Robot

Patent metadata

Field	Value
Publication number	US-9855446-B2
Application number	US-201414541077-A
Country	US
Kind code	B2
Filing date	Nov 13, 2014
Priority date	Apr 7, 2014
Publication date	Jan 2, 2018
Grant date	Jan 2, 2018

Abstract

A robot includes a central member, and a plurality of robot arms, each having one end connected to the central member to rotate on a longitudinal axis of the central member, and the robot arms are connected to different portions of the central member to rotate independently and incoherently with respect to each other.

First claim

What is claimed is:

1. A robot comprising:
a central member; and
a plurality of robot arms, each robot arm having one end connected to the central member to rotate on a longitudinal axis of the central member,
wherein the plurality of robot arms are connected to different portions of the central member to rotate independently and incoherently with respect to each other;
wherein the plurality of robot arms comprise:
a plurality of link members;
a plurality of drive members to rotate the plurality of link members;
wherein the plurality of link members are disposed on respective concentric spheres having an identical central point; and
wherein the plurality of link members are provided in a form of arcs and disposed to be spaced from each other radially from the identical central point.

2. The robot of claim 1 , wherein the plurality of link members are disposed away from a location at which the plurality of link members are radially spaced from each other to incoherently rotate with respect to each other.

3. The robot of claim 1 , wherein extension lines of axes of the plurality of drive members are positioned at an identical point.

4. The robot of claim 3 , wherein the plurality of drive members are disposed at end portions of the plurality of link members.

5. The robot of claim 3 , wherein the axes of the plurality of drive members are formed to be perpendicular to tangential directions of end portions of the plurality of link members.

6. The robot of claim 3 , wherein lengths of the plurality of link members are determined based on angles between axes of the plurality of drive members.

7. The robot of claim 1 , further comprising:
a plurality of emitting members provided at other ends of the plurality of robot arms to be moved spherically along trajectories of rotation of the plurality of robot arms, respectively.

8. The robot of claim 7 , wherein the plurality of emitting members are disposed to be perpendicular to tangential directions of end portions of the plurality of robot arms, respectively.

9. The robot of claim 7 , further comprising:
a plurality of angle adjustment elements disposed at end portions of the plurality of robot arms or the plurality of emitting members to adjust angles at which the plurality of emitting members face a target, respectively.

10. A robot comprising:
a central member;
a first link member to rotate on a longitudinal axis of the central member;
a first drive member disposed at one end of the first link member to transmit a torque to the first link member;
a second link member connected to another end of the first link member to rotate on a first axis;
a second drive member disposed between the first link member and the second link member to transmit a torque to the second link;
a third link member connected to a portion of the central member, the portion differing from a portion to which the first link member is connected, to rotate on the longitudinal axis of the central member;
a third drive member disposed at one end of the third link member to transmit a torque to the third link member;
a fourth link member connected to another end of the third link member to rotate on a second axis;
a fourth drive member disposed between the third link member and the fourth link member to transmit a torque to the fourth link member; and
a plurality of emitting members disposed at end portions of the second link member and the fourth link member to face a target.

11. The robot of claim 10 , wherein the longitudinal axis of the central member, the first axis, and the second axis are positioned at an identical location of a target.

12. The robot of claim 10 , wherein the first link member and the second link member are disposed farther away from a target than the third link member and the fourth link member.

13. The robot of claim 12 , wherein the fourth link member is disposed closer to the target than the third link member.

Assignees

• Daegu Gyeongbuk Inst Science & Tech

Inventors

• Chang Pyung Hun
• Erkin Gezgin

Classifications

• A61N5/01

  Devices for producing movement of radiation source during therapy {(A61N5/1077 takes precedence)} · CPC title

• A61B6/44

  Constructional features of apparatus for radiation diagnosis · CPC title

• A61B6/4458

  the source unit or the detector unit being attached to robotic arms · CPC title

• A61N5/10

  X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy (A61N5/01 takes precedence) · CPC title

• A61B6/4007

  characterised by using a plurality of source units · CPC title