公开(公告)号：US11904465B2

公开(公告)日：2024-02-20

申请号：US17517965

申请日：2021-11-03

Applicant: Wen-Der Trui

Inventor： Wen-Der Trui ,  Shu-Ching Lin

IPC: B25J9/04 ,  B25J9/10 ,  B25J13/08 ,  B25J9/00

CPC classification number: B25J9/045 ,  B25J9/0048 ,  B25J9/102 ,  B25J9/104 ,  B25J9/108 ,  B25J13/088

Abstract: A mechanism is constructed by twelve-axis geometry and controlled by spherical coordinate, so that all torques in twelve axes can be parallelly integrated. Timing belts, pulleys, hollow shafts, and spur gears onto four arc-link sets are included. Via these transmission components, base arc-links can be indirectly but synchronously rotated by base driving modules and terminal arc-links can be indirectly but synchronously rotated by terminal driving modules. The final output torque can be integrated via serial linking and parallel cooperating by the twelve rotating modules. Therefore, four arc-link sets work cooperatively and effectively in group but bear no burden each other. The mechanism can be applied to a multi-axis composite machining center machine or a multi-time element detection measuring bed and shoulder joints or hip joints corresponding to robots.

公开(公告)号：US11796045B2

公开(公告)日：2023-10-24

申请号：US17553110

申请日：2021-12-16

Applicant: Universal Robots A/S

Inventor： Steffen Henrik Johansen

IPC: F16H49/00 ,  B25J9/10 ,  B25J13/08

CPC classification number: F16H49/001 ,  B25J9/108 ,  B25J9/1025 ,  B25J13/088

Abstract: A strain wave gear includes gear elements including a circular element having an internally-toothed gear and a flex element having a flexible externally-toothed gear arranged in the circular element. A wave generator is rotatably arranged in the flex element and configured to flex the externally-toothed gear in a radial direction to partly mesh the internally-toothed gear and the externally-toothed gear. Support elements include a bearing input support element and a bearing output support element rotatably coupled to the bearing input support element. Elements of the support elements are fixed respectively to elements of the gear elements. An encoder arrangement includes an encoder track and an encoder reader. A part of the encoder arrangement is between an element of the support elements and an element of the gear elements.

公开(公告)号：US20230268211A1

公开(公告)日：2023-08-24

申请号：US18165734

申请日：2023-02-07

Applicant: Brooks Automation US, LLC

Inventor： Christopher A. BUSSIERE ,  Blake R. TASHJIAN

IPC: H01L21/677 ,  B25J9/16 ,  B25J9/04 ,  B25J9/10 ,  H01L21/67

CPC classification number: H01L21/67706 ,  B25J9/1664 ,  B25J9/04 ,  B25J9/108 ,  H01L21/67196 ,  H01L21/67161 ,  H01L21/67742 ,  H01L21/67173 ,  H01L21/67167

Abstract: A substrate transport apparatus including, a torsional motion driver member having an exterior perimeter circumscribing an axis of rotation of the torsional motion driver member, and a torsional motion follower member including a body portion and a bearing collar rotatably coupled to the body portion, the torsional motion follower member being coupled to the torsional motion driver member with a dimensionally substantially invariant interface, wherein the bearing collar is decoupled from the exterior perimeter of the torsional motion driver member so that the exterior perimeter, as a whole, is free of the bearing collar.

公开(公告)号：US20230219243A1

公开(公告)日：2023-07-13

申请号：US18150160

申请日：2023-01-04

Applicant: SUMITOMO HEAVY INDUSTRIES, LTD.

Inventor： Akira YAMAMOTO ,  Masahiro WATANABE ,  Mitsuhiro TAMURA

IPC: B25J17/00 ,  B25J9/10 ,  B25J9/00

CPC classification number: B25J17/00 ,  B25J9/102 ,  B25J9/0009 ,  B25J9/108

Abstract: A robot joint structure includes a first robot member, a second robot member, and a speed reducer incorporated in a joint portion that connects the first robot member and the second robot member to each other. The speed reducer includes an external gear, an internal gear that meshes with the external gear, and a fixing member that is provided so as to be non-rotatable relative to the internal gear and is fixed to the first robot member. The fixing member is fixed to the first robot member by bringing an inner peripheral surface of the first robot member and an outer peripheral surface of the fixing member into pressure contact with each other by fastening using a first fastening member. At least a part of an axial range of the first fastening member does not overlap internal teeth of the internal gear when viewed in a radial direction.

公开(公告)号：US20190216562A1

公开(公告)日：2019-07-18

申请号：US16365208

申请日：2019-03-26

Applicant: Vicarious Surgical Inc.

Inventor： Adam SACHS ,  Sammy KHALIFA ,  Barry Stuart GREENE

IPC: A61B34/35 ,  A61B17/29 ,  A61B90/00 ,  G02B27/01 ,  A61B34/30 ,  A61B34/37 ,  A61B34/00 ,  G06T19/00 ,  B25J9/10 ,  A61B90/30 ,  H04N13/239 ,  A61B17/00

CPC classification number: A61B34/35 ,  A61B17/00234 ,  A61B17/29 ,  A61B17/2909 ,  A61B34/20 ,  A61B34/30 ,  A61B34/37 ,  A61B34/71 ,  A61B34/74 ,  A61B34/76 ,  A61B90/06 ,  A61B90/30 ,  A61B90/361 ,  A61B90/37 ,  A61B2017/00207 ,  A61B2017/00216 ,  A61B2017/00283 ,  A61B2017/00398 ,  A61B2017/2919 ,  A61B2034/301 ,  A61B2034/302 ,  A61B2034/306 ,  A61B2034/715 ,  A61B2034/741 ,  A61B2090/064 ,  A61B2090/306 ,  A61B2090/365 ,  A61B2090/367 ,  A61B2090/368 ,  A61B2090/371 ,  A61B2090/372 ,  A61B2090/502 ,  B25J9/104 ,  B25J9/108 ,  G02B27/017 ,  G06T19/006 ,  H04N13/239

Abstract: A system for use in surgery includes a central body, a visualization system operably connected to the central body, a video rendering system, a head-mounted display for displaying images from the video rendering system, a sensor system, and a robotic device operably connected to the central body. The visualization system includes at least one camera and a pan system and/or a tilt system. The sensor system tracks the position and/or orientation in space of the head-mounted display relative to a reference point. The pan system and/or the tilt system are configured to adjust the field of view of the camera in response to information from the sensor system about changes in at least one of position and orientation in space of the head-mounted display relative to the reference point.

公开(公告)号：US20180318019A1

公开(公告)日：2018-11-08

申请号：US15770839

申请日：2016-11-10

Applicant: Technische Universiteit Eindhoven

Inventor： Jordan Bos

IPC: A61B34/30 ,  B25J9/08 ,  A61B17/16 ,  B25J9/10

CPC classification number: A61B34/30 ,  A61B17/16 ,  A61B2017/1602 ,  B25J9/04 ,  B25J9/046 ,  B25J9/08 ,  B25J9/108 ,  B25J9/1679 ,  B25J13/085 ,  B25J19/0004

Abstract: A seven-degrees of freedom modular robotic device is provided for controlling an instrument, e.g. a bone-drilling or milling device with a precision of about 50 μm and maximum force of 50 N. The robotic device is a serial kinematic chain of six rotational degrees of freedom and one translational degree of freedom.

公开(公告)号：US10035261B2

公开(公告)日：2018-07-31

申请号：US15185639

申请日：2016-06-17

Applicant: Schaeffler Technologies AG & Co. KG

Inventor： Joseph Johnson ,  Craig Hooker

IPC: B25J9/08 ,  B25J9/12 ,  B25J9/00 ,  B25J9/04 ,  B25J9/10 ,  F16C19/36

CPC classification number: B25J9/126 ,  B25J9/0009 ,  B25J9/0012 ,  B25J9/046 ,  B25J9/08 ,  B25J9/108 ,  F16C19/364 ,  F16C2322/59 ,  Y10S901/23

Abstract: An actuatable joint for a robotic system has a body, a motor positioned in the body, an output shaft configured to be rotated by the motor relative to the body, and a bearing assembly positioned between the output shaft and the body and configured to support the rotation of the output shaft. The bearing assembly has a first axial angular contact roller bearing. The roller bearing has a pair of frusto-conical bearing rings forming a pair of parallel races, a bearing cage positioned between the pair of bearing rings and including a plurality of openings, and a plurality of rollers positioned in the openings and in contact with the races.

公开(公告)号：US09827682B2

公开(公告)日：2017-11-28

申请号：US15076671

申请日：2016-03-22

Applicant: FANUC CORPORATION

Inventor： Satoshi Adachi ,  Satoshi Kinoshita ,  Yasuyoshi Tanaka

IPC: B25J17/00 ,  B25J9/10

CPC classification number: B25J17/00 ,  B25J9/108

Abstract: A motor is fixed to one wall portion of an arm in an inner space of the arm. A hollow bearing is inserted in a first opening portion formed in other wall portion of the arm. A hollow shaft portion is removably fixed to a housing and supports an inner ring of the hollowing bearing. A hollow portion of the hollow shaft portion is formed to be smaller than the motor. The first opening portion is formed such that the motor is allowed to pass therethrough. A wall portion of the housing that forms support portions is formed with a second opening portion that allows the hollow bearing and the motor to pass therethrough.

公开(公告)号：US09394979B2

公开(公告)日：2016-07-19

申请号：US14355093

申请日：2012-11-01

Applicant: NTN CORPORATION

Inventor： Hiroyuki Yamada ,  Hiroshi Isobe ,  Keisuke Sone

IPC: F16H57/04 ,  B23Q11/12 ,  F16H21/46 ,  B25J9/00 ,  B25J9/10 ,  B25J19/00 ,  F16C19/06 ,  F16C19/22 ,  F16C33/66

CPC classification number: F16H21/46 ,  B25J9/0048 ,  B25J9/108 ,  B25J19/0062 ,  B25J19/0066 ,  F16C19/06 ,  F16C19/22 ,  F16C33/6625 ,  Y10T74/20207

Abstract: A bearing is interposed in the revolute pair between a proximal end side link hub and each proximal side end link member. A control device controls an actuator, to perform work-time control for causing a determined work operation to be executed and to perform, while the work-time control is stopped, grease circulation control for circulating grease sealed in the bearing. The maximum value θmax of a bending angle in the work-time control does not exceed the maximum allowable bending angle θ′max being the maximum value of the bending angle allowable in the mechanism, and the maximum value of the bending angle in the grease circulation control is greater than the maximum value θmax of the bending angle in the work-time control and smaller than the maximum allowable bending angle θ′max.

Abstract translation: 轴承插入在近端侧连接毂和每个近端侧连杆构件之间的旋转对中。 控制装置控制致动器，进行工作时间控制，以进行确定的工作操作，并且在停止工作时间控制的同时执行润滑脂循环控制，以循环润滑脂密封在轴承中。 工作时间控制中弯曲角度的最大值和最大值不超过最大允许弯曲角度;最大值为机构允许的弯曲角度的最大值，弯曲角度的最大值为 润滑脂循环控制大于工作时间控制中弯曲角度的最大值和最大值，小于最大允许弯曲角度＆amp;最大值;

公开(公告)号：US20140305248A1

公开(公告)日：2014-10-16

申请号：US14358820

申请日：2012-11-01

Applicant: NIDEC SANKYO CORPORATION

Inventor： Takayuki Yazawa ,  Masago Shiba ,  Hiroto Nakajima ,  Masashi Fujiwara

IPC: B25J21/00 ,  B25J18/00

CPC classification number: B25J9/0012 ,  B25J9/108 ,  B25J19/0054 ,  B25J21/00 ,  C03B35/207 ,  H01L21/67742 ,  Y10S901/27 ,  Y10T74/20329

Abstract: The present application provides an industrial robot that can control the abrasion and damage of a bearing unit, and also control the deformation of an arm, even in the case of transferring a high-temperature transfer object in a vacuum. The industrial robot includes a bearing unit for supporting an arm at a joint section as a connection section between the arm and the main body. At the joint section, the arm has a first protrusion section protruding toward the main body, and meanwhile the main body has a first housing section in which a first hollow section for housing the first protrusion section is formed. The first protrusion section and the first housing section are formed of a material having higher thermal conductivity than the bearing unit has, and a semisolid thermally-conductive substance, having higher thermal conductivity than the bearing unit has, is placed in the first hollow section. Moreover, the main body includes; a heat radiator being formed of a material having higher thermal conductivity than the bearing unit has, and being positioned in the atmosphere; and a connecting section for connecting the first housing section and the heat radiator, the connecting section being formed of a material having higher thermal conductivity than the bearing unit has.

Abstract translation: 本申请提供了一种能够控制轴承单元的磨损和损坏的工业机器人，并且即使在真空中转移高温转印体的情况下也可以控制臂的变形。 工业机器人包括用于在臂和主体之间的连接部分处将接合部分处的臂支撑的轴承单元。 在接合部，臂具有向主体突出的第一突出部，同时主体具有形成有用于容纳第一突起部的第一中空部的第一容纳部。 第一突出部分和第一壳体部分由具有比轴承单元具有的导热性高的材料形成，并且具有比轴承单元具有更高导热性的半固体导热物质被放置在第一中空部分中。 此外，主体包括 由具有比轴承单元更高的热导率的材料形成并且位于大气中的散热器; 以及用于连接第一壳体部分和散热器的连接部分，连接部分由具有比轴承单元具有更高导热性的材料形成。