Robotic Arm Patents (Class 74/490.01)
  • Patent number: 10434322
    Abstract: A bio-stimulation robot includes a stationary platform, a plurality of drive modules coupled to the stationary platform, and a motion platform coupled to the drive modules to operate to change a position of the motion platform. Each of the drive modules includes a first guide member having an arc shape, a motion member coupled to the first guide, and a leg member having a first end coupled to the motion member and a second end fixed to the motion platform. The motion member slides along the first guide member. The second end of the leg member is rotatably connected to the motion platform. The second end of the leg member is rotatably connected to the motion platform.
    Type: Grant
    Filed: May 17, 2016
    Date of Patent: October 8, 2019
    Assignees: Center of Human-Centered Interaction for Coexistence, Industry University-Cooperation Foundation Hanyang University Erica Campus
    Inventors: Sungon Lee, Jun-Woo Kim, Woo-Seok Ryu, Sung-Teak Cho, Hyung-Min Kim, Bum-Jae You
  • Patent number: 10421194
    Abstract: A tool driving module for a robot manipulator comprising an end-shaft is disclosed. The tool driving module comprises a connection part, a motor driving module, a driving arm and a tool fixing bracket. The connection part comprising a combination bracket is coupled with the end-shaft. The motor driving module is coupled with the combination bracket. The driving arm is connected with the motor driving module, and driven by the motor driving module to rotate. The tool fixing bracket is connected with the driving arm for mounting a tool thereon. The tool fixing bracket and the tool are driven by the driving arm to rotate synchronously, and a tool center point of the tool and an extending line of an axis of the end-shaft are at a common point via the rotation of the tool.
    Type: Grant
    Filed: May 1, 2017
    Date of Patent: September 24, 2019
    Assignee: DELTA ELECTRONICS, INC.
    Inventor: Chih-Ming Hsu
  • Patent number: 10391641
    Abstract: A combination link actuation device has two link actuation devices combined with each other. Each link actuation device is provided so as to connect a distal end side link hub to a proximal end side link hub such that an orientation of the distal end side link hub is changed relative to the proximal end side link hub through three link mechanisms aligned in a circumferential direction. An orientation controlling actuator is provided in two or more link mechanisms among the three link mechanisms to optionally change an orientation of the distal end side link hub relative to the proximal end side link hub. At least one circumferential separation angle among separation angles of the three link mechanisms is greater than 120°. The two link actuation devices are disposed such that portions, of the link mechanisms, where the separation angle is greater than 120° oppose each other.
    Type: Grant
    Filed: March 22, 2018
    Date of Patent: August 27, 2019
    Assignee: NTN CORPORATION
    Inventors: Naoya Konagai, Hiroshi Isobe, Seigo Sakata, Naoki Marui, Kenzou Nose
  • Patent number: 10391635
    Abstract: A positioning device for a robot includes an end effector, in particular a surgical end effector, which has a base and a flange to which the robot can be secured, wherein the flange is connected to the base by a kinematic system which has at least two joints. The flange can be adjusted from a first position relative to the base, in particular at least substantially on a circular path or straight line, to a second position by the kinematic system, the second position being spaced apart from the first position. An orientation means reorients the flange from a first orientation in the first position into a second orientation in the second position, the second orientation being rotated about a reference axis by at least 75 degrees, in particular relative to the first orientation, as a result of an adjustment from a first position into a second position.
    Type: Grant
    Filed: August 13, 2015
    Date of Patent: August 27, 2019
    Assignee: KUKA Deutschland GmbH
    Inventors: Jakob Berghofer, Sven Brudniok, Sebastian Lohmeier, Martin Riedel
  • Patent number: 10384341
    Abstract: The present invention is related a redundant parallel positioning table device. More particularly, the present invention relates to a redundant parallel positioning table device for a precise positioning of heavy load samples, instrument and/or apparatus, e.g. in the context of diffractometer machines for synchrotron facilities.
    Type: Grant
    Filed: December 5, 2014
    Date of Patent: August 20, 2019
    Assignee: Huber Diffraktionstechnik GmbH & Co. KG
    Inventor: Gheorghe Olea
  • Patent number: 10325072
    Abstract: A mechanical teleoperated device for remote manipulation includes a slave unit having a number of slave links interconnected by a plurality of slave joints; an end-effector connected to the slave unit; a master unit having a corresponding number of master links interconnected by a plurality of master joints; and a handle connected to a distal end of the master unit. The device further includes first device arranged to kinematically connect the slave unit with the master unit, second device arranged to kinematically connect the end-effector with the handle, and a mechanical constraint device configured to ensure that one master link of the master unit is guided along its longitudinal axis so that the corresponding slave link of the slave unit always translates along a virtual axis parallel to the longitudinal axis of the guided master link in the vicinity of the remote manipulation when the mechanical teleoperated device is operated.
    Type: Grant
    Filed: June 26, 2017
    Date of Patent: June 18, 2019
    Assignee: Ecole Polytechnique Federale De Lausanne (EPFL)
    Inventors: Ricardo Daniel Rita Beira, Lionel Flaction
  • Patent number: 10279469
    Abstract: The present application provides a multi-motion-platform parallel robot and a method of constructing the same. The parallel robot comprises a symmetrical basic parallel mechanism and one or more symmetrical branch parallel mechanism. The basic parallel mechanism comprises a symmetrical basic foundation platform, a symmetrical basic motion platform, and symmetrical main branched-chains. The branch parallel mechanism comprises a symmetrical branch foundation platform, a symmetrical branch motion platform, and symmetrical branch branched-chains. The basic parallel mechanism and the branch parallel mechanism are connected by means of a multiple-output motion pair having symmetrical output ends, and share one set of driving pairs and drive and control devices.
    Type: Grant
    Filed: May 20, 2016
    Date of Patent: May 7, 2019
    Assignees: BEIJING FINE WAY TECHNOLOGY CO., LTD.
    Inventor: Fangyuan Han
  • Patent number: 10166012
    Abstract: A holding device for surgical instruments, in particular for minimally invasive surgery, is provided. The device includes a holding arm that holds an instrument support at the distal end of the holding arm. The instrument support can have which a surgical instrument is mounted thereon. The surgical instrument is operated by way of a drive device. To permit a simple replacement of the instrument support, the drive device is connected to the holding arm by way of a holding device, such that the drive device can easily be changed from a drive position to a replacement position.
    Type: Grant
    Filed: April 28, 2014
    Date of Patent: January 1, 2019
    Assignee: DEUTSCHES ZENTRUM FUER LUFT-LUND RAUMFAHRT E.V.
    Inventors: Sophie Lantermann, Ulrich Seibold, Ulrich Hagn, Thomas Staebler
  • Patent number: 10046461
    Abstract: A robotic mechanical manipulator structure includes a first link and a second link rotatably coupled to the first link by a rotatable joint. A first high hardness cable guide is disposed in the first link. A first cable is connected between the first link and the second link to move the first link relative to the second link in a first direction around the joint, the first cable connected to the first link at a first anchor point, and passing through the first high hardness cable guide in the second link.
    Type: Grant
    Filed: August 25, 2015
    Date of Patent: August 14, 2018
    Inventor: Paul Ekas
  • Patent number: 9955996
    Abstract: An instrument manipulator and a robotic surgical system including an instrument manipulator are provided. In one embodiment, an instrument manipulator includes a plurality of independent actuator drive modules, each of the plurality of actuator drive modules including an actuator output, wherein each of the actuator outputs are configured to independently actuate a corresponding actuator input of a surgical instrument without force input from another actuator output. The instrument manipulator further includes a frame housing the plurality of independent actuator drive modules, the frame including a distal end from which each of the actuator outputs distally protrude for engaging the corresponding actuator inputs of the surgical instrument.
    Type: Grant
    Filed: November 26, 2014
    Date of Patent: May 1, 2018
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: Todd R. Solomon, Thomas G. Cooper, Eugene F. F. Duval, Nicola Diolaiti, Daniel H. Gomez, Robert E. Holop, Anthony K. McGrogan, Craig R. Ramstad, Theodore W. Rogers
  • Patent number: 9956042
    Abstract: Systems and methods are described for using a robotic system to perform procedures within a cavity using a virtual fixture. The robotic system includes a rigid central stem including an access channel positioned longitudinally along the rigid central stem and a dexterous arm at least partially positioned within the access channel of the central stem. The dexterous arm includes a plurality of individually adjustable segments. A control system receives a positioning command from a manipulator control indicative of a desired movement of a distal end of the dexterous arm. A virtual fixture is defined that is representative of the access channel of the rigid central stem. The position of the dexterous arm is adjusted such that the distal end of the dexterous arm performs the desired movement while the portion of the dexterous arm that is positioned within the first access channel is not moved beyond the defined virtual fixture.
    Type: Grant
    Filed: May 6, 2014
    Date of Patent: May 1, 2018
    Assignee: Vanderbilt University
    Inventors: Nabil Simaan, Andrea Bajo, Ryan B. Pickens, Stanley Duke Herrel
  • Patent number: 9919433
    Abstract: The present invention comprises: a fixed four-node link in which four links are joined together in a hinged fashion, comprising a fixed link of which the position is fixed, a connecting rod positioned on the opposite side of the first link, an input-side transmission link connecting the end on one side of the connecting rod and the first link, and an output-side transmission link positioned on the opposite side of the input-side transmission link; an input link part to which an actuator is attached, and which is joined in hinged fashion between the two ends of the input-side transmission link; and an output link part which is fixedly joined to the output-side transmission link and is rotated by means of the output-side transmission link, and the one-degree-of-freedom link device according to the present invention and the robot arm using the same can be used to allow easy attachment and detachment between link devices and achieve smooth action in a robot arm in accordance with what is desired.
    Type: Grant
    Filed: March 31, 2011
    Date of Patent: March 20, 2018
    Assignee: INDUSTRY-UNIVERSITY COOPERATION FOUNDATION HANYANG UNIVERSITY ERICA CAMPUS
    Inventors: Youngjin Choi, Byung-Ju Yi, Hoyul Lee
  • Patent number: 9868205
    Abstract: A parallel kinematics robot has a first drive arm and a second drive arm, the two drive arms being crossed when the robot operates within its normal work area. The drive arms thereby occupy less space in a horizontal direction compared with a situation where the two drive arms point away from each other.
    Type: Grant
    Filed: March 18, 2014
    Date of Patent: January 16, 2018
    Assignee: ABB Schweiz AG
    Inventors: Torgny Brogårdh, Johan Ernlund
  • Patent number: 9839487
    Abstract: A surgical instrument includes a proximal control mechanism having an instrument control surface. The instrument control surface has an opening through which a resilient latch arm can be inserted to engage a fixed latch structure contained within the proximal control mechanism. The fixed latch structure provides a lead-in ramp that forces the resilient latch arm onto a locking surface. The resilient latch arm is contained entirely within the proximal control mechanism when engaged. A release channel extends from an outer periphery of the instrument control surface to the opening through which the resilient latch arm enters, and provides a passage through which a release tool can be inserted to engage the resilient latch arm and release it from the locking surface of the fixed latch structure. A section of the release channel may be shaped to provide a fulcrum for the release tool.
    Type: Grant
    Filed: March 17, 2015
    Date of Patent: December 12, 2017
    Assignee: Intuitive Surgical Operations, Inc.
    Inventor: Gregory W. Dachs, II
  • Patent number: 9799544
    Abstract: A robot assembly allowing remote actuation of a carriage supported robot. The robot assembly includes a track, a carriage moveable along the track, and a robot mounted to the carriage. The robot includes at least a first arm, and a first driven member coupled to the first arm. The robot assembly further includes a drive assembly having a first driving member, a first transmission member coupled to the first driving member and the first driven member, and a first drive motor coupled to the first driving member. The first drive motor is configured to move the first driving member causing remote rotation of the first driven member and rotation of the first arm. Substrate processing apparatus and methods of transporting a substrate within a substrate processing apparatus are also provided, as are numerous other aspects.
    Type: Grant
    Filed: October 23, 2015
    Date of Patent: October 24, 2017
    Assignee: Applied Materials, Inc.
    Inventor: Paul Z. Wirth
  • Patent number: 9750578
    Abstract: An actuation input mechanism for a teleoperated surgical instrument may include an interface structure and a shaft connected to the interface structure. The interface structure may be engageable with a drive structure of an actuation interface assembly of a teleoperated surgical system to be driven by the drive structure. The shaft may be rotatable in response to the interface structure being driven. The interface structure may comprise a depression shaped and sized to receive a fingertip. The interface structure may further comprise one or more gripping features disposed in the depression. A surgical instrument for a teleoperated surgical system may include an instrument shaft, an end effector, and a force transmission mechanism. The force transmission mechanism may comprise an actuation input mechanism to transmit drive forces to actuate the surgical instrument, the actuation input mechanism including an interface structure and a shaft.
    Type: Grant
    Filed: March 17, 2015
    Date of Patent: September 5, 2017
    Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventor: Donald Alden
  • Patent number: 9630327
    Abstract: A horizontal multijoint type robot is so constructed that it comprises a first arm connected through a first joint shaft to a base, a second arm connected through a second joint shaft to the first arm, and a working shaft provided rotatably and movably up and down on the distal end of the second arm, and that the arm length L1 of the first arm and the arm length L2 of the second arm are equal to each other so that the second arm is able to overlap the first arm.
    Type: Grant
    Filed: June 2, 2015
    Date of Patent: April 25, 2017
    Assignee: Seiko Epson Corporation
    Inventors: Christoph Meyerhoff, Kazushige Akaha
  • Patent number: 9456909
    Abstract: A joint assembly for releasably securing a first and a second segment of an associated modular limb is provided. The joint assembly includes a male connector including a base and a load bearing blade secured to the base of the male connector protruding therefrom. The male connector is adapted to be secured to one of the first and second segments of the associated modular limb. A female connector is provided and includes a base and a load bearing socket secured to the base of the female connector. The socket is configured to selectively receive the blade of the male connector. The female connector is adapted to be secured to the other of the first and second segments of the associated modular limb. A locking member selectively retains the blade of the male connector in the socket of the female connector. The male connector, the female connector, and the locking member cooperate to form a resilient and selectively releasable modular limb joint.
    Type: Grant
    Filed: October 31, 2012
    Date of Patent: October 4, 2016
    Assignee: HDT Expeditionary Systems, Inc.
    Inventors: Ezra Johnson, W. Travis Lontz, Thomas W. Van Doren
  • Patent number: 9446910
    Abstract: A substrate transfer robot includes a hand to approach a substrate storage on which a substrate is placed, and to hold the substrate. An arm moves the hand. A controller controls a position and orientation of the hand. When in plan view, a substrate holding center at a time when the hand is holding the substrate is adjacent to the substrate storage and is at an access start position at a predetermined distance from the substrate storage, the substrate holding center reaches a substrate placement position in the substrate storage with a hand center line inclined toward an access straight line and with the hand holding center overlapping the access straight line. The hand center line is oriented from a base to a distal end of the hand. The access straight line is perpendicular to a front surface of the substrate storage and associated with the hand approaching the substrate storage.
    Type: Grant
    Filed: May 22, 2014
    Date of Patent: September 20, 2016
    Assignee: KABUSHIKI KAISHA YASKAWA DENKI
    Inventors: Yoshiki Kimura, Daisuke Shin
  • Patent number: 9412634
    Abstract: The present invention provides an atmosphere replacement apparatus capable of replacing the atmosphere on the surface of a wafer with a small amount of gas. The apparatus is configured to have a cover capable of facing and covering the wafer to be transported, and a gas supply means that supplies gas having properties different from a surrounding atmosphere from the cover, and replaces the atmosphere on the surface of the wafer by the gas.
    Type: Grant
    Filed: November 10, 2014
    Date of Patent: August 9, 2016
    Assignee: SINFONIA TECHNOLOGY CO., LTD.
    Inventors: Mikio Segawa, Yasushi Taniyama, Shin Kawahisa, Mitsuo Natsume
  • Patent number: 9381653
    Abstract: The robot including a main body, an arm connected to the main body, a hand connected to the arm, the hand including a hand base and a finger, and a hand bracket unit between the hand base and the finger or between the hand base and the arm, may be provided. The hand bracket unit may include a vibration damping member provided between the hand base and the finger or between the hand base and the arm, thereby damping vibration of the hand base or the finger.
    Type: Grant
    Filed: March 10, 2015
    Date of Patent: July 5, 2016
    Assignee: SAMSUNG ELECTRONICS CO., LTD.
    Inventors: Byeongsang Kim, Kang-Min Park, Jungjun Park, JaeChul Hwang
  • Patent number: 9375839
    Abstract: Methods and computer-program products for evaluating grasp patterns for use by a robot are disclosed. In one embodiment, a method of evaluating grasp patterns includes selecting an individual grasp pattern from a grasp pattern set, establishing a thumb-up vector, and simulating the motion of the manipulator and the end effector according to the selected individual grasp pattern, wherein each individual grasp pattern of the grasp pattern set corresponds to motion for manipulating a target object. The method further includes evaluating a direction of the thumb-up vector during at least a portion of the simulated motion of the manipulator and the end effector, and excluding the selected individual grasp pattern from use by the robot if the direction of the thumb-up vector during the simulated motion is outside of one or more predetermined thresholds. Robots utilizing the methods and computer-program products for evaluating grasp patterns are also disclosed.
    Type: Grant
    Filed: March 6, 2015
    Date of Patent: June 28, 2016
    Assignees: Carnegie Mellon University, Toyota Jidosha Kabushiki Kaisha
    Inventors: Yasuhiro Ota, Junggon Kim, James J. Kuffner
  • Patent number: 9367795
    Abstract: A momentum-based balance controller controls a humanoid robot to maintain balance. The balance controller derives desired rates of change of linear and angular momentum from desired motion of the robot. The balance controller then determines desired center of pressure (CoP) and desired ground reaction force (GRF) to achieve the desired rates of change of linear and angular momentum. The balance controller determines admissible CoP, GRF, and rates of change of linear and angular momentum that are optimally close to the desired value while still allowing the robot to maintain balance. The balance controller controls the robot to maintain balance based on a human motion model such that the robot's motions are human-like. Beneficially, the robot can maintain balance even when subjected to external perturbations, or when it encounters non-level and/or non-stationary ground.
    Type: Grant
    Filed: February 24, 2011
    Date of Patent: June 14, 2016
    Assignee: Honda Motor Co., Ltd.
    Inventors: Sung-Hee Lee, Ambarish Goswami
  • Patent number: 9358687
    Abstract: The invention is a modular and autonomously reconfigurable manipulator system, which introduces a new dimension to the versatility of robot manipulation for diverse tasks. The hardware component is a redundant mechanism which can lock any number of its joints at any relative position to form a particular configuration with a certain number of degrees of freedom and specific values for 5 kinematic, dynamic and control parameters, optimum for a given task to be performed. The process of identifying the optimum configuration for a given task and implementing it on the manipulator is done autonomously through the system software. Therefore, no manual interaction is required to form a new configuration most suitable for a given task. The kinematic, dynamic and control parameters of the system can vary continuously enabling the manipulator to form virtually an infinite number of configurations.
    Type: Grant
    Filed: January 24, 2013
    Date of Patent: June 7, 2016
    Inventors: Mohammad Reza Emami, Jason Alexander Kereluk
  • Patent number: 9302396
    Abstract: An apparatus for the automated handling of workpieces comprising an object recognition device for detecting the workpiece and a gripper arranged at a gripping arm for picking the workpieces and a control for evaluating the data of the object recognition device, for track planning and for controlling the gripping arm and the gripper and comprising a compensation unit which allows an evasion movement of the gripper, wherein the compensation unit only allows an evasion movement of the gripper on the exceeding of a predefined first load of the gripping arm and remains rigid below the first load, wherein the first load is larger than a load exerted on the gripping arm solely by the gripper and/or the picked workpiece.
    Type: Grant
    Filed: June 27, 2013
    Date of Patent: April 5, 2016
    Assignee: Liebherr-Verzahntechnik GmbH
    Inventors: Thomas Mattern, David Haenschke, Bernhard Riedmiller, Alois Mundt
  • Patent number: 9295524
    Abstract: A remote center manipulator for use in minimally invasive robotic surgery includes a base link held stationary relative to a patient, an instrument holder, and a linkage coupling the instrument holder to the base link. First and second links of the linkage are coupled to limit motion of the second link to rotation about a first axis intersecting a remote center of manipulation. A parallelogram linkage portion of the linkage pitches the instrument holder around a second axis that intersects the remote center of manipulation. The second axis is not coincident with the first axis. Third and fourth links of the linkage are coupled to limit motion of the fourth link to rotation about a third axis intersecting the remote center of manipulation. The third axis is not coincident with either of the first and second axes. Various combinations of hardware-constrained remote center of motion robotic manipulators with redundant mechanical degrees of freedom are disclosed.
    Type: Grant
    Filed: May 31, 2013
    Date of Patent: March 29, 2016
    Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: Bruce Michael Schena, Roman L. Devengenzo, Gary C. Ettinger, Eugene F. Duval, Nicola Diolaiti, Daniel H. Gomez
  • Patent number: 9249869
    Abstract: A link actuating device connects an output member to an input member through three or more link mechanisms for alteration in posture. Each of the link mechanisms includes end portion link members on input and output sides, and an intermediate link member. The link mechanisms are of such shapes that geometric models representing the link members by straight lines are such that input and output side portions are symmetrical to each other relative to an intermediate portion of each of the intermediate link members. Immobilizing mechanisms are provided in all of the link mechanisms to immobilize the output member in an arbitrary attitude relative to the input member. A structure body is provided to connect the input and output member to each other while being in contact with contacted portions formed in the input and output member.
    Type: Grant
    Filed: October 3, 2011
    Date of Patent: February 2, 2016
    Assignee: NTN CORPORATION
    Inventors: Hiroshi Isobe, Yukihiro Nishio, Yoshitaka Nagano
  • Patent number: 9162362
    Abstract: A manipulator mechanism according to the present invention comprises an arm 1 having a tip mechanism 3 attached to its tip part, and an arm paying out device 2 to which the base end part of the arm 1 is coupled for winding and paying out the arm 1. The arm 1 comprises a tape aggregate 4 formed by bundling a plurality of elastic tapes 41, and a plurality of bundling members 5 attached to the tape aggregate 4 with spaces therebetween in a longitudinal direction of the tape aggregate 4. The bundling member 5 is provided with a guiding groove 51, through which the plurality of tapes 41 pass, to keep the relative position of the plurality of tapes 41 constant.
    Type: Grant
    Filed: June 19, 2013
    Date of Patent: October 20, 2015
    Inventor: Takashi Saito
  • Patent number: 9073220
    Abstract: A horizontal multijoint type robot is so constructed that it comprises a first arm connected through a first joint shaft to a base, a second arm connected through a second joint shaft to the first arm, and a working shaft provided rotatably and movably up and down on the distal end of the second arm, and that the arm length L1 of the first arm and the arm length L2 of the second arm are equal to each other so that the second arm is able to overlap the first arm.
    Type: Grant
    Filed: March 17, 2014
    Date of Patent: July 7, 2015
    Assignee: Seiko Epson Corporation
    Inventors: Christoph Meyerhoff, Kazushige Akaha
  • Patent number: 9073218
    Abstract: A multiple joint robot includes a wrist part provided with a reduction gear unit capable of receiving an end effector and of transmitting power to the end effector. The reduction gear unit includes a fixed part fixed to the wrist part by means of a fixing element, a rotational part rotatable relative to the fixed part, and a sealing element provided in a circumference of the rotational part. There is a cover at the fixed part of the reduction gear unit, and the fixing element and the sealing element are covered by the cover. The cover is provided to flatten a convex portion or a concave portion formed by the fixing element.
    Type: Grant
    Filed: September 1, 2013
    Date of Patent: July 7, 2015
    Assignee: FANUC CORPORATION
    Inventor: Hideyuki Watanabe
  • Patent number: 9061415
    Abstract: A two degree-of-freedom parallel device for orienting or pointing an end effector with vibration suppression is described. The two end effector degrees-of-freedom are decoupled by connecting fast actuators to the effector by passive joints. The stiffness of the linkages and the high speed of the revolute and prismatic actuators employed permit the application of large feedback useful for disturbance rejection.
    Type: Grant
    Filed: May 2, 2011
    Date of Patent: June 23, 2015
    Assignee: UNIVERSITY OF WYOMING
    Inventors: John E. McInroy, John F. O'Brien
  • Publication number: 20150135880
    Abstract: A robot comprising a base forming an inner chamber and having an opening, a first link supported by the base and arranged for translational movement generally along a first axis relative to the base, a second link supported by the first link and arranged for rotary motion relative to the first link about a second axis generally parallel to the first axis, the second link extending from the inner chamber through the opening into an outer region, a third link supported by the second link and arranged for rotary motion relative to the second link about a third axis generally parallel to the first axis, a first actuator arranged to control the translational movement of the first link relative to the base, a second actuator arranged to control the rotary motion of the second link relative to the first link, a third actuator supported by the second link and arranged to control the rotary motion of the third link relative to the second link, and a seal between the inner chamber and the outer region arranged to isola
    Type: Application
    Filed: March 15, 2012
    Publication date: May 21, 2015
    Inventors: Petr Zaruba, Michael R. Biche, Gerald M. Academia
  • Patent number: 9028468
    Abstract: A robotic arm especially suited for laparoscopic surgery, having a torsional joint and a flexural joint forming serially arranged joints is described. The joints provide respective degrees of freedom for the arm, which further receives drive means for such joints. The robotic arm also has transmission means placed between the drive means have and the joints. The transmission means a first and a second assembly of three gear wheels, preferably conical gear wheels, and a train of three additional gear wheels, preferably straight-cut gear wheels, which couple the first and second assembly to form a differential mechanism.
    Type: Grant
    Filed: April 22, 2011
    Date of Patent: May 12, 2015
    Assignee: Scuola Superiore di Studi Universitari e di Perfezionamento Sant'anna
    Inventors: Umberto Scarfogliero, Claudio Quaglia, Marco Piccigallo, Selene Tognarelli, Pietro Valdastri, Arianna Menciassi, Paolo Dario
  • Publication number: 20150122070
    Abstract: A cover attachment structure for attaching a cover to a predetermined component of a robot includes a first component, a second component and a third component. The first component is disposed to the predetermined component of the robot. The second component is disposed to an inner part of the cover. The first component and the second component are engaged with each other through the third component. The first component and the second component are drawn to each other by the third component in a manner that the predetermined component and the cover are brought close to each other.
    Type: Application
    Filed: September 5, 2014
    Publication date: May 7, 2015
    Inventor: Hiroshi YAMAGUCHI
  • Patent number: 9024488
    Abstract: A drive section for a substrate transport arm including a frame, at least one stator mounted within the frame, the stator including a first motor section and at least one stator bearing section and a coaxial spindle magnetically supported substantially without contact by the at least one stator bearing section, where each drive shaft of the coaxial spindle includes a rotor, the rotor including a second motor section and at least one rotor bearing section configured to interface with the at least one stator bearing section, wherein the first motor section is configured to interface with the second motor section to effect rotation of the spindle about a predetermined axis and the at least one stator bearing section is configured to effect at least leveling of a substrate transport arm end effector connected to the coaxial spindle through an interaction with the at least one rotor bearing section.
    Type: Grant
    Filed: October 5, 2012
    Date of Patent: May 5, 2015
    Assignee: Brooks Automation, Inc.
    Inventors: Ulysses Gilchrist, Martin Hosek, Jairo Terra Moura, Jay Krishnasamy, Christopher Hofmeister
  • Patent number: 9026250
    Abstract: A robotic arm is mounted on a personal mobility device, such as a wheelchair, scooter or the like, and is controlled with a user input interface, also mounted on the personal mobility device. The user input interface has a grip operable by the user to move in a plurality of orthogonal directions, both spatially and angularly, having articulating arms supporting a housing with a pivot member.
    Type: Grant
    Filed: August 17, 2011
    Date of Patent: May 5, 2015
    Assignee: Harris Corporation
    Inventors: Matthew D. Summer, Paul M. Bosscher, Laurance H. Davis, III
  • Patent number: 9021916
    Abstract: A robotic arm includes a driving unit, a first arm assembly connected to the driving unit, and a second arm assembly. The first arm includes two balls. The second arm assembly includes two arms and two intermediate members. Each intermediate member is secured to an end of one of the two arms. Each intermediate member defines a receiving recess. Each receiving recess has a spherical inner circumferential surface. Each ball is partially received in one of the two receiving recesses and abuts against the spherical inner circumferential surface. The two arms and the two intermediate members are capable of rotating about the balls. The driving unit drives the balls to move. The balls force the arms to move in a direction as a moving orientation of the balls, at the same time the arms rotating about the balls.
    Type: Grant
    Filed: November 11, 2013
    Date of Patent: May 5, 2015
    Assignees: Shenzhen Futaihong Precision Industry Co., Ltd., FIH (Hong Kong) Limited
    Inventors: Jie Gao, Jian-Ping Jin, Bing Yu
  • Publication number: 20150114160
    Abstract: A SCARA robot according to an aspect of the invention includes a first arm rotatable with respect to a base, a second arm rotatable with respect to the first arm, a first rotation regulating member regulating a rotation of the first arm, and a second rotation regulating member regulating a rotation of the second arm. The first arm includes a beam provided inside a casing, at least one of the first rotation regulating member and the second rotation regulating member includes a contact part, a fixing part, and a connecting part.
    Type: Application
    Filed: October 13, 2014
    Publication date: April 30, 2015
    Inventors: Yuta SATO, Shingo HOSHINO
  • Publication number: 20150114161
    Abstract: A robot according to an aspect of the invention includes an enclosure having an opening formed therein, a lid section that is provided on the enclosure in a detachable manner and blocks at least part of the opening, an attachment and detachment section which is provided on the lid section on the side facing the opening of the enclosure and to and from which a replaceable part is attached and detached, and a holding mechanism that allows the enclosure to hold the lid section when the lid section is detached from the enclosure.
    Type: Application
    Filed: October 16, 2014
    Publication date: April 30, 2015
    Inventors: Tetsuya KAWASE, Shingo HOSHINO
  • Publication number: 20150104283
    Abstract: A robot system according to embodiments includes a robot including an arm, and a work table. On the work table, an object used for work performed by the robot by using the arm is placed. The arm of the robot includes a first arm portion, a second arm portion, and a third arm portion. The first arm portion supports an end effector to be rotatable about a first rotation axis at a distal end thereof. The second arm portion supports a base end of the first arm portion to be swingable about a second rotation axis substantially perpendicular to the first rotation axis. The third arm portion supports a base end of the second arm portion to be swingable about a third rotation axis substantially perpendicular to the second rotation axis.
    Type: Application
    Filed: December 19, 2014
    Publication date: April 16, 2015
    Applicant: KABUSHIKI KAISHA YASKAWA DENKI
    Inventors: Kazuyoshi NOGAMI, Tamio NAKAMURA, Takashi NISHIMURA, Takashi SUYAMA, Nobukazu MIYAUCHI
  • Publication number: 20150082934
    Abstract: A spherical coordinates manipulating mechanism for improving the utility of U.S. Pat. No. 8,579,714 B2 is provided. Four inner and outer arc-links are pivotally connected to the inner and outer frame respectively so as to carry out a three degrees-of-freedom steering motion. At least one effector arc-link set is selectively connected to the inner or outer frame so that the spherical coordinates manipulating mechanism can directly output force or torque.
    Type: Application
    Filed: September 23, 2014
    Publication date: March 26, 2015
    Inventor: Wen-Der Trui
  • Patent number: 8984982
    Abstract: A parallel kinematic structure comprises at least two kinematic chains being functionally arranged in parallel. Each of the two kinematic chains has, at a moveable end thereof, at least one degree of freedom, and comprising a passive anti-planar joint arrangement having a translational degree of freedom and two rotational degrees of freedom. Each anti-planar joint arrangement has an input section and an output section. At least one of the kinematic chains comprises a planar joint arrangement having at least one of at least one translational degree of freedom and a rotational degree of freedom, the planar joint arrangement having an output section. Further, the planar joint arrangement is adapted for active movements in at least one of its degrees of freedom. The input section of the anti-planar joint arrangement and the output section of the respective planar joint arrangement are coupled.
    Type: Grant
    Filed: October 31, 2006
    Date of Patent: March 24, 2015
    Assignees: Force Dimension S.A.R.L., Baur S.S.
    Inventors: Patrick Helmer, Charles Baur, Jr., Marc Weibel
  • Patent number: 8978506
    Abstract: A manipulator robot for industrial production lines including a support structure and two robot arms mounted to the support structure at declining and diverging angles from one another. In one example, each robot arm includes six robot body portions connected in series and rotatable relative to one another. The improved robot design provides significant advantages in the flexibility, movement and modality of the robot for exemplary use in industrial production lines.
    Type: Grant
    Filed: February 8, 2012
    Date of Patent: March 17, 2015
    Assignee: Comau S.p.A.
    Inventors: Igor Tealdi, Enrico Mauletti
  • Patent number: 8978507
    Abstract: A balancing mechanism for a robot configured for lifting heavy weights comprises a hollow balancing body comprising an opening; an elastic assembly received in the balancing body and a pulling rod assembly received in the balancing body and hinged to a robot arm of the robot. One end of the pulling rod assembly resists the elastic assembly, and another opposite end of the pulling rod assembly extends out from the balancing body through the opening, the pulling rod assembly is movably assembled with the balancing body via the elastic assembly to make the elastic assembly capable of producing a balancing moment against the gravity moment of the robot arm.
    Type: Grant
    Filed: April 13, 2012
    Date of Patent: March 17, 2015
    Assignees: Hong Fu Jin Precision Industry (ShenZhen) Co., Ltd., Hon Hai Precision Industry Co., Ltd.
    Inventor: Bo Long
  • Patent number: 8973459
    Abstract: A parallel link robot includes a first arm including a first joint portion; a second arm including a second joint portion swingably engaging with the first joint portion, the second arm being connected to the first arm to make up a link mechanism; and a biasing mechanism unit which biases the second joint portion toward the first joint portion. The biasing mechanism unit includes a connection member attached to the second arm and the connection member includes a locking portion configured to lock the connection member to the second arm.
    Type: Grant
    Filed: February 1, 2013
    Date of Patent: March 10, 2015
    Assignee: Kabushiki Kaisha Yaskawa Denki
    Inventors: Kazuhiro Fukudome, Nobuhiko Mihara
  • Patent number: 8973460
    Abstract: A linear actuator suitable for mobilizing a load comprises: a leg linked to the load by one of its ends with a ball joint with three degrees of freedom in rotation; a plate that is mobile in translation along an axis belonging to a plane of a support of the actuator, said mobile plate being mechanically linked to the leg by its other end. The linear actuator also comprises at least one first elastic cable, fixed by one of its ends to the mobile plate, and fixed by its other end to the support, being engaged in a first pulley fixed to the support. The actuator can notably be used to mobilize a simulation platform mounted on a hexapod.
    Type: Grant
    Filed: May 14, 2012
    Date of Patent: March 10, 2015
    Assignee: Thales
    Inventor: Olivier Duplouy
  • Patent number: 8967015
    Abstract: A device (1) for moving and positioning a member in space has a mobile member (2), first and second members (3, 4) attached to a frame (32), and first and second carriages (5, 6) slidable along the members (3, 4). A first pair of arms (7, 8) are hinged to the first carriage and to the mobile member, forming a first four-bar linkage. A second pair of arms (10, 11) are hinged to the second carriage (6) and to the mobile member, forming a second four-bar linkage. A third pair of arms (14, 15) are hinged to a third member (13) and to the mobile member (2), forming a third four-bar linkage. A fourth member (17) which is hinged to the frame (3, 4, 19, 32) of the device (1) rotatably bears the third member (13), with a first actuator (18) provided for moving the fourth member (17).
    Type: Grant
    Filed: April 11, 2012
    Date of Patent: March 3, 2015
    Assignee: Marchesini Group S.p.A.
    Inventor: Giuseppe Monti
  • Patent number: 8955406
    Abstract: The vacuum seal unit of a workpiece transfer apparatus includes a plurality of seal rings and a cooling flow passage formed so as to circulate through inside a rotating shaft and a workpiece transfer mechanism. The seal rings adjacent to each other with a spacing therebetween, out of the plurality of seal rings, and the rotating shaft define a first space and a second space independent from each other and respectively surrounding the periphery of the rotating shaft. An end portion of the cooling flow passage communicates with the first space, and the other end of the cooling flow passage communicates with the second space. Even when the rotating shaft is rotating about the axial center, a coolant supplied to the second space can flow through the cooling flow passage and be supplied to the first space, thereby enabling cooling with high efficiency without restriction on the angle of rotation.
    Type: Grant
    Filed: August 31, 2012
    Date of Patent: February 17, 2015
    Assignee: Daihen Corporation
    Inventors: Takaya Yamada, Masashi Kamitani
  • Publication number: 20150040711
    Abstract: A parallel micro-robot with five degrees of freedom that is capable of manufacturing in compact size as well as capable of controlling more precisely compared with conventional parallel robot is disclosed. The parallel micro-robot with five degrees of freedom is capable of controlling an angle of the operating plate very precisely around two shafts rotating connection means which couples operating plate and up/down height adjusting actuator using a first and second angle adjusting actuator, and therefore, high accuracy is secured.
    Type: Application
    Filed: April 24, 2013
    Publication date: February 12, 2015
    Applicant: KOH YOUNG TECHNOLOGY INC.
    Inventors: Whee-Kuk Kim, Sung-Mok Kim, Jae-Heon Chung, Byung-Ju Yi
  • Publication number: 20150040712
    Abstract: The gravity compensation mechanism includes a first non-circular gear configured to rotate about a rotation axis of an arm part of the robot together with the arm part, a second non-circular gear driven by the first non-circular gear, and an extension/contraction body configured to extend and contract to produce force as the second non-circular gear rotates, one end portion of the extension/contraction body being connected to the second non-circular gear.
    Type: Application
    Filed: October 23, 2014
    Publication date: February 12, 2015
    Applicant: KABUSHIKI KAISHA YASKAWA DENKI
    Inventor: Go YAMAGUCHI