公开(公告)号：US5255571A

公开(公告)日：1993-10-26

申请号：US906205

申请日：1992-06-25

申请人： Steven L. Smith

发明人： Steven L. Smith

IPC分类号： B25J9/16 ,  B25J17/02 ,  G05G11/00

CPC分类号： B25J17/0266 ,  B25J9/0072 ,  B25J9/1612 ,  Y10T74/20335

摘要： A robot wrist comprises a wrist input connected to a wrist output through three mechanical links. Two of the mechanical links each include an actuator and a joint. Each actuator is pivotally attached to the wrist input. The output of each actuator is translationally driven along the output axis by the actuator. The input of each joint is rigidly attached to the corresponding actuator output. The third mechanical link includes a third joint and means for connecting the third joint input to the wrist input. The outputs of all three joints are rigidly mounted to the wrist output at three separate locations on the wrist output.

摘要翻译： 机器人手腕包括通过三个机械连杆连接到手腕输出的手腕输入。 机械连杆中的两个包括致动器和接头。 每个执行机构枢轴连接到手腕输入。 每个致动器的输出通过致动器沿着输出轴平移地驱动。 每个接头的输入刚性地连接到相应的执行器输出。 第三机械连杆包括第三关节和用于将第三关节输入连接到手腕输入的装置。 所有三个关节的输出在手腕输出上的三个独立位置处刚性地安装到腕部输出。

公开(公告)号：US20180372196A1

公开(公告)日：2018-12-27

申请号：US15741430

申请日：2017-03-23

申请人： Zhejiang Sci-Tech University

发明人： Lingmin XU ,  Qinchuan LI ,  Wei YE

IPC分类号： F16H21/54 ,  B25J9/00

CPC分类号： F16H21/54 ,  B25J9/003 ,  B25J9/0033 ,  B25J9/0072

摘要： Disclosed is a two-turn-one-movement parallel mechanism with a large turning angle, comprising a machine frame, a movable platform, a first branch and two second branches, characterized in that the first branch comprises a machine frame turning pair, a first moving pair slider, a first moving pair guide rod and a first universal joint; each one of the second branches comprises a second moving pair guide rail, a second moving pair slider, a second universal joint, a connecting rod and a movable platform turning pair; in the two second branches, the axis of the first turning pair of each one of the second universal joints is superimposed with and parallel to the axis of the machine frame turning pair in the first branch, and the axis of each one of the movable platform turning pairs is parallel to the second turning axis of the first universal joint in the first branch.

公开(公告)号：US09895798B2

公开(公告)日：2018-02-20

申请号：US12738015

申请日：2007-10-22

申请人： Patrick Helmer

发明人： Patrick Helmer

IPC分类号： B25J9/00 ,  B25J9/10 ,  B25J17/02

CPC分类号： B25J9/106 ,  B25J9/0072 ,  B25J9/1065 ,  B25J17/0266 ,  Y10T74/20

摘要： A device for the relative movement between an input member and an output member, the device comprising an input member (100); an output member (108); an intermediate member (104) coupling the input member (100) and the output member (108); a first kinematics bond (102) coupling the intermediate member (104) and the input member (100); the first kinematics bond (102) providing at least two rotational degrees of freedom; and a second kinematics bond (106) coupling the intermediate member (104) and the output member (108), the second kinematics bond (106) being adapted to transmit rotational motions between the intermediate member (104) and the output member (108) and to offset rotation axes of at least two rotational degrees of freedom of the output member (108).

公开(公告)号：US20170050312A1

公开(公告)日：2017-02-23

申请号：US15308050

申请日：2014-06-09

申请人： ABB SCHWEIZ AG

发明人： Torgny Brogårdh

IPC分类号： B25J9/00

CPC分类号： B25J9/0072

摘要： A parallel kinematics robot includes a base and an end effector movable in relation to the base. A first actuator is attached to the base and connected to the end effector via a first kinematic chain including a first drive arm, a first rod, a first joint between the first drive arm and the first rod, and a second joint between the first rod and the end effector. A second actuator is attached to the base and connected to the end effector via a second kinematic chain including a second drive arm, a second rod, a third joint between the second drive arm and the second rod, and a fourth joint between the second rod and the end effector. A third actuator is attached to the base or to the first drive arm, and connected to the end effector via a third kinematic chain including a first gear wheel and a second gear wheel, the first and second gear wheels being journalled in bearings to the end effector and intermeshing with each other. One element of the third kinematic chain constitutes a kinematic pair with at least one element of the first kinematic chain. A kinematic chain responsible for a translational movement of the end effector is utilized as a support structure for a kinematic chain responsible for a rotational movement of the end effector.

摘要翻译： 平行运动学机器人包括相对于底座可移动的底座和末端执行器。 第一致动器附接到基座并且经由第一运动链连接到端部执行器，第一运动链包括第一驱动臂，第一杆，第一驱动臂和第一杆之间的第一接头以及第一杆之间的第二接头 和末端执行器。 第二致动器附接到基座并且经由第二运动链连接到端部执行器，第二运动链包括第二驱动臂，第二杆，第二驱动臂和第二杆之间的第三接头，以及第二杆之间的第四接头 和末端执行器。 第三致动器附接到基座或第一驱动臂，并且经由包括第一齿轮和第二齿轮的第三运动链连接到端部执行器，第一和第二齿轮轴承轴承到端部 效应器和相互啮合。 第三运动链的一个元件构成与第一运动链的至少一个元素的运动学对。 负责端部执行器的平移运动的运动链被用作负责末端执行器的旋转运动的运动链的支撑结构。

公开(公告)号：US20120042628A1

公开(公告)日：2012-02-23

申请号：US12455336

申请日：2009-06-01

申请人： Mark E. Rosheim

发明人： Mark E. Rosheim

IPC分类号： F02K1/00

CPC分类号： B25J17/0266 ,  B25J9/0072 ,  B25J17/0275

摘要： A controlled relative motion system that permits a controlled motion member, joined to a base member, to selectively move with respect to said base member having a base support, an output structure, and a plurality of securing links including a fixed length securing link that is rotatably connected at one end thereof to the base support and rotatably connected at an opposite end thereof to the output structure. Further included is a variable length securing link that is rotatably connected at one end thereof to the base support and rotatably connected at an opposite end thereof to the output structure and having a force distributor therewith that can be directed to vary a separation distance between said ends thereof by a force imparting member capable of directing the force distributor to vary the separation distance between the variable length securing link ends. The variable length securing link also has a rotatable capstan therewith about which a cable can be selectively wrapped or unwrapped through rotating this capstan by a force imparting member to vary the separation distance between the variable length securing link ends. The system can be used with a jet propulsion engine in a moveable vehicle that can also have therein a controlled signal processing relative motion system.

摘要翻译： 一种受控的相对运动系统，其允许连接到基座构件的受控运动构件相对于具有基座支撑件，输出结构和多个固定连杆的所述基座构件选择性地移动，所述固定连杆包括固定长度的固定连杆， 在其一端可旋转地连接到基座支撑件，并且在其相对端处可旋转地连接到输出结构。 还包括可变长度的固定连接件，其可变的连接在其一端处于基座支撑件上，并且可旋转地连接在其相对的端部与输出结构并具有力分配器，该分配器可以被引导以改变所述端部之间的间隔距离 其能够通过力赋予构件来引导力分配器来改变可变长度固定连杆端之间的间隔距离。 可变长度固定连杆还具有一个可旋转的绞盘，通过一个施加力的构件旋转该绞盘，电缆可围绕该绞盘选择性地包裹或展开，从而改变可变长度固定连杆端之间的间隔距离。 该系统可以与可移动车辆中的喷气推进发动机一起使用，其也可以具有受控的信号处理相对运动系统。

公开(公告)号：US08074369B2

公开(公告)日：2011-12-13

申请号：US12457891

申请日：2009-06-24

申请人： David Roberts McMurtry

发明人： David Roberts McMurtry

IPC分类号： G01B5/008 ,  F16C11/06

CPC分类号： B25J17/0266 ,  B25J9/0072 ,  F16C11/045 ,  F16C11/0614 ,  F16C11/0623 ,  G01B3/002 ,  G01B5/004 ,  Y10T74/20207 ,  Y10T403/32041 ,  Y10T403/32631 ,  Y10T403/32681

摘要： A pivot joint has a first structure comprising a ball mounted in a receptacle, wherein the location of the ball is held with respect to the receptacle, and a second structure mounted on and movable with respect to the ball, wherein the second structure has at least one bearing surface which defines its position with respect to the ball. The ball may be held in location by contact with the receptacle at at least two positions. At least one of the positions of contact may be adjustable.

摘要翻译： 枢转接头具有包括安装在容器中的球的第一结构，其中球的位置相对于容器保持，以及安装在球上并可相对于球移动的第二结构，其中第二结构至少具有 一个轴承表面限定了其相对于球的位置。 球可以通过在至少两个位置与容器接触而保持在位置。 接触位置中的至少一个可以是可调节的。

公开(公告)号：US20100111649A1

公开(公告)日：2010-05-06

申请号：US12617270

申请日：2009-11-12

申请人： Hirofumi MINAMI ,  Kazuhiro Fujimura

发明人： Hirofumi MINAMI ,  Kazuhiro Fujimura

IPC分类号： H01L21/677

CPC分类号： H01L21/67742 ,  B25J9/0048 ,  B25J9/0072 ,  B25J9/042 ,  B25J9/046 ,  B25J17/0266

摘要： A transfer device that avoids the problem of a vacuum apparatus being contaminated by grease, dust, and others and having a small base area is provided. Corrosion protection according to an existing technology may be applied to the transfer device. The transfer device may have a transfer section to support and transfer an object to be transferred, a link to transmit power from a device main body to the transfer section and move the transfer section in the horizontal direction, and a guide mechanism disposed between the device main body and the transfer section guide. The guide mechanism may have pivotally connected first and second guide arms. The first guide arm at one end of the guide mechanism may be attached to the device main body, and the second guide arm at the other end thereof may be attached to the transfer section.

摘要翻译： 提供一种避免真空装置被油脂，灰尘等污染并具有小基座面积的传送装置。 根据现有技术的腐蚀保护可以应用于传送装置。 传送装置可以具有用于支撑和传送待传送对象的传送部分，用于将设备主体向传送部分传送电力的链接并且沿水平方向移动传送部分，以及布置在设备之间的引导机构 主体和转移部分导轨。 引导机构可以具有枢转连接的第一和第二引导臂。 引导机构一端的第一引导臂可以附接到装置主体，另一端的第二引导臂可以附接到传送部。

公开(公告)号：US20100043577A1

公开(公告)日：2010-02-25

申请号：US12455605

申请日：2009-06-04

申请人： Mark E. Rosheim

发明人： Mark E. Rosheim

IPC分类号： G01C19/54

CPC分类号： B25J17/0266 ,  B25J9/0048 ,  B25J9/0072 ,  F16M11/123 ,  F16M11/18 ,  Y10T74/1229

摘要： A controlled relative motion system having a base support, an output structure and a plurality of securing links each rotatably connected at a first end thereof to a selected one of the base support and the output structure with a circumferential motion pair of those securing links having each member thereof rotatably connected at an opposite second end thereof to that remaining one of the base support and the output structure so as to have the second end of each member rotate in a corresponding rotation plane. These second ends also rotate about a common symmetry rotation axis perpendicular to the rotation planes. In addition, there is a force imparting member that is coupled to a selected coupling one of said first and second ends of a selected one of said circumferential motion pair of securing links, and is capable of directing said coupling end to rotate.

摘要翻译： 一种受控的相对运动系统，其具有基座支撑件，输出结构和多个固定连杆，每个固定连杆在其第一端处可旋转地连接到所述基座支撑件和输出结构中的所选择的一个中， 构件在其相对的第二端处可旋转地连接到基座支撑件和输出结构中的剩余的一个，以使每个构件的第二端在相应的旋转平面中旋转。 这些第二端也围绕垂直于旋转平面的公共对称旋转轴线旋转。 此外，存在一个力施加构件，其联接到所选圆周运动对固定连杆中的所选择的一个的所述第一和第二端中的所选择的联接件之一，并且能够引导所述联接端旋转。

公开(公告)号：US20090084219A1

公开(公告)日：2009-04-02

申请号：US12283236

申请日：2008-09-10

申请人： Mark E. Rosheim

发明人： Mark E. Rosheim

IPC分类号： G01C19/08

CPC分类号： B25J17/0266 ,  B25J9/0072 ,  F16M11/123 ,  F16M11/18 ,  Y10T74/12

摘要： A controlled relative motion system that permits a controlled motion member, joined to a base member, to selectively move with respect to said base member having a base support, an output structure, and a plurality of securing links including a fixed length securing link that is rotatably connected at one end thereof to the base support and rotatably connected at an opposite end thereof to the output structure. Further included is a variable length securing link that is rotatably connected at one end thereof to the base support and rotatably connected at an opposite end thereof to the output structure and having a force distributor therewith that can be directed to vary a separation distance between said ends thereof by a force imparting member capable of directing the force distributor to vary the separation distance between the variable length securing link ends.

摘要翻译： 一种受控的相对运动系统，其允许连接到基座构件的受控运动构件相对于具有基座支撑件，输出结构和多个固定连杆的所述基座构件选择性地移动，所述固定连杆包括固定长度的固定连杆， 在其一端可旋转地连接到基座支撑件，并且在其相对端处可旋转地连接到输出结构。 还包括可变长度的固定连接件，其可变的连接在其一端处于基座支撑件上，并且在其相对端部处可旋转地连接到输出结构，并具有与其分配的力分配器，该分配器可以被引导以改变所述端部之间的间隔距离 其能够通过力赋予构件来引导力分配器来改变可变长度固定连杆端之间的间隔距离。

公开(公告)号：US07300240B2

公开(公告)日：2007-11-27

申请号：US11012614

申请日：2004-12-16

申请人： Torgny Brogårdh

发明人： Torgny Brogårdh

IPC分类号： B25J5/00

CPC分类号： B25J17/0266 ,  B25J9/0072 ,  Y10T74/20305 ,  Y10T74/20335

摘要： An industrial robot including a platform arranged for carrying an object. A first arm is arranged for influencing the platform in a first movement and includes a first actuator having a first path and a first carriage linearly movable along the first path. A second arm is arranged for influencing the platform in a second movement, and includes a second actuator having a second path and a second carriage linearly movable along the first path. A third arm is arranged for influencing the platform in a third movement. A control unit controls the movements of the platform. The first and second arms are arranged rotatable in such way that the platform is movable between opposite sides of a second plane passing through and continuously following the first and second carriage. The control unit includes a control adapted to upon command perform a reconfiguration of the platform and the arms of the robot. The reconfiguration includes moving the platform between opposite sides of the second plane.

摘要翻译： 一种工业机器人，包括用于承载物体的平台。 第一臂布置成用于在第一运动中影响平台，并且包括具有第一路径的第一致动器和沿着第一路径线性移动的第一托架。 第二臂布置成用于在第二运动中影响平台，并且包括具有第二路径的第二致动器和沿着第一路径线性移动的第二托架。 第三臂被布置成在第三运动中影响平台。 控制单元控制平台的移动。 第一和第二臂被布置成可旋转，使得平台能够在通过并连续跟随第一和第二托架的第二平面的相对侧之间移动。 控制单元包括适于根据命令执行机器人的平台和臂的重新配置的控制。 重新配置包括在第二平面的相对侧之间移动平台。