Grab Has Swinging Movement In Plural Planes Patents (Class 414/735)
  • Patent number: 10744640
    Abstract: A parallel link robot includes a plurality of drive units and link units each driven by the corresponding drive unit. Each of the drive units includes a motor, a transmission mechanism that transmits the rotation of the motor to the link unit, and a housing that holds the motor. The housing includes a first connection portion, a second connection portion, and an opening through which the link unit extends. The first connection portion of one of the drive units and the second connection portion of another of the drive units are connected to each other, while the second connection portion of the one of the drive units and the first connection portion of another of the drive units are connected to each other.
    Type: Grant
    Filed: January 25, 2019
    Date of Patent: August 18, 2020
    Assignee: FANUC CORPORATION
    Inventor: Masahiro Yamamoto
  • Patent number: 10710250
    Abstract: A robot includes a first arm rotatable around a first axis and a second arm having an extending direction. The first arm includes a first base and a first extending portion. The first base includes a first through hole passing through the first arm along the first axis. The first extending portion extends from the first base along the first axis. The second arm includes a second base and a second extending portion. The second base includes a connection portion connected to the first extending portion such that the second arm is rotatable around a second axis that is substantially orthogonal to the first axis. The second base includes a second through hole passing through the second arm along the extending direction. The second extending portion is provided opposite to the connection portion in the extending direction and extends from the second base along the extending direction.
    Type: Grant
    Filed: April 18, 2018
    Date of Patent: July 14, 2020
    Assignee: KABUSHIKI KAISHA YASKAWA DENKI
    Inventors: Atsushi Ichibangase, Tsuyoshi Ito
  • Patent number: 10703581
    Abstract: A workpiece is quickly fixed and released without using a driving device. A workpiece fixing tool includes: a pair of grip members that are disposed so as to face each other in a substantially horizontal direction and that can open and close in an opposite direction in which the grip members face each other, the grip members gripping a workpiece therebetween in a closed state; and urging members that urge the pair of grip members in closing directions. The pair of grip members have inclined faces facing each other, the inclined faces forming an angle with respect to each other such that a distance therebetween in the opposite direction in which the inclined faces face each other gradually decreases from upper side to lower side.
    Type: Grant
    Filed: November 6, 2018
    Date of Patent: July 7, 2020
    Assignee: FANUC CORPORATION
    Inventor: Yoshio Motowaki
  • Patent number: 10673303
    Abstract: The present disclosure relates to a robotic arm comprising a first arm unit, a second arm unit, a third arm unit, a first drive system, a second drive system and a third drive system. The first arm unit is connected to the second arm unit, and the second arm unit is connected to the third arm unit. The first, second and third drive systems cause the second arm unit to move relative to the first arm unit and cause the third arm unit to move relative to the second arm unit.
    Type: Grant
    Filed: December 28, 2017
    Date of Patent: June 2, 2020
    Assignee: AEOLUS ROBOTICS CORPORATION LIMITED
    Inventors: Sheng-Chia Chen, Sheng-Chun Juan, Hong Bin Koh
  • Patent number: 10632628
    Abstract: A robot includes one or more joints. At least the one joint includes: a first joint member and a second joint member disposed so as to be relatively rotatable around a predetermined axis; a reducer that relatively rotatably supports the first and second joint members around the axis on one side in a direction of the axis of the first joint member; and a bearing that supports the first and second joint members relatively rotatably around the axis and relatively movable in a direction along the axis on another side in the direction of the axis of the first joint member, the first and second joint members include respective flange surfaces perpendicular to the axis and facing each other in the direction of the axis, and each of the flange surfaces includes a screw hole or a through hole for closely adhering the flange surfaces by fastening of a bolt.
    Type: Grant
    Filed: December 12, 2018
    Date of Patent: April 28, 2020
    Assignee: Fanuc Corporation
    Inventor: Takeshi Hasuo
  • Patent number: 10563728
    Abstract: A first gear pair includes a first pinion on an input shaft and a first ring gear on an intermediate shaft. A second gear pair includes a second pinion on the intermediate shaft and a second ring gear on an output shaft. A first case that stores the first gear pair is coupled to a base member in a rotatable manner around an input shaft rotational axis. A second case is coupled to the first case in a rotatable manner around an intermediate shaft rotational axis.
    Type: Grant
    Filed: November 19, 2018
    Date of Patent: February 18, 2020
    Assignee: KABUSHIKI KAISHA TOYOTA CHUO KENKYUSHO
    Inventors: Atsushi Suzuki, Gentaro Yamanaka, Yasumitsu Osada, Masaru Sugai
  • Patent number: 10524867
    Abstract: An exemplary drive apparatus may include a roller assembly and a roller support. The roller assembly may have a first continuous surface, a second continuous surface, an open configuration for receiving an elongate member, and a closed configuration for securing the elongate member in the roller assembly. The roller assembly imparts axial motion to the elongate member along the first continuous surface, which maintains contact with the elongate member during the axial motion. The roller support rotates the roller assembly about the second continuous surface, which maintains contact with the roller support during rotational motion. The roller assembly and roller support to impart axial and rotational motion, respectively, independently of one another.
    Type: Grant
    Filed: November 23, 2016
    Date of Patent: January 7, 2020
    Assignee: Auris Health, Inc.
    Inventors: Arkady Kokish, Francis Macnamara
  • Patent number: 10463436
    Abstract: A robot arm comprising a joint mechanism for articulating one limb of the arm relative to another limb of the arm about two non-parallel rotation axes, the mechanism comprising: an intermediate carrier attached to a first one of the limbs by a first revolute joint having a first rotation axis and to a second one of the limbs by a second revolute joint having a second rotation axis; a first drive gear disposed about the first rotation axis, the first drive gear being fast with the carrier; a second drive gear disposed about the second rotation axis, the second drive gear being fast with the second one of the limbs; a first drive shaft for driving the first drive gear to rotate about the first rotation axis, the first drive shaft extending along the first one of the limbs and having a first shaft gear thereon, the first shaft gear being arranged to engage the first drive gear; a second drive shaft for driving the second drive gear to rotate about the second rotation axis, the second drive shaft extending along
    Type: Grant
    Filed: July 22, 2016
    Date of Patent: November 5, 2019
    Assignee: CMR SURGICAL LIMITED
    Inventors: Thomas Bates Jackson, Luke David Ronald Hares, Keith Marshall, Steven James Randle
  • Patent number: 10456206
    Abstract: A robotic instrument comprising an arm extending between a robot arm connection and an attachment for an end effector, the arm comprising: a first arm part; a second arm part distal of the first arm part; and a joint whereby the first and second arm parts are coupled together, the joint permitting the first and second arm parts to rotate relative to each other about at least two mutually offset axes; a control rod attached to the second part of the arm at a location spaced from the first and second axes, the control rod extending distally of that location along the first arm part; and a drive mechanism for driving the control rod to move relative to the first arm part and thereby alter the attitude of the second arm part relative to the first arm part.
    Type: Grant
    Filed: January 8, 2015
    Date of Patent: October 29, 2019
    Assignee: CMR SURGICAL LIMITED
    Inventors: Luke David Ronald Hares, Steven James Randle
  • Patent number: 10315860
    Abstract: An article handling device is provided. In one embodiment, a system for article handling is provided. The system has first and second article handling devices that each have one or more gripping assemblies arranged around their periphery. The gripping assemblies are selectably movable between an open position and a closed position based on the relative position of the first and second article handling devices.
    Type: Grant
    Filed: May 18, 2017
    Date of Patent: June 11, 2019
    Assignee: The Procter and Gamble Company
    Inventors: Jeffrey Kyle Werner, Robert Scott Bollinger, Cedric Dsouza, Kevin Shih Shaw
  • Patent number: 10272562
    Abstract: A parallel kinematics robot includes a base and an end effector movable in relation to the base. A first actuator is attached to the base and connected to the end effector via a first kinematic chain including a first drive arm, a first rod, a first joint between the first drive arm and the first rod, and a second joint between the first rod and the end effector. A second actuator is attached to the base and connected to the end effector via a second kinematic chain including a second drive arm, a second rod, a third joint between the second drive arm and the second rod, and a fourth joint between the second rod and the end effector. A third actuator is attached to the base or to the first drive arm, and connected to the end effector via a third kinematic chain including a first gear wheel and a second gear wheel, the first and second gear wheels being journalled in bearings to the end effector and intermeshing with each other.
    Type: Grant
    Filed: June 9, 2014
    Date of Patent: April 30, 2019
    Assignee: ABB Schweiz AG
    Inventor: Torgny Brogårdh
  • Patent number: 10197146
    Abstract: A reducer module with real-time torque sensing includes two harmonic reducers that are installed in opposite directions in a casing and located in front of and behind a ring, respectively; and a plurality of torque sensors mounted on ribs of the ring for measuring a torque value. The ring's inner circle, the front harmonic reducer, and the rear harmonic reducer are centrally bored to form a channel, through which wires of the torque sensors go out the reducer module and are prevented from torsion and stretch during operation of the reducer module.
    Type: Grant
    Filed: December 28, 2016
    Date of Patent: February 5, 2019
    Assignee: Precision Machinery Research & Development Center
    Inventors: Chun Tsun Lin, Chia Yu Cheng, Jia He Chen
  • Patent number: 10080618
    Abstract: A robot arm comprising a joint mechanism for articulating one limb relative to another limb about two non-parallel rotation axes, the mechanism comprising: an intermediate carrier attached to a first one of the limbs by a first revolute joint having a first rotation axis and to a second one of the limbs by a second revolute joint having a second rotation axis; a first drive gear disposed about the first rotation axis and fast with the carrier, whereby rotation of the carrier relative to the first limb about the first rotation axis can be driven; a second drive gear disposed about the second rotation axis and fast with the second one of the limbs, whereby rotation of the second one of the limbs about the second rotation axis relative to the carrier can be driven; at least one of the first and second drive gears being a sector gear.
    Type: Grant
    Filed: July 22, 2016
    Date of Patent: September 25, 2018
    Assignee: CMR SURGICAL LIMITED
    Inventors: Keith Marshall, Luke David Ronald Hares, Thomas Bates Jackson, Steven James Randle
  • Patent number: 10046421
    Abstract: A rotatable gas metal arc welding apparatus comprising: a) a rotatable base; b) a rotation brake; c) a primary welding boom arm; d) at least one secondary welding boom arm rotatably attached to the primary welding boom arm, the at least one secondary welding boom arm being rotatable about a swivel joint so as to be rotatable in a generally horizontal plane; e) a MIG welder station; f) at least one manually operated welding gun connector, each welding gun connector being suspended from a secondary welding boom arm; g) a process controller for controlling a welding gun and the rotation brake; h) a rotatable electrical input connection for connecting electrical power from an external electrical power source to the base; i) an electrical ground connection; and j) a welding wire supply station.
    Type: Grant
    Filed: May 22, 2015
    Date of Patent: August 14, 2018
    Assignee: Andersen Industries, Inc.
    Inventor: Steven L. Andersen
  • Patent number: 9999473
    Abstract: An articulated surgical instrument for enhancing the performance of minimally invasive surgical procedures. The instrument has a high degree of dexterity, low friction, low inertia and good force reflection. A unique cable and pulley drive system operates to reduce friction and enhance force reflection. A unique wrist mechanism operates to enhance surgical dexterity compared to standard laparoscopic instruments. The system is optimized to reduce the number of actuators required and thus produce a fully functional articulated surgical instrument of minimum size.
    Type: Grant
    Filed: February 9, 2016
    Date of Patent: June 19, 2018
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: Akhil J. Madhani, J. Kenneth Salisbury
  • Patent number: 9999476
    Abstract: Robotic and/or surgical devices, systems, and methods include kinematic linkage structures and associated control systems configured to facilitate preparation of the system for use. One or more kinematic linkage sub-systems may include joints that are actively driven, passive, or a mix of both, and may employ a set-up mode in which one or more of the joints are actively driven in response to manual articulation of one or more other joints of the kinematic chain. In an exemplary embodiment, the actively driven joints will move a platform structure that supports multiple manipulators in response to movement of one of the manipulators, facilitating and expediting the arrangement of the overall system by moving those multiple manipulators as a unit into alignment with the workspace. Manual independent positioning of the manipulator can be provided through passive set-up joint systems supporting the manipulators relative to the platform.
    Type: Grant
    Filed: January 14, 2016
    Date of Patent: June 19, 2018
    Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: Paul Griffiths, Paul Mohr, Nitish Swarup, Michael Costa, David Larkin, Thomas Cooper, Michael Hanuschik
  • Patent number: 9856121
    Abstract: A crane characterized in that it comprises a lower vertical boom (10) and an upper horizontal boom (12), mutually connected through a joint element (20), in that the lowest part of the vertical boom is connected through a pedestal (14), the pedestal further comprising a slew ring for rotating of the crane about a vertical axis (16), and a tension rod (22) is arranged between the pedestal and the joint element in a distance from the vertical boom and mainly parallel to this in a normal position of the crane.
    Type: Grant
    Filed: August 25, 2009
    Date of Patent: January 2, 2018
    Assignee: ROLLS-ROYCE MARINE AS
    Inventor: Øyvind Bjørshol
  • Patent number: 9764483
    Abstract: A robot in an embodiment includes a robot body, an end effector, a cable, and one or more coupling portions. The end effector is connected to the robot body. The cable is composed of a plurality of sub cables, arranged along the robot body, and connected to the end effector. Each of the coupling portion is provided between one sub cable and an adjacent sub cable of the sub cables to couple the one and adjacent sub cables together.
    Type: Grant
    Filed: July 24, 2014
    Date of Patent: September 19, 2017
    Assignee: KABUSHIKI KAISHA YASKAWA DENKI
    Inventors: Manabu Okahisa, Takahiko Kanamori
  • Patent number: 9694493
    Abstract: 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: Grant
    Filed: September 4, 2013
    Date of Patent: July 4, 2017
    Assignee: FANUC CORPORATION
    Inventor: Hyunchul Souk
  • Patent number: 9647513
    Abstract: 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: Grant
    Filed: May 8, 2014
    Date of Patent: May 9, 2017
    Assignee: SAMSUNG ELECTRONICS CO., LTD.
    Inventors: Jung-jun Park, Byeong-sang Kim, Kang-min Park, Jae-chul Hwang
  • Patent number: 9636178
    Abstract: 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: Grant
    Filed: December 5, 2012
    Date of Patent: May 2, 2017
    Assignee: Specialty Surgical Instrumentation, Inc.
    Inventor: Jerry R. Griffiths
  • Patent number: 9550299
    Abstract: 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: Grant
    Filed: November 29, 2012
    Date of Patent: January 24, 2017
    Assignee: Technion Research & Development Foundation Ltd.
    Inventors: Alon Wolf, Oded Salomon
  • Patent number: 9540891
    Abstract: 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: Grant
    Filed: April 13, 2011
    Date of Patent: January 10, 2017
    Assignee: ATLAS COPCO CRAELIUS AB
    Inventors: Misel Milivojevic, Ola Sylván, Mats Idoff, Björn Rundlöf, Johan Broström, Örjan Säker, Martin Ahlström
  • Patent number: 9434077
    Abstract: 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: Grant
    Filed: April 23, 2010
    Date of Patent: September 6, 2016
    Assignee: Intuitive Surgical Operations, Inc
    Inventors: David J. Danitz, Adam Gold
  • Patent number: 9370866
    Abstract: 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: Grant
    Filed: March 18, 2013
    Date of Patent: June 21, 2016
    Assignee: FANUC CORPORATION
    Inventor: Akihiro Oikawa
  • Patent number: 9346174
    Abstract: 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: Grant
    Filed: July 18, 2013
    Date of Patent: May 24, 2016
    Assignee: FANUC CORPORATION
    Inventor: Satoshi Adachi
  • Patent number: 9326825
    Abstract: 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: Grant
    Filed: June 17, 2014
    Date of Patent: May 3, 2016
    Assignee: Children's National Medical Center
    Inventors: Kevin Cleary, Reza Monfaredi, Raymond Sze, Karun Sharma, Nabile Safdar, Reza Seifabadi
  • Patent number: 9321179
    Abstract: 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: Grant
    Filed: April 28, 2014
    Date of Patent: April 26, 2016
    Assignee: Fanuc Corporation
    Inventor: Toshihiko Inoue
  • Patent number: 9296113
    Abstract: 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: Grant
    Filed: October 4, 2013
    Date of Patent: March 29, 2016
    Assignee: DELTA ELECTRONICS, INC.
    Inventors: Chih-Cheng Peng, Tsao-Hsiang Wang, Hsin-Hsien Wu, Ming-Chi Yang
  • Patent number: 9272414
    Abstract: 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: Grant
    Filed: October 9, 2013
    Date of Patent: March 1, 2016
    Assignees: HONG FU JIN PRECISION INDUSTRY (ShenZhen) CO., LTD., HON HAI PRECISION INDUSTRY CO., LTD.
    Inventor: Bo Long
  • Patent number: 9180595
    Abstract: 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: Grant
    Filed: April 2, 2012
    Date of Patent: November 10, 2015
    Assignee: KAWASAKI JUKOGYO KABUSHIKI KAISHA
    Inventors: Takahiro Inada, Shinji Kitamura, Masato Yamamoto
  • Patent number: 9168963
    Abstract: 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: Grant
    Filed: December 28, 2007
    Date of Patent: October 27, 2015
    Assignee: The Invention Science Fund I, LLC
    Inventors: Jeffrey A. Bowers, Roderick A. Hyde, Muriel Y. Ishikawa, Jordin T. Kare, Clarence T. Tegreene, Lowell L. Wood, Victoria Y.H. Wood
  • Patent number: 9156161
    Abstract: 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: Grant
    Filed: March 17, 2014
    Date of Patent: October 13, 2015
    Assignees: HONG FU JIN PRECISION INDUSTRY (ShenZhen) CO., LTD., HON HAI PRECISION INDUSTRY CO., LTD.
    Inventor: Bo Long
  • Patent number: 9102065
    Abstract: 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: Grant
    Filed: May 21, 2013
    Date of Patent: August 11, 2015
    Assignee: Kuka Roboter GmbH
    Inventor: Rainer Krumbacher
  • Patent number: 9091391
    Abstract: 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: Grant
    Filed: October 1, 2010
    Date of Patent: July 28, 2015
    Assignee: Varian Medical Systems International AG
    Inventor: Stefan Jochem Thieme-Marti
  • Patent number: 9073647
    Abstract: 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: Grant
    Filed: April 25, 2013
    Date of Patent: July 7, 2015
    Assignee: Biosphere Aerospace LLC
    Inventor: Elie Helou, Jr.
  • Patent number: 9009940
    Abstract: 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: Grant
    Filed: March 16, 2014
    Date of Patent: April 21, 2015
    Assignee: The Boeing Company
    Inventors: Branko Sarh, David Hassan Amirehteshami
  • Publication number: 20150016934
    Abstract: 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: Application
    Filed: July 10, 2013
    Publication date: January 15, 2015
    Inventors: Jonathan Craig COOPER, Jeffrey Paul LOTZ
  • Patent number: 8882437
    Abstract: 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: Grant
    Filed: October 26, 2010
    Date of Patent: November 11, 2014
    Assignee: Murata Machinery, Ltd.
    Inventor: Hideaki Nakanishi
  • Patent number: 8857877
    Abstract: 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: Grant
    Filed: May 4, 2011
    Date of Patent: October 14, 2014
    Assignee: GM Global Technology Operations LLC
    Inventors: Yhu-Tin Lin, Andrew L. Bartos, Roland J. Menassa, Hyunshik Shin, Shinho Kang, Yong-Hyun Ju, Ki-Beom Kim, Sang-Yul Ju
  • Publication number: 20140271080
    Abstract: 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: Application
    Filed: February 27, 2014
    Publication date: September 18, 2014
    Applicant: KABUSHIKI KAISHA YASKAWA DENKI
    Inventors: Ryosuke TSUTSUMI, Toshiyuki HARADA, Kenji MATSUFUJI, Toshiaki IKEDA
  • Patent number: 8720298
    Abstract: 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: Grant
    Filed: April 1, 2009
    Date of Patent: May 13, 2014
    Assignee: Robert Bosch GmbH
    Inventor: Christian Lehmann
  • Patent number: 8714903
    Abstract: 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: Grant
    Filed: December 29, 2010
    Date of Patent: May 6, 2014
    Assignees: Hong Fu Jin Precision Industry (ShenZhen) Co., Ltd., Hon Hai Precision Industry Co., Ltd.
    Inventor: Yong Feng
  • Patent number: 8695190
    Abstract: 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: Grant
    Filed: July 19, 2010
    Date of Patent: April 15, 2014
    Assignee: The Boeing Company
    Inventors: Branko Sarh, David Hassan Amirehteshami
  • Patent number: 8686680
    Abstract: 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: Grant
    Filed: June 13, 2011
    Date of Patent: April 1, 2014
    Assignee: Rethink Robotics, Inc.
    Inventor: Patrick Deegan
  • Patent number: 8479607
    Abstract: 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: Grant
    Filed: December 24, 2009
    Date of Patent: July 9, 2013
    Assignee: DAIHEN Corporation
    Inventors: Kunio Fukuma, Hideki Matsuo
  • Patent number: 8413539
    Abstract: 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: Grant
    Filed: February 26, 2008
    Date of Patent: April 9, 2013
    Assignee: Marel Food Systems HF
    Inventor: Jean-Marie Chenu
  • Patent number: 8414247
    Abstract: 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: Grant
    Filed: July 29, 2009
    Date of Patent: April 9, 2013
    Assignees: Hong Fu Jin Precision Industry (ShenZhen) Co., Ltd., Hon Hai Precision Industry Co., Ltd.
    Inventors: Chi-Hsien Yeh, Zhong Qin, Zheng-Jie Han
  • Publication number: 20130078060
    Abstract: 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: Application
    Filed: August 7, 2012
    Publication date: March 28, 2013
    Inventor: Masatoshi FURUICHI
  • Patent number: 8381566
    Abstract: 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: Grant
    Filed: January 31, 2008
    Date of Patent: February 26, 2013
    Assignee: Givens Engineering Inc.
    Inventors: Raymond David Givens, Christopher William Garland, David Chivers