Wrist Patents (Class 74/490.06)
  • Patent number: 10427294
    Abstract: There is provided a parallel link robot that includes a movable section, a plurality of first links, a plurality of connection sections, a plurality of second links, a plurality of first shaft sections, a plurality of third links, a plurality of second shaft sections, and a fixation unit including a plurality of driving sources. The plurality of first links are connected to the plurality of driving sources. The plurality of connection sections are connected to the plurality of first links. The plurality of second links are connected to the plurality of first links via the plurality of connection sections. The plurality of first shaft sections are connected to the plurality of second links. The plurality of third links are connected to the plurality of second links via the plurality of first shaft sections, and to the movable section through the plurality of second shaft sections.
    Type: Grant
    Filed: June 9, 2015
    Date of Patent: October 1, 2019
    Assignee: SONY CORPORATION
    Inventor: Kazuo Hongo
  • Patent number: 10363164
    Abstract: A force-sensing tool includes a tool shaft that has a proximal end and a distal end, a flexure section attached at a first end to the distal end of the tool shaft, a tool tip operatively connected to the flexure section such that axial forces applied to the tool tip are coupled primarily to a first portion of the flexure section and transverse forces applied to the tool tip are coupled primarily to a second portion of the flexure section, an axial force sensor coupled to the first portion of the flexure section, and a transverse force sensor coupled to the second portion of the flexure section. The axial force sensor responds to axial forces applied to the tool tip substantially independently of the transverse forces applied to the tool tip under a designed operating range of forces, and the transverse force sensor responds to transverse forces applied to the tool tip substantially independently of the axial forces applied to the tool tip under the designed operating range of forces.
    Type: Grant
    Filed: August 11, 2016
    Date of Patent: July 30, 2019
    Assignee: The Johns Hopkins University
    Inventors: Xingchi He, Iulian Iordachita, Russell H. Taylor, James T. Handa, Peter L. Gehlbach
  • Patent number: 10232518
    Abstract: Provided is a robot pivot shaft structure that includes a revolving drum rotatably supported at an upper portion of a base and that has a hollow portion, a drive motor rotating the revolving drum, and a speed reduction mechanism reducing the rotational speed of the drive motor. The speed reduction mechanism has a small gear fixed to a shaft of the drive motor, a large gear meshed with the small gear, an input hypoid gear fixed to the large gear, and an output hypoid gear meshed with the input hypoid gear. The output hypoid gear is fixed to the revolving drum and is disposed in the base. The input hypoid gear and the large gear are rotatably supported at the base. The drive motor is fixed to the base and disposed below the revolving drum, the position being horizontally shifted from vertically below the hollow portion.
    Type: Grant
    Filed: March 31, 2017
    Date of Patent: March 19, 2019
    Assignee: FANUC CORPORATION
    Inventors: Toshihiko Inoue, Masayoshi Mori
  • Patent number: 9746422
    Abstract: A computer-implemented system is provided and includes a processor and a memory accessible by the processor, with the system being configured to measure light performance properties of a gemstone and generate an objective grade for the gemstone.
    Type: Grant
    Filed: May 27, 2015
    Date of Patent: August 29, 2017
    Assignee: GEMOLOGICAL APPRAISAL ASSOCIATION, INC.
    Inventors: Angelo W. Palmieri, Donald A. Palmieri, Yu Sun
  • Patent number: 9694455
    Abstract: A precision tripod motion system is provided. The tripod motion system in one example includes a bottom plate including three spaced-apart bottom single-degree-of-freedom (SDOF) hinge portions, a top plate including three spaced-apart top three-degrees-of-freedom (TDOF) joint portions, with the top plate configured to receive a workpiece, three linear actuators pivotally coupled to the three bottom SDOF hinge portions of the bottom plate and coupled to the three top TDOF joint portions of the top plate, with each linear actuator of the three linear actuators configured to change length over a linear actuation span, and a rotator component and/or a positioning table affixed to the top plate and the bottom plate. The tripod motion system is additionally coupled to a rotator component and a positioning table to provide six degrees of freedom of motion.
    Type: Grant
    Filed: December 4, 2013
    Date of Patent: July 4, 2017
    Assignee: Alio Industries, Inc.
    Inventors: Nathan Lyons Brown, Clement William Hennessey, Daniel Fording Crews
  • Patent number: 9346172
    Abstract: A parallel robot includes a plurality of actuators, a wrist portion, and a plurality of arms that respectively connect the wrist portion to the plurality of actuators. The wrist portion includes a base portion that includes a plurality of connection portions respectively connected to the plurality of arms and a rotation member that rotates about a rotation axis located outside an area surrounded by the plurality of connection portions. The rotation member is provided with a through-hole that is formed along the rotation axis.
    Type: Grant
    Filed: January 24, 2014
    Date of Patent: May 24, 2016
    Assignee: KABUSHIKI KAISHA YASKAWA DENKI
    Inventors: Nobuhiko Mihara, Takashi Sanada, Ryuichiro Tominaga
  • Patent number: 9289900
    Abstract: A jig for calibrating a Delta robot fixes the longitudinal axes of drive arms to be parallel. With this configuration, the jig always fixes the drive arms at the same reference angle no matter what the drive arm length is.
    Type: Grant
    Filed: August 24, 2012
    Date of Patent: March 22, 2016
    Assignee: ABB Technology Ltd
    Inventor: Gustav Eliasson
  • 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
  • Patent number: 9003918
    Abstract: The invention relates to a robot arm of an industrial robot. The robot arm includes a flange provided to secure an end effector and several sequentially-positioned members connected by means of links, of which one of the members is mounted immediately before the flange, and the flange is mounted to rotate with respect to an axis relative to this member. To adjust the flange with respect to the member mounted immediately before the flange, the robot arm comprises an adjustment device that includes a base carrier is detachably attachable to the flange particularly by means of screws, with an adjustment means disposed on the base carrier that interacts with a counter-adjustment means disposed on the member mounted immediately before the flange.
    Type: Grant
    Filed: April 16, 2013
    Date of Patent: April 14, 2015
    Assignee: KUKA Roboter GmbH
    Inventors: Franz Liebl, Gernot Nitz
  • Patent number: 8997599
    Abstract: A motorized joint having two degrees of freedom in rotation connecting two elements is provided. The joint includes two pivot connections such that a first one of the pivot connections establishes a first pivot axis, and a second one of the pivot connections establishes a second pivot axis. The first pivot axis is not parallel to the second pivot axis. A first motor is disposed in fixed relation to a first one of the two elements and has a drive shaft aligned with a first drive axis so as to cause by means of a first speed reducer with parallel axes the two elements to rotate about the first pivot axis.
    Type: Grant
    Filed: April 6, 2009
    Date of Patent: April 7, 2015
    Assignee: Aldebaran Robotics
    Inventors: Bruno Maisonnier, Pascal Lafourcade, Romain Fischesser
  • Patent number: 8978508
    Abstract: A shaft member (12) has a hollow pipe (13) extending coaxially with its axis of center of rotation and a tool mounting surface (12c) positioned at the front end of the shaft member. An umbilical member guide mechanism (10) includes an umbilical member fastening part (20) attached to a tool mounting surface side of the shaft member, a plurality of umbilical members (30) are guided from the arm side of the robot through the hollow pipe of the shaft member and fastened at the end of the hollow pipe at the tool mounting surface side by an umbilical member fastening part in parallel with the axis of center of rotation, and attaching parts (48a to 48d) which attach the umbilical member fastening part to the front end of the shaft member at one phase of at least two predetermined phases around the axis of center of rotation.
    Type: Grant
    Filed: February 7, 2013
    Date of Patent: March 17, 2015
    Assignee: FANUC Corporation
    Inventor: Hirokazu Kume
  • Publication number: 20150059511
    Abstract: A wrist includes a wrist housing including a wrist driving structural portion to which rotation is transmitted from a wrist driving pulley, a cylindrical portion arranged coaxially with a rotational axis of the wrist driving structural portion and penetrated by a first hand driving shaft to which rotation is transmitted from a hand driving pulley, a cable introducing portion forming an annular gap with the cylindrical portion, and a hand-driving-shaft penetrating portion penetrated by a second hand driving shaft rotating a hand interface by rotation of the first hand driving shaft being transmitted thereto, and a cable, which comes out of a second arm from a wrist supporting portion, is drawn into the wrist housing from the annular gap and is routed to a hand interface supporting portion in a slackened state.
    Type: Application
    Filed: April 20, 2012
    Publication date: March 5, 2015
    Applicant: MITSUBISHI ELECTRIC CORPORATION
    Inventors: Kimihito Mushikami, Haruo Ito, Keisuke Sadao, Junji Takehara, Hisato Uda
  • Patent number: 8964351
    Abstract: A robotic arm includes: an arm having one or more joints; an arm securing unit provided at at least one of the one or more joints and configured to secure, by electrostatic adhesion, a positional relationship between two parts coupled by each of the at least one of the one or more joints; and a control unit configured to turn on and off the electrostatic adhesion of the arm securing unit.
    Type: Grant
    Filed: August 13, 2013
    Date of Patent: February 24, 2015
    Assignee: Panasonic Intellectual Property Management Co., Ltd.
    Inventor: Takashi Horinouchi
  • Publication number: 20150047454
    Abstract: A force transmission transmits forces received by three levers to an input gimbal plate having three support points. The input gimbal play may in turn transmit the force to a wrist assembly coupled to a surgical tool. A first gimbal support point is supported by a first lever having a fulcrum with one degree of rotational freedom. Second and third gimbal support points may be supported by second and third levers having fulcrums with two degrees of rotational freedom. These fulcrums may include a first axle coupled to the lever and a second axle that supports the first axle and provides the fulcrum for the supported lever. A spring may draw the second and third levers toward one another. The force transmission may include a parallelogram linkage that includes a rocker link pivotally coupled to the first lever and having a flat surface that supports the first gimbal support point.
    Type: Application
    Filed: August 15, 2014
    Publication date: February 19, 2015
    Inventors: Thomas G. Cooper, S. Christopher Anderson
  • Patent number: 8950286
    Abstract: A structure with six degrees of freedom for a robot or haptic interface including a base, two branches in parallel, and a wrist joint. The branches are installed articulated between the base and the wrist joint, the branches including a shoulder, an arm, and a forearm supporting the wrist joint. The wrist joint includes a connecting segment onto which a handle holder is articulated about a first rotation axis. A handle is articulated in rotation on the handle holder about a second rotation axis, the handle capable of being moved in rotation about the first axis, the second axis, and a third axis, and a mechanism gears down the rotation of the handle holder about at least the first rotation axis relative to rotation of the connecting segment.
    Type: Grant
    Filed: October 1, 2010
    Date of Patent: February 10, 2015
    Assignee: Commissariat à l'énergie atomique et aux énergies alternatives
    Inventors: Florian Gosselin, Fabien Ferlay
  • Patent number: 8950065
    Abstract: A combination component handling and connecting device connectable to a multi-axis robot for use in moving and connecting components and subassemblies includes a housing and an actuator fixedly connected to the housing. The actuator includes an actuating link movable from a first position to a second position. Connected to the actuating link is an end effector for concurrent movement with the actuating link. The component handling and connecting device includes a clamp having a first jaw and a second jaw. The second jaw is connected to the actuating link for selectively moving the second jaw toward the first jaw operative to engage a component.
    Type: Grant
    Filed: September 17, 2012
    Date of Patent: February 10, 2015
    Assignee: Comau, Inc.
    Inventor: Velibor Kilibarda
  • Publication number: 20150033898
    Abstract: In order to reduce the cost of robotic arm, the invention provides a robotic arm, which includes an arm member having a first pivot connection portion, a locating member affixed to the arm member, a sliding member movably mounted at the locating member, a stop member affixed to the sliding member, a wrist member having a second pivot connection portion pivoted to the sliding member and a third pivot connection portion movable relative to the second pivot connection portion, and a driving device including a body member pivoted to the first pivot connection portion and an extension member pivoted to the third pivot connection portion of the wrist member and movable relative to the body member. Using the locating member, the sliding member, the stop member and the wrist member to match with the driving device, the robotic arm achieves the effect of moving and swinging and cost reduction.
    Type: Application
    Filed: July 31, 2013
    Publication date: February 5, 2015
    Applicant: HIWIN TECHNOLOGIES CORP.
    Inventor: Wu-Teng HSIEH
  • Publication number: 20140366646
    Abstract: A force detector includes a first substrate, a second substrate, a circuit board provided between the first substrate and the second substrate, and an element mounted on the circuit board and outputting a signal in response to an external force, wherein a hole is formed in the circuit board at a location where the element is placed, and a first convex part inserted into the hole and protruding toward the element is provided on the first substrate. Further, the element is placed within a periphery of the first convex part as seen from a direction perpendicular to the first substrate.
    Type: Application
    Filed: March 7, 2014
    Publication date: December 18, 2014
    Applicant: Seiko Epson Corporation
    Inventors: Akira Matsuzawa, Hiroki Kawai, Toshiyuki Kamiya
  • Patent number: 8911429
    Abstract: A cooperative-control robot includes a base component, a mobile platform arranged proximate the base component, a translation assembly operatively connected to the base component and the mobile platform and configured to move the mobile platform with translational degrees of freedom substantially without rotation with respect to said the component, a tool assembly connected to the mobile platform, and a control system configured to communicate with the translation assembly to control motion of the mobile platform in response to forces by a user applied to at least a portion of the cooperative-control robot. The translation assembly includes at least three independently operable actuator arms, each connected to a separate position of the mobile platform. A robotic system includes two or more the cooperative-control robots.
    Type: Grant
    Filed: November 5, 2012
    Date of Patent: December 16, 2014
    Assignee: The Johns Hopkins University
    Inventors: Kevin C. Olds, Russell H. Taylor
  • Patent number: 8893578
    Abstract: A parallel robot includes a movable-section drive mechanism, and a wrist-section drive mechanism. The wrist section includes a first rotary member supported on the movable section and rotatable about a fourth rotation axis different from axes of the three-axis translational motion of the movable section, a second rotary member connected to the first rotary member and rotatable about a fifth rotation axis orthogonal to the fourth rotation axis, and a third rotary member connected to the second rotary member and rotatable about a sixth rotation axis orthogonal to the fifth rotation axis. The third rotary member is provided with an attachment surface to which a tool is attached. The attachment surface is inclined with respect to the sixth rotation axis at a predetermined angle.
    Type: Grant
    Filed: September 21, 2011
    Date of Patent: November 25, 2014
    Assignee: Fanuc Corporation
    Inventors: Satoshi Kinoshita, Hikaru Yamashiro
  • Patent number: 8875593
    Abstract: A robot, such as a painting robot for painting components such as motor vehicle body components, is disclosed having a plurality of robot elements that are pivotable relative to each other. At least one flexible supply line may run from a proximal robot element to a distal robot element. The supply line may be axially displaceable in the proximal robot element relative to the longitudinal axis of the supply line, so that the supply line can perform an axial compensating motion during a pivot motion of the robot.
    Type: Grant
    Filed: February 3, 2010
    Date of Patent: November 4, 2014
    Assignee: Duerr Systems GmbH
    Inventor: Andreas Collmer
  • Patent number: 8869644
    Abstract: An articulated robot wrist includes a first body comprising a first and a second end, said first end being intended to be mounted on a robot component that is rotatable around a first axis; a second body comprising a first and a second end, said first end being rotatably mounted on said second end of said first body, around a second axis inclined with respect to said first axis; and a third body comprising a first and a second end, said first end being rotatably mounted on said second end of said second body, around a third axis inclined with respect to said second axis. The first and third axes are both substantially orthogonal to said second axis, and wherein in at least one position of said robot wrist said first and third axes result substantially aligned with one another.
    Type: Grant
    Filed: February 17, 2012
    Date of Patent: October 28, 2014
    Assignee: Comau S.p.A.
    Inventors: Mauro Amparore, Giorgio Pernechele, Giuseppe Paparella
  • Patent number: 8863606
    Abstract: A robot wrist structure includes a first wrist arm rotatable about a first axis, a second wrist arm provided in a tip end portion of the first wrist arm and configured to swing about a second axis substantially intersecting the first axis, a wrist flange provided in a tip end portion of the second wrist arm and configured to rotate about a third axis in a skew position with respect to the second axis, an intermediate member fixed to the wrist flange, and a cable bundle connected to an end effector fixed to the intermediate member. The cable bundle extends through the second wrist arm, the wrist flange and the intermediate member and drawn out from the intermediate member to reach the end effector.
    Type: Grant
    Filed: October 28, 2011
    Date of Patent: October 21, 2014
    Assignee: Kabushiki Kaisha Yaskawa Denki
    Inventors: Atsushi Ichibangase, Takashi Sanada, Kei Kamohara
  • Patent number: 8855817
    Abstract: A method for operating a system including at least two robots for handling parts and a robot control unit arranged for control of said at least two robots. Each of the robots is arranged with a parts handler device including a rigid arm with one end connected to the end element of an arm of the robot by a first swivel arranged for radial movement of the rigid arm in relation to the end element. Each of the robots is also arranged with a gripper connected to the rigid arm by a second swivel arranged for free, passive rotation of the gripper in relation to the rigid arm. The method includes generating instructions for the at least two robots to pick and/or move and/or place a part and sending the instructions to each robot simultaneously.
    Type: Grant
    Filed: December 19, 2007
    Date of Patent: October 7, 2014
    Assignee: ABB Research Ltd.
    Inventors: Ramon Casanelles, Francisco Cortés Grau
  • Patent number: 8845520
    Abstract: A wire-operated selective compliance mobile platform (100), in particular for endoscopic surgery devices, obtains a perfect and precise mobility and thus it allows to handle, in the most effective way, the supported instruments, and comprises a mobile surface (1), a connecting base (2) apt to be connected to a flexible tubular duct (4) for endoscopic uses, a plurality of supporting elements (3), apt to permit the motion of said mobile surface (1) relative to said base (2), characterized in that said supporting elements (3) have at least a selective compliance turning pair (31) and a number of joints (32, 34) so as to provide a predetermined number of degrees of freedom to said platform (100), neither determining any over-constraining, nor forcing the system to be deformed in unselected directions, each supporting element (3) being operated by moving means (51, 52) so as to move said mobile surface (1).
    Type: Grant
    Filed: September 12, 2008
    Date of Patent: September 30, 2014
    Assignee: Universita' degli Studi di Roma “La Sapienza”
    Inventors: Nicola Plo Belfiore, Massimillano Scaccia, Francosco Ianniello, Massimillano Presta, Luca Perfetti
  • Patent number: 8839690
    Abstract: A parallel mechanism with three-dimensional translation and one-dimensional rotation include a fixing rack, a mobile platform and four chains of the same structure which are symmetrically set between the fixing rack and the mobile platform. Each chain has a near rack rod and two parallel far rack rods. The mobile platform includes a main platform and an assistant platform connected by a revolute joint and perpendicular to each other. Each end of the main platform and the assistant platform is connected with a corresponding lower connecting shaft separately.
    Type: Grant
    Filed: January 15, 2010
    Date of Patent: September 23, 2014
    Assignee: Tianjin University
    Inventors: Tian Huang, Haitao Liu, Yimin Song, Xueman Zhao, Jiangping Mei, Limin Zhang, Panfeng Wang
  • Patent number: 8839689
    Abstract: A robot arm assembly includes a first robot arm and a second robot arm; the second robot arm is rotatably connected to the first robot arm. The first robot arm includes a first sleeve, a first input shaft, and a second input shaft. The first input shaft and the second input shaft are seated in the first sleeve. The second robot arm includes a second sleeve and an output shaft; the output shaft is received in the second sleeve. The first input shaft is connected to the second sleeve via a pair of bevel gears, and drives the second sleeve to swing relative to the first sleeve. The second input shaft is connected to the output shaft via a plurality of bevel gears meshing with each other, and drives the output shaft to rotate relative to the second sleeve.
    Type: Grant
    Filed: December 22, 2010
    Date of Patent: September 23, 2014
    Assignees: Hong Fu Jin Precision Industry (ShenZhen) Co., Ltd., Hon Hai Precision Industry Co., Ltd.
    Inventor: Bo Long
  • Publication number: 20140251058
    Abstract: A parallel robot includes a plurality of actuators, a wrist portion, and a plurality of arms that respectively connect the wrist portion to the plurality of actuators. The wrist portion includes a base portion that includes a plurality of connection portions respectively connected to the plurality of arms and a rotation member that rotates about a rotation axis located outside an area surrounded by the plurality of connection portions. The rotation member is provided with a through-hole that is formed along the rotation axis.
    Type: Application
    Filed: January 24, 2014
    Publication date: September 11, 2014
    Applicant: KABUSHIKI KAISHA YASKAWA DENKI
    Inventors: Nobuhiko MIHARA, Takashi SANADA, Ryuichiro TOMINAGA
  • Patent number: 8821480
    Abstract: A wrist mechanism for an instrument used in minimally invasive medical procedures employs only four drive cables for control of the pitch, yaw, and grip of an effector. To reduce part count, no pulleys are used. Instead, solid surfaces of clevises in the wrist mechanism cradle the drive cables and are curved in multiple directions to maintain a fixed moment arm for cable torques and eliminate the need for large cable wrap angles. Further, the stiffness of each of the four drive cables can be controlled for improved clinical performance. In particular, the stiffness of the two drive cables that cause grips to close can be greater than the stiffness of the remaining two drive cables that cause the grips to open. The arrangement can minimize cable slack, improving fidelity of motion.
    Type: Grant
    Filed: July 16, 2008
    Date of Patent: September 2, 2014
    Assignee: Intuitive Surgical Operations, Inc.
    Inventor: William A. Burbank
  • Patent number: 8820189
    Abstract: Disclosed herein are embodiments of an articulated robot wrist which can comprise a first body comprising a first and a second end, said first end being intended to be mounted on a robot component that is rotatable around a first axis; a second body comprising a first and a second end, said first end being rotatably mounted on said second end of said first body, around a second axis inclined with respect to said first axis; and a third body comprising a first and a second end, said first end being rotatably mounted on said second end of said second body, around a third axis inclined with respect to said second axis, wherein said first and third axes are both substantially orthogonal to said second axis, and wherein in at least one position of said robot wrist said first and third axes are substantially aligned with each other.
    Type: Grant
    Filed: February 17, 2012
    Date of Patent: September 2, 2014
    Assignee: Comau S.p.A.
    Inventors: Mauro Amparore, Giorgio Pernechele, Giuseppe Paparella
  • Publication number: 20140238177
    Abstract: An articular structure for a robot according includes: a first intermediate link (26a) supported on a first member (22) to be rotatable about a first axis; a first arm (25a) having one end connected to a second member (23) with a ball joint interposed therebetween and the other end connected to the first intermediate link (26a) with a ball joint interposed therebetween; a first actuator (28a) for rotating the first intermediate link (26a) about the first axis; a second intermediate link (26b) supported on the first member (22) to be rotatable about a second axis; a second arm (25b) having one end connected to the second member (23) with a ball joint interposed therebetween and the other end connected to the second intermediate link (26b) with a ball joint interposed therebetween; and a second actuator (28b) for rotating the second intermediate link (26b) about the second axis.
    Type: Application
    Filed: October 19, 2012
    Publication date: August 28, 2014
    Applicant: THK CO., LTD.
    Inventor: Masaki Nagatsuka
  • Patent number: 8794418
    Abstract: A compensation device that is positioned between a robot and a robotic tool. The device 10 generally includes a first section that connects to the robot and a second section that connects to the tool. The second section is movable relative to the first section for the tool to comply to accommodate variations in its positioning. The second section 12 may comply rotationally about x, y, and z orthogonal axes relative to the first section.
    Type: Grant
    Filed: March 14, 2013
    Date of Patent: August 5, 2014
    Assignee: ATI Industrial Automation, Inc.
    Inventor: Daniel Allen Norton
  • Publication number: 20140196562
    Abstract: A robot includes a first actuator, a first rotating body, a second actuator, and a second rotating body. The first actuator rotationally drives a second wrist that is connected to a first wrist. The first rotating body transmits a drive force of the first actuator to a second wrist. The second actuator rotationally drives a third wrist that is connected to the second wrist. The second rotating body transmits a drive force of the second actuator to the third wrist. The first rotating body and the second rotating body are arranged at positions where rotation axes of the first and second rotating bodies are parallel with each other and do not interfere with each other in such a manner that the position of the first rotating body is within a range of the second rotating body when viewed from a direction perpendicular to the rotation axis of the second rotating body.
    Type: Application
    Filed: January 15, 2014
    Publication date: July 17, 2014
    Applicant: KABUSHIKI KAISHA YASKAWA DENKI
    Inventors: Shingi TAKAHASHI, Takuya OKADA, Tomoyuki SHIRAKI
  • Publication number: 20140196563
    Abstract: A robot according to an embodiment includes a lower arm, an upper arm, a wrist, and an actuator that rotationally drives the wrist. The upper arm is connected to the lower arm rotatably about a first rotation axis. The wrist is connected to the upper arm rotatably about a second rotation axis perpendicular to the first rotation axis. The actuator is disposed so that a rotation axis of the actuator is perpendicular to the second rotation axis and is attached to the upper arm so as to extend in a direction of the first rotation axis.
    Type: Application
    Filed: January 17, 2014
    Publication date: July 17, 2014
    Applicant: KABUSHIKI KAISHA YASKAWA DENKI
    Inventors: Shingi TAKAHASHI, Takuya OKADA, Tomoyuki SHIRAKI
  • Publication number: 20140196561
    Abstract: A robot according to an embodiment includes a first link, a second link, an actuator, and an external gear. The second link is rotatably connected to the first link. The actuator rotationally drives the second link. The external gear is connected to the actuator. The second link includes an internal gear engaged with the external gear.
    Type: Application
    Filed: January 15, 2014
    Publication date: July 17, 2014
    Applicant: KABUSHIKI KAISHA YASKAWA DENKI
    Inventors: Shingi TAKAHASHI, Takuya OKADA, Tomoyuki SHIRAKI
  • Patent number: 8751046
    Abstract: A rotary coupling for a multi-axial robot hand (19) is provided with a rotatable hand housing (20) and an output element (21) that is rotatable on said housing. The rotary coupling (62) includes connections (65, 66, 68) for the output element (21), a tool (23) and an accessory unit (30). The tool (23) and the accessory unit (30) can be rotated relative to each other, and the accessory unit (30) can be coupled to the hand housing (20) or to the tool (23) or to the output element (21) via the rotary coupling (62). The rotary coupling (62) is provided for an application device (11) which is used to apply a sealant (8) on a lock seam (7) of an add-on piece (4) of a vehicle body (3).
    Type: Grant
    Filed: July 28, 2008
    Date of Patent: June 10, 2014
    Assignee: KUKA Systems GmbH
    Inventors: Gerhard Hartmann, Andreas Bernsau, Jürgen Radler
  • Publication number: 20140137691
    Abstract: A robot includes a base, an arm portion, and a wrist portion with a multi-joint structure. The wrist portion includes a first wrist element, a second wrist element, a third wrist element, a first bevel gear set, and a second bevel gear set. The first wrist element is supported around a first axis line orthogonal to a longitudinal direction of the wrist portion. The second wrist element is supported swingably around a second axis line orthogonal to the longitudinal direction of the wrist portion. The third wrist element is supported rotatably around a third axis line along the longitudinal direction of the wrist portion. The first bevel gear set is configured to reduce a rotation speed of a first driving motor driving the first wrist element. The second bevel gear set is configured to reduce a rotation speed of a second driving motor for driving the second wrist element.
    Type: Application
    Filed: November 18, 2013
    Publication date: May 22, 2014
    Applicant: KABUSHIKI KAISHA YASKAWA DENKI
    Inventors: Kazuyoshi NOGAMI, Nobukazu MIYAUCHI
  • Publication number: 20140137690
    Abstract: A substrate transport arm including a plurality of links rotatably connected to each other in series; and a system for maintaining radial orientation of a third one of the links regardless of a rotational angle of first and second ones of the links relative to each other. The system for maintaining radial orientation includes a four-bar linkage.
    Type: Application
    Filed: March 8, 2013
    Publication date: May 22, 2014
    Applicant: Persimmon Technologies, Corp.
    Inventor: Christopher HOFMEISTER
  • Patent number: 8720298
    Abstract: The invention relates to a device for moving and positioning an object in space, having at least three actuator arms each connected to a motor/drive unit and pivotable about a motor/drive axis. The free end of each actuator arm is jointedly connected by connecting rods to a support element having at least one gripping device that can be connected to a vacuum source via a vacuum hose. The gripping device is provided with a suction opening for suctionally gripping the object. According to the invention, the vacuum hose is guided by the support element to the motor/drive axis of one of the motor/drive units, and can be connected to the vacuum source by a rotatable hose joint disposed substantially in the motor/drive axis and rotatable about the motor/drive axis.
    Type: Grant
    Filed: April 1, 2009
    Date of Patent: May 13, 2014
    Assignee: Robert Bosch GmbH
    Inventor: Christian Lehmann
  • Patent number: 8714046
    Abstract: Disclosed herein are embodiments of an articulated robot wrist. One embodiment comprises a first body comprising first and second ends, the first end being for mounting on a robot component which is rotatable around a first axis; a second body comprising first and second ends, the first end being rotatably mounted on said second end of said first body around a second axis inclined with respect to said first axis; and a third body comprising a first and a second end, the first end being rotatably mounted on said second end of said second body around a third axis inclined with respect to said second axis. The first and third axes form an angle substantially of 90° with respect to said second axis, and wherein in at least one position of said robot wrist said first and third axes are substantially aligned with each other.
    Type: Grant
    Filed: February 17, 2012
    Date of Patent: May 6, 2014
    Assignee: Comau S.p.A.
    Inventors: Mauro Amparore, Giorgio Pernechele, Giuseppe Paparella
  • Patent number: 8709000
    Abstract: An articulated surgical instrument for enhancing the performance of minimally invasive surgical procedures. The instrument has a high degree of dexterity, low friction, low inertia and good force reflection. A unique cable and pulley drive system operates to reduce friction and enhance force reflection. A unique wrist mechanism operates to enhance surgical dexterity compared to standard laparoscopic instruments. The system is optimized to reduce the number of actuators required and thus produce a fully functional articulated surgical instrument of minimum size.
    Type: Grant
    Filed: December 20, 2012
    Date of Patent: April 29, 2014
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: Akhil J. Madhani, J. Kenneth Salisbury
  • Publication number: 20140076089
    Abstract: A robot arm assembly with tubes or pipes carrying fluids or electrical cables which do not get bent and are relatively straight, and are not disrupted by, the moving parts of the robot arm includes a first robot arm, a second robot arm, a third robot arm, and a flexible carrying tube. The second robot arm includes a first axle base, a first input shaft, a first bevel gear, and a second bevel gear. The flexible tube is inserted into the first bevel gear and the second bevel gear along a first axis, and fixed to the output shaft.
    Type: Application
    Filed: August 23, 2013
    Publication date: March 20, 2014
    Applicants: HON HAI PRECISION INDUSTRY CO., LTD., HONG FU JIN PRECISION INDUSTRY (ShenZhen) CO., LTD.
    Inventor: BO LONG
  • Publication number: 20140060236
    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: Application
    Filed: September 1, 2013
    Publication date: March 6, 2014
    Applicant: FANUC CORPORATION
    Inventor: Hideyuki WATANABE
  • Publication number: 20140007731
    Abstract: A robot arm includes a wrist, an end effector, and an adjustable joint coupling the end effector to the wrist. The adjustable joint includes a member received in a socket. In one example, the member is a ball. In another example, the member is a tang. In both examples, an upper flange and a lower flange can be used to couple the wrist to a forearm.
    Type: Application
    Filed: March 12, 2013
    Publication date: January 9, 2014
    Applicant: PERSIMMON TECHNOLOGIES CORPORATION
    Inventors: Martin Hosek, Tuan Thuc Ha
  • Publication number: 20140010625
    Abstract: Boom drive apparatus for substrate transport systems and methods are described. The boom drive apparatus is adapted to drive one or more multi-arm robots rotationally mounted to the boom to efficiently put or pick substrates. The boom drive apparatus has a boom including a hub, a web, a first pilot above the web, and a second pilot below the web, a first driving member rotationally mounted to the first pilot, a second driving member rotationally mounted to the second pilot, a first driven member rotationally mounted to the boom above the a web, a second driven member rotationally mounted to the boom below the a web, and a first and second transmission members coupling the driving members to driven members located outboard on the boom. Numerous other aspects are provided.
    Type: Application
    Filed: June 21, 2013
    Publication date: January 9, 2014
    Inventors: Jeffrey C. Hudgens, Izya Kremerman, Jeffrey A. Brodine
  • Patent number: 8601899
    Abstract: A hybrid robotic manipulator adapted to move objects includes a base and a waist mounted on the base. The waist is configured to rotate on the base. The hybrid robotic manipulator further includes a pair of arms mounted on the waist. Each arm includes an upper arm, a forearm serially coupled to the upper arm at an elbow, and a wrist configured to couple the pair of arms at a distal end through a pair of connecting elements. The wrist further includes an end-effector mounted thereon and configured to grip the object and move the object to a desired position.
    Type: Grant
    Filed: May 23, 2011
    Date of Patent: December 10, 2013
    Assignee: Systemantics India Pvt. Ltd.
    Inventor: G. Jagannath Raju
  • Publication number: 20130319160
    Abstract: A wrist unit of an industrial robot including an eccentric rocking-type reduction gear. The eccentric rocking-type reduction gear includes a hollow forming part forming a hollow part along the rotation center axial line; a through shaft supported rotatably at the hollow forming part and passing through the hollow part to transmit a rotation from the third wrist drive motor from a first wrist element side to a second wrist element side; a plurality of crankshafts arranged around the through shaft and having input gears at ends of the side of the first wrist element; and a gear member provided rotatably centered about the rotation center axial line, the gear member having a first gear to which a rotational force from the second wrist drive motor is input and a second gear with which the input gears of the plurality of crankshafts engage.
    Type: Application
    Filed: March 18, 2013
    Publication date: December 5, 2013
    Applicant: FANUC CORPORATION
    Inventor: Akihiro OIKAWA
  • Patent number: 8590415
    Abstract: A robotic arm assembly includes a first segment, a second segment, a first driving device, a first transmission mechanism, a second driving device, and a second transmission mechanism. The second segment is rotatably connected to the first segment. The first driving device drives the second segment to rotate about a first axis relative to the first segment via the first transmission mechanism. The second transmission mechanism includes a first bevel gear and a second bevel gear meshed with the first bevel gear. An output shaft is fixed to the second bevel gear, and the output shaft is capable of rotating about a second axis. Each of the second segment, the output shaft, and the second bevel gear defines a guiding hole, and the guiding holes are aligned in the second axis.
    Type: Grant
    Filed: May 31, 2011
    Date of Patent: November 26, 2013
    Assignees: Hong Fu Jin Precision Industry (ShenZhen) Co., Ltd., Hon Hai Precision Industry Co., Ltd.
    Inventor: Bo Long
  • Patent number: 8590426
    Abstract: An multi-axis transmission includes a frame, a motor, a housing, a first output mechanism, a second output mechanism, and a output control mechanism. The motor is secured to the frame, the motor includes a rotary shaft. The housing is axially slidably attached to the frame. The first output mechanism is secured to the frame. The second output mechanism is rotatably attached to the housing. The output control mechanism is secured to the rotary shaft, the output control mechanism is selected to engage the first output mechanism to output a first movement or to engage the second output mechanism to output a second movement angular with the first moment.
    Type: Grant
    Filed: February 23, 2011
    Date of Patent: November 26, 2013
    Assignee: Hon Hai Precision Industry Co., Ltd.
    Inventors: Shen-Chun Li, Hsien-Chuan Liang, Shou-Kuo Hsu
  • Publication number: 20130305869
    Abstract: An industrial robot has a robot arm with a linkage and an arm extension that is pivotable at the linkage. The arm extension has an arm enclosure that is pivotable at the linkage. The arm extension has a primary hand enclosure that can rotate, means of a first actuator that has a first drive shaft, at the arm enclosure around an arm axle extending in the longitudinal dimension of the arm extension. The arm extension has a first-hand element that is adjustable around a first-hand axle relative to the primary hand enclosure by means of a second actuator that has a second drive shaft, and a second-hand element that is adjustable around a second-hand axle relative to the first-hand element by means of a third actuator that has a third drive shaft. The first, second and third actuators are arranged in the primary hand enclosure with their respective drive shafts extending essentially parallel to and at a distance from the arm axle.
    Type: Application
    Filed: May 21, 2013
    Publication date: November 21, 2013
    Inventor: Rainer Krumbacher