公开(公告)号：US20200055181A1

公开(公告)日：2020-02-20

申请号：US16496200

申请日：2018-03-28

Applicant: KINOVA INC.

Inventor： Louis Joseph CARON L'ECUYER ,  Philippe FAUTEUX ,  Alexandre PICARD ,  Sebastien MESSIER

IPC: B25J9/00 ,  B25J17/02 ,  B25J19/00

Abstract: An assembly of links and motorized joint unit of a mechanism comprises one or more pairs of links, each said link having a tubular body, at least one end of each of the tubular body being an open end having at least one connector. A motorized joint unit has a first portion received in the open end of the tubular body of a first of the links, the motorized joint unit secured to the at least one connector of the first of the links, a second portion rotatable relative to the first portion by actuation of the motorized joint unit, the second portion received in the open end of the tubular body of a second of the links, the motorized joint unit secured to the at least one connector of the second of the links. A protective sleeve has a tubular body rotatably mounted over the at least one connector of each of the first and the second link, the protective sleeve concealing the connectors and a joint between the pair of links.

公开(公告)号：US20210197400A1

公开(公告)日：2021-07-01

申请号：US16756878

申请日：2018-10-19

Applicant: KINOVA INC.

Inventor： Sebastien MESSIER ,  Philippe FAUTEUX ,  Sebastien BOISVERT ,  Eric LAVIGNE ,  Jean-Luc BOUCHARD

IPC: B25J15/02 ,  F16H37/04 ,  G01D5/14 ,  G01D5/26 ,  G01J5/00 ,  H02K7/116 ,  H02K11/00 ,  H02K11/22

Abstract: An instrument drive mechanism comprises an outer shell having an open-ended receptacle. An internal gear is secured inside the open-ended receptacle and immovable relative to the outer shell. An interface cover is rotatably mounted to the open-ended receptacle, the interface cover configured to be connected to an instrument, the interface cover rotatably supporting at least one cover shaft with an output adapted to be rotatingly coupled to the instrument. A drive system is rotatably mounted to the open-ended receptacle and connected to the interface cover to rotate with the interface cover, the drive system having at least two motor units, a coupling assembly between each of the at least one cover shaft and a corresponding one of the motor units for releasably coupling a motor unit shaft to the cover shaft, for the at least one said motor unit coupled to each said at least one cover shaft to transmit a degree of actuation thereto, and one said motor unit having a gear coupled to internal gear to drive a rotation of the interface cover and drive system relative to the outer shell.

公开(公告)号：US20210197366A1

公开(公告)日：2021-07-01

申请号：US16756880

申请日：2018-10-19

Applicant: KINOVA INC.

Inventor： Eric LAVIGNE ,  Sebastien MESSIER ,  Sebastien BOISVERT ,  Jean-Luc BOUCHARD

IPC: B25J9/16 ,  A61B34/30 ,  A61B34/00

Abstract: An admittance mode control system for a robotic arm comprises an admittance switch adapted to be mounted to the robotic arm. A rotary contact connects a control circuitry to the admittance switch. The control circuitry is adapted to be mounted to the robotic arm, rotational degree(s) of freedom being present between the control circuitry and the admittance switch, the control circuitry interpreting signals to filter circuit misconduct from admittance switch activation. The control circuitry is adapted to communicate a request for admittance to a robot driver for the robot driver to convert an operation of the robotic arm into admittance mode.

公开(公告)号：US20200086479A1

公开(公告)日：2020-03-19

申请号：US16570391

申请日：2019-09-13

Applicant: KINOVA INC.

Inventor： Sebastien MESSIER ,  Louis-Joseph CARON L'ECUYER

IPC: B25J9/10 ,  H05K1/18 ,  G01L3/14 ,  B25J18/00 ,  B25J17/02

Abstract: A motorized joint unit comprises a pair of shells defining an inner cavity, the pair of shells adapted to be connected to adjacent links of an articulated mechanism. A rotor and stator in the inner cavity are actuatable to cause a relative rotation therebetween. A shaft connected to the rotor to rotate with the rotor relative to the stator. A support coupled to the shaft by a mechanism, the support being connected to one of the shells to impart a rotation of the shaft to the shell, the support defining an annular wall. One or more strain gauges are located on said annular wall of the support. A printed circuit board (PCB) is applied against the annular wall and electrically connected to the at least one strain gauge, the PCB adapted to be electrically linked to a controller.