ШАРНИРНО-СОЧЛЕНЕННОЕ ЗАПЯСТЬЕ РОБОТА

Изобретение относится к шарнирно-сочлененному запястью (10) робота, которое содержит первый корпус (12), второй корпус (14) и третий корпус (16). Причем первый корпус (12) содержит первый и второй концы, при этом первый конец первого корпуса (12) выполнен с возможностью установки на элементе робота, выполненном с возможностью вращения вокруг первой оси (IV). Второй корпус (14) содержит первый и второй концы, причем первый конец второго корпуса (14) установлен на втором конце первого корпуса (12) с возможностью вращения вокруг второй оси (V), наклоненной относительно первой оси (IV). Третий корпус (16) содержит первый и второй концы, при этом первый конец третьего корпуса установлен на втором конце второго корпуса (14) с возможностью вращения вокруг третьей оси (VI), наклоненной относительно второй оси (V). Причем первая и третья оси (IV, VI) образуют угол, равный 90° относительно второй оси (V), при этом по меньшей мере в одном положении запястья робота первая и третья оси выровнены друг ...

УСТРОЙСТВО И СПОСОБ СБОРКИ ФЮЗЕЛЯЖА С ПОДВОДОМ КАБЕЛЕЙ К РОБОТАМ В НЕСТАТИЧЕСКИХ МЕСТОПОЛОЖЕНИЯХ

Изобретение относится к робототехнике и сборке летательных аппаратов. Устройство для сборки фюзеляжа с подводом кабелей к роботам в нестатических местоположениях содержит базовую платформу (18), рабочую платформу (20), роботов (22), кабеленесущую систему. Рабочая платформа (20) предназначена для поддержки одного или более человек (30) и размещается над базовой платформой. На базовой платформе (18) поддерживаются роботы (22) независимо от рабочей платформы (20). Кабеленесущая система предназначена для подачи кабелей к роботам (22). Кабеленесущая система размещается над базовой платформой (18) и под рабочей платформой (20). Достигается обеспечение возможности безопасной работы людей внутри агрегата фюзеляжа, а также обеспечение изолированной поддержки для двигающихся людей и машин без сообщения этого движения роботам, работающим внутри агрегата фюзеляжа. 2 н. и 13 з.п. ф-лы, 14 ил.

Устройство для закрепления коммуникаций промышленного робота с автоматической компенсацией их длины

Полезная модель относится к машиностроению и мехатронным системам и может быть использована для закрепления коммуникаций промышленного робота с автоматической компенсацией их длины, с целью организации энергоподвода к сменному инструменту указанного робота.Поставленная задача решается тем, что устройство для закрепления коммуникаций промышленного робота с автоматической компенсацией их длины содержит шкив, выполненный с возможностью возвратно-поступательного перемещения, и коммуникацию, один конец которой жестко закреплен, отличается тем, что шкив закреплен на отдельно стоящем основании и перемещается с помощью пневмоцилиндра, причем свободный конец коммуникации пропущен через шарнирный узел с направляющей втулкой и подсоединен к промышленному роботу.Кроме того, шарнирный узел с направляющей втулкой расположен выше рабочей зоны промышленного робота.Технический результат выражается в повышении эффективности устройства за счет следующих факторов:удобный расчет положения коммуникаций в каждый ...

РОБОТ ДЛЯ ПРОМЫШЛЕННОГО ПРИМЕНЕНИЯ

МНОГООСНЫЙ ПРОМЫШЛЕННЫЙ РОБОТ, В ЧАСТНОСТИ, ТИПА SCARA

3aRoboter mit exzentrischer Drehmomentzufuhr

Industrie-Roboter mit Parallelkinematik mita) einer Roboterbasis (4),b) einem Trägerelement (5), welches einen Endeffektor (6) aufnehmen kann,c) mindestens zwei beweglichen Roboterarmen (1, 2, 3),d) wobei jeder Roboterarm (1, 2, 3) einen beweglich an der Roboterbasis (4) befestigten Oberarm (11, 12, 13) und einen am Oberarm (11, 12, 13) beweglich angeordneten Unterarm (21, 22, 23) aufweist,e) wobei jeder Unterarm (21, 22, 23) zwei parallele Unterarm-Stangen (21a, 21b, 22a, 22b, 23a, 23b) aufweist und jede Unterarm-Stange (21a, 21b, 22a, 22b, 23a, 23b) über ein antriebsseitiges Unterarmgelenk (21a1, 22a1, , 23a1) beweglich mit dem Oberarm (11, 12, 13) und über ein trägerseitiges Unterarmgelenk (21a2, 22a2, , 23a2) beweglich mit dem Trägerelement (5) verbunden ist,f) wobei die Zentren der trägerseitigen Unterarmgelenke (21a2, 22a2, , 23a2) aller Unterarm-Stangen (21a, 21b, 22a, 22b, 23a, 23b) in einer gemeinsamen Trägerelement-Ebene (5') liegen, welche senkrecht zu einer z-Achse eines Roboter-Koordinatensystems ...

Mobiles Steiggerät mit Handhabungsautomat

Die vorliegende Erfindung bezieht sich im Allgemeinen auf mobile Steiggeräte in Kombination mit einem Automaten zur Verrichtung von Handwerksarbeiten an schwer zugänglichen Stellen. Insbesondere bezieht sich die Erfindung auf eine Vorrichtung zur Durchführung von Handwerksarbeiten mit einem mobilen Steiggerät und einem an dem Steiggerät lösbar befestigbaren Automaten, wobei der Automat im befestigten Zustand relativ zum Steiggerät in wenigstens einer Dimension bewegbar ist.

Roboter

Es wird ein Roboter (1) bereitgestellt, der Folgendes umfasst: eine Basis (2), die auf einer Installationsfläche fixiert ist; einen Schwenkkörper (3), der dahingehend gestützt wird, um eine erste Achse bezüglich der Basis drehbar zu sein; einen ersten Arm (4), der dahingehend gestützt wird, um eine senkrecht zu der ersten Achse verlaufende zweite Achse bezüglich des Schwenkkörpers drehbar zu sein; einen zweiten Arm (5), der dahingehend gestützt wird, um eine parallel zu der zweiten Achse verlaufende dritte Achse bezüglich des ersten Arms drehbar zu sein; und ein erstes Handgelenkelement (56), das dahingehend gestützt wird, um eine vierte Achse, die senkrecht zu der dritten Achse ist und in derselben Ebene wie die erste Achse angeordnet ist, bezüglich des zweiten Arms drehbar zu sein. Ein erster hohler Bereich (70), der entlang der ersten Achse durchdringt, ist in der Basis und dem Schwenkkörper vorgesehen; ein zweiter hohler Bereich (60), der entlang der vierten Achse durchdringt, ist in ...

Leitungsführung für eine Versorgungsleitung an einem mehrachsigen Roboter

Führungsvorrichtung mit einer Führungsplatte für eine Versorgungsleitung in einem Industrieroboter

Leitungs-Rückzugsystem

Die Erfindung betrifft ein Leitungs-Rückzugsystem für einen Industrieroboter zur Straffung zumindest einer entlang eines Roboterarms geführten Zuführungsanordnung, insbesondere eines Zuführungsschlauchs und/oder einer Zuführungsleitung und/oder eines Leitungspaketes, zum Längenausgleich in Folge einer Bewegung des Roboterarms, mit wenigstens einer Führungsstange und einem oder mehreren Rückstellelementen, wobei ein Haltesystem gegen die Federkraft des Rückstellelements verstellbar ist und wobei das Haltesystem zur Befestigung der Zuführungsanordnung ausgebildet ist. Dabei ist es vorgesehen, dass das Haltesystem einen Schlitten aufweist und dass der Schlitten verstellbar auf der Führungsstange gelagert ist. Das Leitungs-Rückzugsystem ermöglicht so einen Längenausgleich für eine zwischen zwei Armabschnitten eines Roboterarms verlaufende Zuführungsanordnung.

ROBOTERSYSTEM ZUR FUEHRUNG VON ELEKTROMAGNETISCHEN WELLEN

ALIGN-CASH VACUUM GRIP ARM DEVICE FOR TRANSPORT OR THE TREATMENT OF WORKPIECE ANY FORMED

INDUSTRIAL ROBOT

AUTOMATIC TOOL CHANGE DEVICE FOR INDUSTRIAL ROBOTS

CABLE SUPPORT DEVICE FOR A MANUFACTURER ROBOT

Back portion for an exoskeleton structure

The invention concerns a back portion (2) for an exoskeleton structure, comprising a spinal column segment (21) intended to extend along a spinal column of a user, the spinal column segment (21) comprising a plurality of vertebra elements (211), stacked on top of each other, and one flexible connection element (212) linking the vertebra elements (211) together, the spinal column segment (21) having a stable equilibrium position in which the flexible connection element (212) keeps the vertebra elements (211) pressed together, and the flexible connection element (212) being resilient such that, during a movement of the back of the user, the flexible connection element (212) allows the vertebra elements (211) to move relative to each other, while exerting a return force tending to return the spinal column segment (21) to the stable equilibrium position.

FIXING DEVICE FOR SUPPLY LINES IN MANIPULATORS

SYSTEM FOR FOUR COLLABORATIVE ROBOTS AND HUMANS IN A NARROWING WORK ENVELOPE

A method and apparatus for supporting collaborative robots and humans in a narrowing work envelope. A base platform is provided, and a work platform is positioned above the base platform for supporting one or more humans, wherein the work platform is narrower than the base platform, and the work platform is positioned relative to the base platform to provide areas for positioning one or more robots on one or more sides of the work platform. The robots are supported on the base platform independently of the work platform, so that movement of the work platform does not affect the robots' positions.

DEVICE FOR THE AUTOMATIC GEARSHIFT AND THE SUPPORT OF TOOLS OF INDUSTRIAL ROBOTS.

Flexible line e.g. electronic line, guiding device for supplying power to industrial robot, has guiding unit rotatable with approximately half of angular velocity difference between base plate and support element

The device has a guiding unit (10) for guiding a flexible line (19), which connects a base plate (1) and a round support element (5) in relation to each other. The guiding unit is rotatable with approximately half of angular velocity difference between the base plate and the support element. The flexible line is deflected around 180 degree by a deflecting unit. The guiding element is surrounded by a cover ring. The flexible line exhibits total length, which is more than half of a circumference of the support element. The base plate includes a central opening for receiving a drive wheel.

An industrial robot having at least two movable robot arms.

Die Erfindung betrifft einen Industrie-Roboter mit mindestens zwei beweglichen Roboterarmen. Damit beim Industrie-Roboter (10) eine Zufuhr-Leitung (29) für Energie von der Roboter-Basis (4) zum Trägerelement (5) nicht beschädigt werden kann, verläuft sie erfindungsgemäss vom Träger-Zentrum des Trägerelementes (5) aus zur Roboter-Basis (4), also im mittleren Bereich, während die Antriebswelle (30) radial nach aussen versetzt ist.

UMBILICAL MEMBER CLAMPING DEVICE

SYSTEM FOR FOUR COLLABORATIVE ROBOTS AND HUMANS IN A NARROWING WORK ENVELOPE

Robot

GUIDING DEVICE AND RETURN

Simple support and holder for robot cables and flexible elements

Pièce (1) de maintien de la fraction d'un faisceau de câbles et flexibles située entre deux accastillages fixés sur un robot, caractérisée en ce qu'elle comporte une partie tubulaire (2) centrale munie, à ses deux extrémités, d'une première rotule (3) avec laquelle elle forme une structure de matière continue, et d'une seconde rotule (4) à laquelle elle a été assemblée en liaison fixe, lesdites première et seconde rotules (3), respectivement (4), présentant chacune une surface extérieure sphérique, en ce qu'elle est traversée de part en part d'un évidement (5) longitudinal essentiellement cylindrique, est en ce qu'elle est fabriquée en un élastomère.

HOLDING FIXTURE Of ELEMENTS OF BEAM OF TRANSPORT Of ENERGY HAS an AUTOMAT AND ITS APPLICATION HAS a ROBOT OF WELDING

L'invention concerne dispositif de maintien d'éléments (20-22) de faisceau (2) d'alimentation en énergie d'un automate (7) comprenant au moins une partie mobile (72) reliée au dit faisceau (2), caractérisé en ce qu'il comprend au moins un bras dit de renvoi (3), supportant au moins un élément (20-22) dudit faisceau (2), en ce que une première extrémité dudit bras de renvoi (30) est mobile en rotation autour d'une première extrémité d'un arbre (32), suivant un premier axe (Δ), en ce que ledit arbre (32) est assujetti, en une seconde extrémité, à un premier organe de fixation (33, 34) solidaire de ladite partie mobile (72), en ce que ledit arbre est associé à des moyens à ressort (35) exerçant sur ledit bras support (35) une force de rappel vers une position déterminée dans l'espace (Δ'), dite de repos, par rapport au dit arbre (32), de manière à obtenir un maintien et un guidage dudit élément lors des déplacements dans l'espace de ladite partie mobile. Application notamment aux robots de ...

BACK MODULE FOR EXOSKELETON STRUCTURE

L'invention concerne un module de dos (2) pour une structure d'exosquelette, comprenant un segment de colonne vertébrale (21) destiné à s'étendre le long d'une colonne vertébrale d'un utilisateur, le segment de colonne vertébrale (21) comprenant une pluralité d'éléments de vertèbre (211), empilés les uns sur les autres, et un élément flexible de raccordement (212) reliant les éléments de vertèbre (211) les uns aux autres, le segment de colonne vertébrale (21) présentant une position d'équilibre stable dans laquelle l'élément flexible de raccordement (212) maintient les éléments de vertèbre (211) en appui les uns contre les autres, et l'élément flexible de raccordement (212) étant élastique de sorte que, lors d'un mouvement du dos de l'utilisateur, l'élément flexible de raccordement (212) autorise un déplacement des éléments de vertèbre (211) les uns par rapport aux autres, tout en exerçant une force de rappel tendant à ramener le segment de colonne vertébrale (21) dans la position d'équilibre ...

Robot with at least one conductor guiding apparatus

WORM-LIKE MECHANISM

The invention relates to a worm-like mechanism comprising a support structure (10), which extends in the longitudinal direction of the mechanism, and at least two actuating units (14), which are arranged one behind the other in the longitudinal direction of the support structure (10) and each of which has two supporting elements (11), which while extending transversely in relation to the longitudinal direction of the support structure (10) are attached to the latter at a distance from one another in the longitudinal direction, and at least one actuating element, which is arranged between the supporting elements (11) and by which the supporting elements (11) can be moved in relation to one another. In order to provide a further worm-like mechanism, which provides precise open-loop or closed-loop control of its movements while in particular being of a simplified, slender construction, it is provided that the actuating elements (12) can be activated individually or in groups by way of a central ...

AN APPARATUS FOR AUTOMATIC DETECTION OF MEASUREMENT OF GAS LEAKAGE IN A WELDING SYSTEM

This patent application relates to the automatic detection or measurement of welding gas leakages that may occur in hoses, pipes, nozzles, valves, connections or other part of a system in a welding apparatus for transport of welding gas from a supply point to the welding nozzle.

FEED LINE FOR AN AUTOMATICALLY GUIDED TOOL

Disclosed is a feed line (2) for an automatically guided tool, particularly an industrial robot, comprising several individual lines (8A, 8B) which are stranded into a cable. At least one empty tube (12) is additionally provided in the cable for receiving one of the individual lines (8B), allowing the respective individual lines to be replaced in an easy manner.

APPARATUS HAVING A CAPACITIVE SENSING SYSTEM AND ELECTRIC LINE(S)

An appliance includes: 2. The appliance according to claim 1 , characterized in that the threshold capacitance is determined by taking account of:a capacitance detection limit, dependent on a detection noise level of the capacitive detection electronics; and/oran infinite capacitance, as measured by the capacitive detection electronics in the absence of an object or electric line.3. The appliance according to claim 1 , characterized in that the dimension of the reference electric line corresponds to a total diameter of the conductors of said reference line.4. The appliance according to claim 1 , characterized in that the dimension of the reference object corresponds to:a width or a length of the reference object; ora width or a length of a reference object of the same width or the same length as the at least one measurement electrode.6. The appliance according to claim 1 , characterized in that at least one spacing means has an overall relative dielectric permittivity less than or equal to 2 claim 1 , in particular 1.5.7. The appliance according to claim 1 , characterized in that at least one spacing means is fixed to a surface of said appliance claim 1 , in particular to an outer surface of said appliance.8. The appliance according to claim 1 , characterized in that at least one spacing means is fixed to the electric line.9. The appliance according to claim 1 , characterized in that at least one spacing means is flexible and extends beyond the electric line claim 1 , seen from the at least one measurement electrode.10. The appliance according to claim 1 , characterized in that at least one spacing means is inflatable claim 1 , and/or has the form of a cylindrical brush with radial bristles claim 1 , and/or at least partly hollow claim 1 , or spongy claim 1 , or in the form of a foam.11. The appliance according to claim 1 , characterized in that it comprises at least one electrode claim 1 , called guard electrode claim 1 , arranged on the side opposite the detection ...

Electrothermal Manipulator

Provided herein are manipulators for handling fragile layers and related methods of handling using the manipulators. The manipulators comprise a contact surface with thermally responsive recess features and a microelectric heater in thermal contact with the contact surface. In this manner, the manipulator is an electrothermal manipulator, with changes in temperature providing a contact force to pick-up a transferable layer material and a release force to facilitate release of the transferable from the manipulator. 1. A manipulator comprising:a contact layer having a contact surface with thermally responsive recess features;a microelectric heater in thermal contact with the contact surface;an electrical power source electrically connected to the microelectric heater; a thermally actuated geometry with microelectric heater actuation; and', 'a thermally relaxed geometry without microelectric heater actuation,', 'wherein the thermally actuated geometry is different than the thermally relaxed geometry., 'wherein the thermally responsive recess features have2. The manipulator of claim 1 , wherein the contact layer comprises a polymeric hydrogel or an elastomer.3. The manipulator of claim 1 , wherein the contact layer:is soft with an anisotropic elastic modulus less than or equal to 10 kPa, with the elastic modulus in a direction perpendicular to an alignment direction of the recess features that is 1.5 to 2.5 times lower than the elastic modulus in a direction parallel to the alignment direction of the recess features;has an average thickness that is greater than or equal to 100 μm and less than or equal to 1 cm;{'sup': 2', '2, 'has a footprint that is greater than or equal to 10 mmand less than or equal to 350 cm;'}has a thermal responsivity that is equal to or less than 10 seconds;has a recess feature porosity of between 90% and 98%; and/orhas recess features that are aligned microchannels with an average channel diameter of between 0.1 μm and 500 μm.4. The manipulator ...

Umbilical member attachment device of robot

An umbilical member attachment device including a first umbilical member-use first fastening part and second fastening part respectively fastening a first umbilical member to a first member and second member, and a second umbilical member-use first fastening part and second fastening part respectively fastening a second umbilical member to a first member and second member. These fastening parts are arranged offset in position from each other on a surface of the robot so that the first umbilical member and the second umbilical member do not cross, and at a reference posture, and so that a distance between the first umbilical member-use second fastening part and the second umbilical member-use second fastening part becomes broader than a distance between the first umbilical member-use first fastening part and the second umbilical member-use first fastening part.

ADDITIVE MANUFACTURING APPARATUS

A CNC machine including a worktable displaceable along a y-axis, a gantry disposed along an x-axis, either fixed or displaceable along the y-axis, a carriage on such gantry displaceable along the x-axis and including a thermoplastic material extrusion conduit, a tool carrier mounted on such carriage displaceable along a z-axis, a dispersion conduit mounted on such tool carrier accommodating an applicator, means mounted on such applicator for extruding a molten bead of a thermoplastic material, a flexible hose interconnecting such molten material forming means and such applicator, a plurality of servomotors for linearly or rotationally displacing such components along or about such axes and a computer for controlling such component displacements.

Robot end effector for dispensing an extrudable substance

A robot end effector for dispensing an extrudable substance comprises a chassis, cartridge bays, attached to the chassis and each shaped to receive a corresponding one of two-part cartridges, and a manifold, comprising a manifold outlet, manifold inlets, and a valve inlet. When the two-part cartridges are received by the cartridge bays, the manifold inlets are in fluidic communication with corresponding ones of the two-part cartridges via static mixers, attached to cartridge outlets of the two-part cartridges. The robot end effector additionally comprises a head assembly, comprising pairs of fittings, configured to selectively supply compressed air from a pressure source to the two-part cartridges when the two-part cartridges are received by the cartridge bays, so that contents of the two-part cartridges are concurrently extruded through the cartridge outlets.

ШАРНИРНО-СОЧЛЕНЕННОЕ ЗАПЯСТЬЕ РОБОТА

Изобретение относится к шарнирно-сочлененному запястью (10) робота, которое содержит первый корпус (12), второй корпус (14) и третий корпус (16). Первый корпус (12) содержит первый и второй конец, при этом первый конец первого корпуса (12) выполнен с возможностью установки на элементе робота, выполненном с возможностью вращения вокруг первой оси (IV). Второй корпус (14) содержит первый и второй конец, причем первый конец второго корпуса (14) установлен на втором конце первого корпуса (12) с возможностью вращения вокруг второй оси (V), наклоненной относительно первой оси (IV). Третий корпус (16) содержит первый и второй конец, при этом первый конец третьего корпуса установлен на втором конце второго корпуса (14) с возможностью вращения вокруг третьей оси (VI), наклоненной относительно второй оси (V). Причем первая и третья оси (IV, VI) ортогональны второй оси (V), при этом по меньшей мере в одном положении запястья робота первая и третья оси выровнены друг с другом. Изобретение направлено ...

СИСТЕМА ДЛЯ ЧЕТЫРЕХ КОЛЛАБОРАТИВНЫХ РОБОТОВ И ЛЮДЕЙ В СУЖАЮЩЕЙСЯ РАБОЧЕЙ ОБЛАСТИ

ПРИСПОСОБЛЕНИЕ ДЛЯ АВТОМАТИЧЕСКОЙ ПОДАЧИ СОЕДИНИТЕЛЬНЫХ ЭЛЕМЕНТОВ К ОБРАБАТЫВАЮЩЕМУ УСТРОЙСТВУ И ПОДАЮЩИЙ РУКАВ ДЛЯ СОЕДИНИТЕЛЬНЫХ ЭЛЕМЕНТОВ

Группа изобретений относится к приспособлениям для автоматической подачи крепежных элементов к обрабатывающему устройству, которым является, в частности, промышленный робот (2). Приспособление содержит комплект рукавов (10), в котором в качестве подающей линии имеется подающий рукав (14) для подачи соединительных элементов (28). Подающий рукав (14) сформирован из внутреннего рукава (24), встроенного в наружную обшивку (22) рукава. Обеспечивается надежная подача крепежных элементов к обрабатывающему устройству. 2 н. и 10 з.п. ф-лы, 8 ил.

МНОГООСНЫЙ ПРОМЫШЛЕННЫЙ РОБОТ, В ЧАСТНОСТИ, ТИПА SCARA

Устройство автоматической смены инструментов промышленного робота

Изобретение относится к машиностроению, в частности к автоматической смене инструментов промышленных роботов. Цель изобретения - повышение надежности смены инструментов. Для замены инструмента сжатый воздух подается в разъем /штуцер/, а затем к поршню. Поршень перемещает рычаги, а рычаги перемещают зубья, которые, выходя из пазов захватывающих элементов, освобождают фланец. Фланец отсоединяется от держателя под действием силы тяжести. При этом автоматически разъединяются электро-и пневмомагистрали. Процесс разъединения, а затем соединения фланца и держателя контролируется датчиками и осуществляется по рабочей программе робота, хранящейся в управляющей системе робота. 12 з.п. ф-лы, 6 ил.

Tragvorrichtung für ein Schlauchpaket von Versorgungsleitungen eines Arbeitsroboters

Roboter

Zur Erhöhung der Herstellungs- und Montage- sowie Servicefreundlichkeit schlägt die Erfindung bei einem Roboter mit einem Robotersockel und einem relativ zu diesem um eine vertikale Achse (A1-Achse) drehbaren Karussell sowie mit einem vom Sockel zumindest zum Karussell im Sockel in eine U-Schlaufe geführten Versorgungsstrang vor, dass eine vom Sockel bis zum Karussell durchgehende, verschließbare Öffnung vorgesehen ist, durch die der Versorgungsstrang mit einem U-Steg seiner U-Schlaufe vorneweg in den Sockel einlegbar ist, wobei insbesondere der Versorgungsstrang eingangsseitig mit einer ersten Steckerplatte versehen ist und dass der Sockel eine Aufnahme aufweist, die durch die Steckerplatte abdeckbar ist.

Energieführungskette zur beweglichen Lagerung von zumindest einer flexiblen, insbesondere stromführenden, Leitung, Verwendung der Energieführungskette und bildgebende medizinische Einrichtung

Die Erfindung betrifft eine Energieführungskette (100) zur beweglichen Lagerung von zumindest einer flexiblen, insbesondere stromführenden, Leitung (104), die mehrere miteinander gelenkig verbundene Kettenglieder (102) umfasst. Die Kettenglieder (102) sind jeweils zur Aufnahme von Längsabschnitten der zumindest einen flexiblen Leitung (104) ausgebildet. Die Kettenglieder (102) weisen Kopplungselemente (108) auf, welche Gelenkachsen (G) der Energieführungskette (100) definieren. Miteinander gekoppelte Kopplungselemente (108) von in der Energieführungskette (100) aufeinanderfolgenden Kettengliedern (102) definieren jeweils Gelenkachsen (G) derart, dass die rotatorische Relativbewegung der aufeinanderfolgenden Kettenglieder (102) zueinander auf genau einen rotatorischen Freiheitsgrad eingeschränkt wird. Jedes Kettenglied (102) weist einen zylindrischen Außenmantel (106) auf, der die Querschnittfläche des jeweiligen Kettenglieds (102) randseitig begrenzt.

Vorrichtung zum Führen von Versorgungsleitungen entlang der Struktur eines Industrieroboters

Vorrichtung zum Führen von Versorgungsleitungen (2) entlang der Struktur eines Industrieroboters (1), die die Versorgungsleitungen (2) in einem dem Längenausgleich dienenden Vorrichtungsabschnitt (3) mit Rückholmittel beweglich führt, dadurch gekennzeichnet, dass die Versorgungsleitungen (2) in einem ersten Teilabschnitt (5) von einem Drehpunkt (4) weggeführt und in einem zweiten Teilabschnitt (6) im Wesentlichen exakt, im Wesentlichen kreisförmig und im Wesentlichen mit konstantem Abstand zum Drehpunkt (4) weitergeführt werden, sowie dadurch, dass die Biegungen der Versorgungsleitungen (2) im ersten Teilabschnitt (5) im Wesentlichen statisch bleiben.

Lichtbogenschweissroboter mit einer anwendbaren Anordnung für die Brennerleistung

A method for securely holding the feed leads for a robot arm tool has a clamping ring on the head of the arm and a second ball socket mounted clamp ring for the lead bundle

The first clamp ring (161) is attached to the robot arm tool mounting head (12-n) and a radial bar (1631) connects to a ball in a socket (1633) on which is mounted a second clamp ring (162) which holds a flexible tube (13) containing all the wires and hoses needed to operate the tool.

Verschleißring

Antriebsübertragungsvorrichtung

Antriebsübertragungsvorrichtung, deren Antriebsquelle (20) an einem Ende einer Kurbelwelle (30) angebracht ist, wobei das andere Ende der Kurbelwelle (30) mit einem Vorgelege (40) in Verbindung kommt. Die Kurbelwelle (30) wird unter Einwirkung der Antriebsquelle (20) gedreht, wodurch das Vorgelege (40) zum Drehen mitnehmbar ist. Die beiden Enden des Schafts (32) der Kurbelwelle (30) im Bereich der verschiedenen Zentriwinkel (C1, C2) des Antriebsübertragungsabschnitts (31) und des Mitnehmerabschnitts (33) angekoppelt werden können, indem die Kurbelwelle (30), die die Antriebskraft der Antriebsquelle (20) zum Rotieren des Vorgeleges (40) weiterleitet, anders ausgeführt ist, derart, dass ein Raum zum Durchführen der Leitung (L) auf beiden Seiten des Schafts (32) entsteht, wodurch die Flexibilität bei Montage der Leitung (L) erhöht und die Drehwinkel vergrößert wird.

Versorgungselement-Klemmvorrichtung zum Festklemmen von Versorgungselementen über einen elastischen Körper

Eine Versorgungselement-Klemmvorrichtung umfasst ein Basiselement, das an einem Körper eines Roboters angebracht wird, einen elastischen Körper, der so bereitgestellt wird, dass er einen Umfang eines Versorgungselementbündels, das Versorgungselemente enthält, umgibt, ein Klemmelement, das so an dem Basiselement befestigt wird, dass es das Versorgungselementbündel über den elastischen Körper an das Basiselement presst, und ein Einsetzelement, das in einen Eckenbereich eines Raums, der das Versorgungselementbündel aufnimmt und durch das Klemmelement und das Basiselement definiert wird, wenn das Klemmelement an dem Basiselement befestigt ist, eingesetzt wird.

Kabelschutzkette für Kabel und Leitungen und medizinisches Gerät mit einer Kabelschutzkette

Die Erfindung gibt eine Kabelschutzkette (8) zur Aufnahme von Kabeln und Leitungen, mit mehreren gelenkig miteinander verbundenen rohrförmigen Kettengliedern (9) an. Die Kettenglieder (9) weisen ein an einem ersten axialen Ende (10) des Kettenglieds (9) angeformtes erstes Gelenkteil (12) und ein an einem zweiten axialen Ende (11) des Kettenglieds (9) angeformtes zweites Gelenkteil (13), wobei das erste Gelenkteil (12) eines Kettenglieds (9) mit dem zweiten Gelenkteil (13) eines benachbarten Kettenglieds (9) beweglich verbunden ist. Das erste und das zweite Gelenkteil (12, 13) sind derart ausgebildet, dass zwischen dem ersten und dem zweiten axialen Ende (10, 11) benachbarter Kettenglieder (9) ein Abstand besteht und das Innere der Kettenglieder (9) hohl ist. Das erste und das zweite Gelenkteil (12, 13) sind derart in Umfangsrichtung (15) des Kettenglieds (9) zueinander versetzt angeordnet, dass die Kabelschutzkette (8) in zwei Dimensionen (16, 17) bewegbar ist. Ein medizinisches Gerät ( ...

SPRAY PAINT SYSTEM INCLUDING PAINT BOOTH, PAINT ROBOT APPARATUS MOVABLE THEREIN AND RAIL MECHANISM FOR SUPPORTING THE APPARATUS THEREOUT

Roboterverfahrsystem mit einem Kabelschlepp, Robotersystem und Bearbeitungssystem

Die Erfindung betrifft ein Roboterverfahrsystem, das ermöglicht, ausreichend Platz zu einer Maschine zu halten, die entlang einer Schiene installiert ist. Das Roboterverfahrsystem ist ausgestattet mit einer Schiene, einem Schlitten, der sich entlang der Schiene bewegen kann und der einen Roboter trägt, einem Antriebsmechanismus, der den Schlitten antreibt und einem Kabelschlepp, der ein Kabel aufnimmt, das ein mit dem Roboter verbundenes Verbindungsende aufweist, und der an der Unterseite der Schiene entlang der Schiene verlegt ist.

Versorgungsleitungsvorrichtung und Roboter mit einer solchen Versorgungsleitungsvorrichtung

Die Erfindung betrifft eine Versorgungsleitungsvorrichtung (16), aufweisend einen ersten Leitungsvorrichtungsflansch (17.1), der wenigstens ein erstes Befestigungsmittel (18.1) aufweist, das zur starren Befestigung des ersten Leitungsvorrichtungsflansches (17.1) an einem ersten Glied (12.1) eines Roboters (1) ausgebildet ist, ein erstes Kreisringbauteil (19.1), das an dem ersten Leitungsvorrichtungsflansch (17.1) um eine erste Hauptachse (HA1) drehbar gelagert ist und mit dem ersten Leitungsvorrichtungsflansch (17.1) eine erste Drehdurchführung (20.1) zur Übertragung von leitungsgeführten Fluiden oder elektrischer Energie bildet, einen zweiten Leitungsvorrichtungsflansch (17.2), der wenigstens ein zweites Befestigungsmittel (18.2) aufweist, das zur starren Befestigung des zweiten Leitungsvorrichtungsflansches (17.2) an einem zweiten Glied (12.2) des Roboters (1) ausgebildet ist, und ein zweites Kreisringbauteil (19.2), das an dem zweiten Leitungsvorrichtungsflansch (17.2) um eine zweite ...

Flexible support and carrier assembly

A flexible support and carrier assembly for supporting an associated accessory is shown as having a plurality of sequentially arranged body-like segments, the segments are arranged with respect to each other for articulated motion as between adjacent segments, the plurality of sequentially arranged body-like segments define an elongated articulated structure having first and second ends, a spring operatively carried by the articulated structure resiliently resists while permitting articulated motion as between adjacent segments to occur in a first direction of articulation, the spring also resiliently urges the adjacent segments to experience articulated motion in a second direction of articulation opposite to the first direction.

DIELECTRIC HEATING APPARATUS

Actuator

PROCEDURE AND DEVICE FOR THE DISTRIBUTION OF A CABLE ARRANGEMENT IN A INDUSTRIALEN ROBOTOR

CARRYING DEVICE FOR A HOSE PACKAGE OF SUPPLY LINES OF A WORK ROBOT

ENERGY SUPPLY DEVICE FOR INDUSTRIAL ROBOTS, AND INDUSTRIAL ROBOT WITH SUCH A ENERGY SUPPLY DEVICE

DEVICE FOR MOVING AND POSITIONING AN ARTICLE IN THE AREA

DEVICE FOR LEADING A AT LEAST A SUPPLY LINE OF EXHIBITING HOSE

COMPENSATING ELEMENT FOR A POSITIONING MECHANISM

LEITUNGSFÜHRUNGSEINRICHTUNG MIT EINER RÜCKSTELLEINHEIT UND ROBOTER MIT EINER SOLCHEN LEITUNGSFÜHRUNGSEINRICHTUNG

PROBLEM TO BE SOLVED: To provide a line guidance device of simple structure capable of following complicated continuous operation of a robot or the like. Ž SOLUTION: The line guidance device includes: a line guidance unit 2 for guiding lines, hoses or the like 6 between two connection points which are movable relative to each other, having a plurality of chain links articulately connected to one another; and a reset unit, which has at least one resiliently elastic element connected to the line guidance unit 2. The resiliently elastic element is connected to the line guidance unit 2 by means of at least one cord. Ž COPYRIGHT: (C)2012,JPO&INPIT Ž ...

DEVICE FOR TOOL MOTION.

DEVICE FOR HOLDING AN ENERGY A SUPPLYING CABLE BUNDLE AT A WELDING ROBOT

SET OF CABLES FOR MANIPULATORS

INDUSTRIAL ROBOT

Energy-transfer connection for a robot

ADJUSTABLE GRIPPING DEVICE FOR THE TRANSPORTATION OR THE MACHINING OF PARTS OF DIFFERENT SHAPES

Organe de préhension orientable pour le transport ou l'usinage d'une pièce de forme quelconque. Un organe de préhension orientable, destiné à être implanté sur une table universelle pour assurer le transport ou l'usinage d'une pièce, comprend un support de rotule (16), une rotule (18) et une ventouse (44) portée par la rotule. La mise sous vide de la ventouse (44) est assurée par un passage (50) raccordé à un tube flexible (54) directement sur l'ensemble rotule (18)-ventouse (44), à l'extérieur du support (16). Un débattement total d'au moins 90.degree. (+ ou -45.degree.) de la ventouse (44) est ainsi obtenu.

BACK PORTION FOR AN EXOSKELETON STRUCTURE

L'invention concerne un module de dos (2) pour une structure d'exosquelette, comprenant un segment de colonne vertébrale (21) destiné à s'étendre le long d'une colonne vertébrale d'un utilisateur, le segment de colonne vertébrale (21) comprenant une pluralité d'éléments de vertèbre (211), empilés les uns sur les autres, et un élément flexible de raccordement (212) reliant les éléments de vertèbre (211) les uns aux autres, le segment de colonne vertébrale (21) présentant une position d'équilibre stable dans laquelle l'élément flexible de raccordement (212) maintient les éléments de vertèbre (211) en appui les uns contre les autres, et l'élément flexible de raccordement (212) étant élastique de sorte que, lors d'un mouvement du dos de l'utilisateur, l'élément flexible de raccordement (212) autorise un déplacement des éléments de vertèbre (211) les uns par rapport aux autres, tout en exerçant une force de rappel tendant à ramener le segment de colonne vertébrale (21) dans la position d'équilibre ...

Attachment structure for drive cables of robot and robot apparatus provided therewith

The invention provides an attachment structure for drive the cables of a robot and a robot apparatus provided therewith. An attachment structure for drive cables include a first fixing member and a second fixing member separate from the first fixing member, which are designed to fix the drive cables in a non-slidable manner. The first fixing member is disposed behind a pivot body of a robot so as to pivot together with the pivot body. The second fixing member is disposed so as to be spaced apart from the first fixing member in a direction parallel to a rotational axis of an arm of the robot. The drive cables are fixed so as to be convexly curved upward in a portion between the first fixing member and the second fixing member.

GUIDANCE SYSTEM OF the MEANS Of SUPPLY a ROBOT.

CHANGER Of TOOL

Automatic changer for machine tools

DEVICE OF GUIDANCE Of a BEAM Of FOOD Of EFFECTOR FINAL BODY

로봇용 브레이크 전원장치 및 브레이크 제어 방법

... 본 발명은 로봇용 브레이크 전원장치 및 브레이크 제어 방법에 관한 것으로, 서보드라이브의 대용량 DC-Link단 전원으로부터 저항 등을 통해 디바이드(Devide)하여 브레이크 전원 장치의 입력전압으로 사용하는 인터페이스부; 및 상기 인터페이스부와 유선으로 연결되어 전원을 공급받고, 노이즈 및 기타 고전압의 영향을 줄이기 위한 아이솔레이션(Isolation)된 출력을 제공하는 스위칭레귤레이터와 트랜스(Trans) 출력단;을 포함한다.

ROBOT CAPABLE OF PREVENTING CABLE FROM BEING DAMAGED

Disclosed is a robot capable of preventing a cable from being damaged. According to the present invention, as an upper frame moves in order for an upper frame to be folded or unfolded on a low frame, a length around the cable located between a part of the cable supported on a lower frame and a part of the cable supported on an upper frame is changed. In other words, when a height difference between a part of the cable supported on the upper frame and a part of the cable supported on the lower frame becomes smaller as the upper frame moves to be unfolded on the lower frame; the length of the cable located between the part of the cable supported on the lower frame and the part of the cable supported on the upper frame becomes short. As such, even if the cable part located between the part of the cable supported on the lower frame and the part of the cable supported on the upper frame sags due to the weight of the cable, the robot is able to prevent the cable part from interfering with a protrusion ...

UPPER ARM OF CABLE BUILT-IN ROBOT AND CABLE BUILT-IN ROBOT

The present invention relates to an upper arm of a cable built-in robot and a cable built-in robot, comprising: a wrist arm mounted with a tool mechanism; a connection arm rotatably coupled to the wrist arm; an arm frame rotatably coupled to the connection arm; a cable receiving portion inserted with the cable such that the cable is connected to a tool mechanism mounted on the wrist arm through the inside of the arm frame; and a driving portion rotating the wrist arm, the connection arm, and the arm frame around respective rotation axes, wherein the driving portion includes a power cable that moves along an outer surface of the cable receiving portion such that the length of the cable receiving portion is changed according to a rotation angle of the connection arm. COPYRIGHT KIPO 2018 ...

CHARGING STATION DOCKING SYSTEM OF MOBILE ROBOT, AND DOCKING METHOD USING SAME

The present invention relates to charging station docking system of a mobile robot, and to a docking method. The present invention relates to a docking system for sensing a signal transmitted from an infrared ray transmission unit disposed in a charging station and guiding a mobile robot to a docking position in accordance with the sensed signal. A charging socket of a mobile robot is formed on a bumper disposed at the rear surface bottom of the mobile robot and elastically connected to be pressed and moved to the inside of the robot. A docking unit including a charging terminal coming in contact with the charging socket of the mobile robot is formed to protrude from the front surface of the charging station. When electricity is not supplied because the robot is guided to the charging station but the charging socket of the mobile robot and the charging terminal of the charging station do not certainly come in contact, a bumper pressing form of the mobile robot is sensed. Thus, a docking ...

DEVICE FOR AUTOMATICALLY DOCKING APPLICATION MODULES TO A ROBOT PLATFORM AND DEVICE FOR PROVIDING AND TRANSPORTING APPLICATION MODULES

The invention relates to a device for automatically docking application modules (9) to a platform of a displaceable and steerable robot (1). According to the invention, means for automatically positioning the robot (1), particularly the robot platform, are provided below the application module (9) for raising and lowering the platform (17) and for the releasable form-fitting and electrical connection of the platform (17) to the respective application module (9) which can then be raised and displaced.

CABLE SUPPORT DEVICE

A cable support device (10) is provided with: a holding section (52) for holding a cable (11); a linear motion mechanism (54) having a linear motion slider (70) movable along the longitudinal direction of a second arm (24); and a rotation mechanism (56) having rotation sliders (92, 93) rotatable along the circumferential direction of the second arm (24). The linear motion mechanism (54) and the rotation mechanism (56) enable the holding section (52) to be displaced along the longitudinal and circumferential directions of the second arm (24).

WORM-LIKE MECHANISM

The invention relates to a worm-like mechanism comprising a support structure (10), which extends in the longitudinal direction of the mechanism, and at least two actuating units (14), which are arranged one behind the other in the longitudinal direction of the support structure (10) and each of which has two supporting elements (11), which while extending transversely in relation to the longitudinal direction of the support structure (10) are attached to the latter at a distance from one another in the longitudinal direction, and at least one actuating element, which is arranged between the supporting elements (11) and by which the supporting elements (11) can be moved in relation to one another. In order to provide a further worm-like mechanism, which provides precise open-loop or closed-loop control of its movements while in particular being of a simplified, slender construction, it is provided that the actuating elements (12) can be activated individually or in groups by way of a central ...

ROBOT

The invention concerns a robot comprising at least one linear slide which has a drive arrangement connected to a power supply, and at least one toothed belt driven by the drive arrangement. The robot (1) is characterized in that the power is supplied from a first side to the robot (1); and in that the toothed belt is assembled and dismantled from a second side, lying opposite the first side.

Streamlined multi-axis robot wrist assembly with partially enclosed hydraulic and electrical lines to minimize the wrist envelope

A multi-axis robot wrist assembly having three hydraulically operated rotary actuators which are mechanically connected in series such that the output of each actuator drivingly positions the body of the succeeding actuator located outboard thereof. The hydraulic connection to any wrist actuator, except the innermost actuator, includes a series-connection of (a) internal passage(s) through actuator(s) which are located inboard of the actuator in question and (b) external line(s) between the actuator in question and actuator(s) located inboard thereof. By connecting all but the innermost wrist actuator through hydraulic paths which are at least partially internal to actuators positioned inwardly thereof, the overall envelop of the wrist assembly is reduced. Also included for the purpose of minimizing the wrist envelop is an electrical cable arrangement for connecting the electrical outputs of position transducers associated with each wrist actuator to an electrical plug or other suitable ...

Robot traveling system provided with cable track, robot system, and machining system

A robot traveling system, which enables sufficient space to be secured by a machine that is installed along a rail. The robot traveling system is provided with a rail, a carriage which can move along the rail and which supports a robot, a drive mechanism which drives the carriage, and a cable track which houses a cable which has a connecting end which is connected to the robot and is laid at the bottom side of the rail along that rail.

Torch cable disposition structure for arc-welding robot

A first wrist element 11 is rotatably provided around an axis line A, on the front end of a forearm base 10 of a robot 1. A second wrist element 12 is rotatably provided around a second axis line B, on the first wrist element 11. A welding torch 2 is rotatably supported around a line C via a transmission mechanism 13. The third axis line C is disposed approximately perpendicularly to the axis line B and is remote from the axis line A by a predetermined distance. A wire feeder 4 is disposed at a position (on a mounting table 8, an upper arm, or a rotating body) other than a forearm. A torch cable 3 is fitted to a slider 6b that is movably fitted along a direction approximately parallel with the first axis line A, with an intermediate fitting section 3a. A slider 6b can be pulled backward by returning a wire 81 connected to a tension generator 80 using a pulley 82. In place of the fitting section 3a, an intermediate guiding section can be provided, and the torch cable 3 can be movably guided ...

ADDITIVE MANUFACTURING APPARATUS

A CNC machine including a worktable displaceable along y-axis, a gantry disposed along an x-axis, either fixed or displaceable along the y-axis, a carriage on such gantry displaceable along the x-axis and including a thermoplastic material extrusion conduit, a tool carrier mounted on such carriage displaceable along a z-axis, a dispersion conduit mounted on such tool carrier accommodating an applicator, means mounted on such applicator for extruding a molten bead of a thermoplastic material, a flexible hose interconnecting such molten material forming means and such applicator, a plurality of servomotors for linearly or rotationally displacing such components along or about such axes and a computer for controlling such component displacements. 130-. (canceled)31. An additive manufacturing system , comprising: a first actuator; and', 'a swivel member;, 'a carrier includinga holder rotatably mounted to the carrier, wherein the holder includes a shaft extending therefrom;a second actuator configured to rotate the shaft; anda flexible tube comprising a first portion and a second portion, wherein the first portion is coupled to the swivel member, and wherein the second portion is coupled to the shaft;wherein actuation of the first actuator rotates the swivel member so as to rotate the flexible tube about a first axis, andwherein actuation of the second actuator rotates the shaft about a second axis, orthogonal to the first axis.32. The system of claim 31 , further comprising an extruder configured to output a flowable material to the flexible tube claim 31 , wherein the extruder is disposed within the carrier claim 31 , and wherein the first portion of the flexible tube includes an inlet in fluid communication with an outlet of the extruder.33. The system of claim 32 , further comprising:a support platform coupled to the carrier, the support platform including an opening disposed along the first axis, wherein the swivel member is disposed between the support platform and ...

Worm-like mechanism

The invention relates to a worm-like mechanism comprising a support structure, which extends in the longitudinal direction of the mechanism, and at least two actuating units, which are arranged one behind the other in the longitudinal direction of the support structure and each of which has two supporting elements, which while extending transversely in relation to the longitudinal direction of the support structure are attached to the latter at a distance from one another in the longitudinal direction, and at least one actuating element, which is arranged between the supporting elements and by which the supporting elements can be moved in relation to one another. In order to provide a further worm-like mechanism, which provides precise open-loop or closed-loop control of its movements while in particular being of a simplified, slender construction, it is provided that the actuating elements can be activated individually or in group by way of a central line.

Device for forecasting breakage cables in an industrial robot

An industrial robot and a device for forecasting breakage of cables, which is capable of predicting the time of breakage of cables provided between a control section and arm drive sections in the industrial robot. Sample wires whose life period is shorter than that of the cables are provided to the cables, respectively, and based on the breakage of the sample wires, the breakage of the cables is forecasted to thereby make it possible to replace the cables timely.

Robot

A robot, includes: a robot arm including: a first frame; and a second frame coupled to the first frame to be turnable about a joint axis; a cable arranged along a side surface of the first frame and a side surface of the second frame; a first fixing member for fixing the cable to the side surface of the first frame; a second fixing member for fixing the cable to the side surface of the second frame; a holding member for holding a part of the cable between the first fixing member and the second fixing member; and a support mechanism for regulating movement of the holding member in an axis direction of the joint axis, the support mechanism supporting the holding member so that the holding member is movable in a direction orthogonal to the axis direction of the joint axis to follow a bending movement of the cable.

Horizontal articulated robot with upper and lower end effector mounting portions

A horizontal articulated robot has a plurality of horizontal arms (15,17) coupled by joint shafts (14,16), and a working shaft (18) disposed at the extreme end of an extreme end arm (17) among the horizontal arms has mounting portions (18b,18c) of an end effector formed to both the upper and lower ends thereof. With this arrangement, there can be provided a horizontal articulated robot that can cope with various work transport forms and various types of works by one type of a robot by selectively using the upper and lower sides of a working shaft.

Wear ring

Protection ring for cable guiding tube of robot, is made of two twin halves and comprises quick fastening mechanism with flaps engaging in recesses The inner halves (22a,22b) of the protection ring (16) are positioned around the cable guiding tube (11) and fixed by pressure, causing small flaps (26), extending from one end to engage with a recess (27) at the opposite end. The outer ring (21) is positioned around the inner ring (20) and joined to the inner ring also with the application of pressure, causing projections (33) to engage with recesses (32). For removal a pointed tool can be inserted into small openings (28,34) in order to lift the extensions (26,33) and projections (29a-36) from their counterparts (30a-37).

СИСТЕМА ДЛЯ ЧЕТЫРЕХ КОЛЛАБОРАТИВНЫХ РОБОТОВ И ЛЮДЕЙ В СУЖАЮЩЕЙСЯ РАБОЧЕЙ ОБЛАСТИ

Изобретение относится к робототехнике и производству летательных аппаратов. Способ и устройство для поддержки коллаборативных роботов и людей в сужающейся рабочей области заключается в создании базовой платформы (18), над которой размещают рабочую платформу (20) для поддержки одного или более человек. Рабочая платформа (20) выполняется более узкой, чем базовая (18). Рабочую платформу (20) размещают относительно базовой платформы (18) таким образом, чтобы обеспечивалась область для размещения одного или более роботов на одной или более сторонах рабочей платформы. Роботы (22) поддерживаются на базовой платформе (18) независимо от рабочей платформы (20), так что перемещение рабочей платформы (20) не влияет на положения роботов (22). Изобретение обеспечивает возможность безопасной работы людей внутри агрегата фюзеляжа. 2 н. и 13 з.п. ф-лы; 14 ил.

ПОДВОД ПЕРЕСЕКАЮЩАХСЯ КАБЕЛЕЙ ОТ КАБЕЛЕНОСИТЕЛЯ К ЧЕТЫРЕМ НЕСТАТИЧЕСКИМ МЕСТОПОЛОЖЕНИЯМ

Robot End Effector with Cable Management

Cable manager 30 is positioned between the distal end of a robot arm 16 and the robot end effector 18 . Elongated cable carrier 44 positioned in a circular cable track 34 extends in an arc about the axis of connection 17 between the robot arm and the end effector. One end 56 of the cable carrier moves with the robot arm and the other end 54 moves with the end effector. The cable carrier forms a U-shape 60 between its ends so that the movements of the ends of the cable carrier result in the U-shape accommodating the change in distance between the ends of the utility line and the cable carrier. Utility lines 62 are gathered in one or more cables that extend through the cable carrier to provide the end effector with the controls necessary for its operation.

Robot arrangement, in particular in a painting booth

A robot arrangement, for example for a painting booth, and exemplary methods associated with the same, are disclosed. An exemplary robot arrangement may comprise a displacement rail, a plurality of robots, such as painting robots or handling robots, which can be displaced along the displacement rail, and a plurality of energy supply chains. The energy supply chains may supply one of the robots each, and may be associated with said robot, and each of the energy supply chains may run along the displacement rail in a particular track. The energy supply chains which are associated with the robots on the same displacement rail may run in discrete tracks.

Articulated robot wrist

Disclosed herein are embodiments of an articulated robot wrist which can comprise a first body comprising a first and a second end, said first end being intended to be mounted on a robot component that is rotatable around a first axis; a second body comprising a first and a second end, said first end being rotatably mounted on said second end of said first body, around a second axis inclined with respect to said first axis; and a third body comprising a first and a second end, said first end being rotatably mounted on said second end of said second body, around a third axis inclined with respect to said second axis, wherein said first and third axes are both substantially orthogonal to said second axis, and wherein in at least one position of said robot wrist said first and third axes are substantially aligned with each other.

Line management system and a method for routing flexible lines for a robot

A line management system for a robot includes a flexible line, a structure clamp coupled to a first end of the flexible line to attach the flexible line to a support structure of the robot, an arm clamp coupled to the second end of the flexible line to attach the flexible line to an outer arm of the robot, a coupling device moveably coupled to the robot structure, wherein the flexible line is attached to the coupling device at an intermediate point along a length thereof.

Process Turning Disc With A Cable Guide

A process turning disc includes a first flange configured to support a cable package in a first direction and a second flange configured to support a cable package in a second direction opposite to the first direction. A connecting member connected to the first and the second flanges is configured to support a cable package in a third direction perpendicular to the first direction. A cable guide is fastened to the process turning disc in a detachable manner and includes a cable clamp configured to support a cable package in a fourth direction opposite to the third direction. The cable guide further includes two sliding surfaces configured to support a cable package in the first and the second directions outside of the cable clamp. A bending movement of the cable package is thereby allowed in a plane perpendicular to the axis of rotation of the process turning disc. 1. A process turning disc comprising: a first flange configured to support a cable package in a first direction , a second flange configured to support a cable package in a second direction which is opposite to the first direction , a connecting member connected to the first and the second flanges and configured to support a cable package in a third direction which is perpendicular to the first direction , a cable guide fastened to the process turning disc in a detachable manner and comprising a cable clamp which is configured to support a cable package in a fourth direction which is opposite to the third direction ,characterized in that the cable guide further comprises two sliding surfaces configured to support a cable package in the first and the second directions outside of the cable clamp.2. The process turning disc according to claim 1 , wherein the first direction is parallel with an axis of rotation of the process turning disc.3. The process turning disc according to claim 1 , wherein the sliding surface extend over a sector at least 30 degrees about the axis of rotation of the process turning ...

Umbilical member arrangement structure of parallel link robot

An umbilical member arrangement structure capable of properly arranging an umbilical member in a parallel link robot. A first additional actuator is arranged on a passive link part of a parallel link robot. An Umbilical member is withdrawn from an opening formed on a generally circular bottom surface of a base part, while having a margin, approaches the passive link part, while extending in an intersecting direction with respect to a longitudinal direction of the passive link part, and is connected to the first additional actuator. The “intersecting direction” means a direction extending at an angle of 70 to 110 degrees, preferably 80 to 100 degrees, more preferably about 90 degrees, with respect to the longitudinal direction of the passive link part.

Legged Robot

A legged robot having a frame with a plurality of links in mechanical communication with plurality of brackets, the frame forming a front, back, top, bottom, and sides, legs in mechanical communication with one or more of the plurality of brackets, each leg having a knee motor, an abduction motor, and a hip motor, a computer module in mechanical communication with one or more of the plurality of brackets and in electrical communication with the legs, and a power module in mechanical communication with one or more of the plurality of brackets and in electrical communication with the legs and the computer module. 1. A legged robot , comprising:a frame comprising a plurality of links in mechanical communication with plurality of brackets, the frame forming a front, back, top, bottom, and sides;legs in mechanical communication with one or more of the plurality of brackets, each leg comprising a knee motor, an abduction motor, and a hip motor;a computer module in mechanical communication with one or more of the plurality of brackets and in electrical communication with the legs; anda power module in mechanical communication with one or more of the plurality of brackets and in electrical communication with the legs and the computer module.2. The legged robot of claim 1 , further comprising a motor enclosure enclosing the hip motor and the abduction motor.3. The legged robot of claim 2 , wherein the motor enclosure encloses a motor controller in electrical communication with the computer module.4. The legged robot of claim 3 , wherein each of the abduction motor claim 3 , hip motor claim 3 , and knee motor has an associated encoder claim 3 , and each associated encoder is in electronic communication with the motor controller.5. The legged robot of claim 2 , wherein the abduction motor actuates movement of the motor enclosure.6. The legged robot of claim 2 , wherein the motor enclosure is mechanically coupled to one or more of the plurality of brackets via a mechanical ...

ROBOT

A robot includes a robot body and a feeding cable. The robot body is disposed in an explosion-proof region. The feeding cable is disposed in the explosion-proof region, and power is supplied to the robot body through the feeding cable. The feeding cable includes a plurality of wires and a cover. Each of the plurality of wires includes a conductor and an insulator covering the conductor. The cover covers the plurality of wires and has a thickness of equal to or greater than 10 percent of an outer diameter of the feeding cable. 1. A robot comprising:a robot body disposed in an explosion-proof region; and a plurality of wires each comprising a conductor and an insulator covering the conductor; and', 'a cover covering the plurality of wires and having a thickness of equal to or greater than 10 percent of an outer diameter of the feeding cable., 'a feeding cable which is disposed in the explosion-proof region and through which power is supplied to the robot body, the feeding cable comprising2. The robot according to claim 1 , wherein the insulator has a thickness of equal to or greater than 50 percent of an outer diameter of the conductor.3. The robot according to claim 1 , wherein the cover comprises a non-combustible and oil-resistant polyvinyl chloride material.4. The robot according to claim 1 , wherein the insulator comprises a heat-resistant polyvinyl chloride material.5. The robot according to claim 1 , wherein a rated temperature for the feeding cable is 105 degrees Celsius.6. The robot according to claim 1 , wherein a rated voltage for the feeding cable is from 500 V to 700 V.7. The robot according to claim 1 , wherein the conductor comprises a tinned copper wire.8. The robot according to claim 1 , further comprising a cable ground mounted on the robot body claim 1 , the cable ground comprising:a first end through which the feeding cable is inserted; anda second end through which the plurality of wires are pulled out.9. The robot according to claim 8 , wherein ...

ATTACHMENT STRUCTURE FOR DRIVE CABLES OF ROBOT AND ROBOT APPARATUS PROVIDED THEREWITH

An attachment structure for drive cables include a first fixing member and a second fixing member separate from the first fixing member, which are designed to fix the drive cables in a non-slidable manner. The first fixing member is disposed behind a pivot body of a robot so as to pivot together with the pivot body. The second fixing member is disposed so as to be spaced apart from the first fixing member in a direction parallel to a rotational axis of an arm of the robot. The drive cables are fixed so as to be convexly curved upward in a portion between the first fixing member and the second fixing member. 1. An attachment structure for drive cables of a robot ,wherein the robot comprises a movable part which is movable so that the robot has any given position and posture, and a stationary part which is fixed independently of the position and posture of the robot,wherein the movable part of the robot comprises:a pivot body attached to the stationary part so as to be able to pivot around a pivot axis;a first arm attached to the pivot body so as to be able to rotate around a first rotational axis; anda second arm attached to the first arm so as to be able to rotate around a second rotational axis,wherein the drive cables includes at least a power cable supplying power to a motor for driving the pivot body, the first arm and the second arm, and a signal cable for transmitting and receiving a signal to and from the motor,wherein the attachment structure comprises a first fixing member and a second fixing member separate from the first fixing member, each of which is configured to fix the drive cables non-slidably,wherein the first fixing member is disposed behind the pivot body so as to pivot together with the pivot body,wherein the second fixing member is disposed in the stationary part and at a distance away from the first fixing member in a direction parallel to the first rotational axis, andwherein the drive cables are fixed by the first fixing member and the ...

Robot wrist structure

A robot wrist structure includes a first wrist element that is supported by a forearm in a rotatable manner about a first axis; a second wrist element that is supported by the first wrist element in a rotatable manner about a second axis that is orthogonal to the first axis; and a third wrist element that is supported by the second wrist element in a rotatable manner about a third axis that is orthogonal to the second axis and that is disposed in the same plane as the first axis. Further the second wrist element is provided with, at a position at which the second axis is included, a second axial hollow hole that passes therethrough in a direction along the second axis.

AUTOMATED MOBILE ROBOT WITH UVC LIGHTS FOR DISINFECTING A FACILITY

An automated mobile robot includes a housing, an articulated arm that has at least one UVC light thereon, an actuator that is operable to move the arm between a retracted position and an extended position, a drive unit that is operable to move the housing, a position sensor that is operable to generate position signals indicative of an instant position, a computer, and a battery connected to the actuator, the drive unit, the UVC light, and the computer. The computer is operably coupled to the actuator, the position sensor, the UVC light, and the drive unit. The computer has a predetermined disinfection route and is configured to operate the actuator to move the arm, activate and deactivate the UVC light, and operate the drive unit to move the housing along the predetermined disinfection route based on the instant position and a desired position in the predetermined disinfection route. 1. An automated mobile robot , comprising:a housing;at least one articulated arm extendable from the housing and having at least one UVC light thereon;an actuator coupled with the arm and operable to move the arm between a retracted position and an extended position;a drive unit operable to move the housing;a position sensor operable to generate position signals indicative of an instant position of the housing;a computer; anda battery connected to the actuator, the drive unit, the UVC light, and the computer, whereinthe computer is operably coupled to the actuator, the position sensor, the UVC light, and the drive unit, the computer having a predetermined disinfection route stored therein, the computer configured to operate the actuator to move the arm, activate and deactivate the UVC light, and operate the drive unit to move the housing along the predetermined disinfection route based on the instant position and a desired position in the predetermined disinfection route.2. The automated mobile robot as recited in claim 1 , further comprising a steering roller mounted under the housing ...

Feeding Device for a Manipulator Arm Having at Least One Joint and Stiffening Device for Such a Feeding Device

A feeding device for a manipulator arm has at least one joint, in particular of an industrial robot, having a flexible cable package via which at least one process medium can be fed at least substantially along the end effector of the manipulator arm and having a flexibly slack guide cover element enclosing the cable package. A stiffening device having a holding device is provided, which is arranged in a fixed position on the flexibly slack guide cover element. At least one stiffening element held by the holding device is provided, which, in an activated state of the stiffening device, is acted upon by stiffening energy such that the flexibly slack guide cover element and consequently the cable package are stiffened by the stiffening element. 110.-. (canceled)11. A feeding device for a manipulator arm , comprising:a joint of an industrial robot having a flexible cable package via which a process medium is feedable at least substantially along an end effector of the manipulator arm and having a flexibly slack guide cover element enclosing the flexible cable package;a stiffening device having a holding device which is disposed in a fixed position on the flexibly slack guide cover element; anda stiffening element held by the holding device, which, in an activated state of the stiffening device, is acted upon by stiffening energy, whereby the flexibly slack guide cover element and the flexible cable package are stiffened by the stiffening element.12. The feeding device according to claim 11 , wherein the stiffening element is a flexibly slack hose element a hose wall of which delimits a duct element through which a fluid is flowable and which is completely filled with the fluid in the activated state and wherein the stiffening element is acted upon by the stiffening energy by a stiffening pressure applied to the fluid in the duct element.13. The feeding device according to claim 11 , wherein the holding device has a stiffening element receptacle disposed in parallel to ...

COMMUNICATION SYSTEM FOR AN INTERACTION SYSTEM

A system for performing interactions within a physical environment, the system including: a robot having a robot base that undergoes movement relative to the environment and a robot arm mounted to the robot base, the robot arm including an end effector mounted thereon; a communications system including a fieldbus network; a tracking system including a tracking base positioned in the environment and connected to the fieldbus network, and a tracking target mounted to a component of the robot, wherein the tracking base is configured to detect the tracking target to allow a position and/or orientation of the tracking target relative to the tracking base to be determined; and a control system that communicates with the tracking system via the fieldbus network to determine the relative position and/or orientation of the tracking target and controls the robot arm in accordance with the relative position and/or orientation of the tracking target. 1) A system for performing interactions within a physical environment , the system including: i) a robot base that undergoes movement relative to the environment;', 'ii) a robot arm mounted to the robot base, the robot arm including an end effector mounted thereon for performing said interactions;, 'a) a robot havingb) a communications system including a fieldbus network; i) a tracking base positioned in the environment and connected to the fieldbus network; and,', 'ii) a tracking target mounted to a component of the robot, wherein the tracking base is configured to detect the tracking target to allow a position and/or orientation of the tracking target relative to the tracking base to be determined; and,, 'c) a tracking system including 'i) communicates with the tracking system via the fieldbus network to determine the position and/or orientation of the tracking target relative to the tracking base; and,', 'd) a control system thatii) controls the robot arm in accordance with the position and/or orientation of the tracking target ...

Umbilical member attachment device of robot

An umbilical member attachment device including a first umbilical member-use first fastening part and second fastening part respectively fastening a first umbilical member to a first member and second member, and a second umbilical member-use first fastening part and second fastening part respectively fastening a second umbilical member to a first member and second member. These fastening parts are arranged offset in position from each other on a surface of the robot so that the first umbilical member and the second umbilical member do not cross, and at a reference posture, and so that a distance between the first umbilical member-use second fastening part and the second umbilical member-use second fastening part becomes broader than a distance between the first umbilical member-use first fastening part and the second umbilical member-use first fastening part.

Robot Tool for Setting Sealing Plugs Having an Angled Motor

A robot tool for placing sealing plugs in openings in a vehicle body component includes a placing installation, in which a plug magazine having a plurality of plugs is accommodated, which plugs can be set into the respective openings in direct succession by the placing installation without reloading. A method is provided for securely setting the plugs, wherein the plugs can be pushed out of the plug magazine accommodated in the placing installation in predefined steps by a drive unit, wherein the plug magazine extends axially in a first direction and the drive unit is arranged on the plug magazine at an angle of 90-150° to the first direction. 1. A robot tool for placing sealing plugs into openings in an automotive body component , comprising:a sealing plug magazine having a plurality of lined-up sealing plugs;a placing installation on which the sealing plug magazine is disposed, wherein via the placing installation the plurality of the sealing plugs are capable of being placed in a directly sequential manner and without reloading into respective openings of the automotive body component;a drive unit configured to eject the sealing plugs in predefined steps from the sealing plug magazine disposed on the placing installation, whereinthe sealing plug magazine extends in an axial direction, andthe drive unit is disposed relative to the sealing plug magazine at an angle of 90° to 170° in relation to the axial direction.2. The robot tool according to claim 1 , whereinthe drive unit comprises a motor and a flexible brush cable configured as an indexing element, andthe brush cable is connected to a slide that is capable of being repositioned in the axial direction and by way of which the sealing plugs are capable of being moved out of the sealing plug magazine.3. The robot tool according to claim 2 , wherein the brush cable has a deflection at an angle of 60° to 120°.4. The robot tool according to claim 2 , whereinthe drive unit further comprises a drive that engages the ...

ROBOT AND MANUFACTURING METHOD OF THE SAME

A robot according to an aspect of an embodiment includes a robot arm, an attaching portion, an end effector, an end-effector-side cable, and a robot-side cable. The attaching portion is provided on a leading end of the robot arm. The end effector is attached to the attaching portion. The end-effector-side cable extends from the end effector. The robot-side cable is arranged along the robot arm and is connected to the end-effector-side cable by terminal connection at a position closer to the end effector than the attaching portion. 1. A robot comprising:a robot arm;an attaching portion provided on a leading end of the robot arm;an end effector attached to the attaching portion;an end-effector-side cable extending from the end effector; anda robot-side cable arranged along the robot arm and connected to the end-effector-side cable by terminal connection at a position closer to the end effector than the attaching portion.2. The robot according to claim 1 , wherein the robot-side cable and the end-effector-side cable include therein wiring through which power is supplied from the robot arm to the end effector of the robot.3. The robot according to claim 1 , further comprising a connection portion via which the robot-side cable is connected to the end-effector-side cable claim 1 , whereinthe connection portion is covered with an insulative tube.4. The robot according to claim 2 , further comprising a connection portion via which the robot-side cable is connected to the end-effector-side cable claim 2 , whereinthe connection portion is covered with an insulative tube.5. The robot according to claim 1 , wherein the end effector includes a spot welding gun.6. The robot according to claim 2 , wherein the end effector includes a spot welding gun.7. The robot according to claim 3 , wherein the end effector includes a spot welding gun.8. The robot according to claim 4 , wherein the end effector includes a spot welding gun.9. The robot according to claim 1 , wherein the robot- ...

Storage Systems and Methods for Robotic Picking

A mobile manipulator robot for retrieving inventory items from a storage system. The robot includes a body, a wheel assembly, a sensor to locate a position of the robot within the storage system, an interface configured to send processor readable data to a remote processor and to an operator interface, and receive processor executable instructions from the remote processor and from the operator interface, an imaging device to capture images of the inventory items, a picking manipulator, first and second pneumatic gripping elements for grasping the inventory items, and a coupler configured to mate with a valve to access a pneumatic supply for operating at least one of the first or second pneumatic gripping elements. The robot is configured to transition the valve from a closed condition to an open condition and selectively place one of the first or the second pneumatic gripping elements in communication with the pneumatic supply. 1. An order fulfillment system , comprising:a mobile manipulator robot moveable in two dimensions within a storage system for picking inventory items stored within a container or on shelving, the mobile manipulator robot comprising:a body;a wheel assembly coupled to the body, the wheel assembly including a plurality of wheels and an actuator to move the body within the storage system;a sensor to locate a position of the body relative to the storage system in which the body is located;an interface configured to wirelessly send processor readable data to a remote processor and wirelessly receive processor executable instructions from the remote processor;an imaging device to capture images of the inventory items, the imaging device being configured to collect inventory data;a picking manipulator coupled to the body, the picking manipulator having at least three degrees of freedom;first and second pneumatic gripping elements coupleable to the picking manipulator, at least one of the first or second pneumatic gripping elements being formed of a ...

Storage Systems and Methods for Robotic Picking

A storage system configured to house a plurality of containers housing inventory items includes support members, a first set of parallel rails to support a mobile, manipulator robot, and a fluid supply line having a plurality of valves disposed within the fluid supply line. Each of the valves having a closed condition in which the supply line is in fluid isolation from an outside environment and an open condition in which the supply line is in fluid communication with the environment such that the supply line is configured to supply fluid to a mobile, manipulator robot. Mobile, manipulator robots for retrieving inventory items stored within the containers and retrieval methods are also disclosed herein. 1. A storage system for robotic picking , comprising:a storage structure configured to house a plurality of containers, the storage structure including support members, a first set of parallel rails to support a mobile, manipulator robot and a fluid supply line; anda plurality of valves disposed within the fluid supply line, each of the valves having a closed condition in which the fluid supply line is in isolation from an outside environment and an open condition in which the fluid supply line is in communication with the outside environment such that the fluid supply line is configured to supply fluid to a mobile, manipulator robot.2. The system of claim 1 , wherein the storage structure further comprises a second set of parallel rails extending substantially perpendicular to the first set of parallel rails claim 1 , the first and second set of parallel rails forming a grid having a plurality of grid spaces.3. The system of claim 2 , wherein the grid is a first grid and the plurality of grid spaces is a first plurality of grid spaces claim 2 , further comprising:a third set of parallel rails and a fourth set of parallel rails extending substantially perpendicular to the third set of parallel rails, the third and fourth set of parallel rails forming a second grid ...

Storage Systems and Methods for Robotic Picking

A storage system configured to house a plurality of containers housing inventory items includes support members, a first set of parallel rails to support a mobile, manipulator robot, and a fluid supply line having a plurality of valves disposed within the fluid supply line. Each of the valves having a closed condition in which the supply line is in fluid isolation from an outside environment and an open condition in which the supply line is in fluid communication with the environment such that the supply line is configured to supply fluid to a mobile, manipulator robot. Mobile, manipulator robots for retrieving inventory items stored within the containers and retrieval methods are also disclosed herein.

Storage Systems and Methods for Robotic Picking

A storage system configured to house a plurality of containers housing inventory items includes support members, a first set of parallel rails to support a mobile, manipulator robot, and a fluid supply line having a plurality of valves disposed within the fluid supply line. Each of the valves having a closed condition in which the supply line is in fluid isolation from an outside environment and an open condition in which the supply line is in fluid communication with the environment such that the supply line is configured to supply fluid to a mobile, manipulator robot. Mobile, manipulator robots for retrieving inventory items stored within the containers and retrieval methods are also disclosed herein. 1. A method for controlling the operation of a mobile piece picking robot movable along rails of a storage system , the method comprising:receiving, by one or more computing devices, performance data from a robot, the performance data including information regarding an inventory item stored in a container within the storage system that the robot is tasked with manipulating or grasping;transmitting, by the one or more computing devices, in response to receiving the performance data, a notification to an operator interface, the notification corresponding to the performance data and including the information regarding the inventory item the robot is tasked in manipulating or grasping;receiving, by the one or more computing devices, control instructions from the operator interface, the control instructions including at least one of a partial pose for a gripping element of the robot, an identified manipulation or grasping region on the inventory item, or a selection of a gripping element to be used by the robot for manipulating or grasping the inventory item; andforwarding, by the one or more computing devices, control instructions to the robot for execution to manipulate or grasp the inventory item.2. The method of claim 1 , wherein the information regarding the ...

Storage Systems and Methods for Robotic Picking

A mobile manipulator robot for retrieving inventory items from a storage system. The robot includes a body, a wheel assembly, a sensor to locate a position of the robot within the storage system, an interface configured to send processor readable data to a remote processor and to an operator interface, and receive processor executable instructions from the remote processor and from the operator interface, an imaging device to capture images of the inventory items, a picking manipulator, first and second pneumatic gripping elements for grasping the inventory items, and a coupler configured to mate with a valve to access a pneumatic supply for operating at least one of the first or second pneumatic gripping elements. The robot is configured to transition the valve from a closed condition to an open condition and selectively place one of the first or the second pneumatic gripping elements in communication with the pneumatic supply. 1. An order fulfillment system , comprising: a body;', 'a wheel assembly coupled to the body, the wheel assembly including a plurality of wheels and an actuator to move the body within the warehouse;', 'a sensor to locate a position of the body relative to the warehouse in which the body is located;', 'an interface configured to wirelessly send processor readable data to a remote processor and wirelessly receive processor executable instructions from the remote processor;', 'an imaging device to capture images of the inventory items, the imaging device being configured to collect inventory data;', 'a picking manipulator coupled to the body, the picking manipulator having at least three degrees of freedom;', 'a first pneumatic gripping tool formed of a compliant material and coupleable to the picking manipulator, the first pneumatic gripping tool being moveable by the picking manipulator in a three dimensional workspace to access and grasp inventory items; and', 'a container retrieval device coupleable to the body and having a container ...

Robot

A robot includes: a stage unit; a rotation base connected to the stage unit in a rotatable manner around a predetermined rotating axis; an arm unit connected to the rotation base and having a base end rotatable around a first rotation axis that is substantially orthogonal to the rotating axis; a first attachment unit provided to the rotation base, arranged in an outside, in a rotation radius direction, of the rotation base and nearer to the stage unit than the first rotation axis, and formed so that one part of a balancer is attached thereto; and a second attachment unit provided to the arm unit and formed so that another part of the balancer is attached thereto.

SUCTION STRUCTURE HAVING PLURALITY OF SUCTION ASSEMBLIES

A suction structure includes a connection member and at least one suction assembly coupled to the connection member. The at least one suction assembly includes a base, a suction member, at least one first buffering member, at least one second buffering member, and at least one pushing member. The at least one suction assembly is assembled on the base. The at least one first buffering member is at least partially housed in the base. The at least one second buffering member forms a sleeve around at least a portion of the base. The at least one pushing member cooperates with the base and has a first end coupled to the at least one first buffering member and a second end at least partially exposed from with the suction member. 1. A suction structure comprising:a connection member; a base;', 'a suction member coupled to the base;', 'at least one first buffering member at least partially housed in the base;', 'at least one second buffering member forming a sleeve around at least a portion of the base; and', 'at least one pushing member cooperating with the base and having a first end coupled to the at least one first buffering member and a second end at least partially exposed from within the suction member., 'at least one suction assembly coupled to the connection member, the at least one suction assembly comprising2. The suction structure of claim 1 , wherein the at least one suction assembly further comprises at least one fixing block corresponding to the at least one first buffering member claim 1 , a first end of the at least one first buffering member is fixed to the corresponding fixing block and a second end of the at least one first buffering member is fixed to the corresponding pushing member.3. The suction structure of claim 2 , wherein the base is a hollow cylinder with an open end and a closed end claim 2 , a flange protrudes on the closed end of the base claim 2 , the suction member is positioned in a side of the flange away from the base claim 2 , and the ...

Nuclear Emergency Multifunctional Operation Robot

A nuclear emergency multifunctional operation robot includes a base, a mechanical arm, a tool change-over device, and motion supporting devices. The base includes a pedestal, a mounting seat A, a mounting seat B, a mounting seat C, a rotation driving mechanism A, and a rotation driving mechanism B. The front end of the mechanical arm is connected to the mounting seat B; the tool change-over device includes a male connector and a female connector which are abutted with or separated from each other; and the motion supporting devices are used to drive the nuclear emergency multifunctional operation robot to move. The present disclosure has the advantages that the base can be integrated with various end tools, so that the operation robot conveniently changes over tools according to operation needs to conduct various types of operations. 1. A multifunctional operation robot , comprising a base , a mechanical arm , a tool change-over device , and motion supporting devices , whereinthe base comprises a pedestal, a mounting seat A, a mounting seat B, a mounting seat C, a rotation driving mechanism A, and a rotation driving mechanism B; the mounting seat A is fixedly mounted on an upper end of the pedestal, and the front and rear ends of the mounting seat A are respectively provided with a front mounting region and a rear mounting region; the mounting seat B and the mounting seat C are movably mounted in the front mounting region and the rear mounting region respectively; the mounting seat C is provided with a plurality of placement cavities; the rotation driving mechanism A is mounted between the pedestal and the mounting seat B to drive the mounting seat B to rotate in a horizontal direction; the rotation driving mechanism B is mounted between the pedestal and the mounting seat C to drive the mounting seat C to rotate in the horizontal direction;the mechanical arm is movably mounted on the mounting seat B;the tool change-over device comprises a male connector and a female ...

ROBOTIC TOOL CHANGERS AND METHODS OF USE

A robotic tool changer is provided including a tool adapter. The tool adapter includes a body having a robot wall, a tool wall, and a side wall extending from the robot wall to the tool wall. A rear opening is formed in the side wall and the tool wall through which a tool element extends to enter a tool hole formed in the body. The tool adapter also includes a locking member movable relative to the body between an open position in which the locking member permits positioning of the tool element into or out of the tool hole through the rear opening, and a closed position in which the locking member prohibits positioning of the tool element into or out of the tool hole through the rear opening. 1. A tool adapter comprising:a body having a robot wall, a tool wall, and a side wall extending from the robot wall to the tool wall, a rear opening is formed in the side wall and the tool wall through which a tool element extends to enter a tool hole formed in the body; anda locking member rotatably movable about a central axis relative to the body between an open position in which the locking member permits positioning of the tool element into or out of the tool hole through the rear opening, and a closed position in which the locking member prohibits positioning of the tool element into or out of the tool hole through the rear opening.2. The tool adapter of claim 1 , wherein the locking member has a first edge and a second edge defining an opening claim 1 , the opening of the locking member overlapping the rear opening of the side wall of the body when the locking member is in the open position claim 1 , the locking member covering the rear opening of the side wall of the body when the locking member is in the closed position.3. The tool adapter of claim 2 , further comprising:a motor;a pinion gear rotatably fixed to the body and in communication with the motor; anda plurality of teeth provided on an inner surface of the locking member, the plurality of teeth and configured ...

ROBOT

A robot includes a base plate rotatable around a rotation axis, a first arm connected to the base plate at a first axis which is perpendicular to the rotation axis and around which the first arm is rotatable, a second arm connected to the first arm at a second axis which is parallel to the first axis and around which the second arm is rotatable, a third arm connected to the second arm at a third axis which is parallel to the first axis and around which the third arm is rotatable, a turnable link connected to the third arm at a fourth axis which is perpendicular to the third axis and around which the turnable link is rotatable, a distal-end swingable portion connected to the turnable link at a fifth axis which is perpendicular to the fourth axis and around which the distal-end swingable portion is rotatable, a distal end connected to the distal-end swingable portion at a sixth axis which is perpendicular to the fifth axis and around which the distal end is rotatable, and a welder connected to the distal end. 1. A robot comprising:a base plate rotatable around a rotation axis;a first arm connected to the base plate at a first axis which is perpendicular to the rotation axis and around which the first arm is rotatable;a second arm connected to the first arm at a second axis which is parallel to the first axis and around which the second arm is rotatable;a third arm connected to the second arm at a third axis which is parallel to the first axis and around which the third arm is rotatable;a turnable link connected to the third arm at a fourth axis which is perpendicular to the third axis and around which the turnable link is rotatable;a distal-end swingable portion connected to the turnable link at a fifth axis which is perpendicular to the fourth axis and around which the distal-end swingable portion is rotatable;a distal end connected to the distal-end swingable portion at a sixth axis which is perpendicular to the fifth axis and around which the distal end is ...

Fastening device for a supply hose and/or a supply line for fastening to an industrial-robot arm

A fastening device is useful for at least one supply hose and/or at least one supply line for fastening to an industrial-robot arm with a holder, an assignable holder unit for the supply hose and/or the supply line, and a lockable tensioning element. The holder is arranged on the lockable tensioning element so that the holder, by the tensioning element being clasped and locked around the industrial-robot arm, can be fastened and/or positioned flexibly on the industrial-robot arm and thus in the event of the holder being connected to the assignable holding unit the supply hose and/or the supply line can be oriented in a specific manner. 1. A fastening device for at least one supply hose and/or at least one supply line for fastening to an industrial-robot arm , said fastening device comprising:a holder,an assignable holding unit for the at least one supply hose and/or the at least one supply line, anda lockable tensioning element,wherein the holder is arranged on the lockable tensioning element, so that the holder, by the lockable tensioning element being clasped and locked around the industrial-robot arm, can be fastened and/or positioned flexibly on the industrial-robot arm, andthus, in the event of the holder being connected to the assignable holding unit, the at least one supply hose and/or the at least one supply line can be oriented in a specific manner.2. The fastening device according to claim 1 , wherein the lockable tensioning element is guided through an interior of the holder.3. The fastening device according to claim 2 , wherein the lockable tensioning element is guided in a longitudinal direction of the holder.4. The fastening device according to claim 1 , wherein the holder comprises an elastic material claim 1 , so that in the event of the lockable tensioning element being clasped and locked around the industrial-robot arm claim 1 , the holder is positionally fixed by a frictional connection between the elastic material of the holder and a material of ...

CONNECTING DEVICE AND CONNECTING DEVICE FOR ROBOT MANIPULATOR

A connecting device configured to couple to a robot arm and a robot tool includes a first connecting part including a fixing member having at least one first magnetic part, at least one first optical fiber connector, and at least one first electrical connector which are coupled to the fixing member. A second connecting part which is removable and securely coupled to the first connecting part including a fixing member having at least one second magnetic part, at least one second optical fiber connector, and at least one first conduction connector which are coupled to the fixing member. The first magnetic part and the second magnetic part have opposite magnetic force. When the first magnetic part contacts the second magnetic part, the first optical fiber connector connect to the second optical fiber connector and the first electrical connector connects to the first conduction connector. 1. A connecting device configured to couple a robot arm to a robot tool comprising:a first connecting part comprising a fixing member of the first connecting part having at least one first magnetic part, at least one first optical fiber connector, and at least one first electrical connector, wherein the first magnetic part, the first optical fiber connector and the first electrical connector are coupled to the fixing member of the first connecting part;a second connecting part removable and securely coupled to the first connecting part, wherein the second connecting part comprising: a fixing member of the second connecting part having at least one second magnetic part, at least one second optical fiber connector, and at least one first conduction connector, wherein the second magnetic part, the second optical fiber connector and the second electrical connector are coupled to the fixing member of the second connecting part, whereinthe first magnetic part and the second magnetic part have corresponding opposite magnetic forces, and when the first magnetic part contacts the second ...

Robot arm and robot

A robot arm increases a plurality of arm sections that are turnably connected. The arm sections include a plurality of links and an actuator section that turns the plurality of links. The actuator section includes: a cylindrical cover provided on an outer surface; a motor that turns the plurality of links; a motor frame included in the motor; a reduction gear that decelerates rotation from the motor and outputs a torque; a collar fixed to the reduction gear; and a wire body including at least one of a wire and a pipe. At least a part of the wire body is housed between a surface including a first small body section formed by the motor frame and the collar and a surface including a second small body section of the cylindrical cover.

UMBILICAL MEMBER CLAMPING DEVICE FOR CLAMPING UMBILICAL MEMBERS VIA ELASTIC BODY

An umbilical member clamping device includes a base member attached to a body of a robot, an elastic body provided so as to surround a periphery of an umbilical member bundle including umbilical members, a clamp member secured to the base member so as to press the umbilical member bundle to the base member via the elastic body, and an insert member inserted to a corner portion of a space which receives the umbilical member bundle and which is defined by the clamp member and the base member when the clamp member is secured to the base member. 1. An umbilical member clamping device used to attach a plurality of umbilical members to an industrial robot , comprising:a base member attached to a body of the robot;an elastic body provided so as to surround a periphery of an umbilical member bundle including the umbilical members;a clamp member secured to the base member so as to press the umbilical member bundle to the base member via the elastic body; andan insert member inserted to a corner portion of a space which receives the umbilical member bundle and which is defined by the clamp member and the base member when the clamp member is secured to the base member.2. The umbilical member clamping device according to claim 1 , wherein the elastic body includes a sheet-like member wound around the umbilical member bundle.3. The umbilical member clamping device according to claim 1 , wherein the clamp member has a shape which curves so as to project in an opposite direction from the base member.4. The umbilical member clamping device according to claim 1 , wherein the elastic body has a hollow cylindrical shape. 1. Technical FieldThe present invention relates to an umbilical member clamping device for clamping a plurality of umbilical members, which is used in an industrial robot.2. Description of the Related ArtIn an industrial robot, various umbilical members are attached to the body of the robot. Examples of the umbilical members include a cable for supplying power or ...

ROBOT AND OPERATION METHOD FOR ROBOT

Disclosed is a robot. The robot includes a manipulator for performing movement, a scoop connected to the manipulator, and for receiving matter, and a controller for controlling the robot, wherein the controller increases temperature of a first part of the scoop when the robot performs a scooping operation of putting the matter into the scoop. 1. A robot comprising:a manipulator configured to perform movement;a scoop connected to the manipulator, and configured to receive matter therein; anda controller configured to control the robot,wherein the controller is further configured to increase a temperature of a first part of the scoop when the robot performs a scooping operation of moving the scoop into the matter.2. The robot of claim 1 , wherein the controller increases the temperature of the first part when a strength value of the matter measured during the scooping operation exceeds a threshold strength value.3. The robot of claim 2 , further comprising a sensor configured to measure an external force value applied to the robot to measure the strength value of the matter claim 2 ,wherein the controller determines whether the strength value of the matter exceeds the threshold strength value by determining whether the external force value applied to the robot during the scooping operation exceeds a threshold external force value.4. The robot of claim 2 , wherein the controller is further configured to:stop the scooping operation when the strength value of the matter measured during the scooping operation exceeds the threshold strength value, andrestart the scooping operation when the strength value of the matter measured during the scooping operation becomes less than the threshold strength value.5. The robot of claim 1 , wherein the controller is further configured to increase a temperature of a second part of the scoop when the robot performs a release operation of moving the matter within the scoop to a serving container.6. The robot of claim 5 , wherein the ...

ROBOTIC ARRANGEMENT FOR USE IN MEDICAL FIELDS

A robotic arrangement for use in medical fields has a robot arm having, in particular, a plurality of hinges, an instrument holder provided on the robot arm in order to receive a medical instrument, and supply lines which can be connected to the instrument. An adapter element is used for connecting the supply lines to the instrument. 1. A robotic arrangement for use in medical fields , comprising:a robot arm having a plurality of hinges,an instrument holder provided on the robot arm in order to receive a medical instrument, andsupply lines which can be connected to the instrument, whereinan adapter element for connecting the supply lines to the instrument.2. The robotic arrangement of claim 1 , wherein all instrument supply lines are connected to the adapter element.3. The robotic arrangement of claim 1 , wherein claim 1 , for the purpose of force transmission claim 1 , the instrument is connected substantially the instrument holder.4. The robotic arrangement of claim 1 , wherein the adapter element and the instrument are connected to the instrument holder via a common holder element.5. The robotic arrangement of claim 1 , wherein the adapter element and the instrument are connected separately to the instrument holder via mechanical holder elements.6. The robotic arrangement of claim 1 , wherein the adapter element comprises a plurality of adapter modules respectively connected to at least one supply line.7. The robotic arrangement of claim 1 , wherein the adapter element comprises a standard adapter element adapted to be connected to additional adapter elements.8. The robotic arrangement of claim 7 , wherein the additional adapter elements surround the standard adapter element annularly and are preferably rotatable around the standard adapter element.9. The robotic arrangement of claim 1 , wherein the robot arm and/or supply lines leading to the adapter element are surrounded by a sterile drape claim 1 , possibly with multiple lumens claim 1 , or by separate drapes ...

Industrial robot

An industrial robot of the present disclosure includes a manipulator, a control device for controlling the manipulator, and a connection cable that connects the manipulator to the control device. The manipulator includes a fixed base section, a first motor, a first detecting section, a power supply section, a first casing, and a first power supply cable. The first motor operates the manipulator. The first detecting section detects the state of the first motor. The power supply section supplies electric power to the first detecting section. The first casing stores the first motor and the first detecting section. The first power supply cable connects the first detecting section to the power supply section. The power supply section is disposed in the base section.

AGRICULTURAL ROBOT FOR A VERTICAL FARMING UNIT

An agricultural robot is disclosed, the agricultural robot comprising a chassis comprising a plurality of ground-engaging mechanisms for propelling the robot in a direction of travel; a supply module mounted on the chassis and comprising a fluid providing unit, a power providing unit, a supply interface operatively connected to the fluid providing unit and to the power providing unit and for providing at least one of fluid and power; and a controller for operating the plurality of ground-engaging mechanisms and the supply interface. 1. A robot comprising:a chassis comprising a plurality of ground-engaging mechanisms for propelling the robot in a direction of travel; a resource providing unit,', 'a supply interface operatively connected to the resource providing unit for providing a resource; and, 'a supply module mounted on the chassis and comprisinga controller for operating the plurality of ground-engaging mechanisms and the supply interface.2. The robot as claimed in claim 1 , wherein the resource comprises a fluid claim 1 , and the resource providing unit comprises a fluid reservoir and the supply interface comprises a fluid outlet operatively connected to the fluid reservoir.3. The al robot as claimed in claim 2 , wherein the supply interface further comprises a fluid inlet operatively connected to the fluid reservoir.4. The robot as claimed in claim 2 , further wherein the supply interface comprises a robotic arm comprising an end effector; further wherein the fluid outlet is mounted at the end effector of the robotic arm.5. The robot as claimed in claim 1 , wherein the resource comprises electrical power claim 1 , and the resource providing unit comprises a battery pack comprising a plurality of batteries and a power connection operatively connected to the battery pack for providing power from the battery pack.6. The robot as claimed in claim 5 , further wherein the supply interface comprises a robotic arm comprising an end effector; further wherein the power ...

AUTOMATED DIAGNOSTIC ANALYZER AND METHOD FOR ITS OPERATION

An automated analyzer that receives samples prepared for analysis in an automated pre-analytical module and a method of operation of such automated analyzer. The automated analyzer includes a shuttle transfer station that receives a shuttle carrier from the automated pre-analytical system. The shuttle transfer station has a clamping assembly for the shuttle. The clamping assembly has jaws that advance engagement members into contact with a bottom portion of sample containers disposed in the shuttle. The clamping assembly secures the sample containers in the shuttle when sample is aspirated from the sample containers. The automated analyzer also has a multichannel puncture tool that is adapted to be carried by a robotic gripper mechanism. The multichannel puncture tool has multiple puncture members that each defines a channel Each channel is in communication with a different trough in the consumable. A pipette can pass through the channel in the puncture tool. 116-. (canceled)17. An extraction container holder assembly comprising:a bottom tray comprising an array of openings;a top tray comprising an array of openings; wherein, when the bottom tray and the top tray are assembled together, the bottom openings align with the top openings;an array of extraction tubes joined together as a strip, wherein, when the strip of extraction tubes is assembled with the bottom tray, the extraction tubes fit through the openings in the bottom tray and the strip prevents the tubes from passing through the openings so that the strip rests on the top of the bottom tray.18. The extraction container holder assembly of further comprising layer disposed over the strip and the array of extraction tubes supported by the strip claim 17 , wherein the layer formed over the extraction tubes is a seal and wherein the seal is a pierceable seal.19. The extraction container holder assembly of wherein the bottom tray further comprises upward facing sidewalls and wherein claim 17 , when the top tray ...

ROTARY AXIS MODULE AND ROBOT

A rotary axis module includes an actuator that includes a first member and a second member, the actuator relatively driving the second member so as to rotate about a predetermined axis with respect to the first member, a DC power source, and a switch. The actuator includes a brake that is releasable by supplying a DC voltage. A first brake circuit that is connected to a control device that controls the actuator, and a second brake circuit that is provided in parallel with the first brake circuit and connected to the DC power source via the switch, are connected to the brake. 1. A rotary axis module comprising:an actuator that comprises a first member and a second member, the actuator relatively driving the second member so as to rotate about a predetermined axis with respect to the first member;a DC power source; anda switch,wherein the actuator comprises a brake that is releasable by supplying a DC voltage, anda first brake circuit that is connected to a control device that controls the actuator and a second brake circuit that is provided in parallel with the first brake circuit and connected to the DC power source via the switch, are connected to the brake.2. The rotary axis module according to claim 1 , wherein the switch is a push button switch that is closed in a pressed state and open in a free state in which the switch is not being pressed.3. The rotary axis module according to claim 2 , wherein the brake claim 2 , the DC power source and the switch are disposed in the first member claim 2 , andin the free state, a pressing surface of the switch is disposed at a position recessed from an outermost surface of the first member.4. The rotary axis module according to claim 3 , wherein the pressing surface is disposed so as to be pressable inward in a radial direction at a position recessed inward in the radial direction from the outermost surface of the first member.5. The rotary axis module according to claim 1 , wherein the switch is provided with an erroneous ...

Robot

A robot according to an aspect of the invention includes an enclosure having an opening formed therein, a lid section that is provided on the enclosure in a detachable manner and blocks at least part of the opening, an attachment and detachment section which is provided on the lid section on the side facing the opening of the enclosure and to and from which a replaceable part is attached and detached, and a holding mechanism that allows the enclosure to hold the lid section when the lid section is detached from the enclosure.

Robotic system

A robotic system includes a base and at least one axis actuation module. The base includes an input power conversion device. A power input terminal of the input power conversion device receives an input voltage. The input voltage is converted into a first voltage by the input power conversion device. The first voltage is outputted from a power output terminal of the input power conversion device. The at least one axis actuation module is installed on the base. Each axis actuation module includes a motor, an axis power conversion device and a driving device. The first voltage is converted into a second voltage with a rated voltage value by the axis power conversion device. The second voltage is converted into a third voltage by the driving device. The third voltage is provided to the motor.

INTELLIGENT TRACK AND NAVIGATION FOR SENSOR CARRIER

Systems and techniques for a sensor carrier, and intelligent track infrastructure for the navigation and operation of the sensor carrier are described. The sensor carrier is an autonomous robot navigating a track. The carrier holds cameras and other sensors to receive horticultural images and telemetry for plants in a grow operation. The carrier reads embedded signals in the track including Radio Frequency Identifier (RFID) tags, embedded positioning magnets, and drilled hole patterns for a beam breaking system to determine navigation and operation. For tracks placed at sharp angles, a transfer station with wall guards to prevent the carrier from falling enable safe transfers from different track segments. Additional features include an emergency stop (e-stop) switch and power management for autonomous sensor carriers. 1. A method of a sensor carrier mounted on a track to navigate the track , comprising:initiating at a carrier a first operation by proceeding on a track;sensing at the carrier a passive track signal on the track corresponding to a first track position;responsive to sensing a position indicator, measuring ticks on a rotary encoder to determine velocity and its distance from the first track position;sensing at a second sensor, an indicator of an upcoming condition and initiating at the carrier a timer;if a subsequent passive track signal is detected, stopping the timer and resetting an initial position of the carrier to that subsequent passive track signal, andif a subsequent passive track signal is not detected before a predetermined amount of time is measured by the timer, then transmitting at the carrier an error signal.2. The method of claim 1 , wherein the indicator of an upcoming condition sensed by the second sensor indicates any one of the following:an upcoming track segment with an RFID tag;an upcoming track segment with a positional magnet; andan end of the track.3. The method of claim 1 , wherein the passive signal on the track is an embedded ...

MODULAR CABLE STRAIN RELIEF DEVICE FOR ARTICULATED ARM ROBOTIC SYSTEMS

A device for relief of strain on a cable includes a modular base for mounting, a first arm, a second arm, and a spring assembly. The first arm is pivotally coupled to the modular base. A first proximal end of the first arm is connected to the modular base at a first pivot point for pivoting of the first arm about a first rotational axis. The second arm is coupled to the modular base. A second proximal end of the second arm is connected to the modular base. The spring assembly is coupled to the first arm to provide a clamping force between the first arm and the second arm. 1. A device for relief of strain on a cable , comprising:a modular base for mounting the device;a first arm pivotally coupled to the modular base, wherein a first proximal end of the first arm is connected to the modular base at a first pivot point for pivoting of the first arm about a first rotational axis;a second arm coupled to the modular base, wherein a second proximal end of the second arm is connected to the modular base;a spring assembly coupled to the first arm to provide a clamping force between the first arm and the second arm;a first roller coupled to the first arm and configured to rotate unidirectionally about a third rotational axis; anda second roller coupled to the second arm and configured to rotate bidirectionally about a fourth rotational axis.2. The device of claim 1 , wherein the second arm is pivotally coupled to the modular base claim 1 , and wherein the second proximal end of the second arm is connected to the modular base at a second pivot point for pivoting of the second arm about a second rotational axis.3. (canceled)4. (canceled)5. The device of claim 1 , wherein the first roller is configured to rotate unidrectionally about the third rotational axis via a first locking clutch disposed between the first roller and the first arm.6. A device for relief of strain on a cable claim 1 , comprising:a modular base for mounting the device;a first arm pivotally coupled to the ...

Tooling System with Electronic Signal Maintenance

Devices and methods for providing power to tools when the tools are not attached to a robotic device. The power source may be an energy storage device that is attached to a tool frame of a tool cluster. The power provides for the tools to be maintained in a ready state which expedites and/or eliminates the initiation process when the tools and the tool cluster are subsequently reattached to the robotic device. This reduces the time necessary for the tools to be used in the assembly process thereby increasing the efficiency of the tooling system. 1. A method providing power to one or more tools during a manufacturing process , the method comprising:attaching a tool cluster to a robotic device and providing power through the robotic device to each of a plurality of tools on the tool cluster;performing operations with the tools while the tool cluster is attached to and powered through the robotic device;performing a functional test on the tools of the tool cluster while the tool cluster is attached to the robotic device and after performing the operations, the functional test determining whether the tool is operating according to predetermined criteria;detaching the tool cluster from the robotic device;providing power to the tools through an alternate power source separate from the robotic device while the tool cluster is detached from the robotic device, the power source providing a lesser amount of voltage to the tools than the robotic device, the lesser amount of voltage being adequate to maintain the tools in a functional ready state;reattaching the tool cluster to the robotic device and again providing power to the tools through the robotic device; andperforming operations with the tools without again performing the functional test on the tools.2. The method of claim 1 , further comprising recharging the alternate power source through the robotic device while the tool cluster is attached to the robotic device.3. The method of claim 1 , further comprising ...

Actuator and robot with reliable torque sensor arrangement

An actuator of a robotic system and a robot are provided. The actuator may include a center shaft, an outer shell connected to the center shaft, an input flange, and an output flange coaxially installed on the center shaft, a torque sensor and a motor assembly. The input flange and the output flange are radially fixed with at least one of the outer shell and the center shaft through a plurality of bearings. The torque sensor is connected between the input flange and the output flange, and configured to measure a torque transmitted by the input flange and the output flange. The motor assembly is coupled to the input flange. Disturbances transmitted from either side of the torque sensor may be isolated from the torque sensor. Therefore, the reliability of the readings of the torque sensor may be improved.

MICROWAVE ENERGY APPLICATOR

Systems, devices, and methods for a microwave energy applicator. The applicator may define an internal channel having one or more longitudinal ridges inside the channel configured to focus energy. The ridges may be moveable. A reflector may be located near an exit of the applicator. In some embodiments, the applicator may define a channel having a decrease in cross-sectional area with a dielectric filler therein, acting to transition from a lower to a higher permittivity material. The various embodiments of the applicator may be attached to a waveguide, which may be an articulable robotic arm having rotatable waveguide segments attached with a microwave generator. The applicator may alter an energy level of microwaves travelling therethrough, for example, to concentrate the energy for application at a rock face in a mine site. 1. A microwave-based system for mining rock , the system comprising:a microwave generator;a robotic arm connected with the generator and comprising a waveguide segment configured to guide therethrough microwaves generated by the microwave generator; andan applicator located at an end of the robotic arm, the applicator defining a longitudinal channel configured to guide therethrough microwaves from the waveguide segment through an exit for application to the rock, wherein at least a portion of the channel comprises at least one longitudinal ridge protruding into the channel and configured to alter an energy level of the microwaves.2. The system of claim 1 , wherein the ridge abuts at least one inner wall of the channel.3. The system of claim 2 , wherein the ridge comprises a smooth outer surface facing away from the abutting inner channel wall.4. The system of claim 1 , wherein the ridge comprises a proximal portion located near an inlet of the channel claim 1 , a distal portion located near an outlet of the channel claim 1 , and a middle portion located between the proximal portion and the distal portion claim 1 , and wherein a cross-sectional ...

APPARATUS PROVIDED WITH A CAPACITIVE DETECTION AND ELECTRIC LINE(S) IN THE CAPACITIVE DETECTION ZONE

An appliance includes: 1. An appliance comprising:at least one electrode, called measurement electrode, polarized at an alternating electrical potential (VG), called detection electrical potential, different from a ground potential, at a frequency, called detection frequency, in order to detect at least one object in a detection zone,at least one capacitive detection electronics, connected to said at least one measurement electrode, in order to detect a signal with respect to a coupling capacitance between said object and said measurement electrode, andan electric line comprising at least one electric wire, in said detection;said appliance also comprising a signal conditioner, applying, to at least a portion of said electric line, an alternating electrical potential (VG), called guard potential, identical to said detection potential at said detection frequency.2. The appliance according to claim 1 , characterized in that the electric line comprises at least one shielding layer around at least one electric wire on at least a portion of said electric line claim 1 , the signal conditioner applying the guard potential (VG) to said shielding layer.3. The appliance according to claim 2 , characterized in that the shielding layer is provided in a cable comprising the at least one electric wire.4. The appliance according to claim 2 , characterized in that the shielding layer is provided in claim 2 , or is formed by claim 2 , a cable sleeve independent of the at least one electric wire claim 2 , and through which is passed the at least one electric wire.5. The appliance according to claim 3 , characterized in that the shielding layer is in the form of braided wires forming a shielding braid.6. The appliance according to claim 3 , characterized in that the shielding layer is in the form of a continuous conductive layer.7. The appliance according to claim 2 , characterized in that the signal conditioner comprises a transformer inducing the guard potential (VG) on said ...

THREE-DIMENSIONAL PRODUCT MANUFACTURING ROBOT FOR PLASTIC FORMABLE MATERIALS

A three-dimensional product manufacturing robot using a material constituted by plastic formable materials may be provided that includes: a head supply unit which includes an inlet into which the material is introduced; a transformer unit which includes a plurality of rollers guiding a moving direction of the material transferred from the head supply unit; and a head unit which discharges outwardly the material transferred from the transformer unit. As a result, the tension of a tow, i.e., a raw material can be adaptively controlled and the tow moving within the three-dimensional product manufacturing robot can be prevented from being solidified, cured or degraded. Also, the head unit can rotate precisely within a limited distance. Also, the rotation of the head unit does not accompany the rotation of the tow. That is, while the wheel assembly controls the rotation of the head unit, the tow which passes through the inside of the head unit can be discharged to the outside without rotation. 1. A three-dimensional product manufacturing robot using a material constituted by plastic formable materials , the robot comprising:a head supply unit which comprises an inlet into which the material is introduced;a transformer unit which comprises a plurality of rollers guiding a moving direction of the material transferred from the head supply unit; anda head unit which discharges outwardly the material transferred from the transformer unit.2. The robot of claim 1 , wherein the transformer unit changes the arrangement of the plurality of rollers claim 1 , and thus claim 1 , controls the movement or rotation of the head unit.3. The robot of claim 2 , further comprising a connection member which connects two rollers of the plurality of rollers.4. The robot of claim 3 , wherein claim 3 , as a portion of the transformer unit rotates about one of the plurality of rollers claim 3 , the connection member and the two rollers connected to the connection member move in association with ...

Control Method for Robot System

A robot system includes a robot arm driven by an electric motor and a vehicle that is movable and supports the robot arm. A control method includes (a) moving the vehicle to a work station of a first type and (b) driving the robot arm in the work station of the first type. The (a) executes a first operation mode for, in a part of the movement to the work station of the first type, moving the vehicle in a state in which electric power is not supplied to the electric motor, starting supply of the electric power to the electric motor during the movement of the vehicle in the state in which the electric power is not supplied to the electric motor, and arranging the vehicle in the work station of the first type in a state in which the electric power is supplied to the electric motor. 1. A control method for a robot system , the robot system including:a robot arm driven by an electric motor; anda vehicle that is movable and supports the robot arm, the control method comprising:(a) moving the vehicle to a work station of a first type; and(b) driving the robot arm in the work station of the first type, whereinthe (a) executes a first operation mode for, in a part of the movement to the work station of the first type, moving the vehicle in a state in which electric power is not supplied to the electric motor, starting supply of the electric power to the electric motor during the movement of the vehicle in the state in which the electric power is not supplied to the electric motor, and arranging the vehicle in the work station of the first type in a state in which the electric power is supplied to the electric motor.2. The control method according to claim 1 , whereinthe robot system includes:a position detecting section configured to detect a position of the vehicle; anda storing section storing information concerning a position where the supply of the electric power to the electric motor should be started, andthe (a) includes, in the first operation mode, starting the ...

ROBOTIC ARM SYSTEM

A detachable, self-contained robotic arm system includes: a mounting subsystem configured to releasable engage an operating platform; a robotic arm subsystem coupled to the mounting subsystem; a control subsystem coupled to the mounting subsystem and configured to effectuate movement of the robotic arm assembly; and a connectivity subsystem configured to detachably couple the detachable, self-contained robotic arm system to one or more external systems. 1. A detachable , self-contained robotic arm system comprising:a mounting subsystem configured to releasable engage an operating platform;a robotic arm subsystem coupled to the mounting subsystem;a control subsystem coupled to the mounting subsystem and configured to effectuate movement of the robotic arm assembly; anda connectivity subsystem configured to detachably couple the detachable, self-contained robotic arm system to one or more external systems.2. The detachable claim 1 , self-contained robotic arm system of wherein the connectivity subsystem includes one or more of:a data connectivity subsystem configured to effectuate communication between the detachable, self-contained robotic arm system and an external control device; anda power connectivity subsystem configured to provide external power to the detachable, self-contained robotic arm system.3. The detachable claim 1 , self-contained robotic arm system of wherein the control subsystem includes one or more of:a pneumatic control subsystem;a electric control subsystem; anda hydraulic control subsystem.4. The detachable claim 3 , self-contained robotic arm system of wherein the pneumatic control subsystem includes one or more of:pneumatic controls;one or more pneumatic actuators;an air compressor; andan air storage tank.5. The detachable claim 3 , self-contained robotic arm system of wherein the electric control subsystem includes one or more of:electronic controls; andone or more electronic actuators.6. The detachable claim 3 , self-contained robotic arm ...

ROBOT APPARATUS

The present invention provides a robot apparatus which can determine a contact state at a contact point without increasing the contact point, can be miniaturized, and also can decrease the cost. Contact points are provided in a hand device. Contact points are provided in a tool device, which come in contact with the contact points, respectively, when the tool device has been mounted on the hand device. A voltage detecting circuit is provided in the tool device, which detects a voltage between the contact points. The controlling circuit determines contact states between the contact points and the contact points, by using a value of the voltage which has been detected by the voltage detecting circuit. 118.-. (canceled)19. A robot apparatus comprising:a hand device;a hand side contact point which is provided in the hand device and to which a voltage is applied;a tool device which can be attached to and detached from the hand device;a tool side contact point which is provided in the tool device, and comes in contact with the hand side contact point as the tool device is mounted on the hand device;a tool side detecting unit which is provided in the tool device, and detects a voltage or a current of the tool side contact point; anda controlling unit which determines a contact state between the hand side contact point and the tool side contact point, by using a value of the voltage or the current that has been detected by the tool side detecting unit,wherein the controlling unit is electrically connected to the hand device.20. The robot apparatus according to claim 19 , wherein the controlling unit acquires claim 19 , through the hand side contact point and the tool side contact point claim 19 , the value of the voltage or the current that has been detected by the tool side detecting unit.21. The robot apparatus according to claim 19 , further comprising a hand side voltage detecting unit which detects a voltage or a current of the hand side contact point claim 19 ,wherein ...

HANDLING SYSTEM

1. Handling system. 2. A handling system with a handling arm () which preferably consists of several arm parts () which are movable by means of at least one drive and which are connected to each other via joints (), and with a supply device () having individual supply sections which serve to deliver electrical and/or fluidic energy to consumers, such as the respective drive, and which at least in part constitute a component of the handling arm () with its arm parts (), characterized in that the individual supply sections are combined to form a common main section () which at each end has a respective connection coupling part () which, with a casing (), surrounds and protects the supply sections and which, designed as an exchangeable unit, is mounted detachably on the handling arm () via receivers () located on the two coupling parts () and is accessible from the outside. 1468121820468202628222628404. A handling system , having a handling arm () , which preferably consists of several arm parts ( , ) moved by means of at least one drive , which arm parts are interconnected via joints ( , ) , and having a supply device () , which comprises individual supply strands , which serve the supply of electrical and/or fluidic energy to loads , such as the relevant drive , and which are at least partially part of the handling arm () and its arm parts ( , ) , characterized in that the individual supply strands are combined to form a common main strand () , which has a port-coupling part ( , ) at each end , which surrounds the supply strands with a protective sheath () and which , designed as a exchangeable unit , is mounted via the two coupling parts ( , ) on retainers () located on the handling arm () in a detachable manner and accessible from the outside.2262012628842628. The handling system according to claim 1 , characterized in that the first free end or first coupling part () of the main strand () is arranged on a joint () assigned to the first arm part () and its other ...

Robotic power and signal distribution using laminated cable with separator webs

Systems and methods that facilitate cables to pass through moving, space-constrained joints and conveying power and/or signals to various robotic joint-associated elements utilize a unitary and flat laminated cable slack within the joint to accommodate the relative motion between mechanical elements of the joints. In various embodiments, the cable has multiple insulated sub-cables; each sub-cable is insulated and physically separable from all other sub-cables. Some of the sub-cables are separated from the cable and electrically connected to joint-associated components for conveying signals and power thereto without mechanically interfering with relative motion between mechanical elements of the joint.

INTEGRATED MOBILE MANIPULATOR ROBOT WITH ACCESSORY INTERFACES

A robot comprises a mobile base, a robotic arm operatively coupled to the mobile base, and at least one interface configured to enable selective coupling to at least one accessory. The at least one interface comprises an electrical interface configured to transmit power and/or data between the robot and the at least one accessory, and a mechanical interface configured to enable physical coupling between the robot and the at least one accessory. 1. A robot comprising:a mobile base;a robotic arm operatively coupled to the mobile base; and an electrical interface configured to transmit power and/or data between the robot and the at least one accessory; and', 'a mechanical interface configured to enable physical coupling between the robot and the at least one accessory., 'at least one interface configured to enable selective coupling to at least one accessory, the at least one interface comprising2. The robot of claim 1 , further comprising a coupling sensor configured to determine if the robot and the at least one accessory are physically coupled through the mechanical interface.3. The robot of claim 2 , wherein the coupling sensor is a magnetic sensor.4. The robot of claim 3 , wherein the magnetic sensor is a hall effect sensor.5. The robot of claim 3 , wherein the magnetic sensor is a reed switch.6. The robot of claim 2 , wherein the coupling sensor is a contactless sensor.7. The robot of claim 2 , further comprising a computer processor configured to receive a signal from the coupling sensor and output an error when it is determined based on the received signal that the robot and the at least one accessory are physically coupled through the mechanical interface and that an electrical connector of the electrical interface is not connected to a corresponding connector of the at least one accessory.8. The robot of claim 1 , wherein the at least one interface comprises a first interface and a second interface claim 1 , a first electrical interface configured transmit ...

ROBOTIC SURGICAL SYSTEM

Techniques for a surgical system are provided that allow an electromechanical surgical arm to be coupled at a location adjacent to a patient, such as a surgical table. A first mating element can be formed on a support member and it can be in electrical communication with a power source and a controller, and a second mating element can be formed on the electromechanical arm. The first and second mating elements can each have a respective electrical contact, and they can be configured such that mechanical coupling between the first and second mating element causes electrical communication to be established between the first and second electrical contacts and thus between the electromechanical arm and the power source and the controller. The mating elements can include tolerance elements that allow for some discrepancies between the mating elements while still providing a desired mechanical and electrical connection between the mating elements. 1. A surgical system , comprising:a support member having a first mating element that is one of a male member and a female receiver, the first mating element having formed thereon a first electrical contact configured to electrically communicate with a power source;an electromechanical surgical arm having a tool interface configured to receive and support a surgical tool and a second mating element complementary to the first mating element, the second mating element having formed thereon a second electrical contact configured to contact the first electrical contact when the first and second mating elements are mated and to thereby enable electrical communication between the electromechanical surgical arm and the power source through the first electrical contact; andat least one tolerance element formed on at least one of the first mating element and the second mating element, the at least one tolerance element being configured to provide at least one of axial and radial compliance between the first mating element and the second ...

Cable Guide Device Of An Industrial Robot

A cable guide device for guiding at least one supply cable along a robot arm includes a supply cable and a spring system configured to automatically return the supply cable from an extracted state into a retracted state. The device, has a front end section in the direction of extraction of the supply cable, and a rear end section in the direction of extraction of the supply cable. The device further includes a spring system seat permanently connected to the supply cable and on which the rear end section of the spring system is mounted, an abutment seat on which the front end section of the spring system is mounted, a fastening device configured to fasten the cable guide device to a link of the robot arm, and an adjustment device carrying the abutment seat and configured to mount the abutment seat for movement with respect to the fastening device. 110-. (canceled)11. A cable guide device for guiding at least one supply cable along a robot arm , the cable guide device comprising:a supply cable;a spring system configured to automatically return the supply cable by a spring force from an extended state of the supply cable to a retracted state of the supply cable, the spring system including a front end section in a direction of extension of the supply cable, and a rear end section spaced from the front end section in the direction opposite the direction of extension;a spring system seat permanently connected to the supply cable and on which the rear end section of the spring system is mounted;an abutment seat on which the front end section of the spring system is mounted;a fastening device configured to fasten the cable guide device to a link of the robot arm; andan adjustment device which carries the abutment seat and which is configured to movably mount the abutment seat relative to the fastening device.12. The cable guide device of claim 11 , wherein the adjustment device comprises a resetting device operable to return the abutment seat from a deflected position of ...

INDUSTRIAL ROBOT FOR MATERIAL PROCESSING

An industrial robot for material processing includes a manipulator with a base, a link, an arm and a hand. A processing device of the industrial robot is movable by the manipulator and is attached to the hand of the manipulator, and is supplied with a medium via a medium line. Provided for the medium line is a drag chain subjected to a traction directed away from a connection of the drag chain close to a processing location by a tensioning device. The tensioning device has a tensioning lever and a restoring device. The tensioning lever is attached to a partial length of the drag chain. The tensioning lever is deflectable, counter to an action of a restoring force generated by the restoring device, towards the connection of the drag chain close to the processing location such that the tensioning lever performs a pivoting movement about a lever pivot axis. 1. A material processing industrial robot , comprising:a manipulator that has a base, a link, an arm, and a hand, the link being mounted on the base so as to be pivotable about a link axis, the arm being mounted on the link so as to be spaced apart from the link axis and so as to be pivotable about an arm axis that extends in parallel with the link axis, and the hand being movable at least uniaxially relative to the arm;a processing apparatus that can be moved by the manipulator, is attached to the hand of the manipulator and can be supplied with a medium by at least one media line; anda drag chain for the media line, the drag chain comprising a connection close to a processing location, on the processing apparatus, and a connection remote from the processing location that is spaced apart from the processing apparatus, and the connection of the drag chain that is close to the processing location being movable relative to the connection remote from the processing location, owing to movements of at least one of the manipulator and the processing apparatus, and the drag chain being retained on the manipulator, between ...

MODULAR DEVICE, CONTROL METHOD AND ROBOT

A modular device includes a polyhedral building element having a first type connector and a number of second type connectors; and a main control module comprising a plurality of second type connectors. The first type connector and the second type connectors are disposed on side surfaces of the building element. One of the second type connectors of the main control module is used to magnetically connect with the first type connector of the building element so as to detachably connect the building element to the main control module. The first type connector includes a first detection circuit, and each second type connector includes a second detection circuit. 1. A modular device comprising:a polyhedral building element comprising a first type connector and a plurality of second type connectors, the first type connector and the second type connectors disposed on side surfaces of the building element, respectively; anda main control module comprising a plurality of second type connectors;wherein one of the second type connectors of the main control module is configured to magnetically connect with the first type connector of the building element so as to detachably connect the building element to the main control module;wherein the first type connector comprises a first detection circuit, and each of the second type connectors of the building element and the second type connectors of the main control module comprises a second detection circuit, when one of the second type connectors of the main control module is connected to the first type connector of the building element, the main control module is configured to obtain detection voltage values from the first detection circuit and the second detection circuit of the one of the second type connectors of the main control module, and the main control module is configured to determine an orientation of the building element with respect to the main control module based on the detection voltage values.2. The modular device ...

FOOT PEDAL ASSEMBLIES WITH INDICATORS FOR ROBOTIC MEDICAL SYSTEMS

A medical system can include a foot pedal assembly that includes one or more pedals configured to be foot operated for controlling various function of the system. A dynamic indicator can be associated with a first pedal of the one or more pedals. The dynamic indicator can be configured to provide a first indication when the medical system is in a first state, and provide a second indication when the medical system is in a second state. The system can further be configured to determine a state of the medical system, cause the dynamic indicator to provide the first indication in response to the determined state comprising the first state, and cause the dynamic indicator to provide the second indication in response to the determined state comprising the second state. 1. A medical system comprising: one or more pedals configured to be foot operated; and', provide a first indication when the medical system is in a first state, and', 'provide a second indication when the medical system is in a second state; and, 'a dynamic indicator associated with a first pedal of the one or more pedals, the dynamic indicator configured to], 'a foot pedal assembly comprising determine a state of the medical system;', 'cause the dynamic indicator to provide the first indication in response to the determined state comprising the first state; and', 'cause the dynamic indicator to provide the second indication in response to the determined state comprising the second state., 'a processor in communication with memory stored instructions that, when executed, cause the processor to2. The medical system of claim 1 , wherein the medical system comprises a robotic medical system.3. The medical system of claim 2 , further comprising:at least one robotic arm configured to perform a surgical procedure; anda robotic medical instrument coupled to the at least one robotic arm.4. The medical system of claim 3 , wherein:the robotic medical instrument comprises an energy-delivery instrument; and determine ...

ROBOTIC ARM AND ROBOT HAVING THE SAME

A robotic arm capable of reducing the size while suppressing damage to a plurality of elongated members inserted therein, is provided. The robotic arm to which an end effector is attached, includes plurality of elongated members extending to end effector, cylindrical housing defining a periphery of internal space configured to be a passage of plurality of elongated members, and an attaching structure provided to a tip end of the internal space of the cylindrical housing so as to attach the end effector to a tip-end part of the cylindrical housing. The attaching structure includes insertion holes formed corresponding to plurality of elongated members so as to insert the plurality of elongated members therein, and fixing members configured to fix the plurality of elongated members to the insertion holes, respectively. The cylindrical housing is formed so that the inner diameter is larger at the tip-end part than at a base-end part. 1. A robotic arm to which an end effector is attached , comprising:a plurality of elongated members extending to the end effector;a cylindrical housing defining a periphery of an internal space configured to be a passage of the plurality of elongated members; and insertion holes formed corresponding to the plurality of elongated members so as to insert the plurality of elongated members therein; and', 'fixing members configured to fix the plurality of elongated members to the insertion holes, respectively,, 'an attaching structure provided to a tip end of the internal space of the cylindrical housing so as to attach the end effector to a tip-end part of the cylindrical housing, the attaching structure includingwherein the cylindrical housing is formed so that the inner diameter is larger at the tip-end part than at a base-end part.2. The robotic arm of claim 1 , wherein each of the plurality of elongated members is one of wiring and piping.3. The robotic arm of claim 1 , wherein the cylindrical housing includes claim 1 , between the tip-end ...

End effector with embedded power source

End effectors and systems including end effectors including embedded batteries and auxiliary components powered by the batteries are described. In an example, the end effector includes a base portion coupleable to a motor carried by an appliance that is separate from the end effector; and a battery disposed in the base portion configured to power an auxiliary component of the end effector.

Device, Supply Line for a Device of Said Type, Sensor Line, and Torsion Measurement Method

The invention relates to a device (). Said device has two machine parts () that are movable relative to one another and are connected to each other by a supply line () along which a sensor line () is mounted for measuring torsion of the supply line (); the sensor line () is connected to a measurement unit () which is designed in such a way that an electrical parameter (P) of the sensor line () is measured, the torsion being ascertained using said parameter (P). The invention further relates to a corresponding supply line (), a sensor line () and a torsion measurement method. 1. Device with two machine parts that are movable relative to each other and which are connected to each other by a supply line , wherein the supply line is provided with a sensor line for measurement of torsion of the supply line , and wherein the sensor line is connected to a measuring unit designed to measure an electrical parameter of the sensor line and the torsion is inferred from the measured electrical parameter.2. The device according to claim 1 , characterized in that the sensor line is provided with two stranded conductors that are stranded in mutually opposite impact directions claim 1 , and wherein the measuring unit is designed to measure a signal attenuation for each stranded conductor.3. The device according to claim 2 , characterized in that the measuring unit is designed to determine the torsion as a function of a difference between the two signal attenuations.4. The device according to claim 2 , characterized in that the measuring unit is designed to measure each signal attenuation after a test signal is fed into and propagates through the corresponding stranded conductor.5. The device according to claim 4 , characterized in that the test signal is an impulse.6. The device according to claim 1 , characterized in that the sensor line is designed with a mechanically robust construction for multiple measurements of torsion.7. The device according to claim 2 , characterized in ...

STAGE DEVICE, MINUTE OPERATION DEVICE, AND METHOD OF CONTROLLING SAME

A stage device capable of performing piercing vibration and translational driving by using one actuator, and performing very low-speed driving in the translational driving with high accuracy. The stage device includes an X stage having a vibration actuator that includes an vibration element and a contact body, one of which is a movable body connected to an object to be driven, and drives the object to be driven in an X-axis direction, and a control section that controls driving of the vibration actuator. The control section causes two-phase AC voltages to be applied to an electromechanical energy conversion element to thereby excite predetermined vibrations in the vibration element, to drive the vibration actuator by switching between a movement mode for moving the object to be driven in the X-axis direction and a vibration mode for vibrating the object to be driven in the X-axis direction. 1. A stage device comprising:a vibration actuator including a vibration element having an elastic body and an electromechanical energy conversion element, and a contact body in contact with the vibration element, one of the vibration element and the contact body being fixed at a predetermined position, and the other being a movable body which is movable in a predetermined direction and is also connected to an object to be driven, the vibration actuator being configured to drive the object to be driven in the predetermined direction; anda control unit configured to perform control such that the movable body is moved or vibrated in the predetermined direction by applying two-phase AC voltages to the electromechanical energy conversion element to thereby excite predetermined vibrations in the vibration element,wherein the control unit causes the vibration actuator to be driven such that the operation mode is switched between a movement mode for moving the object to be driven in the predetermined direction and a vibration mode for vibrating the object to be driven in the ...

ROBOT AND LINEAR-SHAPED-ITEM TREATING STRUCTURE THEREOF

A robot includes at least one cover member disposed on outside in a direction of an axis of a second wrist unit that rotatably supports a tipmost first wrist unit, to which a tool is fixed, around a predetermined axis. The cover member includes a recessed part obtained by recessing at least a part of an outer peripheral edge around the axis in the direction of the axis. A fastener is provided to fix a plate that holds a linear-shaped item in a direction along the axis between the recessed part and the fastener. 1. A robot , comprising:at least one cover member disposed on outside in a direction of an axis of a second wrist unit that rotatably supports a tipmost first wrist unit, to which a tool is fixed, around a predetermined axis,wherein the cover member includes a recessed part obtained by recessing at least a part of an outer peripheral edge around the axis in the direction of the axis, and a fastener provided to fix a plate that holds a linear-shaped item in a direction along the axis between the recessed part and the fastener.2. The robot according to claim 1 , whereinthe recessed part is provided by partially recessing a part of an outer peripheral edge in a circumferential direction around the axis of the cover member over a predetermined width dimension.3. A linear-shaped-item treating structure of a robot claim 1 , comprising:{'claim-ref': {'@idref': 'CLM-00001', 'claim 1'}, 'a plate disposed so as to hold the linear-shaped item between the plate and the recessed part of the robot according to ; and'}a fastening member that fixes the plate by using the fastener of the cover member. This application is based on and claims priority to Japanese Patent Application No. 2017-248088, filed on Dec. 25, 2017, the entire content of which is incorporated herein by reference.The present invention relates to a robot and a linear-shaped-item treating structure thereof.In order to supply power or fluid to a tool such as a hand mounted on a wrist tip of a robot, a linear- ...

SUBSEA MANIPULATOR

A subsea manipulator for a remotely operated underwater vehicle (ROV) that includes at least one linear, oil-filled electric actuator to control a motion of the manipulator in a subsea environment is disclosed. The remotely operated underwater manipulator includes an electric actuator for each axis of motion of the manipulator, and an end effector that includes a rotational joint and a tool motor for controlling a tool affixed to the end effector. A method for changing the tool of the manipulator in a subsea environment is disclosed. 1. A manipulator for a remotely operated underwater vehicle (ROV) comprising:at least one linear oil-filled electric actuator to control a motion of the manipulator in a subsea environment.2. A manipulator for a remotely operated underwater vehicle (ROV) comprising:an electric actuator for each axis of motion of the manipulator; andan end effector comprising a rotational joint and a tool motor for controlling a tool affixed to the end effector.3. The manipulator of claim 2 , wherein at least one of the electric actuators are an oil-filled linear actuator that actuates using an electric motor that rotationally drives a nut of a roller screw.4. The manipulator of claim 3 , further comprising a fluid compensator that maintains the pressure of the oil to be at least 1 psi higher than outside the actuator.5. The manipulator of claim 3 , wherein each electric actuator and the tool actuator includes a position sensor for determining the current position of the electric actuator.6. The manipulator of claim 2 , wherein the tool actuator is a rotary electric actuator that actuates using an electric motor that rotationally drives an input of the tool.7. The manipulator of claim 6 , wherein the tool comprises a rotational input that causes jaws to open or close.8. The manipulator of claim 2 , wherein the end effector changes tools by interacting the rotational joint of the end effector with an external tool.914. The manipulator of claim 2 , wherein ...

CABLE CARRIER CROSSOVER SUPPLYING FOUR NON-STATIC LOCATIONS

A method and apparatus for supplying cables to robots at non-static locations. A base platform is provided, and a work platform is positioned above the base platform for supporting one or more humans. One or more are robots supported on the base platform independently of the work platform. A cable carrier system is positioned above the base platform and underneath the work platform for providing cables to the robots. 1. An apparatus for supplying cables to robots at non-static locations , comprising:a base platform;a work platform positioned above the base platform for supporting one or more humans;one or more robots supported on the base platform independently of the work platform; anda cable carrier system, positioned above the base platform and underneath the work platform, for providing cables to the robots.2. The apparatus of claim 1 , wherein the cable carrier system provides separate ones of the cables to a plurality of the robots.3. The apparatus of claim 2 , wherein the cables comprise at least one of power claim 2 , control claim 2 , communications claim 2 , parts supply and return claim 2 , for the robots.4. The apparatus of claim 3 , wherein the cable carrier system provides the cables in a crossover configuration for supplying the cables for the robots in a compact space between the base platform and the work platform.5. The apparatus of claim 4 , wherein the cables are crisscrossed to communicate with the robots claim 4 , so that the cables flow from adjacent a forward end on one side of the work platform to adjacent an aft end on an opposite side of the work platform.6. The apparatus of claim 4 , wherein the cables independently supply the robots without interfering with each other claim 4 , while allowing for a full range of motion for the cables.7. The apparatus of claim 6 , wherein the cable carrier system provides for stacking and nesting the cables so that they do not interfere with each other.8. The apparatus of claim 7 , wherein the cable ...

SYSTEM FOR FOUR COLLABORATIVE ROBOTS AND HUMANS IN A NARROWING WORK ENVELOPE

A method and apparatus for supporting collaborative robots and humans in a narrowing work envelope. A base platform is provided, and a work platform is positioned above the base platform for supporting one or more humans, wherein the work platform is narrower than the base platform, and the work platform is positioned relative to the base platform to provide areas for positioning one or more robots on one or more sides of the work platform. The robots are supported on the base platform independently of the work platform, so that movement of the work platform does not affect the robots' positions. 1. An apparatus for supporting collaborative robots and humans in a narrowing work envelope , comprising:a base platform;a work platform positioned above the base platform for supporting one or more humans, wherein the work platform is narrower than the base platform, and the work platform is positioned relative to the base platform to provide areas for positioning one or more robots on one or more sides of the work platform; andthe robots are supported on the base platform independently of the work platform, so that movement of the work platform does not affect the robots' positions.2. The apparatus of claim 1 , wherein the work platform is positioned relative to the base platform to provide areas for the humans to move along the base platform on one or more sides of the work platform.3. The apparatus of claim 2 , wherein the work platform is tapered along its length claim 2 , with a front end that is wider than a back end claim 2 , to expose areas of the base platform sufficient for the humans and robots to traverse the base platform and maneuver around the work platform.4. The apparatus of claim 3 , wherein the base platform and work platform are positioned within a fuselage assembly of an aircraft.5. The apparatus of claim 4 , wherein the front end of the work platform is positioned at a forward end of the fuselage assembly and the back end of the work platform is ...

TRANSMISSION DEVICE AND ROBOTIC ARM

A transmission device is provided, including a first housing, a second housing connected to the first housing, a third housing axially connected to the second housing, an adapter disposed on the third housing, a first power shaft actuating the first housing and the second housing to rotate, a second power shaft actuating the third housing to rotate, and a third power shaft actuating the adapter to rotate. The second and third power shafts are a coaxial structure. The first power shaft is an independent rod. Therefore, a motor loaded with a smaller rotation inertia and being thus cheaper can be used to drive the first power shaft, and the transmission device can have a reduced cost. 1. A transmission device , comprising:a first housing having a first end portion and a second end portion opposing each other;a second housing connected to the first end portion of the first housing;a first speed reducer disposed between the first end portion of the first housing and the second housing; anda first power shaft for actuating the first speed reducer to drive the second housing to rotate.2. The transmission device of claim 1 , wherein the first power shaft actuates the first speed reducer through a first transmission mechanism.3. The transmission device of claim 2 , further comprising a first motor for driving the first power shaft.4. The transmission device of claim 3 , wherein the first motor drives the first power shaft through a bevel gear set.5. The transmission device of claim 2 , wherein the first transmission mechanism is a gear set and transfers power of the first transmission mechanism through a connection structure to the first speed reducer claim 2 , and wherein the connection structure is a pipe.6. The transmission device of claim 2 , further comprising:a third housing axially connected to the second housing, wherein the first power shaft actuates the first speed reducer through the first transmission mechanism to drive the second housing and the third housing to ...

ROBOT JOINT AND ROBOT INCLUDING THE SAME

A robot joint and a robot using the robot joint is provided. The robot joint includes a first part and a second part configured to be rotatable with each other around a joint axis. A flexible printed circuit board is further included with a first fixing point and a second fixing point respectively fastened to the first part and the second part. The flexible printed circuit board is spiral-shaped prior to bending. With the relative rotation of the first part and the second part, the flexible printed circuit board is bent at various bending portions. This makes the robot joint more compact with a larger rotation range and a long lifetime in a cost effective way. 1. A robot joint , comprising:a first part and a second part configured to be rotatable with each other around a joint axis; anda flexible printed circuit board including a first fixing point and second fixing point respectively fastened to the first part and the second part;whereinthe flexible printed circuit board prior to bending is spiral-shaped; andwith the relative rotation of the first part and the second part, the flexible printed circuit board is bent at various bending portions.2. The robot joint according to claim 1 , wherein;the spiral-shaped flexible printed circuit board winds around its center point from the first fixing point to the second fixing point by more than 360 degrees prior to the bending.3. The robot joint according to claim 1 , wherein:the bending portion occurs between a first portion and a second portion of the flexible printed circuit board.4. The robot joint according to claim 3 , wherein:the first portion and the second portion of the flexible printed circuit board have an overlapping area.5. The robot joint according to claim 1 , further comprising:an extension portion being arranged to radially extend from a curve portion of the spiral-shaped flexible printed circuit board between the first fixing point and the second fixing point prior to the bending.6. The robot joint ...

ROBOT

A robot includes a first arm rotatable around a first axis, a second arm connected to the first arm at a second axis which is parallel to the first axis and around which the second arm is rotatable, a third arm connected to the second arm at a third axis which is parallel to the first axis and around which the third arm is rotatable, a distal-end swingable portion rotatably connected to the third arm, a distal end rotatably connected to the distal-end swingable portion, a fourth actuator configured to rotate the distal-end swingable portion and including a first motor having a first motor rotation axis, and a fifth actuator configured to rotate the distal end and including a second motor having a second motor rotation axis that is parallel to the first motor rotation axis. 1. A robot comprising:a first arm rotatable around a first axis;a second arm connected to the first arm at a second axis which is parallel to the first axis and around which the second arm is rotatable;a third arm connected to the second arm at a third axis which is parallel to the first axis and around which the third arm is rotatable;a distal-end swingable portion rotatably connected to the third arm;a distal end rotatably connected to the distal-end swingable portion;a first actuator configured to rotate the first arm about the first axis;a second actuator configured to rotate the second arm about the second axis;a third actuator configured to rotate the third arm about the third axis;a fourth actuator configured to rotate the distal-end swingable portion and including a first motor having a first motor rotation axis; anda fifth actuator configured to rotate the distal end and including a second motor having a second motor rotation axis that is parallel to the first motor rotation axis.2. The robot according to claim 1 , wherein the third arm includes a mount surface that is parallel to the third axis and wherein the fourth actuator and the fifth actuator are provided on the mount surface such ...

LATERAL GRIPPER

A lateral gripper includes a gripper mount, and two gripper jaw modules assembled on the gripper mount. Each gripper jaw module includes a sliding block and a gripper jaw. The sliding block drives the gripper jaw to slide on the gripper mount. The gripper jaw is configured to grip a drill box by multi-point contact, so that the freedom of the drill box is restricted, and the drill box can be stably carried by the gripper jaw modules. 1. A lateral gripper , comprising:a gripper mount comprising a transversely arranged linear sliding groove;two gripper jaw modules coupled to said linear sliding groove of said gripper mount and drivable by a driving device to move along said linear sliding groove relative to each other between a close position and an open position, each said gripper jaw module comprising a sliding block and a gripper jaw, said sliding block being a T-shaped block, said sliding block comprising a sliding end and a connecting surface, said sliding end being slidably coupled to said linear sliding groove, said gripper jaw being a L-shaped jaw mounted on said connecting surface, said gripper jaw comprising a mounting portion, an abutment surface and a gripping surface, said mounting portion corresponding to said connecting surface and combining said sliding block with said gripper jaw by fastening means, said abutment surface and said gripping surface being connected at right angles, said gripping surface comprising a plurality of mounting holes, said abutment surfaces and said gripping surfaces of said two gripper jaw modules defining a gripping space for gripping an object; anda plurality of positioning devices symmetrically mounted in said mounting holes on said gripping surfaces of said gripper jaws of said two gripper jaw modules.2. The lateral gripper as claimed in claim 1 , wherein said gripper mount further comprising a connection unit claim 1 , said connection unit having one end thereof connected to a driving device and an opposite end thereof ...

ROBOTIC POWER AND SIGNAL DISTRIBUTION USING LAMINATED CABLE WITH SEPARATOR WEBS

Systems and methods that facilitate cables to pass through moving, space-constrained joints and conveying power and/or signals to various robotic joint-associated elements utilize a unitary and flat laminated cable slack within the joint to accommodate the relative motion between mechanical elements of the joints. In various embodiments, the cable has multiple insulated sub-cables; each sub-cable is insulated and physically separable from all other sub-cables. Some of the sub-cables are separated from the cable and electrically connected to joint-associated components for conveying signals and power thereto without mechanically interfering with relative motion between mechanical elements of the joint. 18.-. (canceled)9. An electromechanical joint for a robot , the joint comprising:a plurality of mechanical elements configured for relative motion therebetween;passing through the joint, a cable comprising a plurality of insulated sub-cables in a unitary flat configuration for conveying power and signals, wherein:(i) the cable is slack within the joint to accommodate the relative motion;(ii) each of the sub-cables is insulated and separable from all other sub-cables along at least a portion of a length of the cable; and(iii) at least some of the sub-cables are only partially separated from the cable, via cuts along thinned insulating dividers disposed between the sub-cables, and the at least some of the sub-cables are electrically connected to at least one joint-associated component for conveying signals and power thereto without mechanically interfering with relative motion between mechanical elements of the joint.10. The joint of claim 9 , wherein separated lengths of at least two of the sub-cables are different from each other.11. The joint of claim 9 , wherein each of the sub-cables is separated from a neighboring sub-cable by an insulating divider that extends between and contacts the sub-cable and the neighboring sub-cable.12. The joint of claim 11 , wherein the ...

Robot linear-object management structure and additional linear-object fixing member

A linear-object management structure for a robot, where a post-attached linear object is guided via the same path as a basic cable from inside a base and fixed at the position of a first fixing member, is subsequently extended forward beyond the basic cable, through a path closer to a first axis than the basic cable is, is curved in a direction along a first arm, is fixed to a side surface of the first arm, at the position of a second fixing member, such that a certain length margin required for the operation of the first arm is provided between the position of the first fixing member and the position of the second fixing member, and is guided to an upper-side movable portion along the first arm.

MOUNTING BRACKET

A mounting bracket includes: a first flange mounted on a wrist leading end surface of a robot allowing a linear object to penetrate therethrough along a rotation center axis of a wrist leading end, the first flange having a first through-hole through which the linear object passes; a second flange that is spaced apart from the first flange in a direction of the rotation center axis and on which an end effector is mounted; and a cylindrical coupling part coupling an outer edge of the first flange and an outer edge of the second flange, the coupling part is provided with opening parts through which the linear object penetrated through the first through-hole passes, and at least at positions of the opening parts, the outer edge of the second flange is disposed in a position closer to the rotation center axis than the outer edge of the first flange. 1. A mounting bracket comprising:a first flange that is mounted on a wrist leading end surface of a robot which allows a linear object to penetrate therethrough along a rotation center axis of a wrist leading end, the first flange having a through-hole through which the linear object passes;a second flange that is spaced apart from the first flange in a direction of the rotation center axis and on which an end effector is mounted; anda cylindrical coupling part that couples an outer edge of the first flange with an outer edge of the second flange, whereinthe coupling part is provided with an opening part through which the linear object penetrated through the through-hole passes, andat least at a position of the opening part, the outer edge of the second flange is disposed in a position closer to the rotation center axis than the outer edge of the first flange.2. The mounting bracket according to claim 1 , wherein an area of the first flange is larger than an area of the second flange.3. The mounting bracket according to claim 1 , wherein the opening part includes a first opening part and a second opening part claim 1 , an ...

CONTAINER HANDLING SYSTEM

The present disclosure relates to a container treatment system for the treatment of containers, such as bottles, in the beverage processing industry, comprising a clean room and a container treatment machine arranged therein with at least one exchangeable component, where the container treatment system comprises a robot which is arranged in the clean room and is designed to exchange said exchangeable component, and a corresponding method. 1. A container treatment system for the treatment of containers , in the beverage processing industry , comprising:a clean room and a container treatment machine arranged therein with at least one exchangeable component, wherein said container treatment system comprises a robot which is arranged in said clean room and is designed to exchange said exchangeable component.2. The container treatment system of claim 1 , wherein said robot comprises a robotic arm which is fixedly mounted in said clean room or is arranged movable along a guide arranged in said clean room.3. The container treatment system of claim 2 , where said guide and a part of said robot form a linear drive.4. The container treatment system of claim 1 , where a magazine for the storage of exchangeable components is arranged in said clean room and said robot is designed to remove one of said exchangeable components from said magazine and attach it to said container treatment machine and to remove an exchangeable component attached to said container treatment machine from the latter and supply it to said magazine.5102. The container treatment system of claim 1 , where a lock claim 1 , into which an exchangeable component is inserted from outside said clean room claim 1 , is provided in the wall of said clean room claim 1 , where said robot () is designed to remove said exchangeable component from said lock and attach it to said container treatment machine and remove an exchangeable component attached to said container treatment machine from the latter and supply it to ...

CABLE-MANAGEMENT SYSTEM, A ROTARY JOINT AND A ROBOT

The present application discloses a cable-management system. The cables are divided into an outer group of cables and an inner group of cables. The system comprises a first cable guide, a second cable guide and at least four fixing members, wherein the first cable guide has a circular tube-shaped space, and the outer group of cables is partly accommodated between the first cable guide and the second cable guide; the second cable guide has a circular tube-shaped, and the inner group of cables is partly accommodated between the second cable guide and the first rotary shaft portion; and the fixing members respectively secure both ends of the outer group of cables or the inner group of cables on and along the first and second rotary shaft portions in a form in which the cables are arranged in parallel with each other, so that remaining portions of the outer group of cables or the inner group of cables are bent and suspended along the first and second rotary shaft portions in a U-shaped. The present application also discloses a rotary joint and a robot. 1. A cable-management system that holds a plurality of cables arranged in a rotary joint connected to an articulated arm having rotary shaft portions which allow the arm to rotate on the axis given thereto , each of the rotary shaft portions being divided into two shaft portions , a first of which is fixed and a second of which is rotatable , the system facilitating rotation from a first angular position to a second angular position without damage to the cables , the cables are divided into the outer group of cables and the inner group of cables , the system comprises:a first cable guide, a second cable guide and at least four fixing members;the first cable guide has a circular tube-shaped space, and the outer group of cables is partly accommodated between the first cable guide and the second cable guide;the second cable guide has a circular tube-shaped space, and the inner group of cables is partly accommodated between ...

MULTI-AXIS ROBOT INCLUDING DRIVES, A TOOL HEAD AND A DRAG CHAIN FOR GUIDING FLEXIBLE LINES

A multi-axis robot includes robot drives, a tool head, a drag chain for guiding flexible lines along at least a part of the robot up to the tool head, and an auxiliary system for moving a tool head-side end of the drag chain. The auxiliary system includes at least one auxiliary system drive for moving the tool head-side end. The auxiliary system drive is different than the robot drives. The multi-axis robot advantageously allows collisions between the tool-side end of the drag chain and the object to be treated or other objects in the vicinity of the robot to be avoided, ensuring that the surface of the object may be treated, in particular printed on by an inkjet print head, without disruption. 1. A multi-axis robot , comprising:robot drives;a tool head;flexible lines;a drag chain for guiding said flexible lines along at least a part of the robot up to said tool head, said drag chain having a tool head-side end; andan auxiliary system for moving said tool head-side end of said drag chain, said auxiliary system including at least one auxiliary system drive for moving said tool head-side end, said auxiliary system drive being different than said robot drives.2. The multi-axis robot according to claim 1 , wherein said auxiliary system is an arm movably disposed on the multi-axis robot.3. The multi-axis robot according to claim 2 , wherein said auxiliary system drive of said arm is controlled on a basis of a sensor signal.4. The multi-axis robot according to claim 3 , wherein said arm includes a distance sensor and said sensor signal is a distance signal.5. The multi-axis robot according to claim 1 , which further comprises a computer claim 1 , said computer generating a path plan as a basis for controlling said auxiliary system drive and said computer generating a different path plan for said tool head.6. The multi-axis robot according to claim 5 , wherein said auxiliary system is a trolley.7. The multi-axis robot according to claim 5 , wherein said auxiliary system is ...

Traveling system

A traveling system for a handling device with at least one guide element, with at least one carriage body, which is moveable by the guide element in a guided way in at least one plane of movement and on which or upon which at least one handling device can be fixed or is fixed, with at least one drive element by means of which the carriage body is driveable for a movement at least along the guide element, and with at least one cable guide that is connected to the carriage body, which includes a cable guide housing which includes a plurality of housing elements linked to each other, where two adjacent housing elements are movable relative to one another and about a common axis of rotation. At least one cable is also arranged or can be arranged, which is connectible or connected with one end to the handling device.

QUICK-RELEASE MECHANISM FOR TOOL ADAPTER PLATE AND ROBOTS INCORPORATING THE SAME

In various embodiments, a tool plate configured to receive a robotic end effector is removably matable with a robot appendage via a quick-release mechanism. 1. For use with a robot system comprising a robot body , a robot arm connected to the robot body and having a distal end including a first connector , a robot controller for controlling the robot arm , and an end effector connected thereto via the first connector , an interchangeable end-effector assembly comprising:a. a tool plate removably connectable to the robot arm; andb. a quick-release mechanism for removably retaining the tool plate against the robot arm, (1) nonvolatile memory storing data comprising at least one of identification information or configuration information;', '(2) a communication interface;', '(3) a processor; and', '(4) a second connector matable with the first connector for establishing bidirectional communication between the processor and the robot controller via the communication interface, the processor being configured to cause transmission of the data to the robot controller upon mating of the first and second connectors., 'wherein the tool plate includes2. The end-effector assembly of claim 1 , wherein:the tool plate comprises a raised portion having a series of depressions circumferentially arranged around a side wall thereof; andthe quick-release mechanism comprises a recess for receiving the raised portion of the tool plate, a ring surrounding the recess and slidable along an axis concentric therewith, and a plurality of bearing balls arranged circumferentially around an interior surface of the slidable ring, whereby axial movement of the ring in a first direction locks the bearing balls within the depressions of the raised portion of the tool plate, thereby retaining the tool plate within the quick-release mechanism, and axial movement of the ring in a second direction opposed to the first direction releases the bearing balls from the depressions, thereby releasing the tool ...

CONNECTION MODULE USING IN ROBOT

A connection module includes a shaft member that can be rotated in place and can be lifted up and down, two wires arranged side by side and spirally wound on the shaft member, and an holder block connected with the bottom end of the shaft member and the bottom end of each wire such that the holder block drives the two wires to expand or to contract along the axial direction of the shaft member or to spiral in the axial direction of the shaft member when the holder block is driven by the shaft member. Thus, the connection module of the present invention can simplify the conventional complicated wiring mode, thereby saving operation space and reducing the risk of line breakage. 1. A connection module comprising:a shaft member;an holder block connected to a bottom end of said shaft member for rotation and lifting along with said shaft member; and{'sub': max', 'min', 'max', 'min, 'an electrical wire set having at least two wires arranged side by side, said electrical wire set being spirally wound on said shaft member and connected to said holder block so that said electrical wire set is drivable by said holder block to perform a telescopic movement along an axial direction of said shaft member or to move spirally relative to the axial direction of said shaft member, said electrical wire set producing a maximum diameter when said electrical wire set is moved spirally in a first direction, said electrical wire set producing a minimum diameter when said electrical wire set is spirally moved in a second direction opposite to said first direction, said minimum diameter being larger than an outer diameter of said shaft member, said maximum diameter and said minimum diameter satisfying the relation of 1.3 Подробнее

Characterization of Refractory Lining of Metallurgical Vessels Using Autonomous Scanners

Apparatuses, methods, and systems are disclosed for autonomously characterizing the refractory lining in a container using an scanner that includes a scanning laser range finding system, a control system being communicatively connected to the laser scanning system to control the scanner; and a robotic vehicle having a controller communicatively connected to the control system and a drive system to propel the scanner autonomously in an area adjacent to the container, wherein characterization of the refractory lining is performed by comparing refractory thickness values determined from the distances measured from the laser scanning system to the surface of the refractory lining and the relative position of the scanner and the container, and comparing the same to a reference measurement of the refractory lining.

CABLE CARRIER CROSSOVER SUPPLYING FOUR NON-STATIC LOCATIONS

A method and apparatus for supplying cables to robots at non-static locations. A work platform for supporting one or more humans is positioned above a base platform for supporting one or more are robots independently of the work platform. A cable carrier system for providing cables to the robots is positioned underneath the work platform and above the base platform. 1. An apparatus for supplying cables to robots at non-static locations , comprising:a work platform for supporting one or more humans positioned above a base platform for supporting one or more robots independently of the work platform; anda cable carrier system for providing cables to the robots positioned underneath the work platform and above the base platform, wherein:the cable carrier system provides the cables in a space between the work platform and the base platform; andthe cable carrier system provides for stacking and nesting the cables, so that the cables independently supply the robots without the cables interfering with each other, while allowing for a full range of motion for the cables.2. The apparatus of claim 1 , wherein the cable carrier system provides separate ones of the cables to a plurality of the robots.3. The apparatus of claim 2 , wherein the cables comprise at least one of power claim 2 , control claim 2 , communications claim 2 , parts supply and return claim 2 , for the robots.4. The apparatus of claim 3 , wherein the cable carrier system provides the cables in a crossover configuration for supplying the cables for the robots in a compact the space between the base platform and the work platform.5. The apparatus of claim 4 , wherein the cables are crisscrossed to communicate with the robots claim 4 , so that the cables flow from adjacent a forward end on one side of the work platform to adjacent an aft end on an opposite side of the work platform.6. The apparatus of claim 1 , wherein the cable carrier system provides for stacking and nesting the cables so that the cables do ...

HARDWARE MODULE FOR A ROBOTIC SYSTEM, AND MECHANICAL COUPLING

A Hardware Module for a robotic system includes at least one sensor for measuring an internal property of the Hardware Module, a communication unit for communicating with other Hardware Modules, a data storage unit and an embedded controller. The embedded controller is configured to collect collected data, the collected data including: status data representing the current status of the Hardware Module; and operating data representing usage of the Hardware Module wherein at least part of the collected data is determined from sensor data from the at least one sensor, and the embedded controller is configured to perform at least one of: storing the collected data on the data storage unit; and transmitting the collected data via the communication unit. 2. The Hardware Module according to claim 1 , wherein the Hardware Module is a manipulator module comprising two mechanical links connected by a joint claim 1 , an actuator for setting a position of the joint and thereby a relative position of the links.3. The Hardware Module according to claim 1 , wherein the Hardware Module is a manipulator module comprising two mechanical links connected by a rotary joint claim 1 , each link comprising an interface adapted to connecting it to an interface of another Hardware Module claim 1 , and wherein claim 1 , when the rotary joint is in a first position the two interfaces are parallel to each other claim 1 , and when the rotary joint is in a second position rotated 180° relative to the first position the two interfaces are at a right angle to each other.4. The Hardware Module according to claim 1 , further comprising a first interface and a second interface claim 1 , and a channel passing from the first interface to the second interface through the inside of the Hardware Module.5. The Hardware Module according to claim 1 , wherein the data storage unit stores calibration data that represents relative positions and orientations of the rotary joint and the two links.6. The Hardware ...

HIGH PRECISION WORK PIECE PROCESSING SYSTEM

The present invention provides a work piece processing system for operating on a work piece or at least one component of a work piece. The processing system includes a base system for transporting the at least one work piece component, at least one processing head for operating on the work piece component, and means for controlling, the means for controlling the processing system. In a first embodiment, the processing system further includes a support structure, the support structure including at least one frame member having a track. Here, the at least one processing head travels along the track. In a second embodiment, the processing system further includes a multi-linkage robotic arm, the robotic arm including a plurality of rotary joints and a plurality of arm segments interconnecting the rotary joints. Here, the at least one processing head is operably mounted to a free end of one of the plurality of arm segments. 1. A work piece processing system for operating on a work piece or at least one component of a work piece , the processing system comprising:(a) a base system for transporting the at least one work piece component;(b) at least one processing head for operating on at least a portion of the periphery of the at least one work piece component; and(c) means for controlling, the means for controlling the processing system, the means for controlling being in electrical communication with the base system and the at least one processing head.2. The processing system of wherein the base system further comprises:(a) a plurality of base module segments;(b) a plurality of transport sled segments, each one of the plurality of transport sled segments being slidably mounted atop an associated one of the plurality of base module segments;(c) means for linearly moving the transport sled segments; andwherein the at least one work piece component is disposed atop the plurality of transport sled segments and the means for controlling is in electrical communication with ...

QUICK ROBOT ARM TOOL CHANGER

The present invention disclose a tool-holder () comprising a first part () and a second part (), wherein a wedge shaped locking mechanism is arranged partly on a first surface of the first part () operable to be joined with further parts of the wedge shaped locking mechanism arranged on a second surface of the second part (). 114-. (canceled)15. A tool-holder comprising a first part and a second part being connectable and separable via an interface constituted by a first surface on the first part operably facing towards a second surface on the second part ,wherein a wedge shaped element is protruding outwardly from the first surface, andwherein a wedge shaped indent arranged on the second surface is adapted to receive the protruding wedge shaped element on the first surface when operably joining the first and second surfaces,a longitudinal length of the protruding element on the first surface is equal to at least one width of the first surface, anda corresponding longitudinal length of the indent on the second surface is adapted to the longitudinal length of the protruding element on the first surface, and the corresponding adapted length on the second surface is further equal to the at least one width of the second surface,longitudinal side surfaces of the protruding element on the first surface is inwardly inclined and adapted to correspondingly inclined longitudinal side surfaces of the indent on the second surface,wherein the inclined side surfaces of the protruding element on the first surface on the first part is running along a curved line, and the inclined surfaces of the indent on the second surface on the second part is running along a corresponding curved line.16. The tool holder according to claim 15 , wherein the inclined side surfaces of the protruding element on the first surface on the first part is running along a straight line claim 15 , and the inclined side surfaces of the indent on the second surface on the second part is running along a ...

CABLE CLAMP AND ROBOT

A cable clamp includes a base member fixed to a predetermined position of an arm of a robot, a rotation mechanism provided on the base member, and a clamp base rotatably supported by the base member using the rotation mechanism. The clamp base includes a band winding portion which a fixation band is wound around, the fixation band is for fixing cables to the clamp base. 1. A cable clamp comprising:a base member fixed to a predetermined position of an arm of a robot;a rotation mechanism provided on the base member; anda clamp base rotatably supported by the base member using the rotation mechanism, whereinthe clamp base includes a band winding portion which a fixation band is wound around, the fixation band is for fixing a cable to the clamp base.2. The cable clamp according to claim 1 , whereinthe arm of the robot includes a plurality of arm members,the base member is fixed to one of the plurality of arm members, anda rotation axis line of the clamp base by means of the rotation mechanism is parallel with a rotation axis line of different one of the arm members disposed on a distal side of and next to the one of the arm members to which the base member is fixed.3. The cable clamp according to claim 1 , whereinthe arm of the robot includes a plurality of arm members,the base member is fixed to one of the plurality of arm members, anda rotation axis line of the clamp base by means of the rotation mechanism is not parallel with a rotation axis line of the one of the arm members to which the base member is fixed.4. The cable clamp according to claim 1 , whereinthe arm of the robot includes a plurality of arm members,one of the plurality of arm members has a cylindrical shape elongated vertically, the cylindrical arm member is configured to rotate about a central axis line thereof,the base member is fixed to an upper end of the cylindrical arm member, andone end side of a cable fixed to the clamp base is disposed in a space within the cylindrical arm member.5. The cable ...

Optical fiber network for transmitting signals in a robot

In an optical fiber network for transmitting optical signals in a robot having three or more joints connecting a plurality of links in series such that the links include two end links located at either end and intermediate links provided between the two end links, and the links connected by the joints are moveable relative to each other, a plurality of optical transceiver modules are provided on the links such that at least one optical transceiver module is provided on each link; and a plurality of optical fiber cables connect the optical transceiver modules in a ring; wherein at least one end of each optical fiber cable connecting the optical transceiver modules provided on different links is connected to one of the optical transceiver modules provided on the intermediate links.

SELF-ADJUSTING WIRE FEEDER MOUNTING ASSEMBLY

A self-adjusting wire feeder mounting assembly includes a mount fixedly connectable to a multi-axis robotic arm, and a slidable, floating adapter plate for mounting of a wire feeder thereon. The adapter plate is coupled with and slidable about the mount, and the adapter plate is moveable relative to the mount when a force is applied to the wire feeder. 111-. (canceled)12. A wire feeder mounting assembly for a robotic welding torch , comprising:a mounting bracket fixedly connectable to a robotic arm of the robotic welding torch;a moveable adapter plate configured to mount a wire feeder;a stationary track coupling the mounting bracket to the moveable adapter plate, the stationary track being defined by one or more stationary bolts, the moveable adapter plate being moveable along said stationary bolts; andone or more resilient members biasing said moveable adapter plate relative to the mounting bracket, each of the one or more stationary bolts extending through at least one of the one or more resilient members.13. The wire feeder mounting assembly of claim 12 , wherein the moveable adapter plate further includes a flange having one or more openings through which the one or more stationary bolts extend.14. The wire feeder mounting assembly of claim 13 , wherein a bearing is disposed in each of the one or more openings to facilitate movement of the moveable adapter plate along the one or more stationary bolts.15. The wire feeder mounting assembly of claim 13 , wherein the moveable adapter plate includes a mounting surface configured to mount the wire feeder and a lower surface opposite the mounting surface claim 13 , the flange extending from the lower surface.16. The wire feeder mounting assembly of claim 12 , wherein each of the one or more stationary bolts has an end that is screwed into and fixedly connected to said mounting bracket such that a shank of each bolt extends outwardly from only one same side of the mounting bracket.17. The wire feeder mounting assembly ...

WIRE-BODY PROCESSING STRUCTURE FOR ROBOT

A wire-body processing structure for a robot including a base, a rotary drum rotating about a first axis, and an arm rotating about a second axis. The rotary drum has a hollow part extending from inside the base, along the first axis, and opening in a top surface of the rotary drum. The wire body inside the base is led out, via the hollow part, from the opening in the top surface of the rotary drum, is bent to the rear side of the rotary drum, is guided below the arm, is fixed to the rotary drum with a first fixing member, is bent along the arm, and is fixed to a side surface of the arm with a second fixing member, with a certain surplus of a length between the first fixing member and the second fixing member. 1. A wire-body processing structure for a robot , comprising: the rotary drum has a hollow part extending from inside the base, along the first axis, and opening in a top surface of the rotary drum, and', 'the wire body inside the base is led out, via the hollow part, upward from the opening in the top surface of the rotary drum, is bent to the rear side of the rotary drum, is guided below the arm at a height below the top surface, is fixed to the rotary drum with a first fixing member, is bent in a direction along the arm, and is fixed to a side surface of the arm with a second fixing member, with a certain surplus of a length necessary for the operation of the arm between the first fixing member and the second fixing member., 'a base installed on an installation surface, a rotary drum supported so as to be rotatable about a vertical first axis relative to the base, and an arm supported so as to be rotatable about a horizontal second axis relative to the rotary drum, wherein'}2. A wire-body processing structure for a robot according to claim 1 , whereinthe arm has an inner surface located closer to the first axis than an extreme outer edge of the rotary drum about the first axis in the second axis direction,the rotary drum has a cut-away portion formed by ...

DEVICE FOR GUIDING AT LEAST ONE LINE OF AN ARTICULATED-ARM ROBOT, AND ARTICULATED ARM ROBOT

In order for a suitable restoring force to be exerted in a device for guiding at least one line of an articulated-arm robot, a restoring mechanism for exerting an elastic restoring force is provided. The restoring mechanism includes a guide unit and a slider element which is displaceably mounted on the guide unit. An elastic restoring unit, which has at least one deflection element, which is preferably configured as a deflection roller, and a flexural strand-shaped connection element, is disposed between the slider element and the guide unit. The restoring mechanism is housed in a closed housing and the line is connected to a slider element of the restoring unit inside the housing through one or two longitudinal slots.

ROBOT SYSTEM AND ROBOT

A robot system includes a robot, a controller that controls actuation of the robot, and a first external device, wherein the robot has a first member, a second member that pivots relative to the first member, a motor that generates drive power for pivoting the second member relative to the first member, an encoder including a detection unit that detects an amount of rotation of the motor, a control unit that controls actuation of the detection unit, a communication unit that communicates with the controller, and a first device connecting part connected to the first external device, the control unit connected to the detection unit, the communication unit, and the first device connecting part, and a first communication line connecting the communication unit and the controller, and data of the first external device is transmitted to the controller via the first device connecting part and the first communication line. 1. A robot system comprising:a robot;a controller that controls actuation of the robot; anda first external device, whereinthe robot hasa first member,a second member that pivots relative to the first member,a motor that generates drive power for pivoting the second member relative to the first member,an encoder including a detection unit that detects an amount of rotation of the motor, a control unit that controls actuation of the detection unit, a communication unit that communicates with the controller, and a first device connecting part connected to the first external device, the control unit connected to the detection unit, the communication unit, and the first device connecting part, anda first communication line connecting the communication unit and the controller,wherein data of the first external device is transmitted to the controller via the first device connecting part and the first communication line.2. The robot system according to claim 1 , further comprising:a second external device; anda second device connecting part connected to the ...

AUTOMATED DIAGNOSTIC ANALYZER AND METHOD FOR ITS OPERATION

An automated analyzer that receives samples prepared for analysis in an automated pre-analytical module and a method of operation of such automated analyzer. The automated analyzer includes a shuttle transfer station that receives a shuttle carrier from the automated pre-analytical system. The shuttle transfer station has a clamping assembly for the shuttle. The clamping assembly has jaws that advance engagement members into contact with a bottom portion of sample containers disposed in the shuttle. The clamping assembly secures the sample containers in the shuttle when sample is aspirated from the sample containers. The automated analyzer also has a multichannel puncture tool that is adapted to be carried by a robotic gripper mechanism. The multichannel puncture tool has multiple puncture members that each defines a channel. Each channel is in communication with a different trough in the consumable. A pipette can pass through the channel in the puncture tool. 1. An automated analyzer comprising:a processing deck comprising a shuttle transfer station, the shuttle transfer station further comprising a conveyer for carrying a shuttle received by the automated analyzer to the shuttle transfer station, the shuttle being a rack comprising a plurality of receptacles, each receptacle adapted to receive a sample container;carrier for at least one puncture tool disposed on the processing deck;a robot comprising a gripper;a station configured to receive a consumable reagent trough;wherein the robot, using the gripper, moves a puncture tool from the carrier to the station that receives a consumable reagent trough and lowers the puncture tool over the station configured to receive a consumable reagent trough.2. The automated analyzer of wherein the robot is a multipurpose robot comprising:a gantry; andpayload moveably connected to the gantry, the payload comprising the gripper anda pipettor module having a plurality of pipette heads each being connectable to a pipette tip, ...

END EFFECTOR DEVICE, ROBOTIC HAND DEVICE, AND ROBOTIC DEVICE

An end effector device includes a housing, a cable, and a winding mechanism. The cable includes at least one of lines that include a power supply line and a signal line. The winding mechanism is located inside the housing and configured to wind the cable. The winding mechanism includes a case, a reel, and a spiral spring. The reel is supported in the case and allowed to rotate and wind the cable. The spiral spring urges the reel in a retrieval direction of the cable pulled out of the reel. 1. An end effector device comprising:a housing;a cable including at least one of lines that include a power supply line and a signal line; anda winding mechanism that is located inside the housing and configured to wind the cable, whereinthe winding mechanism includes:a case;a reel that is supported in the case and allowed to rotate and wind the cable; anda spiral spring that urges the reel in a retrieval direction of the cable pulled out of the reel.2. The end effector device according to claim 1 , whereinone end of the cable is pulled out of an opening provided in a side part of the housing toward an outside of the housing.3. The end effector device according to claim 1 , wherein a first portion that allows to be wound on the reel; and', 'a second portion that does not allow to be wound on the reel, and, 'the cable includesthe second portion includes sections that are connected to each other through connectors.4. A robotic device comprising:{'claim-ref': {'@idref': 'CLM-00001', 'claim 1'}, 'the end effector device according to ; and'}a robotic hand device configured to drive the end effector device.5. The robotic device according to claim 4 , whereinthe robotic hand device includes a guide section for guiding the cable.6. A robotic hand device comprising:a housing;a cable including at least one of lines that include a power supply line and a signal line; anda winding mechanism that is located inside the housing and configured to wind the cable, whereinthe winding mechanism ...

ROBOT-ARM HARNESS CONNECTION STRUCTURE AND MULTI-JOINED WELDING ROBOT

A harness connection structure has a first arm; a second arm which has a base side that is rotatably coupled to the first arm via an arm joint; and a harness that extends from a leading end of the first arm and is guided into an arm interior at the arm joint. The leading end of the first arm has a harness holding part that holds one longitudinal side of the harness. The arm joint has a harness fixing part that fixes the other longitudinal side of the harness inside the arm joint. The harness fixing part is disposed such that the harness is inclined from the longitudinal axis of the second arm toward the leading end of the first arm.

POWER SUPPLYING MODULE

A power supplying module that can be reduced in size is provided. The power supplying module includes a module body, and a lead-in unit provided on one surface of the module body. The lead-in unit includes a plate unit that fixes at least one sealing tube to the one surface of the module body, and at least one circumference holding unit that holds a circumference of the corresponding sealing tube. The plate unit is provided with, in a longitudinal direction of the one surface of the module body, a plurality of cable insertion holes, and a plurality of positioning portions that position the plurality of circumference holding units to the corresponding cable insertion holes. 1. A power supplying module detachably attached to one of a first coupling member and a second coupling member that are included in an automatic tool changer , the first coupling member being detachably attached to a body of an instrument , the second coupling member being detachably attached to a tool of the instrument , the power supplying module comprising:a module body; and a plate unit that fixes at least one sealing tube to the one surface of the module body; and', 'at least one circumference holding unit holding a circumference of the corresponding sealing tube, and', 'wherein the plate unit is provided with, in a longitudinal direction of the one surface of the module body, a plurality of cable insertion holes, and a plurality of positioning portions that position the plurality of circumference holding units to the corresponding cable insertion holes., 'a lead-in unit provided on one surface of the module body, the lead-in unit including2. The power supplying module according to claim 1 , wherein each of the positioning portions includes:a protruding portion protruding from one surface of the plate unit, anda through-hole that is formed in the protruding portion and through which a fastening member is inserted through a pair of the circumference holding units disposed to face each other ...

LINEAR JOINT AND LEGGED ROBOT HAVING THE SAME

A linear joint includes a motor assembly includes a rotating shaft for outputting motion; a transmission mechanism including a screw and a nut threadedly connected to the screw, the nut being coaxial with respect to and securely connected to the rotating shaft so as to be rotatable together with the rotating shaft; and a rod connected to a first end of the screw so as to move together with the screw along a lengthwise direction of the screw. 1. A linear joint comprising:a motor assembly comprising a rotating shaft for outputting motion;a transmission mechanism comprising a screw and a nut threadedly connected to the screw, the nut being coaxial with respect to and securely connected to the rotating shaft so as to be rotatable together with the rotating shaft; anda rod connected to a first end of the screw so as to move together with the screw along a lengthwise direction of the screw.2. The linear joint according to claim 1 , wherein the rod comprises an anti-rotation mechanism for preventing the rod from rotating.3. The linear joint according to claim 2 , further comprising a joint housing configured to receive the transmission mechanism therein claim 2 , wherein the anti-rotation mechanism comprises a groove defined in an outer surface of the rod and extending along a lengthwise direction of the rod claim 2 , and a ring arranged around the rod claim 2 , the ring comprises a protrusion that protrudes from an inner surface thereof and is received in the groove.4. The linear joint according to claim 2 , further comprising a stopper member that is arranged on a second end of the screw which is away from the rod and configured to prevent the screw from disengaging from the nut.5. The linear joint according to claim 3 , further comprising a linear bearing arranged around the rod and received in the joint housing.6. The linear joint according to claim 3 , wherein the rotating shaft comprises a closed end configured to stop movement of the screw when the screw comes into ...

Modular platform for robotic end effector

The disclosed system includes a robot system with a robot having a modular platform and a controller operably coupled to the robot. The modular platform includes a plurality of mount connectors and a plurality of receiving port connectors. Each of the mount connectors is configured to attach to the robot and each of the receiving ports is configured to connect to an end effector such as a gripper, sensor or other tool. The modular platform is configured to mount to the robot in a plurality of orientations and to connect with a plurality of different end effectors.

ROBOT AND DRONE ARRAY

A mobile robot and drone device configured to dynamically allocate one or more task objectives and handling objectives, the mobile robot and drone device systematically couples to one another creating a hybrid robot-drone. The robot and drone array are utilized to work and obtain target objects in an environment, wherein the mobile robot and drone device comprise robotic arms and legs comprising propulsion drive wheels managed accordingly by AI system components including; an adaptive robot control system, an autonomous coupling system and an autonomous charging system configured with processors, and subsystems including; user interface, Cloud-Based Analysis and Data Usage Network, a sensor I/O devices including; LIDAR, RADAR, an altitude gyroscope sensors and cameras for scanning surrounding objects in an environment, and an identifier scanning system configured for identifying users, mobile robots, drone devices and target objects in a work environment and in a game environment. The work environment can include a consigned robot and drone array to work inside a cargo vehicle to gather cargo boxes and packages for delivery, and the array of working mobile robot and subsequently the drone device transports the boxes and packages by a flight plan and by a land-based drone device drive mode in flight restricted zones, and the game environment includes real-time gameplay, virtual reality and augmented E Sports game platforms. 1. A robot and drone array comprising:one or more semiautonomous and autonomous mobile robots, one or more semiautonomous and autonomous drone devices, and a framework arrangement comprising at least one drone device body integrating with a mobile robot body, a hybrid robot-drone;an AI system systemically configured to allocate one or more task objectives and to allocate one or more handling objectives of said one or more mobile robots and drone devices; said one or more task objectives including; locating, obtaining and manipulating one or more ...

Sensor module and robot system

A sensor module of the present invention includes a flexible body and a sensor fixed to the outer surface of the body. The body is attachable to a robot hand having multiple fingers and is removable from the robot hand. The sensor is a proximity sensor or a tactile sensor. A position on the body where the sensor is fixed corresponds to a fingertip of a finger of the robot hand in a state where the sensor module is attached to the robot hand. The body has the shape of a glove, a finger cot, or a sheet.