Wrist Patents (Class 901/29)
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Patent number: 8950065Abstract: 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: GrantFiled: September 17, 2012Date of Patent: February 10, 2015Assignee: Comau, Inc.Inventor: Velibor Kilibarda
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Publication number: 20150033898Abstract: 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: ApplicationFiled: July 31, 2013Publication date: February 5, 2015Applicant: HIWIN TECHNOLOGIES CORP.Inventor: Wu-Teng HSIEH
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Patent number: 8948916Abstract: 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: GrantFiled: February 9, 2011Date of Patent: February 3, 2015Assignee: Mitsubishi Electric CorporationInventor: Takafumi Ishikawa
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Patent number: 8919842Abstract: 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: GrantFiled: February 7, 2014Date of Patent: December 30, 2014Assignee: The United States of America as represented by the Administrator of the National Aeronautics and Space AdministrationInventors: Chris A. Ihrke, Myron A. Diftler, Lyndon Bridgwater, Vienny Nguyen, Alexander Millerman
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Patent number: 8893577Abstract: 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: GrantFiled: February 23, 2011Date of Patent: November 25, 2014Assignee: Fanuc CorporationInventors: Jun Ibayashi, Munehiro Jinushi, Hirokazu Kume
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Patent number: 8893578Abstract: 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: GrantFiled: September 21, 2011Date of Patent: November 25, 2014Assignee: Fanuc CorporationInventors: Satoshi Kinoshita, Hikaru Yamashiro
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Publication number: 20140338490Abstract: 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: ApplicationFiled: May 19, 2014Publication date: November 20, 2014Applicant: KABUSHIKI KAISHA YASKAWA DENKIInventor: Shinji SHINABE
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Publication number: 20140318298Abstract: 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: ApplicationFiled: April 28, 2014Publication date: October 30, 2014Applicant: Fanuc CorporationInventor: Toshihiko Inoue
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Patent number: 8869644Abstract: 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: GrantFiled: February 17, 2012Date of Patent: October 28, 2014Assignee: Comau S.p.A.Inventors: Mauro Amparore, Giorgio Pernechele, Giuseppe Paparella
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Patent number: 8863606Abstract: 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: GrantFiled: October 28, 2011Date of Patent: October 21, 2014Assignee: Kabushiki Kaisha Yaskawa DenkiInventors: Atsushi Ichibangase, Takashi Sanada, Kei Kamohara
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Patent number: 8855817Abstract: 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: GrantFiled: December 19, 2007Date of Patent: October 7, 2014Assignee: ABB Research Ltd.Inventors: Ramon Casanelles, Francisco Cortés Grau
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Patent number: 8852174Abstract: 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: GrantFiled: November 12, 2010Date of Patent: October 7, 2014Assignee: Intuitive Surgical Operations, Inc.Inventor: William Burbank
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Patent number: 8839689Abstract: 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: GrantFiled: December 22, 2010Date of Patent: September 23, 2014Assignees: Hong Fu Jin Precision Industry (ShenZhen) Co., Ltd., Hon Hai Precision Industry Co., Ltd.Inventor: Bo Long
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Publication number: 20140271055Abstract: 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: ApplicationFiled: March 14, 2014Publication date: September 18, 2014Inventors: 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
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Patent number: 8818560Abstract: 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: GrantFiled: March 29, 2011Date of Patent: August 26, 2014Assignee: Olympus CorporationInventor: Kosuke Kishi
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Patent number: 8794418Abstract: 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: GrantFiled: March 14, 2013Date of Patent: August 5, 2014Assignee: ATI Industrial Automation, Inc.Inventor: Daniel Allen Norton
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Patent number: 8777547Abstract: 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: GrantFiled: January 8, 2010Date of Patent: July 15, 2014Assignee: Applied Materials, Inc.Inventors: Izya Kremerman, Jeffrey C. Hudgens
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Patent number: 8751046Abstract: 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: GrantFiled: July 28, 2008Date of Patent: June 10, 2014Assignee: KUKA Systems GmbHInventors: Gerhard Hartmann, Andreas Bernsau, Jürgen Radler
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Publication number: 20140137691Abstract: 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: ApplicationFiled: November 18, 2013Publication date: May 22, 2014Applicant: KABUSHIKI KAISHA YASKAWA DENKIInventors: Kazuyoshi NOGAMI, Nobukazu MIYAUCHI
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Patent number: 8720298Abstract: 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: GrantFiled: April 1, 2009Date of Patent: May 13, 2014Assignee: Robert Bosch GmbHInventor: Christian Lehmann
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Publication number: 20140102240Abstract: 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: ApplicationFiled: April 2, 2012Publication date: April 17, 2014Applicant: KAWASAKI JUKOGYO KABUSHIKI KAISHAInventors: Takahiro Inada, Shinji Kitamura, Masato Yamamoto
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Publication number: 20140107666Abstract: 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: ApplicationFiled: September 4, 2013Publication date: April 17, 2014Applicant: Massachusetts Institute of TechnologyInventors: Akhil J. Madhani, J. Kenneth Salisbury, Gunter G. Niemeyer
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Patent number: 8690963Abstract: 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: GrantFiled: December 21, 2006Date of Patent: April 8, 2014Assignee: Otto Bock Healthcare GmbHInventor: Gregor Puchhammer
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Publication number: 20140088754Abstract: 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: ApplicationFiled: November 11, 2011Publication date: March 27, 2014Applicant: Plazma Technologies Pvt. Ltd.Inventors: Hughen Gerrard Thomas, Arjun Mendhi
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Patent number: 8676382Abstract: 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: GrantFiled: May 26, 2010Date of Patent: March 18, 2014Assignees: GM Global Technology Operations LLC, The United States of America as Represented by the Administrator of the National Aeronautics and Space AdministrationInventors: Muhammad E. Abdallah, Brian Hargrave, Robert J. Platt, Jr.
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Patent number: 8662815Abstract: 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: GrantFiled: May 20, 2009Date of Patent: March 4, 2014Assignee: Manitou Italia S.R.L.Inventor: Riccardo Magni
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Patent number: 8660695Abstract: 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: GrantFiled: July 2, 2013Date of Patent: February 25, 2014Assignee: The Shadow Robot Company LimitedInventors: Armando De La Rosa Tames, Graeme Richard Lawrence Walker, Jake Benjamin Goldsmith, John Hugo Elias, Matthew Paul Godden, Richard Martin Greenhill
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Patent number: 8627741Abstract: 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: GrantFiled: March 16, 2009Date of Patent: January 14, 2014Assignee: ABB Technology ABInventors: Lars Barkman, Mattias Lindevall, Pascal Cabanne, Peter Bylund, Joachim Ljungkvist
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Publication number: 20140007731Abstract: 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: ApplicationFiled: March 12, 2013Publication date: January 9, 2014Applicant: PERSIMMON TECHNOLOGIES CORPORATIONInventors: Martin Hosek, Tuan Thuc Ha
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Publication number: 20130333509Abstract: 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: ApplicationFiled: April 29, 2013Publication date: December 19, 2013Applicant: FANUC CORPORATIONInventor: Satoshi ADACHI
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Patent number: 8606398Abstract: 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: GrantFiled: August 29, 2008Date of Patent: December 10, 2013Assignee: ABB Research Ltd.Inventors: William Eakins, Thomas A. Fuhlbrigge, Carlos Martinez, Heping Chen, Gregory Rossano
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Publication number: 20130319160Abstract: 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: ApplicationFiled: March 18, 2013Publication date: December 5, 2013Applicant: FANUC CORPORATIONInventor: Akihiro OIKAWA
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Publication number: 20130325180Abstract: 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: ApplicationFiled: February 9, 2011Publication date: December 5, 2013Applicant: MITSUBISHI ELECTRIC CORPORATIONInventor: Takafumi Ishikawa
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Publication number: 20130305869Abstract: 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: ApplicationFiled: May 21, 2013Publication date: November 21, 2013Inventor: Rainer Krumbacher
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Patent number: 8583313Abstract: 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: GrantFiled: September 21, 2009Date of Patent: November 12, 2013Assignee: International Electronic Machines Corp.Inventor: Zahid F. Mian
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Patent number: 8561497Abstract: 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: GrantFiled: December 23, 2011Date of Patent: October 22, 2013Assignee: Fabworx Solutions, Inc.Inventor: Richard J. Kent
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Publication number: 20130272823Abstract: 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: ApplicationFiled: April 2, 2013Publication date: October 17, 2013Applicant: Applied Materials, Inc.Inventors: Jeffrey C. Hudgens, Izya Kremerman
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Publication number: 20130263685Abstract: 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: ApplicationFiled: October 8, 2010Publication date: October 10, 2013Inventor: Mark Doyle
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Patent number: 8529136Abstract: 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: GrantFiled: March 30, 2009Date of Patent: September 10, 2013Assignee: Wafertech, LLCInventors: Xiao-Jun Liu, Mark Chou
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Patent number: 8532819Abstract: 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: GrantFiled: August 21, 2012Date of Patent: September 10, 2013Assignee: Canon Kabushiki KaishaInventor: Kota Tani
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Patent number: 8528440Abstract: 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: GrantFiled: March 3, 2011Date of Patent: September 10, 2013Assignee: Intuitive Surgical Operations, Inc.Inventors: Tracey A. Morley, Daniel T. Wallace
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Patent number: 8516920Abstract: A wrist housing, a wrist rotatably connected to the wrist housing, a first driver, a first transmission mechanism, a rotary member, a second driver, and a second transmission mechanism makes a robot arm assembly. The wrist housing is hollow. The first driver is assembled within the wrist housing for driving the wrist to rotate relative to the wrist housing along a first rotary axis. The first transmission mechanism is also assembled within the wrist housing and is positioned between the wrist and the first driver. The rotary member is rotatably assembled to a distal end of the wrist along a second rotary axis. The second driver is assembled within the wrist housing for driving the rotary member to rotate. The second transmission mechanism is assembled within the wrist housing, and is positioned between the second driver and the rotary member.Type: GrantFiled: May 17, 2011Date of Patent: August 27, 2013Assignees: Hong Fu Jin Precision Industry (ShenZhen) Co., Ltd., Hon Hai Precision Industry Co., Ltd.Inventor: Zhen-Xing Liu
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Patent number: 8483880Abstract: A robotic hand assembly comprising: a hand section comprising: at least one digit provided with at least one actuatable joint; and a control section comprising: at least one actuation device, the at least one actuation device comprising: a sensing module configured to sense a force applied to a tendon coupled at a first end to the at least one actuatable joint; and an actuation module configured to actuate the at least one actuatable joint.Type: GrantFiled: July 22, 2010Date of Patent: July 9, 2013Assignee: The Shadow Robot Company LimitedInventors: Armando de la Rosa Tames, Graeme Richard Lawrence Walker, Jake Benjamin Goldsmith, John Hugo Elias, Matthew Paul Godden, Richard Martin Greenhill
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Publication number: 20130160591Abstract: A robot is provided which includes (a) a first arm (313) terminating in a first radius (317); (b) a second arm (315) terminating in a second radius (319), wherein said second radius is spaced apart from said first radius; (c) a first band (331) that extends around a portion of said first radius; (d) a second band that extends around a portion of said second radius; and (e) a first rigid, longitudinally extending element (709) having a first end which is attached to said first band, and having a second end which is attached to said second band.Type: ApplicationFiled: December 19, 2012Publication date: June 27, 2013Applicant: FABWORX SOLUTIONS, INC.Inventor: Fabworx Solutions, Inc.
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Publication number: 20130152723Abstract: A robot arm includes a wrist body, an arm body, a first shaft, a first driving mechanism, a second shaft and a second driving mechanism. The arm body includes an installation wall and a mounting cylinder connecting with an installation portion of the installation wall. One end of the installation wall is connected with the mounting cylinder. The first shaft is received in the mounting cylinder; the first driving mechanism is mounted on the installation wall for driving the first shaft to rotate, The second shaft is received in the mounting cylinder and rotatably sleeves on the first shaft. The second driving mechanism is mounted on the installation wall and spaced from the first driving mechanism for driving the second shaft to rotate.Type: ApplicationFiled: May 16, 2012Publication date: June 20, 2013Applicants: HON HAI PRECISION INDUSTRY CO., LTD., HONG FU JIN PRECISION INDUSTRY (ShenZhen) CO., LTD.Inventor: BO LONG
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Publication number: 20130149076Abstract: Electronic device processing systems and robot apparatus are described. The systems are adapted to efficiently pick or place a substrate at a destination by independently rotating an upper arm, a forearm, a first wrist member, and a second wrist member relative to each other through co-axial drive shafts. Methods of operating the robot apparatus are provided, as are numerous other aspects.Type: ApplicationFiled: December 10, 2012Publication date: June 13, 2013Applicant: APPLIED MATERIALS, INC.Inventor: APPLIED MATERIALS, INC.
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Patent number: 8429996Abstract: A robot arm assembly includes a first robot arm and a second robot arm 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 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 rotate relative to the first sleeve. The second input shaft is connected to the output shaft via at least two pairs of bevel gears, and drives the output shaft to rotate relative to the second sleeve.Type: GrantFiled: April 30, 2010Date of Patent: April 30, 2013Assignees: Hong Fu Jin Precision Industry (ShenZhen) Co., Ltd., Hon Hai Precision Industry Co., Ltd.Inventor: Bo Long
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Patent number: 8412376Abstract: A method is provided for distributing tension among tendons of a tendon-driven finger in a robotic system, wherein the finger characterized by n degrees of freedom and n+1 tendons. The method includes determining a maximum functional tension and a minimum functional tension of each tendon of the finger, and then using a controller to distribute tension among the tendons, such that each tendon is assigned a tension value less than the maximum functional tension and greater than or equal to the minimum functional tension. The method satisfies the minimum functional tension while minimizing the internal tension in the robotic system, and satisfies the maximum functional tension without introducing a coupled disturbance to the joint torques. A robotic system includes a robot having at least one tendon-driven finger characterized by n degrees of freedom and n+1 tendons, and a controller having an algorithm for controlling the tendons as set forth above.Type: GrantFiled: March 10, 2010Date of Patent: April 2, 2013Assignees: GM Global Technology Operations LLC, The United States of America as represented by the Administrator of the National Aeronautics and Space AdministrationInventors: Muhammad E. Abdallah, Robert Platt, Charles W. Wampler, II
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Patent number: 8401700Abstract: The lower arm assembly for a humanoid robot includes an arm support having a first side and a second side, a plurality of wrist actuators mounted to the first side of the arm support, a plurality of finger actuators mounted to the second side of the arm support and a plurality of electronics also located on the first side of the arm support.Type: GrantFiled: September 22, 2009Date of Patent: March 19, 2013Assignees: GM Global Technology Operations LLC, The United States of America as represented by the Administrator of the National Aeronautics and Space AdministrationInventors: Chris A. Ihrke, Lyndon Bridgwater, Myron A. Diftler, David M. Reich, Scott R. Askew
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Publication number: 20130055842Abstract: A robot according to an aspect of embodiments includes a motor and a hypoid gear. The motor is provided in a robot arm. The hypoid gear transmits the driving force of the motor to a leading-edge arm coupled to the robot arm to swing the leading-edge arm or to rotate an end effector.Type: ApplicationFiled: August 28, 2012Publication date: March 7, 2013Applicant: KABUSHIKI KAISHA YASKAWA DENKIInventor: Takuya OKADA