公开(公告)号：US20180304459A1

公开(公告)日：2018-10-25

申请号：US16020667

申请日：2018-06-27

Applicant: ORACLE INTERNATIONAL CORPORATION

Inventor： Timothy Craig Ostwald

IPC: B25J9/10 ,  B25J9/02 ,  G11B17/22 ,  G11B15/68

CPC classification number: B25J9/106 ,  B25J9/023 ,  G11B15/6835 ,  G11B17/225 ,  Y10S901/02 ,  Y10S901/25 ,  Y10S901/29 ,  Y10S901/50

Abstract: Utilities (e.g., systems, apparatuses, methods) that reduce robotic assembly contention in media element storage libraries by rotating (e.g., flipping, swinging, etc.) a robot arm of a first robotic assembly mounted over a first of first and second spaced storage arrays in a storage library into a first position between the first storage array and a central reference plane disposed between and parallel to the first and second storage arrays to allow a robot arm of a second robotic assembly to slide or otherwise move past the robot arm of the first robotic assembly (e.g., in a direction along or parallel to an x-axis parallel to the first and second storage arrays), even when the robot arms of the first and second robotic assemblies are disposed at the same height (e.g., along a z-axis that is perpendicular to the x-axis) within the storage library.

公开(公告)号：US20180264645A1

公开(公告)日：2018-09-20

申请号：US15980940

申请日：2018-05-16

Applicant: Hocheol Shin ,  Chang-Hoi Kim ,  Yong-Chil Seo ,  Jongwon Park ,  Byung-Seon Choi ,  Jeikwon Moon

Inventor： Hocheol Shin ,  Chang-Hoi Kim ,  Yong-Chil Seo ,  Jongwon Park ,  Byung-Seon Choi ,  Jeikwon Moon

IPC: B25J9/16 ,  B25J9/10 ,  B25J9/12 ,  H02P29/00

CPC classification number: B25J9/16 ,  B25J9/102 ,  B25J9/126 ,  B25J13/088 ,  H02P6/16 ,  H02P29/0016 ,  Y10S901/23 ,  Y10S901/25

Abstract: Disclosed are a device and a method for controlling a motor. According to a specific embodiment of the present disclosure, an input shaft of a motor is provided with a low-resolution absolute position detector and an output shaft of the motor is provided with a low-resolution absolute position detector having a resolution greater than or equal to a reduction gear ratio. An initial offset and an offset are defined accordingly, and a high-resolution output shaft absolute position is derived from a relational expression, which is defined by an input shaft absolute position received at a predetermined time interval, a derived offset, an output shaft absolute position, and the reduction gear ratio, such that it is possible to easily detect the high-resolution output shaft absolute position by using a low-price absolute position detector without the modification or addition of an actuator.

公开(公告)号：US20180215050A1

公开(公告)日：2018-08-02

申请号：US15746064

申请日：2016-07-21

Applicant: KR 2013 APS

Inventor： Kristian KASSOW

IPC: B25J17/02 ,  B25J9/08 ,  B25J9/10 ,  B25J9/12 ,  B25J19/00 ,  B25J19/02 ,  F16H49/00 ,  F16D65/12 ,  F16D67/02

CPC classification number: B25J17/025 ,  B25J9/08 ,  B25J9/1025 ,  B25J9/126 ,  B25J19/0004 ,  B25J19/02 ,  F16D65/12 ,  F16D67/02 ,  F16D2121/16 ,  F16D2200/0026 ,  F16H49/001 ,  Y10S901/15 ,  Y10S901/20 ,  Y10S901/23 ,  Y10S901/25 ,  Y10S901/29 ,  Y10S901/46

Abstract: The present invention relates to a joint assembly (1) for a robot (100), comprising a housing (26) connected with an output part (8), the housing comprising a housing wall (26A), a strain wave gearing system (90) comprising a wave generator (7), a flexspline (13), and a circular spline (36) connected to the output part (8), wherein the wave generator (7) is rotated by a rotor shaft (3), the rotor shaft being driven by an electric motor (140) comprising a stator (15) and a rotor magnet (16), the rotor magnet (16) being affixed to the rotor shaft (3), and wherein the joint assembly (1) further comprises a rotor brake (30) configured to stop/prevent relative movement between the rotor shaft (3) and the flexspline (13), and sensors arranged to measure the position of the housing (26) in relation to the output part (8). Furthermore, the present invention also relates to a robotic arm (100) comprising a joint assembly according to the present invention and to the use of the joint assembly according to the present invention.

公开(公告)号：US09764463B2

公开(公告)日：2017-09-19

申请号：US14868797

申请日：2015-09-29

Applicant: Seiko Epson Corporation

Inventor： Seiji Hahakura ,  Kazushige Akaha ,  Sho Nakano ,  Takuya Owa ,  Kotaro Sekine ,  Daisuke Komatsu

IPC: B25J17/00 ,  B25J9/10 ,  B25J9/04 ,  B25J19/00

CPC classification number: B25J9/104 ,  B25J9/046 ,  B25J9/102 ,  B25J19/0029 ,  Y10S901/19 ,  Y10S901/20 ,  Y10S901/21 ,  Y10S901/25

Abstract: A robot includes: a base; an arm which is provided to be rotatable with respect to the base using a predetermined rotation shaft as the center of rotation; and an elongated object including a portion present in the base and in the arm, in which the elongated object is bound in a first binding position which is on the rotation shaft and in the base and a second binding position which is on the rotation shaft and in the arm.

公开(公告)号：US09718187B2

公开(公告)日：2017-08-01

申请号：US14733699

申请日：2015-06-08

Applicant: CANON KABUSHIKI KAISHA

Inventor： Takahiro Ishikawa ,  Tsutomu Osaka ,  Shunsuke Kawamura

IPC: B25J9/00 ,  B25J9/16

CPC classification number: B25J9/1674 ,  G05B2219/34388 ,  G05B2219/37297 ,  G05B2219/39098 ,  Y10S901/09 ,  Y10S901/23 ,  Y10S901/25 ,  Y10T29/49828 ,  Y10T74/20317

Abstract: Feedback control is carried out on respective servomotors so that detection angles detected by respective input-side encoders become target angles to be obtained when a leading end of a robot has moved to a positioning completion position of a first motion. Subsequently, the position of the leading end of the robot is obtained on the basis of the detection angles detected by the respective output-side encoders. The time from a time point at which the detection angles detected by the input-side encoders are brought to the target angles through the feedback control to a time point at which a vibration width of the calculated position of the leading end of the robot relative to the positioning completion position converges within a convergence range is obtained. The obtained time is set in the stopping duration of the robot.

公开(公告)号：US20160375591A1

公开(公告)日：2016-12-29

申请号：US15262015

申请日：2016-09-12

Applicant: Life Robotics Inc.

Inventor： Woo-Keun YOON

IPC: B25J18/02 ,  B25J18/06

CPC classification number: B25J18/025 ,  B25J18/02 ,  B25J18/06 ,  F16G13/16 ,  F16G13/20 ,  H02G3/0475 ,  H02G11/006 ,  Y10S901/25

Abstract: An extendable and retractable arm mechanism includes a first structure group formed by coupling a plurality of first structures and a second structure group formed by coupling a plurality of second structures. Each of the first structures includes lock part for fixing the second structures. When the first structure group and the second structure group extend, the lock part fixes the second structures to the first structures.

Abstract translation: 可伸缩臂机构包括通过联接多个第一结构而形成的第一结构组和通过联接多个第二结构而形成的第二结构组。 每个第一结构包括用于固定第二结构的锁定部分。 当第一结构组和第二结构组延伸时，锁定部分将第二结构固定到第一结构。

公开(公告)号：US20160243697A1

公开(公告)日：2016-08-25

申请号：US15045399

申请日：2016-02-17

Applicant: NIPPON THOMPSON CO., LTD.

Inventor： Takashi SATO ,  Tetsuya SAKAI

IPC: B25J9/10 ,  B25J17/02 ,  B25J18/00 ,  B25J17/00 ,  B25J9/06 ,  B25J15/00

CPC classification number: B25J9/10 ,  A61B1/008 ,  A61B34/70 ,  A61B2017/2908 ,  A61B2017/2927 ,  B25J9/06 ,  B25J15/0028 ,  B25J15/022 ,  B25J17/025 ,  Y10S901/19 ,  Y10S901/25 ,  Y10S901/27 ,  Y10S901/36

Abstract: This multi-articulated manipulator is rich in reliability, follow-up property and high precision in medical applications. The multi-articulated manipulator is composed of more than one hollow outer shell, joints to connect the outer shells each other, a grasping member fastened for rocking movement to the foremost outer shell, a claw transmission shaft to actuate the grasping member in a rocking manner and an outer shell power transmission shaft to actuate the outer shells in a bending manner independently from each other. The claw transmission shaft and the outer shell power transmission shaft respectively are composed of universal joints are capable of bending force and transmitting torque.

Abstract translation: 这种多关节操纵器在医疗应用中具有丰富的可靠性，后续性能和高精度。 多关节操纵器由多个中空外壳，将外壳连接的接头构成，用于使摇摆运动紧固至最外侧的外壳的抓持构件，以传动方式驱动抓握构件的爪传动轴 以及外壳动力传递轴，以彼此独立的弯曲方式致动外壳。 爪传动轴和外壳动力传动轴分别由万向节组成，能够弯曲力和传递扭矩。

公开(公告)号：US09114527B2

公开(公告)日：2015-08-25

申请号：US14067965

申请日：2013-10-31

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Shingi Takahashi ,  Takuya Okada ,  Tomoyuki Shiraki

IPC: B25J9/10 ,  B25J17/02 ,  F16H55/18

CPC classification number: B25J9/103 ,  B25J17/02 ,  F16H55/18 ,  Y10S901/25 ,  Y10T74/20329

Abstract: A robot according to embodiments includes a first link, a second link, an actuator, a scissors gear, and a support part. The second link is rotatably connected to the first link. The actuator drives the second link in a rotatable manner. The scissors gear includes a main gear and a sub gear, and outputs driving force from the actuator to the second link. The support part is attached to the first link and rotatably supports the scissors gear. Furthermore, the scissors gear includes a spring that is arranged adjacent to the support part in the direction of the rotational axis of the scissors gear and applies biasing force to the main gear and the sub gear in rotational directions different from each other.

Abstract translation: 根据实施例的机器人包括第一连杆，第二连杆，致动器，剪刀齿轮和支撑部件。 第二连杆可旋转地连接到第一连杆。 致动器以可旋转的方式驱动第二连杆。 剪刀齿轮包括主齿轮和副齿轮，并且将驱动力从致动器输出到第二连杆。 支撑部分附接到第一连杆并可旋转地支撑剪刀齿轮。 此外，剪刀齿轮包括沿着剪刀齿轮的旋转轴线的方向邻近支撑部分布置的弹簧，并且在相对于彼此不同的旋转方向上向主齿轮和副齿轮施加偏压力。

公开(公告)号：US20150068349A1

公开(公告)日：2015-03-12

申请号：US14481072

申请日：2014-09-09

Applicant: Seiko Epson Corporation

Inventor： Tomokazu HIRABAYASHI

IPC: B25J9/12

CPC classification number: B25J9/12 ,  B25J9/126 ,  B25J17/00 ,  B25J19/0025 ,  Y10S901/09 ,  Y10S901/20 ,  Y10S901/25 ,  Y10S901/28 ,  Y10S901/46 ,  Y10T74/20317

Abstract: A joint driving device includes: a reduction gear output shaft that transmits a torque to a second link; a transmission shaft that transmits reaction of the torque to a first link; a transmission shaft outer cylinder arranged on the outer circumference of the transmission shaft and connected to the transmission shaft; a reduction gear output shaft outer cylinder arranged in the outer circumference of the reduction gear output shaft and connected to the reduction gear output shaft; and a wire body arranged between the first link and the second link and including at least one of a wire and a pipe. The transmission shaft includes the motor frame as at least a part. The wire body is housed in a space between the transmission shaft outer cylinder and the transmission shaft, and a space between the reduction gear output shaft outer cylinder and the reduction gear output shaft.

Abstract translation: 关节驱动装置包括：向第二连杆传递扭矩的减速齿轮输出轴; 将扭矩反作用于第一连杆的传动轴; 传动轴外筒，布置在传动轴的外圆周上并连接到传动轴; 减速齿轮输出轴外筒，设置在减速齿轮输出轴的外周并连接到减速齿轮输出轴; 以及设置在所述第一连杆和所述第二连杆之间并且包括电线和管道中的至少一个的电线体。 传动轴包括作为至少一部分的马达框架。 线体容纳在传动轴外筒和传动轴之间的空间中，减速齿轮输出轴外筒和减速齿轮输出轴之间的空间。

公开(公告)号：US20140360307A1

公开(公告)日：2014-12-11

申请号：US14067965

申请日：2013-10-31

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Shingi TAKAHASHI ,  Takuya OKADA ,  Tomoyuki SHIRAKI

IPC: B25J18/00

CPC classification number: B25J9/103 ,  B25J17/02 ,  F16H55/18 ,  Y10S901/25 ,  Y10T74/20329

Abstract: A robot according to embodiments includes a first link, a second link, an actuator, a scissors gear, and a support part. The second link is rotatably connected to the first link. The actuator drives the second link in a rotatable manner. The scissors gear includes a main gear and a sub gear, and outputs driving force from the actuator to the second link. The support part is attached to the first link and rotatably supports the scissors gear. Furthermore, the scissors gear includes a spring that is arranged adjacent to the support part in the direction of the rotational axis of the scissors gear and applies biasing force to the main gear and the sub gear in rotational directions different from each other.

Abstract translation: 根据实施例的机器人包括第一连杆，第二连杆，致动器，剪刀齿轮和支撑部件。 第二连杆可旋转地连接到第一连杆。 致动器以可旋转的方式驱动第二连杆。 剪刀齿轮包括主齿轮和副齿轮，并且将驱动力从致动器输出到第二连杆。 支撑部分附接到第一连杆并可旋转地支撑剪刀齿轮。 此外，剪刀齿轮包括沿着剪刀齿轮的旋转轴线的方向邻近支撑部分布置的弹簧，并且在相对于彼此不同的旋转方向上向主齿轮和副齿轮施加偏压力。