Wrist Patents (Class 901/29)
  • Patent number: 10052155
    Abstract: A robotic surgical tool includes an elongate shaft having a working end and a shaft axis, and a pair of linking arms each having a proximal end and a distal end. The proximal end is pivotally mounted on the working end of the shaft to rotate around a first pitch axis to produce rotation in first pitch. A wrist member has a proximal portion pivotally connected to the distal end of the linking arm to rotate around a second pitch axis to produce rotation in second pitch. An end effector is pivotally mounted on a distal portion of the wrist member to rotate around a wrist axis of the wrist member to produce rotation in distal roll. The wrist axis extends between the proximal portion and the distal portion of the wrist member. The elongate shaft is rotatable around the shaft axis to produce rotation in proximal roll. At about 90° pitch, the wrist axis is generally perpendicular to the shaft axis. The proximal roll around the shaft axis and the distal roll around the wrist axis do not overlap.
    Type: Grant
    Filed: October 5, 2015
    Date of Patent: August 21, 2018
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: Tracey A. Morley, Daniel T. Wallace
  • Patent number: 10022861
    Abstract: A two joint module includes a housing and a pair of hollow rotary actuator assemblies. Each actuator assembly has an axis and a hollow shaft and the axes are arranged at an angle to each other. The pair of hollow rotary actuator assemblies are arranged back to back and attached to the housing such that cables can be fed from the outside of one of the pair of hollow rotary actuator assemblies to the inside thereof and to the inside of the other of the pair of hollow rotary actuator assemblies to the outside thereof. The disclosure also relates to a robotic arm. The robotic includes at least two two joint modules as described herein and at least a first link.
    Type: Grant
    Filed: April 27, 2017
    Date of Patent: July 17, 2018
    Assignee: ENGINEERING SERVICES INC.
    Inventors: Xiaojia He, Ziren Lu, Andrew A. Goldenberg
  • Publication number: 20150108099
    Abstract: An industrial robot including a robot chain of elements, a robot wrist bearing a tool (100) and a continuous internal passage through which one or more cables and/or pipes for the power supply and/or the fluid supply to the tool. The cables and pipes continue without interruption through the passage and through a flange of the robot up to respective connections of said tool, whereby the cables and pipes are arranged completely inside the robot and inside the tool, without the need to provide separate cables and pipes of the tool connected to the cables and the pipes of the robot at the flange of the robot.
    Type: Application
    Filed: May 9, 2013
    Publication date: April 23, 2015
    Applicant: Comau S.p.A
    Inventors: Fulvio Ferrero, Enrico Mauletti
  • 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
  • Publication number: 20150081095
    Abstract: Provided is a robot further improved in safety. The robot includes at least one link which is rotatably coupled around an axis, a motor which rotates the link around the axis, a first sensor which detects a rotation state of the motor, and a second sensor which detects a rotation state of the link. The robot also includes a controller which controls the rotation of the link based on information from the first sensor. The controller determines an operation state of at least one of the first sensor and the second sensor, based on first information from the first sensor and second information from the second sensor.
    Type: Application
    Filed: November 20, 2014
    Publication date: March 19, 2015
    Applicant: KABUSHIKI KAISHA YASKAWA DENKI
    Inventors: Tomoyuki SHIRAKI, Atsushi ICHIBANGASE, Yuji SAJIKAWA, Tomohiro MATSUO, Shinichi ISHIKAWA, Tomoki KAWANO
  • 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: 20150073592
    Abstract: A setting unit 33 configured to set a first landing permissible region in order to ground a free leg side foot 16 within an upper tread surface or a lower tread surface of a step existing ahead of a legged mobile robot 1 in a traveling direction, and a setting unit 34 configured to set a second landing permissible region in order to ground the free leg side foot 16 on an edge of the upper tread surface or the lower tread surface are provided to switch landing permissible regions for movement control of the robot 1 according to a step height.
    Type: Application
    Filed: September 2, 2014
    Publication date: March 12, 2015
    Inventors: Hiroyuki KANEKO, Chihiro KUROSU
  • Publication number: 20150068348
    Abstract: A robot includes a base, a multi-joint arm provided in the base, and a wrist member configuring a part of the multi-joint arm. The wrist member includes: a motor including a rotor, a rotor shaft, and a stator; and a housing including a motor housing recess, in which the motor is positioned and housed, and forming an external shape of the wrist member. The housing has a motor incorporating recess including a positioning section for the stator, a hole section for fixing the stator incorporated in the motor incorporating recess, and a heat radiation groove section on a sidewall of the motor incorporating recess. A heat radiation member is filled in the heat radiation groove section.
    Type: Application
    Filed: September 9, 2014
    Publication date: March 12, 2015
    Inventor: Daisuke KIRIHARA
  • 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: 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
  • Patent number: 8948916
    Abstract: A sensor relay control device generates feedback data based on sensor data including a plurality of components and being output by an external sensor installed at a portion of a joint of a robot and is connected to a robot control device that executes feedback control of the robot based on the feedback data. The sensor relay control device includes: a generating unit that imports sensor data output by the external sensor and performs coordinate conversion; a synchronizing unit that synchronizes the control data of each axis of the motors with a control cycle of the robot control device; and an outputting unit that outputs the control data of each axis of the motors synchronized with the control cycle of the robot control device to the robot control device as the feedback data.
    Type: Grant
    Filed: February 9, 2011
    Date of Patent: February 3, 2015
    Assignee: Mitsubishi Electric Corporation
    Inventor: Takafumi Ishikawa
  • Patent number: 8919842
    Abstract: A robotic system includes a tendon-driven end effector, a linear actuator, a flexible tendon, and a plate assembly. The linear actuator assembly has a servo motor and a drive mechanism, the latter of which translates linearly with respect to a drive axis of the servo motor in response to output torque from the servo motor. The tendon connects to the end effector and drive mechanism. The plate assembly is disposed between the linear actuator assembly and the tendon-driven end effector and includes first and second plates. The first plate has a first side that defines a boss with a center opening. The second plate defines an arcuate through-slot having tendon guide channels. The first plate defines a through passage for the tendon between the center opening and a second side of the first plate. A looped end of the flexible tendon is received within the tendon guide channels.
    Type: Grant
    Filed: February 7, 2014
    Date of Patent: December 30, 2014
    Assignee: The United States of America as represented by the Administrator of the National Aeronautics and Space Administration
    Inventors: Chris A. Ihrke, Myron A. Diftler, Lyndon Bridgwater, Vienny Nguyen, Alexander Millerman
  • Patent number: 8893577
    Abstract: An umbilical member arrangement unit of a robot arm section for avoiding interference between the umbilical member and external equipment has a first fixing member attached to a nonrotating part and adapted to nonslidably fix the umbilical member, and a second fixing member attached to a rotating part so as to integrally rotate with the rotating part and adapted to nonslidably fix the umbilical member. When the rotating part is positioned at a center position of a rotational motion range thereof about the longitudinal axis, the first and second fixing members direct the umbilical member along first and second tangential lines, respectively, the two tangential lines being generally perpendicular to each other, and, the fixing members are positioned in the same region in relation to two regions defined by a boundary plane parallel to the second tangential line, on which the longitudinal axis lies.
    Type: Grant
    Filed: February 23, 2011
    Date of Patent: November 25, 2014
    Assignee: Fanuc Corporation
    Inventors: Jun Ibayashi, Munehiro Jinushi, Hirokazu Kume
  • 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
  • Publication number: 20140338490
    Abstract: A connection member includes: a main member formed by bending a plate made of a first material having a certain strength into a predetermined shape, and having a hole to which an object to be connected is mounted; and an auxiliary member formed of a second material having a smaller specific gravity than the first material and formed thicker than the main member, jointed around the hole of the main member, and having an insertion hole through which a fastening member for fastening the object to be connected is inserted.
    Type: Application
    Filed: May 19, 2014
    Publication date: November 20, 2014
    Applicant: KABUSHIKI KAISHA YASKAWA DENKI
    Inventor: Shinji SHINABE
  • Publication number: 20140318298
    Abstract: A wrist structure of an industrial robot including a second wrist power transmission part transmitting power of a second wrist motor to a second wrist element and a third wrist power transmission part transmitting power of a third wrist motor to a third wrist element. The second wrist power transmission part includes a hypoid gear set, a drive shaft, a first reduction gear part reducing a speed of rotation from the second wrist motor and transmitting the reduced rotation to the drive shaft, and a second reduction gear part reducing a speed of rotation from the drive shaft and transmitting the reduced rotation to the second wrist small gear, and the third wrist power transmission part includes a hypoid gear set and a third reduction gear part reducing a speed of rotation from the third wrist motor and transmitting the reduced rotation to the third wrist small gear.
    Type: Application
    Filed: April 28, 2014
    Publication date: October 30, 2014
    Applicant: Fanuc Corporation
    Inventor: Toshihiko Inoue
  • 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: 8852174
    Abstract: Surgical tools having a two degree-of-freedom wrist, wrist articulation by linked tension members, mechanisms for transmitting torque through an angle, and minimally invasive surgical tools incorporating these features are disclosed. An elongate intermediate wrist member is pivotally coupled with a distal end of an instrument shaft so as to rotate about a first axis transverse to the shaft, and an end effector body is pivotally coupled with the intermediate member so as to rotate about a second axis that is transverse to the first axis. Linked tension members interact with attachment features to articulate the wrist. A torque-transmitting mechanism includes a coupling member, coupling pins, a drive shaft, and a driven shaft. The drive shaft is coupled with the driven shaft so as to control the relative orientations of the drive shaft, the coupling member, and the driven shaft.
    Type: Grant
    Filed: November 12, 2010
    Date of Patent: October 7, 2014
    Assignee: Intuitive Surgical Operations, Inc.
    Inventor: William Burbank
  • 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: 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: 20140271055
    Abstract: Electronic device processing systems are described. The system includes a mainframe housing having a transfer chamber, a first facet, a second facet opposite the first facet, a third facet, and a fourth facet opposite the third facet, a first carousel assembly coupled to a first facet, a second carousel assembly coupled to the third facet, a first load lock coupled to the second facet, a second load lock coupled to the fourth facet, and a robot adapted to operate in the transfer chamber to exchange substrates from the first and second carousels. Methods and multi-axis robots for transporting substrates are described, as are numerous other aspects.
    Type: Application
    Filed: March 14, 2014
    Publication date: September 18, 2014
    Inventors: William T. Weaver, Malcolm N. Daniel, JR., Robert B. Vopat, Jason M. Schaller, Jacob Newman, Dinesh Kanawade, Andrew J. Constant, Stephen C. Hickerson, Jeffrey C. Hudgens, Marvin L. Freeman
  • Patent number: 8818560
    Abstract: A master-slave manipulator includes a remote manipulation device, a slave manipulator, and a control unit. The remote manipulation device as a master gives an operating command corresponding to a plurality of degrees of freedom. The slave manipulator includes a plurality of joints corresponding to the degrees of freedom. The slave manipulator includes a redundant joint among the joints. The control unit controls operations of the joints in accordance with the operating command. The control unit calculates an orientation change of the remote manipulation device from the operating command at predetermined time intervals and selects and drives one of the joints in redundancy relationship among the joints in accordance with the orientation change.
    Type: Grant
    Filed: March 29, 2011
    Date of Patent: August 26, 2014
    Assignee: Olympus Corporation
    Inventor: Kosuke Kishi
  • 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
  • Patent number: 8777547
    Abstract: A substrate transporting robot apparatus is disclosed which is adapted to transport a substrate to and from a chamber of an electronic device processing system. The apparatus may include an upper arm rotatable in an X-Y plane, a forearm rotatable relative to the upper arm in the X-Y plane, and a wrist member rotatable relative to the forearm in the X-Y plane, the wrist member including an end effector adapted to carry a substrate. The wrist member may be subjected to independent rotation such that various degrees of yaw may be imparted to the wrist member. In some aspects, the independent rotation is provided without a motive power device (e.g., motor) being provided on the arms or wrist member, i.e., the wrist member may be remotely driven. Systems and methods using the robot apparatus are also provided as are numerous other aspects.
    Type: Grant
    Filed: January 8, 2010
    Date of Patent: July 15, 2014
    Assignee: Applied Materials, Inc.
    Inventors: Izya Kremerman, Jeffrey C. Hudgens
  • 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
  • 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
  • Publication number: 20140107666
    Abstract: A robotic apparatus has eight actuators (M0-M7) and a linkage (LINK 0-LINK 5) that actuates an end effector. Three serial macro freedoms have large ranges of motion and inertias. Four serial micro freedoms have small ranges of motion and inertias. Translation of the end effector in any direction is actuated by at least one micro joint and at least one macro joint. The apparatus can be part of a master and slave combination, providing force feedback without any explicit force sensors. The slave is controlled with an Inverse Jacobian controller, and the master with a Jacobian Transpose controller. A slave having more degrees of freedom (DOFs) than the master can be controlled. A removable effector unit actuates its DOFs with cables. Beating heart surgery can be accomplished by commanding the slave to move with a beating heart and cancelling out any such motion in the motions perceived by the master.
    Type: Application
    Filed: September 4, 2013
    Publication date: April 17, 2014
    Applicant: Massachusetts Institute of Technology
    Inventors: Akhil J. Madhani, J. Kenneth Salisbury, Gunter G. Niemeyer
  • Publication number: 20140102240
    Abstract: A wrist portion of a robot includes: a first movable portion configured to rotate relative to an arm portion around a first wrist axis; a second movable portion configured to rotate relative to the first movable portion around a second wrist axis; a third movable portion configured to rotate relative to the second movable portion around a third wrist axis; and a cable insertion portion through which an effector cable is inserted, the effector cable being used to supply electric power to an end effector attached to the third movable portion. The cable insertion portion is provided at the first movable portion so as to be located on the first wrist axis. Two motors among a plurality of motors configured to drive the wrist portion are attached to the first movable portion so as to sandwich the cable insertion portion in a direction perpendicular to the first wrist axis.
    Type: Application
    Filed: April 2, 2012
    Publication date: April 17, 2014
    Applicant: KAWASAKI JUKOGYO KABUSHIKI KAISHA
    Inventors: Takahiro Inada, Shinji Kitamura, Masato Yamamoto
  • Patent number: 8690963
    Abstract: The invention relates to a hand prosthesis comprising a chassis and coupling elements for fastening the hand prosthesis to the stump of an arm and comprising at least one joint for the flexion and extension of the hand prosthesis in relation to the coupling elements, the chassis being kept in a neutral position against a spring force.
    Type: Grant
    Filed: December 21, 2006
    Date of Patent: April 8, 2014
    Assignee: Otto Bock Healthcare GmbH
    Inventor: Gregor Puchhammer
  • Publication number: 20140088754
    Abstract: A system and method for machining a work-piece in restrictive access operating position is disclosed. The system includes a robot arm adapted to access the bottom face of the work-piece; a computation means adapted to compute a central line on the bottom face while ascertaining an area of overlap that is accessible from all sides of the work-piece; and a robot controller adapted to sequentially maneuver the robot arm from one side of the work-piece to other side of the work-piece on the bottom face. Other embodiments are also disclosed.
    Type: Application
    Filed: November 11, 2011
    Publication date: March 27, 2014
    Applicant: Plazma Technologies Pvt. Ltd.
    Inventors: Hughen Gerrard Thomas, Arjun Mendhi
  • Patent number: 8676382
    Abstract: A robotic system includes a robotic mechanism responsive to velocity control signals, and a permissible workspace defined by a convex-polygon boundary. A host machine determines a position of a reference point on the mechanism with respect to the boundary, and includes an algorithm for enforcing the boundary by automatically shaping the velocity control signals as a function of the position, thereby providing smooth and unperturbed operation of the mechanism along the edges and corners of the boundary. The algorithm is suited for application with higher speeds and/or external forces. A host machine includes an algorithm for enforcing the boundary by shaping the velocity control signals as a function of the reference point position, and a hardware module for executing the algorithm. A method for enforcing the convex-polygon boundary is also provided that shapes a velocity control signal via a host machine as a function of the reference point position.
    Type: Grant
    Filed: May 26, 2010
    Date of Patent: March 18, 2014
    Assignees: GM Global Technology Operations LLC, The United States of America as Represented by the Administrator of the National Aeronautics and Space Administration
    Inventors: Muhammad E. Abdallah, Brian Hargrave, Robert J. Platt, Jr.
  • Patent number: 8662815
    Abstract: A gripping organ for load-moving vehicles comprises a support structure (7), removably engageable to a support arm (4) of a load-moving vehicle (2); at least gripping pliers (8), operatively engaged to the support structure (7) and predisposed to engage at least an object (P) to be moved, the gripping pliers (8) comprising at least a pair of gripping elements (16) which are mobile between an operating position, in which the gripping elements (16) engage the object (P), and a non-operating position, in which the gripping elements (16) are disengaged from the object (P); the pliers (8) being translatable along a translating direction (A) and rotatable about a rotation axis (B) which is perpendicular to the translating direction (A).
    Type: Grant
    Filed: May 20, 2009
    Date of Patent: March 4, 2014
    Assignee: Manitou Italia S.R.L.
    Inventor: Riccardo Magni
  • Patent number: 8660695
    Abstract: Aspects of the subject technology relate to a robotic finger digit including a distal finger joint coupled between a distal finger part and a middle finger part, a middle finger joint coupled between the middle finger part and a proximal finger part and an extend tendon coupled at a first end to the distal finger joint, and coupled at a second end to an actuation device. In certain aspects, the robotic finger can further include a flex tendon coupled at a first end to the distal finger joint, and coupled at a second end to the actuation device, wherein the actuation device is configured to move the extend tendon and the flex tendon substantially the same distance in order to flex and/or extend the robotic finger digit.
    Type: Grant
    Filed: July 2, 2013
    Date of Patent: February 25, 2014
    Assignee: The Shadow Robot Company Limited
    Inventors: Armando De La Rosa Tames, Graeme Richard Lawrence Walker, Jake Benjamin Goldsmith, John Hugo Elias, Matthew Paul Godden, Richard Martin Greenhill
  • Patent number: 8627741
    Abstract: A process turning disc connectable to an output shaft of a motor configured to rotate the process turning disc about a first center axis of the process turning disc. The process turning disc being configured to guide a cable or hose. A first flange is connectable to an end part of a robot arm. A second flange is connectable to a tool element. The flanges are spaced apart from each other by an intermediate connecting member. The connecting member is connected to the flanges. The connecting member provides a passage between the flanges. The passage is configured to receive and guide the cable/hose. The passage has an inlet side for the cable/hose and an outlet side for the cable/hose. A robot arm including the process turning disc, a robot including the robot arm and a method that utilizes the process turning disc.
    Type: Grant
    Filed: March 16, 2009
    Date of Patent: January 14, 2014
    Assignee: ABB Technology AB
    Inventors: Lars Barkman, Mattias Lindevall, Pascal Cabanne, Peter Bylund, Joachim Ljungkvist
  • 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: 20130333509
    Abstract: A spur-gear speed-reduction mechanism unit includes a first spur gear attached to an output shaft of a wrist inner frame driving motor, a second spur gear rotatably supported by a first auxiliary shaft attached to a wrist housing machine frame, a third spur gear rotatably supported by the first auxiliary shaft to be integrated with the second spur gear, a fourth spur gear rotatably supported by a second auxiliary shaft, a fifth spur gear rotatably supported by the second auxiliary shaft to be integrated with the fourth spur gear, a sixth spur gear rotatably supported by a third auxiliary shaft, a seventh spur gear attached to a rotational shaft of the wrist inner frame and engaging the sixth spur gear. A distance between the fourth spur gear and the wrist housing machine frame is smaller than a distance between the first spur gear and the wrist housing machine frame.
    Type: Application
    Filed: April 29, 2013
    Publication date: December 19, 2013
    Applicant: FANUC CORPORATION
    Inventor: Satoshi ADACHI
  • Patent number: 8606398
    Abstract: A robot (12) is used to pick parts from a bin (40 in FIG. 1). The robot has a compliant apparatus (42) and one or more tools are connected to the apparatus to perform the picking. The compliant apparatus has mechanisms for monitoring and/or controlling its compliance. The compliant apparatus can have various embodiments. Force sensing can be used during removal of grasped parts from the bin to determine the force exerted on the picking tool (s). The signal indicative of the exerted force can be used by the robot controller to determine the weight of the parts that may be held by the picking tool(s). The robot has one or more devices (FIG. 16, 17) which can be the picking tool to stir the parts in the bin.
    Type: Grant
    Filed: August 29, 2008
    Date of Patent: December 10, 2013
    Assignee: ABB Research Ltd.
    Inventors: William Eakins, Thomas A. Fuhlbrigge, Carlos Martinez, Heping Chen, Gregory Rossano
  • Publication number: 20130325180
    Abstract: A sensor relay control device generates feedback data based on sensor data including a plurality of components and being output by an external sensor installed at a portion of a joint of a robot and is connected to a robot control device that executes feedback control of the robot based on the feedback data. The sensor relay control device includes: a generating unit that imports sensor data output by the external sensor and performs coordinate conversion; a synchronizing unit that synchronizes the control data of each axis of the motors with a control cycle of the robot control device; and an outputting unit that outputs the control data of each axis of the motors synchronized with the control cycle of the robot control device to the robot control device as the feedback data.
    Type: Application
    Filed: February 9, 2011
    Publication date: December 5, 2013
    Applicant: MITSUBISHI ELECTRIC CORPORATION
    Inventor: Takafumi Ishikawa
  • 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
  • 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
  • Patent number: 8583313
    Abstract: A robotic vehicle configured for autonomous or semi-autonomous operation in a rail environment is provided. The vehicle can process image data to move about the rail environment and perform one or more actions in the rail environment. The actions can include one or more actions related to decoupling and/or attaching rail vehicles, and can be implemented by performing three-dimensional image processing. The vehicle can be configured to move with any movement of a rail vehicle on which one or more actions are being performed. In an alternative embodiment, the various components configured to perform the action are implemented at a stationary location with respect to a rail line.
    Type: Grant
    Filed: September 21, 2009
    Date of Patent: November 12, 2013
    Assignee: International Electronic Machines Corp.
    Inventor: Zahid F. Mian
  • Patent number: 8561497
    Abstract: A wrist assembly (311) for a robotic arm or other mechanical device is provided. The wrist assembly comprises a first arm (313) which terminates in a first radius (317), a second arm (315) which terminates in a second radius (319), and a first band (331) that is devoid of weld joints and the extends around a portion of each of said first and second radii.
    Type: Grant
    Filed: December 23, 2011
    Date of Patent: October 22, 2013
    Assignee: Fabworx Solutions, Inc.
    Inventor: Richard J. Kent
  • Publication number: 20130272823
    Abstract: Electronic device processing systems and robot apparatus are described. The systems and apparatus are adapted to efficiently pick or place substrates into twin chambers by having independently rotatable first and second booms, and independently rotatable first and second upper arms, wherein each upper arm has a forearm, a wrist member, and an end effector adapted to carry a substrate coupled thereto. The boom members and upper arms are driven through co-axial drive shafts in some embodiments. Co-axial and non-coaxial drive motors are disclosed. Methods of operating the robot apparatus and processing systems are provided, as are numerous other aspects.
    Type: Application
    Filed: April 2, 2013
    Publication date: October 17, 2013
    Applicant: Applied Materials, Inc.
    Inventors: Jeffrey C. Hudgens, Izya Kremerman
  • Publication number: 20130263685
    Abstract: A flexible wrist-type element, comprising: a base housing extending along a first longitudinal axis towards a base end; an operational housing extending along a second longitudinal axis towards an operational end; an operational element moveably connected to the operational housing; a joint assembly movably connecting the base housing and the operational housing; wherein the joint assembly allows relative movement of the operational housing and the base housing between a first position and a second position, wherein a point of intersection between the second longitudinal axis and the first longitudinal axis moves during movement between the first position and the second position; a driver assembly moveably supported by the base housing and the operational housing; and wherein the driver assembly is configured to actuate the operational element relative to the operational housing.
    Type: Application
    Filed: October 8, 2010
    Publication date: October 10, 2013
    Inventor: Mark Doyle
  • Patent number: 8528440
    Abstract: A robotic surgical tool includes an elongate shaft having a working end and a shaft axis, and a pair of linking arms each having a proximal end and a distal end. The proximal end is pivotally mounted on the working end of the shaft to rotate around a first pitch axis to produce rotation in first pitch. A wrist member has a proximal portion pivotally connected to the distal end of the linking arm to rotate around a second pitch axis to produce rotation in second pitch. An end effector is pivotally mounted on a distal portion of the wrist member to rotate around a wrist axis of the wrist member to produce rotation in distal roll. The wrist axis extends between the proximal portion and the distal portion of the wrist member. The elongate shaft is rotatable around the shaft axis to produce rotation in proximal roll. At about 90° pitch, the wrist axis is generally perpendicular to the shaft axis. The proximal roll around the shaft axis and the distal roll around the wrist axis do not overlap.
    Type: Grant
    Filed: March 3, 2011
    Date of Patent: September 10, 2013
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: Tracey A. Morley, Daniel T. Wallace
  • Patent number: 8529136
    Abstract: A ball bearing having external surfaces coated with ceramic materials is provided. The raceways of the ball bearing may advantageously be formed of metal such as stainless steel. The ceramic coating acts as an insulator increasing the resistance of the ball bearing to heat within the ball bearing environment. The balls within the raceway of the ball bearing may advantageously be coated with a lubricant to decrease friction in the ball bearing because the insulating ceramic coating prevents the environmental heat from causing the degradation of the lubricant.
    Type: Grant
    Filed: March 30, 2009
    Date of Patent: September 10, 2013
    Assignee: Wafertech, LLC
    Inventors: Xiao-Jun Liu, Mark Chou
  • Patent number: 8532819
    Abstract: Provided is a manipulator with at least one camera capable of observing an end effector from a direction suitable for work. A rotating portion rotatable coaxially with the end effector is provided to a link adjacent to a link located at a manipulator tip end. At least one camera for recognizing a work piece as an object is arranged on the rotating portion through a camera platform. An actuator for controlling a rotation angle of the rotating portion is driven according to a rotation angle of the link located at the manipulator tip end, and thus the camera is arranged in a direction perpendicular to a plane where the end effector can move when the end effector performs a grip work. In an assembly work, the rotating portion is rotated such that the camera is arranged in a direction parallel to the plane where the end effector can move.
    Type: Grant
    Filed: August 21, 2012
    Date of Patent: September 10, 2013
    Assignee: Canon Kabushiki Kaisha
    Inventor: Kota Tani