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1. 发明申请

US20230139801A1 INSERTION TOOL WITH FLEXIBLE SPINE 有权
公开(公告)号：US20230139801A1
公开(公告)日：2023-05-04
申请号：US17693126
申请日：2022-03-11
申请人： OLIVER CRISPIN ROBOTICS LIMITED
发明人： Jason Ralph Gordon Curle , Peter John Nisbet , Tim Henri Ann Francois
IPC分类号： B25J18/06 , B25J9/10 , B25J19/00 , B25J9/06
摘要： An insertion tool with a flexible spine and a method for forming thereof are provided. A method includes placing a plurality of links, a flexible spine, and a line assembly into a channel of a fixturing assembly, pulling, via the line assembly, the plurality of links into a tensioned state in the channel, and affixing the flexible spine to each of the plurality of links while in the tensioned state. An insertion tool comprising a plurality of links arranged in a sequence, a flexible spine affixed to three or more links of the plurality of links, and a line assembly inserted through line guides in each of the plurality of links, the line assembly being configured to actuate the plurality of links from a free state to a tensioned state.

2. 发明申请

US20230136316A1 ROBOT 有权
公开(公告)号：US20230136316A1
公开(公告)日：2023-05-04
申请号：US18147832
申请日：2022-12-29
申请人： Mitsubishi Electric Corporation
发明人： Noboru KAWAGUCHI , Hidetaka YAMAUCHI , Tomoya HATTORI , Koji HIROSE
IPC分类号： B25J9/10 , B25J15/10 , B25J17/02 , B25J9/14 , F16H25/20 , F15B15/14 , F15B11/10 , B62D57/032 , F16H19/00 , F15B15/06 , F16H21/46 , B25J17/00 , B25J5/00
摘要： A robot includes elbows connecting forearms rotatably to upper arms with two rotational degrees of freedom. The elbow includes: an elbow joint connecting the forearm and the upper arm with two rotational degrees of freedom; an elbow drive main link; an elbow drive auxiliary link; a forearm-side main link attaching unit attached with one end of the elbow drive main link with two rotational degrees of freedom, and provided in the forearm; an elbow-drive-main-link-side auxiliary link attaching unit attached with one end of the elbow drive auxiliary link with two rotational degrees of freedom, and provided on the elbow drive main link; and two linear actuators for moving two upper-arm-side link attaching units each attached with the other end of either the elbow drive main link or the elbow drive auxiliary link with two rotational degrees of freedom, and provided so as to be movable along the upper arm.

3. 发明授权

US11638617B2 Robotic manipulator for guiding an endoscope having a parallel linkage 有权
公开(公告)号：US11638617B2
公开(公告)日：2023-05-02
申请号：US16616436
申请日：2018-05-14
申请人： Brainlab Robotics GmbH
发明人： Stephan Nowatschin , Maximilian Krinninger , Christian Kühnau , Daniel Roppenecker , Dominik Gierlach , Johannes Agricola , Johann Ulrich Wigger
IPC分类号： A61B34/30 , A61B90/50 , A61B1/00 , B25J9/10 , B25J19/00
摘要： A surgical manipulator device for positioning a surgical instrument has a frame, a first mount, a second mount, a first suspension arm arrangement supported on the frame and connecting the frame to the first mount in an articulated manner, and a second suspension arm arrangement supported on the frame and connecting the frame to the second mount in an articulated manner. The first and the second suspension arm arrangements are each displaceable relative to the frame in first and second motion planes parallel to each other and spaced apart, so that the first mount is displaceable in the first motion plane and the second mount is displaceable in the second motion plane.

4. 发明申请

US20230131269A1 CONTINUUM ROBOT CONTROL SYSTEM AND CONTROL METHOD, AND PROGRAM 有权
公开(公告)号：US20230131269A1
公开(公告)日：2023-04-27
申请号：US18069127
申请日：2022-12-20
申请人： CANON KABUSHIKI KAISHA
发明人： Kiyoshi Takagi
IPC分类号： B25J9/10 , B25J18/06 , B25J13/08
摘要： An object is to provide a mechanism that can ensure safe operation of a continuum robot. A block FTL calculates a target bending angle θfFTL and a target rotational angle ζfFTL of a following bending section on the basis of a target bending angle θlt and a target rotational angle ζlt of a distal-most bending section and a displacement of a base. A switch unit 330 selects the target bending angle θfFTL and the target rotational angle θfFTL of the following bending section obtained from the block FTL or a target bending angle θlf and a target rotational angle ζlf of the following bending section obtained from a block Pl corresponding to following operating means. A kinematic computing unit 340 computes, on the basis of the target bending angle and the target rotational angle, a drive displacement by which a driving unit drives a wire in the following bending section.

5. 发明申请

US20230129623A1 CROSS LASER CALIBRATION DEVICE AND CALIBRATION SYSTEM USING THE SAME 有权
公开(公告)号：US20230129623A1
公开(公告)日：2023-04-27
申请号：US17562606
申请日：2021-12-27
申请人： INDUSTRIAL TECHNOLOGY RESEARCH INSTITUTE
发明人： Sheng-Chieh HSU , Sheng-Han HSIEH , Mou-Tung HSIEH , Tien-Yun CHI , Kuo-Feng HUNG
IPC分类号： B25J9/16 , G01B21/04 , B25J9/10
摘要： A cross laser calibration device used to calibrate a tool center point is provided. The calibration device includes a coordinate orifice plate, a set of cross laser sensors and a rotational and translational movement mechanism. The coordinate orifice plate has an orifice center point. The set of cross laser sensors is arranged on the coordinate orifice plate to generate cross laser lines intersecting at the orifice center point. The set of cross laser sensors is driven by the second motor to rotate around the center point of the second motor, wherein the orifice center point has an off-axis setting relative to the center point of the second motor.

6. 发明授权

US11635064B1 Microfluidic-based artificial muscles and method of formation 有权
公开(公告)号：US11635064B1
公开(公告)日：2023-04-25
申请号：US17338393
申请日：2021-06-03
申请人： California Institute of Technology , The Government of the United States of America, as represented by the Secretary of the Navy
发明人： Emil P. Kartalov , Axel Scherer
IPC分类号： A61F2/08 , H02N1/00 , B33Y80/00 , A61H1/02 , F15B21/06 , F03G7/06 , A61F2/70 , A61H3/00 , B25J9/10 , F15B15/10 , F15B13/044 , A61F2/48
摘要： Artificial muscles comprising a body of dielectric elastomer, wherein the body contains a pair of microfluidic networks are presented. Each microfluidic network includes a plurality of channels fluidically coupled via a manifold. The channels of the microfluidic networks are interdigitated and filled with conductive fluid such that each set of adjacent channels functions as the electrodes of an electroactive polymer (EAP) actuator. By using the manifolds as compliant wiring to energize the electrodes, artificial muscles in accordance with the present disclosure mitigate some or all of the reliability problems associated with prior-art artificial muscles.

7. 发明授权

US11633859B2 Robot 有权
公开(公告)号：US11633859B2
公开(公告)日：2023-04-25
申请号：US17000633
申请日：2020-08-24
申请人： FANUC CORPORATION
发明人： Kaname Kikuchi , Tomoyuki Motokado , Toshihiko Inoue
IPC分类号： B25J9/16 , B25J19/00 , B25J9/04 , B25J9/10
摘要： A robot including a robot mechanism including joints and drive units, a control unit controlling the drive units so that an inspection operation to inspect one target drive unit among the drive units is executed by the robot mechanism, and a notification unit notifying maintenance information of the target drive unit based on a current value of a motor of the target drive unit during the inspection operation, or on information associated with the current value, and the inspection operation includes transmitting, to the motor of the target drive unit, control command to rotate a joint as much as a predetermined rotation angle, and thereby moving a tip of the robot mechanism or a tool at the tip, close to an object at a predetermined position from a predetermined start position, to press the object, and separating the tip of the robot mechanism or the tool away from the object.

8. 发明授权

US11628561B2 System and methods for robotic precision placement and insertion 有权
公开(公告)号：US11628561B2
公开(公告)日：2023-04-18
申请号：US16871884
申请日：2020-05-11
申请人： The Hong Kong University of Science and Technology
发明人： Chung Hee Kim , Jungwon Seo
IPC分类号： B25J9/16 , B25J9/10 , B25J15/00 , B25J15/10
摘要： A system and methods are disclosed for precision placement or insertion of an object using robotic manipulation. A robotic tool includes at least three members, including a first member and a second member that grip the object between opposing faces and a third member that exerts a force on a proximate end of the object to push the object out of the robotic tool. A series of maneuvers is performed with the robotic tool in order to place the object on a surface or insert the object in a hole. The maneuvers include positioning the object against the surface, rotating the object around a contact point between the object and the surface, rotating the robotic tool around a contact point between the object and either the first or second member of the robotic tool, sliding the object horizontally along a surface, and tucking the object into a final desired position.

9. 发明授权

US11628560B2 Programmable multi-scale fluidic artificial muscles and pistons 有权
公开(公告)号：US11628560B2
公开(公告)日：2023-04-18
申请号：US16494291
申请日：2018-03-22
申请人： President and Fellows of Harvard College , Massachusetts Institute of Technology
发明人： Shuguang Li , Robert J. Wood , Daniela Rus , Daniel M. Vogt , Nicholas W. Bartlett
IPC分类号： B25J9/14 , B25J11/00 , F15B15/10 , F16J3/00 , B25J9/10
摘要： An artificial muscle system includes a collapsible skeleton, a flexible skin, and a muscle actuation mechanism. The collapsible skeleton is contained inside a volume defined, at least in part, by the flexible skin. The flexible skin and the collapsible skeleton are configured for the flexible skin to provide a pulling force on the collapsible skeleton when a pressure difference exists between the inside of the sealed volume and a surrounding environment to change at least one of the dimensions and thus geometry of the collapsible skeleton. The muscle actuation mechanism includes at least one of the following to deploy or contract the collapsible skeleton: (a) a fluid displacing, releasing, or capturing mechanism configured to increase or decrease fluid pressure inside the sealed volume; and (b) a heating or cooling element configured to change the temperature of fluid in the sealed volume.

10. 发明申请

US20230112266A1 LINEAR ROBOT AND METHOD OF MANUFACTURING THE SAME 有权
公开(公告)号：US20230112266A1
公开(公告)日：2023-04-13
申请号：US17699120
申请日：2022-03-20
申请人： GnB
发明人： Won Hyung LEE
IPC分类号： B25J9/00 , B25J9/10 , B25J9/12 , B25J13/08 , B25J19/00
摘要： A linear robot according to the present disclosure includes a main body unit including a main body base part seated on a ground surface, and main body sidewall parts protruding in an upward direction by a predetermined thickness from two opposite sides of the main body base part, the main body unit having an internal space defined by the main body base part and the main body sidewall parts; a transfer block unit partially accommodated in the internal space of the main body unit, configured to linearly move in one direction, and having an upper portion on which a transfer target object is seated, the transfer block unit being configured to transfer the transfer target object from a first position to a second position; and a pair of guide rail units disposed between the main body unit and the transfer block unit, coupled to the main body unit, and configured to guide the transfer block unit, in which the main body sidewall parts each have a guide rail unit accommodation groove recessed by a predetermined length in a direction perpendicular to the upward direction, and at least a part of a surface of the guide rail unit accommodation groove has an uneven machined surface.

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