Programmable Or Condition Responsive Means Controls Grab Operation Patents (Class 414/730)
  • Patent number: 12036757
    Abstract: The manipulator device includes a pedestal and a carrying mechanism which carries a platform and which forms an articulated triangle comprising: a first arm borne by a first carriage with a first pivot link whose axis forms a first vertex of the triangle, a second arm borne by a second carriage with a second pivot link whose axis forms a second vertex of the triangle, a seat situated at the intersection of the first arm and of the second arm, which forms a third pivot link whose axis is parallel to the first pivot axis and the second pivot axis and forms a third vertex of the triangle. A module is provided for servocontrolling the translational movements of the first carriage and the second carriage with respect to the pedestal. A yaw orientation interface comprises a fourth pivot link, by which the platform is articulated on the seat, both relative to the first arm and relative to the second arm, about a fourth pivot axis which is coaxial to the third pivot axis.
    Type: Grant
    Filed: November 15, 2019
    Date of Patent: July 16, 2024
    Assignee: COMPAGNIE GENERALE DES ETABLISSEMENTS MICHELIN
    Inventors: Frederic Pialot, Christophe Bessac, Alain Sevaille
  • Patent number: 12017345
    Abstract: The end effector includes a palm, a plurality of fingers capable of grasping operation, a tactile sensor unit provided with each of the plurality of fingers, and a force receiving portion that receives a force from the object being grasped when the object being grasped is grasped by the plurality of fingers, the force receiving portion being connected to each of the plurality of fingers via the tactile sensor unit. The force receiving portion includes a grasping surface that receives a force from the object being grasped, the grasping surface being placed facing the object being grasped to be able to grasp the object being grasped, and a pressing surface that is placed further away from the palm than the second end portion of each of the plurality of fingers and extends in a direction intersecting the grasping surface.
    Type: Grant
    Filed: March 11, 2019
    Date of Patent: June 25, 2024
    Assignee: OMRON CORPORATION
    Inventors: Misato Nabeto, Sayaka Doi, Hiroki Koga
  • Patent number: 12017340
    Abstract: A robotic arm includes an arm with a plurality of degrees of freedom and a gripper configured to manipulate a plurality of tools. The gripper includes a pair of claws. Each claw of the pair includes a first portion of a connector that is configured to connect to a second portion of the connector integrated on each of the plurality of tools.
    Type: Grant
    Filed: May 3, 2019
    Date of Patent: June 25, 2024
    Assignee: The State of Israel, Israel National Police
    Inventor: Lior Oz
  • Patent number: 11992962
    Abstract: A robot includes 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 positon closer to the base end than the distal end face of the wrist unit is.
    Type: Grant
    Filed: October 11, 2021
    Date of Patent: May 28, 2024
    Assignee: FANUC CORPORATION
    Inventor: Keita Suyama
  • Patent number: 11969945
    Abstract: In one example in accordance with the present disclosure, a system is described. The system includes a reader to 1) read an identifier from a three-dimensional (3D) System printed object that includes a storage element and 2) read a location of the 3D printed object within a build material bed. An extractor of the system extracts, based on the identifier, a post processing operation to execute on the 3D printed object. A controller of the system controls a post processing operation based on extracted post processing operation information and the location.
    Type: Grant
    Filed: June 18, 2019
    Date of Patent: April 30, 2024
    Assignee: Hewlett-Packard Development Company, L.P.
    Inventors: Kristopher J. Erickson, Jarrid Wittkopf, Rafael Ballagas, David Wayne George, Lihua Zhao, William J. Allen
  • Patent number: 11945110
    Abstract: A multi-degree-of-freedom continuum robot with a flexible target grasping function comprises a driving device module, a trunk simulation module and a nimble finger module. The trunk simulation module is composed of a rotary compression module and a bending compression module. Each module has a unified connection interface reserved at the end, and is combined and assembled according to actual needs. The driving module is arranged on the base of the robot to realize the driving operation of all cables to control the motion of the robot. The rotary compression module can simultaneously generate the motion in the forms of rotation and compression, thereby compensating for the defect of blind angle of the bending compression module. The bending compression module can realize compression deformation and bending deformation of the module independently. The nimble finger module realizes a grasping function by multi-finger collaboration.
    Type: Grant
    Filed: April 1, 2020
    Date of Patent: April 2, 2024
    Assignee: DALIAN UNIVERSITY OF TECHNOLOGY
    Inventors: Haijun Peng, Jie Zhang, Zhigang Wu, Ziyun Kan, Fei Li, Jinzhao Yang
  • Patent number: 11919712
    Abstract: Picking devices for operating a picking devices for medicaments are provided. A picking device includes multiple storage spaces for medicament packaging, an operating device movable horizontally in an X-direction and vertically in a Z-direction in front of the storage spaces in a movement space, and an identification device configured for identifying medicament packaging. An optical detection device is configured to create an overall image of the movement space and a control device is coupled to the operating device, the identification device and the optical detection device, wherein the control device is configured to determine the presence of an obstacle in a portion of the movement space and to control the operating device based on the determined presence of the obstacle. Methods of operating picking devices for medicaments are also provided.
    Type: Grant
    Filed: February 15, 2022
    Date of Patent: March 5, 2024
    Assignee: BECTON DICKINSON ROWA GERMANY GMBH
    Inventor: Dennis Holzhäuser
  • Patent number: 11901841
    Abstract: Disclosed embodiments include electroadhesion devices for securing smartphones and other consumer devices to target surfaces. In various embodiments, the electroadhesion device may include a digital switch for adjusting the output voltage generated by a voltage converter. The digital switch may enable safe operation of the electroadhesion device by ensuring the output voltage generated by the voltage converter is compatible with the target surface. To determine a compatible output voltage, the electroadhesion device may include one or more sensors that may measure one or more characteristics of the target surface including conductivity, porosity, hardness, smoothness, and the like.
    Type: Grant
    Filed: December 13, 2022
    Date of Patent: February 13, 2024
    Assignee: Selfie Snapper, Inc.
    Inventor: Denis Koci
  • Patent number: 11891247
    Abstract: A control device is provided to more quickly and efficiently verify which item has been grasped by a robot system whilst also providing a solution which is scalable. Verification of the item which has been grasped is achieved by measuring a dynamics property of the item. A control unit for operation with a robot system a sensor unit, the robot system arranged to grasp an item from a container. The control unit includes a verification unit arranged to receive identifying information of an item expected to be in the container, receive information from the sensor unit indicative of a dynamics property of the item grasped by the robot system and verify that the item grasped by the robot system matches the item expected to be in the container based on the received identifying information and the received dynamics property information.
    Type: Grant
    Filed: May 29, 2019
    Date of Patent: February 6, 2024
    Assignee: OCADO INNOVATION LIMITED
    Inventors: Graham Deacon, Osemwaro Jeremiah Pedro, Christos Makris
  • Patent number: 11883870
    Abstract: A tool pack assembly having sensor plates to measure the temperature of a tool pack forming die and the forces exerted on the forming dies during can production. Each sensor plate may include at least one temperature sensor and at least one strain sensor for reading and transmitting temperature and strain data relating to the dies of a tool pack assembly. The data read and transmitted may be used to determine the concentricity of the punch of a tool pack assembly during operation making can bodies.
    Type: Grant
    Filed: December 11, 2020
    Date of Patent: January 30, 2024
    Assignee: Pride Engineering, LLC
    Inventor: Rick Swedberg
  • Patent number: 11858755
    Abstract: In a clamping device, the number of components for an article detection means is reduced. In a stacker, a tire is placed on the carry surface. The first gripping member and the second gripping member grip a side of tire placed on the carry surface and include an abutment surface having a bent portion and are capable of abutting with the side of tire. The first sensor and the second sensor include a light axis in a direction along the article. The controller moves the first gripping member and the second gripping member close to each other to the first position where the tire is not gripped. When the tire is detected with the first sensor and second sensor, the controller moves the first gripping member and the second gripping member close to each other to the second position where the tire is gripped.
    Type: Grant
    Filed: September 16, 2020
    Date of Patent: January 2, 2024
    Assignee: Murata Machinery, Ltd.
    Inventor: Takahito Suzuki
  • Patent number: 11850756
    Abstract: A method of operating a robot includes detecting the occurrence of an abnormal operating condition of the robot during operation from hardware state data relating to the operation of the robot system. In response, current hardware state data of the robot at the time of the detection is captured, including robot positional information. A counter corresponding to the abnormal operating condition may then be incremented and, if the counter exceeds a threshold value or exceeds a threshold value in a certain time, a report may be generated including the captured hardware state data. The abnormal condition may for example be a fluctuation in vacuum level or a data transmission error.
    Type: Grant
    Filed: June 30, 2020
    Date of Patent: December 26, 2023
    Assignee: WaferPath, Inc.
    Inventors: Frantisek Pavlik, James Thomas McCartney, III
  • Patent number: 11845155
    Abstract: A flag for securing a work piece to an assembly jig comprises a base. At least one positioning member extends outwardly from the base for selectively pivoting about at least one axis. An end effector is connected to the at least one positioning member and defines an interaction point for engaging the work piece. A joining connection secures one of the at least one positioning member to another of the at least one positioning member. The joining connection has a first configuration and a second configuration. One of the at least one positioning member is moveable relative to another of the at least one positioning member in the first configuration. The joining connection defines at least one bore for receiving a dowel to secure one of the at least one positioning member to another of the at least one positioning member to lock the interaction point in the second configuration.
    Type: Grant
    Filed: November 11, 2020
    Date of Patent: December 19, 2023
    Assignee: Harcourt Industrial, Inc.
    Inventor: Dale Beardmore
  • Patent number: 11815087
    Abstract: Automatic disassembly and assembly system and method for plunger pumps are disclosed. The system includes a plurality of working members, a first robotic arm, a first driver and a second driver. The working members include a rotary puller, a lever, and a gripper; the first robotic arm includes a working end and a connection end, the working end of the first robotic arm is respectively detachably connectable with the plurality of working members; the first driver is connected with the connection end of the first robotic arm and drives the first robotic arm to move in a three-dimensional space; the second driver drives the working member connected with the working end to operate.
    Type: Grant
    Filed: August 8, 2022
    Date of Patent: November 14, 2023
    Assignee: YANTAI JEREH PETROLEUM EQUIPMENT & TECHNOLOGIES CO., LTD.
    Inventors: Ruijie Du, Liang Lv, Shanwu Fu, Sheng Chang, Jifeng Zhong
  • Patent number: 11794356
    Abstract: An electric gripping device is provided. The electric gripping device improves a coupling relationship between a two-fingered clamper module using a four-joint link and the actuator module to facilitate assembling and disassembling of the actuator module and the clamper module and minimizes a length of the electric gripper to easily secure a robot's work space or work direction when being connected to the robot.
    Type: Grant
    Filed: July 24, 2019
    Date of Patent: October 24, 2023
    Assignee: KOREA ATOMIC ENERGY RESEARCH INSTITUTE
    Inventors: Hocheol Shin, Seung-Ho Jung, You-Rak Choi, Dongseok Ryu, Jonghui Han
  • Patent number: 11787590
    Abstract: A container with an alignment correcting end is provided. The alignment correcting end has angled side walls that extend from parallel flat square or rectangular sides of the container. Each angled side wall extends at an angle between 5 and 70 from one of the parallel walls towards the center of the container. Nubs may be disposed about an exterior of the angled side walls. Also, a passive displacing robotic element for performing misaligned or off-axis placement of the container with the alignment correcting end is provided. The passive displacing robotic element provides displacement of the one or more robotic actuators that are used to engage and place the container into the slot in response to the alignment correcting end of the container contacting the slot edge, wall, or other barrier.
    Type: Grant
    Filed: March 14, 2022
    Date of Patent: October 17, 2023
    Assignee: inVia Robotics, Inc.
    Inventors: Corwin Carson, Joseph Traverso, Randolph Charles Voorhies, Lior Elazary, Daniel Frank Parks, II
  • Patent number: 11767181
    Abstract: A gripper including: an orientation sensor configured to generate an orientation reading for a target object; a first grasping blade and a second grasping blade configured to secure the target object in conjunction with the first grasping blade and at an opposite end of the target object relative to the first grasping blade; a first position sensor, of the first grasping blade, configured to generate a first position reading of the first grasping blade relative to the target object; a second position sensor, of the second grasping blade, configured to generate a second position reading of the second grasping blade relative to the target object; and a blade actuator configured to secure the target object with the first grasping blade and the second grasping blade based on a valid orientation of the orientation reading and based on the first position reading and the second position reading indicating a stable condition.
    Type: Grant
    Filed: December 3, 2019
    Date of Patent: September 26, 2023
    Assignee: Mujin, Inc.
    Inventor: Lei Lei
  • Patent number: 11762389
    Abstract: A transport system that transports a transport object in a state sandwiching the transport object between two transport robots, wherein the transport robot comprises: a main body; wheels; a drive part(s); a contact part; and a rotation mechanism, and wherein using hardware resources, the following processings are executed, the following processings comprising: predicting an orbit of a first transport robot arranged in front of the transport object; and predicting an orbit of a second transport robot so that the second transport robot pushes the transport object from outside of the orbit of the first transport robot in a curve based on the predicted orbit of the first transport robot, the second transport robot arranged behind the transport object.
    Type: Grant
    Filed: September 9, 2019
    Date of Patent: September 19, 2023
    Assignee: NEC CORPORATION
    Inventors: Takayuki Suzuki, Taichi Kumagai, Hiroshi Yoshida
  • Patent number: 11761837
    Abstract: A multi-axial tactile sensor for detecting forces in directions of three axes and a moment about at least one axis includes at least four sensor elements including at least three shearing force detecting elements having beam structures provided with a first resistive layer and a second resistive layer at specific portions, and at least one pressing force detecting element having a beam structure provided with a third resistive layer and a fourth resistive layer at specific portions, the beam structures of the four sensor elements being arranged on a sensor substrate so that their respective longitudinal directions are radially arranged, and the moment about at least one axis is detected based on outputs of two or more sensor elements being arranged at positions of rotational symmetry around the center of the radial arrangement of the plurality of sensor elements.
    Type: Grant
    Filed: November 26, 2018
    Date of Patent: September 19, 2023
    Assignee: The University of Tokyo
    Inventors: Isao Shimoyama, Akihito Nakai
  • Patent number: 11745355
    Abstract: A control device sets a relative relation amount between a plurality of target objects that are to be final objectives, repeatedly acquires observation data from a sensor and calculates the relative relation amount between the plurality of target objects existing in the environment from the acquired observation data. Further, the control device determines a series of the relative relation amounts in a state that is to be an objective from the relative relation amount at a time point at which control of the behavior starts until the relative relation amount as the final objectives is realized, and repeatedly determines control instructions so as to change the relative relation amount in a present state calculated from the latest observation data into the relative relation amount in a state of an objective to be transitioned to next. Then, the control device outputs the determined control instruction to a robot device.
    Type: Grant
    Filed: October 17, 2019
    Date of Patent: September 5, 2023
    Assignee: OMRON Corporation
    Inventors: Kennosuke Hayashi, Yoshihisa Ijiri
  • Patent number: 11745509
    Abstract: Inkjet printing module (1) capable of being picked up by the arm (111) of a robot (101), characterized in that said module includes: a print head (2); an ink reservoir (3) capable of supplying ink to said print head (2); compressed-gas supply means (4) capable of suppling compressed gas to said print head (2); a mechanical interface (7) capable of engaging removably with a complementary mechanical interface (107) of a robot arm; an electronic interface (6) capable of engaging removably with an electronic interface (106) of said robot arm in order to transfer data between said module and the robot; and at least one fluid interface (5) placed in fluid communication with the compressed-gas supply means or with the ink reservoir.
    Type: Grant
    Filed: September 25, 2019
    Date of Patent: September 5, 2023
    Assignee: WESTLAKE COMPOUNDS HOLDING
    Inventors: Hossam Elaarag, Christophe Aliaga, Mustapha El Fouzari, Nicolas Amouroux
  • Patent number: 11701775
    Abstract: A method of setting a target force upper limit for a robot gripping an object with a gripping unit and operating by force control to bring an acting force close to a target force, includes gripping the object with the gripping unit, performing a pressing operation to press the object gripped by the gripping unit against a contact surface by the force control, performing a pressing force acquisition operation to acquire the force acting on the gripping unit during the pressing operation as a pressing force, repeating a setting change operation to increase the target force, the pressing operation, and the pressing force acquisition operation until a state in which the pressing force is not equal to or larger than the target force appears, and setting a target force upper limit based on the pressing force acquired in the pressing force acquisition operation at a time when the state appears.
    Type: Grant
    Filed: June 10, 2021
    Date of Patent: July 18, 2023
    Inventor: Takahisa Fukusen
  • 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
    Assignee: AUTEL INTELLIGENT TECHNOLOGY CORP., LTD.
    Inventor: Xiaolong Wang
  • 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: 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: 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
    Assignee: RAYTHEON COMPANY
    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
    Assignee: ASMPT SINGAPORE PTE. LTD.
    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
    Assignee: FANUC CORPORATION
    Inventor: Keita Suyama
  • 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: 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
    Assignee: YABORÃ INDÚSTRIA AERONÁUTICA S.A.
    Inventors: Rogério Scafutto Scotton, Rodrigo Cesar Goncalves Poli, Vitor Inacio Valdecir, Jaime Leite Filho
  • 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
    Assignee: LG ELECTRONICS INC.
    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
    Assignee: FANUC CORPORATION
    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
    Assignee: TOYOTA RESEARCH INSTITUTE, INC.
    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
    Assignee: DISCO CORPORATION
    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
    Assignee: PANASONIC INTELLECTUAL PROPERTY MANAGEMENT CO., LTD.
    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
    Assignee: FARO TECHNOLOGIES, INC.
    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
    Assignee: HIGHRES BIOSOLUTIONS, INC.
    Inventors: Louis Guarracina, Ulysses Gilchrist