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公开(公告)号：US20240351833A1
公开(公告)日：2024-10-24
申请号：US18634024
申请日：2024-04-12
Applicant: THE REGENTS OF THE UNIVERSITY OF MICHIGAN
Inventor： Maria REDOUTEY , Evgueni T. FILIPOV
CPC classification number: B66F3/22 , B25J19/0016
Abstract: A system and method to transform reconfigurable structures into systems with continuous equilibrium. The system and method are based on adding optimized springs that counteract gravity to achieve a system with a nearly flat potential energy curve. The resulting structures can move or reconfigure effortlessly through their kinematic paths and remain stable in all configurations. The method enhances system design to maintain continuous equilibrium during reorientation, so that a system maintains a nearly flat potential energy curve even when it is rotated in space. This ability to reorient while maintaining continuous equilibrium greatly enhances the versatility of deployable and reconfigurable structures by ensuring they remain efficient and stable for use in different scenarios.
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公开(公告)号：US11981021B2
公开(公告)日：2024-05-14
申请号：US17992750
申请日：2022-11-22
Applicant: ReconRobotics, Inc.
Inventor： Alex J. Kossett
IPC: B25J13/08 , B25J5/00 , B25J19/00 , B25J19/02 , B60K1/04 , B60K7/00 , B60K17/04 , B60K17/12 , B62D57/02 , F41H7/00
CPC classification number: B25J13/085 , B25J5/007 , B25J19/0016 , B60K1/04 , B60K7/0007 , B60K17/043 , B60K17/12 , B62D57/02 , F41H7/005 , B25J19/023 , B60K2007/0092
Abstract: A two wheeled throwable robot comprises an elongate chassis with two ends, a motor at each end, drive wheels connected to the motors, and a tail extending from the elongate chassis. The throwable robot includes a pair of torque limiting mechanisms, each torque limiting mechanism being operatively coupled between a motor and a drive wheel. Each torque limiting mechanism comprises a drive flange portion, a driven flange portion and a plurality of rollers. A spring element provides a ring force that biases the rollers toward the driven flange portion.
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公开(公告)号：US20240042628A1
公开(公告)日：2024-02-08
申请号：US17817977
申请日：2022-08-05
Applicant: Robert David Biafore , Mingfeng Zhang , Sheelkumar Areshkumar Prajapati , Xing Yuan
Inventor： Robert David Biafore , Mingfeng Zhang , Sheelkumar Areshkumar Prajapati , Xing Yuan
CPC classification number: B25J19/0016 , G02B17/008
Abstract: The present disclosure provides an apparatus for delivering a laser beam from a stationary end to a movable end. One exemplary apparatus comprises multiple segments of articulated tubes with mirrors encapsulated inside the tubes for deflecting the laser beams and a self-balancing suspension system to support this beam delivery system to allow at least one of its ends to be movable.
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公开(公告)号：US11667043B2
公开(公告)日：2023-06-06
申请号：US17171549
申请日：2021-02-09
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor： Muhammad E. Abdallah , James W. Wells , Peter Kresmery
CPC classification number: B25J19/0016 , B25J9/0009 , B25J9/109 , B25J9/1065 , B25J9/144 , B25J9/1633 , B25J9/1638 , B25J13/088
Abstract: An electromechanical system operates in part through physical interaction with an operator, and includes a multi-axis robot, a controller, and a counterbalance mechanism connected to the robot. The counterbalance mechanism includes a base structure connected to a set of linkages, a pneumatic cylinder, a spring-loaded cam assembly, and an optional constant force spring. The linkages form a four-bar parallelogram assembly connectable to a load. The cylinder and cam assembly, and optional constant force spring, each impart respective vertical forces to the parallelogram assembly. The forces combine to provide gravity compensation and self-centering functions or behaviors to the load, enabling the load to move with a vertical degree of freedom when manually acted upon by the operator, and to return the load to a nominal center position.
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公开(公告)号：US20190168126A1
公开(公告)日：2019-06-06
申请号：US16059041
申请日：2018-08-09
Applicant: UBTECH Robotics Corp
Inventor： Youjun XIONG , Xinpu Chen , Lefeng Liu , Tanfu Xiao
CPC classification number: A63H3/46 , A63H11/00 , A63H13/00 , B25J11/003 , B25J19/0016 , B25J19/0075 , F16F2238/024
Abstract: An assembly for a robot includes a shoulder, an arm rotatably connected to the shoulder, an armor decorative member connected to the arm and located adjacent to the shoulder, and a connection assembly located between and rotatably connected to the arm and the armor decorative member. Relative rotation between the arm and the connection assembly and between the armor decorative member and the connection assembly enables the arm to continue to rotate after an upper end of the armor decorative member comes into contact with the shoulder.
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Patent Agency Ranking
公开(公告)号：US10035265B2
公开(公告)日：2018-07-31
申请号：US15265193
申请日：2016-09-14
Applicant: KABUSHIKI KAISHA TOSHIBA
Inventor： Hideichi Nakamoto
CPC classification number: B25J9/1638 , B25J9/0024 , B25J9/1065 , B25J19/0008 , B25J19/0016 , B25J19/002 , G05B2219/39189 , Y10S901/09 , Y10S901/48
Abstract: According to an embodiment, a manipulator includes the following elements. The first joint has a rotation axis in a first direction crossing a gravity direction. The second joint has a rotation axis in a second direction crossing the first direction. The first arm and the second arm are coupled with the second joint along a third direction crossing the second direction. The variable center-of-gravity unit coupled with the first arm. The controller controls the variable center-of-gravity unit to perform an operation for moving the first weight of the variable center-of-gravity unit in a direction crossing the rotation axis of the first joint and/or an operation for moving the second weight of the variable center-of-gravity unit in a direction crossing the rotation axis of the second joint.
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公开(公告)号：US09610686B2
公开(公告)日：2017-04-04
申请号：US14343858
申请日：2012-09-06
Applicant: Jae-Bok Song , Hwi-Su Kim
Inventor： Jae-Bok Song , Hwi-Su Kim
CPC classification number: B25J9/06 , B25J9/046 , B25J9/08 , B25J15/0233 , B25J17/00 , B25J18/002 , B25J19/0016 , B25J19/002 , Y10T74/20329
Abstract: The present invention provides a torque-free robot arm, comprising: a base unit; and a first link in which one end is rotatably connected to the base unit to form a first joint as a rotary shaft horizontal to the ground and the center of gravity is separated from the first joint, wherein the first link includes one end arranged at the first joint, the other end arranged along the longitudinal direction of the first link, and a first counter balancer for compensating the gravity of the first link when the first link is rotated around the first joint.
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公开(公告)号：US09375837B2
公开(公告)日：2016-06-28
申请号：US14190718
申请日：2014-02-26
Applicant: MITAKA KOHKI CO., LTD.
Inventor： Katsuyuki Nakamura
IPC: B25J1/02 , B25J18/00 , B25J9/10 , F21V21/26 , G01B21/04 , F21V21/34 , B25J19/00 , F16M13/00 , A47F5/00
CPC classification number: B25J9/1065 , A47F5/0087 , B25J19/0016 , F16M13/00 , F21V21/26 , F21V21/34 , G01B21/047 , Y10T74/20329
Abstract: When the compression spring is compressed due to the relative displacement of the stopper which occurs in response to the tilt angle of the arm structure, the compression spring is compressed by the small relative displacement of the stopper over its entire body in the longitudinal direction, so that a repulsive force is obtained which varies little over the entire range of the tilt angle, enabling support of the heavy object in a stable condition.
Abstract translation: 当压缩弹簧由于响应于臂结构的倾斜角度而发生的止动件的相对位移而被压缩时，压缩弹簧通过止动件在其整个身体上沿纵向的小的相对位移而被压缩，因此 获得在倾斜角度的整个范围内变化很小的排斥力，使得能够在稳定状态下支撑重物体。
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公开(公告)号：US09221182B2
公开(公告)日：2015-12-29
申请号：US12443373
申请日：2007-09-25
Applicant: Arne Broberg , Roland Erkki
Inventor： Arne Broberg , Roland Erkki
CPC classification number: B25J19/0016 , B25J19/0079 , Y10T74/20305
Abstract: An industrial robot including a first robot part and a second robot part arranged to be moved in relation to each other. A balancing device is arranged between the first robot part and the second robot part. The balancing device is arranged to counteract a gravitational force upon relative movement of the robot parts. The balancing device includes a mechanical spring and a spring housing arranged enclosing the spring. The spring housing includes at least one air inlet adapted for pressurized air supply.
Abstract translation: 一种工业机器人，包括相对于彼此移动的第一机器人部件和第二机器人部件。 平衡装置设置在第一机器人部件和第二机器人部件之间。 平衡装置设置成在机器人部件的相对运动时抵抗重力。 平衡装置包括机械弹簧和布置成围绕弹簧的弹簧壳体。 弹簧壳体包括适于加压空气供应的至少一个空气入口。
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公开(公告)号：US20150336264A1
公开(公告)日：2015-11-26
申请号：US14814025
申请日：2015-07-30
Applicant: Willow Garage, Inc.
Inventor： Eric H. Berger , Keenan Wyrobek
IPC: B25J5/00
CPC classification number: B25J5/00 , B25J5/007 , B25J9/0006 , B25J19/0016 , Y10S901/01 , Y10S901/19 , Y10S901/27
Abstract: Systems and methods related to construction, configuration, and utilization of humanoid robotic systems and aspects thereof are described. A system may include a mobile base, a spine structure, a body structure, and at least one robotic arm, each of which is movably configured to have significant human-scale capabilities in prescribed environments. The one or more robotic arms may be rotatably coupled to the body structure, which may be mechanically associated with the mobile base, which is preferably configured for holonomic or semi-holonomic motion through human scale travel pathways that are ADA compliant. Aspects of the one or more arms may be counterbalanced with one or more spring-based counterbalancing mechanisms which facilitate backdriveability and payload features.
Abstract translation: 描述与人形机器人系统的构造，配置和利用有关的系统和方法及其方面。 系统可以包括移动基座，脊柱结构，身体结构以及至少一个机器人臂，每个机械手臂可移动地配置成在规定的环境中具有显着的人体能力。 一个或多个机器人臂可以可旋转地联接到主体结构，其可以与移动基座机械相关联，移动基座优选地被配置为通过符合ADA的人体行进路径的全面或半整体运动。 一个或多个臂的方面可以与一个或多个弹簧式平衡机构相平衡，这些平衡机制有利于反向驱动性和有效载荷特征。
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