Programmable Or Condition Responsive Means Controls Grab Operation Patents (Class 414/730)
  • Patent number: 11685302
    Abstract: A truck-mountable detection system for detection of a first coupling device of a container, in which the first coupling device is configured for coupling with a second coupling device of a truck-mounted loading equipment, in particular a hook of a hookloader. The detection system includes a data processor and an data capturing device, the data of which can be sent to the data processor. The data capturing device is a stereographic sensor system, and the data processor is configured to automatically recognize the shape of the first coupling device of the container based on the data provided by the stereographic sensor system.
    Type: Grant
    Filed: June 3, 2020
    Date of Patent: June 27, 2023
    Assignee: GUIMA PALFINGER S.A.S.
    Inventors: Michel Raucoulles, Guillaume Bourdais, Mario Roither, Alexander Baumgartner
  • Patent number: 11674634
    Abstract: This specification relates to the fields of automobile maintenance and device calibration technologies and discloses a position adjustment apparatus and an automobile calibration device. The position adjustment apparatus includes a slide member, a supporting member and an adjustment member. The supporting member is movably mounted at the slide member. One of the slide member and the supporting member includes a rack. The adjustment member includes a gear. The gear is meshed with the rack. When rotating, the gear can drive the rack to move in a preset direction, to enable the supporting member to move in the preset direction with respect to the slide member. By means of the gear engagement between the gear and the rack, the supporting member can move stably and precisely in the preset direction with respect to the slide member, so that the automobile calibration device and an automobile to be calibrated can be aligned conveniently and precisely.
    Type: Grant
    Filed: November 5, 2019
    Date of Patent: June 13, 2023
    Inventor: Xiaolong Wang
  • Patent number: 11667043
    Abstract: An electromechanical system operates in part through physical interaction with an operator, and includes a multi-axis robot, a controller, and a counterbalance mechanism connected to the robot. The counterbalance mechanism includes a base structure connected to a set of linkages, a pneumatic cylinder, a spring-loaded cam assembly, and an optional constant force spring. The linkages form a four-bar parallelogram assembly connectable to a load. The cylinder and cam assembly, and optional constant force spring, each impart respective vertical forces to the parallelogram assembly. The forces combine to provide gravity compensation and self-centering functions or behaviors to the load, enabling the load to move with a vertical degree of freedom when manually acted upon by the operator, and to return the load to a nominal center position.
    Type: Grant
    Filed: February 9, 2021
    Date of Patent: June 6, 2023
    Assignee: GM Global Technology Operations LLC
    Inventors: Muhammad E. Abdallah, James W. Wells, Peter Kresmery
  • Patent number: 11666374
    Abstract: An electrically energized medical instrument uses one or more drive cables to both actuate mechanical components of a wrist mechanism or an effector and to electrically energize the effector. Electrical isolation can be achieved using an insulating main tube through which drive cables extend from a backend mechanism to the effector, an insulating end cover that leaves only the desired portions of the effector exposed, and one or more seals to prevent electrically conductive liquid from entering the main tube. Component count and cost may be further reduced using a pair of pulleys that are shared by four drive cables.
    Type: Grant
    Filed: December 26, 2019
    Date of Patent: June 6, 2023
    Assignee: Intuitive Surgical Operations, Inc.
    Inventor: William A. Burbank
  • Patent number: 11653484
    Abstract: An apparatus to automatically place layers of a printed circuit board on a fixture includes a robotic device having a base that is secured to a surface, an upright column that extends upwardly from the base, and a movable arm rotatably coupled to the upright column. The movable arm is configured to rotate about a vertical axis defined by the upright column. The movable arm is further configured to rotate from a position in which the movable arm is disposed over a laminate sheet fixture and to pick up a laminate sheet to a position in which the movable arm is disposed over a board layup fixture to deposit the laminate sheet in the board layup fixture, and from a position in which the movable arm is disposed over a bond film fixture and to pick up a bond film to a position in which the movable arm is disposed over the board layup fixture to deposit the bond film in the board layup fixture.
    Type: Grant
    Filed: November 8, 2019
    Date of Patent: May 16, 2023
    Inventors: Mikhail Pevzner, James E. Benedict, Andrew R. Southworth, Wade A. Schwanda
  • Patent number: 11639004
    Abstract: A mechanical hand mimics a human hand having similar degrees of freedom and sensory abilities while appearing visually similar to human hand. The mechanical hand comprises a mechanical hand skeleton and resilient elastomer (e.g., silicone) skin that fully encloses the mechanical hand skeleton. The mechanical hand skeleton may advantageously be molded directly into the resilient elastomer (e.g., silicone) skin such that the hand appears, moves, and feels very similar to a real human hand. The mechanical hand may have applications in robotics, for example as an end-of-arm tool or end effector, or may have other applications. Robotic applications may include prosthetics applications.
    Type: Grant
    Filed: November 16, 2020
    Date of Patent: May 2, 2023
    Assignee: Sanctuary Cognitive Systems Corporation
    Inventors: Hatef Khadivinassab, Connor Richard Shannon, Kevin Jiaming Wu, Matthew Steven Hill
  • Patent number: 11638993
    Abstract: A method for operating a robotic system including determining an initial pose of a target object based on imaging data; calculating a confidence measure associated with an accuracy of the initial pose; and determining that the confidence measure fails to satisfy a sufficiency condition; and deriving a motion plan accordingly for scanning an object identifier while transferring the target object from a start location to a task location.
    Type: Grant
    Filed: January 25, 2021
    Date of Patent: May 2, 2023
    Assignee: MUJIN, Inc.
    Inventor: Rosen Diankov
  • Patent number: 11622485
    Abstract: A pick arm for a pick and place apparatus for electronic devices has a main body having a proximal end whereat the pick arm is mountable onto a pick arm support, and a distal end at which a collet is mounted for holding an electronic device. A first rigid body is located adjacent to the proximal end of the pick arm and a second rigid body is located adjacent to the distal end of the pick arm. The first and second flexures connect the first rigid body to the second rigid body. Moreover, the first flexure is spaced from the second flexure, and the first and second flexures have opposing faces that are arranged substantially parallel to each other. An actuator is operative to apply a biasing force onto the second rigid body so as to bend the first and second flexures relative to the first rigid body for biasing the collet of the pick arm to move.
    Type: Grant
    Filed: September 22, 2021
    Date of Patent: April 4, 2023
    Inventors: Chak Tong Sze, Pei Wei Tsai, Wing Sze Chan, Wai Hing Yung
  • Patent number: 11583300
    Abstract: An ultrasonic robotic cleaner freely movable back and forth inside a blood vessel, having an elongated shell, electrical driving mechanisms, a storage battery, and a high frequency ultrasonic vibration unit; each electrical driving mechanism is formed by propellers, an ultra-micro motor, and a gear assembly; the high frequency ultrasonic vibration unit and the storage battery are mounted inside the elongated shell; the high frequency ultrasonic vibration unit and the ultra-micro motor are electrically connected with the storage battery; the electrical driving mechanisms are disposed at two ends of the elongated shell respectively. The robotic cleaner moves inside the blood vessel and achieves blood cavitation so that blood lipids are fragmented into finer particles which are eventually burnt due to peroxidation and metabolism and transformed into energy, water and CO2.
    Type: Grant
    Filed: June 11, 2020
    Date of Patent: February 21, 2023
    Inventor: Zhijun Peng
  • Patent number: 11565421
    Abstract: Provided is a robot including: a wrist unit that has a tool attached to a distal end face thereof and that changes the orientation of the tool, the tool performing work on a work target device secured to an installation surface; and a movable unit that changes the three-dimensional position of the wrist unit. The movable unit includes an arm that has a longitudinal axis and the wrist unit is attached to the distal end thereof, and a visual sensor that has a field of view oriented in a direction intersecting the longitudinal axis of the arm is attached to the a position closer to the base end than the distal end face of the wrist unit is.
    Type: Grant
    Filed: October 30, 2018
    Date of Patent: January 31, 2023
    Inventor: Keita Suyama
  • Patent number: 11534885
    Abstract: Processe and system for preparing a vehicle surface (e.g., an aircraft fuselage) for painting include a preparation booth (100) which is sized and configured to house the vehicle (F). At least one robotic assembly (200a, 200b) is reciprocally movable within the preparation booth (100) relative to a longitudinal axis of the vehicle (F), and is provided with a robotic hand (230) having at least one abrasive disc (242a) attached to an attachment pad (242) of the robotic hand (230), and at least one nozzle (252a, 252b, 252c) for discharging a stream of rinse fluid. Operation of the at least one robotic assembly (230) will cause the at least one abrasive disc (242a) of the robot hand (230) to abrade the surface of the vehicle (F). The robotic hand (230) may thereafter be maneuvered so that the at least one nozzle (252a, 252b, 252c) is directed toward the abraded vehicle surface (F).
    Type: Grant
    Filed: June 9, 2016
    Date of Patent: December 27, 2022
    Inventors: Rogério Scafutto Scotton, Rodrigo Cesar Goncalves Poli, Vitor Inacio Valdecir, Jaime Leite Filho
  • Patent number: 11536079
    Abstract: A package delivery system includes a door access panel that is moveable between an open position and a closed position, and a frame configured to be carried by a door adjacent a passageway and configured to movably mount the door access panel. The system includes an actuator, a motor, and a controller to control selective actuation of the door access panel. The system also includes a wireless communication interface to communicatively couple the controller and a smart device for receiving a remote input to actuate the door access panel between the closed and opened positions. The system further includes a user interface configured to receive local input for actuation of the door access panel. A sensing unit is also included and has a position sensor to generate position signals to the controller. A scanning unit is coupled to the controller to scan packages delivered through the passageway.
    Type: Grant
    Filed: November 12, 2020
    Date of Patent: December 27, 2022
    Inventor: Andrew M. Schler
  • Patent number: 11511445
    Abstract: Disclosed is a gripper including a pair of main bodies each having an internal space and spaced apart from each other, a pair of openings provided at ends of the pair of main bodies, a pair of moving bodies protruding from the ends of the pair of main bodies through the openings, a pair of inner bodies fixed in the internal space of the pair of main bodies, and a pair of springs configured to be compressed between the inner body and the moving body.
    Type: Grant
    Filed: February 27, 2020
    Date of Patent: November 29, 2022
    Inventors: Changwoo Son, Changkyu Kim, Sunggil Park, Seyul Son, Taeyoung Choi
  • Patent number: 11485010
    Abstract: An adapter system for connecting the last element of a kinematic chain of a handling device to same, wherein the last element has a computer-storage module, as well as at least one actuator and/or at least one sensor. At least three sequentially positioned system modules are arranged between the penultimate and the last element. A first system module is a mechanical module, via which electrical and/or pneumatic connection lines are guided. In a second system module, the connection lines are connected with transition points of a negative adapter geometry of a mechatronic combi-interface. At least one further system module is arranged in a couplable manner between the second system module and the last element. A third system module has an electronics assembly which adapts the predefined system architecture to the device interface of the last element.
    Type: Grant
    Filed: October 9, 2018
    Date of Patent: November 1, 2022
    Inventors: Günther Zimmer, Martin Zimmer
  • Patent number: 11471988
    Abstract: A gripping device is provided in a turret-type tool magazine of a machine tool and grips a tool or a tool holder that holds the tool. The gripping device includes: a pair of arms configured to grip the tool or the tool holder by pinching the tool or the tool holder between the arms, a main body part configured to support the pair of arms so that each of the paired arms swings in the pinching directions to pinch the tool or the tool holder between the arms; and an angle detector configured to detect a physical quantity indicating a swing angle of the arm.
    Type: Grant
    Filed: November 15, 2019
    Date of Patent: October 18, 2022
    Inventor: Tomohiro Oyamada
  • Patent number: 11440203
    Abstract: A robotic tool changer is provided including a tool adapter. The tool adapter includes a body having a robot wall, a tool wall, and a side wall extending from the robot wall to the tool wall. A rear opening is formed in the side wall and the tool wall through which a tool element extends to enter a tool hole formed in the body. The tool adapter also includes a locking member movable relative to the body between an open position in which the locking member permits positioning of the tool element into or out of the tool hole through the rear opening, and a closed position in which the locking member prohibits positioning of the tool element into or out of the tool hole through the rear opening.
    Type: Grant
    Filed: November 3, 2020
    Date of Patent: September 13, 2022
    Inventor: Lukas Sebastian Kaul
  • Patent number: 11436818
    Abstract: A tracking method, comprising: acquiring a feature point of a controller by a camera of a HMD, wherein the feature point is used to indicate a corresponding location of the controller; receiving state information of the controller collected by an IMU of the controller, wherein the state information includes position information and rotation information of the controller; and determining a current state of the controller according to the feature point and the state information, wherein the current state includes a current position and a current rotation of the controller.
    Type: Grant
    Filed: October 9, 2019
    Date of Patent: September 6, 2022
    Assignee: Guangdong Virtual Reality Technology Co., Ltd.
    Inventors: Jingwen Dai, Jie He
  • Patent number: 11426884
    Abstract: A reusable mechanism is disclosed for coupling two robotic appendages, such that an unintended force acting against a side of one of the appendages may decouple the appendages. The mechanism includes a revolved male dovetail mated to a revolved female dovetail. The mechanism may further include a channel within the male dovetail and a detent that inhibits rotation of the male dovetail in relation to the female dovetail.
    Type: Grant
    Filed: August 4, 2020
    Date of Patent: August 30, 2022
    Assignee: X Development LLC
    Inventors: Marc Strauss, Colin Duffie, Bin Su
  • Patent number: 11366158
    Abstract: A test system for testing a device having a plurality of electrical contacts. The test system comprising: a device table operable to hold at least one device under test, a probe comprising at least one probe end for contacting electrical contacts of a device under test, a movement mechanism operable to move one or both of the device table and the probe so as to bring the at least one probe end into contact with at least one electrical contact of a device under test, and a profile determining system configured to determine a profile of the electrical contacts of a device under test.
    Type: Grant
    Filed: December 16, 2016
    Date of Patent: June 21, 2022
    Assignee: TeraView Limited
    Inventors: Bryan Edward Cole, Darius Sullivan, Simon Chandler
  • Patent number: 11285623
    Abstract: An electrically insulated tool is provided for a paint robot of a robotic painting system. The insulated tool includes an insulated main body having a mounting bracket disposed at a first end of the main body, configured for removably coupling the insulated tool to a paint robot. The tool has an optical sensor system including first and second optical fiber cables, and first and second spaced-apart optic ports coupled to the respective first and second optical fiber cables. The optic ports are configured to provide light communication as a light emitter and a light receiver. An interruption in the light communication between the light emitter and the light receiver indicates a presence of a workpiece component adjacent a detection region of the insulated tool.
    Type: Grant
    Filed: February 4, 2020
    Date of Patent: March 29, 2022
    Assignee: Toyota Motor Engineering & Manufacturing North America, Inc.
    Inventors: Jared R. Bentum, Zayd Qasas, Christopher M. Sheppard, Larry G. MacLean, Bryan R. Hunter
  • Patent number: 11289354
    Abstract: A conveying mechanism includes a suction part that has a suction pad and sucks and holds a target object by the suction pad, a bracket connected to the suction part through a joint that is swingable, an elastic component in which one end part is fixed to the suction part and the other end part is fixed to the bracket, a negative pressure control unit that controls generation of a negative pressure at the suction part, and a movement unit that moves the bracket. The elastic component permits a swing of the suction part according to tilt or deformation of the target object that is sucked and held and, when suction holding of the target object is released, the elastic component returns the orientation of the suction pad to a predetermined orientation when the suction pad is not sucking and holding the target object.
    Type: Grant
    Filed: March 9, 2021
    Date of Patent: March 29, 2022
    Inventors: Yoshinori Kakinuma, Masashi Kimura, Masayuki Kawase
  • Patent number: 11241792
    Abstract: An abnormality detection method of an encoder includes an output step, a control step, an information acquisition step, and an abnormality determination step. The abnormality determination step compares command position information with detection position information of a motor calculated based on an output signal, and determines that the encoder is abnormal in a case where a difference between the command position information and the detection position information of the motor is equal to or more than a predetermined value.
    Type: Grant
    Filed: September 4, 2017
    Date of Patent: February 8, 2022
    Inventors: Yasuhiro Kinugasa, Kei Aimi, Atsumi Hashimoto
  • Patent number: 11110616
    Abstract: Exemplary embodiments provide enhancements for soft robotic actuators. In some embodiments, angular adjustment systems are provided for varying an angle between an actuator and the hub, or between two actuators. The angular adjustment system may also be used to vary a relative distance or spacing between actuators. According to further embodiments, rigidizing layers are provided for reinforcing one or more portions of an actuator at one or more locations of relatively high strain. According to further embodiments, force amplification structures are provided for increasing an amount of force applied by an actuator to a target. The force amplification structures may serve to shorten the length of the actuator that is subject to bending upon inflation. According to still further embodiments, gripping pads are provided for customizing an actuator's gripping profile to better conform to the surfaces of items to be gripped.
    Type: Grant
    Filed: December 5, 2018
    Date of Patent: September 7, 2021
    Assignee: SOFT ROBOTICS, INC.
    Inventors: Joshua Aaron Lessing, Ryan Knopf, Carl Vause
  • Patent number: 11065761
    Abstract: A method of training a robot to pick a plurality of articles includes determining an identity of an article and determining if the article has a uniform distribution of weight. If the article has a uniform distribution of weight, a three-dimensional (3D) model of the article is created and stored in a database record associated with the identity. If the article does not have a uniform distribution of weight, a 3D model is created, two-dimensional (2D) images of each side of the article are created, and a 3D center of gravity of the article is determined. The 3D model, the 2D images, and the 3D center of gravity of the article are stored in a database record associated with the identity of the article.
    Type: Grant
    Filed: July 25, 2018
    Date of Patent: July 20, 2021
    Assignee: Dematic Corp.
    Inventors: Robert C. Sciog, Laszlo T. Szebelledy
  • Patent number: 11027421
    Abstract: A robot is provided which has: a housing including a plurality of joints; a reduction gear placed in the joint, the reduction gear including a lubrication chamber where a gear mechanism for slowing down and transmitting an output of a motor and lubricant is sealed; and an air chamber placed inside the housing, the air chamber communicating with the lubrication chamber.
    Type: Grant
    Filed: August 3, 2018
    Date of Patent: June 8, 2021
    Assignee: Kabushiki Kaisha Yaskawa Denki
    Inventors: Naoyuki Ohtsubo, Tsuyoshi Ito, Yuji Ishimaru
  • Patent number: 11014229
    Abstract: A robot includes a robot arm including an A arm rotating around an A rotation axis and a B arm provided rotatably around a B rotation axis having an axial direction different from an axial direction of the A rotation axis, an A driving mechanism including an A motor and an A reduction gear and configured to drive the A arm, and a B driving mechanism including a B motor and a B reduction gear and configured to drive the B arm. A center axis of an input shaft and a center axis of an output shaft of the A reduction gear correspond to each other. A center axis of an input shaft and a center axis of an output shaft of the B reduction gear correspond to each other.
    Type: Grant
    Filed: November 1, 2018
    Date of Patent: May 25, 2021
    Inventor: Takuya Owa
  • Patent number: 10969760
    Abstract: According to some aspects of the invention, auxiliary axis measurement systems for determining three-dimensional coordinates of an object are provided as shown and described herein. According to some aspects of the invention, methods for operating auxiliary axis measurement systems for determining three-dimensional coordinates of an object are provided as shown and described herein.
    Type: Grant
    Filed: March 26, 2019
    Date of Patent: April 6, 2021
    Inventors: Kishore Lankalapalli, Kenneth Steffey, Keith G. Macfarlane, Paul C. Atwell, Dragos M. Stanescu
  • Patent number: 10955430
    Abstract: An auto-navigating robotic processing vehicle including a carriage having a frame, an autonomous drive section configured to traverse the carriage effecting vehicle travel on a facility floor, and having an autonomous navigation section to effect autonomous navigation vehicle travel, a processing section with different processing modules connected to and carried by the frame, each of the different processing modules having a different predetermined laboratory processing function with a different predetermined function characteristic corresponding to the processing module and being automatically selectable to effect a preprocess or preprocess condition of laboratory samples and/or sample holders with respect to a process at a processing station, and a controller automatically selects at least one processing module and the corresponding predetermined function of the selected processing module effecting automatically the preprocess or preprocess condition based on an identification of a travel location for the v
    Type: Grant
    Filed: February 1, 2019
    Date of Patent: March 23, 2021
    Inventors: Louis Guarracina, Ulysses Gilchrist
  • Patent number: 10869728
    Abstract: A method of using a robotic guidance system for performing surgery on a spine is provided. The method includes utilizing a computerized tomographic scan image of a location on a spinal column of a patient, such that the computerized tomographic scan image is connected to a computer and visible on a monitor connected to the computer. The method also includes attaching a coupling component to the spinal column of the patient, coupling a marker to the coupling component, and imaging, with a fluoroscope, the view of the spinal column of the patient, wherein the fluoroscope image is transmitted to the computer and visible on the monitor and the at marker is clearly visible in the fluoroscope image.
    Type: Grant
    Filed: February 11, 2019
    Date of Patent: December 22, 2020
    Assignee: P Tech, LLC
    Inventor: Peter M. Bonutti
  • Patent number: 10710402
    Abstract: A robotic wheel gripper unit that is configured for gripping and transporting a wheel to a predetermined position during an assembly operation with a tire is disclosed. The robotic wheel gripper unit comprises a selectively moveable arm that includes a gripper tool connected thereto. The gripper tool further includes a plurality of gripper fingers and at least one sensor. The gripper fingers are configured for selectively engaging a portion of a wheel. The sensor is configured to detect a predetermined element on the wheel, such as a TPMS valve stem, to assist in placement of the wheel during an assembly operation.
    Type: Grant
    Filed: June 30, 2015
    Date of Patent: July 14, 2020
    Assignee: International Wheel and Tire, Inc.
    Inventor: Kevin R. Kerwin
  • Patent number: 10576642
    Abstract: A multi-jointed robot arm which enables the use of a small space, in which a first arm member is supported to be capable of rotation in relation to a pair of support members, which are provided to stand on a base member at a predetermined width interval, by a first joint, further, a second arm member is supported to be capable of rotation in relation to the first arm member by a second joint, in which the second arm member holds a robot hand which grips a work on an opposite side from the second joint, the first arm member includes a pair of side portions which join the first joint and the second joint, and a storage space into which the second arm member enters between the pair of side portions is provided.
    Type: Grant
    Filed: March 25, 2014
    Date of Patent: March 3, 2020
    Inventors: Daisuke Fukuoka, Shigefumi Suzuyama
  • Patent number: 10562449
    Abstract: Method and apparatus are disclosed for accelerometer-based external sound monitoring during low speed maneuvers. An example vehicle includes accelerometers affixed to windows of the vehicle, speakers located inside the vehicle, and an infotainment head unit. Each of the speakers is uniquely associated with one of the accelerometers. The infotainment head unit, when a speed of the vehicle satisfies a threshold, selects a zone corresponding to a direction of travel of the vehicle. Additionally, the infotainment head unit plays signals captured by the accelerometers associated with the selected zone on the corresponding speakers.
    Type: Grant
    Filed: September 25, 2017
    Date of Patent: February 18, 2020
    Assignee: Ford Global Technologies, LLC
    Inventors: Joshua Wheeler, Scott Andrew Amman, John Edward Huber, Leah Busch, Ranjani Rangarajan, Erick Michael Lavoie, Marla Johnston
  • Patent number: 10525589
    Abstract: A robot system includes at least one robot, a first sensor, at least one second sensor, and circuitry. The at least one robot is to work on a workpiece. The first sensor is to detect a three-dimensional shape of the workpiece. The at least one second sensor is to detect a three-dimensional position of the workpiece. The circuitry is configured to control the at least one robot based on teaching data. The circuitry is configured to correct the teaching data according to the three-dimensional shape detected by the first sensor. The circuitry is configured to correct the teaching data according to the three-dimensional position detected by the at least one second sensor.
    Type: Grant
    Filed: July 7, 2017
    Date of Patent: January 7, 2020
    Inventors: Fuminori Kutsukake, Keisuke Yonehara, Toshimitsu Irie
  • Patent number: 10518417
    Abstract: Provided is an article retrieval system including: a sensor that measures the states of articles stored in a storage container; an article detection part for detecting the articles on the basis of the states of the articles measured by the sensor; handling part for retrieving the articles or changing the positions and/or orientations of the articles detected by the article detection part; and a controller that controls the sensor, the article detection part, and the handling part. The controller includes: a space dividing part for dividing the space in which the articles exist according to the states of the articles measured by the sensor; and a switching part for switching at least one of a method of measurement with the sensor, a method of detection with the article detection part, and a method of retrieval with the handling part in each of the spaces divided by the space dividing part.
    Type: Grant
    Filed: March 23, 2018
    Date of Patent: December 31, 2019
    Assignee: Fanuc Corporation
    Inventor: Jun Wada
  • Patent number: 10513029
    Abstract: The invention relates to a transmission, to a transmission housing, to a driving member mounted rotatably in the transmission housing, to an output member mounted rotatably in the transmission housing and to at least one speed-changing transmission stage which couples the output member to the driving member and has a torque-supporting member, wherein the driving member together with the output member and the torque-supporting member forms a preassembled assembly in which the torque-supporting member is mounted rotatably on the transmission housing by means of a transmission-stage rolling bearing device and has a toothing which is in engagement with a driving pinion mounted rotatably in the transmission housing. The invention also relates to an electric driving device and to an industrial robot having at least one such transmission.
    Type: Grant
    Filed: January 12, 2016
    Date of Patent: December 24, 2019
    Assignee: KUKA Deutschland GmbH
    Inventors: Rainer Krumbacher, Franz Liebl
  • Patent number: 10507989
    Abstract: The present disclosure shows an apparatus for the automated removal of workpieces arranged in a bin, said apparatus having a first object recognition device for detecting the workpieces in the bin; a first picker for picking and removing the workpieces from the bin; a controller for evaluating the data of the first object recognition device, for path planning and for controlling the first picker; a buffering station on which the first picker places the workpieces after the removal from the bin and a positioning apparatus that more accurately positions and/or isolates the workpieces starting from the buffering station. Provision is made that the buffering station has at least one tiltable placement area that is tiltable into a slanted position via a tilting mechanism.
    Type: Grant
    Filed: January 19, 2018
    Date of Patent: December 17, 2019
    Assignee: Liebherr-Verzahntechnik GmbH
    Inventors: Markus Zollitsch, David Haenschke, Bernhard Riedmiller, Thomas Mattern
  • Patent number: 10502643
    Abstract: A deformation sensing apparatus comprises an elastic substrate, a first strain-gauge element formed on a first surface of the elastic substrate, and configured to output a first signal in response to a strain applied in a first direction, and a second strain-gauge element formed on a second surface of the elastic substrate opposite to the first surface, and configured to output a second signal in response to a strain applied in the same first direction.
    Type: Grant
    Filed: August 6, 2018
    Date of Patent: December 10, 2019
    Assignee: Facebook Technologies, LLC
    Inventors: Sean Jason Keller, Tristan Thomas Trutna, David R. Perek, Bruce A. Cleary, III
  • Patent number: 10384355
    Abstract: A robot includes a base, an arm provided on the base, and a reducer having a sliding part and decelerating driving of the arm, wherein a lubricating oil can be supplied to the sliding part from an opposite side to the arm with respect to the sliding part.
    Type: Grant
    Filed: July 11, 2016
    Date of Patent: August 20, 2019
    Assignee: Seiko Epson Corporation
    Inventors: Kotaro Sekine, Tetsuya Kawase
  • Patent number: 10369671
    Abstract: The chain magazine for holding tool'(5) for machine tool'includes a continuous chain (1) which has chain links (2) each with at least one tool holder (2a, 2b) and with which at least one sprocket (6, 7) meshes and a guide device (9-12) which has a guide element (12) that can be moved back and forth between a first and a second position, by means of which a tool holder (2a, 2b) of a chain link (2) can be turned in and turned out.
    Type: Grant
    Filed: July 1, 2016
    Date of Patent: August 6, 2019
    Assignee: GF Machining Solutions AG
    Inventors: Andreas Scheidegger, Ernst Haueter
  • Patent number: 10286564
    Abstract: A robotic device includes a robot arm. A fluid-powered tool is located on the robot arm. A hose supplies a pressurized working fluid to the fluid-powered tool. A fluid motor is coupled to an electric generator to drive the electric generator. An actuator selectively supplies the pressurized working fluid to the fluid motor. A battery is operatively connected to receive electrical energy from the electric generator. A controller is powered by the battery and is operatively connected to the actuator to control operation of the fluid motor and charging of the battery by the electric generator.
    Type: Grant
    Filed: May 1, 2017
    Date of Patent: May 14, 2019
    Assignee: LINCOLN GLOBAL, INC.
    Inventor: Toby Baumgartner
  • Patent number: 10105808
    Abstract: A processing system having a function for appropriately maintaining processing accuracy, without depending on a degree of abrasion of a tool. An unused tool used in a machine tool is captured by using a camera mounted on a robot, so as to obtain a reference image of the tool. Next, an image of the tool is captured after a predetermined number of processing operations carried out. An average amount of tool abrasion per one processing operation is calculated based on the two images, so as to estimate a current amount of tool abrasion. Based on the estimation result and a previously input limit amount of abrasion, the number of remaining possible processing operations of the tool is calculated and output.
    Type: Grant
    Filed: August 24, 2016
    Date of Patent: October 23, 2018
    Inventor: Kazutaka Nakayama
  • Patent number: 10099330
    Abstract: The present invention relates to a system, an apparatus and a method for providing tools on a machine tool. The system includes a first tool magazine for accommodating a plurality of tools; a first feeding device which is adapted to remove tools from the first tool magazine and feed them to the spindle; at least one second tool magazine for accommodating a plurality of tools; a second feeding device which is adapted to remove tools from the second tool magazine and provide them at a predetermined transfer position; and a transfer apparatus which is adapted to feed tools removed from the second tool magazine to the first tool magazine, with the result that the second tool magazine serves as a supply magazine for the first tool magazine.
    Type: Grant
    Filed: December 7, 2012
    Date of Patent: October 16, 2018
    Inventors: Oliver Kraft, Sebastian Riedel, Michael Trenkle
  • Patent number: 10035261
    Abstract: An actuatable joint for a robotic system has a body, a motor positioned in the body, an output shaft configured to be rotated by the motor relative to the body, and a bearing assembly positioned between the output shaft and the body and configured to support the rotation of the output shaft. The bearing assembly has a first axial angular contact roller bearing. The roller bearing has a pair of frusto-conical bearing rings forming a pair of parallel races, a bearing cage positioned between the pair of bearing rings and including a plurality of openings, and a plurality of rollers positioned in the openings and in contact with the races.
    Type: Grant
    Filed: June 17, 2016
    Date of Patent: July 31, 2018
    Assignee: Schaeffler Technologies AG & Co. KG
    Inventors: Joseph Johnson, Craig Hooker
  • Patent number: 10031515
    Abstract: A production system in which a position of a robot relative to a machine tool can be measured and an operation position of the robot can be corrected based on the measurement result, by using a simple configuration. The robot has a vision device attached to a movable part such as a robot arm. The machine tool has a visual target arranged on an outer surface of the machine tool. An image of the visual target captured by a camera is processed by a robot controller or an image processor. Due to such image processing, the position of the robot relative to the machine tool can be measured. Further, the production system has a correcting part which corrects a position of a motion of the robot regarding supplying and ejecting a workpiece, based on the positional relationship between the robot and the machine tool.
    Type: Grant
    Filed: April 28, 2016
    Date of Patent: July 24, 2018
    Inventors: Hiromitsu Takahashi, Hiroji Nishi
  • Patent number: 9919887
    Abstract: A web unwind stand for obtaining, loading, splicing, and unwinding a web material from a plurality of convolutely wound rolls and forwarding the web material unwound from each of the convolutely wound rolls uninterruptedly to a downstream apparatus is disclosed. The unwind stand has a frame, a positionable roll grasping apparatus having a mandrel connectively engaged thereto and, splicing means. The positionable roll grasping apparatus is capable of obtaining and disposing the convolutely wound rolls proximate to the splicing means relative to the frame.
    Type: Grant
    Filed: August 28, 2014
    Date of Patent: March 20, 2018
    Assignee: The Procter & Gamble Company
    Inventors: Matthew Joseph Macura, Rong Deng, Craig Allen Powell, Todd Douglas Lenser
  • Patent number: 9868181
    Abstract: Assembly equipment comprises a base, a first holding hand provided in a first robot arm set on the base, a second holding hand provided in a second robot arm set on the base, and a control device configured to control the first and second robot arms and the first and second holding hands. The first holding hand comprises an attachment connected to the first robot arm and having a rotation shaft, and an aligning holding mechanism provided in a rotation mechanism having a rotation shaft located to intersect the rotation shaft of the attachment or located in a skewed positional relationship with the rotation shaft of the attachment. A cooperative working area of the first and second holding hands is provided in an overlapping area where working areas of the first and second holding hands overlap with each other.
    Type: Grant
    Filed: January 30, 2013
    Date of Patent: January 16, 2018
    Inventors: Toshiaki Osato, Takashi Arai, Shuichi Hirasawa
  • Patent number: 9827057
    Abstract: A robotic system includes a camera having an image frame whose position and orientation relative to a fixed frame is determinable through one or more image frame transforms, a tool disposed within a field of view of the camera and having a tool frame whose position and orientation relative to the fixed frame is determinable through one or more tool frame transforms, and at least one processor programmed to identify pose indicating points of the tool from one or more camera captured images, determine an estimated transform for an unknown one of the image and tool frame transforms using the identified pose indicating points and known ones of the image and tool frame transforms, update a master-to-tool transform using the estimated and known ones of the image and tool frame transforms, and command movement of the tool in response to movement of a master using the updated master-to-tool transform.
    Type: Grant
    Filed: January 15, 2016
    Date of Patent: November 28, 2017
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: Tao Zhao, Giuseppe Maria Prisco, John Ryan Steger, David Q. Larkin
  • Patent number: 9815208
    Abstract: A device for connecting a tool to an arm of a robot, comprising: —a body (2; 32) having an annular wall provided with openings (6; 36), received within which are one or more balls (8; 38), which are mobile within said openings between an inoperative position and an operative position, in said operative position said balls projecting from said wall to engage corresponding portions of said tool and clamping the latter on said arm; and —a piston (4; 34), configured for co-operating with said balls and governed fluid-dynamically between a first position and a second position, wherein, in said second position, —said piston forces said-balls into said operative position, and, in said first position, said piston releases said balls so that they can move into said inoperative position.
    Type: Grant
    Filed: March 7, 2013
    Date of Patent: November 14, 2017
    Assignee: Robotools S.r.l.
    Inventor: Elio Strobietto
  • Patent number: 9770823
    Abstract: The present teachings provide a method of controlling a remote vehicle having an end effector and an image sensing device. The method includes obtaining an image of an object with the image sensing device, determining a ray from a focal point of the image to the object based on the obtained image, positioning the end effector of the remote vehicle to align with the determined ray, and moving the end effector along the determined ray to approach the object.
    Type: Grant
    Filed: April 9, 2015
    Date of Patent: September 26, 2017
    Inventors: Wesley Hanan Huang, Emilie A. Phillips
  • Patent number: 9713870
    Abstract: A method for locating a first vehicle component relative to a second vehicle component includes the following steps: (a) moving the robotic arm to a first position such that a form feature of the first vehicle component is within a field of view of a camera; (b) capturing an image the form feature of the first vehicle component; (c) moving the robotic arm to a second position such that the form feature of the second vehicle component is within the field of view of the camera; (d) capturing an image of the form feature of the second vehicle component; (e) picking up the second vehicle component using the robotic arm; and (f) moving the robotic arm along with the second vehicle component toward the first vehicle component.
    Type: Grant
    Filed: May 19, 2015
    Date of Patent: July 25, 2017
    Assignee: GM Global Technology Operations LLC
    Inventors: Jianying Shi, John Patrick Spicer, Lance T. Ransom