Robotic Arm Patents (Class 74/490.01)
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Publication number: 20130205932Abstract: 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: ApplicationFiled: February 1, 2013Publication date: August 15, 2013Applicant: KABUSHIKI KAISHA YASKAWA DENKIInventor: KABUSHIKI KAISHA YASKAWA DENKI
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Publication number: 20130205931Abstract: 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: ApplicationFiled: January 25, 2013Publication date: August 15, 2013Applicant: SEIKO EPSON CORPORATIONInventor: Seiko Epson Corporation
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Patent number: 8506556Abstract: A robotic arm for a minimally invasive surgical system includes a parallel spherical five-bar linkage adapted to spherically rotationally move a robotic surgical tool coupled to the parallel five-bar spherical linkage about a remote center of spherical rotation. The five-bar spherical linkage is posed in only a range of compact poses. A compact pose is one in which a first pair of links and a second pair of links in the parallel five-bar spherical linkage have only a same handedness.Type: GrantFiled: March 27, 2012Date of Patent: August 13, 2013Assignee: Intuitive Surgical Operations, Inc.Inventor: Bruce M. Schena
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Patent number: 8490510Abstract: A robot arm mechanism includes a first shaft assembly, a second shaft assembly, a first motor, a second motor, and an air tubing assembly. The second shaft assembly is rotatably assembled with the first shaft assembly. The first motor is selectively assembled within the first shaft assembly or the second shaft assembly. The air tubing assembly is assembled within the first shaft assembly or the second shaft assembly, and surrounds the first motor for cooling down the first motor, surrounds the second motor for cooling down the second motor, and cooling down the inner temperature of the robot. A robot using the robot arm mechanism is further provided.Type: GrantFiled: April 18, 2011Date of Patent: July 23, 2013Assignees: Hong Fu Jin Precision Industry (ShenZhen) Co., Ltd., Hon Hai Precision Industry Co., Ltd.Inventor: Bo Long
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Patent number: 8491604Abstract: A manipulator, such as for use in medical procedures, is provided. The manipulator includes a body and a first actuator system connected to the body at a first attachment point and capable of moving the first attachment point with at least three degrees of freedom. A second actuator system is connected to the body at a second attachment point and capable of moving the second attachment point with at least three degrees of freedom. A third actuator system is integrated with the body and is capable of moving at least a portion of the body with at least one degree of freedom.Type: GrantFiled: December 22, 2010Date of Patent: July 23, 2013Assignee: MicroDexterity Systems, Inc.Inventor: J. Michael Stuart
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Patent number: 8491250Abstract: A palletizing robot includes a lifting frame, an end-effector, an extensible mechanical arm, and a balancing mechanism. The extensible mechanical arm is rotatably connected to the lifting frame. The balancing mechanism and the end-effector are located on opposite ends of the extensible mechanical arm. The balancing mechanism includes a threaded rod, a sliding member, a driving member, and a counterweight. The threaded rod is located on the extensible mechanical arm. The sliding member receives the threaded rod. The driving member is fixed on an end of the threaded rod. The counterweight is fixed on the sliding member. The driving member rotates the threaded rod such that the sliding member slides relative to the threaded rod.Type: GrantFiled: November 12, 2010Date of Patent: July 23, 2013Assignees: Hong Fu Jin Precision Industry (ShenZhen) Co., Ltd., Hon Hai Precision Industry Co., Ltd.Inventors: Guo-Qing Zhang, Qi-Jun Wang
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Patent number: 8489236Abstract: There is provided a control apparatus and control method for robot arm, robot, control program for robot arm, and integrated electronic circuit, which can improve robot arm operability upon performing tasks such as cooperative conveyance and direct teaching. The grip portion separated from the end effector attached to the robot arm is provided. When a person grips and shifts the grip portion, a tracking control unit controls so that the robot arm follows the shift. A fixing switch unit switches between a fixing state where, upon switching to “playback mode”, a fixing portion is located at a fixed position to fix the end effector and the grip portion to maintain a gap distance therebetween and a relatively shiftable state where, upon switching to “teaching mode”, the fixing portion is located at an accommodated position to relatively shift them from each other without maintaining the gap distance.Type: GrantFiled: September 28, 2012Date of Patent: July 16, 2013Assignee: Panasonic CorporationInventors: Yudai Fudaba, Masaki Yamamoto, Yuko Tsusaka, Taichi Sato
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Publication number: 20130174683Abstract: There is provided a robot arm link comprising a base, a first section rotably coupled to the base, a second section pivotably coupled to the first section and a third section attached to the second section and having a fixed portion and a movable portion, the movable portion coupled to the fixed portion for movement between first and second portions, the movable portion having an attachment plate for attachment to another robot arm link. The links can be used to construct an arm with multiples of three degrees of movement. For example, three links are joined together and mounted on a rotation base and terminated with a pivot or wrist joint to provide a total of 11 degrees of movement.Type: ApplicationFiled: July 6, 2012Publication date: July 11, 2013Inventor: Isabelle Roberts
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Patent number: 8479607Abstract: A work transfer apparatus includes a work carrying mechanism, a driving source that drives the work carrying mechanism, a sealed box that accommodates the driving source in a hermetically sealed state, and a coolant circulation path provided in the sealed box for cooling the driving source. The sealed box includes a box body with an opening, and a partition lid for closing the opening. The partition lid includes an outer plate member and an inner plate member superposed on the outer plate member. The coolant circulation path is disposed at the interface between the outer plate member and the inner plate member.Type: GrantFiled: December 24, 2009Date of Patent: July 9, 2013Assignee: DAIHEN CorporationInventors: Kunio Fukuma, Hideki Matsuo
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Publication number: 20130167683Abstract: A robotic limb is described. The robotic limb has a closed tubular casing made of viscoelastic material defining a chamber containing an incompressible fluid. The closed tubular casing has a sheath formed by substantially inextensible intertwined wires. In the chamber there are groups of transverse actuators axially spaced from each other, connected to the sheath and adapted to reversibly contract the closed tubular casing at least partly in the radial direction. The robotic limb also has longitudinal actuating means adapted to reversibly contract the closed tubular casing at least partly in the axial direction being connected to each of the groups of transverse actuators.Type: ApplicationFiled: September 14, 2011Publication date: July 4, 2013Inventors: Matteo Cianchetti, Maurizio Follador, Andrea Arienti, Cecilia Laschi, Barbara Mazzolai, Paolo Dario
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Patent number: 8469945Abstract: A robotic arm including a parallel spherical five-bar linkage with a remote center of spherical rotation. The robotic arm movably supports an endoscopic camera. Two outboard links are pivotally coupled together. At least one of the two outboard links supports the endoscopic camera. Two inboard links are respectively pivotally coupled to the two outboard links such that the two inboard links are able to cross over one another. The two inboard links moveably support the two outboard links. A ground link is pivotally coupled to the two inboard links. The ground link moveably supports the two inboard links.Type: GrantFiled: January 15, 2007Date of Patent: June 25, 2013Assignee: Intuitive Surgical Operations, Inc.Inventor: Bruce M. Schena
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Publication number: 20130152722Abstract: A ceiling-mounted SCARA robot includes: a base, a first arm that is connected to the lower side of the base via a first coupling part centering around a first articulated shaft and that can pivotally move around the first articulated shaft within a horizontal plane, a second arm that is connected to the lower side of the first arm via a second coupling part centering around a second articulated shaft and that can pivotally move around the second articulated shaft within a horizontal plane, a working shaft that is mounted on the second arm, a second articulated shaft motor and a second articulated shaft reducer for driving the second arm, and a working-shaft rotation motor that rotates the working shaft. The second articulated shaft reducer is provided on the second coupling part, and the working-shaft rotation motor is arranged directly below the second articulated shaft reducer.Type: ApplicationFiled: September 3, 2010Publication date: June 20, 2013Applicant: MITSUBISHI ELECTRIC CORPORATIONInventors: Yoshitaka Kumagai, Mitsuhiro Fukatsu
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Publication number: 20130145892Abstract: A link mechanism arranged between a fixed base and a movable base. The mechanism includes a drive gear reducer, a first arm, a second arm, a connection base, a first link, and a second link. The drive gear reducer includes a body, an input shaft, a first output shaft, and a second output shaft. The first arm is connected to the fixed base and the body of the reducer. The second arm is connected to the second output shaft and the movable base. The connection base is arranged such that the second arm is between the connection base and the reducer, the connection base is connected to the first output shaft. The first link is connected to the fixed base and the connection base. The second link is connected to the connection base and the movable base.Type: ApplicationFiled: February 6, 2013Publication date: June 13, 2013Applicant: SEIKO EPSON CORPORATIONInventor: Seiko Epson Corporation
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Publication number: 20130142608Abstract: A parallel mechanism includes a fixed plate, four turnable actuators, four peripheral driving mechanisms, and a movable plate. The four turnable actuators are disposed in respective four directions of the fixed plate with pivot axes of two adjacent turnable actuators being orthogonal to one another and with pivot axes of two opposing turnable actuators being parallel to one another. The four peripheral driving mechanisms each include an upper arm made up of a bar integral with a rotor of a turnable actuator corresponding to the upper arm. An upper joint couples the upper arm to the lower arm. A lower joint couples the lower arm to the movable plate. The movable plate is driven by the four turnable actuators through the four peripheral driving mechanisms with at least four degrees of freedom including one rotational degree of freedom along a plane direction of the movable plate.Type: ApplicationFiled: February 1, 2013Publication date: June 6, 2013Applicant: KABUSHIKI KAISHA YASKAWA DENKIInventor: KABUSHIKI KAISHA YASKAWA DENKI
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Publication number: 20130133452Abstract: A gear backlash adjusting mechanism includes a base, a first gear, a first elastic gear meshing with the first gear, a bearing sleeved on the first gear, and a bearing box over the bearing, and mounted on the base. The first elastic gear includes an outer ring, an inner ring, and an elastic member mounted between the outer ring and the inner ring. The position of the bearing box relative to the base can be adjusted, to push the first elastic gear via the first gear. The elastic member is deformed and provides elastic force to push the first elastic gear to tightly mesh with the first gear.Type: ApplicationFiled: March 23, 2012Publication date: May 30, 2013Applicants: HON HAI PRECISION INDUSTRY CO., LTD., HONG FU JIN PRECISION INDUSTRY (ShenZhen) CO., LTD.Inventor: BO LONG
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Publication number: 20130125690Abstract: A robot arm assembly includes a base, a first arm rotatably connected to the base, a second arm rotatably connected to the first arm, a third arm rotatably connected to the second arm, a first driving mechanism, a second driving mechanism, and a third driving mechanism. The first driving mechanism includes a first driving member mounted on the base for driving the first arm. The second driving mechanism includes a second driving member mounted on the base and a first transmission shaft securely connected to the second driving member for driving the second arm. The third driving mechanism includes a third driving member mounted on the base and a second transmission shaft securely connected to the third driving member for driving the third arm. The first and second transmission shafts are placed inside the first arm substantially symmetrically with each other about an axis of the first arm.Type: ApplicationFiled: February 21, 2012Publication date: May 23, 2013Applicants: HON HAI PRECISION INDUSTRY CO., LTD., HONG FU JIN PRECISION INDUSTRY (ShenZhen) CO., LTD.Inventor: BO LONG
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Publication number: 20130125694Abstract: A robot includes a first robot arm, a drive mechanism driving the first robot arm to rotate, a receiving box rotatably connected to the first robot arm. The drive mechanism includes a first drive member and a first speed reducer connected to the first drive member. The first robot arm and the receiving box cooperatively define a first receiving groove, and a first shaft sleeve positioned in the first receiving groove. The first drive member is positioned in the receiving box, and the first speed reducer is positioned in the first receiving groove and movably sleeved on the first shaft sleeve.Type: ApplicationFiled: July 17, 2012Publication date: May 23, 2013Applicants: HON HAI PRECISION INDUSTRY CO., LTD., HONG FU JIN PRECISION INDUSTRY(ShenZhen) CO., LTD.Inventor: Bo LONG
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Patent number: 8444368Abstract: This invention provides a substrate transport apparatus (100) which transports a substrate (W) placed on a hand portion (10) to a processing apparatus or a predetermined storage unit. The substrate transport apparatus (100) includes a moving means (20) for supporting the proximal side (10b) of the hand portion (10) serving as one end of the hand portion (10), and reciprocally moving the hand portion (10) in the direction of its extension, a tilt detection means (30) for detecting the tilt of a distal end (10a) of the hand portion (10) with respect to the horizontal direction, which accompanies flexure of the hand portion (10) upon placing the substrate (W) on the hand portion (10), and a tilt correction means (40) for generating a pitching motion of the hand portion (10) as a whole so as to cancel the tilt of the distal end (10a) of the hand portion (10).Type: GrantFiled: June 4, 2010Date of Patent: May 21, 2013Assignee: Hirata CorporationInventor: Kouji Irie
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Publication number: 20130118286Abstract: A robot arm assembly includes a first mechanical arm, a second mechanical arm, a third mechanical arm, a first transmission assembly and a second transmission assembly. The first mechanical arm, the second mechanical arm and the third mechanical arm are rotatably connected together in that order, and are respectively configured to rotate along a first axis A, a second axis B and a third axis C. The first transmission assembly is assembled within the first mechanical arm and the second mechanical arm, and is further coupled with the third mechanical arm. The second transmission assembly is assembled within the first mechanical arm and sleeved on the first transmission assembly, the second transmission assembly is further coupled with the second mechanical arm.Type: ApplicationFiled: July 17, 2012Publication date: May 16, 2013Applicants: HON HAI PRECISION INDUSTRY CO., LTD., HONG FU JIN PRECISION INDUSTRY (ShenZhen) CO., LTD.Inventor: Bo LONG
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Publication number: 20130118288Abstract: A robot arm assembly includes a supporting arm, first and second mechanical arms, a first driving member, a second driving member, a first transmission mechanism between the first mechanical arm and the first driving member, and a second transmission mechanism between the second mechanical arm and the second driving member. The first driving member drives the first transmission mechanism to rotate the first mechanical arm. The second driving member drives the second transmission mechanism to rotate the second mechanical arm. The first driving member and the second driving member are both carried in the supporting arm and are arranged side by side.Type: ApplicationFiled: October 15, 2012Publication date: May 16, 2013Inventor: ZHEN-XING LIU
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Publication number: 20130118287Abstract: An active compliant parallel device includes a movable body; a base body; and a plurality of linking members. The plurality of linking members are coupled to the movable body and the base body by a plurality of joints and include at least one compliant linking member, having a compliant element, and at least one actuating linking member, having an actuating element. The device may further include at least one damping linking member having a damping element and/or at least one passive linking member. The actuating, compliant, passive, and/or damping linking members are arranged in a parallel arrangement or structure such that each linking member makes a connection, using a connection element, such as a joint, with the base body and the movable body. The potential configurations of the device allow for movement and positioning of one or more unrestricted and externally loaded elements in space.Type: ApplicationFiled: November 9, 2012Publication date: May 16, 2013Applicant: SpringActive, Inc.Inventor: SpringActive, Inc.
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Patent number: 8434387Abstract: The present invention relates to an industrial robot and aims to provide an industrial robot capable of ensuring a long distance from a rotation axis of an arm to a tool mounting portion and accurately positioning the tool mounting portion by a compact structure. In a swing arm 150, the rotation of a tool mounting rotation arm driving motor 311 is transmitted to a pivot shaft 313 via a tool mounting rotation arm driving transmission mechanism 300, the rotation of a tool mounting portion driving motor 411 is transmitted to an intermediate power transmission shaft 422 via a tool mounting portion driving first transmission mechanism 412a, and the rotation of the intermediate power transmission shaft 422 is transmitted to an output power transmission shaft 426 via a tool mounting portion driving second transmission mechanism 412b, thereby rotating a tool mounting portion 170 while being decelerated by a tool mounting portion driving reduction unit 413.Type: GrantFiled: April 13, 2011Date of Patent: May 7, 2013Assignees: Daihen Corporation, Kabushiki Kaisha Kobe Seiko ShoInventors: Hiroshi Nakagiri, Sungjae Yoon, Makoto Kondo, Tatsuji Minato
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Patent number: 8434384Abstract: Disclosed herein is a weight compensation mechanism. A weight compensation mechanism is installed in a link member rotatable in a plurality of directions. The weight compensation mechanism includes a plurality of bevel gears that rotates in harmony with the rotation of the link member. Cam plates are connected to one or more of the bevel gears to be rotated together with the bevel gears. Weight offsetting parts are connected to the cam plates, respectively, and each of the weight offsetting parts compresses an elastic member based on the rotation of the link member and the cam plate to absorb gravitation generated by the weight of the link member.Type: GrantFiled: August 24, 2010Date of Patent: May 7, 2013Assignee: Korea Institute of Science and TechnologyInventors: Sung Chul Kang, Woo Sub Lee, Chang Mook Chun, Chang Hyun Cho
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Patent number: 8434992Abstract: A first decelerator is placed in an arm base such that a lower end of a decelerator shaft is bared in the arm base. A first arm has a hermetic space which becomes equal in pressure to a hermetic space of the arm base when an upper end of the hollow decelerator shaft is inserted thereinto, and is secured to a first decelerator output shaft. A second decelerator is placed on a distal end of the first arm, and has an input shaft connected to the decelerator shaft. A second arm is secured to an output shaft of the second decelerator, and has no hermetic space formed therein. A link mechanism follows the first and second arms.Type: GrantFiled: November 10, 2010Date of Patent: May 7, 2013Assignee: Kabushiki Kaisha Yaskawa DenkiInventors: Fumihiro Tara, Nobuyuki Furukawa, Kensuke Ohni
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Publication number: 20130104685Abstract: A robot arm assembly includes a receiving box, a hollow tube, a first output shaft, and a first driving mechanism. The receiving box defines an assembling hole and a through hole. The hollow tube is assembled within the receiving box with two ends of the hollow tube aligning with the assembling hole and the through hole, respectively. The first output shaft is hollow, and rotatably assembled to the receiving box. The first output shaft is coaxial with the assembling hole of the receiving box and defines a cable passage cooperatively with hollow tube. The first driving mechanism is assembled within the receiving box and is connected with the first output shaft, to drive the first output shaft to rotate relative to the receiving box.Type: ApplicationFiled: June 29, 2012Publication date: May 2, 2013Applicants: HON HAI PRECISION INDUSTRY CO., LTD., HONG FU JIN PRECISION INDUSTRY (ShenZhen) CO., LTD.Inventor: BO LONG
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Patent number: 8424410Abstract: A first link member 4 is swingably connected to the base member 2 on a forward side, and a second link member 5 is swingably connected to the base member 2 on a backward side. A third link member 6 is swingably connected to the output member 3 on the forward side, and a fourth link member 7 is swingably connected to the output member 3 on the backward side. A swinging end of the third link member 6 is swingably connected to the first link member 4 on a first connecting axis J5, and a swinging end of the fourth link member 7 on the backward side is swingably connected to the first link member 4 on a second connecting axis J6. A swinging end of the second link member 5 is swingably connected to the fourth link member 7 on a third connecting axis J7.Type: GrantFiled: April 12, 2011Date of Patent: April 23, 2013Assignee: Honda Motor Co., Ltd.Inventors: Tetsuya Ishikawa, Susumu Miyazaki
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Patent number: 8419338Abstract: Since both a driving means for lifting a work and a driving means for turning operation must have been arranged in a conventional work transfer apparatus, the apparatus has been large in size and heavy in weight. A work transfer apparatus is provided with a holding tool for holding a window, i.e., the work, and a supporting arm for movably supporting the holding tool. The window held by the holding tool is transferred by a supporting arm to window frames to which the window is to be assembled, and the posture of the window is changed to that corresponds to the window frames. Furthermore, the supporting arm is configured to be a closed loop link mechanism wherein a plurality of links are connected to form a closed loop. The posture of the holding tool one link of a pair of links connected to the holding tool of the supporting arm can be fixed.Type: GrantFiled: July 25, 2008Date of Patent: April 16, 2013Assignee: Toyota Jidosha Kabushiki KaishaInventors: Hitoshi Konosu, Tadashi Odashima
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Patent number: 8418579Abstract: A parallel robot includes a base, a movable platform, a plurality of control arms, a rotation arm, a plurality of first actuators, and a second actuator. The control arms rotatably interconnect to the base and the movable platform, respectively. Opposite ends of the rotation arm are universally rotatably connected to the base and the movable platform, respectively. The first actuators move the control arms, respectively. The second actuator rotates the rotation arm around a central axis. Each control arm comprises a first transmission member and a transmission cable. The first transmission member comprises a fan-shaped transmission portion. Each first actuator comprises a transmission shaft to engage the first transmission member of the control arm. The transmission cable coils around the transmission shaft for at least one winding, then criss-crosses, and winds on the fan-shaped transmission portion.Type: GrantFiled: June 30, 2010Date of Patent: April 16, 2013Assignees: Hong Fu Jin Precision Industry (ShenZhen) Co., Ltd., Hon Hai Precision Industry Co., Ltd.Inventors: Guo-Qing Zhang, Zhi-Ming Zhao, Jiong Zhou
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Publication number: 20130087004Abstract: A parallel-kinematical machine (20) that includes three setting devices (24.1, 24.2, 24.3) each of which can be lengthened and shortened individually, wherein each setting device (24.1, 24.2, 24.3) is connected to a first, a second and a third respective inner gimbal ring (23.1, 23.2, 23.3) of universal gimbal joints (UGJ) and that each inner gimbal ring (23.1, 23.2, 23.3) is mounted in bearings (25, 26, 27) for rotation in gimbal holders (21, 22) which are rotationally mounted in outer gimbal bearings (28, 29, 39) in an outer mounting (290) wherein the first inner gimbal ring (23.1) and the third inner gimbal ring (23.3) are mounted for rotation in a common outer gimbal holder (21) which is mounted for rotation about a common gimbal axis (32, 52) and in that the second inner gimbal ring (23.2) is mounted for rotation in a single gimbal holder (22) which is mounted in two opposite bearings for rotation about a second gimbal axis (31, 51) which is not aligned with said common gimbal axis (32, 52).Type: ApplicationFiled: June 9, 2011Publication date: April 11, 2013Applicant: EXECHON EMIRATES ABInventors: Karl-Erik Neumann, Thomas Andersson, Kristoffer Larsson, Fredrik Palmquist
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Patent number: 8414246Abstract: An intelligent modular hybrid robot arm system is usable with mobile robots, and is applicable to stationary industrial arms. The intelligent modular hybrid robot arm system provides a large work envelope and a controlled and directed rotational movement for a flexible snake robot arm. The intelligent modular hybrid robot arm system has the ability to change end effector tools and sensors. The platform computers have the ability to interact with other subsystems for coordinated as well as independent tasks. The flexibly snake robot arm can be covered with a flexible sensor network, or “skin”. The intelligent modular hybrid robot arm system can manage its energy use, stores the arm in a compact shape and uses a central support tube offering unobstructed arm access to all sectors of its working envelope.Type: GrantFiled: June 6, 2008Date of Patent: April 9, 2013Assignee: Cycogs, LLCInventor: Wayland E. Tobey
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Patent number: 8413540Abstract: A robot arm assembly includes a middle joint, an upper arm rotatably connected to the middle joint, a driver rotating the upper arm mounted on the middle joint, and a transmission mechanism transferring the power of the driver to the upper arm. The driver includes an output shaft. The transmission mechanism includes a first gear coupled to the output shaft of the driver, a second gear mounted on the outer circumference of the arm, a third gear meshed with the first gear, and a fourth gear coinciding with the third gear and meshed with the second gear.Type: GrantFiled: March 26, 2010Date of Patent: April 9, 2013Assignees: Hong Fu Jin Precision Industry (ShenZhen) Co., Ltd., Hon Hai Precision Industry Co., Ltd.Inventor: Bo Long
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Publication number: 20130074635Abstract: Rotary actuators having a final output member rotatable about an axis of rotation; a motor unit designed to drive the final output member for rotation about the axis of rotation; and an elastic unit arranged between the motor unit and the final output member and having an input member torsionally coupled to the motor unit and an output member rigidly connected for rotation with the final output member are provided.Type: ApplicationFiled: September 20, 2012Publication date: March 28, 2013Inventor: Ivar Thorson
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Patent number: 8402860Abstract: A structure is provided with a first member at a base end side, a third member at a leading end side, a second member arranged between the first and third members, and a coupling force generator for generating a first coupling force for pressing an end surface of the first member and that of the second member against each other and a second coupling force for pressing an end surface of the second member and that of the third member against each other. In this structure, the first and third members are relatively displaced upon the application of an external force larger than a coupling force generated between the end surface of the first member and that of the second member by the first coupling force, whereas the second and third members are relatively displaced upon the application of an external force larger than a coupling force generated between the end surface of the second member and that of the first member by the second coupling force.Type: GrantFiled: October 10, 2008Date of Patent: March 26, 2013Assignee: Panasonic CorporationInventors: Osamu Mizuno, Akinobu Okuda, Tsuyoshi Tojo, Tohru Nakamura, Rie Takahashi, Soichiro Fujioka, Yoshihiko Matsukawa
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ROBOT APPARATUS, ROBOT SYSTEM, AND METHOD FOR MANUFACTURING PACKAGED PRODUCT OF STRING-SHAPED OBJECT
Publication number: 20130067869Abstract: A robot apparatus includes a turning base, a lower arm, an upper arm, a wrist unit, a hand, and a controller. The hand is provided on the wrist unit to hold or release a longitudinally intermediate portion of a noodle lump. The controller controls operations of the turning base, the lower arm, the upper arm, the wrist unit, and the hand. The controller controls the turning base, the lower arm, the upper arm, and the wrist unit so that the hand moves the noodle lump obliquely upward at least in a part of a path from a holding position at which the noodle lump is held and a releasing position at which the noodle lump is released.Type: ApplicationFiled: September 20, 2012Publication date: March 21, 2013Applicant: KABUSHIKI KAISHA YASKAWA DENKIInventor: KABUSHIKI KAISHA YASKAWA DENKI -
Publication number: 20130061707Abstract: 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: ApplicationFiled: April 13, 2012Publication date: March 14, 2013Applicants: HON HAI PRECISION INDUSTRY CO., LTD., HONG FU JIN PRECISION INDUSTRY (ShenZhen) CO., LTD.Inventor: BO LONG
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Patent number: 8396596Abstract: A robot includes an arm including a plurality of joints, arm members that form the arm, each arm member supporting a load, actuators that drive the joints and that are supported by the arm members, a load sensor embedded in at least one of the arm members to measure the load applied to the at least one of the arm members, a controller that controls movements of the actuators on the basis of a result of the measurement performed by the load sensor, and a wire hole through which a sensor line extend from a space inside the at least one of the arm members to a space inside the arm, the sensor line connecting the load sensor to the controller.Type: GrantFiled: July 7, 2010Date of Patent: March 12, 2013Assignee: Kabushiki Kaisha Yaskawa DenkiInventors: Takenori Oka, Manabu Okahisa
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Publication number: 20130058749Abstract: A working robot according to an embodiment includes an arm part and a plurality of motors. The arm part includes a plurality of arm members. The plurality of motors respectively drives the plurality of arm members. Herein, rated powers respectively corresponding to the motors are the same.Type: ApplicationFiled: February 20, 2012Publication date: March 7, 2013Applicant: Kabushiki Kaisha Yaskawa DenkiInventor: Manabu OKAHISA
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Patent number: 8387481Abstract: 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: GrantFiled: December 22, 2011Date of Patent: March 5, 2013Assignee: Seiko Epson CorporationInventors: Christoph Meyerhoff, Kazushige Akaha
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Publication number: 20130047772Abstract: Systems and methods relating to a clutch system for use in controllably transmitting torque from an input shaft to an output shaft. The clutch system has a torque transmission fluid that has a viscosity that changes based on the strength of an electromagnetic field passing through the fluid. A number of sensors are placed at different radial locations on the torque transmission disks to detect the strength of the electromagnetic field. Based on the strength of the electromagnetic field, the amount of torque being transmitted from the input shaft to the output shaft can be adjusted. Also disclosed is a distributed actuation architecture that uses this clutch system. The distributed actuation architecture allows for the use of a single drive motor in conjunction with multiple instances of the clutch system to actuate a mechanical linkage, such as a robotic arm.Type: ApplicationFiled: October 8, 2010Publication date: February 28, 2013Applicant: THE UNIVERSITY OF WESTERN ONTARIOInventors: Alex Shafer, Mehrdad R. Kermani
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Publication number: 20130047769Abstract: An industrial robot with a gear transmission mechanism is disclosed. The industrial robot comprises a base; a robot arm assembly rotatably connected to the base; the robot arm assembly comprising a gear box; a first driving member positioned on the gear box, the first driving member having a first driving shaft; a first transmission mechanism positioned in the gear box, wherein the first transmission mechanism has at least two gears meshing with each other and a fixed shaft fixed to the base, one of the at least two gears is connected to the first driving shaft, and another one of the at least two gears is rotatably sleeved on the fixed shaft, and fixed to the gear box.Type: ApplicationFiled: December 22, 2011Publication date: February 28, 2013Applicants: HON HAI PRECISION INDUSTRY CO., LTD., HONG FU JIN PRECISION INDUSTRY (ShenZhen) CO., LTD.Inventor: BO LONG
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Publication number: 20130047770Abstract: An optical potentiometer includes a metal pipe having one end closed, a metal pipe that has a relationship of a nested structure with respect to the metal pipe and guides the metal pipe movably in a longitudinal direction, a light source and an optical fiber which supply light into the metal pipe, and an optical power meter that detects a change in the amount of reflected light from inside the metal pipe. The metal pipe has a slit along the longitudinal direction. The optical power meter detects a change in the amount of reflected light from inside the metal pipe caused by a change in the opening amount of the slit caused in accordance with the movement of the metal pipe in the longitudinal direction.Type: ApplicationFiled: October 28, 2012Publication date: February 28, 2013Applicant: OLYMPUS CORPORATIONInventor: OLYMPUS CORPORATION
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Patent number: 8381609Abstract: An articulated structure for a multi-axis robot includes a base having an arm hinged to the base about a first axis and a forearm hinged to the arm about a second axis parallel to the first axis, and wherein the forearm forms a deformable parallelogram structure which includes two connecting rods that are hinged to two plates about respective axes that are perpendicular to the first and second axes. The structure also includes a first electric actuator controlling pivoting of the arm about the first axis, a second electric actuator controlling pivoting of the forearm about the second axis, and a third electric actuator mounted directly on one of the base and the arm for controlling pivoting of one of the connecting rods relative to the plates about the axes that are perpendicular to the first and second axes.Type: GrantFiled: October 16, 2009Date of Patent: February 26, 2013Assignee: Staubli FavergesInventors: Joseph Palau, Vincent Gerat, Eric Sallet
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Patent number: 8382421Abstract: A compact transport apparatus that does not cause pollution to its environment is provided. In a transport apparatus according to a first aspect of the present invention, an installation area of the apparatus is small because first and second rotary shafts are arranged concentrically, and a dead center escaping mechanism has a simple structure with a small thickness. Since a connecting portion of a hand portion can be made thin, an opening of a gate valve through which the hand portion is inserted can be reduced. As a result, it becomes difficult for dust inside a transport chamber to enter a processing chamber. A second aspect of the present invention is directed to a spaced dual shaft-type transport apparatus.Type: GrantFiled: September 22, 2009Date of Patent: February 26, 2013Assignee: Ulvac, Inc.Inventors: Kazuhiro Musha, Hirofumi Minami, Kenji Ago, Takashi Asaishi, Toshio Koike
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Publication number: 20130046409Abstract: A robot according to embodiments includes a speed reducer, a first shaft, a rotary electric machine, a second shaft, and a brake. The speed reducer reduces and outputs rotation to be input into an input unit. The first shaft is connected to the input unit. The rotary electric machine rotates the first shaft. The second shaft is connected to the input unit. The brake regulates the rotation of the second shaft.Type: ApplicationFiled: February 17, 2012Publication date: February 21, 2013Applicant: KABUSHIKI KAISHA YASKAWA DENKIInventors: Kentaro TANAKA, Hisaya Inoue, Satoshi Sueyoshi, Kazuhiro Haniya
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Publication number: 20130042714Abstract: An industrial robot includes a support body, a moving platform, a pivot shaft, a plurality of driving devices, a plurality of transfer branch joints, and a base. The support body includes a main body, and an installing portion opposite to the main body; the pivot shaft is rotatably connected with the main body and the moving platform; the driving devices are positioned at a bottom of the main body; each transfer branch joint is movably connected with the moving platform and one corresponding driving device; the installing base includes a bottom base, and two supporting arms extending from opposite sides of the bottom base; the bottom base and the two supporting arms cooperatively forming a receiving space; the bottom base and the two supporting arms are detachable in relation to the installing portion and the main body; the main body is received in the receiving space.Type: ApplicationFiled: April 2, 2012Publication date: February 21, 2013Applicants: HON HAI PRECISION INDUSTRY CO., LTD., HONG FU JIN PRECISION INDUSTRY (ShenZhen) CO., LTD.Inventors: Zhen-Xing LIU, Xiao-Ming XU
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Patent number: 8376685Abstract: A substrate transport apparatus having a drive section and a scara arm operably connected to the drive section to move the scara arm. The scara arm has an upper arm and at least one forearm. The forearm is movably mounted to the upper arm and capable of holding a substrate thereon. The upper arm is substantially rigid and is adjustable for changing a predetermined dimension of the upper arm.Type: GrantFiled: June 9, 2005Date of Patent: February 19, 2013Assignee: Brooks Automation, Inc.Inventors: Antonio F. Pietrantonio, Anthony Chesna, Hakan Elmoli, Ulysses Gilchrist
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Patent number: 8365632Abstract: A Cartesian coordinate robot includes a first transmission mechanism slidably connected to a second transmission mechanism, a third transmission mechanism slidably connected to the second transmission mechanism. The first transmission mechanism includes a first guide rail, a first slider slidably connected to the first guide rail, and a first driving module driving the first slider. The second transmission mechanism includes a second guide rail perpendicular to the first guide rail, a second slider slidably connected to the second guide rail, and a second driving module driving the second slider. The third transmission mechanism includes a third guide rail perpendicular to the first guide rail and the second rail, a third slider slidably connected to the third guide rail, and a third driving module driving the third slider.Type: GrantFiled: January 27, 2010Date of Patent: February 5, 2013Assignees: Hong Fu Jin Precision Industry (ShenZhen) Co., Ltd., Hon Hai Precision Industry Co., Ltd.Inventors: Wen-Sheng Chen, Da-Wei Liu
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Patent number: 8358883Abstract: A shape sensing system to determine the position and orientation of one link with respect to another link in a kinematic chain. An optical fiber is coupled to two or more links in a kinematic chain. A shape sensing segment is defined to start at a proximal link and to end at a distal link, crossing one or more joints. A reference frame is defined at the start of the shape sensing segment. As the joints move, an interrogator senses strain in the shape sensing segment. The sensed strain is used to output a Cartesian position and orientation of the end of the shape sensing segment with respect to the reference frame defined at the start of the shape sensing segment. The pose of the kinematic chain is determined from the Cartesian positions and orientations of one or more shape sensing segments defined for the kinematic chain and from an a priori model and constraints of the kinematic chain.Type: GrantFiled: February 6, 2012Date of Patent: January 22, 2013Assignee: Intuitive Surgical Operations, Inc.Inventor: Giuseppe Maria Prisco
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Publication number: 20130017050Abstract: A parallel link robot includes a housing, a plurality of driving devices, and a plurality of arms. The housing includes arm coupling openings and a receiving opening. The plurality of driving devices are disposed in the receiving opening of the housing. The plurality of driving devices are attachable and detachable from and in a direction above the receiving opening. The plurality of arms are coupled to the respective driving devices through the respective arm coupling openings.Type: ApplicationFiled: July 6, 2012Publication date: January 17, 2013Applicant: KABUSHIKI KAISHA YASKAWA DENKIInventors: Kazuhiro FUKUDOME, Takashi Sanada, Nobuhiko Mihara
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Patent number: 8347753Abstract: A robot arm for an industrial robot, including a first arm part and a second arm part, where the second arm part is rotatably journalled in the first arm part for rotation about a first axis of rotation, characterized in that the second arm part includes a tubular member, rotatably journalled in the first arm part, so that the tubular member is configured to support the robot arm.Type: GrantFiled: June 26, 2009Date of Patent: January 8, 2013Assignee: ABB ABInventor: Jan Larsson