УСТРОЙСТВО ДЛЯ ПЕРЕДАЧИ ЗАГОТОВКИ ОТ ПЕРВОГО СТАНКА К ВТОРОМУ СТАНКУ

FIELD: general-purpose presses. SUBSTANCE: device for transfer of workpiece 35 from one press to the other has carrier 18 with leverage 19, whose free load-carrying end 20 carries out linear horizontal movement on both sides of carrier 18. End 20 of leverage 19 is fastened in elongated boom 27, whose longitudinal direction coincides with the linear movement. Boom 27 is furnished with holding device 33,34 corresponding to workpiece 35 and moving along boom 27 by means of an endless belt, which at the ends of the boom passes through rollers 30, 31, and whose lower part is fixed in the holding device, and the upper part in carrier 18. Boom 27 is furnished with a sliding guide and is installed on carrier 18. EFFECT: improved design. 14 cl, 2 dwg 6б5ссо0гс ПЧ ГЭ РОССИЙСКОЕ АГЕНТСТВО ПО ПАТЕНТАМ И ТОВАРНЫМ ЗНАКАМ (19) ВИ "” 2102 239. 13) СЛ 51) М в 30 В 15/30, В 23 @ 41/02, В 25 4 5/04 12) ОПИСАНИЕ ИЗОБРЕТЕНИЯ К ПАТЕНТУ РОССИЙСКОЙ ФЕДЕРАЦИИ (21), (22) Заявка: 93046280/02, 13.12.1991 (30) Приоритет: 14.12.1990 ЗЕ 9004006-4 (46) Дата публикации: 20.01.1998 (56) Ссылки: М/О, заявка, 8902348, кл. В 30 В 15/30, 1989. (86) Заявка РСТ: ЗЕ 91100857 (13.12.91) (71) Заявитель: АБ Вольво (3Е) (72) Изобретатель: Йон-Эрик Лильенгрен[$Е], Иозеф ЦитекЗЕ] (73) Патентообладатель: АБ Вольво ($Е) (54) УСТРОЙСТВО ДЛЯ ПЕРЕДАЧИ ЗАГОТОВКИ ОТ ПЕРВОГО СТАНКА К ВТОРОМУ СТАНКУ (57) Реферат: Устройство для передачи заготовки (35) от одного пресса к другому имеет несущее устройство (18) с рычажной системой (19), чей свободный грузонесущий конец (20) выполняет — горизонтальное — линейное перемещение на обеих сторонах несущего устройства (18). Конец (20) рычажной системы (19) закреплен в удлиненной стреле (27), чье продольное направление совпадает с линейным перемещением. Стрела (27) снабжена удерживающим устройством (33, 34), соответствующим заготовке (35) и перемещающимся вдоль стрелы (27) с помощью бесконечного ремня, который на концах стрелы проходит через ролики (30, 31) и который своей нижней ...

Промышленный робот

Изобретение относится к станкостроению ,в частности, к промышленным работам для различных целевых применений. Цель изобретения - улучшение динамических характеристик путем распределения масс приводов относительно оси балансировки. При включении двигателей 12 и 14 траверсы 7 или стрелы 10 соответственно происходит обкатывание зубчатых колес ведомых звеньев 33 и 34 по зубчатым колесам 31 или 32. При этом происходит качание траверсы 7 относительно стойки 1 или стрелы 10 относительно траверсы 7. Так как двигатели 12 и 14 расположены на траверсе 7 с противоположных сторон относительно стрелы 10, то происходит балансировка элементов конструкции - траверсы, стрелы, руки. 10 з.п. ф-лы, 6 ил.

ROBOT CARRIER STRUCTURE WITH PORTAL WAGON MOVABLE ON RAILS

Vorrichtung und Verfahren zur Instandhaltung einer Oberleitungsanlage eines Gleises

Eine Vorrichtung (10) zur Instandhaltung einer Oberleitungsanlage (2) eines Gleises umfasst eine Handhabungseinrichtung (11) und eine Verlagerungseinrichtung (12). Die Verlagerungseinrichtung (12) dient zum Verlagern der Handhabungseinrichtung (11) zwischen einer Transportposition und einer Arbeitsposition. In der Arbeitsposition erreicht die Handhabungseinrichtung (11) die Oberleitungsanlage (2) und kann mittels eines Werkzeugs (W) Instandhaltungsarbeiten durchführen. Die Vorrichtung (10) ermöglicht somit eine einfache, effiziente und sichere Instandhaltung der Oberleitungsanlage (2).

REMOTELY OPERABLE ARRANGEMENT FOR MOUNTING AND POSITIONING REMOTE HANDLING APPARATUS

Method of and apparatus for carrying out repair, maintenance or testing of apparatus, components and the like in hot cells of nuclear fuel reprocessing plants

A method and apparatus are disclosed for carrying out repair, maintenance or testing of apparatus, components and the like in hot cells, more particularly hot cells of reprocessing plants for spent nuclear fuels. The position of damage zones is detected and ascertained with the use of coordinates. Replacement parts and tools are moved into the maintenance and work position in dependence upon the coordinate data, and the repair or maintenance work is automatically carried out under computer control, with remote operation and remote monitoring. For carrying out the work, computer-controlled handling machines and manipulators are used which are adapted to travel in controllable manner in the hot cell. The monitoring and detecting, using coordinates, of damage zones and defects may be carried out with the use of cameras and/or leak detectors.

CARRYING DEVICE FOR ROBOTS WITH PORTAL CARS ON RAILS MOBILE.

PORTAL CONSTRUCTION FOR ROBOTS

METHOD AND APPARATUS FOR POSITIONING AUTOMATED PROCESSING SYSTEMS

Apparatuses and methods for positioning an automated processing system, coupled with a track, are disclosed. The apparatus includes an automated chassis having drive, steering, elevation, and track-gripping components actuated by an onboard controller to permit the chassis to carry a processing system together with its track from one location to another about a work surface.

Gelenkeinrichtung für ferngesteuerte Manipulatoren

Ferngesteuerter Manipulator

Télémanipulateur

Télémanipulateur pour manipulation à l'intérieur d'une enceinte étanche

Vorrichtung zum Steuern eines Manipulators

Appareil de commande d'un bras de manipulation notamment pour réacteur nucléaire

Télémanipulateur pour manipulation à l'intérieur d'une enceinte étanche

МЕХАНІЗМ ДЛЯ ПІДЙОМНО-ТРАНСПОРТНИХ ОПЕРАЦІЙ

Механізм для підйомно-транспортних операцій містить портал з двома каретками для переміщення по рейковому шляху, на якому встановлено візок з маніпулятором з можливістю переміщення в напрямку, перпендикулярному рейковим напрямним. Портал опертий на дві пари шарнірних опор.

System of conveying by a mobile robot and the device for triggering pyrotechnical means

Rail folding type robot

Laser cutting machine capable of automatically adjusting position of charging belt

Heavy-load truss robot

Large-scale computer Lab database inspection device

With the lifting mechanism of the robot

Three-degree-of-freedom of translation string and compound connection type conveying mechanism

Machine of demolition, in particular for furnace of production of steel

DISPOSITIF DE SUPPORT POUVANT ETRE TELECOMMANDE, SERVANT A RECEVOIR ET A POSITIONNER DES APPAREILS DE TELEMANIPULATION

L'INVENTION CONCERNE UN DISPOSITIF DE SUPPORT POUVANT ETRE TELECOMMANDE, SERVANT A RECEVOIR ET A POSITIONNER DES APPAREILS DE TELEMANIPULATION. CE DISPOSITIF DE POSITIONNEMENT ET DE SUPPORT 23 PEUT ETRE ACCROCHE A UNE STRUCTURE DE SUPPORT 21 TRANSPORTABLE ET COMPREND UN CADRE DE BASE EN FORME DE TABLE 24 DONT LES PIEDS 28 SONT HORIZONTAUX A L'ETAT ACCROCHE A LA STRUCTURE 21 ET DONT LES EXTREMITES PRENNENT APPUI CONTRE CETTE STRUCTURE, ET UN SUPPORT DEPLACABLE VERTICALEMENT SOUS LA FORME D'UN CHARIOT 31 DEPLACABLE SUR LA FACE EXTERIEURE DU CADRE 24 ET PORTANT UN AUTRE CHARIOT 35 DEPLACABLE TRANSVERSALEMENT ET RECEVANT DES APPAREILS DE TELEMANIPULATION. APPLICATION NOTAMMENT AUX INSTALLATIONS DE RETRAITEMENT DE COMBUSTIBLES NUCLEAIRES.

DISPOSITIF DE COMMANDE MECANIQUE PAR CABLE DU DEPLACEMENT D'UN OBJET DANS L'ESPACE

Ce dispositif est du type comprenant : un châssis 1 ; un mobile 3 ; un second mobile 30 ; un troisième mobile 32 ; un ensemble de poulies mobiles ; une pluralité de câbles s'appuyant sur lesdites poulies fixées sur l'objet à déplacer ; des actionneurs destinés à entraîner l'objet par l'intermédiaire des câbles. Caractérisé : en ce que tous les câbles forment une boucle fermée et ont une longueur constante ; il existe au plus un câble par degré de liberté du déplacement ; la direction des brins de câble tendus entre deux poulies susceptibles de se déplacer l'une par rapport à l'autre, est parallèle à l'une des directions principales ; le dispositif est muni d'une structure animée 33 de mouvements propres, tel qu'un bras manipulateur. (CF DESSIN DANS BOPI) ...

Remote manipulator with magnetic transmission for handling inside tight enclosures

PROCEDE POUR L'ENTRETIEN DE DISPOSITIFS ET DE PIECES DE CONSTRUCTION DANS DES LABORATOIRES DE HAUTE ACTIVITE, EN PARTICULIER D'INSTALLATIONS DE RETRAITEMENT DE COMBUSTIBLES NUCLEAIRES EPUISES, ET DISPOSITIF POUR LA MISE EN OEUVRE DU PROCEDE

LE PROCEDE SERT A L'ENTRETIEN DE DISPOSITIFS ET DE PIECES DE CONSTRUCTION DANS DES LABORATOIRES DE HAUTE ACTIVITE, EN PARTICULIER D'INSTALLATIONS DE RETRAITEMENT DE COMBUSTIBLES NUCLEAIRES EPUISES. UN DISPOSITIF EST UTILISE POUR SA MISE EN OEUVRE. LA POSITION DES ENDROITS DETERIORES EST DETERMINEE PAR DES COORDONNEES. DES PIECES DE RECHANGE ET DES OUTILS SONT AMENES DANS LA POSITION DE TRAVAIL EN FONCTION DES DONNEES DES COORDONNEES, LA REPARATION OU L'ENTRETIEN ETANT TELECOMMANDE OU TELESURVEILLE PAR ORDINATEUR ET EXECUTE AUTOMATIQUEMENT. DES MANIPULATEURS SONT UTILISES POUR L'EXECUTION DES TRAVAUX.

DEVICE OF SUPPORT WHICH CAN BE REMOTE CONTROL, BEING USED TO RECEIVE AND POSITION APPARATUSES OF REMOTE HANDLING

TV monitor and control system - has central console with microprogramme computer, TV camera and screen and modem system

Carriage for gantry crane, has connection units between lateral ends of central girder and mounting brackets to move brackets with each other, where one unit has U-shaped parts, rods and washer to move girder with respect to bracket

Le chariot est destiné à être placé transversalement entre des poutres latérales sensiblement parallèles entre elles, et comprend : - un étrier (5, 6) à chacune de ses parties extrêmes latérales, chacun étant apte à coopérer avec une poutre latérale pour permettre le déplacement du chariot selon la direction longitudinale (x) des poutres latérales ; - une poutre centrale placée entre les étriers ; - des premiers moyens de liaison (54, 29, 56c, 15c) agencés entre une première extrémité latérale de la poutre centrale et le premier étrier et des deuxièmes moyens de liaison (58, 56a, 15a, 56b, 15b) agencés entre une deuxième extrémité latérale de la poutre centrale et le deuxième étrier. Les moyens de liaison sont agencés pour permettre le déplacement d'un étrier par rapport à l'autre, selon six degrés de liberté, avec une amplitude limitée.

DISPOSITIVO POSICIONADOR E PORTADOR,DE COMANDO A DISTANCIA,PARA RECEBER E POSICIONAR APARELHOS DE OPERACAO A DISTANCIA

ANORDNING INNEFATTANDE ETT SYSTEM FOR RORELSEUTOVNING, BEHANDLING OCH/ELLER FRAMSTELLNING

CARTESIAN COORDINATE TYPE ROBOT FOR TRANSFERRING OBJECTS

A cartesian robot is described for transferring objects successively from a first horizontal surface, the robot comprising: a support beam horizontally (4) disposed above said surfaces, at least one travelling beam (5) extending from support beam (4) for movement there along, the at least one travelling beam (5) carrying a magnetic track on which is mounted by non-contact bearings at least one shuttle (7) for movement along said track and gripping means (9) mounted on said shuttle (7), operating means for operating said gripping means (9) to grasp an object on said first surface and control means to cause said shuttle and travelling beam to move to a desired position above the second surface and cause the gripping means to release to transfer said object.

System for performing remotely-controlled manual-like operations in large-area cell of a nuclear facility

The invention is directed to remotely-controlled manipulator carrier systems for use in maintaining and servicing process equipment housed in large-area cells affected by radioactivity wherein industrial processes are conducted. The cells are part of a nuclear facility for reprocessing irradiated nuclear fuel materials. The process equipment is arranged along mutually adjacent walls of the cell and so defines a canyon-like passageway extending in the direction of the longitudinal axis of the cell. The system includes a first overhead bridge crane having a trolley movable thereon in a direction transverse to said longitudinal axis. The trolley includes a hoist for lowering and raising a hook for engaging and moving a component of the process equipment in a first vertical plane transverse to said axis. A second overhead bridge crane is disposed beneath the first bridge crane. Tracks are provided for guiding the bridge cranes in the enclosure in respective horizontal planes and in the direction ...

Robot carrier structure

A robot carrier structure constituted by a portal wagon movable on rails and laterially supported by a pair of carriages each comprising a pair of wheels longitudinally coupled by motion transmission means actuated in synchronism by an electric motor. Further the two electric motors of the pair of carriages are so connected as to constitute an electric axis. Each wheel has a structure adapted to ensure a high adherence to the rail, particularly due to the provision of a pair of rings of elastomeric material engaging the rolling surface of the rail.

Gantry robot system

A gantry robot system includes a bridge assembly and a carriage assembly. The bridge assembly and/or a mounting plate supported by the carriage assembly can be rotationally skewed.

AUTOMATED FASTENING SYSTEM

A robotic fastening system is operative to autonomously fasten a first subassembly to a second subassembly at a plurality of fastening sites. A set of actuators arranged to move a fastening tool to the various ones of the fastening sites. A proximity sensor is fixed proximate the fastening tool and movable with the fastening tool. A controller circuit is operative to individually control each of the set of actuators and to read an output of the proximity sensor, where the controller circuit is programmed to execute a fastening-tool movement routine to move the fastening tool to a first one of the fastening sites. 1. A mesh-fastening system comprising: the materials receiving zone includes a receiving surface arranged to receive a frame subassembly and a mesh subassembly that is not fastened to the frame subassembly while a second frame subassembly and a second mesh subassembly are in the working zone; and', 'the working zone includes a robotic fastening system operative to autonomously fasten the mesh subassembly to the frame subassembly at a plurality of fastening sites, the working zone further including a retractable boundary structure arranged to selectively permit or prevent movement of the frame subassembly along a forward direction;, 'a materials receiving zone and a working zone adjacent to the materials receiving zone, wherein cause the first pushing surface to engage with the frame subassembly and translate the frame subassembly and mesh subassembly into the working zone along the forward direction;', 'cause the second pushing surface to engage with the second frame subassembly and translate the second frame subassembly and the second mesh subassembly out from the working zone along the forward direction while the retractable boundary structure is in a retracted position; and', 'maintain a biasing force on the frame subassembly along the forward direction while the frame subassembly is in the working zone and the retractable boundary structure is in an ...

Method and system for moving cable-mounted objects using robotic mounts

A cable-mounted object, such as a camera, is movable using one or more robotic cable mounts. The robotic cable mounts have a head which support a first portion of the cable. The head is movable in three-dimensional space, such as linearly along three orthogonal axis (or combinations thereof). Changes in the position of the head of the robotic mount change the position of the cable, thus changing the position of the cable-mounted object. In one embodiment, two ends of cable may be connected to first and second robotic cable mounts, or an object might be mounted to multiple cables, each of which is connected to a different robotic mount.

MACHINE FOR THE HANDLING OF OBJECT-HOLDING CONTAINERS

The present invention relates to a machine (10) for the handling of object-holding baskets, comprising: a carrying carriage (11), for horizontal movement, a container-holding group (13), comprising a central body (16), connected to the carrying carriage (11), which central body (16) is configured to carry at least two gripping groups (18, 19) for blocking corresponding object-holding containers (14, 15), first movement means (20) configured for the movement of the carrying carriage (11) with respect to a support structure, second movement means (21) configured to raise and lower the container-holding group (13) with respect to said carrying carriage (11), first rotation means (22) configured for the rotation of the container-holding group (13) with respect to the carrying carriage (11) around a first rotation axis (X1), second rotation means (23) configured for the rotation of each gripping group (18, 19) around a corresponding second own rotation axis (X2, X3), third rotation means (24 ...

X-Y FINE ADJUSTMENT POSITIONING DEVICE

PURPOSE: To make highly accurate, fine positioning performable even under the inertial force action by highly adjustable speeds, by setting up each piezo- actuator in position between a movable base and a fixed based holding the former vertically in between, in X and Y directions. CONSTITUTION: A movable base 20 is set up as held vertically in between by fixed bases 21, and mounted by a ball 22 to be locked to a lower fixed base 21a. At an interval between the fixed base 21 and the movable base 20, there are provided with piezo-actuators 23 interposingly to be attached to the side of the fixed base 21. These piezo-actuators 23 are set up in both X and Y direction, while these piezo-actuator between top and bottom are set up as opposed face-to-face. The piezo-actuator 23 consists of piezo-elements 23A and 23C minutely moving in a horizontal direction and other piezo-elements 23B and 23D minutely moving in a vertical direction. In addition, the movable base 20 is connected to a hand 24 of ...

ОБРАБАТЫВАЮЩАЯ УСТАНОВКА ДЛЯ СТРУКТУРНЫХ КОМПОНЕНТОВ САМОЛЕТА

Изобретение относится к изготовлению летательных аппаратов. Обрабатывающая установка для структурных компонентов самолета с обрабатывающей станцией имеет зону обработки для обработки структурного компонента (2) самолета и зону сервиса для проведения сервисных работ. Обрабатывающая станция включает в себя зажимную раму и обрабатывающий модуль. Обрабатывающий модуль содержит верхний инструментальный модуль (11) с верхним инструментом (13) и нижний инструментальный модуль (14) с нижним инструментом (15). В зоне сервиса расположена сервисная платформа (16). Верхний инструмент (13) и нижний инструмент (15) выполнены с возможностью перемещения в по меньшей мере одно положение сервиса. В положениях сервиса оба инструмента (13, 15) доступны с общей сервисной платформы (16), позиционированной в плоскости сервиса. Достигается упрощение сервисных работ. 2 н. и 13 з.п. ф-лы, 7 ил.

ТРАНСПОРТИРУЮЩЕЕ УСТРОЙСТВО ДЛЯ ПЕРЕМЕЩЕНИЯ ИЗДЕЛИЙ В ТРЕХ НАПРАВЛЕНИЯХ

Использование: подъем и перенос изделий. Сущность изобретения: транспортирующее устройство для перемещения изделий в трех направлениях содержит балки, которые выполнены коробчатыми. Внутри балок проходят соответственно тяговые элементы, прикрепленные к кареткам с помощью натяжных средств. Транспортирующее устройство содержит также возвратные шкивы, установленные на концах балок и образующие пары, между шкивами которых находятся каретки. Тяговые элементы проходят от кареток вокруг возвратных шкивов и обратно к соответствующей каретке, образуя замкнутую петлю, включающую тяговый элемент и соответствующую каретку. Для перемещения тягового элемента и через него соответствующей каретки имеется привод. 12 з.п.ф-лы, 5 ил.

Автоматизированный участок механической обработки изделий с центральным отверстием

АВТОМАТИЗИРОВАННЫЙ УЧАСТОК МЕХАНИЧЕСКОЙ ОБРАБОТКИ ИЗДЕЛИЙ С ЦЕНТРАЛЬНЫМ ОТВЕРСТИЕМ , содержащий металлорежущие станки, кран-манипул тор с тележкой, оснащенной захватным органом, конвейер с установленными на нем контейнерами, выполненными в виде сварной рамы со стойками и закрепленными на них полками дл  укладки изделий, и кантователь, отличающийс  тем, что, с целью расширени  технологических возможностей, тележка крана-манипул тора снабжена смонтированной на ее основании полой трубой с закрепленными на ней роликами П- и V-образной формы, и установленной с возможностью перемещени  внутри полой трубы колонной с направл ющими дл  роликов, а захватный орган консольно закреплен на нижнем торце колонны, причем полки дл  укладки изделий в контейнере выполнены в виде установленных с возможностью поворота в вертикальной плоскости двуплечих рычагов, одни плечи которых имеют ложементы дл  укладки изделий, а другие, кроме нижних, снабжены противовесами, i установленными с возможностью взаимодействи  с нижерасположенными двуплечи (Л ми рычагами. А и со о AUTOMATED PLOT OF MECHANICAL PROCESSING OF PRODUCTS WITH CENTRAL HOLE, containing metal-cutting machines, crane-manipulator with a trolley equipped with a gripping body, a conveyor with containers installed on it, made in the form of a welded frame with racks and fixed on them shelves for warehousing. characterized in that, in order to expand technological capabilities, the crane-manipulator carriage is equipped with a hollow tube mounted on its base with P- and V-shaped rollers fixed on it form, and mounted with the possibility of movement inside the hollow pipe column with guides for rollers, and the gripping body is cantilever mounted on the bottom end of the column, with shelves for placing products in the container made in the form of two shoulders installed with the possibility of rotation in the vertical plane, only shoulders which have lodgments for stacking products, while others, except for the lower ones, are provided ...

VORRICHTUNG ZUM INSTANDHALTUNGSKORRISIONSSCHUTZ, INSBESONDERE AN FLAECHEN GROSSER DIMENSIONEN

Clean room handling system for semiconductor wafers - has two parallel rotational axes and cooperating grippers holding handled component in clean air stream

The handling system has a gripper with cooperating gripper plates (8', 9'), supported by a pair of carrier rods (8, 9), with two axes of movement (2, 3) lying outside the handling zone in which the handled parts are surrounded by a clean air flow stream. Pref. the parallel rotational axes (2, 3) are joined together by a support arm (7), one of the axes (3) being aligned with the direction of movement of the gripper plates (8', 9'). Pref. a coordinate linear drive (5) is provided. USE/ADVANTAGE - Forming structures or wafers as for chip prodn., in semiconductor industry and/or for micro-mechanical purposes. Easily matched to multiple tasks without over-qualification or demanding too much space.

MASCHINE ZUM AUSRAEUMEN VON TIEFOEFEN

Device for conveying sheet-metal parts in press lines

The invention relates to a device for conveying sheet-metal parts in press lines. During the transfer of the parts, an articulated-arm base 54 slides between the presses 20. Attached to the base is a movable articulated arm 33 which is equipped with a movable holding frame 37 for sheet-metal parts 39, which is attached in articulated fashion to a supporting tube 38 and conveys the parts 39 from press 20 to press 20. If a part 39 has to be turned over, a second articulated arm 33 is attached to the articulated-arm base 54 and this arm takes over the part 39 from the first articulated arm 33 between the presses 20, thus turning it over. The curve 60 along which the part 39 is conveyed, leaving aside the process of lifting or lowering the part into and out of a press 20, runs absolutely straight since the curve is compensated by compensating movements of the articulated-arm base 54. The movable parts are operated by controlled drives, some of them by crossed toothed belts, spindles or gear ...

Demolition Machine for Pit

... 1,164,172. Percussive tools. L. A. GRANT. 2 Jan., 1967 [3 Jan., 1966; 22 Sept., 1966], No. 183/67. Heading B4C. [Also in Divisions E1 and F4] An apparatus for supporting a demolition tool such as a percussive tool 32, e.g., a drill, chisel, hammer or a scoop, backhoe or bracket comprises a carriage 18 having a rotatably mounted extensible boom assembly 22 for carrying the pivotally mounted tool. The carriage 18 is provided with wheels 82 arranged to run on rails 12, 14 positioned above a pit 16, e.g., a soaking pit used in a steel making process, the tool being used to remove hard debris accumulated on the sides and bottom of the pit: the wheels are mounted on shafts 20 axially adjustable in bearings 72, 74. The boom 22 is pivoted on a bracket 162 secured to a turntable 24 which is rotatable in bearing 98, Fig. 3, and driven by a motor 124, via gears 118, 122. The boom consists of an inner member 28 telescoped within an outer member 22, relative movement between the two being effected by ...

PERFORMING OPERATIONS IN CELL OF NUCLEAR FACILITY

An apparatus for lifting up remote handling equipment

For the mounting of remote control apparatuses and loads in spaces which cannot be traversed, as for example, hot cells in industrial nuclear plants, an apparatus which is able to mount great loads and also manipulating apparatuses in such manner that only small forces and moments are supported in the resting position and in manipulation. is provided which consists essentially of a crane bridge having a crane carriage thereon and on a shaft there is mounted a crane hook roll. This shaft is connected with the crane bridge by cables and one or more telescopic arms connected to one or more travelling carriages.

AN APPARATUS FOR LIFTING UP REMOTE HANDLING EQUIPMENT

Device to clearing away cinder and other deposits of the ground and the walls of a pit, in particular a soaking pit

DEVICE FOR HANDLING AND/OR EXECUTION OF PHASES OF OPERATION AT OBJECTS

A DEVICE FOR TRANSFERRING A WORK PIECE FROM A FIRST MACHINE TO A SECOND MACHINE

Hydraulic stepping type support mounting machine

Manipulator

Unloading mechanical arm with mechanical synchronization mechanism

Intermediate transmission mechanical arm

Annular gantry type robot moving system

Single-arm autonomous mobile carrying robot

SYSTEM TO CARRY OUT OPERATIONS TELECOMMANDEES IN AN INSTALLATION OF NUCLEAR REPROCESSING OF FUEL

Mechanism of actuation for flexible arms of handling and enroulables of tubular form

AUTOMATIC MANIPULATOR

MANIPULATEUR ET SUPPORT D'ORIENTATION MOTORISE POUR UN TEL MANIPULATEUR

L'INVENTION CONCERNE UN MANIPULATEUR DU TYPE COMPRENANT UN ENSEMBLE PORTEUR 10 ET AU MOINS UN BRAS ESCLAVE 12. LE OU LES BRAS ESCLAVES 12, 12 SONT RELIES A L'ENSEMBLE PORTEUR 10 PAR UN SUPPORT D'ORIENTATION MOTORISE 14 COMPRENANT UN CORPS 24 TOURNANT AUTOUR D'UN AXE VERTICAL AA ET UN OU DEUX ORGANES SUPPORTS 34, 34 MONTES PIVOTANTS AUTOUR D'UN AXE HORIZONTAL BB ET DISPOSES DE PART ET D'AUTRE DU CORPS POUR SUPPORTER LES BRAS ESCLAVES PAR DES DISPOSITIFS DE FIXATION 38, 38 DEMONTABLES A DISTANCE; DES CAMERAS DE TELEVISION 40, 40 SONT EGALEMENT MONTEES SUR LES ORGANES SUPPORTS, ET LES CABLES D'ALIMENTATION ET DE TRANSMISSION PASSENT SUR AU MOINS UNE POULIE 30, 30 SOLIDAIRE DU CORPS 24 ET D'AXE CONFONDU AVEC L'AXE AA APPLICATION A L'EXECUTION DE MANIPULATIONS PRECISES DANS DES ZONES DIFFICILEMENT ACCESSIBLES.

MANIPULATOR AND SUPPORT Of ORIENTATION MOTORIZE FOR SUCH a MANIPULATOR

건물의 외벽을 크리닝하는 시스템 및 방법

... 이 솔루션은 건물의 외벽을 크리닝 및 워싱하기 위한 것으로, 미니-곤돌라 내부에 위치되는 제어 모터를 가지는 풀리 시스템에 의해 들어 올려지는 미니-곤돌라 상에 장착되는 경량의 6 축 로봇 암을 채택하고, 반면에 루프-탑 엔드에서 풀리 시스템 상에 위치되는 다른 모터 세트는 미니-곤돌라가 건물의 루프-탑 상의 트윈-레일 세트 상에서 옆으로 횡단하도록 구동시킨다. 선형 액추에이터를 통해 미니곤돌라 상에 장착되는 4 개의 진공 석션 컵은 미니-곤돌라를 벽에 고정시키기 위해 사용된다. 각각의 선형 액추에이터는 미니-곤돌라와 크리닝될 벽 사이의 거리를 측정하고 관리하는 3 개의 초음파 거리 센서를 가진다. 곤돌라가 제 위치에 놓이면, 로봇 암은 활성화되어 크리닝 프로세스를 시작할 것이다.

CASCADED SELF-SIMILAR ROBOTIC ASSEMBLIES

A robotic system with an arm assembly that includes: a pedestal, a first member operatively coupled to an opposing end of the pedestal, and a second member operatively coupled to an opposing end of the first member. The robotic system further includes a joint operatively coupled to an opposing end of the second member and at least one phalange assembly operatively coupled to the joint. The at least one phalange assembly includes: a third member operatively coupled to the joint, a fourth member operatively coupled to an opposing end of the third member, and a fifth member operatively coupled to an opposing end of the fourth member. The robotic system further includes an interchangeable manipulator is operatively coupled to the opposing end of the fifth member.

ADDITIVE MANUFACTURING APPARATUS

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

MACHINE FOR THE MACHINING OF RAILWAY WAGONS

ZNO:ZN PHOSPHOR EXCITABLE BY LOW-VELOCITY ELECTRON BEAM

PURPOSE: To prepare the title phosphor which exhibits a high luminous intensity when excited by a low-velocity electron beam. CONSTITUTION: The title phosphor is prepd. by depositing at least one substance selected from the group consisting of silica, zinc oxide, and alumina on the surface of a metallic zinc particle having a mean diameter of 1-20μm and depositing the resulting surface-treated metallic zinc particles on the surface of a ZnO:Zn phosphor particle in an amt. of the zinc particles of 0.001-7%. Silica, etc., deposited on the surface of the zinc particle prevent the oxidation of the particles, thus activating Zn at the surface of the phosphor particle effectively. Thus, the concn. of luminous center on the surface of the phosphor particle increases, resulting in an increase in luminous intensity when excited by a low-velocity electron beam. COPYRIGHT: (C)1993,JPO&Japio ...

Манипулятор кранового типа

Полезная модель относится к подъемно-транспортному машиностроению, а именно к манипуляторам с ручным управлением, предназначенным для механизации работ, связанных с погрузочно-разгрузочными операциями в мелкосерийном производстве. Система перемещений груза с гибкими механическими передачами содержит электромеханический привод механизма вертикального перемещения груза с канатным исполнительным механизмом, систему горизонтальных перемещений груза и систему поворота моста вокруг центральной оси, выполненные при использовании металлических рельсовых направляющих. Технический результат заключается в реализации конструкции манипулятора кранового типа, который осуществляет движение в вертикальной и горизонтальной плоскостях, а также поворот вокруг центральной оси манипулятора. Механизм перемещений груза с гибкими механическими передачами содержит электромеханический привод системы вертикальных перемещений груза, систему горизонтальных перемещений груза и систему поворота моста вокруг центральной ...

ПОРТАЛЬНЫЙ СВАРОЧНЫЙ РОБОТ

Портальный сварочный робот, имеющий возможность перемещения по рельсовому пути, содержащий тележку, имеющую возможность перемещения по направляющим портала, манипулятор, расположенный на тележке, и систему программного управления, отличающийся тем, что в манипуляторе установлена горелка для дуговой сварки, а на кронштейне, установленном на подъемной части тележки, смонтировано устройство очистки сопла горелки, причем оптимальная траектория перемещения манипулятором горелки при выводе ее на зачистку и использование минимального числа степеней подвижности манипулятора обеспечиваются расположением кронштейна и системой программного управления.

ПОРТАЛЬНЫЙ РОБОТ БЕЛЯЕВА Н.П.

Использование: роботостроение. Сущность изобретения: портальный робот, содержащий рельсовый путь, портал, жестко связанный с двумя каретками. Каждая из кареток расположена на соответствующем рельсе и имеет две роликовые опоры. Робот содержит, по крайней мере одну тележку с манипулятором, расположенную на портале с возможностью перемещения в направлении, перпендикулярном рельсовому пути. Имеются электроприводы кареток, зубчатые рейки, прикрепленные к рельсам, две группы направляющих элементов, размещенных на одной из кареток спереди и сзади. Робот имеет систему программного управления. В каждой паре направляющих элементов один из роликов имеет упругий элемент, прижимающий ролик к боковой поверхности рельса. Соответствующие датчики, связанные с системой программного управления, измеряют деформацию упругих элементов. 12 ил.

Устройство для передачи груза

Крановый манипулятор

Vorrichtung zur Manipulation von Gegenständen

Vorrichtung für die Manipulation von Gegenständen, bei der ein mehrachsiger Industrieroboter auf einer Verfahreinheit angeordnet ist, dadurch gekennzeichnet, dass die Verfahreinheit (1) mit einer Führung an einer Seite an einer Führungseinheit (5) für eine Bewegung geführt ist und an der gegenüberliegenden Seite mindestens ein in einem Abstand zur Führungseinheit (5) angeordnetes Laufrad (13) an der Verfahreinheit (1) angebracht ist; und an der Verfahreinheit (1) eine Antriebseinheit (6) vorhanden ist, die an der Führungseinheit (5) angreift oder das mindestens eine Laufrad (13) antreibt, wobei an der Verfahreinheit (1) ein Positionssensor (6) zur Bestimmung der Position der Verfahreinheit (1) entlang der Führungseinheit (5) vorhanden ist.

MODULAR, LOW COST, PROGRAMMABLE ASSEMBLY SYSTEM

Driven pivotal joint for manipulators

... 880,153. Handling radioactive materials. GENERAL MILLS Inc. Sept. 8, 1959 [Sept. 19, 1958], No. 30682/59. Class 39 (4). [Also in Group XXV] A driven joint 10 of a remote control manipulator 11 enabling an upper arm 18 to be raised or lowered on a main frame 23 about the joint axis comprises a motor 24 mounted on the frame 23 and driving a gear 37 through a pinion 36. Overload slipping clutch plates 38, 39 engage opposite faces of the gear 37 under pressure of a spring device 51, the plate 38 being secured to a drive shaft 40 extending through a bore 41 in a driven shaft 27. A sun gear 43 on the shaft 40 drives gear portions 45b of planetary gears 45 mounted on axis 46 on a rotatable cage 44. The gear portions 45b also engage a fixed ring gear 47 whereas planetary gear portions 45a, which have a slightly smaller diameter than the portions 45b, engage a ring gear 48. This difference in diameter causes the gear 48 to be driven at a very low speed, the rotation of the gear being transmitted ...

INDUSTRIAL ROBOT

INDUSTRIAL ROBOT FOR DIFFERENT TARGETED APPLICATIONS.

Robot

ARRANGEMENT COMPRISING A SYSTEM PROVIDING MOVEMENT, PROCESSING AND/OR PRODUCTION

... 28 In a system for the performance of plurality of functions each of the functions is allocated its own function control member comprising a microprocessor with the associated peripheral equipment, and one or more actuating devices. Each control member is capable of providing the control for functions of two or more kinds, and the different control members are mutually interchangeable. The control members are connected in one or more first wiring loops (40), each of which is connected to a main computer. The signal transmission in the first loop is performed digitally and in series. The transmission of the signals includes first signals emanating from a basic or operative program in the main computer, said first signal are transmitted during a start-up phase for the system and comprising for each control member information in respect of its adjustment in relation to a function control which is applicable to the type of function and/or the variation in the type of function effected by the ...

FORMWORK FOR PRODUCING CONCRETE TUBBING IN A TUNNEL LINING SYSTEM

The invention relates to formwork for producing concrete tubbing (500) for a tunnel lining system, with a concrete tub to receive a volume of concrete required to produce the tubbing and, if necessary, to receive the intended reinforcement for the concrete tubbing (500), wherein the concrete tub has at least one base and walls (14, 15) on the base adapted to the mould, wherein at least one wall is arranged detachably from the base and can be pivoted relative to the base between a closed position and an opened position. According to the invention, the formwork has at least one drive system for pivoting the at least one wall between the open and the closed position and for holding same in the relevant position, and the drive system has at least one actuator for pivoting the at least one wall between the open and the closed position.

SELF-DOCKING RAIL ASSEMBLY

A rail assembly (10) for linearly displacing a first object (12) relative to a second object (14) and being carryable by the first object (12) includes a rail member (16) for connection with the first object (12), and a guiding mechanism (20) for allowing self-docking thereof with the second object (14). The rail assembly (10), upon at least one external force (F, P) being applied thereon, is displaceable between a stowed configuration (30) in which the rail assembly (10) is in a stowed position relative to the first object (12) and fully carryable thereby, and a fully deployed configuration (36) in which the rail assembly (10) is fully docked onto the second object (14) for fully supporting the first object (12).

IMD sheet automated mold loading mechanical arm

Hybrid industrial robot

Multi-degree-of-freedom rotary mechanical claw clamping device based on cross sliding table

MANIPULATOR AND SUPPORT Of ORIENTATION MOTORIZE FOR SUCH a MANIPULATOR

Remote manipulator

PROCEEDED FOR the MAINTENANCE OF DEVICES AND PARTS OF CONSTRUCTION IN HOT LABORATORIES, In particular Of INSTALLATIONS OF REPROCESSING OF NUCLEAR FUELS EXHAUST, AND DEVICE FOR the IMPLEMENTATION OF the PROCESS

Process and apparatus of remote control

Joint of swivelling for manipulator

SYSTEM FOR PERFORMING OPERATIONS OF LARGE OBJECTS, IN PARTICULAR FOR PAINTING AN AIRCRAFT

Robot

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.

ENHANCED AUTOMATED FOOD MAKING APPARATUS

A method for operating an automated food making apparatus having a motor, actuator arm, and an apparatus. The apparatus may be a paddle with flexible fins. The method rotates the paddle with a pin-shaft mechanism to dispense an ingredient placed in a canister, controls the motor automatically based on weight sensor readings, and locates a position of the actuator arm with position sensors. The same motor dispenses ingredients from a plurality of canisters. The method may have a plurality of paddle rotation and weight measurement steps until a target weight is reached. The plurality of paddle rotation steps may be unidirectional or bidirectional paddle rotation. The paddle may be rotated according to one or more paddle rotation algorithms, an error recovery algorithm, or different algorithms based on the amounts of ingredients remaining in the canister. The paddle may be rocked until the target weight is achieved. 120-. (canceled)21. An automated food making apparatus , comprising:a canister; anda shuffler,wherein the canister is configured to store and dispense ingredients, and wherein the shuffler is configured to push the ingredients.22. The automated food making apparatus of claim 21 , wherein the canister further comprises a paddle configured to rotate claim 21 , wherein a paddle is designed to come in contact with the shuffler when the paddle rotates.23. The automated food making apparatus of claim 21 , wherein the shuffler is placed on a side of the canister.24. The automated food making apparatus of claim 21 , wherein an end of the shuffler has a coating material.25. The automated food making apparatus of claim 21 , further comprising:a second shuffler.26. The automated food making apparatus of claim 21 , further comprising:a gravity fed mechanism configured to dispense the ingredients.27. The automated food making apparatus of claim 26 , wherein the shuffler is configured to assist the gravity fed mechanism claim 26 , wherein the shuffler pushes the ...

Systems and methods for transporting containers with a vehicle

Among other things, a vehicle for transporting containers is disclosed. The vehicle can include a base, a rack, and at least one container. The base can include a platform, wheels, and a motor for driving one or more of the wheels. The rack can be mounted to the platform. The rack can include at least one rail. The at least one rail can include a channel defined therein and an end coupling for linking the at least one rail with an external rail. The at least one container can be configured to connect with the at least one rail and include a connection assembly. At least a portion of the connection assembly can be moveably disposed in the channel.

ROBOT

A robot includes a body, a first arm, and a second arm. The first arm includes one joint, an adjacent joint that is adjacent to the one joint, and another adjacent joint that is adjacent to the adjacent joint. When the first arm is extended in a vertical orientation relative to the body, the one joint of the first arm has a rotation axis that is offset by a first distance in a first horizontal direction from a rotation axis of the adjacent joint of the first arm, and the another adjacent joint of the first arm has a rotation axis that is offset by a second distance in a second horizontal direction from the rotation axis of the adjacent joint of the first arm. The first horizontal direction is opposite to the second horizontal direction. 1. A robot comprising:a body;a first arm including a plurality of members connected by a plurality of joints; anda second arm including a plurality of members connected by a plurality of joints,wherein the first arm includes one joint, an adjacent joint that is adjacent to the one joint, and another adjacent joint that is adjacent to the adjacent joint,wherein, when the first arm is extended in a vertical orientation relative to the body, the one joint of the first arm has a rotation axis that is offset by a first distance in a first horizontal direction from a rotation axis of the adjacent joint of the first arm, and the another adjacent joint of the first arm has a rotation axis that is offset by a second distance in a second horizontal direction from the rotation axis of the adjacent joint of the first arm, the first horizontal direction being opposite to the second horizontal direction,wherein the second arm includes one joint, an adjacent joint that is adjacent to the one joint of the second arm, and another adjacent joint that is adjacent to the adjacent joint of the second arm, andwherein, when the second arm is extended in a vertical orientation relative to the body, the one joint of the second arm has a rotation axis that is ...

Absorption/desorption processes and systems for liquid immersion cooling

A two-phase liquid immersion cooling system is described in which heat generating computer components cause a dielectric fluid in its liquid phase to vaporize. Advantageously an absorption/desorption unit is employed having a carbon element and a controller configured to regulate the absorption unit.

Robot

A robot includes a robot arm having an nth (n is an integer equal to or more than one) arm and an (n+1)th arm, the nth arm is rotatable about an nth rotation shaft, the (n+1)th arm is provided on the nth arm rotatably about an (n+1)th rotation shaft in a shaft direction different from a shaft direction of the nth rotation shaft, and, while a distal end of the robot arm is moved from a first point to a second point, a first operation such that the nth arm and the (n+1)th arm overlap as seen from the shaft direction of the (n+1)th rotation shaft and a second operation of rotating the nth arm are performed. 1. A robot comprising ,a robot arm having a first arm, a second arm, a third arm, a fourth arm, a fifth arm, and a sixth arm, whereinthe first arm is rotatable about a first rotation axis,the second arm is connected to the first arm and is rotatable about a second rotation axis having an axis direction different from an axis direction of the first rotation axis and being orthogonal to the first rotation axis when viewed from a direction orthogonal to both the first rotation axis and the second rotation axis,the third arm is connected to the second arm and is rotatable about a third rotation axis which is parallel to the second rotation axis,the fourth arm is connected to the third arm and is rotatable about a fourth rotation axis which is orthogonal to the third rotation axis when viewed from a direction orthogonal to both the third rotation axis and the fourth rotation axis,the fifth arm is connected to the fourth arm and is rotatable about a fifth rotation axis which is orthogonal to the fourth rotation axis when viewed from a direction orthogonal to both the fourth rotation axis and the fifth rotation axis,the sixth arm is connected to the fifth arm and is rotatable about a sixth rotation axis which is orthogonal to the fifth rotation axis when viewed from a direction orthogonal to both the fifth rotation axis and the sixth rotation axis,when in a first position, ...

Workpiece conveying device and machine tool

Provided are a workpiece conveying device and a machine tool that can reduce time required to convey a workpiece. The workpiece conveying device includes an elevating section that includes a chuck for holding the workpiece, a slider that supports the elevating section such that the elevating section is movable in a first direction, the slider being movable in a second direction different from the first direction, and a driving section that drives the elevating section, wherein the driving section includes a driving source disposed away from the elevating section and the slider, and a transmitting section that transmits a driving force of the driving source to the elevating section.

SUPPORT RAIL FOR A ROBOT PLATFORM THAT IS DISPLACEABLE IN A TRANSLATORY MANNER, AND DISPLACEMENT SYSTEM AND ROBOT SYSTEM HAVING SUCH A SUPPORT RAIL

A support rail for a robotic platform having a support structure of concrete, a lower metallic connection flange and an upper connection flange or a guide rail disposed on an external side of the support structure. The lower connection flange, on the one hand, and the upper connection flange or the guide rail, respectively, on the other hand, are connected by a rigid metallic exoskeleton structure provided on the external side of the support structure and surrounding at least partially or completely the support structure. 1. Support rail for a robot platform that is displaceable in a translatory manner , the support rail having the following features:a. the support rail is configured in the manner of an elongate construction element that is aligned in a main direction of extent, having at least one metallic guide rail for guiding the robot platform, said metallic guide rail being provided on the external side and extending in the main direction of extent;b. the support rail in a downward pointing part-portion has at least one lower metallic connection flange for fastening the support rail to a sub-base such as a shed floor or to a gantry base;c. the support rail in an upward pointing part-portion, on an external side, has at least one upper metallic connection flange for attaching the metallic guide rail and/or directly the at least one metallic guide rail;d. the support rail has a support structure of concrete; ande. the support rail has a metallic external structure that surrounds the support structure and is formed by a metallic hollow section having a wall thickness of at maximum 8 mm, the lower metallic connection flange and the upper connection flange or the guide rail, respectively, being provided as part of said metallic hollow section or being provided on the external side thereof; andf. the support rail has a metallic internal structure which is embedded in the concrete of the support structure.2. Support rail according to claim 1 , having the following ...

SUPPORT RAIL FOR A ROBOT PLATFORM THAT IS DISPLACEABLE IN A TRANSLATORY MANNER, AND DISPLACEMENT SYSTEM AND ROBOT SYSTEM HAVING SUCH A SUPPORT RAIL

A support rail for a robot platform displaceable in a translatory manner. This support rail is configured in the manner of an elongate construction element having at least one metallic guide rail for guiding the robot platform, the metallic guide rail being provided on the external side and extending in a main direction of extent. The support rail has at least one lower metallic connection flange for fastening the support rail on a sub-base such as a shed floor or to a gantry base, and on an external side, has at least one upper metallic connection flange for attaching the metallic guide rail and/or directly the at least one metallic guide rail. The support rail is designed having a support structure of concrete, and the support rail has a metallic tension structure embedded in the support structure of concrete and under tensile stress in the main direction of extent. 1. Support rail for a robot platform that is displaceable in a translatory manner , having the following features:a. the support rail is configured in the manner of an elongate construction element that is aligned in a main direction of extent, having at least one metallic guide rail for guiding the robot platform, said metallic guide rail being provided on the external side and extending in the main direction of extent;b. the support rail in a downwards pointing part-portion has at least one lower metallic connection flange for fastening the support rail to a sub-base such as a shed floor or to a gantry base;c. the support rail in an upwards pointing part-portion, on an external side, has at least one upper metallic connection flange for attaching the metallic guide rail and/or directly the at least one metallic guide rail;d. the support rail has a support structure of concrete; ande. the support rail has a metallic tension structure that is embedded in the support structure of concrete and is under tensile stress in the main direction of extent (A).2. Support rail according to claim 1 , having the ...

WASTE SORTING GANTRY ROBOT

A waste sorting robot gripper comprises a suction cup engageable with the surface of a waste object. The suction cup has an air hole for evacuating air from the suction cup. A suction tube is coupled to the suction cup. The suction tube comprises a longitudinal axis. A first air inlet is in fluid communication with the air hole at one end of the suction tube and an air outlet at the other end of the suction tube. A path of the air flow between the air inlet and the air outlet is substantially along the longitudinal axis. The suction tube comprises a second air inlet in fluid communication with an air source, the second air inlet being between the first air inlet and the air outlet. 1. A waste sorting robot gripper comprising:a suction cup engageable with the surface of a waste object, the suction cup having an air hole for evacuating air from the suction cup;a suction tube coupled to the suction cup wherein the suction tube comprises a first air inlet in fluid communication with the air hole at one end of the suction tube and an air outlet remote from the one end of the suction tube wherein a path of the air flow is between the air inlet and the air outlet;wherein the suction tube comprises a second air inlet in fluid communication with an air source, the second air inlet being between the first air inlet and the air outlet.2. A waste sorting robot gripper according to wherein the air outlet is mounted on a side of the suction tube.3. A waste sorting robot gripper according to wherein the suction tube comprises a longitudinal axis.4. A waste sorting robot according to wherein the first air inlet is substantially aligned with the longitudinal axis at the one end of the suction tube and the air outlet is at the other end of the suction tube.5. A waste sorting robot gripper according to wherein the air hole is aligned with the longitudinal axis of the suction tube.6. A waste sorting robot gripper according to wherein the air source is pressurized.7. A waste sorting ...

ROBOT-MOTOR COOLING STRUCTURE

Provided is a robot-motor cooling structure including: at least one heat dissipation member that is disposed on a surface of a motor for a robot and that is made of a material having higher thermal conductivity than the motor; and at least one fixing member that is made of an elastic material capable of being elastically deformed and that is disposed at a position so as to surround the motor together with the heat dissipation member. The heat dissipation member is brought into close contact with the surface of the motor by an elastic restoring force of the fixing member. 1. A robot-motor cooling structure comprising:at least one heat dissipation member that is disposed on a surface of a motor for a robot and that is made of a material having higher thermal conductivity than the motor; andat least one fixing member that is made of an elastic material capable of being elastically deformed and that is disposed at a position so as to surround the motor together with the heat dissipation member,wherein the heat dissipation member is brought into close contact with the surface of the motor by an elastic restoring force of the fixing member.2. The robot-motor cooling structure according to claim 1 , further comprising two heat dissipation members disposed at both sides of the motor with the motor sandwiched therebetween; andthe fixing member is disposed so as to connect the two heat dissipation members at both sides of the motor with the motor sandwiched therebetween.3. The robot-motor cooling structure according to claim 1 , wherein the fixing member is formed of a plate spring.4. The robot-motor cooling structure according to claim 1 , wherein the fixing member is provided with a coil spring. This application is based on Japanese Patent Application No. 2017-166352, the content of which is incorporated herein by reference.The present invention relates to a robot-motor cooling structure.In the related art, there is a known cooling structure in which, in order to prevent ...

SYSTEM AND METHOD FOR AUTOMATED ARTIFICIAL VISION GUIDED DISPENSING VISCOUS FLUIDS FOR CAULKING AND SEALING OPERATIONS

The present disclosure provides a method and system by which a precise amount of a viscous fluid sealing compound can be dispensed at required locations through computer vision-based observation of the fluid deposited, its rate and amount of deposition and location; and that the dispensed fluid may be accurately shaped through robotic or other special purpose mechanism motion. The invention enables instant quality inspection of the dispensing process in terms of the locations, amounts and shapes of newly created seals. 1. A real-time computer implemented method for automated sealing one or more features located in a part , comprising:acquiring real-time visual images of one or more features to be sealed;detecting at least one feature associated with a part to be sealed;computing a position and orientation of the at least one feature relative to a dispensing tip of a dispensing nozzle forming part of a sealant dispensing device and determining what position and orientation that said dispensing tip of said dispensing nozzle needs to be positioned in with respect to said at least one feature being sealed prior to dispensing sealant, said dispensing device being mounted to a robotic arm;moving the robotic arm to position the dispensing device in the determined position and orientation with respect to the at least one feature; andreal-time measuring and controlling of an amount of the sealant exiting said dispensing tip prior to the sealant being completely deposited on said part based on real-time processing of the visual images of the sealant being dispensed which are acquired during dispensing of the sealant to produce a seal.2. The method according to including acquiring a real-time image of the produced seal claim 1 , and including assessing a quality of the produced seal by analyzing the real-time images before and after the seal is applied.3. The method according to wherein assessing the quality of the seal includes determining whether the seal is placed at a pre- ...

ROBOTICS EMPLOYED IN PROCESSES AND SYSTEMS FOR LIQUID IMMERSION COOLING

A two-phase liquid immersion cooling system is described in which heat generating computer components cause a dielectric fluid in its liquid phase to vaporize. Advantageously an absorption/desorption unit is employed having a carbon element and a controller configured to regulate the absorption unit. Robotic components facilitate automation. 1. A system comprising:a tank configured to hold a thermally conductive, condensable dielectric fluid;a pressure controller to reduce or increase an interior pressure of the tank;a computer component at least partially submerged within the dielectric fluid;a condenser for condensing a gas phase of the dielectric fluid; anda robot configured to pick up the computer component.2. The system of claim 1 , wherein the robot is located outside the tank.3. The system of claim 2 , wherein the robot is configured to remove the computer component from a rack within the tank.4. The system of claim 3 , wherein the robot is further configured to deliver the computer component to a slot located outside the tank.5. The system of claim 1 , wherein the robot is mounted on a movable base.6. The system of claim 1 , wherein the robot is configured to detect a location of the robot relative to the tank by detecting a flag.7. The system of claim 6 , wherein the flag is an RFID tag claim 6 , a QR code claim 6 , a colored surface or an alphanumerical code.8. The system of claim 6 , wherein the robot uses a sensor to detect the flag.9. The system of claim 8 , wherein the sensor is a motion sensor claim 8 , an RFID detector claim 8 , a camera claim 8 , a rotation sensor claim 8 , or an accelerometer.10. The system of claim 1 , wherein the computer component is located within a chassis.11. The system of claim 10 , wherein a gripping tool of the robot is configured to couple with a component of the chassis.12. The system of claim 11 , wherein the gripping tool includes a linkage mechanism or a pin.13. The system of claim 11 , wherein the component is a ...

A DEVICE FOR SELECTIVELY PICKING AND DEPOSITING ARTICLES TO AN AUTOMATIC WAREHOUSE

A device for selectively picking up and depositing articles to an automatic warehouse, comprising: a support plane (), for the temporary support of an article (A); a temporary support (), for the temporary support of a tray (V) intended to contain a predetermined number of articles (A); a manipulator (), structured to grasp and release an article (A) and to translate the article (A) between the support plane () and the temporary support (). The manipulator () comprises a first pickup element () and a second pickup element (), movable independently of each other along a transverse direction (Y). 12345234545. A device for selectively picking up and depositing articles , destined to an automatic warehouse comprising: a support plane () for the temporary support of an article (A); a temporary support () for the temporary support of a tray (V) that is intended to contain a pre-determined number of articles (A); a manipulator ( ,) , which is so structured as to grasp and release an article (A) and to translate the article (A) between the support plane () and the temporary support (); characterized in that the manipulator ( ,) comprises a first gripping element () and a second gripping element () , which are movable independently of each other along a transverse direction (Y).245. A device for picking up and depositing articles according to claim 1 , wherein the manipulator ( claim 1 , ) is movable on a horizontal plane.345. A device for picking up and depositing articles according to claim 1 , wherein the manipulator ( claim 1 , ) is movable along a front direction (X) claim 1 , perpendicular to the transverse direction (Y).46645. A device for picking up and depositing articles according to claim 3 , comprising a cross bar () claim 3 , movable along the front direction (X) claim 3 , to which cross bar () claim 3 , the pickup elements ( claim 3 ,) are slidably associated.576. A device for picking up and depositing articles according to claim 4 , comprising a first guide () ...

ELECTROMECHANICAL SYSTEM FOR INTERACTION WITH AN OPERATOR

An electromechanical system operates through physical interaction with an operator, and includes a plurality of joints providing multiple degrees of freedom (DOF), including actuated joints and unactuated joints. The unactuated joints are distal with respect to the actuated joints and are in redundant DOF to the actuated joints. The system includes a plurality of actuators each configured to actuate one or more of the actuated joints, and a plurality of sensors each positioned with respect to a respective one of the actuated and unactuated joints. Each sensor is configured to measure corresponding joint data indicative of a position or angle of the respective actuated or unactuated joints. A controller in communication with the sensors receives the measured joint data as feedback signals, generates control signals using the feedback signals, and transmits the control signals to the actuators to thereby control an actuation state of the actuators. 1. An electromechanical system operable through physical interaction with an operator , the electromechanical system comprising:a plurality of joints providing multiple degrees of freedom (DOF), the plurality of joints including actuated joints and unactuated joints, the unactuated joints being distal with respect to the actuated joints and lying in redundant DOF to the actuated joints;a plurality of actuators each configured to actuate one or more of the actuated joints;a plurality of sensors each positioned with respect to a respective one of the actuated and unactuated joints, and each configured to measure corresponding joint data indicative of a position or angle of the respective actuated or unactuated joints; anda controller in communication with the plurality of sensors and configured to receive the measured joint data as feedback signals, generate control signals using the feedback signals, and transmit the control signals to the actuators to thereby control an actuation state of the actuators.2. The ...

Robot control device, robot, and robot system

A robot control device includes a processor that is configured to execute computer-executable instruction so as to control a robot, wherein the processor is configured to determine that a control target of force control is achieved, based on two conditions made up of a range condition in the case where an output from a force detection unit provided in a robot is within a predetermined range and a continuation condition in the case where a state that satisfies the range condition is continued.

Concrete Printer and Method for Erecting Structures Using a Concrete Printer

The aim of the invention is to provide a concrete printer which allows complex concrete elements and structures to be erected within a short time with the inclusion of a reinforcement and surfacing process. The concrete printer according to the invention, in particular for producing concrete elements and structures, has a vertically (Z) movable jack lift () which can be moved on two perpendicular rails () by a first drive unit (). The jack lift () is connected to a longitudinal crossbeam () oriented horizontally in the longitudinal direction (X), and the longitudinal crossbeam () is connected to two guide rails () oriented in the longitudinal direction (X). A transverse crossbeam () which is oriented perpendicularly to the longitudinal crossbeam () can be moved along the guide rails () by a second drive unit (), and at least one working head () is provided which can be moved along the transverse crossbeam (), comprises at least one concrete printing nozzle (), and can be moved by a third drive unit (). The actuation of all the drive units () and the concrete printing nozzles (a, b) is carried out by a control unit (). In the method according to the invention, supporting concrete () is first cast or dispensed from a supporting concrete nozzle (a) for an outer contour () and/or an inner contour (). Reinforcement rods () are then optionally inserted, and the intermediate spaces () between the supporting concrete portions () and optional reinforcement rods () are then cast with liquid concrete () from the liquid concrete nozzle (b). 1635677897810131119125101211111141ab. A concrete printer , in particular for the production of concrete elements and constructions , whereby a vertical (Z) moving lift truck () is arranged on two vertical tracks () with a first drive unit () , whereby the lift truck () is connected with a longitudinal beam () in a longitudinal direction (X) horizontally and the longitudinal beam () is connected with two guide rails () in a longitudinal ...

Mobile robot

A mobile robot includes an electric device unit disposed inside a cover and upward of a robot, and a transport mechanism disposed downward of the robot. An end part of a rotation shaft of a motor driving an arm portion of the robot faces downward. The cover includes a partition plate separating a first housing space in which the electric device unit is housed and a second housing space in which the robot is housed. The partition plate has a protrusion protruding into the first housing space. The protrusion provides a motor housing space in the second housing space. At least one part of the first motor is housed in the motor housing space when a base of the robot is elevated to an uppermost position.

AUTOMATED DIAGNOSTIC ANALYZER AND METHOD FOR ITS OPERATION

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

Process for liquid immersion cooling

A two-phase liquid immersion cooling method is described in which heat generating computer components cause a dielectric fluid in its liquid phase to vaporize. The dielectric vapor is then condensed back into a liquid phase and used to cool the computer components. Using a pressure controlled vessel and pressure controller, a cooling system may be operated at less than ambient pressure. By controlling the pressure at which the system operates, the user may influence the temperature at which the dielectric fluid vaporizes and thereby achieve increased performance from a given computer component.

LIQUID IMMERSION COOLING VESSEL AND COMPONENTS THEREOF

A two-phase liquid immersion cooling system is described in which heat generating computer components cause a dielectric fluid in its liquid phase to vaporize. The dielectric vapor is then condensed back into a liquid phase and used to cool the computer components. Using a pressure controlled vessel and pressure controller, the disclosed system may be operated at less than ambient pressure. By controlling the pressure at which the system operates, the user may influence the temperature at which the dielectric fluid vaporizes and thereby achieve increased performance from a given computer component. Utilizing robotic arms and slot-in computing components, a self-healing computing system may be created. 1. A device comprising:a tank configured to hold thermally conductive, condensable dielectric fluid;a pressure controller to reduce or increase an interior pressure of the tank;a rack at least partially submerged within the dielectric fluid;a condenser for condensing a gas phase of the dielectric fluid;a robot configured to move a chassis within the rack; anda sump area;a pump; anda filter;wherein the pump is configured to remove the dielectric fluid from the sump area and pass the dielectric fluid through the filter before delivering the dielectric fluid to a bath portion of the tank.2. The device of claim 1 , wherein the device comprises a modular skid comprising a plurality of forklift tubes.3. (canceled)4. The device of claim 1 , wherein an exterior of the device includes a power input and a communication input.5. The device of claim 4 , wherein:the power input and the communication input are electrically connected to a box; andthe box, using a plurality of wires, distributes the power input and the communication input to the rack.6. The device of claim 5 , wherein the rack includes a backplane receiver configured to distribute power and a communication signal to the chassis.7. The device of claim 6 , wherein the chassis includes a backplane configured to:receive ...

ROBOT

A robot includes an arm, a driving source including a turning output shaft and configured to generate a driving force for turning the arm, an output member configured to turn together with the output shaft, and a braking mechanism including a friction plate configured to turn together with the output shaft and moving in an axial direction of the output shaft, the braking mechanism braking the turning of the output shaft. 1. A robot comprising:an arm;a driving source including a turning output shaft and configured to generate a driving force for turning the arm;an output member configured to turn together with the output shaft; anda braking mechanism including a friction plate configured to turn together with the output shaft and moving in an axial direction of the output shaft, the braking mechanism braking the turning of the output shaft, wherein a supporter configured to support the friction plate movably in the axial direction of the output shaft and restrict the turning of the friction plate with respect to the output member; and', 'a pulley configured to transmit the driving force,, 'the output member includesthe supporter configured to engage with the friction plate in a direction around an axis of the output shaft, the turning of the friction plate with respect to the output member being restricted by the engagement of the supporter with the friction plate, andthe pulley and the supporter are integrally formed.2. The robot according to claim 1 , wherein the output member is provided with a hole claim 1 , anda bottom surface of the hole is configured to position the pully with respect to the output shaft.3. The robot according to claim 1 , wherein the output member is coupled to the output shaft by screwing a screw into the output shaft from a distal end of the output shaft.4. The robot according to claim 1 , wherein the braking mechanism includes a movable plate moving in the axial direction of the output shaft.5. The robot according to claim 4 , wherein the ...

Performing Surface Treatments Using an Automated Guided Vehicle

A low-profile, automated guided vehicle (AGV) performs surface treatments over large areas of a structure having limited access, such as an aircraft underbelly. The AGV includes a movable gantry provided with automated robot. The robot has interchangeable end effectors for carrying out the surface treatments. Travel of the AGV relative to structure is controlled by a ground guidance system.

High speed coating and dispensing apparatus

An apparatus includes a housing, a gantry system supported by the housing, a movement mechanism coupled to the gantry system, and a dispensing unit coupled to the movement mechanism and configured to deposit material. The dispensing unit assumes an increasing angle of tilt by manipulating the movement mechanism. Embodiments of the movement mechanism are further disclosed.

Cleaning Robot for Recycling Equipment

A self-cleaning apparatus for sorting a mixture of materials is disclosed that comprises a material sorter and a gantry positioning system elevated above the material sorter. The gantry positioning system includes a longitudinal travel rail with a longitudinal travel rail carriage, a traverse travel rail connected to the longitudinal travel rail carriage running perpendicular to the longitudinal travel rail, with a traverse travel rail carriage, and a vertical travel rail connected to the vertical travel rail carriage running perpendicular to the traverse travel rail. A cutter and optionally, a picker, are connected to the vertical travel rail. The gantry positioning system can move the cutter and picker various directions to dislodge and remove material that may have accumulated on the sorter. Instead of a gantry positioning system, the apparatus may have a multi-axis arm.

Fluid dispensing and curing system

A robotic system for applying a volatile fluid to a work-piece comprising a support structure configured to mount at least one spray nozzle while facilitating motion of the nozzle in multiple degrees of freedom. An encoder senses a position of the spray nozzle and issues a position signal indicative thereof. A pneumatically-driven motor effects displacement of the spray nozzle on the support structure along each degree of freedom. A controller disposed outside the boundaries defined by the structural support, is responsive to the position signals for controlling the pneumatically-driven motor to displace the spray nozzle while dispensing the volatile fluid. The pneumatically driven motor and the isolated spatial position of the controller prohibits a source of ignition for the volatile fluid sprayed by the nozzle.

INDUSTRIAL ROBOT FOR MATERIAL PROCESSING

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

Method and Apparatus for Positioning Automated Processing Systems

Apparatuses and methods for positioning an automated processing system, coupled with a track, are disclosed. The apparatus includes an automated chassis having drive, steering, elevation, and track-gripping components actuated by an onboard controller to permit the chassis to carry a processing system together with its track from one location to another about a work surface.

LINEAR MOTION DEVICE AND ELECTRONIC COMPONENT MOUNTING APPARATUS

A linear motion device includes: a linear motion mechanism having: a beam elongated in one horizontal direction; a guide member disposed in the beam to extend in the one direction; a moving member disposed to be movable along the guide member; and a moving mechanism that moves the moving member. The beam includes a metallic tubular body formed with an opening portion penetrating the metallic tubular body in the one direction and a tubular reinforcing portion formed of a carbon fiber reinforced plastic and formed in close contact with an inner surface of the metallic tubular body. 1. A linear motion device comprisinga linear motion mechanism including:a beam elongated in one horizontal direction;a guide member disposed in the beam to extend in the one direction;a moving member disposed to be movable along the guide member; anda moving mechanism that moves the moving member, whereinthe beam includesa tubular body formed with a plurality of opening portions penetrating the metallic tubular body in the one direction anda plurality of tubular reinforcing portions formed in close contact with inner surfaces of the opening portions.2. The linear motion device according to claim 1 , whereinthe metallic tubular body has a thick portion and a thin portion formed to extend in the one direction, anda screw hole, which is used to fix at least the guide member to the metallic tubular body by a screw member, is formed in the thick portion.3. The linear motion device according to claim 1 , whereinthe tubular reinforcing portion is formed of a carbon fiber reinforced plastic being in close contact with the inner surfaces of the opening portions.4. The linear motion device according to claim 3 , whereinthe tubular reinforcing portion is formed by an internal pressure molding method.5. An electronic component mounting apparatus comprising:an XY movement mechanism configured of a first linear motion mechanism and second linear motion mechanism,the first linear motion mechanism ...

HIGH-SPEED GANTRY SYSTEM HAVING A LINEAR DRIVE

A cross carriage for a gantry system for moving workpieces, loads and the like, formed of several construction plates arranged in adjacent parallel planes. Longitudinally and/or transversely extending hollow profiled elements are arranged between at least two of the construction plates and several or all of the construction plates and/or hollow profiled elements are predominantly formed of a plastic material, preferably a carbon fiber-reinforced plastic material. 1. A cross carriage for a gantry system for moving workpieces , loads and the like , of the cross carriage comprisinga. a plurality of construction plates arranged in adjacent parallel planes, whereinb. longitudinally and/or transversely extending hollow profiled elements are arranged between at least two of the construction plates andc. wherein at least one of the construction plates and/or hollow profiled elements are predominantly formed of a plastic material, preferably a carbon fiber-reinforced material.2. The cross carriage according to claim 1 , wherein the construction plates consist almost entirely of a plastic material claim 1 , preferably a fiber-reinforced plastic material.3. The cross carriage according to claim 1 , wherein two or more of the construction plates arranged in parallel planes are mechanically connected to one another using of spacer sleeves.4. The cross carriage according to claim 3 , wherein the spacer sleeves are designed for connecting construction plates arranged in parallel planes to plate holding means or spacer means.5. The cross carriage according to claim 1 , wherein at least two of the construction plates arranged in each case in parallel planes have an approximately identical length L in a direction of a first claim 1 , preferably horizontal movement axis of the gantry system and moreover preferably an approximately identical height H in a direction of a second vertical movement axis of the gantry system.6. The cross carriage according to claim 1 , wherein one or more ...

System and Method for Mounting a Robotic Arm in a Surgical Robotic System

Systems and methods for mounting a robotic arm for use in robotic-assisted surgery, including a mobile shuttle that includes a support member for mounting the robotic arm that extends at least partially over a gantry of an imaging device. Further embodiments include a mounting apparatus for mounting a robotic arm to a base or support column of an imaging device, to a patient table, to a floor or ceiling of a room, or to a cart that extends over the top surface of the patient table. 1. A mobile shuttle for mounting at least one robotic arm proximate to an imaging device , comprising:a mobile base configured to move the shuttle to a position adjacent to the imaging device; anda support member for mounting at least one robotic arm, the support member supported by the mobile base and extending at least partially over a gantry of the imaging device when the shuttle is moved to the position adjacent to the imaging device.2. The mobile shuttle of claim 1 , wherein at least one of:(i) the mobile shuttle further comprises a carriage having a mounting surface for mounting a base end of a robotic arm, the carriage moveable to various positions along a length of the support member;(ii) the support member comprises a curved rail; and(iii) the mobile shuttle comprises at least one arm extending from the mobile base, the support member supported by the at least one arm.3. (canceled)4. (canceled)5. The mobile shuttle of claim 2 , wherein the mobile shuttle comprises at least two arms extending from opposite sides of the base claim 2 , wherein a first arm is connected to a first side of the support member and a second arm is connected to a second side of the support member.6. The mobile shuttle of claim 5 , wherein the first and second arms are offset from the support member claim 5 , the first arm is connected to the first side of the support member by a lateral connecting portion and the second arm is connected to a second side of the support member by a lateral connecting portion ...

SYSTEMS AND METHODS FOR PROCESSING OBJECTS INCLUDING A ZONE GANTRY SYSTEM

A storage, retrieval and processing system for processing objects is disclosed. The storage, retrieval and processing system includes a plurality of storage bins, a plurality of destination bins, and a processing programmable motion device. The plurality of storage bins provides storage of a plurality of objects, where the plurality of storage bins are in communication with a gantry retrieval conveyance system for moving selected bins to a bin processing location. The plurality of destination bins are in communication with the gantry retrieval conveyance system for moving a selected destination bin to the processing location. The processing programmable motion device is at the processing location and is in communication with the gantry retrieval conveyance system. The processing programmable motion device includes an end effector for grasping and moving a selected object out of a selected storage bin and depositing the selected object in the selected destination bin. 125-. (canceled)26. A method of providing storage , retrieval and processing of objects , said method comprising:retrieving and carrying a storage bin with a storage bin retrieval conveyance system that includes a storage gantry and a storage retrieval gantry device thereon, the storage bin being provided as one or a plurality of storage bins proximate the storage bin retrieval conveyance system;retrieving and carrying a destination bin with a destination bin retrieval conveyance system that includes a destination gantry and a destination gantry device thereon, the destination bin being provided as one or a plurality of destination bins proximate the storage bin retrieval conveyance system;providing a bin processing location, wherein the storage retrieval gantry device is positionable over the bin processing location to provide the storage bin to the bin processing location, and wherein the destination gantry device is positionable over the bin processing location to provide the destination bin to the ...

Robot, robot control device, and robot system

A robot includes a base, a first arm rotatably connected to the base around a first rotating axis, a second arm rotatably connected to the first arm around a second rotating axis orthogonal to the first rotating axis, a third arm rotatably connected to the second arm around a third rotating axis parallel to the second rotating axis, a first angular velocity sensor provided in the first arm and having an angular velocity detection axis parallel to the first rotating axis, and a second angular velocity sensor provided in the second arm and having an angular velocity detection axis parallel to the third rotating axis.

Material-Handling Robot Trajectory Control

A method including, based upon a desired path of a reference point from a start position to an end position, where the reference point is on an end effector on a robot arm, determine an included angle that corresponds to the start position and the end position, calculating a trajectory in radial coordinates of the reference point on the end effector at least partially based upon the included angles; calculating corresponding angular coordinates of the reference point on the end effector, based on the calculated radial coordinates, so that the reference point follows the desired path; using a modified formulation of inverse kinematics, converting the radial and angular coordinates supplemented with the included angles of the trajectory and corresponding angular velocity and acceleration of the end effector to form motion setpoints for the robot arm; and controlling the motors of the robot drive. 1. A method comprising:based upon a desired path of a reference point from a start position of the reference point to an end position of the reference point, where the reference point is on an end effector on a robot arm, determine an included angle that corresponds to the start position and that corresponds to the end position, where the robot arm is connected to a robot drive having motors for moving the robot arm;calculating a trajectory in radial coordinates of the reference point on the end effector at least partially based upon the included angles;calculating corresponding angular coordinates of the reference point on the end effector, based on the calculated radial coordinates, so that the reference point on the end effector follows the desired path between the start position and the end position;using a modified formulation of inverse kinematics, converting the radial and angular coordinates of the reference point on the end effector supplemented with the included angles of the trajectory and corresponding angular velocity and acceleration of the end effector into ...

MACHINE FOR THE MACHINING OF RAILWAY WAGONS

A machine for the machining of railway wagons comprising: a holding structure having a first upright and a second upright that extend along respective first direction and second direction substantially parallel and adapted to be arranged on the opposite side with respect to a wagon to be machined; sliding means of the structure along a main direction; machining means of the wagon comprising at least a first anthropomorphic robot associated sliding with the first upright, and at least a second anthropomorphic robot associated sliding with the second upright. 11) Machine () for the machining of railway wagons wherein it comprises:{'b': 2', '3', '4', '5', '6', '7, 'a holding structure () having a first upright () and a second upright () that extend along respective first direction () and second direction () substantially parallel and adapted to be arranged on the opposite side with respect to a wagon () to be machined;'}{'b': 10', '11', '2', '9, 'sliding means (, ) of said structure () along a main direction ();'}{'b': 14', '15', '16', '17', '18', '19', '7', '14', '3', '15', '4, 'machining means (, , , , , ) of said wagon () comprising at least a first anthropomorphic robot () associated sliding with said first upright (), and at least a second anthropomorphic robot () associated sliding with said second upright ().'}212834) A machine () according to claim 1 , wherein said holding structure () comprises a substantially horizontal beam () associated with said first upright () and said second upright () to define an inverted U-shape.3110111093) A machine () according to claim 1 , wherein said sliding means ( claim 1 , ) comprise at least a first sliding base () along said main direction () and locked together with said first upright ().411011109) A machine () according to claim 3 , wherein said sliding means ( claim 3 , ) comprise first guide means adapted to guide said first base () along said main direction ().5110111194) A machine () according to claim 3 , wherein ...

Methods and Apparatus for Tube Fabrication

A team of robots may fabricate a tubular structure. Each robot may fabricate a tube by winding resin-covered fiber around an inflated, cylindrical mandrel of the robot. The resin may cure, resulting in a hardened tube segment The robot may extend the tube by fabricating additional segments of the tube, one segment at a time. After a first segment cures, the mandrel may deflate, then the robot may move up inside the tube, then the mandrel may inflate, and the robot may begin fabricating another tube segment. After completing a tube segment, the robot may tilt relative to that segment, before starting the next segment. By doing so, the robot may cause the tube to be curved. A computer may guide the team of robots during fabrication of the tubes, by executing a flocking algorithm. The algorithm may prevent collisions with already fabricated tube segments. 1. A method of fabricating a tube , wherein:(a) the fabricating comprises constructing a set of multiple tube segments of the tube; and (i) inflating a cylindrical mandrel of a robot,', '(ii) constructing the specific tube segment by (A) winding resin-covered fiber around the mandrel while the mandrel is inflated, and (B) then curing the resin,', '(iii) deflating the mandrel and detaching the mandrel from the specific tube segment, and', '(iv) moving the robot, while the mandrel is at least partially inside the specific tube segment, in such a way that more of the robot protrudes from the specific tube segment immediately after the moving than immediately before the moving., '(b) the method includes, for each specific tube segment in the set'}2. The method of claim 1 , wherein the method further includes claim 1 , for each particular tube segment in a subset of the tube segments claim 1 , tilting a central axis of the robot at an acute angle relative to the central axis of the particular tube segment claim 1 , which tilting is performed after fabricating the particular tube segment and before fabricating any other ...

ROBOTIC TRANSPORT DEVICE FOR TRANSPORTING SMALL COMPONENTS AND METHOD CARRIED OUT BY THE ROBOTIC DEVICE

A robotic transport device for small components comprising transport mechanism being suspended at two suspension elements, wherein the two suspension elements are distanced from each other in the direction of transport and wherein the two suspension elements are constructed in such a way that each of them is, independently from each other, be shifted in a direction vertical or substantially vertical to the direction of transport. 1. A robotic transport device for small components , comprising:a transport mechanism configured for transporting the small components from a first region provided for receiving to a second region provided for storing;a component-receiving unit configured for receiving individual small components in the first region for temporarily holding said individual small components and for storing the small components in the second region;wherein the component-receiving unit is arranged at the transport mechanism and is transported therewith;wherein the transport mechanism is suspended at two suspension elements;wherein the two suspension elements are distanced from each other in a direction of transport; andwherein each of the two suspension elements are configured to be shifted independently from each other in a direction perpendicular to the direction of transport.2. The robotic transport device of claim 1 , wherein the transport mechanism is constructed in such a way that it transports the component-receiving unit in a linear manner claim 1 , except for sections of the transport mechanism adjacent to the first region and/or adjacent to the second region and except for a partial section of the transport mechanism between the regions.3. The robotic transport device of claim 1 , wherein one or a plurality of drive units are provided for shifting the two suspension elements.4. The robotic transport device of claim 1 , wherein the transport mechanism is equipped with a plurality of component-receiving units which consecutively pick up small components ...

ROBOT AND ROBOT SYSTEM

A robot includes a base; a first arm that is provided on the base so as to be able to turn around a first turning axis as the center of turning; a second arm that is provided on the first arm so as to be able to turn around a second turning axis as the center of turning, the direction of which is different from the direction of the first turning axis; and a first member that has a first angular speed detector. When seen from the direction of the second turning axis, at least a part of the first member is provided in a region in which the first arm and the second arm overlap with each other. 1. A robot comprising:a base;a first arm that is provided on the base so as to be able to turn around a first turning axis as the center of turning;a second arm that is provided on the first arm so as to be able to turn around a second turning axis as the center of turning, the direction of which is different from the direction of the first turning axis; anda first member that has a first angular speed detector,wherein when seen from the direction of the second turning axis, at least a part of the first member is provided in a region in which the first arm and the second arm overlap with each other.2. The robot according to claim 1 ,wherein the first arm has a first portion that is positioned closer to the base than the second arm, and a second portion that is positioned closer to the second arm than the base, andwherein the first member is provided in the second portion.3. The robot according to claim 2 ,wherein a speed reducer is provided in the second portion.4. The robot according to claim 2 ,wherein the first portion and the second arm do not overlap with each other when seen from the direction of the second turning axis, andwherein when seen from the direction of the second turning axis, the first member is provided in the second portion so as not to overlap the first portion.5. The robot according to claim 1 , further comprising:a third arm that is provided on the second ...

METHODS, SYSTEMS, AND APPARATUS FOR DYNAMIC PICK AND PLACE SELECTION SEQUENCE BASED ON SAMPLE RACK IMAGING DATA

Methods of operating a gripper are provided. The methods include providing a robot including the gripper, the gripper moveable by the robot and including gripper fingers, providing a sample rack including receptacles accessible by the gripper, at least some of the receptacles adapted to contain specimen containers, providing data, obtained by imaging, regarding the sample rack and the specimen containers therein, and determining, based on the data, an accessible target receptacle for one of a pick operation or a place operation. Apparatus and systems configured to carry out the methods are provided, as are other aspects. 1. A method of operating a gripper , comprising:providing a robot including the gripper, the gripper moveable in a coordinate system by the robot and including gripper fingers;providing a sample rack including receptacles accessible by the gripper, at least some of the receptacles adapted to contain specimen containers;providing data, obtained by imaging, regarding the sample rack and the specimen containers; anddetermining, based on the data, an accessible target receptacle for one of a pick operation or a place operation.2. The method of claim 1 , wherein for the place operation the accessible target receptacle is empty.3. The method of claim 2 , comprising placing a target specimen container in the accessible target receptacle.4. The method of claim 1 , wherein for the pick operation the accessible target receptacle contains a target specimen container.5. The method of claim 4 , wherein the accessible target receptacle is a receptacle which meets a threshold minimum clearance along a line of action relative to the target specimen container.6. The method of claim 5 , comprising the gripper having rotational capability and more than one line of action.7. The method of claim 6 , including determining whether one or more line of action meets the threshold minimum clearance.8. The method of claim 1 , further comprising:determining if one or more of ...

GANTRY ROBOT SYSTEM

A gantry robot system may include a workpiece support, a workpiece feeder for engaging the workpiece and moving the workpiece in a first direction relative to the workpiece support, a gantry, a slide movably mounted on the gantry and movable in a second direction different from the direction of movement of the workpiece by the workpiece feeder, an articulated arm mounted on the slide and having an end effector at an end of the articulated arm opposite the slide, and a computer control connected to actuate the workpiece feeder, the slide, the articulated arm, and the end effector in a coordinated manner to perform a preselected machining operation. 1. A gantry robot system , comprising:a workpiece support;a workpiece feeder for engaging a workpiece and moving the workpiece in a first direction relative to the workpiece support;a gantry;a slide movably mounted on the gantry and movable in a second direction different from the direction of movement of the workpiece by the workpiece feeder;an articulated arm mounted on slide and having an end effector at an end of the articulated arm opposite the slide; anda computer control connected to actuate the workpiece feeder, the slide, the articulated arm, and the end effector in a coordinated manner to perform a preselected machining operation.2. The system of claim 1 , wherein the end effector is selected from a plasma torch claim 1 , an arc welder claim 1 , an abrasive grinder claim 1 , an adhesive applicator claim 1 , a seal dispenser claim 1 , a drill claim 1 , and a stylus for marking or scribing.3. The system of claim 1 , wherein the articulated arm is an articulated robotic arm controlled by the computer control.4. The system of claim 3 , wherein the articulated arm includes a swivel base rotatably mounted on an upper surface of the slide claim 3 , a lower arm pivotally attached to the swivel base claim 3 , an upper arm pivotally attached to the lower arm claim 3 , an arm roll rotatably attached to the upper arm claim 3 ...

CONTROLLER, CONTROL SYSTEM, AND CONTROL METHOD

A control system includes a first controller, and a second controller. The second controller includes a program storage module that stores two or more coordinate conversion programs, and a control processing module that acquires program designation information for designating one of two or more coordinate conversion programs from the first controller. Additionally, the control processing module may acquire a first operation command in the coordinate system for the first controller from the first controller, and convert the first operation command to an operation target value of two or more joint axes of a multi-axis robot using the coordinate conversion programs according to the program designation information. Driving power according to the operation target value may be output to the joint axes. 1. A controller for a multi-axis robot , the controller comprising:a power output device configured to output driving power to two or more joint axes of the multi-axis robot;a storage device configured to store two or more coordinate conversion programs;a communication device configured to communicate with a unifying controller that controls two or more controlled objects; and receive, via the communication device, an operation command from the unifying controller;', 'acquire program designation information that associates one of the coordinate conversion programs with the operation command in a coordinate system for the unifying controller,', 'convert the operation command to an operation target value of the joint axes of the multi-axis robot based on the program designation information, and', 'output driving power to at least one of the joint axes, via the power output device, according to the operation target value., 'a processing device configured to2. The controller according to claim 1 , wherein the operation command comprises numerical data defining a position and an attitude target value of a tip portion of the multi-axis robot in the coordinate system for the ...

THROUGH-BEAM AUTO TEACHING

A method of teaching a robot including providing a pin at a location within a work station, and the robot in an area adjacent to the station. The robot having an arm and an end effector that pivots. The end effector has a through-beam sensor including a light emitter and a light receiver to sense when an object is present therebetween. The robot is moved to perform sensing operations in which the sensor senses the pin, such operations are performed while a position and/or an orientation of the end effector are varied to gather sensed position and orientation data. The sensing operations are performed such that the pin is located at different distances between the emitter and the receiver as the robot moves the sensor across the pin. Calculations are performed on the data to determine the location of the pin with respect to a coordinate system of the robot. 1. A method of teaching an articulated robot , the method comprising:providing a first pin at a first location within a work station;providing the articulated robot in an area adjacent to the work station, the articulated robot having a coordinate system, the articulated robot having an arm and an end effector that is configured to pivot with respect to the arm, the end effector having a workpiece receiver with a first protruding member and a second protruding member, the end effector having a through-beam sensor including a light emitter provided on one of the first protruding member and the second protruding member, the through-beam sensor further including a light receiver provided on an other of the first protruding member and the second protruding member, the through-beam sensor being configured to sense when an object is present between the light emitter and the light receiver;moving the articulated robot to perform sensing operations in which the through-beam sensor senses the first pin, the sensing operations being performed while a position and/or an orientation of the end effector are varied for each ...

ENHANCED AUTOMATED FOOD MAKING APPARATUS

A method for operating an automated food making apparatus having a motor, actuator arm, and an apparatus. The apparatus may be a paddle with flexible fins. The method rotates the paddle with a pin-shaft mechanism to dispense an ingredient placed in a canister, controls the motor automatically based on weight sensor readings, and locates a position of the actuator arm with position sensors. The same motor dispenses ingredients from a plurality of canisters. The method may have a plurality of paddle rotation and weight measurement steps until a target weight is reached. The plurality of paddle rotation steps may be unidirectional or bidirectional paddle rotation. The paddle may be rotated according to one or more paddle rotation algorithms, an error recovery algorithm, or different algorithms based on the amounts of ingredients remaining in the canister. The paddle may be rocked until the target weight is achieved. 118.-. (canceled)19. A method of operating an automated food making apparatus comprising:rotating, with a motor with an actuator arm, an apparatus that dispenses a liquid placed in a bottle of a canister,rotating the apparatus with a pin-shaft mechanism, andcontrolling the motor automatically based on weight sensor readings,wherein the same motor dispenses ingredients from a plurality of canisters.20. The method of claim 19 , further comprising:a peristaltic pumping apparatus for dispensing the liquid.21. The method of claim 19 , further comprising:maintaining the bottle in a predetermined position with supports.22. The method of claim 19 , further comprising transporting the liquid to a peristaltic pump with tubing.23. The method of claim 19 , wherein the apparatus is a peristaltic pump and wherein the pin-shaft mechanism actuates the peristaltic pump.24. The method of claim 19 , further comprising:monitoring the weight sensor readings after different dispensing motions and providing feedback to the motor.25. The method of claim 19 , further comprising: ...

System And Method For Mounting A Robotic Arm In A Surgical Robotic System

Systems and methods for mounting a robotic arm for use in robotic-assisted surgery, including a mobile shuttle that includes a support member for mounting the robotic arm that extends at least partially over a gantry of an imaging device. Further embodiments include a mounting apparatus for mounting a robotic arm to a base or support column of an imaging device, to a patient table, to a floor or ceiling of a room, or to a cart that extends over the top surface of the patient table. 1. A surgical system comprising:an imaging device having a gantry and a base;a robotic arm having a base end; and a mobile base configured to move the shuttle to a position adjacent to the imaging device; and', 'a support member for mounting the robotic arm, the support member supported by the mobile base and extending at least partially over the gantry of the imaging device when the shuttle is moved to the position adjacent to the imaging device;, 'a mobile shuttle for mounting the robotic arm proximate to the imaging device, the mobile shuttle comprisingwherein when the base end of the robotic arm is mounted to a carriage, the carriage is moveable to various positions along a length of the support member.2. The surgical system of claim 1 , wherein the carriage includes a mounting surface for mounting the base end of the robotic arm.3. The surgical system of claim 1 , wherein the support member comprises a curved rail.4. The surgical system of claim 1 , wherein the mobile shuttle comprises at least one support arm extending from the mobile base claim 1 , the support member supported by the at least one support arm.5. The surgical system of claim 4 , wherein the mobile shuttle comprises at least two support arms extending from opposite sides of the base claim 4 , wherein a first arm is connected to a first side of the support member and a second arm is connected to a second side of the support member.6. The surgical system of claim 5 , wherein the first and second arms are offset from the ...

METHOD OF CLOSED-LOOP POINT TO POINT ROBOT PATH PLANNING BY ONLINE CORRECTION AND ALIGNMENT VIA A DUAL CAMERA VISION SYSTEM

A method for point-to-point path planning of a manipulator robot with up to 6 degrees-of-freedom via a dual vision system aims at generating a rest-rest path and corrects it with a high precision through closed-loop pick and place path planning. The path is corrected and aligned with the desired path as soon as different visual feedbacks such as the position and orientation of the pick nests, the placement nests, and the workpiece (part) are observed via the dual vision system. The introduced path planning method is a comprehensive online approach that benefits from: (i) An advantageous path definition based on multiple coordinate systems, (ii) An online path planner with three correction procedures that corrects the pose of the workpiece with respect to the robot, to the desired path and to the placement nest. 1i) look before picking (LBP);ii) correct pose on path (CPP); andiii) correct pose on nest (CPN), a) a workpiece with respect to a robot;', 'b) the workpiece with respect to a desired path; and', 'c) the workpiece with respect to a placement nest., 'wherein each procedure respectively corrects and aligns a pose of. An online path planner with three correction and alignment procedures comprising: The present application claims the benefit of U.S. Provisional Patent Application No. 62/805,574, filed Feb. 14, 2019, which is hereby incorporated by reference in its entirety.This manuscript presents a method for the point-to-point path planning of a manipulator robot with up to 6 degrees-of-freedom (DOF) via a dual vision system. The dual vision system is composed of two cameras; one is mounted on the end-effector of the robot looking downward, which is called DLC (downward looking camera), and the other one is fixed somewhere on the base of the robot looking upward, which is called ULC (upward looking camera). The proposed method aims at generating a rest-rest path and correcting it with a high precision through closed-loop pick and place path planning, where the ...

ROBOT

A robot includes: a turning part rotated about a first axis; a first arm part rotatably connected to the turning part about a second axis perpendicular to the first axis; a second arm part rotatably connected to the first arm part about a third axis; a distal-end swing part rotatably connected to the second arm part about a fourth axis; actuators rotating the first arm part, the second arm part, and the distal-end swing part about the second to fourth axes, which are parallel to each other, respectively; and a cable for the actuators. The turning part, the first arm part, the second arm part, and the distal-end swing part are alternately arranged at one or the other side in the direction of the second axis. The cable is disposed along side surfaces at the one side. The actuators are disposed close to side surfaces at the other side. 1. A robot comprising:a turning part that rotates about a first axis;a first arm part that is connected to the turning part in a rotatable manner about a second axis extending in a direction perpendicular to the first axis and that extends straight along the longitudinal direction thereof;a second arm part that is connected to the first arm part in a rotatable manner about a third axis parallel to the second axis and that extends straight along the longitudinal direction thereof;a distal-end swing part that is connected to the second arm part in a rotatable manner about a fourth axis parallel to the third axis and that supports a wrist part at the distal end thereof;a first actuator that rotates the first arm part with respect to the turning part;a second actuator that rotates the second arm part with respect to the first arm part;a third actuator that rotates the distal-end swing part with respect to the second arm part; anda cable that supplies power and signals to the first to third actuators,wherein the turning part, the first arm part, the second arm part, and the distal-end swing part are arranged in an alternating manner at one ...

AUTOMATED COMPOUNDING EQUIPMENT FOR CLOSED FLUID TRANSFER SYSTEM

An automatic or semi-automatic preparation system process is provided for forming a medicament solution from a vial containing one of a liquid and a non-liquid material. 1. An automatic or semi-automatic preparation system for forming a medicament solution from a vial containing one of a liquid and a non-liquid material , the preparation system comprising: a plurality of vertical studs, each stud extending along a respective first axis;', 'a plurality of first stringers extending between and interconnecting selected vertical studs, each first stringer extending along a respective second axis, wherein each second axis is orthogonal to the first axis; and', 'a plurality of second stringers extending between and interconnecting selected vertical studs and selected first stringers, each second stringer extending along a respective third axis, wherein each third axis is orthogonal to the first axis and orthogonal to the second axis;, 'a frame configured to provide three axes of motion, the frame includinga gantry assembly translatably supported on at least one of the plurality of first stringers;a gantry translation assembly operatively connected to the gantry assembly, wherein actuation of the gantry translation assembly causes gantry assembly to translate along the at least one of the plurality of first stringers, in a direction parallel to the second axis; and a platform translatably supported on gantry assembly;', 'a turntable gear supported on the platform, wherein an axis of rotation of the turntable gear extends in a direction parallel to the first axis;', 'a rail column depending from and non-rotatably connected to the turntable gear, the rail column extending in a direction parallel to the first axis; and', 'a carriage translatably supported on the rail column., 'a turntable assembly including2. The preparation system according to claim 1 , wherein the gantry translation assembly includes:a threaded gantry rod rotatably supported on the frame, the threaded ...

Mirror replacement device for a segmented mirror telescope and mirror replacement method thereof

A mirror replacement device includes a gripping mechanism to grip a segment mirror, a fine drive mechanism to change a position and a posture of the gripping mechanism, a lift mechanism for the segment mirror, a first detector to detect a relative position and a relative posture between a comparison object and a target object, a second detector to detect a bend of the fine drive mechanism, and a mirror replacement controller to replace the segment mirror based on detection signals output from the above-mentioned detectors. The controller determines whether the first detector can successfully perform a measurement. When it is determined that the measurement can be successfully performed, the control is performed based on the detection signal output from the first detector. When it is determined that the measurement cannot be successfully performed, the control is performed based on the detection signal output from the second detector.

Crawler Robot and Supporting Platform

A method and apparatus for installing a fastener in a surface of a structure. A crawler robot may comprise a first movement system and a second movement system. The first movement system may be configured to move the crawler robot and a track system along the surface. The second movement system may be configured to move the crawler robot along the track system on the surface. 1. A crawler robot comprising:a first movement system configured to move the crawler robot and a track system along a surface; anda second movement system configured to move the crawler robot along the track system on the surface.2. The crawler robot of further comprising:a drilling system.3. The crawler robot of further comprising:an inspection system configured to inspect a hole drilled by the drilling system.4. The crawler robot of further comprising:a fastener system configured to insert a fastener into a hole drilled by the drilling system.5. The crawler robot of claim 2 , wherein the drilling system comprises an interchangeable tool holder.6. The crawler robot of claim 3 , wherein the inspection system comprises an interchangeable probe.7. The crawler robot of further comprising:a positioning system configured to identify a desired position of the crawler robot on the surface.8. The crawler robot of claim 7 , wherein the positioning system is configured to identify the desired position of the crawler robot based on index features of the surface.9. The crawler robot of claim 1 , wherein each of the first movement system and the second movement system comprises at least one of retractable wheels claim 1 , rollers claim 1 , gliders claim 1 , air bearings claim 1 , holonomic wheels claim 1 , rails claim 1 , or tracks.10. The crawler robot of claim 1 , wherein steering direction for the crawler robot is provided by at least one of a human operator claim 1 , a controller associated with the crawler robot claim 1 , or a system controller.11. The crawler robot of claim 10 , wherein the crawler ...

SYSTEM AND METHOD FOR DATA CENTER HEAT CONTAINMENT

The disclosed system may include a group of information technology racks, where (1) each of the information technology racks stores information technology device modules, (2) the group of information technology racks are arranged such that interior faces of the information technology racks define a vertical column of space enclosed by the group of information technology racks, and (3) the information technology racks ventilate air heated by the information technology device modules from the interior faces of the information technology racks into the vertical column of space such that the heated air is contained within the vertical column of space. 120.-. (canceled)21. A system comprising:a plurality of information technology racks arranged such that a vertical column of space is enclosed by the plurality of information technology racks;a gantry robot positioned within the vertical column of space; and swinging a first leg of the gantry robot towards the hub, allowing a second leg of the gantry robot to travel from the position in front of the interior face of the first information technology rack to the position in front of the interior face of the second information technology rack; and', 'subsequent to swinging the first leg of the gantry robot towards the hub, swinging the first leg of the gantry robot towards the position in front of the interior face of the second information technology rack., 'a floor track system including a hub, the gantry robot engaged in the floor track system and adapted to travel from a position in front of an interior face of a first information technology rack to a position in front of an interior face of a second information technology rack, the travel including22. The system of claim 21 , wherein interior faces of the plurality of information technology racks extend perpendicularly from a base of the plurality of information technology racks.23. The system of claim 22 ,wherein the base approximates a circle; andwherein the floor ...

Apparatus For Outlining On Vertical Surface And Methods Of Use

The present invention provides for a wall mountable system for automated drawing of an image upon a wall which includes a horizontal mounting track for mounting on a wall, a robot having a y-track rigidly mounted it where the robot and the mounted y-track travel along the horizontal track. An end effector, which includes a pen holding mechanism holding a pen, is in electrical communication with the robot and travels along the y-track of the robot. The present invention provides a system and device that can attach to a wall or vertical surface in a damage-free manner and draw fast any complexity or style image of custom size in both the horizontal (X) and vertical (Y) directions, that is easy to remove and transport and require small floor space to operate.

AUTOMATED DIAGNOSTIC ANALYZER AND METHOD FOR ITS OPERATION

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

Machine for conveying objects and multi-bay carousel for use therewith

A machine for conveying objects, including: a base; a turret mounted to the base for rotation about an axis, the turret including a turret mounted track, and a turret shuttle with a gripper to grip an object, the turret shuttle mounted on the turret mounted track; a boom mounted to the turret, whereby turret rotation sweeps the boom radially about the axis, the boom including: a boom mounted track extending therealong, a boom shuttle with a gripper to grip an object, the boom shuttle mounted to the boom mounted track, and a carousel located proximal to the base extending around the turret and rotatable about the axis, the carousel having a plurality of object bays, the carousel being controllably rotatable about the axis to locate any of the object bays proximal to the turret mounted track for transfer of an object between the object bay and the turret shuttle.

A robotic apparatus

A robotic apparatus includes a first guide rail; an elongate support attached to the first guide rail, the elongate support being movable along the first guide rail in two directions and rotatable at each position along the first guide rail; a first limb movable along a second guide rail in the elongate support, the first limb being extendable and retractable; a second limb pivotably attached to the first limb; an end effector mount located at the second limb and rotatable at one end of the second limb; and a third guide rail attached to the elongate support to guide movement of the elongate support in the two directions that the elongate support is movable along the first guide rail; and driving mechanisms to drive movements of the robotic apparatus.

SUSPENDED AUTOMATION SYSTEM

A suspended automation system includes a rail array secured to a ceiling. A gantry moves in an X-Y plane defined by the rail array with a drive mechanism. A controller with a human user interface allows for selective movement of the gantry to transport, and in some instances store or manipulate articles. A motorized rotating platform and one or more of a robotic arm, a camera, or a counter-balance are added to the platform to facilitate storage and manipulation, as well as actions in the area below the ceiling. A rail array in some embodiments is equipped with storage modules located above the rail array, the storage modules can take a variety of shapes and sizes for storage of an article. A related process of article movement and actions can be accomplished by the suspended automation system. Still another related process is overhead storage and selectively delivery of an article. 1. A suspended automation system comprising:a rail array secured to a ceiling;a gantry;a drive mechanism coupled to said gantry for transit of said gantry in anarea an area of said rail array;a platform suspended from said gantry; anda controller with a human user interface for selectively moving said gantry.2. The system of wherein said drive mechanism includes interspersed powered wheel modules and lifters.3. The system of wherein said lifters are adjustable in a Z direction and said wheel modules are pivotable between X and Y directions on said rail array.4. The system of wherein said gantry is automatically transferrable to a second rail array.5. The system of further comprising one or more robotic arms suspended from said platform.6. The system of further comprising one or more counter-balances to said one or more robotic arms.7. The system of further comprising one or more cameras suspended from said platform.8. The system of any one of to further comprising one or more sensors associated with said rail array claim 1 , said gantry claim 1 , or said platform.9. The system of any one ...

Robot system

A robot system includes: a cell; and a robot which is provided to move in the cell, in which the robot includes an n-th (n is an integer which is equal to or greater than 1) arm which rotates around an n-th rotating axis, and an (n+1)th arm which is provided to rotate around an (n+1)th rotating axis which is an axial direction different from an axial direction of the n-th rotating axis, in the n-th arm, in which the length of the n-th arm is longer than the length of the (n+1)th arm, and in which, when viewed from the (n+1)th rotating axis, the n-th arm and the (n+1)th arm overlap each other.

WORKING DEVICE USING PARALLEL LINK MECHANISM AND CONTROL METHOD THEREOF

A working device includes a link actuation device and a control device for the link actuation device. The control device includes: a storage unit configured to store a plurality of the target positions; a calculation unit configured to sequentially read out the respective target positions stored to calculate movement amounts and movement speeds of the respective actuators between the target positions; and a control unit configured to operate the respective actuators by the movement amounts and at the movement speeds of the respective actuators calculated by the calculation unit. The control unit is capable of changing acceleration and deceleration times of the actuators for each of the target positions. 1. A working device using a parallel link mechanism , the working device comprising: a proximal-side link hub; a distal-side link hub; three or more link mechanisms each coupling the distal-side link hub to the proximal-side link hub such that a posture of the distal-side link hub can be changed relative to the proximal-side link hub; and posture control actuators provided to two or more link mechanisms of the three or more link mechanisms and configured to arbitrarily change the posture of the distal-side link hub relative to the proximal-side link hub; and', 'each of the link mechanisms including: a proximal-side end link member having one end rotatably coupled to the proximal-side link hub; a distal-side end link member having one end rotatably coupled to the distal-side link hub; and an intermediate link member having opposite ends rotatably coupled to the other ends of the proximal-side and distal-side end link members; and, 'a link actuation device includinga control device configured to control each of the actuators to change the posture of the distal-side link hub relative to the proximal-side link hub such that a position determined on the basis of the distal-side link hub is changed from a current position to a target position, whereinthe control device ...

METHOD AND SYSTEM FOR MOVING CABLE-MOUNTED OBJECTS USING ROBOTIC MOUNTS

A cable-mounted object, such as a camera, is movable using one or more robotic cable mounts. The robotic cable mounts have a head which support a first portion of the cable. The head is movable in three-dimensional space, such as linearly along three orthogonal axis (or combinations thereof). Changes in the position of the head of the robotic mount change the position of the cable, thus changing the position of the cable-mounted object. In one embodiment, two ends of cable may be connected to first and second robotic cable mounts, or an object might be mounted to multiple cables, each of which is connected to a different robotic mount. 117-. (canceled)18. A method of moving a cable-mounted object comprising the steps of:extending a first cable between a first robotic cable mount and the cable-mounted object, where said first robotic cable mount is configured to move a first portion of said cable linearly in three dimensions;extending at least one other cable between the cable-mounted object and at least one other mount; andmoving said first robotic cable mount to change a position of said first portion of said cable, whereby a position of said cable-mounted object changes.19. The method in accordance with claim 18 , wherein said at least one other cable comprises a second cable and a third cable; wherein said at least one other mount comprises a second robotic cable mount connected to said second cable and a third robotic cable mount connected to said third cable; and wherein said second and third cables extend between the cable-mounted object and a corresponding one of the second and third robotic cable mounts.20. The method in accordance with claim 19 , wherein the first claim 19 , second claim 19 , and third robotic cable mounts each have a spool coupled to a corresponding one of the first claim 19 , second claim 19 , and third cables claim 19 , and wherein reeling the first claim 19 , second claim 19 , and third cables with the corresponding first claim 19 , ...

Low-inertia robot for laser cutting of flat sheets

FIELD: process engineering. SUBSTANCE: invention relates to low-inertia robot for laser cutting of flat sheets. Robot comprises support appliance (15) for laser cutting head (14) displacing in axes X and Y. Said support appliance is provided with two sliding units (5, 6) actuated by independent drives (7, 8). They serve for their displacement in axis Y to vary their mutual spacing while bars (9, 10) intended for swivelling said sliding units (5, 6) with laser cutting head (14). EFFECT: higher quality of cutting. 4 cl, 8 dwg РОССИЙСКАЯ ФЕДЕРАЦИЯ (19) RU (11) (13) 2 546 269 C2 (51) МПК B23Q 1/56 (2006.01) B23K 26/38 (2014.01) B23K 26/70 (2014.01) ФЕДЕРАЛЬНАЯ СЛУЖБА ПО ИНТЕЛЛЕКТУАЛЬНОЙ СОБСТВЕННОСТИ (12) ОПИСАНИЕ (21)(22) Заявка: ИЗОБРЕТЕНИЯ К ПАТЕНТУ 2010131207/02, 26.07.2010 (24) Дата начала отсчета срока действия патента: 26.07.2010 (72) Автор(ы): БАТТЭ,Клод (IT) (73) Патентообладатель(и): САЛВАНЬИНИ ИТАЛИЯ С.П.А. (IT) Приоритет(ы): (30) Конвенционный приоритет: (43) Дата публикации заявки: 10.02.2012 Бюл. № 4 R U 27.07.2009 IT MI2009A001324 (45) Опубликовано: 10.04.2015 Бюл. № 10 2 5 4 6 2 6 9 R U (54) НИЗКОИНЕРЦИОННЫЙ МАНИПУЛЯТОР ДЛЯ СТАНКОВ ДЛЯ ЛАЗЕРНОЙ РЕЗКИ ПЛОСКОГО ЛИСТОВОГО МЕТАЛЛА (57) Реферат: Изобретение относится к низкоинерционному в действие соответствующими независимыми манипулятору для лазерной резки плоского исполнительными устройствами (7, 8) для их листового материала. Манипулятор содержит перемещения вдоль оси Y с возможностью опорное приспособление (15) для лазерной изменения их взаимного расстояния, и стержнями режущей головки (14), выполненной с (9, 10) для шарнирного соединения указанных возможностью продольного перемещения вдоль скользящих блоков (5, 6) с лазерной режущей оси X и поперечного перемещения вдоль оси Y. головкой (14). Изобретение позволяет повысить Опорное приспособление снабжено двумя качество резания заготовок. 3 з.п. ф-лы, 8 ил. скользящими блоками (5, 6), которые приводятся Стр.: 1 C 2 C 2 Адрес для переписки: 129090, Москва, ...

Precision drive device of automatic control for robot

본 고안은 양단구동의 겐츄리로봇에 관한 것으로, 특히 일측 구동부가 구동방향과 직각방향으로 자유롭게 탄성이동하여 가이드부재의 위치에 따라 자동조정되도록 함으로써 구동의 정밀도를 향상한 겐츄리로봇의 자동조정형 정밀구동장치에 관한 것이다. The present invention relates to a gantry robot with both ends driving, and in particular, the gantry robot of the gantry robot, which improves the driving accuracy by allowing the one side drive unit to move freely elastically in the direction perpendicular to the drive direction, to be automatically adjusted according to the position of the guide member. It relates to a drive device. 본 장치는 양구동부 중 일측 구동부를 구동방향과 수직방향으로 탄성 이동가능케 고정함으로써 겐츄리로봇의 몸체가 가이드부재를 따라 이동시 가이드부재의 평행도에 약간의 편차가 있어도 자동으로 조정된다. 이에 따라서, 겐츄리로봇을 정밀하게 구동할 수 있는 효과를 갖는다. The device is automatically adjusted so that one side of the driving portion is elastically movable in the direction perpendicular to the driving direction, even if there is a slight deviation in the parallelism of the guide member when the body of the gantry robot moves along the guide member. Accordingly, it has the effect of accurately driving the gentry robot.

Manipulator

Изобретение относитс  к машиностроению и может быть использовано в других област х техники, где необходимо обеспечить координатное перемещение рабочего органа. Цель изобретени  - повышение надежности в работе за счет исключени  заклинивани  поперечной штанги в направл ющих основани . Поперечна  штанга 3 установлена на направл ющих 1 основани , выполненного в виде пр моугольной рамы. На направл ющих поперечной штанги находитс  каретка 4 с рабочим органом, кинематически св занным с двигател ми 18 и 19 посредством гибкого элемента 5, проход щего через отклон ющие блоки, а также передачи винт гайка. Дл  движени  вдоль осей X или Y включают управл емый фиксатор 17, защемл ющий гибкий элемент на каретке, а также соответствующий электромагнитный фиксатор положени  23 или 24. Затем включаютс  в соответствующем направлении двигатели 18 и 19, передающие движение гибкому элементу через приводные блоки 7 и 8. Дл  движени  рабочего органа вдоль оси Z отключают управл емый фиксатор 17 и включают оба электромагнитных фиксатора положени  23 и 24, установленные соответственно на поперечной штанге и на каретке. Включают фрикционную электромагнитную муфту 21, а затем - двигатели. Вращение рабочего органа относительно вертикальной оси достигаетс  отключением фрикционной электромагнитной муфты 21. 1 з.п.ф-лы, 3 ил. The invention relates to mechanical engineering and can be used in other areas of technology where it is necessary to provide coordinate movement of the working body. The purpose of the invention is to increase reliability in operation by eliminating the seizure of the transverse rod in the guide bases. The transverse rod 3 is mounted on the guides 1 of the base, made in the form of a rectangular frame. On the transverse rod guides, there is a carriage 4 with a working member, kinematically connected with the engines 18 and 19 by means of the flexible element 5 passing through the deflecting units, as well as the transfer screw. For movement along the X or Y axes, a ...

Robot wrist aggregate

(57)【要約】本公報は電子出願前の出願データであるた め要約のデータは記録されません。

Industrial robot

Изобретение относитс  к машиностроению , а именно к роботостроению, и может быть использовано дл  авто- мат 1зации технологических операций на нескольких производственных участках . Цель изобретени  - уменьшение занимаемой площади за счет возможности регулировки габаритных размеров робота в зависимости от величины зоны обслуживани . При регулировке рассто ни  между направл ющими 1 гибкие - элементы 16 и 11 соответственио стоек и траверсы с помощью приводов нат гиваютс , обеспечива  треб.уёмые размеры между салазками 2,3, 6 и 7 .и корпусами 32 и 33. Привод салазок , корпусов и каретки 8 с механической рукой 10 также осуществл етс  с помощью гибких элементов. 5 .ил. сл ,t The invention relates to mechanical engineering, namely robotics, and can be used to automate technological operations at several production sites. The purpose of the invention is to reduce the occupied area due to the possibility of adjusting the overall dimensions of the robot depending on the size of the service area. When adjusting the distance between the guides 1, the flexible elements 16 and 11 correspond to the uprights and the traverse are tensioned with the help of drives, ensuring the required dimensions between the rails 2,3, 6 and 7. And the housings 32 and 33. the carriage 8 with the mechanical arm 10 is also provided with flexible elements. 5. sl, t

Remote-controlled manipulating apparatus for manipulating objects inside sealed chambers

Drive means for remote control manipulator

System for safe cargo handling on board vessels offshore

System for safe cargo handling onboard vessels, especially on vessels offshore, comprising at least one remote control manipulator being adapted to cooperate materials handling grippers (12) covering the vessel deck area for handling cargo such as containers etc. from the vessel deck to an offshore platform and from the platform to the vessel deck.

Five arms

本申请提出一种五轴机械臂，具体涉及物料搬运技术领域。本申请通过使用动力装置二、旋转关节和动力装置一来控制物料运送五轴机械臂运行，实现旋转基座、横梁臂、伸缩臂、垂直升降臂和执行关节在不同的时间段执行各自的旋转移动、前后移送移动或升降移送动作，满足机床加工时处于不同高度物料的运送需要，并且本申请的动力装置二、旋转关节和动力装置一优选为伺服电机，进一步提高机械臂的控制精度。本申请的物料运送五轴机械臂一有效解决了现有物料运送桁架机械臂存在运转范围受制约的问题，二是提供了较低价位且制造相对简单的物料运送机械臂，在机械臂行业具有较大的发展空间。

Robot apparatus

一种机器人设备，包括：第一导轨；细长支撑件，附接到第一导轨，所述细长支撑件能够沿着第一导轨在两个方向上移动且能够在沿着第一导轨的每一位置处旋转；第一肢体，能够沿着细长支撑件中的第二导轨移动，所述第一肢体能够延伸且能够缩回；第二肢体，以可枢转方式附接到第一肢体；末端执行器座，位于第二肢体处且能够在第二肢体的一个末端处旋转；以及第三导轨，附接到细长支撑件以导引细长支撑件在细长支撑件能够沿着第一导轨移动的所述两个方向上的移动；以及驱动机构，用以驱动机器人设备的移动。

Device for transferring a work piece from a first machine to a second machine

본 발명은 공작물(35)를 프레스에서 다른 프레스로 이송하는 공급기에 관한 것으로 링크장치(9)를 지닌 캐리어장치(18)를 구비하고, 이 링크장치의 짐적재자유단(20)은 이 캐리어장치(18)의 양측 위에서 이동의 수평성분을 실행한다. 링크장치(19)의 단(20)은 신장붐에 고정되어 있으며, 이 신장붐의 세로방향은 선형운동과 일치한다. The present invention relates to a feeder for conveying a work 35 from a press to another press, comprising a carrier device 18 having a linking device 9, wherein the load free end 20 of the linking device is provided with the carrier device. The horizontal component of movement is executed on both sides of (18). The stage 20 of the linkage 19 is fixed to the extension boom, the longitudinal direction of which extends in line with the linear motion. 붐(27)에는 공작물(35)용 홀더장치(33),(34)가 마련되어 있으며, 이 홀더장치는 이음새 없는 벨트를 이용해 붐(27)을 따라 이동 가능하다. The boom 27 is provided with holder devices 33 and 34 for the work 35, which can be moved along the boom 27 using a seamless belt. 붐의 끝에서 이 벨트는 로울러(30),(31) 위에 구비되어 있고, 벨트의 저부는 홀더장치에 고정되어 있고 벨트의 상부는 캐리어장치(18)에 고정되어 있다. 붐(27)에는 슬라이딩 가이드가 마련되어 있고 캐리어장치(18)위에 지지되어 있다. At the end of the boom, the belt is provided on the rollers 30 and 31, the bottom of the belt is fixed to the holder device and the top of the belt is fixed to the carrier device 18. The boom 27 is provided with a sliding guide and is supported on the carrier device 18.

Transfer device for gantry robot

본 발명은 갠트리로봇 이송장치에 관한 것으로, 내구성이 향상되고 이송속도가 빨라져 작업능률이 향상되도록 한 것이다. 이를 위해 본 발명에 의한 갠트리로봇 이송장치는 일정한 길이를 가지는 사각통상의 프레임(51)과, 상기 프레임(51)의 일면 양단부에 길이방향으로 구비되는 원통형의 가이드축(53)과, 상기 가이드축(53) 사이에 구비되고 상기 프레임(51)에 고정되는 랙(57)과, 상기 가이드축(53)을 따라 구르는 회전베어링(63)과, 상기 회전베어링(63)과 결합되고 갠트리로봇(67)이 설치되는 지지판(65)과, 상기 지지판(65)에 구비되고 상기 랙(57)과 치차 결합되는 구동피니언(69)과, 상기 구동피니언(69)을 구동하는 구동모터(71)를 포함하여 구성된다. 또한, 본 발명에 의한 갠트리로봇 이송장치는 상기의 랙(57)과 구동피니언(69) 대신에 일면에 치차가 형성된 벨트(58)와 상기 벨트(58)의 치차와 대응되는 치차가 원주면에 형성된 구동피니언(69')이 구비되기도 한다. 그리고, 상기 회전베어링(68)의 중심부에는 일측단에 너트(64')가 일체로 형성된 중공축(64)이 편심지게 삽입된다.

Excessively curved and the progress control method, device of robot

本发明提供一种机器人的过弯和运行控制方法、装置，机器人包括夹设于预定轨道两侧的驱动轮，其中所述预定轨道包括弯曲段，所述机器人的过弯控制方法包括：控制所述驱动轮沿着所述预定轨道运动；检测到所述驱动轮位于弯曲段；控制位于所述弯曲段外径一侧的驱动轮的速度大于位于所述弯曲段内径一侧的驱动轮的速度。本发明在机器人过弯时，对位于预定轨道两侧的驱动轮进行差速控制，使得机器人运行更加稳定，避免机器人卡死在当前运行区域。进一步，过弯时的差速控制能够减小驱动轮的磨损，有利于后续机器人的执行策略(比如基地防御、打击堡垒等决策)的执行。

Automatic cleaning apparatus for solar cell panel

개시된 본 발명에 따른 태양광 패널 자동 청소 장치는 복수의 태양광 패널(10)을 자동으로 청소하기 위한 것으로써, 복수의 태양광 패널(10)의 외곽을 감싸도록 설치되는 레일(20)과, 레일(20)을 따라 이동하면서 상기 태양광 패널(10)을 자동으로 청소하는 청소 로봇(100)을 포함한다. 청소 로봇(100)은 레일(20) 상부에 위치하며 상기 레일(20)을 따라 가로방향으로 이동하고, 가로 프레임(112)과 세로 프레임(114)을 구비하는 프레임 유닛(110)과, 프레임 유닛(110)에 안착되게 설치되며 상기 프레임 유닛(110)을 따라 세로방향으로 이동하여 상기 태양광 패널(10)을 청소하는 브러쉬 유닛(120)과, 브러쉬 유닛(120)의 브러쉬(122)를 구동하기 위한 브러쉬 구동모터와, 상기 브러쉬 유닛(120)을 세로방향으로 이동시키기 위한 상하 구동모터와, 상기 프레임 유닛(110)을 가로방향으로 이동시키기 위한 좌우 구동모터를 포함하는 모터 유닛 및 프레임 유닛(110) 또는 브러쉬 유닛(120)에 적어도 하나 이상 설치되어 태양광 패널(10)에 물을 분사시키는 분사 노즐(150)을 포함한다.청소 로봇(100)은 복수의 태양광 패널 중 일측 가장자리의 태양광 패널에서 청소를 시작하여 순차적으로 타측으로 이동하여 타측 가장자리의 태양광 패널까지 청소를 수행하며, 하나의 태양광 패널 청소 시 상단 또는 하단에서 시작하여 설정된 횟수로 상하 이동하여 청소를 수행한다.

Enhanced automated food making apparatus

A method for operating an automated food making apparatus having a motor, actuator arm, and an apparatus. The apparatus may be a paddle with flexible fins. The method rotates the paddle with a pin-shaft mechanism to dispense an ingredient placed in a canister, controls the motor automatically based on weight sensor readings, and locates a position of the actuator arm with position sensors. The same motor dispenses ingredients from a plurality of canisters. The method may have a plurality of paddle rotation and weight measurement steps until a target weight is reached. The plurality of paddle rotation steps may be unidirectional or bidirectional paddle rotation. The paddle may be rotated according to one or more paddle rotation algorithms, an error recovery algorithm, or different algorithms based on the amounts of ingredients remaining in the canister. The paddle may be rocked until the target weight is achieved.

Combined manipulator of robotosurgical complex

FIELD: medicine. SUBSTANCE: invention refers to medicine, namely to combined manipulators of a robot-surgical complex. Manipulator includes mechanism equipped with drive elements, and portal mechanism. Mechanism equipped with drive elements is made in the form of a fixed support platform and a movable platform interconnected by means of three rods. Movable platform is configured to receive a surgical instrument thereon. Portal mechanism is made in the form of module of transverse displacement and module of longitudinal movement, each of which is equipped with drive unit. Module of transverse movement is installed on module of longitudinal movement with possibility of movement along it in longitudinal direction. Each of said portal mechanism modules is made in the form of support frame of four racks arranged in pairs perpendicular to each other. Rails in pairs are arranged parallel, at that one pair of racks is equipped with linear guides. Carriages with stationary support platform fixed on them are arranged on linear guides of first transverse displacement module. On linear guide rails of the first pair of the module of longitudinal displacement there are two carriages with a mounting pad fixed on each of them, which is fixed on the mounting plane of the inner surface of the racks from the second pair of rails of the module of transverse displacement. EFFECT: small dimensions and weight of the manipulator are achieved with sufficient rigidity of the structure, dynamic accuracy of positioning, sufficient mobility and freedom of the output link, on which the surgical instrument is installed. 7 cl, 7 dwg РОССИЙСКАЯ ФЕДЕРАЦИЯ (19) RU (11) (13) 2 721 485 C1 (51) МПК A61B 34/30 (2016.01) B25J 9/08 (2006.01) B25J 9/12 (2006.01) ФЕДЕРАЛЬНАЯ СЛУЖБА ПО ИНТЕЛЛЕКТУАЛЬНОЙ СОБСТВЕННОСТИ (12) ОПИСАНИЕ ИЗОБРЕТЕНИЯ К ПАТЕНТУ (52) СПК A61B 2034/304 (2020.02); B25J 9/026 (2020.02); B25J 9/08 (2020.02); B25J 9/123 (2020.02) (21)(22) Заявка: 2019141222, 12.12.2019 (24) Дата начала ...

Heavy-load truss robot

本发明涉及一种重载桁架机器人包括龙门桁架，龙门桁架包括桁架轨道A、桁架轨道B，桁架轨道A与桁架轨道B间架设有机动滑轨吊梁，机动滑轨吊梁上设有吊梁轨道A、吊梁轨道B，吊梁轨道A与吊梁轨道B间架设有机动滑座，机动滑座上设有升降驱动装置，机动滑轨吊梁的下方设有夹爪装置，夹爪装置包括夹爪总成，夹爪总成的顶部设有夹爪从动齿轮，夹爪从动齿轮的芯轴向上与升降驱动装置的输出端轴向限位连接，升降驱动装置的输出端上设有旋转驱动电机，旋转驱动电机的输出轴上的主动齿轮与夹爪从动齿轮传动啮合，旋转驱动电机驱动夹爪总成旋转。本发明采用具有自动装车功能的重载桁架机器人，具有装载效率高，操作精准的特点。

A device for handling and/or performing work operations on objects

본 발명은, 이동 또는 작업하기 위한 툴(3)을 지지하기 위한 제1 단부(2a)를 포함하는 하나 이상의 제1 암(2), 및 상기 제1 암(2)을 지지 및 이동시키기 위한 수단(4)을 포함하며, 상기 지지 및 이동시키기 위한 수단(4)은, 원형 궤도(θ1)를 따라 상기 제1 암(2)을 이동시키기 위해 닫힌 경로(P) 상에 전개된 하나 이상의 제1 리니어 전기 모터(5), 및 원호형 궤도(θ2)에 전개되어 있고 상기 제1 암(2)이 직접 연결된 하나 이상의 제2 리니어 전기 모터(6)를 포함하는, 물체를 핸들링하고 및/또는 물체에 작업을 수행하기 위한 장치를 제공한다. 상기 제1 리니어 전기 모터(5)와 상기 제2 리니어 전기 모터(6)는 상기 제1 암(2)을 이동시키기 위해 함께 작용한다. The present invention also relates to a method for supporting and moving a first arm (2) comprising at least one first arm (2) comprising a first end (2a) for supporting a tool (3) Characterized in that the means for supporting and moving comprises at least one first and a second plurality of first and second arms extending on a closed path P for moving the first arm 2 along a circular orbit & A linear electric motor 5 and one or more second linear electric motors 6 deployed in an arc-shaped orbit 2 and connected directly to the first arm 2, and / The apparatus comprising: The first linear electric motor (5) and the second linear electric motor (6) work together to move the first arm (2).

Inspection robot for riser

수중 파이프 검사장치가 개시된다. 본 발명의 일 실시 예에 따른 수중 파이프 검사장치는, 수중에 설치된 파이프에 배치되어 파이프를 따라 이동 가능토록 통로가 마련되는 로봇본체유닛과, 해수에 의한 추진력을 로봇본체유닛에 제공하도록 로봇본체유닛에 배치되는 추진유닛과, 파이프를 검사하도록 로봇본체유닛에 탑재되는 검사유닛을 포함한다. 이러한 수중 파이프 검사장치는, ROV 없이 단독으로 파이프를 따라 주행할 수 있으므로 운용 상의 비용이 절감되며, 파이프에 대한 검사를 신속하게 진행할 수 있다. Disclosed is an underwater pipe inspection apparatus. An underwater pipe inspection apparatus according to an embodiment of the present invention includes a robot body unit disposed on a pipe installed underwater and having a passage provided to move along the pipe, and a robot body unit to provide a propulsion force by seawater to the robot body unit. It includes a propulsion unit disposed in, and an inspection unit mounted on the robot body unit to inspect the pipe. Such an underwater pipe inspection apparatus can run along a pipe alone without an ROV, thereby reducing operational costs and allowing rapid inspection of the pipe.

Manipulator

Battery cell stacking apparatus

본 발명은 셀 인덱스 장치에 관한 것으로, 전지셀을 이송하는 셀트랜스퍼; 셀트랜스퍼의 일측에 배치되어 다수개의 전지셀을 스택하는 스택커; 및 스택커의 상부에 위치되게 배치되어 셀트랜스퍼가 이송된 전지셀을 스택커에 스택하도록 셀트랜스퍼를 X, Y 및 Z축 방향으로 이송시키는 X-Y-Z축 이송로봇;을 포함하고, 전지셀은 일측과 타측에 각각 리드가 구비되는 둘 이상의 파우치 셀이 포함되며, 셀트랜스퍼는 일측에 전지셀의 둘 이상의 파우치 셀의 리드 사이를 이격시키는 절연부재를 포함하는 것을 특징으로 한다. The present invention relates to a cell index device, comprising: a cell transfer for transferring a battery cell; A stacker disposed on one side of the cell transfer to stack a plurality of battery cells; And an XYZ-axis transfer robot that is disposed to be located on the top of the stacker and transfers the cell transfer in the X, Y, and Z-axis directions to stack the cell transfer-transferred battery cells on the stacker. Two or more pouch cells each provided with a lead on the other side are included, and the cell transfer includes an insulating member on one side to separate the leads of two or more pouch cells of the battery cell.

Multifunctional power assist apparatus

According to a preferred embodiment of the present invention, a multifunctional muscular strength assist device which selectively mounts any one among various tools for spraying water pressure to suppress a fire or transporting or removing a target object, comprises: a support part having a support main body part having a vertical axis and a plurality of support legs connected to the support main body part; and a manipulator part having a rotating main body part connected to the support main body part so as to be rotatable around the vertical axis, a link part rotationally connected to the rotating main body part, and a connector part rotationally connected to the link part and having the tool coupled thereto.

Manipulator and method for controlling robot

本发明实施例提供的机械手以及机械手控制方法通过目标点获取装置获取目标点位置信息，并将目标点位置信息发送至控制器。再通过夹取件位置获取装置获取夹取活动部的位置信息，并将夹取活动部的位置信息发送至控制器，控制器接收目标点位置信息以及夹取活动部的位置信息，并将上述的位置信息发送至数据处理设备，以使数据处理设备运算出夹取活动部从原先的位置移动至目标点的位置电机的转速、转数以及舵机的角度。与现有的机械手相比，本发明实施例提供的机械手能够根据具体需求执行相应的操作，使得机械手能够应对更多的使用场景。

Gentry Robot's self-adjusting precision driving device

Machine for conveying objects and multi-compartment carousel for use therewith

一种用于传送物体的机器，包括：底座；转台，其安装到底座以绕轴线旋转，该转台包括转台安装轨道和转台穿梭机，该转台穿梭机具有用来夹取物体的夹取器，该转台穿梭机安装在转台安装轨道上；吊杆，其安装到转台，由此转台的旋转使吊杆绕轴线径向扫过，吊杆包括沿其延伸的吊杆安装轨道和吊杆穿梭机，吊杆穿梭机具有用来夹取物体的夹取器，吊杆穿梭机安装到吊杆安装轨道；以及转盘，其位于底座附近，围绕转台延伸并可绕轴线旋转，转盘具有多个物体隔间，该转盘可控制地绕轴线旋转，以将任何物体隔间定位在转台安装轨道附近，用于在物体隔间和转台穿梭机之间传输物体。

Multi-station logistics manipulator device

本发明公开一种多工位物流机械手装置，包括机械臂、夹持机构及识别装置，其中，夹持机构设于机械臂并可在机械臂的驱动下移动，夹持机构包括基座、第一驱动机构、第二驱动机构和至少两个卡爪，第一驱动机构设于用以驱动至少两个卡爪张开和闭合；卡爪包括驱动板和多个夹持板，驱动板的内侧设有夹持位，多个夹持板的材质不同，每一夹持板均具有运动至夹持位的第一位置和脱离夹持位的第二位置，第二驱动机构用于驱动夹持板在第一位置和第二位置间运动；识别装置用于根据货物外包装的类型向第二驱动机构发送控制信号，第二驱动机构根据控制信号驱动对应的夹持板运动至第一位置。本发明的工位物流机械手装置具有保护货物的优点。

Linear guide base device of robot for industry

본 발명은 산업용 로봇에 사용되는 리니어 가이드의 베이스 장치에 관한 것으로서, 더욱 상세하게는 외부로부터 분진 및 이물질이 베이스의 내측에 설치된 리니어 가이드 및 제어수단으로 유입을 방지하기 위한 것을 목적으로 한다. 상기 목적을 달성하기 위하여 본 발명은, 산업용 로봇을 전후운동시키는 리니어 레일과 리니어 블록으로 구성된 리니어 가이드 장치에 있어서, 리니어 가이드를 내측으로 수용하는 수용부와, 수용부로부터 상측으로 갈수록 좁아지는 개구부를 형성하는 베이스를 포함하는 것을 특징으로 한다. 본 발명에 의하면, 상기 산업용 로봇의 전후운동을 구동하는 리니어 가이드 장치와 제어수단을 외부의 이물질 및 분진으로부터 보호할 수 있으므로, 분진에 의한 리니어 가이드 장치의 고장을 최소화하고 제조 및 교체비용을 절감할 수 있는 효과를 갖는다. 리니어 가이드, 베이스

Rotary module, moving platform and moving apparatus having the same

회전모듈, 이동플랫폼 및 이를 포함하는 자율이동장치가 개시된다. 와이어의 길이를 컨트롤하여 위치를 제어하는 이동플랫폼에 장착되어 작업로봇이 상하부로 이송될 수 있도록 회전시키는 회전모듈로서, 상기 이동플랫폼에서 돌출 연장되는 회전축; 상기 회전축을 중심으로 회전되며, 상기 작업로봇이 탑재되는 프레임; 및 상기 프레임을 회전시키는 구동부를 포함하는 회전모듈은, 작업로봇을 자동으로 이동플랫폼의 상하로 이동시킬 수 있어, 작업로봇을 설치 및 배치 하는 등의 작업에 소요되는 시간 및 노력이 감소될 수 있어, 작업의 속도가 상승될 수 있다. Disclosed are a rotating module, a mobile platform, and an autonomous mobile device including the same. A rotation module mounted on a moving platform to control the length of the wire to rotate the work robot so as to be transported to the upper and lower parts, the rotation shaft protruding from the moving platform; A frame rotated about the rotation axis and on which the working robot is mounted; And the rotation module including a drive unit for rotating the frame, can automatically move the work robot up and down of the mobile platform, it can reduce the time and effort required for work such as installing and placing the work robot As a result, the speed of work can be increased.

Automatic experimental device and method for experiment of life scientific and chemical

본 발명은 실험 자동화 장치 및 그 방법에 관한 것으로서, 일실시예에 따른 실험 자동화 장치는 메인 보드 상에 배치된 확장 모듈에 대응되는 실험 프로그램을 수신하는 프로그램 수신부와, 수신된 실험 프로그램에 기초한 로봇 피펫의 동작 제어를 통해 확장 모듈 내에 구비된 적어도 하나의 타겟 샘플에 대한 흡입 및 분주 동작을 수행하는 피펫 제어부 및 흡입 및 분주 동작에 따른 실험 결과 데이터를 수집하는 결과 데이터 수집부를 포함한다.

But angle regulation and high drive arrangement

本发明公开了一种可调节角度和高度的驱动装置，包括底座，所述底座上设置有第一电机和支架，所述支架的侧部设置有两个滑轨，两个所述滑轨上设置有滑块，两个所述滑轨之间可转动地设置有丝杠，所述丝杠的下端与所述第一电机的驱动端连接；支架的上端铰接有大臂，所述大臂与滑块之间铰接有连杆。可调节角度和高度的驱动装置，用于优化现有的机械手的复杂机构。

Five-degree-of-freedom synchronous telescopic two-stage manipulator

本发明涉及一种五自由度同步伸缩二级机械手，其包括底板、回转模块、同步伸缩模块、机械手爪、转盘轴承和回转直线驱动组件，底板的中间部设有回转模块，同步伸缩模块中的固定框安装于电机安装板的第二端面，第一级伸出框设于固定框中且与固定框移动副连接，第二级伸出框安装于第一级伸出框中，且与第一级伸出框移动副连接，机械手爪通过转盘轴承设于第二级伸出框的第二端，且回转直线驱动组件的固定端与第二级伸出框的第一端转动连接，回转直线驱动组件的伸出端与T型板转动连接，且伸出端设于固定端中与固定端移动副连接。本发明有利于增大机械手的工作空间和工作行程，且同步伸缩过程中不会产生速度突变，具有安全可靠，成本较低等优点。

Precision machining device using robot arm and its operation method

본 발명은 로봇팔을 이용한 정밀 가공장치 및 이의 작동방법에 관한 것으로, 보다 상세하게는 신속하고 정밀하게 가공을 수행할 수 있기 위한 로봇팔을 이용한 정밀 가공장치 및 이의 작동방법에 관한 것이다. 본 발명의 구성은 피가공재에 대한 가공을 수행하는 가공부; 상기 가공부를 가공 위치로 이송하는 로봇팔부; 및 상기 가공부 및 상기 로봇팔부의 위치를 제어하는 제어부를 포함하며, 상기 가공부는 상기 로봇팔부의 단부에 결합되되, x축, y축 z축 이동 및 회전이 가능하도록 결합된 것을 특징으로 하는 로봇팔을 이용한 정밀 가공장치를 제공한다. The present invention relates to a precision processing apparatus using a robot arm and a method of operating the same, and more particularly, to a precision processing apparatus using a robot arm and a method of operating the same to perform processing quickly and precisely. The configuration of the present invention is a processing unit for performing processing on the workpiece; A robot arm for transferring the processing unit to a processing position; And a control unit for controlling the position of the processing unit and the robot arm unit, wherein the processing unit is coupled to an end of the robot arm unit, and is coupled to enable movement and rotation of the x-axis and y-axis z-axis. Provides precision processing equipment using arms.

Desulfurizing agent using anthracite with improved desulfurizing-ability

본 발명은 제철산업의 제강공정의 용선예비처리 공정에서 용선중에 함유된 유황성분을 저가이면서도 효율적으로 제거하기 위한 탈황능이 향상된 무연탄을 이용한 탈황제에 관한 것이다. The present invention relates to a desulfurization agent using anthracite with improved desulfurization ability to remove sulfur components contained in molten iron in a molten iron preliminary treatment process in the steelmaking process of the steel industry at low cost. 이를 위하여, 본 발명은 중량%로서 석회석이 34~38%, 형석이 3~5%, 무연탄이 7~11%이고 나머지가 불가피한 불순물 및 생석회로 구성되는 것을 특징으로 하는 탈황능이 향상된 무연탄을 이용한 용선용 탈황제를 제공하며, 이 때 상기 무연탄은 고정탄소가 78중량% 이상 함유하면서 휘발분인 에탄(C 2 H 6 )이 4중량% 이상 함유된 무연탄인 것을 특징으로 하는 탈황능이 향상된 무연탄을 이용한 용선용 탈황제를 제공한다. To this end, the present invention is a molten iron using anthracite improved anthracite, characterized in that the limestone is 34 to 38% by weight, fluorite is 3 to 5%, anthracite is 7 to 11% and the rest is composed of inevitable impurities and quicklime. A sulfur desulfurization agent is provided, wherein the anthracite coal is an anthracite coal containing at least 78% by weight of fixed carbon and an anthracite coal containing at least 4% by weight of ethane ethane (C 2 H 6 ). Provide desulfurization agent. 이와 같이, 본 발명에 따른 본 발명은 종래의 탈황제에 비하여 휘발분이 함류되어 있는 무연탄을 이용하여 분해시 발생하는 가스에 의한 교반력을 이용하여 탈황효율을 향상시켜 탈황제 사용량을 저감할 수 있으며 가격 또한 저렴하여 저가의 탈황제 사용에 따른 경제적 효과를 얻을 수 있다. Thus, the present invention according to the present invention can improve the desulfurization efficiency by using agitation force by the gas generated during decomposition using anthracite coal containing volatile matter compared to the conventional desulfurization agent to reduce the amount of desulfurization agent and the price It is inexpensive, so it is possible to obtain an economic effect of using a low-cost desulfurization agent.

Automatic wiring device for cable harness

一种电缆线束自动布线装置，属于电缆自动控制领域。现有的电缆无法进行自动铺置。本发明一种电缆线束自动布线装置，外侧围挡多个外侧围挡（6）之间首尾顺次连接设置在布线平台（3）的四周；滑台模组（1）安装在外侧围挡（6）的顶端，且位于布线平台（3）的上方；布线机械手（2）设置在2个滑台模组（1）之间，且位于滑台模组（1）的上方；一组卷夹模组（4）安装在布线平台（3）的上表面，且一组卷夹模组（4）按照电缆铺设的设计方案分布在牵引电缆的路线上；一组绕线桩（5）安装在布线平台（3）的上表面，绕线桩（5）与卷夹模组（4）的位置及个数对应。本发明用于线束批量生产，实现电缆线束的自动铺置布线。

Industrial robot kinematic modelling method and system

本发明涉及一种工业机器人运动学建模方法及系统，包括：S1，采用面向对象的方法将工业机器人的基本模型参数按照属性进行封装，得到不同的类；S2，获取工业机器人的初始位型以及由用户设定的工业机器人的参考坐标系和末端坐标系；S3，根据确定的参考坐标系和末端坐标系计算在初始位型时工业机器人的参考坐标系和末端坐标系之间的变换关系；S4，根据封装得到的类、工业机器人初始位型时参考坐标系和末端坐标系的变换关系以及关节数量建立工业机器人运动学模型，得到机器人末端坐标系与参考坐标系之间的变换关系。本发明解决了现有的运动学建模方法通用性不足的问题。

robot

A robot according to an embodiment includes a base (10), a first structure (11), a second structure (12), and a third structure (13). The first structure (11) is connected to the base (10) to be rotatable about a first axis (A1). The second structure (12) is connected to the first structure (11) to be rotatable about a second axis (A2) orthogonal to the first axis (A1). The third structure (13) is connected to the second structure (12) to be rotatable about a third axis (A3) parallel to the second axis (A2). The first structure (11) and the third structure (13) are formed by using cast materials having a same shape.

Hybrid robot device used for automotive body spraying

本发明涉及一种用于汽车车身喷涂的混联机器人装置，其包括一个龙门机架、两个三自由度并联机构和一个六自由度并联机构，通过将龙门机架的水平运动与所述的三个并联机构的运动相结合，可控制各个安装在并联机构运动平台上的雾化器喷头的位姿，从而完成对整个待喷涂汽车车身的喷涂作业。该混联喷涂机器人的结构对称，灵活性好，精度和刚度高，易于制造，方便控制，容易实现模块化，柔性程度高，可针对不同类型汽车整车进行喷涂作业。

Docking apparatus and moving apparatus having the same and docking method for moving apparatus

도킹장치, 도킹장치를 구비하는 자율이동장치 및 자율이동장치의 도킹방법이 개시된다. 와이어의 길이를 컨트롤하여 위치를 제어하는 복수의 이동플랫폼을 구비한 자율이동장치에서, 인접하는 한 쌍의 제1 및 제2 이동플랫폼을 연결시키는 도킹장치로서, 양측에 각각 제1 관통부 및 제2 관통부가 마련되는 프레임과; 제1 관통부로 돌출되며, 제1 수나사부를 구비하는 제1 도킹부와; 제2 관통부로 돌출되며, 제2 수나사부를 구비하는 제2 도킹부와; 제1 도킹부와 제2 도킹부에 결합되어 회전력을 전달하는 회전축부; 및 회전축부를 회전시키는 작동부를 포함하고, 회전축부의 회전에 따라 제1 수나사부는 제1 이동플랫폼으로부터 풀어지게 되고, 제2 수나사부는 제2 이동플랫폼에 감기게 되는 도킹장치는, 작업로봇이 이동플랫폼간을 용이하게 이동될 수 있도록 하여, 다수의 셀을 가지는 블록 내에서 작업이 효율적으로 이루어질 수 있게 한다. A docking device, an autonomous mobile device having a docking device, and a docking method of the autonomous mobile device are disclosed. In an autonomous mobile device having a plurality of mobile platforms to control the position by controlling the length of the wire, a docking device for connecting a pair of adjacent first and second mobile platform, the first through and the second on each side A frame provided with a second through portion; A first docking portion that protrudes through the first through portion and includes a first male screw portion; A second docking portion protruding to the second through portion and having a second male thread portion; A rotating shaft unit coupled to the first docking unit and the second docking unit to transmit rotational force; And an operation unit for rotating the rotary shaft unit, wherein the docking device in which the first male thread part is released from the first moving platform and the second male thread part is wound around the second moving platform according to the rotation of the rotating shaft part includes a work robot between the moving platforms. Can be easily moved, so that work can be efficiently performed within a block having a plurality of cells.

Programming method of robot visual coordinate

一种机器人视觉坐标的编程方法，牵引机器人至作业点位，设定作业点位的坐标及拍摄作业为新增点位，拍摄教导图像，并建立视觉坐标系统，在建立的视觉坐标系统设定接续的新增点位。机器人作业时，在拍摄的作业点位，伺服机器人拍摄图像与教导图像比较，搜索相同的教导图像，确认视觉坐标系统维持在教导时相同对应位置关系，以精确控制机器人。