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1. 发明授权

US09651433B2 Force detector, robot, electronic component carrying apparatus, electronic component testing apparatus, part processing apparatus, and moving object 有权
公开(公告)号：US09651433B2
公开(公告)日：2017-05-16
申请号：US14200925
申请日：2014-03-07
申请人： Seiko Epson Corporation
发明人： Akira Matsuzawa , Hiroki Kawai , Toshiyuki Kamiya
IPC分类号： G01L3/02 , G01L1/22 , G01L3/00 , G01L9/00 , G01L1/00 , G01L1/16 , B25J13/08 , G01L5/00
CPC分类号： G01L1/16 , B25J13/085 , B25J19/028 , G01L5/009 , Y10S901/46 , Y10T74/20335
摘要： A force detector includes a first substrate, a second substrate, a circuit board provided between the first substrate and the second substrate, and an element mounted on the circuit board and outputting a signal in response to an external force, wherein a hole is formed in the circuit board at a location where the element is placed, and a first convex part inserted into the hole and protruding toward the element is provided on the first substrate. Further, the element is placed within a periphery of the first convex part as seen from a direction perpendicular to the first substrate.

2. 发明授权

US09554865B2 Steady hand micromanipulation robot 有权
标题翻译：稳定的手动微机械手
公开(公告)号：US09554865B2
公开(公告)日：2017-01-31
申请号：US14540740
申请日：2014-11-13
申请人： The Johns Hopkins University
发明人： Kevin C. Olds , Russell H. Taylor
IPC分类号： B25J9/10 , B25J9/00 , A61F9/007
CPC分类号： A61B34/30 , A61B34/74 , A61B90/00 , A61B2034/304 , A61B2090/571 , A61F9/00736 , B25J9/0051 , B25J9/0084 , Y10T74/20305 , Y10T74/20335
摘要： A cooperative-control robot includes a base component, a mobile platform arranged proximate the base component, a translation assembly operatively connected to the base component and the mobile platform and configured to move the mobile platform with translational degrees of freedom substantially without rotation with respect to said the component, a tool assembly connected to the mobile platform, and a control system configured to communicate with the translation assembly to control motion of the mobile platform in response to forces by a user applied to at least a portion of the cooperative-control robot. The translation assembly includes at least three independently operable actuator arms, each connected to a separate position of the mobile platform. A robotic system includes two or more the cooperative-control robots.
摘要翻译：协作控制机器人包括基部部件，靠近基部部件布置的移动平台，可操作地连接到基部部件和移动平台的移动平台，并且被配置为使移动平台以平移自由度基本上不相对于所述组件，连接到移动平台的工具组件以及被配置为与平移组件进行通信以控制移动平台响应于应用于协作控制机器人的至少一部分的用户的力的控制的控制系统。翻译组件包括至少三个独立可操作的致动器臂，每个连接到移动平台的单独位置。机器人系统包括两个或多个协作控制机器人。

3. 发明申请

US20160235488A1 OPTIC FIBER CONNECTION FOR A FORCE SENSING INSTRUMENT 审中-公开
公开(公告)号：US20160235488A1
公开(公告)日：2016-08-18
申请号：US15141691
申请日：2016-04-28
申请人： Intuitive Surgical Operations, Inc.
发明人： Stephen J. Blumenkranz , Gregory W. Dachs II , Ian E. McDowall , Christopher J. Hasser
IPC分类号： A61B34/20 , G01B11/16 , G02B6/12 , A61B18/00 , G02B6/32
CPC分类号： A61B34/20 , A61B18/00 , A61B34/30 , A61B2017/00477 , A61B2034/2061 , A61B2034/305 , A61B2090/064 , A61B2562/0266 , G01B11/16 , G01L1/242 , G02B6/12019 , G02B6/264 , G02B6/32 , Y10T74/20335
摘要： In one embodiment, a surgical instrument includes a housing linkable with a manipulator arm of a robotic surgical system, a shaft operably coupled to the housing, a force transducer on a distal end of the shaft, and a plurality of fiber optic strain gauges on the force transducer. In one example, the plurality of strain gauges are operably coupled to a fiber optic splitter or an arrayed waveguide grating (AWG) multiplexer. A fiber optic connector is operably coupled to the fiber optic splitter or the AWG multiplexer. A wrist joint is operably coupled to a distal end of the force transducer, and an end effector is operably coupled to the wrist joint. In another embodiment, a robotic surgical manipulator includes a base link operably coupled to a distal end of a manipulator positioning system, and a distal link movably coupled to the base link, wherein the distal link includes an instrument interface and a fiber optic connector optically linkable to a surgical instrument. A method of passing data between an instrument and a manipulator via optical connectors is also provided.

4. 发明申请

US20160157945A1 Articulated Surgical Instrument for Performing Minimally Invasive Surgery with Enhanced Dexterity and Sensitivity 审中-公开
标题翻译：具有增强敏捷性的微创外科手术器械
公开(公告)号：US20160157945A1
公开(公告)日：2016-06-09
申请号：US15019439
申请日：2016-02-09
申请人： Intuitive Surgical Operations, Inc.
发明人： AKHIL J. MADHANI , J. Kenneth Salisbury
IPC分类号： A61B34/30 , A61B17/29 , A61B34/00
CPC分类号： A61B34/30 , A61B17/00234 , A61B17/29 , A61B34/35 , A61B34/37 , A61B34/70 , A61B34/71 , A61B34/76 , A61B34/77 , A61B2017/2927 , A61B2017/2929 , A61B2017/2939 , A61B2034/305 , A61B2034/306 , A61B2034/715 , B25J3/04 , B25J9/104 , Y10T74/20329 , Y10T74/20335
摘要： An articulated surgical instrument for enhancing the performance of minimally invasive surgical procedures. The instrument has a high degree of dexterity, low friction, low inertia and good force reflection. A unique cable and pulley drive system operates to reduce friction and enhance force reflection. A unique wrist mechanism operates to enhance surgical dexterity compared to standard laparoscopic instruments. The system is optimized to reduce the number of actuators required and thus produce a fully functional articulated surgical instrument of minimum size.
摘要翻译：一种用于增强微创外科手术的表现的关节式手术器械。仪器具有高灵敏度，低摩擦，低惯性和良好的力反射。独特的电缆和滑轮驱动系统可以减少摩擦和增强力反射。与标准腹腔镜手术相比，独特的手腕机构可以增强手术灵敏度。该系统经过优化，可以减少执行器所需的数量，从而产生最小尺寸的全功能关节式手术器械。

5. 发明授权

US09334127B2 Systems, apparatus and methods for transporting substrates in electronic device manufacturing 有权
标题翻译：用于在电子设备制造中传送基板的系统，设备和方法
公开(公告)号：US09334127B2
公开(公告)日：2016-05-10
申请号：US14301382
申请日：2014-06-11
申请人： Applied Materials, Inc.
发明人： Izya Kremerman , Jeffrey C. Hudgens
IPC分类号： H01L21/677 , B65G47/90 , B25J9/04 , B25J18/00
CPC分类号： B65G47/904 , B25J9/042 , B25J18/00 , H01L21/67742 , Y10S414/135 , Y10S414/141 , Y10S901/15 , Y10S901/16 , Y10S901/21 , Y10S901/28 , Y10S901/29 , Y10T74/20335
摘要： An electronic device processing system is disclosed. The system includes a transfer chamber including facets and a plurality of single-entry process chambers coupled to the facets, wherein at least some process chambers are non-focalized process chambers, at least one load lock chamber, and a robot apparatus operable to transport substrates between the process chambers and the load lock chamber(s). Robot apparatus includes an upper arm, a forearm, and a wrist member adapted for independent rotation relative to the forearm about a wrist axis, and an end effector adapted to carry a substrate. Various degrees of yaw may be imparted to the wrist member in order to service the non-focalized process chambers. Systems and methods are also provided as are other aspects.
摘要翻译：公开了一种电子设备处理系统。该系统包括传送室，其包括小平面和耦合到小平面的多个单入口处理室，其中至少一些处理室是非聚焦处理室，至少一个加载锁定室和可操作以输送基板的机器人装置在处理室和负载锁定室之间。机器人装置包括上臂，前臂和适于相对于围绕腕轴的前臂独立旋转的腕部构件，以及适于承载基底的端部执行器。可以向腕部构件施加各种程度的偏转，以便维持非聚焦的处理室。还提供了系统和方法以及其它方面。

6. 发明授权

US09333045B2 Method and means for transferring controller motion from a robotic manipulator to an attached instrument 有权
标题翻译：将控制器运动从机器人操纵器传送到附加仪器的方法和装置
公开(公告)号：US09333045B2
公开(公告)日：2016-05-10
申请号：US14868178
申请日：2015-09-28
申请人： Intuitive Surgical Operations, Inc.
发明人： Thomas Cooper , Anthony McGrogan
IPC分类号： A61B19/00 , A61B17/00
CPC分类号： A61B34/30 , A61B34/71 , A61B90/10 , A61B2017/00477 , Y10T74/20323 , Y10T74/20335
摘要： A coupler to transfer controller motion from a robotic manipulator to a surgical instrument includes a pin having a tip with a bearing surface and a plate having a driving surface that bears against a gimbal assembly in the surgical instrument. The plate has a surface supported on the bearing surface of the pin. The bearing surface has a center that coincides with an intersection of two rotational axes of the gimbal assembly. The plate is rotated about the center of the bearing surface to transfer controller motion to the surgical instrument. There may be alignment features on the driving surface of the plate to mate with corresponding features on an inner gimbal of the gimbal assembly. An actuator arm may be connected to one side of the plate. An actuator mechanism may be connected to the actuator arm to rotate the plate about the center of the bearing surface.
摘要翻译：将控制器运动从机器人操纵器传递到手术器械的耦合器包括具有带有支承表面的尖端的销和具有支撑在手术器械中的万向节组件上的驱动表面的板。板具有支撑在销的支承表面上的表面。轴承表面具有与万向节组件的两个旋转轴线的交点相重合的中心。板绕轴承表面的中心旋转，以将控制器运动传递到手术器械。在板的驱动表面上可能存在对准特征，以与万向节组件的内部万向节上的对应特征相配合。致动器臂可以连接到板的一侧。致动器机构可以连接到致动器臂以使板绕轴承表面的中心旋转。

7. 发明授权

US09316266B2 Parallel link mechanism, constant velocity universal joint, and link actuator 有权
标题翻译：平行连杆机构，等速万向节和连杆执行机构
公开(公告)号：US09316266B2
公开(公告)日：2016-04-19
申请号：US14352005
申请日：2012-10-30
申请人： NTN CORPORATION
发明人： Hiroshi Isobe , Hiroyuki Yamada , Keisuke Sone
IPC分类号： B25J17/00 , F16D3/30 , F16H21/46 , B25J9/00 , B25J9/10 , B25J19/00
CPC分类号： F16D3/30 , B25J9/0048 , B25J9/108 , B25J19/0062 , F16C19/06 , F16C19/26 , F16C19/46 , F16H21/46 , Y10S464/905 , Y10T74/20335
摘要： A parallel link mechanism includes proximal end side and distal end side link hubs, and three or more link mechanisms. Each link mechanism is a trinodal link mechanism including four revolute pairs, and includes proximal side and distal side end link members and an intermediate link member. In each revolute pair of the link mechanism, a pair of pair constituent members is connected to each other via a bearing. A shaft portion provided in one pair constituent member is fitted on an inner periphery of an inner ring of the bearing, and an annular inner face forming portion provided in the other pair constituent member is fitted on an outer periphery of the outer ring of the bearing. The shaft portion and the annular inner face forming portion define a sealing structure which regulates flow of a lubricant between inside and outside of the bearing.
摘要翻译：平行连杆机构包括近端侧和远端侧连接毂以及三个或更多个连杆机构。每个连杆机构是包括四个旋转对的三联连杆机构，并且包括近端侧和远端侧连杆构件以及中间连杆构件。在连杆机构的每个转动对中，一对成对构件通过轴承彼此连接。设置在一对构成构件中的轴部装配在轴承的内圈的内周上，并且设置在另一对构成构件中的环形内表面形成部分装配在轴承的外圈的外周上。轴部分和环形内表面形成部分限定了一种密封结构，其调节润滑剂在轴承内部和外部之间的流动。

8. 发明授权

US09221180B2 Extended wrist assembly for robotic arm 有权
标题翻译：用于机器臂的扩展腕部组件
公开(公告)号：US09221180B2
公开(公告)日：2015-12-29
申请号：US13720610
申请日：2012-12-19
申请人： Fabworx Solutions, Inc.
发明人： Richard J. Kent
IPC分类号： B25J17/02 , B25J9/10
CPC分类号： B25J17/02 , B25J9/107 , Y10S901/29 , Y10T74/20335
摘要： 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.
摘要翻译：提供了一种机器人，其包括：（a）终止于第一半径（317）的第一臂（313）; （b）终止于第二半径（319）的第二臂（315），其中所述第二半径与所述第一半径间隔开; （c）围绕所述第一半径的一部分延伸的第一带（331）; （d）围绕所述第二半径的一部分延伸的第二带; 和（e）第一刚性的纵向延伸的元件（709），其具有附接到所述第一带的第一端，并且具有附接到所述第二带的第二端。

9. 发明申请

US20150321360A1 MANIPULATOR FOR AN ULTRA-HIGH-VACUUM CHAMBER 审中-公开
标题翻译：用于超高真空室的操纵器
公开(公告)号：US20150321360A1
公开(公告)日：2015-11-12
申请号：US14433117
申请日：2012-10-02
申请人： AVS ADDED VALUE INDUSTRIAL ENGINEERING SOLUTIONS, S.L.
发明人： Julio Galipienzo Huguet , Miguel Ángel Carrera Astigarraga
IPC分类号： B25J17/02
CPC分类号： B25J17/0216 , B25J1/08 , B25J9/0057 , H01J2237/202 , Y10T74/20335
摘要： Manipulator for an ultra-high vacuum chamber comprising an annular proximal base (1a) that can be securely anchored around an access opening (2a) of a tank (2) of the ultra-high vacuum chamber, a distal base (1b) connected to the proximal base (1a) by means of a bellows element (3) with an inner space (3a) in communication with the ultra-high vacuum chamber through an access opening (2a), a sample-carrying column (4) attached to the distal base (1b), that passes through the inner space (3a) to enter into the ultra-high-vacuum chamber, and a movement system for moving the distal base (1b) in relation to the proximal base, wherein the movement system comprises six actuators (5) each one actuated by respective electric motors (6) radially arranged around the bellows element (3) and connected to the proximal base (1a) in an articulated manner by means of respective proximal ball joints (7) and connected to the distal base (1b) in an articulated manner by means of respective distal ball joints (8), and the bellows element (3) comprises a bellows comprising convolutions.
摘要翻译：一种用于超高真空室的机械手，包括可以牢固地锚固在超高真空室的罐（2）的进入开口（2a）周围的环形近端基座（1a），远端基座（1b）所述近端基座（1a）通过波纹管元件（3），所述波纹管元件（3）具有通过进入开口（2a）与所述超高真空室连通的内部空间（3a），附着到所述超声波真空室远端基座（1b），其穿过内部空间（3a）进入超高真空室;以及移动系统，用于相对于近侧基座移动远端基座（1b），其中移动系统包括六个致动器（5），每个致动器（5）由相应的电动机（6）致动，所述相应的电动机（6）围绕波纹管元件（3）径向布置并且通过相应的近端球接头（7）以铰接的方式连接到近侧基座（1a），并且连接到所述远侧基座（1b）通过相应的远端球窝铰接的方式（8），并且波纹管元件（3）包括包括卷积的波纹管。

10. 发明授权

US09102065B2 Industrial robot with actuators extending in a primary hand enclosure 有权
标题翻译：具有执行器的工业机器人，其在主手机壳中延伸
公开(公告)号：US09102065B2
公开(公告)日：2015-08-11
申请号：US13898790
申请日：2013-05-21
申请人： Rainer Krumbacher
发明人： Rainer Krumbacher
IPC分类号： B25J17/02 , B25J15/02
CPC分类号： B25J17/02 , B25J15/0286 , B25J17/0283 , B25J19/0029 , Y10S901/29 , Y10T74/20335
摘要： 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.
摘要翻译：工业机器人具有机器人手臂，其具有联动装置和可在联动装置处枢转的手臂延伸部。手臂延伸部具有可在连杆处枢转的手臂外壳。臂延伸部具有可以旋转的主手罩，具有第一驱动轴的第一致动器的装置，臂周围围绕臂延伸部的纵向尺寸延伸的臂轴。臂延伸部具有第一手部元件，其通过具有第二驱动轴的第二致动器相对于主手围围围绕第一手轴可调节，并且第二手元件可相对于第二手轴围绕第二手轴调节所述第一手元件借助于具有第三驱动轴的第三致动器。第一，第二和第三致动器被布置在主手机壳体中，其相应的驱动轴基本上平行于与臂轴平行并且距离臂轴一定距离。

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