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Небесная энциклопедия

Космические корабли и станции, автоматические КА и методы их проектирования, бортовые комплексы управления, системы и средства жизнеобеспечения, особенности технологии производства ракетно-космических систем

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Мониторинг СМИ

Мониторинг СМИ и социальных сетей. Сканирование интернета, новостных сайтов, специализированных контентных площадок на базе мессенджеров. Гибкие настройки фильтров и первоначальных источников.

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Поддерживает ввод нескольких поисковых фраз (по одной на строку). При поиске обеспечивает поддержку морфологии русского и английского языка
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Применить Всего найдено 11439. Отображено 100.
01-03-2012 дата публикации

Vision System for Facilitating the Automated Application of Disinfectant to the Teats of Dairy Livestock

Номер: US20120048208A1
Автор: Henk Hofman, Peter Willem Van Der Sluis, Ype Groensma
Принадлежит: TECHNOLOGIES HOLDINGS CORP

In certain embodiments, a system includes a controller operable to access an image signal generated by a camera. The accessed image signal corresponds to one or more features of the rear of a dairy livestock. The controller is further operable to determine positions of each of the hind legs of the dairy livestock based on the accessed image signal. The controller is further operable to determine a position of an udder of the dairy livestock based on the accessed image signal and the determined positions of the hind legs of the dairy livestock. The controller is further operable to determine, based on the image signal and the determined position of the udder of the dairy livestock, a spray position from which a spray tool may apply disinfectant to the teats of the dairy livestock.

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Номер записи: 1
05-04-2012 дата публикации

Walking robot and control method thereof

Номер: US20120083922A1
Автор: Ho Seong Kwak, Joo Hyung Kim, Kyung Shik Roh, Min Hyung Lee, Woong Kwon
Принадлежит: SAMSUNG ELECTRONICS CO LTD

A walking robot and a control method in which conversion between walking servo control methods is stably carried out. The walking robot includes a sensor unit to measure angles and torques of joints, and a control unit to calculate voltages applied in a Finite State Machine (FSM) control mode and a Zero Moment Point (ZMP) control mode according to the angles and torques of the joints to drive respective joint motors, to store last target joint angles in the FSM control mode during conversion from the FSM control mode to the ZMP control mode, and to perform a motion based on the FSM control mode by substituting the last target joint angles in the FSM control mode for target joint angles in the FSM control mode during conversion from the ZMP control mode to the FSM control mode, thereby performing stable conversion between walking servo control modes without joint sagging.

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Номер записи: 2
10-05-2012 дата публикации

Robot system control method

Номер: US20120116585A1
Автор: Kazumasa Yoshima
Принадлежит: Panasonic Corp

In a control method of a robot system of the present invention, one of two industrial robots is used as a master robot, and the other is used as a slave robot. Data indicating the relation of the relative position and relative attitude between the master robot and the slave robot in welding conditioning work is stored as one set of information. During teaching work, in a state where the master robot and the slave robot exist at any positions, the slave robot is moved with respect to the position of the master robot so as to reproduce the relation of the relative position and relative attitude indicated by the one set of stored information, or the master robot is moved with respect to the position of the slave robot.

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Номер записи: 3
17-05-2012 дата публикации

Panel positioning apparatus and panel integration method

Номер: US20120117783A1
Автор: Eisaku Hasegawa, Hitoshi Yoshimichi, Koki Sanada, Nobuhiro Kozasa, Shunsuke Ishii
Принадлежит: Honda Motor Co Ltd

A panel positioning apparatus is provided with an outer panel supporting device 20 adapted to support the outer panel 11 from a lower side of the outer panel 11 and an inner panel supporting device 30 adapted to support the inner panel 12 from an upper side of the inner panel 12 . The outer panel supporting device 20 has a lower-surface contact section 23 adapted to abut against a lower surface of the outer panel 11 . The inner panel supporting device 30 has an upper-surface contact section 344 adapted to expose below the inner panel 12 and to abut against an upper surface of a part of the outer panel 12 against which the lower-surface contact section 23 abuts. The outer panel 11 and the inner panel 12 are overlaid with each other, and a bending part 112 A of the outer panel 11 is bent by pinching the outer panel 11 by the lower-surface contact section 23 and the upper-surface contact section 334.

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Номер записи: 4
17-05-2012 дата публикации

Robotic heliostat calibration system and method

Номер: US20120123720A1
Автор: Daniel Fukuba, Jos Goble, Salomon Trujillo, Thomas Joseph Currier, Wasiq Bokhari
Принадлежит: Individual

A robotic controller for autonomous calibration and inspection of two or more solar surfaces wherein the robotic controller includes a drive system to position itself near a solar surface such that onboard sensors may be utilized to gather information about the solar surface. An onboard communication unit relays information to a central processing network, this processor combines new information with stored historical data to calibrate a solar surface and/or to determine its instantaneous health.

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Номер записи: 5
21-06-2012 дата публикации

Three-axis robotic system with linear bearing supports

Номер: US20120152050A1
Автор: Bruce Richardson
Принадлежит: Accel Biotech Inc

A three-axis robotic system. On the first and second axes, respective linear bearings have movable carriages, and backbone-free linear bases acting as exclusive support or linear bearing supports. A first motor is mounted to the first linear bearing support and coupled to the first carriage. The second linear bearing support is attached at one end to the first carriage and may be orthogonal to the first linear bearing support. A second motor is mounted to the second linear bearing support and coupled to the second carriage. A third axis member is attached to the second carriage. The third axis member may be orthogonal to the first and second linear bearing supports. A third carriage is slidable on the third axis member. A third motor is mounted to the third axis member and coupled to the third carriage. Each respective motor and carriage may be coupled by a belt or leadscrew.

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Номер записи: 6
09-08-2012 дата публикации

Robot

Номер: US20120198955A1
Автор: Keisuke Yonehara, Manabu Okahisa, Yusuke Hayashi
Принадлежит: Yaskawa Electric Corp

A robot according to an embodiment includes a base, a first structure, a second structure, and a third structure. The first structure is connected to the base to be rotatable about a first axis. The second structure is connected to the first structure to be rotatable about a second axis orthogonal to the first axis. The third structure is connected to the second structure to be rotatable about a third axis parallel to the second axis. The first structure and the third structure are formed by using cast materials having a same shape.

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Номер записи: 7
09-08-2012 дата публикации

Method and system for path planning and controlling

Номер: US20120203420A1
Автор: Chyon Hae KIM
Принадлежит: Honda Motor Co Ltd

A path planning system for bringing state of an object into a target state includes a search tree production unit for producing in advance, in a state space with said target state defined as a root, a search tree having a branch at each one of a plurality of sections of the state space, said state space being divided into the plurality of sections in advance. The system also includes a search tree memory unit for storing the search tree, and a path generation unit for determining, a route on the search tree from the branch corresponding to the current state to the root. The path planning/control system further includes a path control unit for controlling the path of the object to bring the state of the object into the target state in accordance with the route on the search tree determined by the path planning system.

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Номер записи: 8
16-08-2012 дата публикации

Robotic safety stop for automated storage library

Номер: US20120204408A1
Автор: Nicholas A. HARTL, Shawn M. Nave
Принадлежит: International Business Machines Corp

A connector has first and second ends. The first end is configured to contact a door of the automated storage library when the door is in at least a first position. A safety stop is connected to the second end of the connector and adapted to move from a down position to an up position. The safety stop is in the down position when the door is in the first position. The connector is adapted to travel in a lateral direction corresponding to a similar movement of the door as the door is opened between the first position and a second position, causing the safety stop to move from the down position to an up position to prevent travel of the robotic accessor beyond the safety stop.

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Номер записи: 9
23-08-2012 дата публикации

Map generating and updating method for mobile robot position recognition

Номер: US20120213443A1
Автор: Hee Kong Lee, Hyung O Kim, Jae Young Lee, James Stonier Daniel, Kyung Chul Shin, Seong Ju Park
Принадлежит: Yujin Robot Co Ltd

The present invention relates to a map generating and updating method for mobile robot position recognition, and more specifically relates to a map generating and updating method for mobile robot position recognition, whereby position recognition error can be minimised by registering landmarks extracted during map generation and landmarks extracted on the basis of the probable error in inferred landmarks, calculating the accuracy of landmarks pre-registered during map generation, and adjusting the level of landmarks of low accuracy or removing landmarks which have been registered erroneously.

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Номер записи: 10
30-08-2012 дата публикации

Articulated robot wrist

Номер: US20120216650A1
Автор: Giorgio Pernechele, Giuseppe Paparella, Mauro Amparore
Принадлежит: Comau SpA

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.

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Номер записи: 11
27-09-2012 дата публикации

Flexible Shaft Assemblies

Номер: US20120240847A1
Автор: Mark E. Neufelder, Tracy R. Nelson, William L. Huddleston
Принадлежит: Toyota Motor Engineering and Manufacturing North America Inc

A flexible shaft assembly that transfers torque from a driver to a driven member includes a stub shaft that includes an elongated shaft axis, where the stub shaft couples to the driver, and a flexible coupling that includes a first hub that is adjustably connected to a second hub, where the second hub is coupled to the driven member and includes an external cylindrical interface. The flexible shaft assembly further includes a spacer that includes a spacer body, a shaft clearance hole that passes through the spacer body having a central axis extending therethrough, and a cylindrical guide surface concentric with the shaft clearance hole, where the external cylindrical interface of the flexible coupling is located inside the cylindrical guide surface, and the first hub adjusts relative to the second hub when the elongated shaft axis is out of alignment with the central axis of the shaft clearance hole.

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Номер записи: 12
04-10-2012 дата публикации

Robot controller and robot system

Номер: US20120253512A1
Автор: Hiroshi Hasegawa, Kaori Sato
Принадлежит: Seiko Epson Corp

A robot controller includes an input unit that receives operation instruction information, a database that stores grasp pattern information, and a processing unit that performs control processing based on information from the input unit and information from the database, and the input unit receives first to N-th operation instructions as operation instruction information, the processing unit loads i-th grasp pattern information that enables execution of the i-th operation instruction and j-th grasp pattern information that enables execution of the j-th operation instruction as the next operation instruction to the i-th operation instruction from the database, and performs control processing based on the i-th grasp pattern information and the j-th grasp pattern information.

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Номер записи: 13
11-10-2012 дата публикации

Apparatus, system, and method for wafer characterization

Номер: US20120255795A1
Автор: David S. DENU, Reiner G. FENSKE
Принадлежит: MICROTRONIC Inc

An apparatus for characterizing a wafer comprising an aligner comprising a chuck for receiving and rotating the wafer, a sensor for detecting the position of the wafer as it is rotated, a first actuator for lowering and raising the wafer vertically, and a second actuator for moving the chuck horizontally; and a weighing scale comprising a weight sensor disposed proximate to the aligner, and a cantilevered arm extending laterally from the weight sensor over the chuck of the aligner, the cantilevered arm having a through hole surrounding the chuck. The chuck is vertically movable relative to the weighing scale from a first position in which the wafer is supported by the chuck to a second position in which the wafer is supported by the cantilevered arm of the weighing scale. A method for characterizing a wafer using the instant apparatus is also disclosed.

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Номер записи: 14
18-10-2012 дата публикации

Maneuvering robotic vehicles having a positionable sensor head

Номер: US20120261200A1
Автор: Michael Bassett, Timothy R. Ohm
Принадлежит: Individual

Configurations are provided for vehicular robots or other vehicles to provide shifting of their centers of gravity for enhanced obstacle navigation. Various head and neck morphologies are provided to allow positioning for various poses such as a stowed pose, observation poses, and inspection poses. Neck extension and actuator module designs are provided to implement various head and neck morphologies. Robot control network circuitry is also provided.

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Номер записи: 15
01-11-2012 дата публикации

Robot having obstacle avoidance mechanism

Номер: US20120272505A1
Автор: Branko Sarh, Geoffrey I. Karasic, Haruhiko H. Asada
Принадлежит: Boeing Co, Massachusetts Institute of Technology

A robot is placed on a first surface of a panel. The robot includes a body and first and second feet connected to the body via joints. A flux conducting device is positioned on an opposing second surface of the panel, opposite the robot, so that each foot of the robot is magnetically coupled to the flux conducting device. The flux conducting device is moved along the exterior surface to pull the robot along the interior surface until an obstacle on the first surface is encountered. The robot decouples one of the feet from the flux conducting device, lifts the decoupled foot above the obstacle, and moves the decoupled foot past the obstacle.

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Номер записи: 16
01-11-2012 дата публикации

Milking Box With Robotic Attacher

Номер: US20120272910A1
Автор: Henk Hofman, Peter Willem Van Der Sluis, Ype Groensma
Принадлежит: TECHNOLOGIES HOLDINGS CORP

In certain embodiments, a system includes a front wall, a rear wall positioned substantially parallel to the front wall, and first and second side walls each extending between the front wall and the rear wall. The first side wall includes a gate, and the second side wall is spaced apart from the first side wall such that the front wall, the rear wall, the first side wall, and the second side wall define a milking box stall of a size sufficient to accommodate a dairy livestock. The system includes an equipment portion located adjacent to the rear wall. The equipment portion houses a robotic attacher configured to extend between the rear legs of a dairy livestock located within the milking box stall in order to attach milking equipment to the dairy livestock.

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Номер записи: 17
08-11-2012 дата публикации

Reconfigurable end-effector attachable to a robotic arm

Номер: US20120280527A1
Автор: Andrew L. Bartos, Hyunshik Shin, Ki-Beom Kim, Roland J. Menassa, Sang-Yul Ju, Shinho Kang, Yhu-Tin Lin, Yong-Hyun Ju
Принадлежит: GM GLOBAL TECHNOLOGY OPERATIONS LLC

A reconfigurable end-effector attachable to a robotic arm, includes a master boom, a first branch assembly and a second branch assembly, a dual articulation mechanism. The dual articulation mechanism includes a first clutch attached to the first branch assembly and is configured to articulate the first branch assembly relative to the second branch assembly. The dual articulation mechanism further includes a second clutch attached to the master boom, the second branch assembly and the first clutch and is configured to simultaneously articulate the first and second branch assemblies relative to the master boom. The first and second branch assemblies each have limbs connected to branches supporting a plurality of tool modules. Each tool module includes an end element configurable to interact with a workpiece.

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Номер записи: 18
06-12-2012 дата публикации

Uncalibrated visual servoing using real-time velocity optimization

Номер: US20120307027A1
Автор: Aleksandra Popovic, Paul Thienphrapa
Принадлежит: KONINKLIJKE PHILIPS ELECTRONICS NV

A robotic control method for a camera ( 30 ) having an optical view and a robot ( 40 ) having an end-effector ( 42 ) and one or more joints ( 41 ) for maneuvering end-effector ( 42 ). The robotic control method involves an acquisition of a digital video frame ( 32 ) illustrating an image as optically viewed by the camera ( 30 ), and an execution of a visual servoing for controlling a pose of end-effector ( 42 ) relative to an image feature within the digital video frame ( 32 ). The visual servoing involves an identification of a tracking vector (vtrk) within an image coordinate system ( 80 ) of the digital video frame ( 32 ) extending from a tracking point (TR) to a target point (TG) associated with the image feature, a mapping of the tracking vector within a configuration space ( 100 ) constructed from a robotic coordinate system ( 90 ) associated with the end-effector ( 42 ), and a derivation of a pose of the end-effector ( 42 ) within the robotic coordinate system ( 90 ) from the mapping of the tracking vector (vtrk) within the configuration space ( 100 ).

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Номер записи: 19
28-02-2013 дата публикации

Vacuum processing apparatus and vacuum processing method

Номер: US20130053997A1
Автор: Akitaka Makino, Hideki Kihara, Hiroho Kitada, Tomohiro Ohashi
Принадлежит: Hitachi High Technologies Corp

A vacuum processing apparatus includes a robot connected to a vacuum container to carry a wafer on one of its two arms to or from a processing chamber; a unit to detect an amount of deviation of the wafer from a predetermined wafer mounting position on the arm that may occur when the robot carries the wafer into or out of the processing chamber; and an adjusting device to adjust the operation of the robot based on the detected amount of deviation. The adjusting device adjusts the robot operation based on the result of a teaching operation performed in advance. After being subjected to the initial teaching operation, the robot again undergoes a second teaching operation according to the information on the amount of wafer position deviation that is detected by moving the wafer in a predetermined transfer pattern, before the wafer processing is performed.

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Номер записи: 20
21-03-2013 дата публикации

DIRECT ACTING EXTENSIBLE AND RETRACTABLE ARM MECHANISM, AND ROBOT ARM PROVIDED WITH DIRECT ACTING EXTENSIBLE AND RETRACTABLE ARM MECHANISM

Номер: US20130068061A1
Автор: Yoon Woo-Keun
Принадлежит: National Institute of Advanced Industrial Science and Technology

A robot arm () of the present invention includes, as a direct acting extensible/retractable joint (J), an arm section () constituted by an upper structure group () and a lower structure group (). Groups () and (), having an arrangement in which structures are connected in series, partially engage so as to form a direct rigid combined structure, and are separated so as to release the rigid structure. An arm length can be adjusted arbitrarily. Section () can have a plane surface having no gap to prevent entry of a finger/dust. Separation of Groups () and () allows an upper structure () and a lower structure () to rotate around their rotational axes, to realize compact storage inside a robot arm supporting member (). It is thus possible to prevent significantly entry of a finger/dust, and provide a compact direct acting extensible and retractable arm mechanism. 1. A direct acting extensible and retractable arm mechanism comprising:a robot arm supporting member; andan arm section being extensible and retractable directly from one of ends of the robot arm supporting member, the arm section being such that a hand section is attachable to one of ends of the arm section,the arm section being constituted by (i) a first structure group in which a plurality of first structures are coupled with each other in series in such a manner that adjacent ones of the plurality of first structures are coupled with each other via a corresponding one of a plurality of first coupling axes in a direction which is orthogonal to a direction of the corresponding one of the plurality of first coupling axes and (ii) a second structure group in which a plurality of second structures are coupled with each other in series in such a manner that adjacent ones of the plurality of second structures are coupled with each other via a corresponding one of a plurality of second coupling axes in a direction which is orthogonal to a direction of the corresponding one of the plurality of second coupling axes, ...

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Номер записи: 21
21-03-2013 дата публикации

SUB-SEA APPARATUS AND OPERATING METHOD

Номер: US20130071191A1
Автор: Buchan Andrew, Mcintosh Murray Jamieson
Принадлежит:

Apparatus and method for handling a fluid-tight flange coupling between a first and a second conduit component while maintaining the fluid integrity of the coupling. The apparatus includes a gripping mechanism configured to straddle the flange coupling and grip both of the first and second conduit components. The gripping mechanism is mounted on a lifting frame able to bear the loadings upon the gripped components during a moving operation. The apparatus includes a base frame with a gripping mechanism to receive the flange coupling. The coupled components are gripped on each side of the flange coupling to maintain the fluid integrity of the flange coupling. 132-. (canceled)33. Apparatus for handling a flange coupling between a first conduit component and a second conduit component such that the flange coupling remains fluid-tight , the apparatus comprising a first gripping mechanism configured to straddle the flange coupling and to grip both the first conduit component and the second conduit component , wherein said first gripping mechanism is operatively mounted upon a lifting frame adapted to bear the loadings upon the gripped first and second conduit components while the flange coupling is moved , the apparatus including a base frame with a second gripping mechanism to receive the flange coupling such that the coupled components are gripped on each side of the flange coupling so that the flange coupling remains fluid-tight.34. Apparatus as claimed in claim 33 , having at least one engagement mechanism configured to guide the lifting frame and the base frame into engagement with one another.35. Apparatus as claimed in claim 34 , wherein the at least one engagement mechanism controls an alignment of the lifting frame and the base frame during engagement so that the first and second conduit components and the flange coupling gripped by the lifting frame are aligned with the second gripping mechanism.36. Apparatus as claimed in claim 33 , wherein the lifting frame is ...

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Номер записи: 22
28-03-2013 дата публикации

One-Degree-Of-Freedom Link Device, A Robot Arm Using The Same And A Surgical Robot Comprising The Same

Номер: US20130074637A1
Автор: Choi Youngjin, Lee Hoyul, Yi Byung-Ju
Принадлежит: Industry-University Cooperation Foundation Hanyang University ERICA Campus

The present invention comprises: a fixed four-node link in which four links are joined together in a hinged fashion, comprising a fixed link of which the position is fixed, a connecting rod positioned on the opposite side of the first link, an input-side transmission link connecting the end on one side of the connecting rod and the first link, and an output-side transmission link positioned on the opposite side of the input-side transmission link; an input link part to which an actuator is attached, and which is joined in hinged fashion between the two ends of the input-side transmission link; and an output link part which is fixedly joined to the output-side transmission link and is rotated by means of the output-side transmission link, and the one-degree-of-freedom link device according to the present invention and the robot arm using the same can be used to allow easy attachment and detachment between link devices and achieve smooth action in a robot arm in accordance with what is desired. 1. A one-degree-of-freedom link device , comprising:a fixed four-node link comprising four links hingedly joined together, the four links comprising a fixed link whose position is fixed, a connecting rod positioned at an opposite side of the fixed link, an input-side transmission link connecting the fixed link to one end of the connecting rod, and an output-side transmission link positioned at an opposite side of the input-side transmission link;an input link part hingedly coupled between two ends of the input-side transmission link and having an actuator mounted thereon; andan output link part fixedly coupled to the output-side transmission link to be rotated by the output-side transmission link.2. An n-degree-of-freedom robot driving mechanism , comprising:{'claim-ref': {'@idref': 'CLM-00001', 'claims 1'}, 'the one-degree-of-freedom link device according to ; and'}n−1 link devices coupled to each other and to the one-degree-of-freedom link device in a stacking arrangement, ...

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Номер записи: 23
04-04-2013 дата публикации

End Effector with Internal Valve

Номер: US20130082474A1
Автор: JR. Roland, Lomerson, Norton Michael W.
Принадлежит: AMF Automation Technologies, LLC, d/b/a AMF Bakery Systems

A bellows is configured for connection to an end effector of a robot and includes a valve supported in the interior space of the bellows. A flow of low pressure air is induced from inside the bellows into a vacuum plenum for retrieving a work product by the open end of the bellows. High pressure air is moved through a conduit into the valve to terminate the flow of low pressure air and terminate the suction applied by the bellows to the work product. 1. An end effector for mounting to a robotic arm for engaging and transporting a work product , comprisinga plurality of bellows supported by said end effector, each said bellows including a side wall defining an interior space, an open end for engaging a work product, and a mounting end opposite to said open end for communication with a vacuum plenum,a valve positioned in said interior space of each of said bellows,said valve including a support plate positioned between said support end and said open end of said bellows and defining an air passage for the movement of low air pressure there through from said open end toward said mounting end of said bellows, and a valve element supported by said support plate for opening and closing said air passage in response to movement of high air pressure from said mounting end of said bellows applied to said valve element.2. The end effector of claim 1 , wherein said valve element is suspended beneath said support plate and is movable parallel to said support plate into and out of alignment with said air passage3. The end effector of claim 2 , wherein said valve includes a valve housing suspended beneath said support plate claim 2 , said valve housing including a side wall with a laterally facing air passage defined in said side wall claim 2 , and said valve element is a ball valve movable laterally into and out of registration with said laterally facing side wall.4. The end effector of claim 1 , wherein said valve element is positioned above and in alignment with said air passage ...

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Номер записи: 24
04-04-2013 дата публикации

Novel Tactile Feedback System for Robotic Surgery

Номер: US20130085511A1
Автор: Duvvuri Umamaheswar, Johnson Paul J.
Принадлежит: University of Pittsburgh - of the Commonwealth System of Higher Education

Apparatuses and methods for the haptic sensation of forces at a remote location. Groups of MEMS-based pressure sensors are combined into sensor arrays. In some embodiments, the pressure sensors are encased in silicone or other elastomeric substance to allow for routine use in the aqueous environment of the body. The sensor arrays may be housed in a No-compatible material (e.g., stainless steel, plastic) and may be attached to a printed circuit board to allow the electrical signal generated by the sensors to be communicated to a user. The sensor arrays may be used with faceplates that directly interact with the target tissue or object. The faceplates may be rough, smooth, serrated, or any other texture. The present apparatuses and methods are particularly well suited for robotic surgery and may be used in wherever haptic sensing of forces at a remote location is desired. 1. A sensor array for sensing forces at a surface , comprising:a plurality of pressure sensors, wherein said plurality of pressure sensors are arranged in an array, wherein said pressure sensors are surrounded by an elastomeric substance:a printed circuit board, wherein said pressure sensors are operably connected to said printed circuit board; anda housing, wherein said housing includes said plurality of pressure sensors, said elastomeric substance, and said printed circuit board.2. The sensor array of claim 1 , wherein said pressure sensors arc microelectromechanical system-based pressure sensors.3. The sensor array of claim 1 , wherein said elastomeric substance is selected from the group consisting of silicone claim 1 , non-reactive gel claim 1 , and non-reactive fluid.4. The sensor array of claim 1 , wherein said housing is fabricated from a bio-compatible metal or plastic.5. The sensor array of claim 1 , wherein each of said plurality of pressure sensors possess a linear response to three.6. The sensor array of claim 1 , wherein said sensor array includes eight pressure sensors.7. The sensor ...

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Номер записи: 25
04-04-2013 дата публикации

WAFER CENTER FINDING WITH KALMAN FILTER

Номер: US20130085595A1
Автор: Buzan Forrest T., Fogel Paul E., Kiley Christopher C., Meulen Peter van der
Принадлежит:

A device is provided having a robotic arm for handling a wafer, the robotic arm including one or more encoders that provide encoder data identifying a position of one or more components of the robotic arm. The device also having a processor adapted to apply an extended Kalman Filter to the encoder data to estimate a position of the wafer. 1. A semiconductor handling device comprising:a vacuum environment including a plurality of robotic handling facilities, each of the robotic handling facilities having a plurality of entrances configured to allow wafer transport to and from an interior of a respective robotic handling facility;a controller;a first wafer center finding system including a plurality of sensors connected to the controller and arranged so that no more than two sensors are provided for each entrance of a first one of the plurality of robotic handling facilities, the first wafer center finding system being configured to determine a wafer position using the plurality of sensors and to apply an extended Kalman Filter to estimate the wafer position based upon encoder data from one or more robots; and at least one sensor connected to the controller, where the second wafer center finding system is configured to determine the wafer position within a second one of the plurality of robotic handling facilities by detecting wafer presence, using the at least one sensor, during a robotic movement that includes at least one rotation, or', 'at least one image contact sensor connected to the controller and configured to capture an image of the wafer within the second one of the plurality of robotic handling facilities while the wafer moves through the second one of the robotic handling facilities, where the second wafer center finding system is configured to determine the wafer position using the contact image sensor., 'a second wafer center finding system including'}2. The semiconductor handling device of claim 1 , wherein the controller is further configured to ...

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Номер записи: 26
04-04-2013 дата публикации

NAVIGATIONAL CONTROL SYSTEM FOR A ROBOTIC DEVICE

Номер: US20130085603A1
Автор: Chiappetta Mark J., Jones Joseph L.
Принадлежит: iRobot Corporation

A navigational control system for altering movement activity of a robotic device operating in a defined working area, comprising a transmitting subsystem integrated in combination with the robotic device, the transmitting subsystem comprising means for emitting a number of directed beams, each directed beam having a predetermined emission pattern, and a receiving subsystem functioning as a base station that includes a navigation control algorithm that defines a predetermined triggering event for the navigational control system and a set of detection units positioned within the defined working area in a known spaced-apart relationship, the set of detection units being configured and operative to detect one or more of the directed beams emitted by the transmitting system. 1. A navigational control system for directly altering movement activity of a robotic device operating in a defined working area , comprising: 'means for emitting a number of directed beams to cover the defined working area, each directed beam having a predetermined emission pattern; and', 'a transmitting subsystem integrated in combination with the robotic device, the transmitting subsystem comprising'} process the one or more detected directed beams under the control of the navigational control algorithm to determine whether the predetermined triggering event has occurred, and, if the predetermined triggering event has occurred', 'transmit a control signal to the robotic device;, 'a receiving subsystem functioning as a base station that includes a navigation control algorithm that defines a predetermined triggering event for the navigational control system and a set of detection units positioned within the defined working area, the detection units being positioned in a known aspectual relationship with respect to one another, the set of detection units being configured and operative to detect one or more of the directed beams emitted by the transmitting subsystem; and wherein the receiving ...

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Номер записи: 27
11-04-2013 дата публикации

DRIVE ARRANGEMENT FOR A MOBILE ROBOT

Номер: US20130087393A1
Автор: BOTT Paul Joshua, VANDERSTEGEN-DRAKE Mark Stamford
Принадлежит: Dyson Technology Limited

A drive arrangement suitable for a mobile robot and particularly for an autonomous surface treating appliance. The drive arrangement comprises a drive housing adapted to be mounted on a chassis of a mobile robot and includes a drive motor operatively connected to a drive shaft having a drive axis. The drive arrangement further comprises a linkage member rotatably mounted to the drive housing about a pivot axis, a first wheel carried by the drive shaft, a second wheel carried by the linkage member, and means for transmitting drive from the first wheel to the second wheel. 1. A drive arrangement for a mobile robot comprising a drive housing adapted to be mounted on a chassis of a mobile robot and including a drive motor operatively connected to a drive shaft extending from the drive housing along a drive axis , a linkage member rotatably mounted to the drive housing about a pivot axis , a first wheel carried by the drive shaft , a second wheel carried by the linkage member , and a drive mechanism for transmitting drive from the first wheel to the second wheel.2. The drive arrangement of claim 1 , wherein the pivot axis of the linkage member is coaxial with the drive axis of the drive shaft.3. The drive arrangement of claim 1 , wherein the drive mechanism for transmitting drive from the first wheel to the second wheel is a flexible track.4. The drive arrangement of claim 3 , wherein the flexible track is a belt.5. The drive arrangement of claim 3 , wherein the flexible track is constrained around an outer peripheral surface of the first wheel and a surface of the second wheel.6. The drive arrangement of claim 5 , wherein the surface of the second wheel is an outer peripheral surface thereof such that a portion of the flexible track defines a floor engaging surface.7. The drive arrangement of claim 3 , wherein the first wheel carries a toothed formation on an outer peripheral face thereof which is engageable with a complementary formation formed on an inner surface of ...

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Номер записи: 28
11-04-2013 дата публикации

ROOF INSPECTION SYSTEMS AND METHODS OF USE

Номер: US20130087399A1
Автор: GUTHRIE DENNIS L., SLAWINSKI MICHAEL D.
Принадлежит:

Devices, systems, and methods for inspecting and objectively analyzing the condition of a roof are presented. A vehicle adapted for traversing and inspecting an irregular terrain includes a chassis having a bottom surface that defines a higher ground clearance at an intermediate location, thereby keeping the center of mass low when crossing roof peaks. In another embodiment, the drive tracks include a partially collapsible treads made of resilient foam. A system for inspecting a roof includes a lift system and a remote computer for analyzing data. Vehicles and systems may gather and analyze data, and generate revenue by providing data, analysis, and reports for a fee to interested parties. 1. A vehicle adapted for traversing and inspecting an irregular terrain , comprising:a chassis supported above a surface by a pair of flexible continuous tracks on opposing left and right sides of said chassis, each of said tracks engaged with at least one driven sprocket and at least one free sprocket,wherein said chassis has a front end and a rear end with a longitudinal axis extending therebetween, and an upper deck and a generally opposing bottom surface, said bottom surface defining a first clearance near said ends, and a second clearance along a substantially transverse axis extending between said sides and located intermediate said ends, wherein said second clearance is substantially greater than said first clearance when said chassis is positioned on a substantially planar surface;a motive system supported by said chassis and operative to propel said vehicle by engagement with one or more of said at least one driven sprockets, said motive system comprising:(a) a motor connected to and operative to propel said vehicle by engaging one or more of said at least one driven sprockets;(b) said pair of flexible continuous tracks; and(c) a partially collapsible tread attached lengthwise along each of said tracks, wherein said collapsible tread and said second clearance cooperate to ...

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Номер записи: 29
18-04-2013 дата публикации

ARTICULATED INFLATABLE STRUCTURE AND ROBOT ARM COMPRISING SUCH A STRUCTURE

Номер: US20130091974A1
Автор: Riwan Alain, Voisembert Sebastien
Принадлежит: Commissariat A L'Energie Atomique Et Aux Energies Alternatives

An articulated structure having a tubular inflatable casing that contains a fluid under pressure and that has a central axis along which there are defined at least one fixed-geometry segment and at least one variable-geometry segment, the arm including a deformation mechanism for deforming the variable-geometry segment, the casing and the deformation mechanism arranged so as to generate curvature of the variable-geometry segment in such a manner that the variable-geometry segment conserves a volume that is substantially constant. A robot arm including such a structure. 1. An articulated structure comprising a tubular inflatable casing that contains a fluid under pressure and that has at least one variable-geometry segment , the structure including deformation means for deforming the variable-geometry segment , wherein the casing and the deformation means are arranged so as to generate curvature of the variable-geometry segment in such a manner that the variable-geometry segment conserves a volume that is substantially constant , and wherein the deformation means comprise at least one actuator associated with at least one cable having an end connected to a portion of the articulated structure in such a manner that traction on the cable gives rise to curving of the variable-geometry segment.2. A structure according to claim 1 , including a plurality of actuators grouped together on a stand of the structure.3. A structure according to claim 1 , wherein the casing presents folds at the variable-geometry segment that are substantially perpendicular to the central axis of the casing so as to allow the variable-geometry segment to have a length differential on either side of the central axis while keeping the cross-section of the variable-geometry segment constant.4. A structure according to claim 3 , wherein the folds are of annular shape and comprise portions that are stitched together along two lines of stitching that extend symmetrically on either side of the central ...

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Номер записи: 30
18-04-2013 дата публикации

Modular manipulator support for robotic surgery

Номер: US20130096576A1
Автор: David J. Rosa, Gary S. Guthart, Stephen J. Blumenkranz, Thomas G. Cooper
Принадлежит: Intuitive Surgical Operations Inc

A robotic surgery system comprises a mounting base, a plurality of surgical instruments, and an articulate support assembly. Each instrument is insertable into a patient through an associated minimally invasive aperture to a desired internal surgical site. The articulate support assembly movably supports the instruments relative to the base. The support generally comprises an orienting platform, a platform linkage movably supporting the orienting platform relative to the base, and a plurality of manipulators mounted to the orienting platform, wherein each manipulator movably supports an associated instrument.

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Номер записи: 31
02-05-2013 дата публикации

ROBOTIC VEHICLE

Номер: US20130105233A1
Автор: "OBRIEN JOHN P.", Couture Adam P., Filippov Mikhail, Page Richard, Shein Andrew
Принадлежит: iRobot Corporation

A robotic vehicle (A,BC,A,B,C) includes a chassis () having front and rear ends (A,A,B,B) and supported on right and left driven tracks (). Right and left elongated flippers () are disposed on corresponding sides of the chassis and operable to pivot. A linkage () connects a payload deck assembly (DDD), configured to support a removable functional payload, to the chassis. The linkage has a first end (A) rotatably connected to the chassis at a first pivot (), and a second end (B) rotatably connected to the deck at a second pivot (). Both of the first and second pivots include independently controllable pivot drivers () operable to rotatably position their corresponding pivots () to control both fore-aft position and pitch orientation of the payload deck (DDD) with respect to the chassis (). 1101001501501501601000100010001000{'b': 20', '106', '152', '162', '20', '152', '20', '152', '34', '44', '108', '165', '32', '42', '114', '15', '101, 'a chassis (,,,) having front and rear ends (A,A,B,B) and supported on right and left driven tracks (,,,), each track trained about a corresponding front wheel (,,) rotatable about a front wheel axis (,);'}{'b': 50', '60', '102', '154', '164', '20', '106', '152', '162', '15', '101', '20', '106', '152', '162', '50', '60', '102', '154', '164', '54', '64', '110, 'right and left elongated flippers (,,,,) disposed on corresponding sides of the chassis (,,,) and operable to pivot about the front wheel axis (,) of the chassis (,,,), each flipper (,,,,) having a driven track (,,) about its perimeter;'}{'b': 1', '2', '3', '80', '158', '168', '806', '500', '510', '600, 'a payload deck assembly (D,D,D,,,,) configured to support a removable payload (,,); and'}{'b': 70', '156', '166', '1', '2', '3', '80', '158', '168', '806', '20', '106', '152', '162', '70', '156', '166', '70', '20', '106', '152', '162', '71', '70', '1', '2', '3', '80', '158', '168', '806', '73', '71', '73', '72', '74', '71', '73', '1', '2', '3', '80', '158', '168', '806', '20', ' ...

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Номер записи: 32
02-05-2013 дата публикации

Robotic device for assisting handling having a variable force increase ratio

Номер: US20130110290A1
Автор: Franck Geffard, Xavier Lamy
Принадлежит: Commissariat a lEnergie Atomique et aux Energies Alternatives CEA

A robotic device for providing assistance in manipulation, including a base having a movable segment mounted thereon in association with a motor-drive mechanism connected to a control unit. The segment having an end portion provided with a member for holding an element to be manipulated and a handle for enabling the end portion to be manipulated by an operator. The control unit is connected to a detection mechanism for detecting an external force applied on the end portion and arranged to control the motor-drive mechanism as a function of an amplification factor for amplifying the detected force and servo-control gains. The control unit is connected to a pressure sensor mounted on the handle to detect the force with which the operator grips the handle and is arranged to modify the amplification factor and the servo-control gains as a function of the detected grip force.

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Номер записи: 33
09-05-2013 дата публикации

ROBOT CLEANER AND CONTROLLING METHOD OF THE SAME

Номер: US20130116825A1
Автор: Baek Seungmin, Choi Yoojin, Kim Yiebin, Lee Seongsoo, Lutsiv Vadim, Potapov Alexey, Redkov Victor
Принадлежит:

Disclosed are a robot cleaner and a method for controlling the same. A plurality of images are detected through an image detecting unit such as an upper camera, and two or more feature points are extracted from the plurality of images. Then, a feature point set consisting of the feature points is created, and the feature points included in the feature point set are matched with each other. This may allow the robot cleaner to precisely recognize a position thereof. Furthermore, this may allow the robot cleaner to perform a cleaning operation or a running operation by interworking a precisely recognized position with a map. 1. A robot cleaner , comprising:an image detecting unit configured to detect a plurality of images by capturing peripheral circumstances;a feature point extracting unit configured to extract a plurality of feature points with respect to each of the plurality of images, and to create a feature point set consisting of the plurality of feature points;a feature point matching unit configured to match the feature points with each other through comparisons; anda control unit configured to recognize a position of the robot cleaner based on a matching result.2. The robot cleaner of claim 1 , wherein the feature point comprises feature point information consisting of a position claim 1 , an orientation and a descriptor of the feature point on the image claim 1 , and the descriptor indicates extraction information of the feature point.3. The robot cleaner of claim 2 , wherein the feature point set is provided with feature point set information consisting of an orientation vector between the feature points and an orientation angle.4. The robot cleaner of claim 3 , wherein the orientation angle indicates an angle formed between an orientation of each feature point and an orientation vector.5. The robot cleaner of claim 3 , wherein the feature point matching unit is configured to match the feature points with each other based on changes of the orientation ...

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Номер записи: 34
09-05-2013 дата публикации

ROBOT CLEANER AND CONTROLLING METHOD OF THE SAME

Номер: US20130116826A1
Автор: Baek Seung min, Choi Yoojin, Kim Yiebin, Lee Seongsoo, Lutsiv Vadim, Potapov Alexey, Redkov Victor
Принадлежит:

Disclosed are a robot cleaner and a method for controlling the same. The robot cleaner is capable of recognizing a position thereof by extracting one or more feature points having 2D coordinates information with respect to each of a plurality of images, by matching the feature points with each other, and then by creating a matching point having 3D coordinates information. Matching points having 3D coordinates information are created to recognize a position of the robot cleaner, and the recognized position is verified based on a moving distance measured by using a sensor. This may allow a position of the robot cleaner to be precisely recognized, and allow the robot cleaner to perform a cleaning operation or a running operation by interworking the precisely recognized position with a map. 1. A robot cleaner , comprising:an image detecting unit configured to detect a plurality of images by capturing peripheral circumstances;a feature point extracting unit configured to extract one or more feature points having 2D coordinates information with respect to each of the plurality of images;a feature point matching unit configured to match the feature points with each other by comparing the 2D coordinates information of the feature points with each other;a control unit configured to create a matching point having 3D coordinates information based on a matching result through the feature point matching unit, and configured to recognize a position of the robot cleaner based on the created matching point; anda storage unit configured to store therein the matching point having 3D coordinates information.2. The robot cleaner of claim 1 , wherein the 2D coordinates information comprises a position claim 1 , an orientation and a descriptor of the feature point on the image claim 1 , and the descriptor indicates extraction information of the feature point.3. The robot cleaner of claim 1 , wherein the control unit comprises a similarity calculating module configured to calculate a ...

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Номер записи: 35
16-05-2013 дата публикации

ROBOTIC HAND WITH PALM SECTION COMPRISING SEVERAL PARTS ABLE TO MOVE RELATIVE TO EACH OTHER

Номер: US20130119687A1
Автор: DAI Jian Shen
Принадлежит: KING'S COLLEGE LONDON

An improved robotic hand in which the palm section enables it to be capable of a wide range of movement with the ability to have good precision and control. The palm section consists of a plurality of parts which are able to move or flex relative to each other. Preferably, it is constructed as five bar spherical linkage having two degrees of freedom. 1. A robotic hand which comprises a palm section and a plurality of flexible fingers movably attached to a palm section in which parts of the palm section are able to move or flex relative to each other.2. A robotic hand as claimed in claim 1 , in which the palm section is able to flex or move about a central position.3. A robotic hand as claimed in claim 1 , in which the fingers comprise a plurality of segments hingedly connected together.4. A robotic hand as claimed in claim 3 , in which there are three segments.5. A robotic hand as claimed in claim 1 , in which the fingers can move about a central position of the palm section without moving any finger joint.6. A robotic hand as claimed in claim 1 , in which the palm section comprises a plurality of hingedly connected bars.7. A robotic hand as claimed in claim 6 , in which the bars form part of the spherical sections.8. A robotic hand as claimed in claim 6 , in which the palm section is constructed as a network of curved bars hingedly connected together with the fingers mounted on the bars.9. A robotic hand as claimed in claim 6 , in which the bars can be locked in a position relative to each other.10. A robotic hand as claimed in in which the palm section can be locked in a fixed position by a locking mechanism.11. A robotic hand as claimed in claim 10 , in which the palm section can change from having two degrees of freedom to having one degree of freedom by operation of the locking mechanism.12. A robotic hand as claimed in claim 10 , in which the palm section can change from having one degree of freedom to having zero degrees of freedom by operation of the locking ...

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Номер записи: 36
16-05-2013 дата публикации

SHEAR FORCE DETECTION DEVICE, TACTILE SENSOR AND GRASPING APPARATUS

Номер: US20130119689A1
Автор: NISHIWAKI Tsutomu
Принадлежит: SEIKO EPSON CORPORATION

A shear force detection device for detecting a shear force includes: a support body including an opening defined by a pair of straight parts perpendicular to a detection direction of the shear force and parallel to each other; a support film on the support body and closing the opening, the support film having flexibility; a piezoelectric part on the support film and extending astride an inside and outside of the opening and along at least one of the pair of straight parts of the opening when viewed in a plane in which the support body is seen in a substrate thickness direction, the piezoelectric part being bendable to output an electric signal; and an elastic layer covering the piezoelectric part and the support film. 1. A force sensor comprising:a support body including a first opening defined by a first pair of straight parts perpendicular to a first direction and parallel to each other and a second opening defined by a second pair of straight parts perpendicular to a second direction and parallel to each other, the second direction crossing the first direction;a support film provided on the support body, the support film closing the first opening and the second opening;a first piezoelectric part provided on the support film and extending astride an inside and an outside of the first opening and along at least one of the first pair of straight parts;a second piezoelectric part provided on the support film and extending astride an inside and an outside of the second opening and along at least one of the second pair of straight parts; andan elastic layer covering the first piezoelectric part, the second piezoelectric part and the support film.2. The force sensor according to claim 1 , further comprising:a third opening provided in the support body, the third opening being closed by the support film; anda third piezoelectric part provided on the support film and inside the third opening, the third piezoelectric part being covered by the elastic layer.3. A grasping ...

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Номер записи: 37
16-05-2013 дата публикации

ROBOT SYSTEM WITH INDEPENDENT ARMS

Номер: US20130121798A1
Автор: Hosek Martin
Принадлежит:

A substrate handling robot drive comprising a drive chassis for one or more robot arms. A first housing is movable with respect to the chassis and includes at least a first shaft and a first motor subsystem driving the first shaft. A Z-axis drives the first housing. A second housing is movable with respect to the chassis includes at least a second shaft and a second motor subsystem driving the second shaft. A Z-axis drive for the second housing is independently movable with respect to the Z-axis drive for the first housing. 1. A substrate handling robot drive comprising:a drive chassis for one or more robot arms; at least a first shaft, and', 'a first motor subsystem driving the first shaft;, 'a first housing movable with respect to the chassis and includinga Z-axis drive for the first housing; at least a second shaft, and', 'a second motor subsystem driving the second shaft, and, 'a second housing movable with respect to the chassis and includinga Z-axis drive for the second housing independently movable with respect to the Z-axis drive for the first housing.2. The substrate handling robot drive of in which the first and second shafts are co-axial and independently rotatable.3. The substrate handling robot drive of in which the Z-axis drive for the first housing includes a first motor driven screw in the chassis and a ball assembly attached to the first housing and driven by the first motor driven screw.4. The substrate handling robot drive of in which the Z-axis drive for the second housing includes a second motor driven screw in the chassis and a ball assembly attached to the housing and driven by the second motor driven screw.5. The substrate handling robot chassis of in which the Z-axis drive for the first housing includes a screw in the chassis and a motor driven ball assembly associated with the first housing.6. The substrate handling robot drive of in which the Z-axis drive for the second housing includes another motor driven ball assembly associated with ...

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Номер записи: 38
16-05-2013 дата публикации

Method and apparatus for calibration of a robot positioned on a movable platform

Номер: US20130123983A1
Автор: Torgny Brogardh
Принадлежит: ABB Research Ltd Switzerland

A method and apparatus for calibration of a robot on a platform and a robot, in relation to an object using a measuring unit mounted on the robot including placing CAD models so that the robot reaches the object, manipulating the CAD models to move the measuring unit to a pose in relation to the platform allowing measurement of a feature on the object, storing the pose, and generating a CAD model of the feature. The real robot is moved to the pose, the real platform is moved where measurements of the feature can be made, 3D measurements of the feature are performed and based thereon generating a second CAD model, performing a best fit between the CAD models, and calculating a 6 degrees of freedom pose difference between the CAD models, and instructing the mobile platform to move to compensate for the pose difference.

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Номер записи: 39
16-05-2013 дата публикации

METHOD AND APPARATUS FOR TISSUE TRANSFER

Номер: US20130123986A1
Автор: Moynahan Tonya Lynne Strange
Принадлежит: DOW AGROSCIENCES LLC

A handheld tool is disclosed which may be used to transfer a plurality of plant tissue explants from a first container to a second container. The handheld tool may include a disposable tip member which couples the plurality of plant tissue explants through use of negative pressure. An automated system which transfers a plurality of plant tissue explants from a first container to a second container is also disclosed. The automated system may include a first presentment system which moves the first container to a region, a second presentment system which moves the second container to the region, and a robot system that transfers the plurality of plant tissue explants from the first container to the second container. 1. A system coupled to a negative pressure source for use transferring a plurality of plant tissue explants from a first container having a first nutrient medium substrate adapted to provide nutrients to the tissue explants to a second container having a second nutrient medium substrate adapted to provide nutrients to the plant tissue explants , the system comprising:a robot system supporting a fluid conduit having an interior which is in fluid communication with the negative pressure source;at least one camera positioned to monitor a first region including the first container; anda controller operatively coupled to the at least one camera and the robot system, wherein the controller based on input from the at least one camera (a) moves the robot system to couple a first tissue explant of the plurality of plant tissue explants in the first container to the fluid conduit through negative pressure in the interior of the fluid conduit, (b) moves the robot system such that the first tissue explant is proximate the second nutrient medium of the second container; and (c) uncouples the first tissue explant from the fluid conduit such that the first tissue explant is left in the second container.2. The system of claim 1 , wherein the controller repeats steps (a) ...

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Номер записи: 40
16-05-2013 дата публикации

Robotic system, robot control method and robot control program

Номер: US20130123987A1
Автор: Hiroshi Kase, Michihiko Otsuka, Takashi Horinouchi
Принадлежит: Panasonic Corp

A robotic system includes: a detection unit that detects at least one of a voice, light and an image of a content outputted by a content output device; a decision unit that assesses information detected by the detection unit on the basis of reference data so as to assess the content outputted by the content output device; and a control unit that controls a behavior or a state of the robotic system on the basis of the assessment made by the decision unit.

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Номер записи: 41
23-05-2013 дата публикации

Preventive Maintenance Apparatus and Preventive Maintenance Method for Inner Surface of Piping

Номер: US20130125929A1
Автор: ANZAI Tadashi, Inada Takashi, KANNO Akihiro, MURAKAMI Nobuo, Nakada Masahiro, TAKAKURA Eiji, YOSHIKUBO Fujio
Принадлежит:

A preventive maintenance apparatus has a movable body and a water jet peening apparatus (WJP apparatus). The movable body installs a jet nozzle for driving and floating bodies on a base body. The movable body suspended in cooling water in a reactor pressure vessel jets high-pressure water from a high-pressure pump from the jet nozzle, advances in the cooling water, and is inserted into a pipe with the cooling water filled which is connected to the reactor pressure vessel. The posture of the movable body in the pipe is controlled by buoyancy adjustment of the floating bodies and the movable body can easily pass through a curve pipe portion. The high-pressure water from a high-pressure pump is jetted from jet nozzles of the WJP apparatus and for the inner surface of a vertical pipe portion, the WJP is executed. 1. A preventive maintenance apparatus comprising:a base body;a driving apparatus installed on said base body for advancing said base body;a water jet peening apparatus installed on said base body;a plurality of first floating bodies respectively installed at a leading portion and on a rear of said base body;a plurality of clamp apparatuses installed on said base body for making contact with an inner surface of a piping when holding said base body in said piping; anda camera installed on said base body.2. The preventive maintenance apparatus according to claim 1 , comprising:an air supply apparatus installed on said base body and communicated with each of said plurality of first floating bodies; anda buoyancy adjusting apparatus installed on said air supply apparatus for regulating respective air pressures in said plurality of first floating bodies.3. The preventive maintenance apparatus according to claim 1 ,wherein said driving apparatus has a first jet nozzle installed on said rear of said base body for jetting pressurized water; andwherein said water jet peening apparatus has a water jet peening bubble generation apparatus for generating water jet peening ...

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Номер записи: 42
23-05-2013 дата публикации

ROBOTIC DEVICES WITH ARMS AND RELATED METHODS

Номер: US20130131694A1
Автор: Dumpert Jason, Farritor Shane M., Hadzialic Adnan, Oleynikov Dmitry, Platt Stephen, Rentschler Mark, Wood Nathan
Принадлежит: THE BOARD OF REGENTS OF THE UNIVERSITY OF NEBRASKA

Various robotic devices and related medical procedures are disclosed herein. Each of the various robotic devices have an arm. The arm can have two arm components coupled at a joint. 1. A robotic device , comprising:(a) a medical device body configured to be disposed through a port or incision in a cavity wall of a patient, the body comprising an actuator;(b) a controller disposed at an external location in relation to the patient;(b) a connection component coupled to the medical device body and the controller, the connection component comprising a wired connection component; and (i) a first arm component pivotally connected to the medical device body at a first pivotal joint; and', '(ii) a second arm component pivotally connected to the first arm component at a second pivotal joint,, '(c) an arm comprisingwherein the arm is configured to be positionably disposed entirely within the cavity of the patient.2. The robotic device of claim 1 , further comprising a first actuator operably coupled to the first pivotal joint claim 1 , and a second actuator operably coupled to the second pivotal joint.3. The robotic device of claim 1 , wherein the first pivotal joint comprises first and second operably coupled gears and the second pivotal joint comprises third and fourth operably coupled gears.4. The robotic device of claim 3 , wherein the first claim 3 , second claim 3 , third claim 3 , and fourth gears are bevel gears.5. The robotic device of claim 3 , wherein the first gear is connected to a first gear shaft associated with the body and wherein the second gear is connected to a second gear shaft associated with the first arm component.6. The robotic device of claim 3 , wherein the third gear is connected to a third gear shaft associated with the first arm component and wherein the fourth gear is connected to a fourth gear shaft associated with the second arm component.7. The robotic device of claim 1 , further comprising an imaging device associated with the body.8. The ...

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Номер записи: 43
23-05-2013 дата публикации

METHOD FOR CONTROLLING AN AUTOMATED WORK CELL

Номер: US20130131864A1
Автор: Bonnet Des Tuves Jean Michel, Jody Luc, Pertin François, Vogt Gérard
Принадлежит: STAUBLI FAVERGES

The invention relates to a control method applied to an automated work cell which includes at least one robot arm () having at least three degrees of freedom controlled according to a plurality of control axes (A-A X, Y, Z, Rx, Ry, Rz); a control centre (); a device () for controlling the robot arm (), which includes a plurality of motor controllers (-) each controlling the operation of one motor (M -M) along one axis, suitable for operating at least one portion of the robot arm (); and a communication bus () between the control centre () and the device () for controlling the robot arm (). Said method includes steps that consist of: a) associating with each axis (A-A X, Y, Z, Rx, Ry, Rz) for controlling the movement of the robot arm () a controller having an imaginary axis intended for receiving instructions and controlling at least one motor according to said instructions; b) determining, in the control centre () and for each axis (A-A X, Y, Z, Rx, Ry, Rz) for controlling the movement of the robot arm (), instructions (Cri) intended for the imaginary-axis controller corresponding to each one of said axes; and then c) sending the instructions (CU) determined in step b) to a single arithmetic unit () belonging to the device () for controlling the robot arm (). 116-. (canceled)17. A method of controlling an automated work cell comprisingat least one robot arm with at least three degrees of freedom controlled according to several control axes,a control center,a device controlling the robot arm, including several motor controllers each controlling the functioning of a motor able to maneuver at least a part of the robot arm,a bus for communication between the control center and the control device of the robot arm,wherein the method comprises the steps of:a) associating, with each movement control axis of the robot arm, a notional axis controller to receive instructions and control at least one motor according to these instructions;b) determining, at the control center ...

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Номер записи: 44
23-05-2013 дата публикации

Protocol for a Remotely Controlled Videoconferencing Robot

Номер: US20130131866A1
Автор: Jordan Charles S., Pinter Marco, Southard Jonathan, Wang Yulun
Принадлежит: INTOUCH TECHNOLOGIES, INC.

A robotic system that includes a robot and a remote station. The remote station can generate control commands that are transmitted to the robot through a broadband network. The control commands can be interpreted by the robot to induce action such as robot movement or focusing a robot camera. The robot can generate reporting commands that are transmitted to the remote station through the broadband network. The reporting commands can provide positional feedback or system reports on the robot. 175-. (canceled)76. A robot system that communicates through a broadband network , comprising:a robot that has a camera and a monitor, said robot generates at least one reporting command that is transmitted through the broadband network; and,a remote station that has a camera and a monitor, said remote station generates at least one command that is transmitted through the broadband network, and receives the reporting command from said robot.77. The system of claim 76 , wherein said robot includes a head and the control command includes a HEAD command that causes said robot to move said head.78. The system of claim 76 , wherein the control command includes a USERTASK command that identifies a user of said remote station.79. The system of claim 76 , wherein the reporting command includes a BODYTYPE command that reports a type of robot.80. The system of claim 76 , wherein the control command includes a STOP command that causes said robot to stop moving.81. The system of claim 76 , wherein the control command includes a TIMING command that is utilized to determine a latency in the transmission of the control and reporting commands through the broadband network.82. The system of claim 76 , wherein the control command includes a SETCAMERAFOCUS command that causes said robot camera to focus.83. The system of claim 76 , wherein the control command includes a CAMERAZOOM command that causes said robot camera to zoom.84. A method for controlling a robot through a broadband network claim 76 ...

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Номер записи: 45
23-05-2013 дата публикации

STEADY HAND MICROMANIPULATION ROBOT

Номер: US20130131867A1
Автор: Olds Kevin C., Taylor Russell H.
Принадлежит: THE JOHNS HOPKINS UNIVERSITY

A cooperative-control robot includes a base component, a mobile platform arranged proximate the base component, a translation assembly operatively connected to the base component and the mobile platform and configured to move the mobile platform with translational degrees of freedom substantially without rotation with respect to said the component, a tool assembly connected to the mobile platform, and a control system configured to communicate with the translation assembly to control motion of the mobile platform in response to forces by a user applied to at least a portion of the cooperative-control robot. The translation assembly includes at least three independently operable actuator arms, each connected to a separate position of the mobile platform. A robotic system includes two or more the cooperative-control robots. 1. A cooperative-control robot , comprising:a base component;a mobile platform arranged proximate said base component;a translation assembly operatively connected to said base component and said mobile platform and configured to move said mobile platform with translational degrees of freedom substantially without rotation with respect to said base component;a tool assembly connected to said mobile platform; anda control system configured to communicate with said translation assembly to control motion of said mobile platform in response to forces by a user applied to at least a portion of said cooperative-control robot,wherein said translation assembly comprises at least three independently operable actuator arms, each connected to a separate position of said mobile platform.2. A cooperative-control robot according to claim 1 , wherein said translation assembly further comprises at least three motors claim 1 , each operably connected to a respective one of said at least three independently operable actuator arms claim 1 ,wherein each of said at least three motors is supported by said base component such that said mobile platform is free to move ...

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Номер записи: 46
23-05-2013 дата публикации

CONTINUUM ROBOTS AND CONTROL THEREOF

Номер: US20130131868A1
Автор: Rucker Caleb Daniel, Webster Robert James
Принадлежит: VANDERBILT UNIVERSITY

Method for controlling continuum robots and systems therefrom are provided. In the system and method, a new system of equations is provided for controlling a shape of the elastic member and a tension on a tendon applying a force to an elastic member of the robot. The system of equations can be used to estimate a resulting shape of the elastic member from the tension applied to the tendon. The system of equations can also be used to estimate a necessary tension for the tendon to achieve a target shape. 1. A continuum robot , comprising:an elastic member;a plurality of guide portions disposed along the length of the elastic member; andat least one tendon extending through the plurality of guide portions,wherein said at least one tendon is arranged to extend through the plurality of guide portions to define a tendon path, wherein the at least one tendon is configured to apply a deformation force to the elastic member via the plurality of guide portions, and wherein the tendon path and an longitudinal axis of the elastic member are not parallel.2. The continuum robot of claim 1 , wherein the tendon path is substantially helical.3. The continuum robot of claim 1 , wherein the tendon path is defined by a non-linear function.4. The continuum robot of claim 1 , further comprising a tendon actuator system claim 1 , the tendon actuator system comprising:an actuator for applying a tension to the at least one tendon; anda processing element for computing a resulting shape of the elastic member based at least on the applied tension.6. The continuum robot of claim 5 , further comprising at least one sensor for detecting an actual shape of the elastic member after the tension is applied to the at least one tendon claim 5 , and wherein the processing element is further configured to determining a load on the elastic member based on the system of equations and a difference between the actual shape and the resulting shape.7. The continuum robot of claim 4 , further comprising a ...

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Номер записи: 47
23-05-2013 дата публикации

AUTONOMOUS MOBILE BODY AND CONTROL METHOD OF SAME

Номер: US20130131910A1
Автор: Moriguchi Toshiki, SUZUKI Takafumi, TAKAHASHI Masaki
Принадлежит:

An autonomous mobile body is configured to flexibly avoid obstacles. The mobile body has a movement mechanism configured to translate in a horizontal plane and rotate around a vertical axis, and the distance to an obstacle is derived for each directional angle using an obstacle sensor. A translational potential of the mobile body and a rotational potential of the mobile body for avoiding interference with the obstacle are generated, based on the distance from the autonomous mobile body to the obstacle at each directional angle. An amount of control relating to a translational direction and a translational velocity of the mobile body and an amount of control relating to a rotational direction and an angular velocity of the mobile body are generated based on the generated potentials, and the movement mechanism is driven. 1. An autonomous mobile body configured to avoid an obstacle and move autonomously to a goal , comprising:a platform vehicle having a movement mechanism configured to translate in a horizontal plane and rotate around a vertical axis;an obstacle sensor for deriving a distance to an obstacle for each directional angle;a potential generator for generating a translational potential of the mobile body and a rotational potential of the mobile body for avoiding interference with the obstacle, based on the distance from the autonomous mobile body to the obstacle at each directional angle;a control amount generator for generating an amount of control relating to a translational direction and a translational velocity of the mobile body and an amount of control relating to a rotational direction and an angular velocity of the mobile body, based on the generated potentials; anda drive controller for combining the generated amounts of control and driving the movement mechanism.2. The autonomous mobile body according to claim 1 , the potentials being potential membership functions according to a fuzzy potential method claim 1 , the translational potential ...

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Номер записи: 48
30-05-2013 дата публикации

MANAGEMENT OF RESOURCES FOR SLAM IN LARGE ENVIRONMENTS

Номер: US20130138246A1
Автор: Goel Dhiraj, Gutmann Jens-Steffen, Munich Mario E.
Принадлежит:

Vector Field SLAM is a method for localizing a mobile robot in an unknown environment from continuous signals such as WiFi or active beacons. Disclosed is a technique for localizing a robot in relatively large and/or disparate areas. This is achieved by using and managing more signal sources for covering the larger area. One feature analyzes the complexity of Vector Field SLAM with respect to area size and number of signals and then describe an approximation that decouples the localization map in order to keep memory and run-time requirements low. A tracking method for re-localizing the robot in the areas already mapped is also disclosed. This allows to resume the robot after is has been paused or kidnapped, such as picked up and moved by a user. Embodiments of the invention can comprise commercial low-cost products including robots for the autonomous cleaning of floors. 1. A method of managing resources for a robot , the method comprising:associating observations of a first set of one or more continuous signals with a first map;associating observations of a second set of one or more continuous signals with a second map, wherein the second map is maintained independently the first map; andswitching between performing simultaneous localization and mapping (SLAM) with the first map or performing SLAM with the second map based at least partly on an observed signal strength of the first set or the second set.2. The method of claim 1 , further comprising:observing a plurality of sets of one or more continuous signals including the first set and the second set, wherein each of the plurality of observed sets is associated with a separate map;determining that a largest observed signal strength of the plurality of observed sets is larger in magnitude than a signal strength of a set currently being used for performing SLAM; andswitching to performing SLAM with the set with the largest observed signal strength.3. The method of claim 1 , further comprising:observing a plurality ...

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Номер записи: 49
30-05-2013 дата публикации

Re-localization of a robot for slam

Номер: US20130138247A1
Автор: Jens-Steffen Gutmann, Mario E. Munich, Philip Fong
Принадлежит: Individual

Vector Field SLAM is a method for localizing a mobile robot in an unknown environment from continuous signals such as WiFi or active beacons. Disclosed is a technique for localizing a robot in relatively large and/or disparate areas. This is achieved by using and managing more signal sources for covering the larger area. One feature analyzes the complexity of Vector Field SLAM with respect to area size and number of signals and then describe an approximation that decouples the localization map in order to keep memory and run-time requirements low. A tracking method for re-localizing the robot in the areas already mapped is also disclosed. This allows to resume the robot after is has been paused or kidnapped, such as picked up and moved by a user. Embodiments of the invention can comprise commercial low-cost products including robots for the autonomous cleaning of floors.

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Номер записи: 50
06-06-2013 дата публикации

DRIVE DEVICE, ELECTRONIC COMPONENT TRANSPORTING APPARATUS, ELECTRONIC COMPONENT INSPECTING APPARATUS, ROBOT HAND, AND ROBOT

Номер: US20130140949A1
Автор: URANO Osamu
Принадлежит: SEIKO EPSON CORPORATION

A drive device includes a movable member, plural piezoelectric motors that cause the movable member to move in a predetermined direction, a drive circuit that drives the plural piezoelectric motors, and plural relays that electrically connect or disconnect at least one of the plural piezoelectric motors to or from the drive circuit. 1. A drive device comprising:a plurality of moving units that cause an object to move;piezoelectric motors that cause the plurality of moving units to move;drive circuits that drive the piezoelectric motors; andswitching units that electrically connect or disconnect the piezoelectric motors to or from the drive circuits,wherein the number of driving circuits is smaller than the number of piezoelectric motors.2. The drive device according to claim 1 , wherein the number of drive circuits is two or more.3. The drive device according to claim 1 , wherein the moving directions of the moving units are different from each other.4. The drive device according to claim 1 , wherein the number of switching units is two or more claim 1 , andwherein the switching units are disposed in the piezoelectric motors, respectively.5. The drive device according to claim 1 , wherein each of the switching units is formed of a photo-MOS relay.6. An electronic component transporting apparatus comprising:a plurality of grippers that grip an electronic component;moving units that cause the plurality of grippers to move;piezoelectric motors that are disposed in the moving unit, respectively, and that cause the moving units to move;drive circuits that drive the piezoelectric motors; andswitching units that electrically connect or disconnect the piezoelectric motors to or from the drive circuits,wherein the number of driving circuits is smaller than the number of piezoelectric motors.7. The electronic component transporting apparatus according to claim 6 , further comprising a linearly-moving mechanism that causes the movable member to move forward and backward in a ...

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Номер записи: 51
06-06-2013 дата публикации

Piezoelectric motor, drive unit, robot hand, robot, electronic component transporting apparatus, electronic component inspecting apparatus, and printer

Номер: US20130140951A1
Автор: Koichi Kamijo, Osamu Miyazawa
Принадлежит: Seiko Epson Corp

A piezoelectric motor includes a piezoelectric element, a first support member, a second support member, a third support member, and a fourth support member that support the piezoelectric element, a elastic portion that presses the first support member and the second support member, a case that comes in contact with the third support member and the fourth support member, and a pressing plate that presses the elastic portion.

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Номер записи: 52
06-06-2013 дата публикации

ACTUATOR, ROBOT HAND, ROBOT, ELECTRIC COMPONENT CONVEYING APPARATUS, ELECTRONIC COMPONENT TESTING APPARATUS, AND PRINTER

Номер: US20130140953A1
Автор: MIYAZAWA Osamu
Принадлежит: SEIKO EPSON CORPORATION

An actuator includes a vibrating piezoelectric element and a holding section configured to hold the piezoelectric element. The holding section includes a first supporting section arranged on a vibrating surface of the piezoelectric element and arranged on one side of the piezoelectric element and a second supporting section arranged on the other side of the piezoelectric element. 1. An actuator comprising:a piezoelectric element excited to vibrate in a longitudinal vibration mode and a bending vibration mode;a driven body with which a contact section included in the piezoelectric element comes into contact, the driven body being driven by vibration of the contact section;a holding section configured to hold the piezoelectric element; anda base including an urging section configured to urge the holding section to the driven body, whereinthe holding section includes a first supporting section arranged in a direction crossing a vibrating surface of the piezoelectric element and arranged on one side of the piezoelectric element and a second supporting section arranged on the other side to be opposed to the first supporting section via the piezoelectric element.2. The actuator according to claim 1 , wherein a supported region of the piezoelectric element supported by the first supporting section and the second supporting section includes at least one of nodes of vibration claim 1 , which are nodes of vibration in the longitudinal vibration mode of the piezoelectric element and nodes of vibration in the bending vibration mode of the piezoelectric element.3. The actuator according to claim 1 , wherein at least one of the first supporting section and the second supporting section includes a cushioning section.4. The actuator according to claim 1 , wherein at least one of the first supporting section and the second supporting section includes an elastic section.5. A robot hand comprising the actuator according to .6. A robot hand comprising the actuator according to .7. A ...

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Номер записи: 53
06-06-2013 дата публикации

ACTUATOR, ROBOT HAND, ROBOT, ELECTRONIC COMPONENT CARRYING DEVICE, ELECTRONIC COMPONENT INSPECTION DEVICE, AND PRINTER

Номер: US20130140954A1
Автор: KAMIJO Koichi, MIYAZAWA Osamu, MIZUSHIMA Nobuyuki
Принадлежит: SEIKO EPSON CORPORATION

An actuator includes a vibrating piezoelectric element, and a holding unit that holds the piezoelectric element, in which the holding unit is disposed on a vibrating surface of the piezoelectric element, and includes a first support unit and a second support unit that are disposed on one side of the piezoelectric element, and a third support unit and a fourth support unit that are disposed on the other side of the piezoelectric element. 1. An actuator comprising:a piezoelectric element that vibrates by exciting a bending vibration mode, or vibrates by simultaneously exciting the bending vibration mode and a longitudinal vibration mode;a driven body that contacts a contacting portion of the piezoelectric element, and is driven by a vibration of the contacting portion;a holding unit that holds the piezoelectric element; anda base that includes a biasing unit which biases the holding unit to the driven body, a first support unit and a second support unit which are disposed on one side of the piezoelectric element,', 'a third support unit which is opposed to the first support unit through the piezoelectric element and is disposed on the other side of the piezoelectric element, and', 'a fourth support unit which is opposed to the second support unit through the piezoelectric element and is also disposed on the other side of the piezoelectric element., 'wherein the holding unit is disposed in a direction intersecting a vibrating surface of the piezoelectric element, and includes2. The actuator according to claim 1 ,wherein the piezoelectric element is a rectangular substrate having a length along a direction perpendicular to a bending vibration direction of the bending vibration mode set as L and a length along the bending vibration direction set as W, and includes a first support region in which the first support unit and the third support unit support the piezoelectric element, and a second support region in which the second support unit and the fourth support unit ...

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Номер записи: 54
06-06-2013 дата публикации

PIEZOELECTRIC MOTOR, DRIVING DEVICE, ELECTRONIC COMPONENT INSPECTION DEVICE, ELECTRONIC COMPONENT CONVEYING DEVICE, PRINTING DEVICE, ROBOT HAND, AND ROBOT

Номер: US20130141564A1
Автор: MIYAZAWA Osamu
Принадлежит: SEIKO EPSON CORPORATION

A vibrating body which is formed of a piezoelectric material and has a convex portion in an end surface is accommodated in a vibrating body case, the convex portion of the vibrating body is pressed against an object along with the vibrating body case, and the vibrating body vibrates to drive the object. An end surface of a front-side pressure spring which presses the vibrating body case against a slide portion of a base is fitted into the vibrating body case such that the vibrating body case does not escape due to a reaction force during driving. 1. A piezoelectric motor which vibrates a vibrating body and contains a piezoelectric material and brings a convex portion protruding from an end surface of the vibrating body into contact with an object to move the object , the piezoelectric motor comprising:a vibrating body case which accommodates the vibrating body;a base which has a slide portion on which the vibrating body case slides, and to which the vibrating body case is attached;a pressing elastic body which presses the convex portion protruding from the vibrating body case toward the object; anda side pressure elastic body which presses the vibrating body case toward the slide portion of the base from a direction intersecting a sliding direction of the vibrating body case,wherein an end surface of the side pressure elastic body in contact with the vibrating body case is fitted into the vibrating body case.2. The piezoelectric motor according to claim 1 ,wherein the base includes a side pressure elastic body retention portion which supports an end surface of the side pressure elastic body not in contact with the vibrating body case, andan end surface of the side pressure elastic body in contact with the side pressure elastic body retention portion is fitted into the side pressure elastic body retention portion.3. The piezoelectric motor according to claim 2 ,wherein the pressing elastic body is provided on a side on which the slide portion is provided with respect ...

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Номер записи: 55
06-06-2013 дата публикации

Piezoelectric motor, driving device, electronic component conveying device, electronic component inspection device, printing device, robot hand, and robot

Номер: US20130141716A1
Автор: Nobuyuki Mizushima
Принадлежит: Seiko Epson Corp

A piezoelectric motor includes a piezoelectric element, electrodes provided in the piezoelectric element, electric wires connected to the electrodes, bond portions which bond the electrodes and the electrical wires, a storage case which stores the piezoelectric element, and support portions which are provided between the piezoelectric element and the storage case, wherein the bond portion and the electric wires are provided in the gap between the electrodes and the storage case.

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Номер записи: 56
06-06-2013 дата публикации

PIEZOELECTRIC MOTOR, DRIVING DEVICE, ELECTRONIC COMPONENT CONVEYING DEVICE, ELECTRONIC COMPONENT INSPECTION DEVICE, PRINTING DEVICE, ROBOT HAND, AND ROBOT

Номер: US20130141717A1
Автор: NISHIMURA Yoshiteru
Принадлежит: SEIKO EPSON CORPORATION

A vibrating body is accommodated in a vibrating body case in a state where both sides of the vibrating body containing a piezoelectric material are sandwiched between buffer portions from a direction intersecting a bending direction of the vibrating body, and the buffer portions are pressed against the vibrating body using a pressing lid through elastic portions. Pressing plates are provided between the buffer portions and the elastic portions to restrict the movement of the pressing plates in a vibration direction of the vibrating body. 1. A piezoelectric motor in which stretching vibration and bending vibration are generated in a vibrating body to move an object , the piezoelectric motor comprising:a vibrating body which contains a piezoelectric material, and has a convex portion protruding from an end surface;a case which accommodates the vibrating body;a pressing elastic body which presses the case in a direction bringing the convex portion of the vibrating body into contact with the object;buffer portions which sandwich both sides of the vibrating body from a direction intersecting a bending direction of the vibrating body in the case, and contain a material having dynamic viscoelasticity;pressing lids which are attached to the case;disk springs which are provided between the pressing lids and the buffer portions, and are compressed by the pressing lids; andpressing plates which are provided between the buffer portions and the disk springs to restrict movement in a stretching direction and a bending direction of the vibrating body.2. The piezoelectric motor according to claim 1 ,wherein the pressing plates are fit into the pressing lids.3. The piezoelectric motor according to claim 1 , wherein the pressing plates have uneven contact surfaces contacting the buffer portions.4. The piezoelectric motor according to claim 1 , wherein the buffer portions have uneven contact surfaces contacting the pressing plates.5. A piezoelectric motor in which stretching vibration ...

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Номер записи: 57
06-06-2013 дата публикации

STEAM GENERATOR UPPER BUNDLE INSPECTION TOOLS

Номер: US20130142297A1
Автор: Dean Uriah C., DeLaCroix Bradley, Jewett Matthew R., Moshano Steve
Принадлежит: R. BROOKS ASSOCIATES, INC.

In inspection system for inspecting the interior of a steam generator includes, in one aspect, a first boom and a second, telescoping boom having a proximal end pivotally attached to the first boom and a distal end bearing a delivery capsule, the delivery capsule defining a storage bay. The inspection system includes a first robotic inspection vehicle dimensioned to fit in the delivery capsule storage bay and itself defines a storage bay. The first robotic inspection vehicle includes at least one inspection camera and at least one lighting system. The first robotic inspection vehicle further includes cabling connecting the first robotic inspection vehicle to the delivery capsule. The inspection system also includes a second robotic inspection vehicle dimensioned to fit in the first robotic inspection vehicle storage bay. The second robotic inspection vehicle includes at least one inspection camera and at least one lighting system and further includes cabling connecting the second robotic inspection vehicle to the first robotic inspection vehicle. 1. An inspection system configured to inspect the secondary side of a steam generator , comprising:a first boom;a second, telescoping boom having a proximal end pivotally attached to the first boom to permit upward rotation of the second, telescoping boom relative to the first, telescoping boom by an angle of about 90 degrees, and the second, telescoping boom comprising a distal end bearing a delivery capsule, the delivery capsule defining a storage bay;a first robotic inspection vehicle dimensioned to fit in the delivery capsule storage bay, the first robotic inspection vehicle defining a storage bay and comprising at least one inspection camera and at least one lighting system, the first robotic inspection vehicle further comprising cabling connecting the first robotic inspection vehicle to the delivery capsule; anda second robotic inspection vehicle dimensioned to fit in the first robotic inspection vehicle storage bay, ...

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Номер записи: 58
06-06-2013 дата публикации

GAIT GENERATING DEVICE FOR LEGGED MOBILE ROBOT AND OPERATIONAL TARGET GENERATING DEVICE FOR ROBOT

Номер: US20130144441A1
Автор: Kanazawa Masao, Kanzaki Shigeru
Принадлежит: HONDA MOTOR CO., LTD.

A gait generating device includes a desired particular-site motion velocity value determining unit that uses a quadratic evaluation function having a particular-site motion velocity vector ↑Vb as a variable and a linear matrix inequality having ↑Vb as a variable to sequentially determine, as a desired value ↑Vb_cmd of ↑Vb, a value of ↑Vb that can minimize the value of the evaluation function within a range in which a restriction condition that the linear matrix inequality holds is satisfied, by arithmetic processing according to a solution method for a quadratic programming problem. The device then integrates ↑Vb_cmd to sequentially determine desired values of the position and posture of the particular site (the body) of the robot . The linear matrix inequality is set to satisfy a condition restricting the operations of the joints between the particular site and the distal portion of each leg link 1. A gait generating device for a legged mobile robot which travels by motions of a plurality of leg links extended from a body , each leg link having a plurality of joints , the gait generating device sequentially generating a desired gait defining displacement amounts of the respective joints of the mobile robot , the gait generating device comprising:a desired leg position/posture determining unit that sequentially determines a desired leg position/posture as a constituent element of the desired gait, the desired leg position/posture being desired values of the position and posture of a distal portion of each leg link of the mobile robot;a desired control object vector determining unit that sequentially determines a desired control object vector as a desired value of a control object vector, the control object vector being expressed as a vector obtained by linearly mapping a particular-site motion velocity vector having, as its components, change amounts per unit time of the position and posture of a particular site, the particular site being either the body of the ...

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Номер записи: 59
13-06-2013 дата публикации

Welding Robot

Номер: US20130146574A1
Автор: Birner-Such Tanja, Dietrich Simon
Принадлежит: KUKA ROBOTER GMBH

The invention relates to a welding robot for resistance welding, which exhibits a welding tongs (), a welding current generator () connected to the welding electrodes () of the welding tongs (), for supplying the welding electrodes () with electric energy during the resistance welding, and an industrial robot. The industrial robot comprises a robot arm () and a robot control device () for moving the robot arm (). The welding tongs () is connected to the robot arm () and the robot control device () is connected to the welding current generator () and a tongs drive () of the welding tongs (). 1. A welding robot for resistance welding , comprisinga welding tongs, exhibiting a tongs drive and two welding electrodes, which can be pressed against one another by means of the tongs drive, which, in the intended operation of the welding robot, press against at least two objects that are to be welded together by means of resistance welding,a welding current generator connected to the welding electrodes for supplying the welding electrodes with electric energy during the resistance welding, andan industrial robot, having a robot arm and a robot control device for moving the robot arm, wherein the robot arm exhibits successively disposed limbs, and drives connected to the robot control device, the welding tongs is attached to the robot arm, the robot control device is connected to the welding current generator and the tongs drive, and a computer program runs on the robot control device, which controls the drives of the robot arm for its movement, controls the tongs drive in a regulated manner such that during the resistance welding a predetermined electric target welding resistance is applied to the welding electrodes, and controls the welding current generator in such a manner that said generator supplies the welding electrodes with a predetermined electric energy.210-. (canceled)11. The welding robot according to claim 1 , the computer program of which exhibits a first ...

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Номер записи: 60
13-06-2013 дата публикации

Vision-guided alignment system and method

Номер: US20130147944A1
Автор: Biao Zhang, Gregory F. Rossano, Jianjun Wang, Thomas A. Fuhlbrigge
Принадлежит: ABB Research Ltd Switzerland

A vision-guided alignment system to align a plurality of components includes a robotic gripper configured to move one component relative to another component and a camera coupled to a processor that generates an image of the components. A simulated robotic work cell generated by the processor calculates initial calibration positions that define the movement of the robotic gripper such that position errors between the actual position of the robotic gripper and the calibration positions are compensated by a camera space manipulation based control algorithm executed by the processor to control the robotic gripper to move one component into alignment with another component based on the image of the components.

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Номер записи: 61
13-06-2013 дата публикации

ROBOTICALLY CONTROLLED ENTERTAINMENT ELEMENTS

Номер: US20130148038A1
Автор: Flessas Andrew
Принадлежит:

A robotic mount is configured to move an entertainment element such as a video display, a video projector or a staircase. The robotic mount is movable in three-dimensions, whereby the associated entertainment element is moveable in three-dimensional space. In one embodiment, a unitary display comprises a plurality of closely spaced individual displays which are mounted to robotic mounts, whereby the configuration of the unitary display may be altered by changing the position of one or more of the displays relative to the others. 1. A movable video projector comprising:at least one electronic video projector capable of projecting visual information in response to an input; anda robotic projector mount, said robotic projector mount comprising a base and a moveable support, said moveable support configured for movement relative to a first axis, a second axis, and a third axis, said first, second and third axes being perpendicular to one another, relative to said base, whereby said at least one electronic video projector is movable in three-dimensions by moving said robotic projector mount.2. The movable video projector in accordance with wherein said moveable support comprises at least a first member movable about said first axis claim 1 , at least a second member movable about said second axis claim 1 , and at least a third member movable about said third axis.3. The movable video projector in accordance with wherein said moveable support comprises a main support connected to said base and movable relative to said base about said first axis claim 1 , a lower arm connected to said main support and movable about said second axis claim 1 , an upper arm connected to said lower arm and movable about said second axis claim 1 , and a head mounted to said upper arm claim 1 , said at least one projector mounted to said head and said head movable about at least said third axis. This application is a continuation of U.S. application Ser. No. 12/653,058, filed Dec. 7, 2009, now U ...

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Номер записи: 62
13-06-2013 дата публикации

FULLY-INDEPENDENT ROBOT SYSTEMS, APPARATUS, AND METHODS ADAPTED TO TRANSPORT MULTIPLE SUBSTRATES IN ELECTRONIC DEVICE MANUFACTURING

Номер: US20130149076A1
Автор: Cox Damon Keith, Kremerman Izya
Принадлежит: Applied Materials, Inc.

Electronic device processing systems and robot apparatus are described. The systems are adapted to efficiently pick or place a substrate at a destination by independently rotating an upper arm, a forearm, a first wrist member, and a second wrist member relative to each other through co-axial drive shafts. Methods of operating the robot apparatus are provided, as are numerous other aspects. 1. A robot apparatus , comprising:an upper arm adapted to rotate about a first rotational axis;a forearm coupled to the upper arm at a first position offset from the first rotational axis, the forearm adapted to rotate about a second rotational axis at the first position;first and second wrist members coupled to and adapted for rotation relative to the forearm about a third rotational axis at a second position offset from the second rotational axis, the first and second wrist members each adapted to couple to respective end effectors; and an upper arm drive assembly having an upper arm drive shaft adapted to cause independent rotation of the upper arm;', 'a forearm drive assembly having a forearm drive shaft adapted to cause independent rotation of the forearm;', 'a first wrist member drive assembly having a first wrist member drive shaft adapted to cause independent rotation of the first wrist member; and', 'a second wrist member drive assembly having a second wrist member drive shaft adapted to cause independent rotation of the second wrist member; and', 'wherein the upper arm drive shaft, forearm drive shaft, first wrist member drive shaft, and second wrist member drive shaft are co-axial., 'a drive assembly having'}2. The robot apparatus of wherein the upper arm drive assembly includes an upper arm drive motor claim 1 , a rotor of the upper arm drive motor coupled to the upper arm drive shaft claim 1 , and a stator of the upper arm drive motor stationarily mounted in a motor housing.3. The robot apparatus of wherein the upper arm is rotatable relative to a base about the first ...

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Номер записи: 63
13-06-2013 дата публикации

METHOD FOR THE SELECTION OF PHYSICAL OBJECTS IN A ROBOT SYSTEM

Номер: US20130151007A1
Автор: Lukka Tuomas, Valpola Harri
Принадлежит: ZenRobotics Oy

A method in which an apparatus receives first sensor data from first sensors and determines a target position from the data, the target position may be a position in space or an orientation of a gripper in a robot arm First instructions are issued to the robot arm or the gripper in order to move a gripper to the target position. Force feedback sensor data is received from force feedback sensors associated with either the robot arm or the gripper or from the first sensors. A failure in carrying out the first instructions is determined Second sensor data is received from the at least one first sensor. Successful gripping of an object is determined from the second sensor data. 1. A method , comprising:receiving first sensor data from at least one first sensor;determining a target position from the first sensor data, said target position comprising at least one of a position in space and an orientation for a gripper in association with a robot arm;starting to issue at least one first instruction to at least one of the robot arm and the gripper in order to move the gripper to the target position;receiving force feedback sensor data from at least one of the at least one first sensor and at least one force feedback sensor, associated with at least one of the robot arm and the gripper, to determine a failure in carrying out the at least one instruction;receiving second sensor data from the at least one first sensor;determining a successful gripping of an object from the second sensor data;receiving verification sensor data from at least one second sensor, in response to the determining of the successful gripping; andissuing at least one second instruction to the robot arm in order to move the arm to a predetermined position to release the grip of the gripper.2. The method according to claim 1 , the method further comprising:registering the successful gripping and the first sensor data to a first learning entity.3. The method according to claim 2 , the method further ...

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Номер записи: 64
13-06-2013 дата публикации

CLEANING ROBOT AND UNDERWATER SEDIMENT CLEANING APPARATUS AND METHOD

Номер: US20130151061A1
Автор: Hong Young Jin, Kim Jong Geol, LEE Jung Woo, Lee Mun Jik, Suh Jin Ho
Принадлежит: KOREA INSTITUTE OF ROBOT & CONVERGENCE

A cleaning robot capable of cleaning a water tank in an unmanned manner and an underwater sediment cleaning apparatus and method are provided. The cleaning robot includes a body put into a water tank, a driver supporting the body and moving the body, a suction part arranged in front of the body and sucking contaminated water containing sediment in the water tank, and a tilting part supported by the body to support the suction part and rotating the suction part on an axis corresponding to the direction across the moving direction of the body. 1. A cleaning robot comprising:a body put into a water tank;a driver supporting the body and moving the body;a suction part arranged in front of the body and sucking contaminated water containing sediment in the water tank; anda tilting part supported by the body to support the suction part and rotating the suction part on an axis corresponding to the direction across the moving direction of the body.24-. (canceled)5. The cleaning robot of claim 1 , wherein the tilting part comprises:a support supporting the suction part with its front end, being rotatably combined with the body and rotating from the body on a first supporting pin provided in a direction across the moving direction of the body;a first link joint having a first end connected to the support through a first link pin;a second link joint having a first end connected to a second end of the first link joint through a second link pin and a second end connected to the body through a second supporting pin, being rotatably combined with the body and rotating on the second supporting pin; anda tilt cylinder having an output terminal connected to the second link pin.6. The cleaning robot of claim 5 , further comprising a tilt limit sensing part arranged behind the support to sense the lower limit point and the upper limit point of the support.7. The cleaning robot of claim 1 , further comprising a location information sensing part supported by the body and exposed from the ...

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Номер записи: 65
20-06-2013 дата публикации

CEILING-MOUNTED SCARA ROBOT

Номер: US20130152722A1
Автор: Fukatsu Mitsuhiro, Kumagai Yoshitaka
Принадлежит: Mitsubishi Electric Corporation

A ceiling-mounted SCARA robot includes: a base, a first arm that is connected to the lower side of the base via a first coupling part centering around a first articulated shaft and that can pivotally move around the first articulated shaft within a horizontal plane, a second arm that is connected to the lower side of the first arm via a second coupling part centering around a second articulated shaft and that can pivotally move around the second articulated shaft within a horizontal plane, a working shaft that is mounted on the second arm, a second articulated shaft motor and a second articulated shaft reducer for driving the second arm, and a working-shaft rotation motor that rotates the working shaft. The second articulated shaft reducer is provided on the second coupling part, and the working-shaft rotation motor is arranged directly below the second articulated shaft reducer. 1. A ceiling-mounted SCARA robot comprising:a base;a first arm that is connected to the lower side of the base via a first coupling part centering around a first articulated shaft and that can pivotally move around the first articulated shaft as a center of pivotal movement within a horizontal plane;a second arm that is connected to the lower side of the first arm via a second coupling part centering around a second articulated shaft and that can pivotally move around the second articulated shaft as a center of pivotal movement within a horizontal plane;a working shaft that is mounted on the second arm;a second articulated shaft motor and a second articulated shaft reducer for driving the second arm; anda working-shaft rotation motor that rotates the working shaft, whereinthe second articulated shaft reducer is provided on the second coupling part, andthe working-shaft rotation motor is arranged directly below the second articulated shaft reducer.2. The ceiling-mounted SCARA robot according to claim 1 , wherein at least a part of the working-shaft rotation motor is arranged inside of the ...

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Номер записи: 66
20-06-2013 дата публикации

Inflatable Robots, Robotic Components and Assemblies and Methods Including Same

Номер: US20130152724A1
Автор: Buehler Martin, Claffee Mark Robert, Mozeika Annan Michael
Принадлежит: iRobot Corporation

A robotic joint assembly includes a first structural member, a second structural member, and a rolling flexure joint joining the first structural member to the second structural member to provide at least one degree of freedom between the first and second structural members. The rolling flexure joint includes first and second flexible hinge members each having one end secured to the first structural member and an opposing end secured to the second structural member. The first and second flexible hinge members cross one another between the first and second structural members. 1. A robotic joint assembly comprising:a first structural member;a second structural member; and the rolling flexure joint includes first and second flexible hinge members each having one end secured to the first structural member and an opposing end secured to the second structural member; and', 'the first and second flexible hinge members cross one another between the first and second structural members., 'a rolling flexure joint joining the first structural member to the second structural member to provide at least one degree of freedom between the first and second structural members, wherein2. The robotic joint assembly of wherein the first and second flexible hinge members are first and second ribbons.3. The robotic joint assembly of including a third flexible hinge member having one end secured to the first structural member and an opposing end secured to the second structural member claim 1 , wherein the third flexible hinge member crosses the second flexible hinge member between the first and second structural members and the second flexible hinge member is interposed between the first and third flexible hinge members.4. The robotic joint assembly of wherein;the first structural member has a first end surface and first and second side surfaces on opposed sides of the first end surface;the second structural member has a second end surface and third and fourth side surfaces on opposed ...

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Номер записи: 67
20-06-2013 дата публикации

GRIPPING DEVICE

Номер: US20130154293A1
Автор: De Koning Abraham Gijsbert
Принадлежит: PEX RENT B.V.

Gripping device () and robot arm () to which such a gripping device () is attached. The gripping device () consists of a housing () and two gripping finger sockets () which can be displaced linearly with respect thereto. Each gripping finger socket () is provided with an electric or pneumatic coupling by means of which various gripping fingers () can be connected. A rotating drive () is present between the gripping finger sockets () on which a tool can be placed for releasing or attaching a fastening means, such as a bolt. By means of this relatively simple construction, weights of several hundreds kilos can be lifted and positioned accurately, for example in a processing machine. 113-. (canceled)14466529101727379101361518. Gripping device () comprising a housing () , which housing () is provided with a connection () for attachment to a robot arm () , in which said housing is provided with two gripping finger sockets ( , ) which can be displaced with respect to said housing and with respect to one another in a controlled manner , gripping fingers ( , , ) provided in each of said gripping finger sockets ( , ) and a rotating drive () which is fitted to the housing () , which rotating drive comprises a coupling part () that can be moved in translation in the direction of a rotation axis () and is arranged for connecting various tools to , by means of which various fastening means can be tightened or loosened , and wherein said gripping finger sockets are provided with a pneumatic , electric or hydraulic coupling for locking or releasing said gripping fingers that are replaceable and connectable in a fixed position with respect to the gripping finger sockets.1515172737. Gripping device according to claim 14 , in which said coupling part () is arranged between said gripping fingers ( claim 14 , claim 14 , ).1678. Gripping device according to claim 14 , in which said housing is provided with a linear guide ( claim 14 , ) for said gripping finger sockets.171341. Gripping ...

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Номер записи: 68
20-06-2013 дата публикации

MOBILE ROBOT WITH A HEAD-BASED MOVEMENT MAPPING SCHEME

Номер: US20130155221A1
Автор: Jordan Charles S., Laby Keith P., Miller Brian, Pinter Marco, Southard Jonathan, Wang Yulun
Принадлежит: INTOUCH TECHNOLOGIES, INC.

A robotic system that includes a mobile robot and a remote input device. The input device may be a joystick that is used to move a camera and a mobile platform of the robot. The system may operate in a mode where the mobile platform moves in a camera reference coordinate system. The camera reference coordinate system is fixed to a viewing image provided by the camera so that movement of the robot corresponds to a direction viewed on a screen. This prevents disorientation during movement of the robot if the camera is panned across a viewing area. 1. A mobile robot system that is controlled through an input device , comprising:a robot that has a camera within a camera reference coordinate system fixed to said camera and a mobile platform; and,an input device that causes movement of said camera and said mobile platform within the camera reference coordinate system.2. The system of claim 1 , wherein said input device is a joystick.3. The system of claim 1 , wherein said input device includes a mode button that allows the system to be switched between a mode wherein said mobile platform moves within the camera reference coordinate system or a mode wherein said mobile platform moves within a platform reference coordinate system.4. The system of claim 1 , wherein said mobile platform rotates to align an axis of a platform reference coordinate system fixed to said mobile platform with an axis of the camera reference coordinate system.5. The system of claim 1 , wherein movement of said mobile platform is accompanied by a movement of said camera.6. The system of claim 2 , wherein twisting said joystick causes rotation of said camera and pivoting said joystick causes said mobile platform to move.7. The system of claim 1 , further comprising a computer coupled to said input device and said robot.8. The system of claim 1 , further comprising a wireless base station coupled to said robot and said input device.9. The system of claim 8 , further comprising a broadband network that ...

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Номер записи: 69
20-06-2013 дата публикации

LINEAR MOTION MECHANISM AND ROBOT PROVIDED WITH THE LINEAR MOTION MECHANISM

Номер: US20130156535A1
Автор: NOGUCHI Tadataka, OHNI Kensuke
Принадлежит: KABUSHIKI KAISHA YASKAWA DENKI

A linear motion mechanism includes a base portion; a guide member attached to the base portion; and a slider provided to slide along an axial direction of the guide member. The guide member is fastened to the base portion by a guide fastening member in a specified fastening direction substantially orthogonal to the axial direction, and is pressed by a guide pressing member in an orthogonal direction substantially orthogonal to both the axial direction and the fastening direction. 1. A linear motion mechanism , comprising:a base portion;a guide member attached to the base portion; anda slider provided to slide along an axial direction of the guide member,wherein the guide member is fastened to the base portion by a guide fastening member in a specified fastening direction substantially orthogonal to the axial direction, and is pressed by a guide pressing member in an orthogonal direction substantially orthogonal to both the axial direction and the fastening direction.2. The mechanism of claim 1 , wherein the slider includes a plurality of members fastened together by a slider fastening member in the fastening direction claim 1 , the slider being pressed by a slider pressing member in the orthogonal direction.3. The mechanism of claim 1 , wherein the guide member includes a plurality of members fastened together by the guide fastening member in the fastening direction claim 1 , the guide member being pressed by the guide pressing member in the orthogonal direction.4. The mechanism of claim 2 , wherein the guide pressing member and the slider pressing member are configured to press one of the members fastened together by the guide fastening member and the slider fastening member toward a pressed surface formed in the other member.5. The mechanism of claim 1 , wherein the guide member is provided to extend along a vertical direction.6. The mechanism of claim 1 , wherein the guide member is provided so extend along a horizontal direction.7. The mechanism of claim 1 , ...

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Номер записи: 70
20-06-2013 дата публикации

System And A Method For Providing Safe Remote Access To A Robot Controller

Номер: US20130158708A1
Автор: Alt Jean-Christophe, Emmertz Bertil, Murphy Steve
Принадлежит:

The present invention relates to a system and a method for providing safe remote access to a plurality of robot controllers positioned at a local site for a person positioned on a remote site. The system includes a plurality of robot controllers, each capable of receiving credentials and including an authentication component for authentication of the credentials, and an authorization component for handling authorization for access to the robot controller based on the result of the authentication, a remote computer located at a remote site and capable of communicating with the robot controllers and having an interface capable of receiving credentials and configured to send the credentials to the robot controllers, a server component capable of communicating with the robot controllers, and an identifying component positioned at the local site configured to receive proof of local access. 1. A system for providing safe remote access to a plurality of robot controllers positioned at a local site for a person positioned on a remote site , wherein the system comprises:a plurality of robot controllers, each capable of receiving credentials and including a authentication component for authentication of the credentials, and an authorization component for handling authorization for access to the robot controller based on the result of the authentication, anda remote computer located at a remote site and capable of communicating with the robot controllers and having an interface capable of receiving credentials and configured to send the credentials to the robot controllers, characterized in that the system further comprises a server component capable of communicating with the robot controllers and an identifying component positioned at the local site capable of communicating with the server component and configured to receive proof of local access to one or more of the robot controllers and to send information on the local access to the server component, and in that the server ...

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Номер записи: 71
20-06-2013 дата публикации

ACOUSTIC PROXIMITY SENSING

Номер: US20130158711A1
Автор: Jiang Liang-Ting, Smith Joshua R.
Принадлежит: University of Washington through its Center for Commercialization

An acoustic pretouch sensor or proximity sensor () includes a cavity () with a first microphone () disposed therein, and optionally a second microphone () disposed outside of the cavity. A processing system () receives the signals generated by the first microphone and analyzes the spectrum to produce a result representing the resonant frequency of the cavity. The processing system may optionally subtract the second microphone signal spectrum from the first to automatically compensate for changes in ambient noise. The processing system uses the resonant frequency to estimate the distance from the cavity opening to a surface (). For example, the pretouch sensors may be incorporated into a stand alone device (), into a robotic end effector (), or into a device such as a phone (). 1. An acoustic proximity sensor comprising:a housing defining a cavity;a first microphone disposed in the cavitya second microphone disposed outside of the cavity; anda processing system configured to receive a first signal from the first microphone and a second signal from the second microphone, and to analyze the first and second signals to estimate a resonant frequency of the cavity;wherein the processing system is further configured to use the resonant frequency of the cavity to calculate a distance from the cavity to a surface.2. The acoustic proximity sensor of wherein the sensor is operable to calculate the distance to the surface in a range of 0-10 mm.3. The acoustic proximity sensor of claim 1 , wherein the first microphone is an electret condenser microphone.4. The acoustic proximity sensor of claim 1 , wherein the first signal corresponds to sound detected in the cavity and the second signal corresponds to ambient noise outside of the cavity.5. The acoustic proximity sensor of claim 4 , wherein the processing system estimates a first signal power spectrum for the first signal and a second signal power spectrum for the second signal and subtracts the second signal power spectrum from ...

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Номер записи: 72
20-06-2013 дата публикации

WALKING ROBOT AND CONTROL METHOD THEREOF

Номер: US20130158712A1
Автор: LEE Ju Suk, Roh Kyung Shik
Принадлежит: SAMSUNG ELECTRONICS CO., LTD.

A walking robot includes hip joints of plural legs, a pose detector to detect a pose, a walking state judger to judge a walking state from the pose, a target angle trajectory generator to judge support and swing legs based on the walking state, to judge whether or not the swing leg contacts a surface prior to a prestored time, to shorten the next support cycle executed by the swing leg upon judging that the swing leg contacts a surface prior to the prestored time, and to generate target angle trajectories of the hip joints based on the shortened support cycle, a torque calculator to calculate torques tracking the target angle trajectories, and a controller to output the torques to the hip joint to control walking of the walking robot. 1. A walking robot comprising:hip joints respectively provided at plural legs;a pose detector to detect a pose of the walking robot;a walking state judger to judge a walking state from the pose;a target angle trajectory generator to judge a support leg and a swing leg based on the walking state, to judge whether or not the swing leg contacts a surface prior to a predetermined time when the walking state of the plural legs is changed, to shorten a next support cycle executed by the swing leg when the swing leg contacts the surface prior to the predetermined time, and to generate target angle trajectories of the hip joints based on the shortened support cycle;a torque calculator to calculate torques tracking the target angle trajectories of the hip joints; anda controller to output the torques to the hip joint to control walking of the walking robot.2. The walking robot according to claim 1 , wherein the target angle trajectory generator generates plural knot points within the next support cycle of the hip joint of the swing leg based on the pose during a swing cycle when one of the plural legs is in a swing state.3. The walking robot according to claim 1 , wherein the target angle trajectory generator shortens a time at a first knot ...

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Номер записи: 73
20-06-2013 дата публикации

MOBILE ROBOT

Номер: US20130158748A1
Автор: Baillie Jean-Christophe
Принадлежит: ALDEBARAN ROBOTICS

A control device for a mobile robot, the robot comprising a camera and a communication unit, comprises a display unit displaying an image corresponding to the image taken by the camera and transmitted by the communication unit, and a user interface, wherein the user interface is configured to allow a user to control a position of a pointer on the image displayed by the display unit, and the user interface comprises a selection unit allowing the user to select a position of the pointer on the image displayed by the display unit, the control device further comprising a computation unit and a communication system, the computation unit being configured to compute displacement commands and send them through the communication system to the robot, said displacement commands being computed to make the robot move to a physical position corresponding to the pointer's position selected by the user on the image. 2. The control device according to claim 1 , wherein the pointer is a pattern which aspect depends on the space orientation and/or position of the pointer in the image.3. The control device according to claim 1 , wherein the pointer is a pattern which is represented in perspective and parallel to a plane of a physical environment in which the robot is moving.4. The control device according to claim 3 , wherein the plane corresponds to a plane of a wall claim 3 , or a plane of a floor claim 3 , or a plane of an object located in the physical environment.5. The control device according to claim 1 , wherein the size of the pointer depends on the distance between:the robot, andthe physical position corresponding to the position on which the pointer is located in the image.6. A system for mobile robot claim 1 , comprising:a mobile robot, the robot comprising a camera and a communication unit, and{'claim-ref': {'@idref': 'CLM-00001', 'claim 1'}, 'a control device according to .'}8. The method according to claim 7 , wherein the pointer is a pattern which aspect depends on the ...

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Номер записи: 74
27-06-2013 дата публикации

Extended Wrist Assembly for Robotic Arm

Номер: US20130160591A1
Автор: Kent Richard J.
Принадлежит: FABWORX SOLUTIONS, INC.

A robot is provided which includes (a) a first arm () terminating in a first radius (); (b) a second arm () terminating in a second radius (), wherein said second radius is spaced apart from said first radius; (c) a first band () that extends around a portion of said first radius; (d) a second band that extends around a portion of said second radius; and (e) a first rigid, longitudinally extending element () having a first end which is attached to said first band, and having a second end which is attached to said second band. 1. A robot , comprising:a first arm terminating in a first radius;a second arm terminating in a second radius, wherein said second radius is spaced apart from said first radius;a first band that extends around a portion of said first radius;a second band that extends around a portion of said second radius; anda first rigid, longitudinally extending element having a first end which is attached to said first band, and having a second end which is attached to said second band.2. The robot of claim 1 , wherein said first rigid claim 1 , longitudinally extending element is a rod.3. The robot of claim 1 , further comprising a first connector which connects a first end of said first rigid claim 1 , longitudinally extending element to said first band.4. The robot of claim 3 , further comprising a second connector which connects a second end of said first rigid claim 3 , longitudinally extending element to said second band.5. The robot of claim 4 , wherein said first rigid claim 4 , longitudinally extending element terminates in first and second threaded portions.6. The robot of claim 5 , wherein said first connector comprises a first threaded receptacle which rotatingly engages said first threaded portion claim 5 , and a first tab which is attached to said first band portion.7. The robot of claim 6 , wherein said second connector comprises a second threaded receptacle which rotatingly engages said second threaded portion claim 6 , and a second tab ...

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Номер записи: 75
27-06-2013 дата публикации

FULL-AUTOMATIC GRAVURE PLATE-MAKING PROCESSING SYSTEM

Номер: US20130160947A1
Автор: Shigeta Tatsuo
Принадлежит: Think Laboratory Co., Ltd

Provided is a fully automatic gravure plate-making processing system capable of manufacturing a gravure plate-making roll more quickly as compared to a conventional case, achieving space saving, performing an unattended operation even in the nighttime, and reducing dust between individual processes. The fully automatic gravure plate-making processing system includes: a first industrial robot for chucking and handling an unprocessed plate-making roll; a second industrial robot for chucking and handling the unprocessed plate-making roll; a roll stock apparatus, a photosensitive film coating apparatus, a laser exposure apparatus, an ultrasonic cleaning apparatus with a drying function, a grinding wheel polishing apparatus, and a paper polishing apparatus, which serve as processing apparatus arranged in a handling area of the first industrial robot; and a degreasing apparatus, a copper plating apparatus, a developing apparatus, an etching apparatus, a resist removal apparatus, a surface hardening film forming apparatus, and an ultrasonic cleaning apparatus, which serve as processing apparatus arranged in a handling area of the second industrial robot, to thereby perform plate-making processing. 1. A fully automatic gravure plate-making processing system , comprising:a first industrial robot for chucking and handling an unprocessed plate-making roll;a second industrial robot for chucking and handling the unprocessed plate-making roll;a roll stock apparatus, a photosensitive film coating apparatus, a laser exposure apparatus, an ultrasonic cleaning apparatus with a drying function, a grinding wheel polishing apparatus, and a paper polishing apparatus, which serve as processing apparatus arranged in a handling area of the first industrial robot; anda degreasing apparatus, a copper plating apparatus, a developing apparatus, an etching apparatus, a resist removal apparatus, a surface hardening film forming apparatus, and an ultrasonic cleaning apparatus, which serve as ...

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Номер записи: 76
27-06-2013 дата публикации

SUPPORT MODULE AND ROBOT HAVING THE SAME

Номер: US20130162015A1
Автор: Kim Joo Hyung, Roh Kyung Shik, SEO Kee Hong
Принадлежит: Samsung Electronics Co., Ltd

A support module includes a first rigid body, a space formation body connected to the first rigid body and forming an enclosed space, and a plurality of hard particles located within the enclosed space. When at least a predetermined pressure is applied to the support module such that a volume of the enclosed space is decreased to a predetermined value, the plurality of hard particles and space formation body form a second rigid body. Such a support module may improve the stability of a walking robot, the grip of a gripping structure, or the stability of a load-bearing structure. 1. A walking robot comprising:a body part;at least one leg part connected to the body part and movably supporting the body part;a foot connected to a lower end of the at least one leg part; and a first rigid body connected to the lower end of the foot;', 'a space formation body connected to at least a portion of the first rigid body and forming a space part together with the at least a portion of the first rigid body; and', 'a plurality of hard particles located within the space part that form a second rigid body supporting a load of the robot when the support module contacts the ground surface and the volume of the space part is decreased to at least a predetermined value., 'at least one support module connected to a lower end of the foot, wherein the at least one support module comprises2. The robot according to claim 1 , wherein the space formation body is formed of a material which is deformable to a shape corresponding to the shape of the ground surface during a contact process of the support module with the ground surface and is not contracted or expanded in any direction.3. The robot according to claim 1 , wherein a maximum volume of the space part is achieved in a state in which pressure is not applied to the support module.4. The robot according to claim 1 , wherein:air gaps are formed between the plurality of hard particles;a pressure required to form the second rigid body ...

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Номер записи: 77
27-06-2013 дата публикации

ROBOT ARM STRUCTURE AND ROBOT

Номер: US20130164101A1
Автор: NOGUCHI Tadataka, OHARA Yuuki
Принадлежит: KABUSHIKI KAISHA YASKAWA DENKI

An arm structure of a robot installed in a vacuum chamber kept in a depressurized state includes a first arm, a second arm, and an end effector configured to hold a workpiece. The first arm is provided with a specified drive system arranged in an inside of the first arm, and the inside of the first arm is kept in an atmospheric pressure state. The second arm has no drive system therein. A partition wall is provided near a connecting portion of the first arm and the second arm to isolate the atmospheric pressure state maintained within the first arm from the depressurized state. An airtight terminal is provided in the partition wall to electrically interconnect an atmosphere side and a vacuum side in an airtight state. 1. An arm structure of a robot installed in a vacuum chamber kept in a depressurized state and configured to transfer a workpiece , comprising:a first arm having a base end portion rotatably connected to an arm base of the robot, the first arm including a specified drive system arranged in an inside of the first arm, the inside of the first arm being kept in an atmospheric pressure state;a second arm having a base end portion rotatably connected to a tip end portion of the first arm, the second arm including no drive system therein;an end effector rotatably connected to a tip end portion of the second arm through a movable base and configured to hold the workpiece;a partition wall provided near a connecting portion of the first arm and the second arm to isolate the atmospheric pressure state maintained within the first arm from the depressurized state; andan airtight terminal provided in the partition wall to electrically interconnect an atmosphere side and a vacuum side in an airtight state.2. The arm structure of claim 1 , wherein the first arm includes a speed reducer having a hollow drive shaft for driving the second arm claim 1 , the partition wall is provided in a hollow region of the hollow drive shaft of the speed reducer or in a closed space ...

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Номер записи: 78
27-06-2013 дата публикации

OBJECT GRIPPING APPARATUS, CONTROL METHOD FOR OBJECT GRIPPING APPARATUS, AND STORAGE MEDIUM

Номер: US20130166061A1
Автор: Yamamoto Takahisa
Принадлежит: CANON KABUSHIKI KAISHA

An object gripping apparatus comprises an imaging unit configured to capture an image of a plurality of workpieces; a workpiece state estimation unit configured to estimate positions and orientations of the plurality of workpieces from the captured image; a pickup-target workpiece selection unit configured to select a pickup-target workpiece from among the plurality of workpieces based on a result of the estimation of the workpiece state estimation unit; a workpiece pickup unit configured to grip and pick up the pickup-target workpiece in accordance with an operation path associated with a position of the pickup-target workpiece; and a path setting unit configured to determine an evacuation path along which the workpiece pickup unit that has gripped the pickup-target workpiece evacuates to the outside of an imaging range of the imaging unit based on an estimated moving time required for the evacuation. 1. An object gripping apparatus comprising:an imaging unit configured to capture an image of a plurality of workpieces;a workpiece state estimation unit configured to estimate positions and orientations of the plurality of workpieces from the image captured by the imaging unit;a pickup-target workpiece selection unit configured to select a pickup-target workpiece from among the plurality of workpieces based on a result of the estimation of the workpiece state estimation unit;a workpiece pickup unit configured to grip and pick up the pickup-target workpiece in accordance with an operation path associated with a position of the pickup-target workpiece; anda path setting unit configured to determine an evacuation path along which the workpiece pickup unit that has gripped the pickup-target workpiece evacuates to the outside of an imaging range of the imaging unit based on an estimated moving time required for the evacuation.2. The object gripping apparatus according to claim 1 ,wherein when the imaging unit has newly captured an image of the plurality of workpieces, ...

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Номер записи: 79
27-06-2013 дата публикации

Robot and power consumption estimating system

Номер: US20130166069A1
Автор: Ken Watanabe, Makoto Inoue, Motohide Ikeda
Принадлежит: Eneres Co Ltd, Japan Research Institute Ltd

Provided is a robot comprising a device manipulating section that turns ON and OFF a plurality of devices that operate by receiving power from a power supply; a power value acquiring section that acquires a first total power value that is a power value before one of the devices is turned ON or OFF by the device manipulating section and a second total power value that is a power value after the device is turned ON or OFF, via a power sensor that measures a total power value supplied to the plurality of devices from the power supply; and a power consumption estimating section that estimates power consumption of the device based on the first total power value and the second total power value.

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Номер записи: 80
27-06-2013 дата публикации

PROCESSING TOOL AND PROCESSING METHOD

Номер: US20130166071A1
Автор: HAMAN Robert, KRANZ Josef
Принадлежит: KUKA SYSTEMS GMBH

A processing tool, especially drilling tool, includes a processing element () acting on a workpiece () and a connection () for a handling device (), especially a robot. The processing tool () has a feed device () connected to the connection () for feeding the processing element () by a motion of the handling device () connected to the connection (). The handling device () moves and actuates the feed device () of the processing tool () for feeding the processing element (). 1. A processing tool comprising:a processing element for acting on a workpiece;a connection for a handling device; anda feed device connected to the connection, the feed device feeding the processing element by a motion of the handling device connected to the connection.2. A processing tool in accordance with claim 1 , further comprising a support device forming a support on a workpiece side.3. A processing tool in accordance with claim 2 , wherein the processing tool has a boosting means for increasing a feed force of a feed of the processing element.4. A processing tool in accordance with claim 1 , further comprising a controllable drive for a controlled motion of the processing element.5. A processing tool in accordance with claim 3 , wherein the boosting means is arranged between the connection and the processing element.6. A processing tool in accordance with claim 1 , wherein the boosting means has a fluidic or a mechanical transmission.7. A processing tool in accordance with claim 2 , wherein the feed device has a movable feed element connected to the connection and an additional feed element connected to the processing element claim 2 , wherein the movable feed element and the additional feed element are mounted movably in relation to the support device and are connected to actuating elements of the boosting means.8. A processing tool in accordance with claim 1 , wherein the feed device has a controllable fixing means.9. A processing tool in accordance with claim 4 , wherein the processing ...

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Номер записи: 81
27-06-2013 дата публикации

POWER DEMAND MANAGEMENT APPARATUS AND POWER DEMAND MANAGEMENT SYSTEM

Номер: US20130166133A1
Автор: IKEDA Motohide, INOUE Makoto, WATANABE Ken
Принадлежит:

A power demand management apparatus comprises a schedule holding section that holds a power restriction schedule indicating a device on which a mobile robot is to perform power restriction, in association with a power restriction execution time; a movement instructing section that transmits movement instructions to the robot such that, prior to the power restriction execution time indicated in the power restriction schedule, the robot moves to an area in which is arranged the device on which the power restriction is to be performed at the execution time; and a restriction instructing section that transmits power restriction instructions to the robot, thereby causing the robot to perform the power restriction on the device at the execution time. 1. A power demand management apparatus comprising:a schedule holding section that holds a power restriction schedule indicating a device on which a mobile robot is to perform power restriction, in association with a power restriction execution time;a movement instructing section that transmits movement instructions to the robot such that, prior to the power restriction execution time indicated in the power restriction schedule, the robot moves to an area in which is arranged the device on which the power restriction is to be performed at the execution time; anda restriction instructing section that transmits power restriction instructions to the robot, thereby causing the robot to perform the power restriction on the device at the execution time.2. The power demand management apparatus according to claim 1 , further comprising an operational state information acquiring section that claim 1 , after the movement instructions are sent claim 1 , acquires from the robot operational state information indicating a current operational state of the device claim 1 , whereinthe schedule holding section holds the power restriction schedule, in which is shown the device and another device that has a lower priority ranking than the device, ...

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Номер записи: 82
27-06-2013 дата публикации

CLOUD ROBOT SYSTEM AND METHOD OF INTEGRATING THE SAME

Номер: US20130166621A1
Автор: Zhu Dingju
Принадлежит:

The present disclosure discloses a cloud robot system, including: a cloud. computing platform and at least one robot; wherein the cloud computing platform is used for receiving perform information sent by the at least one robot in the system; the perform information includes data, status and requests of the at least one robot; the cloud computing platform is used for processing the data and status, sending process results back to the at least one robot, and sending control instructions to corresponding robot according to the requests; the at least one robot is used for sending the perform information to the cloud computing platform, receiving process results from the cloud computing platform, and performing according to the control instructions sent from the cloud computing platform. By using the present disclosure, computing ability and storage capacity of the robots can be expanded unlimited, while the thinking ability and memory of the robots are improved. Besides, the ability of the brains of the robots can be allocated according to demand, thus lowering the cost of the robots. 1. A cloud robot system , comprising:a cloud computing platform and at least one robot;wherein the cloud computing platform is configured for receiving perform information sent by the at least one robot in the system;the perform information comprises data, status and requests of the at least one robot;the cloud computing platform is configured for processing the data and status, sending process results back to the at least one robot, and sending control instructions to corresponding robot according to the requests;the at least one robot is configured for sending the perform information to the cloud computing platform, receiving process results from the cloud computing platform, and performing according to the control instructions sent from the cloud computing platform.2. The cloud robot system of claim 1 , wherein each robot comprises a first communication module claim 1 , the cloud ...

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Номер записи: 83
04-07-2013 дата публикации

Neural Monitor-Based Dynamic Haptics

Номер: US20130172902A1
Автор: Chris Alan LIGHTCAP, Hyosig Kang
Принадлежит: Mako Surgical Corp

A computer-assisted surgery system may have a robotic arm including a surgical tool and a processor communicatively connected to the robotic arm. The processor may be configured to receive, from a neural monitor, a signal indicative of a distance between the surgical tool and a portion of a patient's anatomy including nervous tissue. The processor may be further configured to generate a command for altering a degree to which the robotic arm resists movement based on the signal received from the neural monitor; and send the command to the robotic arm.

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Номер записи: 84
04-07-2013 дата публикации

REMOTELY CONTROLLING A SELF-PROPELLED DEVICE IN A VIRTUALIZED ENVIRONMENT

Номер: US20130173089A1
Автор: Bernstein Ian, Carroll Jonathan, Polo Fabrizio, Wilson Adam
Принадлежит: Orbotix, Inc.

A computing device operating as a controller can obtain image data from a camera component. The computing device can determine a location of the self-propelled device relative to the camera based on the image data. A virtual content may be generated on the computing device based at least in part on the location of the self-propelled device. 1. A computer-implemented method for operating a computing device , the method comprising:programmatically detecting, from image data generated by a camera component of the computing device, a location of a self-propelled device relative to the computing device;receiving input from the self-propelled device, the input including sensor information that is obtained on the self-propelled device;generating content based on the location of the self-propelled device as the self-propelled device moves.2. The method of claim 1 , wherein programmatically detecting includes detecting a spherical aspect of the self-propelled device from the image data.3. The method of claim 1 , wherein generating the image includes generating a virtual environment claim 1 , and rendering a graphic representation of the self-propelled device as part of the virtual environment.4. The method of claim 2 , wherein the graphic representation is a virtual character.5. The method of claim 1 , wherein generating the content includes:determining a map that corresponds to the scene, based on points corresponding to a path determined from detecting multiple locations of the self-propelled device in the scene.6. The method of claim 5 , wherein generating the image further includes:generating a virtual environment that includes one or more virtual objects, and locating the objects in the virtual environment based on the map.7. The method of claim 6 , wherein locating the one or more virtual objects includes placing the objects in a region that is determined from the map claim 6 , but otherwise independent of the motion of the self-propelled device.8. The method of claim ...

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Номер записи: 85
11-07-2013 дата публикации

ROBOT AND CONTROL METHOD THEREOF

Номер: US20130178978A1
Автор: Kim Ji Young, KWON Young Do, Lee Kwang Kyu, Roh Kyung Shik
Принадлежит: SAMSUNG ELECTRONICS CO., LTD.

A robot and method of controlling the same are provided. The robot includes a hand and an arm, a grip sensor unit configured to enable the hand to sense an object, a grip control unit configured to determine whether the hand grips the object from gripping information obtained from the grip sensor unit, select an object-based coordinate to control the hand and the arm based on a motion of the object or an independent coordinate to independently control the hand and the arm according to a result of the determination, and control the hand and the arm based on the selected coordinate, and a coordinate transformation unit configured to calculate a position and a direction of a virtual object based on the object-based coordinate, and deliver information about the position and the direction of the virtual object calculated to the grip control unit. 1. A robot comprising:a robot hand and a robot arm;a grip sensor unit configured to enable the robot hand to sense an object;a grip control unit configured to determine whether the robot hand grips the object from a gripping information obtained from the grip sensor unit, select, according to a result of the determination, an object-based coordinate to control the robot hand and the robot arm based on a motion of the object or an independent coordinate to independently control the robot hand and the robot arm, and control the robot hand and the robot arm based on the selected coordinate; anda coordinate transformation unit configured to calculate a position and a direction of a virtual object on the object-based coordinate, and deliver information about the position and the direction of the virtual object calculated to the grip control unit.2. The robot of claim 1 , wherein the grip control unit claim 1 , if determined that the robot hand grips the object claim 1 , uses the object-based coordinate and maintains the robot in a state of gripping the object such that the robot is prevented from moving in response to a detailed ...

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Номер записи: 86
11-07-2013 дата публикации

LEG MOTION TRAJECTORY GENERATION DEVICE FOR LEGGED MOBILE ROBOT

Номер: US20130178983A1
Автор: Watabe Tomoki
Принадлежит: HONDA MOTOR CO., LTD.

A device includes a floor surface information acquisition portion which acquires floor surface information in a plurality of local regions of a floor surface. The gait generator of the device sets the desired landing position and posture of a free leg of a robot within one local region and determines a desired horizontal motion trajectory of the distal end of the free leg to determine a desired vertical motion trajectory of the distal end of the free leg so that the height of the distal end of the free leg is equal to or higher than a lower-limit height determined to prevent a contact between the distal end of the free leg and the floor surface of the local region at the positions of a plurality of sampling points on the desired horizontal motion trajectory. 1. A leg motion trajectory generation device for a legged mobile robot which generates a desired motion trajectory of each leg in the legged mobile robot which moves by repeating a leaving motion and a landing motion of a distal end of each of a plurality of the legs , the generation device comprising:a floor surface information acquisition element which acquires floor surface information including at least floor surface information which is identified beforehand in each of a plurality of local regions of a floor surface in an operating environment of the robot and which represents a position and a posture of a ground-contactable surface of the distal end of each leg of the robot in each local region;a desired landing position/posture setting element which sets a desired landing position and a desired landing posture of the distal end of a free leg, which is a leg making the leaving motion and the landing motion subsequent thereto in the moving motion of the robot, within one local region among the plurality of local regions in which the floor surface information is acquired;a horizontal trajectory determination element which determines a desired horizontal motion trajectory of the distal end of the free leg ...

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Номер записи: 87
18-07-2013 дата публикации

ROBOT HAND

Номер: US20130181466A1
Автор: MURAKAMI Kenjiro, YOSHIMURA Kazuto
Принадлежит: SEIKO EPSON CORPORATION

An aspect of the invention provides a robot hand that performs an action for gripping an object between plural finger sections provided to be capable of changing a distance between the finger sections. Between the plural finger sections, a palm section movable along a direction in which a base side of the plural finger sections and a distal end side of the plural finger sections are connected is provided. 110-. (canceled)11. A robot hand comprising:a hand base that is a substantially rectangular planar member;four finger sections arranged at four corners of the hand base, the finger sections being movable to change a distance between the finger sections; anda palm section located at a central position between the four finger sections, the palm section being movable along a direction from a base of the finger sections to a distal end of the finger sections,wherein the finger sections are movable to grip an object.12. The robot hand according to claim 11 , wherein each of the finger sections include a gripping surface that are operable to contact the object when the object is gripped by the finger sections claim 11 , and a distance between the gripping surfaces of adjacent finger sections narrows in the direction from the bases of the finger sections to the distal ends of the finger sections.13. The robot hand according to claim 11 , wherein the palm section is independently movable from the finger sections.14. The robot hand according to claim 13 , wherein the palm section is movable to a position located proximate the distal ends of the finger sections.15. The robot hand according to claim 11 , wherein the palm section is simultaneously movable with the plural finger sections.16. A robot comprising the robot hand according to .17. A robot comprising the robot hand according to .18. A robot comprising the robot hand according to .19. A robot comprising the robot hand according to .20. A robot comprising the robot hand according to . This is a continuation application ...

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Номер записи: 88
18-07-2013 дата публикации

ROBOT APPARATUS AND POSITION AND ORIENTATION DETECTING METHOD

Номер: US20130182903A1
Автор: HASHIMOTO Koichi, NAMMOTO Takashi, ZANG Chuantao
Принадлежит: SEIKO EPSON CORPORATION

A robot apparatus includes a reference-model storing unit configured to store a reference model of an object, a feature-value-table storing unit configured to store a feature value table that associates position data and orientation data of the reference model and a feature value, a photographed-image acquiring unit configured to capture a photographed image of the object, a detecting unit configured to calculate a photographed image feature value from the photographed image, and a driving control unit configured to control a robot main body on the basis of the position data and the orientation data to change the position and the orientation of a gripping unit. 1. A robot apparatus comprising:a robot main body movably including a hand;a reference-model storing unit configured to store a reference model obtained by converting an object into a three-dimensional model;a feature-value-table storing unit configured to store a feature value table that associates position data and orientation data of the reference model, which are acquired by changing, at an interval set in advance, a position and a orientation of the reference model in a three-dimensional space, and a reference model image feature value, which is a feature value of a two-dimensional reference model image;a photographed-image acquiring unit configured to capture a photographed image of the object;a detecting unit configured to calculate a photographed image feature value, which is a feature value of the photographed image captured by the photographed-image acquiring unit, detect, from the feature value table stored in the feature-value-table storing unit, a reference model image feature value coinciding with the photographed image feature value and extract a plurality of sets of position data and orientation data associated with the reference model image feature value, set, according to the plurality of sets of position data and orientation data, a position and a orientation in the three-dimensional space ...

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Номер записи: 89
18-07-2013 дата публикации

Remote controlled actuator assembly

Номер: US20130184863A1
Автор: Hiroshi Isobe, Yoshitaka Nagano
Принадлежит: NTN Corp

An actuator main body ( 6 ) mounted on an operating bench ( 50 ) includes a main body base end housing ( 4 ) fixed to the operating bench ( 50 ), an elongated spindle guide section ( 3 ) having its base end connected with the main body base end housing ( 4 ), a distal end member ( 2 ) fitted to a front end thereof for alteration in attitude, and a tool ( 1 ) rotatably provided in the distal end member ( 2 ). Within the spindle guide section ( 3 ), a rotary shaft ( 22 ) for transmitting a rotation of a tool rotation drive source ( 41 ) to the tool ( 1 ) and an attitude altering member ( 31 ) for altering the attitude of the distal end member ( 2 ) are provided. Within the main body base end housing ( 4 ), an attitude altering drive mechanism ( 43 ) for selectively advancing or retracting the attitude altering member ( 31 ) when driven by an attitude altering drive source ( 42 ) is provided.

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Номер записи: 90
18-07-2013 дата публикации

ROBOT CONTROLLER, ROBOT SYSTEM, ROBOT CONTROL METHOD

Номер: US20130184868A1
Автор: INAZUMI Mitsuhiro
Принадлежит: SEIKO EPSON CORPORATION

A robot controller includes a force control unit that outputs a correction value of a target track of a robot based on a detected sensor value acquired from a force sensor, a target value output unit that obtains a target value by performing correction processing on the target track based on the correction value and outputs the obtained target value, and a robot control unit that performs feedback control of the robot based on the target value. The force control unit includes an impedance processor that obtains a solution of a differential equation in force control as the correction value before the conversion processing, and a nonlinear convertor that obtains the correction value after the conversion processing by performing nonlinear conversion processing on the correction value before the conversion processing acquired from the impedance processor and outputs the obtained correction value after the conversion processing. 1. A robot controller comprising:a force control unit that outputs a correction value of a target track of a robot based on a detected sensor value acquired from a force sensor;a target value output unit that obtains a target value by performing correction processing on the target track based on the correction value and outputs the obtained target value; anda robot control unit that performs feedback control of the robot based on the target value,wherein the force control unit includes an impedance processor that obtains a solution of an differential equation in force control and outputs the obtained solution of the differential equation, and a nonlinear convertor that obtains the correction value by performing nonlinear conversion processing on the solution of the differential equation acquired from the impedance processor and outputs the obtained correction value.2. A robot controller comprising:a force control unit that outputs a correction value of a target track of a robot based on a detected sensor value acquired from a force sensor;a ...

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Номер записи: 91
18-07-2013 дата публикации

Robot arm control apparatus, robot arm control method, robot, robot arm control program, and integrated electronic circuit

Номер: US20130184871A1
Автор: Masaki Yamamoto, Taichi Sato, Yudai FUDABA, Yuko Tsusaka
Принадлежит: Panasonic Corp

A robot arm includes a grip part which is structured to be separated from an end effector attached to the robot arm. When the grip part is gripped by the user and shifted, the robot arm shifts tracking the grip part. Further, the grip part includes contact sensors, and a tracking control method is switched according to the value of the contact sensors.

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Номер записи: 92
18-07-2013 дата публикации

METHOD AND SYSTEM FOR GUIDING A ROBOTIC GARDEN TOOL

Номер: US20130184924A1
Автор: Bergvall Bengt-Allan, Jägenstedt Patrik
Принадлежит: HUSQVARNA AB

Method and system for guiding a robotic garden tool () is disclosed. The robotic garden tool () may include at least two sensing means ( and ). The robotic garden tool () is equipped to follow along a guiding wire () on a lawn (). While the robotic garden tool () moves along the guiding wire (), the sensing means ( and ) may detect a magnetic field strength generated from current carrying guiding wire (). The method () and the system () is equipped to provide instructions to the robotic garden tool () to follow the guiding wire () based on the difference of magnetic field strength sensed by at least two sensing means ( and ). 1. A guiding system for a robotic garden tool , the guiding system comprising:at least one guiding wire adapted to conduct electric current such that a magnetic field is generated adjacent to the guiding wire, anda robotic garden tool adapted to follow the guiding wire at a distance from the guiding wire,wherein the robotic garden tool further comprises a first sensing means and a second sensing means placed on the robotic garden tool such that they will have different distance to the guiding wire when the robotic garden tool moves along the guiding wire, wherein each of the first sensing means and second sensing means are adapted to detect a strength of the magnetic field, and wherein the robotic garden tool is adapted to use the difference between the detected magnetic field strength in the first sensing means and the detected magnetic field strength in the second sensing means for steering along the guiding wire.2. A guiding system according to claim 1 , wherein at least one of the first sensing means and second sensing means are adapted to detect the strength of a vertical component in the magnetic field.3. A guiding system according to claim 1 , wherein the first sensing means and the second sensing means are placed on the robotic garden tool with a distance between each other along the longitudinal axis of the robotic garden tool.4. A ...

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Номер записи: 93
25-07-2013 дата публикации

Cargo Compartment with Robot, Aircraft, Freight Storage Device

Номер: US20130186999A1
Автор: Thomas Huber
Принадлежит: Telair International GmbH

Conventional aircraft offer an inadequate solution for handling freight items. The present invention significantly improves the handling of freight items. Inter alia, for this the cargo compartment of an aircraft is equipped with a robot with at least one robot arm, wherein the robot arm comprises a receiver tool to receive freight items and is arranged displaceably on a ceiling construction of the cargo compartment.

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Номер записи: 94
25-07-2013 дата публикации

ROBOT SYSTEM

Номер: US20130190923A1
Автор: KIMURA Yoshiki
Принадлежит: KABUSHIKI KAISHA YASKAWA DENKI

A robot system includes: a robot including a hand configured to hold a thin plate-shaped workpiece and an arm configured to move the hand; and a robot controller configured to control the robot. The robot controller controls the robot to perform a transfer of the workpiece at a predetermined workpiece transfer position in such a way that the hand is moved in a horizontal direction while being moved in a vertical direction after the hand has reached the workpiece transfer position. 1. A robot system comprising:a robot including a hand configured to hold a thin plate-shaped workpiece and an arm configured to move the hand; anda robot controller configured to control the robot,wherein the robot controller controls the robot to perform a transfer of the workpiece at a predetermined workpiece transfer position in such a way that the hand is moved in a horizontal direction while being moved in a vertical direction after the hand has reached the workpiece transfer position.2. The robot system of claim 1 , wherein claim 1 , after moving the hand in the horizontal direction while moving the hand in the vertical direction from the workpiece transfer position claim 1 , the robot controller retracts the hand in the horizontal direction.3. The robot system of claim 1 , wherein claim 1 , after moving the hand in the horizontal direction while moving the hand in the vertical direction from the workpiece transfer position claim 1 , the robot controller further moves the hand in the vertical direction and then retracts the hand in the horizontal direction.4. The robot system of claim 2 , wherein the robot controller controls the hand to grip the workpiece while retracting the hand in the horizontal direction.5. The robot system of claim 3 , wherein the robot controller controls the hand to grip the workpiece while retracting the hand in the horizontal direction.6. The robot system of claim 4 , wherein claim 4 , when a predetermined time has elapsed after the workpiece is gripped by ...

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Номер записи: 95
25-07-2013 дата публикации

ROBOT SYSTEM

Номер: US20130190924A1
Автор: KIMURA Yoshiki
Принадлежит: KABUSHIKI KAISHA YASKAWA DENKI

A robot system according to the embodiments includes a robot that includes a hand including a gripping mechanism that grips a thin plate-shaped work and an arm that moves the hand, and a robot control apparatus that controls the robot. The robot control apparatus, when causing the robot to transfer the work at a predetermined work transfer position by controlling the robot, performs a presence/absence confirmation of the work by operating the gripping mechanism while causing the hand to retract after the hand reaches the work transfer position. 1. A robot system comprising:a robot that includes a hand including a gripping mechanism that grips a thin plate-shaped work and an arm that moves the hand; anda robot control apparatus that controls the robot, whereinthe robot control apparatus, when causing the robot to transfer the work at a predetermined work transfer position by controlling the robot, performs a presence/absence confirmation of the work by operating the gripping mechanism while causing the hand to retract after the hand reaches the work transfer position.2. The robot system according to claim 1 , wherein the robot control apparatus claim 1 , when causing the robot to perform an operation of gripping the work claim 1 , performs the presence/absence confirmation a plurality of times and determines that the work has dropped when it is confirmed that the work is not present on the hand in second and subsequent presence/absence confirmations.3. The robot system according to claim 2 , wherein the robot control apparatus determines that reception of the work is unsuccessful when it is confirmed that the work is not present on the hand in a first presence/absence confirmation.4. The robot system according to claim 1 , wherein the gripping mechanism includes a pressing unit capable of advancing and retracting with respect to the work placed on the hand and a locking unit provided on a side opposite to the pressing unit with the work therebetween claim 1 , and ...

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Номер записи: 96
01-08-2013 дата публикации

LAWN MOWER ROBOT SYSTEM AND METHOD OF CONTROLLING THE SAME

Номер: US20130192183A1
Автор: CHOI KYUCHUN, Hwang Geunbae, SONG Hyunsup
Принадлежит: LG ELECTRONICS INC.

The present embodiment relates to a lawn mower robot. A lawn mower robot system, comprising: a lawn mower robot disposed with a moving device; a mowing device disposed in the lawn mower robot and mowing lawns; a first communication device disposed in the lawn mower robot and transmitting an inquiry signal for state information; a plurality of boundary display apparatuses, arranged in a lawn presence region, disposed with a second communication device for receiving the inquiry signal for the state information from the first communication device and for transmitting an acknowledge signal for the state information to the first communication device; a controller for recognizing a plurality of absolute coordinates from the lawn presence region based on the acknowledge signal for the state information received from the second communication device and for controlling the mowing device within the limit of the plurality of absolute coordinates. 1. A lawn mower robot system , comprising:a lawn mower robot disposed with a moving device;a mowing device disposed in the lawn mower robot and mowing lawns;a first communication device disposed in the lawn mower robot and transmitting an inquiry signal for state information;a plurality of boundary display apparatuses, arranged in a lawn presence region, disposed with a second communication device for receiving the inquiry signal for the state information from the first communication device and for transmitting an acknowledge signal for the state information to the first communication device; anda controller for recognizing a plurality of absolute coordinates from the lawn presence region based on the acknowledge signal for the state information received from the second communication device and for controlling the mowing device within the limit of the plurality of absolute coordinates.2. The lawn mower robot system according to claim 1 , wherein the first and second communication device use a radio frequency.3. The lawn mower robot ...

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Номер записи: 97
01-08-2013 дата публикации

LAWN MOWER ROBOT AND METHOD OF CONTROLLING THE SAME

Номер: US20130192184A1
Автор: CHOI KYUCHUN, CHONG Chungook, SONG Hyunsup
Принадлежит: LG ELECTRONICS INC.

The present embodiment relates to a lawn mower robot. A lawn mower robot includes a body having a moving device; a mowing device disposed in the body and mowing lawns; a sensor disposed in the body and receiving light signal from the outside; and a controller controlling the moving device and mowing device, wherein, when the sensor senses the light signal, the controller allows the mowing device to be operated, and when the sensor does not sense the light signal, the controller allows the mowing device to be stopped. 1. A lawn mower robot system , comprising:a boundary display apparatus having a signal producing unit to produce light signal; anda lawn mower robot including a moving device, a mowing device for mowing lawns, a sensor for sensing the light signal, and a controller controlling the mowing device,wherein the controller controls the mowing device, depending on whether the sensor senses the light signal.2. The lawn mower robot system according to claim 1 ,wherein, when the sensor senses the light signal, the controller allows the mowing device to be turned on.3. The lawn mower robot system according to claim 2 , wherein claim 2 , when the sensor does not sense the light signal claim 2 , the controller allows the mowing device to be turned off.4. The lawn mower robot system according to claim 1 , wherein the light signal is an infrared ray claim 1 , and the sensor includes an infrared ray sensor for sensing the infrared ray.5. The lawn mower robot system according to claim 4 , wherein the signal producing unit includes a guide section for setting an irradiating limit for the infrared ray.6. A lawn mower robot claim 4 , comprising:a body including a moving device;a mowing device disposed on the body and mowing lawns;a sensor disposed on the body and receiving light signal from the outside; anda controller that controls the moving device and mowing device,wherein, when the sensor senses the light signal, the controller allows the mowing device to be turned on, ...

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Номер записи: 98
01-08-2013 дата публикации

CONVEYING SYSTEM

Номер: US20130195584A1
Автор: FURUICHI Masatoshi, KIMURA Yoshiki, KUSAMA Yoshihiro, MATSUO Tomohiro
Принадлежит: KABUSHIKI KAISHA YASKAWA DENKI

A conveying system according to an embodiment includes a robot and a controller. The controller includes a switching unit. The robot includes an arm unit formed of a hand and a plurality of arms connected rotatably with respect to one another, and a base unit. An arm on a rear end side is connected to the base unit rotatably about a rotation axis, and the hand is rotatably connected to an arm on a front end side. The switching unit switches cylindrical coordinate control for controlling the arm unit such that a trajectory of the hand overlaps with any one of lines radiating from the rotation axis and rectangular coordinate control for controlling the arm unit such that the trajectory of the hand overlaps with none of the lines at a predetermined timing. 1. A conveying system comprising:a robot that includes an arm unit formed of a hand and a plurality of arms connected rotatably with respect to one another, and a base unit, an arm on a rear end side being connected to the base unit rotatably about a rotation axis and the hand being rotatably connected to an arm on a front end side; anda controller that controls a motion of the robot, whereinthe controller comprises a switching unit that switches cylindrical coordinate control for controlling the arm unit such that a trajectory of the hand overlaps with any one of lines radiating from the rotation axis and rectangular coordinate control for controlling the arm unit such that the trajectory of the hand overlaps with none of the lines at a predetermined timing.2. The conveying system according to claim 1 , wherein the conveying system has:a first transfer position that is a transfer position for a workpiece accessible by the hand under the cylindrical coordinate control; anda second transfer position that is a transfer position for a workpiece accessible by the hand under the rectangular coordinate control, andthe switching unit switches, when the hand is moved between the first transfer position and the second ...

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Номер записи: 99
01-08-2013 дата публикации

METHODS FOR MANIPULATING CUTTING ELEMENTS FOR EARTH-BORING DRILL BITS AND TOOLS

Номер: US20130197686A1
Автор: Luce David Keith, Massey Alan J., Parrot Crystal A., Wirth Sean W.
Принадлежит: BAKER HUGHES INCORPORATED

Methods include one or more of robotically positioning a cutting element on an earth-boring tool, using a power-driven device to move a cutting element on an earth-boring tool, and robotically applying a bonding material for attaching a cutting element to an earth-boring tool. Robotic systems are used to robotically position a cutting element on an earth-boring tool. Systems for orienting a cutting element relative to a tool body include a power-driven device for moving a cutting element on or adjacent the tool body. Systems for positioning and orienting a cutting element on an earth-boring tool include such a power-driven device and a robot for carrying a cutting element. Systems for attaching a cutting element to an earth-boring tool include a robot carrying a torch for heating at least one of a cutting element, a tool body, and a bonding material. 1. A method of attaching a cutting element to an earth-boring tool , comprising:robotically positioning at least one cutting element at least partially within a cutting element pocket defined by at least one surface of a body of an earth-boring tool; androbotically applying a bonding material to at least one of the at least one cutting element and the at least one surface of the body of the earth-boring tool defining the cutting element pocket.2. The method of claim 1 , further comprising using a power-driven device to move the at least one cutting element within the cutting element pocket3. The method of claim 1 , wherein robotically applying the bonding material comprises:moving a torch and a device for dispensing bonding material in three-dimensional space using at least one robotic arm;dispensing bonding material from the device for dispensing bonding material onto the at least one of the at least one cutting element and the at least one surface of the body of the earth-boring tool defining the cutting element pocket; andheating the bonding material dispensed from the device for dispensing bonding material using the ...

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Номер записи: 100