integrated module located between the nose and the tail sections.Type: GrantFiled: April 25, 2013Date of Patent: July 7, 2015Assignee: Biosphere Aerospace LLCInventor: Elie Helou, Jr.
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Patent number: 9009940Abstract: A method and apparatus for performing operations on a workpiece. A first frame in a frame system may be held on the workpiece by applying a vacuum to the first frame. A second frame in the frame system may be detached from the workpiece by applying a pressure to the second frame. The second frame may be moved to a location on the workpiece. The second frame may be attached to the workpiece by applying the vacuum to the second frame. An operation may be performed on the workpiece.Type: GrantFiled: March 16, 2014Date of Patent: April 21, 2015Assignee: The Boeing CompanyInventors: Branko Sarh, David Hassan Amirehteshami
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Publication number: 20150016934Abstract: A hydraulic assembly including a pivot connection defining a pivot axis, a hydraulic element linked to the pivot connection, and a connector for connecting a hydraulic conduit to the hydraulic element. The connector defines a connection axis and the connector is configured such that the connection axis approximately intersects the pivot axis. The hydraulic assembly may be used in various applications, including in forestry equipment, for example, with a rotator link assembly.Type: ApplicationFiled: July 10, 2013Publication date: January 15, 2015Inventors: Jonathan Craig COOPER, Jeffrey Paul LOTZ
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Patent number: 8882437Abstract: A non-contact holding device (1) attached to a parallel mechanism robot (100) has a square plate-like base member (10), a Bernoulli chuck (20) attached to the center on a rear surface of the base member (10), and eight pin-like guide members (30) that are disposed facing each other with the Bernoulli chuck (20) therebetween and that are provided on the rear surface of the base member (10) in a protruding manner. The guide members (30) facing each other are configured to be able to move away from each other. These guide members (30) move away from each other along inner surfaces of guide holes (72) of a workpiece mounting tray (70, 71) as the Bernoulli chuck (20) approaches a workpiece mounting surface (75) of the workpiece mounting tray (70, 71).Type: GrantFiled: October 26, 2010Date of Patent: November 11, 2014Assignee: Murata Machinery, Ltd.Inventor: Hideaki Nakanishi
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Patent number: 8857877Abstract: A reconfigurable end-effector attachable to a robotic arm, includes a master boom, a first branch assembly and a second branch assembly, a dual articulation mechanism. The dual articulation mechanism includes a first clutch attached to the first branch assembly and is configured to articulate the first branch assembly relative to the second branch assembly. The dual articulation mechanism further includes a second clutch attached to the master boom, the second branch assembly and the first clutch and is configured to simultaneously articulate the first and second branch assemblies relative to the master boom. The first and second branch assemblies each have limbs connected to branches supporting a plurality of tool modules. Each tool module includes an end element configurable to interact with a workpiece.Type: GrantFiled: May 4, 2011Date of Patent: October 14, 2014Assignee: GM Global Technology Operations LLCInventors: Yhu-Tin Lin, Andrew L. Bartos, Roland J. Menassa, Hyunshik Shin, Shinho Kang, Yong-Hyun Ju, Ki-Beom Kim, Sang-Yul Ju
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Publication number: 20140271080Abstract: A crane tool includes: a hook portion for hanging a work, attached to one arm section in a first robot arm having a base, a plurality of arm sections connected to the base in series, and a plurality of joints adapted to swing the arm sections, respectively, the crane tool; a counterweight portion; and a joint portion connecting the hook portion to the counterweight portion. The counterweight portion is located such that a joint swinging the arm section to which the hook portion is attached is interposed between the hook portion and the counterweight portion in substantially a horizontal direction.Type: ApplicationFiled: February 27, 2014Publication date: September 18, 2014Applicant: KABUSHIKI KAISHA YASKAWA DENKIInventors: Ryosuke TSUTSUMI, Toshiyuki HARADA, Kenji MATSUFUJI, Toshiaki IKEDA
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Patent number: 8720298Abstract: The invention relates to a device for moving and positioning an object in space, having at least three actuator arms each connected to a motor/drive unit and pivotable about a motor/drive axis. The free end of each actuator arm is jointedly connected by connecting rods to a support element having at least one gripping device that can be connected to a vacuum source via a vacuum hose. The gripping device is provided with a suction opening for suctionally gripping the object. According to the invention, the vacuum hose is guided by the support element to the motor/drive axis of one of the motor/drive units, and can be connected to the vacuum source by a rotatable hose joint disposed substantially in the motor/drive axis and rotatable about the motor/drive axis.Type: GrantFiled: April 1, 2009Date of Patent: May 13, 2014Assignee: Robert Bosch GmbHInventor: Christian Lehmann
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Patent number: 8714903Abstract: A robot includes a base, a movable platform, a shaft rotatably connecting the movable platform and the base, three kinematic chains rotatably connecting the movable platform and the base, an end effector defining an air orifice, and a rotary member. The rotary member is rotatably connected to the movable platform, and two opposite ends of the rotary member are connected to the shaft and the end effector, respectively. The movable platform defines an air hole, and the rotary member defines an airflow passage communicating between the air hole and the air orifice.Type: GrantFiled: December 29, 2010Date of Patent: May 6, 2014Assignees: Hong Fu Jin Precision Industry (ShenZhen) Co., Ltd., Hon Hai Precision Industry Co., Ltd.Inventor: Yong Feng
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Patent number: 8695190Abstract: A method and an apparatus for performing operations on a workpiece is provided. A first frame in a frame system may be held on the workpiece by applying a vacuum to the first frame. A second frame in the frame system may be detached from the workpiece by applying a pressure to the second frame. The second frame may be moved to a location on the workpiece. The second frame may be attached to the workpiece by applying the vacuum to the second frame. An operation may be performed on the workpiece.Type: GrantFiled: July 19, 2010Date of Patent: April 15, 2014Assignee: The Boeing CompanyInventors: Branko Sarh, David Hassan Amirehteshami
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Patent number: 8686680Abstract: Certain embodiments of a system for reducing backlash include a member geared for rotation in first and second directions. In various implementations, a first motor causes rotation in the first direction with an output biased to preclude space between mating gear components in the first direction, and a second motor, which is mechanically independent of the first motor, causes rotation in the second direction with an output biased to preclude space between mating gear components in the second direction.Type: GrantFiled: June 13, 2011Date of Patent: April 1, 2014Assignee: Rethink Robotics, Inc.Inventor: Patrick Deegan
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Patent number: 8479607Abstract: A work transfer apparatus includes a work carrying mechanism, a driving source that drives the work carrying mechanism, a sealed box that accommodates the driving source in a hermetically sealed state, and a coolant circulation path provided in the sealed box for cooling the driving source. The sealed box includes a box body with an opening, and a partition lid for closing the opening. The partition lid includes an outer plate member and an inner plate member superposed on the outer plate member. The coolant circulation path is disposed at the interface between the outer plate member and the inner plate member.Type: GrantFiled: December 24, 2009Date of Patent: July 9, 2013Assignee: DAIHEN CorporationInventors: Kunio Fukuma, Hideki Matsuo
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Patent number: 8413539Abstract: A parallel-type displacement device having at least three arms each pivoting about a pivot axis, the pivot axes defining a polygon as seen from a point above the device, wherein each of the arms is actuated by an actuator and each of the arms is further connected to a head defining a small base through linking members respectively articulated on the head and the arm, each said arm and its respective head forming a hinge having two degrees of freedom such that the head always maintains its position and orientation, and in which in a neutral position, each arm is arranged so that, if drawing from the geometrical center of the polygon a straight line that is parallel to the pivot axis of any one of the arms, the straight line intersects that arm.Type: GrantFiled: February 26, 2008Date of Patent: April 9, 2013Assignee: Marel Food Systems HFInventor: Jean-Marie Chenu
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Patent number: 8414247Abstract: A method for reloading workpieces includes providing a manipulator having a connecting base and a plurality of grasping assemblies arranged on the connecting base, providing a plurality of original workpieces and a plurality of machined workpieces positioned in a plurality of machining positions, grasping the original workpieces by at least one grasping assembly, with at least one grasping assembly vacant, grasping one machined workpiece by one vacant grasping assembly, rotating the connecting base, so that one original workpiece is placed in one machining position by one grasping assembly, further rotating the connecting base until another vacant grasping assembly is opposite to another machining position, and repeating grasping the machined workpieces from the machining positions and placing the original workpieces on the machining positions until a last original workpiece is placed on one machining position. The manipulator used in the present method for reloading workpieces is also provided.Type: GrantFiled: July 29, 2009Date of Patent: April 9, 2013Assignees: Hong Fu Jin Precision Industry (ShenZhen) Co., Ltd., Hon Hai Precision Industry Co., Ltd.Inventors: Chi-Hsien Yeh, Zhong Qin, Zheng-Jie Han
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Publication number: 20130078060Abstract: A transfer robot includes an arm unit having a hand capable of holding one of transferred objects, a base unit mounted to an installation frame and horizontally rotatably supporting the arm unit, an attachment member for attaching the base unit to the installation frame, and an elevation mechanism arranged within the base unit and provided with an elevation member linked to the arm unit. The elevation mechanism is configured to move the arm unit up and down within an arm-unit up/down movement range defined above the base unit by moving the elevation member up and down along a vertical shaft. The base unit is fixed to the installation frame in a state that a portion of the base unit extending by a specified height from a bottom wall of the base unit to the attachment member is embedded in the base receiving recess of the installation frame.Type: ApplicationFiled: August 7, 2012Publication date: March 28, 2013Inventor: Masatoshi FURUICHI
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Patent number: 8381566Abstract: Attachments for power assisted lifting devices capable of rigidly positioning an object in three-dimensional space, for example pneumatically assisted manually operated mechanical arm manipulators, wherein the attachment is capable of securing an object for remote positioning thereof. More particularly, an end effector for a pneumatic manipulator that is capable of both passively following the motion of a secured object and actively adjusting the position of the secured object in an arcuate direction relative to the attachment of the end effector to the manipulator. The end effector is able to rotate the object about an axis passing through the end effector that also moves arcuately with the end effector. The end effector is particularly useful in the bending of metallic sheets or plates using a conventional sheet metal brake, as the end effector is capable of both positioning heavy sheets in the brake and following the movement of the sheet as it is being bent.Type: GrantFiled: January 31, 2008Date of Patent: February 26, 2013Assignee: Givens Engineering Inc.Inventors: Raymond David Givens, Christopher William Garland, David Chivers
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Patent number: 8308419Abstract: A robot includes a base member, which is installed at a position offset from the front of a door of a machine tool to the side, as viewed in a direction vertical to the surface where the door is provided and is fixed to a surface of a base slanted so as to face the door side. A rotary member is coupled to the base member so as to be rotatable about a first axis extending vertical to the slanted surface. A first arm member is coupled to the rotary member so as to be able to swivel about a second axis vertical to the first axis, and a second arm member is coupled to the first arm member so as to be able to swivel about a third axis parallel to the second axis.Type: GrantFiled: June 25, 2009Date of Patent: November 13, 2012Assignee: Fanuc LtdInventors: Ryo Nihei, Satoshi Kinoshita
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Patent number: 8303238Abstract: The invention concerns a kinematic device for supporting and programmably moving a terminal element. The platform (11) bearing the terminal element (12) is linked by four swivel joints (9) and (10) with two legs each consisting of two support rods (7) or (8) forming deformable parallelograms mounted each on slides (3) or (4) mobile in the x direction. The pivot plate (29) articulated on the platform (11) about the hinge pin (30) is controlled by the control rods (27), controlling pivoting (14) and lateral displacement (18) connected respectively by the swivel joints (26, 13 and 17) to the slides (3, 12 and 26). It consists in a parallel kinematics with four degrees of freedom, namely three translational and one rotational whereof the angle can be greater than 120°.Type: GrantFiled: August 22, 2003Date of Patent: November 6, 2012Assignee: Willemin Machines S.A.Inventors: Markus Thurneysen, Reymond Clavel
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Patent number: 8245594Abstract: A roll joint utilizes at least one tendon guide surface to guide actuator tendons for distal roll off and on their respective drums on a central shaft of the roll joint. The tendon guide surface turns the actuator tendon in an axial direction in a more compact space than might be required for a pair of pulleys, while using fewer parts with larger features more easily formed on a small scale.Type: GrantFiled: December 23, 2008Date of Patent: August 21, 2012Assignee: Intuitive Surgical Operations, Inc.Inventors: Theodore W. Rogers, Matthew R. Williams
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Patent number: 8197469Abstract: A controlled relative motion system comprising a base support, a manipulable support, and a plurality of hinged doubled pivoting links rotatably coupled to the base support and rotatably coupled to the manipulable support. A plurality of force imparting members has at least one coupled to one of the plurality of doubled pivoting links so as to be able to cause it to rotate. Also, at least one is coupled to the base support so as to be able to cause that base support to move toward or away. This joint can be used with a similar control joint, coupled thereto by coupling shafts held apart by a slidable separator, to form an extended length inserter for inserting an object positionable by the insertion joint in an obstructed location reached along a constricted passageway. These structures, positioned within a barrel, can rotate together but an activator slider, positioned at least partially about that barrel though not rotatable therewith, is coupled to the separator to cause sliding thereof.Type: GrantFiled: January 20, 2004Date of Patent: June 12, 2012Assignee: Ross-Hime Designs, Inc.Inventor: Mark E. Rosheim
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Patent number: 8186925Abstract: An elongate item handling means comprising a base (11) adapted to be fixed to a fixture, an elongate member support (13) having a first axis, the elongate member support comprising an engagement means (19) adapted to engage an elongate item and support the elongate item such that it is parallel to the first axis and to move the elongate item into engagement with the elongate member support, wherein the elongate member support is supported from the base to be rotatable about a second axis which is transverse to the first axis whereby the elongate item when supported from the elongate member support can be moved between an upright position and a substantially horizontal position, the base being movable on the fixture between a first position located at a desired erect position of the elongate item and one or more positions clear of the first position, said elongate member support.Type: GrantFiled: April 11, 2007Date of Patent: May 29, 2012Assignee: Longyear TM, Inc.Inventor: Keith William Littlely
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Patent number: 8182197Abstract: In a gripping device, a displacement-type force sensor is provided on a side of a driving mechanism opposite fingers to which the driving mechanism is connected to form a grip section. The driving mechanism is supported on a housing with an elastic member being disposed therebetween at a position closer to the fingers than the center of gravity of the grip section.Type: GrantFiled: October 26, 2009Date of Patent: May 22, 2012Assignee: Canon Kabushiki KaishaInventor: Ken Meisho
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Patent number: 8132481Abstract: A parallel mechanism includes a base, actuators attached to the base, a plurality of arms coupled together in parallel, and a sensing device. Each of the arms has a first link, one end of which is coupled to the actuator, a second link through which the other end of the first link and a bracket are coupled together, a ball joint through which one end of the second link and the other end of the first link are swingably coupled together, and a ball joint through which the other end of the second link and the bracket are swingably coupled together. Each of the ball joints includes a ball stud including a ball-shaped head, a socket swingably holding the ball-shaped head of the ball stud, and a conductive member interposed between the ball-shaped head and the socket. The sensing device senses when at least one of the plurality of ball joints is loose, based on whether or not the ball stud and the socket are electrically continuous with one another.Type: GrantFiled: April 1, 2009Date of Patent: March 13, 2012Assignee: Murata Machinery, Ltd.Inventors: Tatsuhiko Nishida, Hideaki Nakanishi, Takashi Nakao, Manabu Yamashita
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Publication number: 20110185556Abstract: A robot system includes a robot, a controller, a workbench, and a workpiece component supplier. The robot includes a body, a first arm, a second arm, a first hand, and a second hand. The robot is configured to transfer at least one of a plurality of types of workpiece components from the workpiece component supplier to the workbench by simultaneously holding each of the plurality of types of workpiece components with the first hand of the first arm and the second hand of the second arm. The robot is configured to transfer remaining types of workpiece components among the plurality of types of workpiece components from the workpiece component supplier to the workbench by holding each of the remaining types of workpiece components with only one of the first hand of the first arm and the second hand of the second arm.Type: ApplicationFiled: January 26, 2011Publication date: August 4, 2011Applicant: KABUSHIKI KAISHA YASKAWA DENKIInventors: Yusuke HIRANO, Tomoki Kawano
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Publication number: 20110064554Abstract: A robot manipulator includes a plurality of joint shafts including at least first and second joint shafts. If the robot manipulator extends vertically with respect to a rotation center of the first joint shaft that rotates in a horizontal plane, a rotation center of the second joint shaft that rotates in another horizontal plane is offset from the rotation center of the first joint shaft.Type: ApplicationFiled: October 6, 2010Publication date: March 17, 2011Applicant: KABUSHIKI KAISHA YASKAWA DENKIInventors: Masato ITO, Manabu OKAHISA
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Patent number: 7904198Abstract: Tooling is described for securing to the movable end of a computer-controlled robotic arm, by which articles can be picked up, optionally rotated and lowered into a new position. The tooling comprises two blades each having a leading edge and trailing edge, movable between a first position in which their leading edges are separated by a large gap and a second position in which the leading edges overlap, or are in contact or are separated by a smaller gap. A movement restraining mechanism is included which comprises at least one resiliency deformable member located above the plane containing the two blades and spaced therefrom by a distance which is less than the thickness of each article to be picked up by the tooling. In use, as the tooling is lowered onto an article. the underside of the deformable member engages the upper surface of the article and becomes deformed in order to accommodate the thickness of the article before the blades make contact with a surface on which the article rests.Type: GrantFiled: October 27, 2004Date of Patent: March 8, 2011Assignee: AEW Delford Systems LimitedInventor: Richard John Hawes
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Patent number: 7891934Abstract: Disclosed is a robot which is compact in structure and may be movable in a large working range, wherein move members 1, 1 may be moved by drive devices 4, 4 respectively along a straight line and in parallel with each other, the drive devices 4, 4 including motors 40, 40 respectively which are individually controlled by a control device 9, so that the move members 1, 1 may be moved at a different speed and may be stopped at different relative positions. The move members 1, 1 are connected to a work holder 3 by means of arms 2, 2, the arms having one end pivotally connected to the move members 1, 1 at the pivots 10, 10 thereof respectively, the arms 2, 2 having the opposite end pivotally connected to the work holder 3 at the pivots 30, 30 thereof respectively. The work holder 3 may hold an optional jig and may be moved in a horizontal plane and in a vertical plane enabling the jig to work in the working plane.Type: GrantFiled: March 29, 2007Date of Patent: February 22, 2011Assignee: Janome Sewing Machine Co., Ltd.Inventor: Kiyoshi Wakaizumi
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Patent number: 7753642Abstract: An apparatus associated with a cable robot system is provided. In one embodiment, the apparatus includes: an end-effector platform adapted to be positioned and maneuvered within a three-dimensional (3D) workspace, three vertical support members adapted to be positioned outside the 3D workspace, and three adjustable cables adapted to be routed from each vertical support member and releasably secured to the end-effector platform to apply upward and downward tension to the end-effector platform. The adjustable cables are adapted to be adjustably extended and retracted in a coordinated fashion to maneuver the end-effector platform such that an adjustable portion of each adjustable cable spans from the corresponding vertical support member to the end-effector platform. At least two of the adjustable portions associated with each vertical support member are generally in parallel relation to each other.Type: GrantFiled: September 6, 2007Date of Patent: July 13, 2010Assignee: Ohio UniversityInventors: Paul M. Bosscher, Robert L. Williams, II
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Publication number: 20100158654Abstract: The present invention relates to a manipulator, preferably for the assembly of rotor blades of a wind power installation, having a receiving unit for the receiving of a rotor blade and having a connection unit via which the manipulator is connected or connectable to the boom of a crane in a torque-rigid manner so that the position and/or alignment of a rotor blade received in the receiving unit relative to the boom can be fixed by the manipulator.Type: ApplicationFiled: December 8, 2009Publication date: June 24, 2010Applicant: LIEBHERR-WERK EHINGEN GMBHInventor: Hans-Dieter Willim
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Publication number: 20100107795Abstract: A frame walker robot based on two sections connected by a parallel mechanism is described. The walker can step in any direction and can pose its free section in any orientation. Prismatic, rather than revolute, joints are used, leading to a scalable design.Type: ApplicationFiled: November 3, 2008Publication date: May 6, 2010Inventor: Robert J. Viola
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Patent number: 7685902Abstract: An industrial robot including a parallel kinematic manipulator of an object in space. The manipulator includes a stationary platform, a movable platform for carrying the object, and at least three arms connecting the platforms. Each arm includes a first arm part connected to the stationary platform for manipulating the movable platform.Type: GrantFiled: February 5, 2003Date of Patent: March 30, 2010Assignee: ABB ABInventors: Sönke Kock, Roland Oesterlein, Torgny Brogårdh
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Patent number: 7673384Abstract: A six degree of freedom servo driven robot having a seventh axis servo motor for rotating servo driven nut runners affixed to swing arms about a radius. The robot offering flexibility within high production manufacturing and automotive assembly processes by realizing translational movement of servo driven nut runners about seven degrees of translation for fastening component parts of a work product within a work envelope.Type: GrantFiled: April 27, 2006Date of Patent: March 9, 2010Assignee: Genesis Systems Group, LLCInventors: Terry O'Connell, Jack Fisher, Arthur E. Smith, Jr., Satoshi Sato
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Patent number: 7637710Abstract: An industrial robot for moving an object in space comprising a stationary platform, a movable platform arranged for supporting the object, and a first, a second and a third arm to which the platforms are joined. The first arm comprises a first actuator, a first supporting arm influenced by the first actuator and being rotatable around a first axis, and a first linkage. The second arm comprises a second actuator, a second supporting arm influenced by the second actuator and being rotatable around a second axis, and a second linkage. The third arm comprises a third actuator, a third supporting arm influenced by the third actuator and being rotatable around a third axis, and a third linkage. The first and third axes are arranged in parallel and the second supporting arm is freely journalled around a transverse axis that is substantially arranged at right angles to the second axis.Type: GrantFiled: January 16, 2002Date of Patent: December 29, 2009Assignee: ABB ABInventors: Hans Skutberg, Åsa Vallin, Torgny Brogårdh, Mathilda Andreasson, Ivan Lundberg
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Patent number: 7603927Abstract: An automatic manipulator, such as a multiaxial industrial robot, with a carrying component structure (support structure) for transmitting forces between individual members of the automatic manipulator. The entire support structure is formed from a material that is resistant with respect to external effects, such as moisture or the like. The material of the support structure may be, in particular, a material that is suitable for use in contact with foods, such as stainless steel, so that the automatic manipulator according to the present invention can be used reliably and without additional costly protective measures in environments in which there is a risk for contamination, such as in the food industry.Type: GrantFiled: October 28, 2004Date of Patent: October 20, 2009Assignee: KUKA Roboter GmbHInventors: Joachim Markert, Günther Merk