Cartesian (x-y-z Arm) Patents (Class 901/16)
  • Patent number: 9027431
    Abstract: An apparatus having a member that revolves about a remote center of motion (RCM) and a base link coupled to a mounting fixture. A first and second link are pivotably coupled to the member at respective distances from the RCM and are translatable relative to the base link along a first direction, at a fixed ratio of displacement. The ratio of respective distances equals a fixed ratio of displacement. The apparatus has a translational motion generator for a first and second element along parallel opposing directions. The translational motion generator is disposed on the first link and enables motion parallel to the first direction. The base link is fixed in position, the first element is fixed to the base link and the second element is fixed to the second link, such that the first and second link may translate relative to the base link with fixed ratio of displacement.
    Type: Grant
    Filed: May 12, 2010
    Date of Patent: May 12, 2015
    Assignee: Katholieke Universiteit Leuven
    Inventors: Hsiao-Wei Tang, Hendrik Van Brussel, Jan Peirs, Thierry Janssens
  • Patent number: 9023060
    Abstract: A robotic surgery system comprises a mounting base, a plurality of surgical instruments, and an articulate support assembly. Each instrument is insertable into a patient through an associated minimally invasive aperture to a desired internal surgical site. The articulate support assembly movably supports the instruments relative to the base. The support generally comprises an orienting platform, a platform linkage movably supporting the orienting platform relative to the base, and a plurality of manipulators mounted to the orienting platform, wherein each manipulator movably supports an associated instrument.
    Type: Grant
    Filed: December 6, 2012
    Date of Patent: May 5, 2015
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: Thomas G. Cooper, Stephen J. Blumenkranz, Gary S. Guthart, David J. Rosa
  • Patent number: 9017009
    Abstract: A handling unit for relocating parts, comprises a base part and a handling arm, wherein the handling arm is guided in a linear direction along a first axis of movement and along a second axis of movement which extends transversely with respect to the first axis of movement such that it can be adjusted with respect to the base part, and wherein for guiding the handling arm, a guiding cam is provided on the base part and at least one cam follower is provided on the handling arm, wherein a first drive is provided for adjusting the handling arm along the first axis of movement and a second drive is provided for adjusting the handling arm along the second axis of movement.
    Type: Grant
    Filed: May 31, 2011
    Date of Patent: April 28, 2015
    Assignee: Schunk GmbH & Co. KG Spann—und Greiftechnik
    Inventor: Georg Geith
  • Patent number: 8998797
    Abstract: A surgical system performs a surgical procedure on a patient with manipulators and an endoscope. The surgical system has a display unit for simultaneously displaying a plurality of items of information including an endoscopic image captured by the endoscope, and a wireless image processor for transmitting information to the display unit and processing the plurality of items of information to be displayed by the display unit. The information about the endoscopic image is transmitted from the endoscope to the wireless image processor through a link including at least a portion based on wireless communications.
    Type: Grant
    Filed: July 18, 2008
    Date of Patent: April 7, 2015
    Assignee: Karl Storz GmbH & Co. KG
    Inventor: Shigeru Omori
  • Patent number: 8973768
    Abstract: 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.
    Type: Grant
    Filed: October 8, 2010
    Date of Patent: March 10, 2015
    Assignee: PaR Systems, Inc.
    Inventors: Thomas E. Jung, Thomas E. Marrinan, Come Rene-Bazin De Jouy
  • Patent number: 8948916
    Abstract: A sensor relay control device generates feedback data based on sensor data including a plurality of components and being output by an external sensor installed at a portion of a joint of a robot and is connected to a robot control device that executes feedback control of the robot based on the feedback data. The sensor relay control device includes: a generating unit that imports sensor data output by the external sensor and performs coordinate conversion; a synchronizing unit that synchronizes the control data of each axis of the motors with a control cycle of the robot control device; and an outputting unit that outputs the control data of each axis of the motors synchronized with the control cycle of the robot control device to the robot control device as the feedback data.
    Type: Grant
    Filed: February 9, 2011
    Date of Patent: February 3, 2015
    Assignee: Mitsubishi Electric Corporation
    Inventor: Takafumi Ishikawa
  • Publication number: 20150020358
    Abstract: The present invention discloses a method of motor vehicle sheet blanking and a system of the same, wherein the blanking method comprises: firstly, nesting for motor vehicle sheet material, and cutting it into group sheets with a shape and size confirmed by the multi length of the sheet; next, designing a backing die depending on scraps to be cut from the group sheet, and hollowing in areas corresponding to blanking openings in the backing die, in which the dimensions of the blanking openings are greater than that of the actual scraps to be cut; then, placing a group sheet onto the backing die; laser cutting the group sheet based on the shape of motor vehicle sheet, the cut scraps dropping through the blanking openings in the backing die onto a scrap conveyor belt underneath; stacking the cut sheets. The present invention can effectively process scraps cut from sheets and improve the blanking efficiency.
    Type: Application
    Filed: March 8, 2012
    Publication date: January 22, 2015
    Applicant: BAOSHAN IRON & STEEL CO., LTD.
    Inventors: Ruimin Wu, Wenhai Jin, Qi Yan, Chengguo Jin, Saidan Yang, Yuming Wang, Junliang Qiao, Shengbo Pan, Changqing Lv
  • Patent number: 8931999
    Abstract: In a device for unstacking plate-shaped parts (12), in particular sheet metal blanks, comprising at least one supply station (13) in which at least one stack (14) of plate-shaped parts (12) is located and at least one conveyor station (15) on which the plate-shaped parts (12) are transported further in an unstacked manner, an unstacking unit (17) being provided for transferring the plate-shaped parts (12) between the supply station (13) and the conveyor station (15), said unstacking unit engaging the stack of parts (14) and removing individual plate-shaped parts (12) while unstacking the stack of parts (14) and depositing them in the conveyor station (15), the unstacking unit (17) comprises two robots (18a, 18b) working independently of each other, which alternately engage a common stack of parts (14) of the supply station (13) and are controlled by a control unit (19) in such a way that a first or a second robot (18a, 18b) removes a plate-shaped part (12) from the stack of parts (14) while the first robot (1
    Type: Grant
    Filed: March 12, 2008
    Date of Patent: January 13, 2015
    Assignee: Schuler Automation GmbH & Co. KG
    Inventors: Reiner Dörner, Joachim Pottiez
  • Patent number: 8926259
    Abstract: A technology related to a pick-and-place apparatus for electronic device inspection equipment is provided. The pick-and-place apparatus includes the guiding unit that can interact with a loading element and can guide the picker to load the electronic devices at a correct position on the loading element. Therefore, the pick-and-place apparatus can allow the electronic devices, for example, semiconductor devices having a ball type of electrical contact lead (BGA, FBGA, etc.), to electrically contact the tester in a stable manner when the tester inspects the electronic devices.
    Type: Grant
    Filed: April 25, 2013
    Date of Patent: January 6, 2015
    Assignee: TechWing., Co. Ltd.
    Inventors: Yun-Sung Na, In-Gu Jeon, Dong-Hyun Yo, Young-Chul Lee
  • Patent number: 8920108
    Abstract: A manipulator for transporting work pieces, especially between two subsequent molding presses of a press working line, including a moving mechanism allowing three dimensional movements on the path between the molding presses, a supplemental arm attached to the moving mechanism and connected to this moving mechanism via a support member that allows a swiveling movement of the supplemental arm around a vertical axis of the support member as well as a translation movement of the supplemental arm with respect to the support member, and a tool support provided at the outer end of a supplemental arm, the tool support being rotatable around a horizontal first axis and around a second axis perpendicular to the first axis, the tool support including a tool reception that is rotatable around a third axis perpendicular with respect to the second axis.
    Type: Grant
    Filed: December 21, 2009
    Date of Patent: December 30, 2014
    Assignee: Wilfried Strothmann GmbH Maschinenbau und Handhabungstechnik
    Inventors: Bernd Naumann, Markus Wessling-Schäfers
  • Patent number: 8918241
    Abstract: An autonomous mobile device is configured to move on a surface provided with a base station thereon, and is operated in one of a work state and return state. In the work state, the autonomous mobile device is operable to plot a movement route along which the autonomous mobile device moves, and is operable to adjust the movement route upon presence of an obstacle. In the return state, the autonomous mobile device is operable to plot a returning route on the surface from the current position to the base station, and to move along the returning route to the base station.
    Type: Grant
    Filed: July 18, 2013
    Date of Patent: December 23, 2014
    Assignee: Agait Technology Corporation
    Inventors: Tien-Chen Chen, Kai-Sheng Lee
  • Patent number: 8903546
    Abstract: An articulated instrument is controllably movable between areas of different work space limits, such as when it is extendable out of and retractable into a guide tube. To avoid abrupt transitions in joint actuations as the joint moves between areas of different work space limits, a controller limits error feedback used to control its movement. To provide smooth joint control as the instrument moves between areas of different work space limits, the controller imposes barrier and ratcheting constraints on each directly actuatable joint of the instrument when the joint is commanded to cross between areas of different work space limits.
    Type: Grant
    Filed: August 15, 2009
    Date of Patent: December 2, 2014
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: Nicola Diolaiti, Paul E. Lilagan
  • Patent number: 8887893
    Abstract: A work system according to embodiments includes a robot and work stations. The robot performs a predetermined work on a workpiece as a work target. The work stations are places where the predetermined work is performed on the workpiece. The robot performs conveying of the workpiece between the work stations.
    Type: Grant
    Filed: December 29, 2011
    Date of Patent: November 18, 2014
    Assignee: Kabushiki Kaisha Yaskawa Denki
    Inventors: Ryosuke Tsutsumi, Hiroaki Murakami, Yoshihisa Nagano
  • Patent number: 8868235
    Abstract: One type of battery quick-change system of electric passenger car chassis based on the Cartesian coordinate robot, including electric changing platform, and this platform, quick-change robot and charging rack along the same straight line; the quick-change robot comprises the battery tray and the Cartesian coordinate robot of four degrees of freedom, the Cartesian coordinate robot is associated with the X-axis driving motor, the Y-axis driving motor, the Z-axis up-down motor, the battery tray is connected with the R-axis driving motor; each of driving motors is connected with the corresponding encoder, and each of encoders is connected to the corresponding drive; there are equipped with a distance measuring sensor on the battery tray, and the corresponding limit switches on the both ends of each two-track rack; the drive, each limit switch and the distance measuring sensor of each driving motor are connected with the control system.
    Type: Grant
    Filed: November 17, 2011
    Date of Patent: October 21, 2014
    Assignee: Shandong Electric Power Research Institute
    Inventors: Jinlong Zhao, Yutian Sun, Bingqiang Li, Huadong Zhang, Yong Sun
  • Patent number: 8855817
    Abstract: A method for operating a system including at least two robots for handling parts and a robot control unit arranged for control of said at least two robots. Each of the robots is arranged with a parts handler device including a rigid arm with one end connected to the end element of an arm of the robot by a first swivel arranged for radial movement of the rigid arm in relation to the end element. Each of the robots is also arranged with a gripper connected to the rigid arm by a second swivel arranged for free, passive rotation of the gripper in relation to the rigid arm. The method includes generating instructions for the at least two robots to pick and/or move and/or place a part and sending the instructions to each robot simultaneously.
    Type: Grant
    Filed: December 19, 2007
    Date of Patent: October 7, 2014
    Assignee: ABB Research Ltd.
    Inventors: Ramon Casanelles, Francisco Cortés Grau
  • Patent number: 8844398
    Abstract: A three-axis robotic system. On the first and second axes, respective linear bearings have movable carriages, and backbone-free linear bases acting as exclusive support or linear bearing supports. A first motor is mounted to the first linear bearing support and coupled to the first carriage. The second linear bearing support is attached at one end to the first carriage and may be orthogonal to the first linear bearing support. A second motor is mounted to the second linear bearing support and coupled to the second carriage. A third axis member is attached to the second carriage. The third axis member may be orthogonal to the first and second linear bearing supports. A third carriage is slidable on the third axis member. A third motor is mounted to the third axis member and coupled to the third carriage. Each respective motor and carriage may be coupled by a belt or leadscrew.
    Type: Grant
    Filed: December 13, 2011
    Date of Patent: September 30, 2014
    Assignee: Accel Biotech, Inc.
    Inventor: Bruce Richardson
  • Patent number: 8834489
    Abstract: A robotic surgery system comprises a mounting base, a plurality of surgical instruments, and an articulate support assembly. Each instrument is insertable into a patient through an associated minimally invasive aperture to a desired internal surgical site. The articulate support assembly movably supports the instruments relative to the base. The support generally comprises an orienting platform, a platform linkage movably supporting the orienting platform relative to the base, and a plurality of manipulators mounted to the orienting platform, wherein each manipulator movably supports an associated instrument.
    Type: Grant
    Filed: July 11, 2012
    Date of Patent: September 16, 2014
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: Thomas G. Cooper, Stephen J. Blumenkranz, Gary S. Guthart, David J. Rosa
  • Patent number: 8818560
    Abstract: A master-slave manipulator includes a remote manipulation device, a slave manipulator, and a control unit. The remote manipulation device as a master gives an operating command corresponding to a plurality of degrees of freedom. The slave manipulator includes a plurality of joints corresponding to the degrees of freedom. The slave manipulator includes a redundant joint among the joints. The control unit controls operations of the joints in accordance with the operating command. The control unit calculates an orientation change of the remote manipulation device from the operating command at predetermined time intervals and selects and drives one of the joints in redundancy relationship among the joints in accordance with the orientation change.
    Type: Grant
    Filed: March 29, 2011
    Date of Patent: August 26, 2014
    Assignee: Olympus Corporation
    Inventor: Kosuke Kishi
  • Patent number: 8777547
    Abstract: A substrate transporting robot apparatus is disclosed which is adapted to transport a substrate to and from a chamber of an electronic device processing system. The apparatus may include an upper arm rotatable in an X-Y plane, a forearm rotatable relative to the upper arm in the X-Y plane, and a wrist member rotatable relative to the forearm in the X-Y plane, the wrist member including an end effector adapted to carry a substrate. The wrist member may be subjected to independent rotation such that various degrees of yaw may be imparted to the wrist member. In some aspects, the independent rotation is provided without a motive power device (e.g., motor) being provided on the arms or wrist member, i.e., the wrist member may be remotely driven. Systems and methods using the robot apparatus are also provided as are numerous other aspects.
    Type: Grant
    Filed: January 8, 2010
    Date of Patent: July 15, 2014
    Assignee: Applied Materials, Inc.
    Inventors: Izya Kremerman, Jeffrey C. Hudgens
  • Patent number: 8763228
    Abstract: The invention relates to a device for inserting and crimping a ring on an attachment rod in a hole, comprising a robot, a monitoring and control system and an end tool designed to crimp the ring on the rod. The end tool includes a crimping device and a ring installation device which are solidly connected to a fine-positioning device, by means of which the end tool is attached to an end element of the robot. A ring insertion subassembly of the ring installation device and a crimping nose of the crimping device can move on the end tool so as to be positioned alternatively on an axis of an attachment to be installed, with no controlled movement of the robot when the end tool has been pre-positioned.
    Type: Grant
    Filed: March 26, 2008
    Date of Patent: July 1, 2014
    Assignee: European Aeronautic Defence And Space Company EADS France
    Inventor: Philippe Le Vacon
  • Publication number: 20140074289
    Abstract: A method for controlling a redundant robot arm includes the steps of selecting an application for performing a robotic process on a workpiece with the arm and defining at least one constraint on motion of the arm. Then an instruction set is generated based upon the selected application representing a path for a robot tool attached to the arm by operating the arm in one of a teaching mode and a programmed mode to perform the robotic process on the workpiece and movement of the arm is controlled during the robotic process. A constraint algorithm is generated to maintain a predetermined point on the arm to at least one of be on, be near and avoid a specified constraint in a robot envelope during movement of the arm, and a singularity algorithm is generated to avoid a singularity encountered during the movement of the arm.
    Type: Application
    Filed: September 9, 2013
    Publication date: March 13, 2014
    Inventors: Di Xiao, Sai-Kai Cheng, Randy A. Graca, Matthew R. Sikowski, Jason Tsai
  • Patent number: 8660694
    Abstract: A method for computer-aided movement planning of a robot is provided, in which a trajectory for the movement of a spatial point assigned to the robot is planned in a fixed coordinates system. The spatial positions are translated from a plurality of spatial positions of the spatial point into respective configuration positions in a configuration room of the robot based on inverse kinematics. The respective configuration positions are described by axial positions of one or several rotatory or translational movement axes of the robot and are tested for collisions and a trajectory is formed along spatial positions of the spatial point, the respective configuration positions of which are collision-free. Planning the movement in a fixed coordinates system improves the efficiency of the planning method and the planned movement corresponds more to the expectations of the persons or the operating staff in the surroundings of the robot.
    Type: Grant
    Filed: April 28, 2009
    Date of Patent: February 25, 2014
    Inventors: Winfried Lurz, Werner Neubauer, Manfred Schönborn
  • Patent number: 8660692
    Abstract: The system includes a robot body and a main robot control platform. The robot body includes a mechanical part and an electrical control part. The mechanical part includes a horizontal moving unit, an objective carrying platform unit and a bearing unit which are arranged in X, Y and Z cartesian coordinate directions. The objective carrying platform unit includes an objective carrying platform and a battery drive mechanism arranged on the objective carrying platform. A battery pushing mechanism is arranged on the battery drive mechanism. The electrical control part includes a data collection device connected with a main control computer system, a power drive mechanism, an I/O model and a wireless communication model I. The wireless communication model I, the wireless communication model II of a control backend and the wireless communication model III in the remote control device wirelessly communicate with each other.
    Type: Grant
    Filed: April 16, 2012
    Date of Patent: February 25, 2014
    Assignees: State Grid Corporation of China, State Grid Shandong Province Electric Power Company, Electric Power Research Institute of State Grid Shandong Electric Power Company, ShanDong LuNeng Intelligence Technology Co., Ltd.
    Inventors: Peiqing Miao, Bingqiang Li, Tongbin Wang, Lin Tan, Jinlong Zhao, Tongzhi Li, Liangmin Yu, Jun Du, Jinxing Wang, Chuanqing Wang, Hongmei Li, Jidong Liu, Yan Zhao, Shiyou Mu, Yutian Sun, Guanbin Wu, Yuming Gao, Huadong Zhang, Naiyuan Xu, Yong Sun
  • Publication number: 20140012420
    Abstract: An NC machine tool system includes an NC machine tool (10), a first operation panel (22) and a second operation panel (24) for the NC machine tool, a multi-joint robot (40), a memory (450), and a robot controller (50). The multi-joint robot (40) is disposed above the NC machine tool. The memory (450) stores a wait position return program by which the multi-joint robot (40) is operated. The robot controller (50) controls the multi-joint robot (40) in accordance with the program. Operation panels (22, 24) are respectively provided with switch keys (22c, 24c) operated to execute the wait position return program stored in the memory (450) so as to operate the multi-joint robot (40).
    Type: Application
    Filed: August 24, 2011
    Publication date: January 9, 2014
    Applicant: YAMAZAKI MAZAK CORPORATION
    Inventors: Nobuyasu Yasue, Hironobu Ishihara, Kikuo Hattori, Tsuyoshi Hattori
  • Publication number: 20130331859
    Abstract: A multi-user medical robotic system for collaboration or training in minimally invasive surgical procedures includes first and second master input devices, a first slave robotic mechanism, and at least one processor configured to generate a first slave command for the first slave robotic mechanism by switchably using one or both of a first command indicative of manipulation of the first master input device by a first user and a second command indicative of manipulation of the second master input device by a second user. To facilitate the collaboration or training, both first and second users communicate with each other through an audio system and see the minimally invasive surgery site on first and second displays respectively viewable by the first and second users.
    Type: Application
    Filed: August 13, 2013
    Publication date: December 12, 2013
    Applicant: Intuitive Surgical Operations, Inc.
    Inventors: Rajesh Kumar, Brian David Hoffman, Giuseppe Maria Prisco, David Q. Larkin, William C. Nowlin, Frederic H. Moll, Stephen J. Blumenkranz, Gunter D. Niemeyer, J. Kenneth Salisbury, JR., Yulun Wang, Modjtaba Ghodoussi, Darrin R. Uecker, James W. Wright, Amante A. Mangaser, Ranjan Mauherjee
  • Publication number: 20130325180
    Abstract: A sensor relay control device generates feedback data based on sensor data including a plurality of components and being output by an external sensor installed at a portion of a joint of a robot and is connected to a robot control device that executes feedback control of the robot based on the feedback data. The sensor relay control device includes: a generating unit that imports sensor data output by the external sensor and performs coordinate conversion; a synchronizing unit that synchronizes the control data of each axis of the motors with a control cycle of the robot control device; and an outputting unit that outputs the control data of each axis of the motors synchronized with the control cycle of the robot control device to the robot control device as the feedback data.
    Type: Application
    Filed: February 9, 2011
    Publication date: December 5, 2013
    Applicant: MITSUBISHI ELECTRIC CORPORATION
    Inventor: Takafumi Ishikawa
  • Patent number: 8560122
    Abstract: Disclosed is a teaching and playback method using a redundancy resolution parameter determined in conjunction with a joint structure, for a robot, and a method to apply analytic inverse kinematics to a robot having an elbow with an offset and a computer-readable medium of controlling the same. A reference plane variable with the joint structure is generated and an angle between the reference plane and an arm plane of the robot is used as the redundancy resolution parameter. The robot is taught and its operation is played back in differential inverse kinematics or analytic inverse kinematics using the resolution redundancy parameter.
    Type: Grant
    Filed: September 30, 2010
    Date of Patent: October 15, 2013
    Assignee: Samsung Electronics Co., Ltd.
    Inventors: Dae Hyung Park, Ki Moon Lee, Chi Gun An, Yong Joon Hong
  • Patent number: 8513559
    Abstract: An apparatus applies a wear coating on the interior surface of conduits, particularly conduit elbows, in which the weld head applying a weld bead forming the wear coating is supported by a wheel engaging the bottom surface of the conduit and interconnected with a push/pull cart mounted on a linear support frame exteriorly of the conduit by a plurality of linkage elements. Each of the head element and the linkage elements include a centralizing joint having a pair of transversely opposing rollers that engage the lateral sides of the conduit to maintain a consistent positioning of the welding arm at the distal end of the apparatus. The welding arm includes a three-axis adjustment for the welding torch tip for accurate location thereof within the conduit. Positional adjustment of the welding torch tip is provided by independent electric motors associated with each pivot axis in the welding arm.
    Type: Grant
    Filed: December 23, 2010
    Date of Patent: August 20, 2013
    Assignee: SWA Holding Company, Inc.
    Inventor: Randel Brandstrom
  • Patent number: 8506231
    Abstract: A handler includes a device holding portion, which holds an uninspected device and loads the device in a measuring socket on a device tester, having a suction means for sucking the device by a very weak pushing force at the time of sucking the device from an uninspection tray and for loading the device in a measuring socket and also having a clamper capable of outputting a pushing force which can be changed at the time of the measurement contact. The device holding portion includes a position correcting mechanism for making a device position correction executed by an image recognizing and position correcting means.
    Type: Grant
    Filed: March 16, 2007
    Date of Patent: August 13, 2013
    Assignee: Tohoku Seiki Industries, Ltd.
    Inventors: Masayoshi Yokoo, Koichi Yoshida, Norikazu Kainuma
  • Patent number: 8496426
    Abstract: A technology related to a pick-and-place apparatus for electronic device inspection equipment is provided. The pick-and-place apparatus includes the guiding unit that can interact with a loading element and can guide the picker to load the electronic devices at a correct position on the loading element. Therefore, the pick-and-place apparatus can allow the electronic devices, for example, semiconductor devices having a ball type of electrical contact lead (BGA, FBGA, etc.), to electrically contact the tester in a stable manner when the tester inspects the electronic devices.
    Type: Grant
    Filed: June 7, 2010
    Date of Patent: July 30, 2013
    Assignee: TechWing., Co. Ltd.
    Inventors: Yun-Sung Na, In-Gu Jeon, Dong Hyun Yo, Young-Chul Lee
  • Patent number: 8456123
    Abstract: A conveyance system. The conveyance system includes a movable device for conveying an article, and a robot selected from the group consisting of an articulated robot and an orthogonal robot. The movable device is configured to be both vertically and horizontally movable; and, the robot is mounted on the movable device. The robot includes a hand and a gripper disposed on the hand. The gripper is configured to hold the article. The movable device and the robot are configured to convey the article in conveyance operations that include an extraction, a conveyance, and an installation, of the article; the range of the conveyance operations lies within a working range of the robot from a present position that is selected with priority. The movable device is configured to remain in a stationary state when the article is conveyed by the robot using the conveyance operations within the working range.
    Type: Grant
    Filed: October 22, 2009
    Date of Patent: June 4, 2013
    Assignee: HGST Netherlands B.V.
    Inventors: Shigeto Nishiuchi, Masashi Tsuyama, Takahiro Nakagawa, Youichi Nonaka
  • Patent number: 8454583
    Abstract: A robotic surgical device positioning system that allows a surgeon to accurately and remotely position a surgical instrument relative to a patient and to provide fluoroscopic images of the instrument without exposing the surgeon to radiation. The system includes a vertical post that is slidebly coupled to an operating table, a clamp mounted to the vertical post and spaced from the table, and a translational arm mounted to the clamp. The system further includes an instrument positioning assembly mounted to the translational arm opposite to the clamp that includes a plurality of sliding elements that are slidebly mounted to the assembly to provide rotational, anterior-posterior and medial-lateral positioning of the surgical instrument. A control unit is mechanically coupled to the instrument positioning assembly at a remote location by flexible cables for controlling the position of the sliding elements.
    Type: Grant
    Filed: January 30, 2010
    Date of Patent: June 4, 2013
    Assignee: Mi4Spine, LLC
    Inventors: Miguelangelo J. Perez-Cruet, John R. Pepper
  • Publication number: 20130073083
    Abstract: A robotic arm control system is provided. In, the robotic arm control system, any three points A, B, and C of an object to be determined are picked, thereby creating an original coordinate system. A robotic arm is directed to rotate around the x-axis of the original coordinate system to reach the points B and C. During the rotation of the robotic arm, the three points A, B, and C are recorded by a visual process. A non-linear mapping relation of the original coordinate system and the operation coordinate system is calculated according to length ratios, an angular ratio, and a differential ratio of the difference of the length ratios to the angle between the line A-B and the line A-C, thereby controlling the movement of the robotic arm according to the non-linear mapping relation. The disclosure further provides a robotic arm control method.
    Type: Application
    Filed: December 22, 2011
    Publication date: March 21, 2013
    Applicant: HON HAI PRECISION INDUSTRY CO., LTD.
    Inventors: CHUN-NENG LIAO, SHEN-CHUN LI, WEN-LAING TSENG, CHENG-HSIEN LEE, SHOU-KUO HSU
  • Patent number: 8365632
    Abstract: A Cartesian coordinate robot includes a first transmission mechanism slidably connected to a second transmission mechanism, a third transmission mechanism slidably connected to the second transmission mechanism. The first transmission mechanism includes a first guide rail, a first slider slidably connected to the first guide rail, and a first driving module driving the first slider. The second transmission mechanism includes a second guide rail perpendicular to the first guide rail, a second slider slidably connected to the second guide rail, and a second driving module driving the second slider. The third transmission mechanism includes a third guide rail perpendicular to the first guide rail and the second rail, a third slider slidably connected to the third guide rail, and a third driving module driving the third slider.
    Type: Grant
    Filed: January 27, 2010
    Date of Patent: February 5, 2013
    Assignees: Hong Fu Jin Precision Industry (ShenZhen) Co., Ltd., Hon Hai Precision Industry Co., Ltd.
    Inventors: Wen-Sheng Chen, Da-Wei Liu
  • Patent number: 8366721
    Abstract: The primary objective of the present invention is to provide a positioning device for surgical operation, which could allow a surgical tool to be positioned precisely at a specific operating spot or a specific operating angle by providing a three axial free-moving function and a vertical and horizontal free-rotating function. Furthermore, the present invention is able to be electrically connected to and controlled by an automatic control system to achieve a more precise and efficient positioning function.
    Type: Grant
    Filed: August 4, 2010
    Date of Patent: February 5, 2013
    Assignee: Chang-Gung University
    Inventors: Shih-Tseng Lee, Wen-Yo Lee, Heng-Liang Liu
  • Patent number: 8359944
    Abstract: A robot arm includes a circular rack, an elongated first mounting member attached to the rack, and a second mounting member attached to the first mounting member. The first mounting member extends in a radius direction of the rack and moves in a circular trace along the rack. The second mounting member slides relative to the first mounting member along the radius direction, thereby defining a polar coordinate system in a plane defined by the rack to allow the second mounting member to flexibly locate at any desired positions in the plane.
    Type: Grant
    Filed: March 23, 2010
    Date of Patent: January 29, 2013
    Assignee: Hon Hai Precision Industry Co., Ltd.
    Inventors: Shen-Chun Li, Shou-Kuo Hsu, Yung-Chieh Chen, Hsien-Chuan Liang
  • Patent number: 8347753
    Abstract: A robot arm for an industrial robot, including a first arm part and a second arm part, where the second arm part is rotatably journalled in the first arm part for rotation about a first axis of rotation, characterized in that the second arm part includes a tubular member, rotatably journalled in the first arm part, so that the tubular member is configured to support the robot arm.
    Type: Grant
    Filed: June 26, 2009
    Date of Patent: January 8, 2013
    Assignee: ABB AB
    Inventor: Jan Larsson
  • Patent number: 8326590
    Abstract: A method for simulating a movement zone of a robot having at least one data processing installation, simulating at least one movement path of the robot, comprises providing a number of selectable points on the at least one movement path of the robot, calculating a braking path for each of the selectable points, calculating a virtual movement zone based on the braking paths and a maximum position reachable by the robot for the respective at least one movement path, and carrying out the simulation of functions of the robot off-line using a software module.
    Type: Grant
    Filed: September 28, 2007
    Date of Patent: December 4, 2012
    Assignee: ABB Technology AG
    Inventors: Soenke Kock, Adam Loeschner, Christoph Winterhalter, Kevin Behnisch, Roland Krieger
  • Patent number: 8282333
    Abstract: A workpiece transfer robot system including a machine tool provided with a workpiece support section and a robot capable of transferring a workpiece relative to the workpiece support section of the machine tool. The machine tool includes a cover surrounding at least the workpiece support section. The cover includes a first side wall provided with a first opening usable for a workpiece transferring task of the robot.
    Type: Grant
    Filed: October 1, 2009
    Date of Patent: October 9, 2012
    Assignee: FANUC Ltd
    Inventors: Masaru Oda, Toru Shirahata, Toshihiko Inoue, Takatoshi Iwayama, Masaaki Uematsu, Kentarou Ootani
  • Patent number: 8265791
    Abstract: A system and method for motion control of a humanoid robot are provided. The system includes a remote controller for recognizing three-dimensional image information including two-dimensional information and distance information of a user, determining first and second reference points on the basis of the three-dimensional image information, calculating variation in angle of a joint on the basis of three-dimensional coordinates of the first and second reference points, and transmitting a joint control signal through a wired/wireless network. The system also includes a robot for checking joint control data from the joint control signal received from the remote controller and varying an angle of the joint to move according to the user's motion.
    Type: Grant
    Filed: April 27, 2009
    Date of Patent: September 11, 2012
    Assignee: Samsung Electronics Co., Ltd.
    Inventors: Hee-Jun Song, Je-Han Yoon, Hyun-Sik Shim
  • Patent number: 8240967
    Abstract: A self-feeding apparatus for the disabled and elderly, which comprises: a support base; a holder for an open food container, pivotally connected to the base; an article for scooping food from the container; a system for moving the scooping article from a food scooping position from the container and a food dispensing position at a selected height from the base corresponding to the user's mouth. The system includes a first arm slantingly extending from the base and a second arm, arranged in a substantially horizontal position and slidably mounted on the first arm, the food scooping article being slidably mounted on the second arm. A motor is further provided for sliding the second arm along the first arm and the food scooping article along the second arm and for rotating the food container holder. At least one tank for liquid or semi liquid food and for beverages is placed on the base and a conveyor is provided for transporting the food from the tank to the user's mouth.
    Type: Grant
    Filed: May 26, 2006
    Date of Patent: August 14, 2012
    Assignee: Scuola Superiore di Studi Unviersitari e di Perfezionamento Sant'Anna
    Inventors: Eugenio Guglielmelli, Giuseppina Anna Di Lauro, Federico Chiarugi, Giacomo Giachetti, Yves Perrella, Andrea Pisetta, Andrea Scoglio
  • Patent number: 8240968
    Abstract: A system includes a rack with rows for storing drill pipe, and a moveable structure having a control support coupled to an upper portion and a lifting device coupled to a lower portion. The moveable structure travels along a guide for positioning adjacent any of the rows. The control support includes a pivoting actuator, a rotating actuator, an extension arm having a drill pipe capture actuator, and an extension actuator. The lifting device includes a lifting actuator that raises a stack of drill pipe. The system further includes a controller that interprets a control support state including actuator positions and a position index value, and records a position description including the control support state corresponding to the position index value. The controller interprets a position request signal and provides actuator control signals in response to the position request signal and the position description.
    Type: Grant
    Filed: October 26, 2009
    Date of Patent: August 14, 2012
    Assignee: Laibe Corporation
    Inventors: James R. Hopkins, Calvin Moore, Jason Hause, Alan Benedict
  • Publication number: 20120179294
    Abstract: A robot includes: an arm driven by a motor; an angle sensor that detects a pivoting angle of the motor; an inertia sensor that detects an inertial force acting on the arm; a noise detecting unit that detects a noise frequency of the inertia sensor from both an output of the angle sensor and an output of the inertia sensor; a filter-constant determining unit that determines a characteristic of a filter from information of the noise detecting unit; and the filter that removes noise of the inertia sensor on the basis of the filter-constant determining unit.
    Type: Application
    Filed: January 5, 2012
    Publication date: July 12, 2012
    Applicant: SEIKO EPSON CORPORATION
    Inventor: Shigenori Sasai
  • Publication number: 20120158182
    Abstract: A walking control apparatus and method of a robot. The walking control method include confirming a swing leg and a support leg by judging a walking state of the robot when a walking velocity of the robot and a walking command are received by the robot, generating reference pitch knot points of a hip joint unit of the swing leg based on the walking state and the walking velocity of the robot, generating a target pitch angle trajectory of the hip joint unit of the swing leg using the reference pitch knot points, calculating torques tracking the target pitch angle trajectory, and outputting the torques to the hip joint unit of the swing leg to control the walking velocity of the robot. The walking velocity of the robot is rapidly and easily changed by adjusting at least one of a step length and a step time.
    Type: Application
    Filed: October 25, 2011
    Publication date: June 21, 2012
    Applicant: Samsung Electronics Co., Ltd.
    Inventors: Ju Suk Lee, Kyung Shik Roh, Woong Kwon, Jae Ho Park
  • Publication number: 20120158181
    Abstract: A walking robot, respective joints of which are operated through torque servo control to achieve stable pose control, and a pose control method thereof. A virtual acceleration of gravity is calculated using the COG of the robot and gravity compensation torques to apply force to links are calculated from the calculated acceleration of gravity so as to actively cope with external changes including external force or a tilt of the ground, thereby allowing the robot to stably maintain an erect pose and a desired upper body angle. Further, the robot maintains the erect pose with respect to the direction of gravity even under the condition that data regarding whether or not the ground is level or tilted are not given in advance, and maintains uniform poses of an upper body and legs while actively changing angles of ankle joints even if the ground is gradually tilted.
    Type: Application
    Filed: October 25, 2011
    Publication date: June 21, 2012
    Applicant: Samsung Electronics Co., Ltd.
    Inventor: Kee Hong Seo
  • Publication number: 20120143371
    Abstract: A method for adjusting a program including program instructions for controlling an industrial robot to carry out work at a plurality of target points on a work object. The robot includes a tool having two arms adapted to clamp the work object and at least one of the arms is arranged movable relative the other arm in an opening and a closing direction, a manipulator adapted to hold the tool or the work object, and a controller controlling the movements of the manipulator and the tool arm and configured to switch between a normal control mode and a compliant control mode in which the manipulator has a reduced stiffness in at least one direction. The method includes moving the manipulator and the tool according to the program instructions until one of the target points is reached.
    Type: Application
    Filed: February 14, 2012
    Publication date: June 7, 2012
    Inventors: Tony Selnes, Ake Olofsson
  • Patent number: 8182415
    Abstract: A surgical instrument is inserted through a guide tube. A telemanipulation system moves the distal end of the surgical instrument in all six Cartesian degrees of freedom independently of any guide tube movements.
    Type: Grant
    Filed: June 13, 2007
    Date of Patent: May 22, 2012
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: David Q. Larkin, Thomas G. Cooper, Catherine J. Mohr
  • Patent number: 8171818
    Abstract: A robot comprises a fixed body, a movable body, and a flat-shaped cable. The fixed body is at least unmovable in a vertical direction. The movable body is movably connected to the fixed body in a predetermined movable range in the vertical direction and has an end to which a tool is attached, the tool performing operations on a workplace. The cable bundle has a plurality of cables for electric power supply and control communication among the fixed and movable bodies and the tool. The cable bundle has two ends. One end is fixedly connected to a fixing position of the fixed body, while the other end is fixedly connected to a fixing position of the movable body which is equal to or higher than the position of the fixed body in the vertical direction in a state where the movable body is located at a highest highest position within the movable range of the movable body.
    Type: Grant
    Filed: November 12, 2008
    Date of Patent: May 8, 2012
    Assignee: Denso Wave Incorporated
    Inventor: Takamasa Tokumitsu
  • Patent number: 8170717
    Abstract: A surgical robot that includes at least one robotic arm having multiple joints and at least six degrees of freedom, the robotic arm also including: a magnetic resonance (MR) compatible structural material; multiple MR-compatible joint motors; and multiple MR-compatible joint encoders.
    Type: Grant
    Filed: February 6, 2008
    Date of Patent: May 1, 2012
    Assignee: Neuroarm Surgical Ltd.
    Inventors: Garnette Roy Sutherland, Deon Francois Louw, Paul Bradley McBeth, Tim Fielding, Dennis John Gregoris
  • Publication number: 20120072004
    Abstract: An automatic mould stripping system for moulding modules (7) located in a curing tool (12), comprising: a programmable robot (1) comprising an articulated arm (1a) with one end free, actuation means (13, 14) for conferring a horizontal rotary movement and a vertical tilting movement to the articulated arm (1a), and a head (2) located in the free end of the articulated arm (1a) with at least one vacuum suction pad (11) able to adhere itself to a surface (16, 17) of an object; a voiding,system (15) for generating a vacuum; referencing means (3) for referencing a vertical and horizontal position of each object (6, 7); and programmable controlling means (18) which govern said actuation means (13, 14) so that the articulated arm (1a) can position the suction pad (11) on that surface (16, 17) of the object (6, 7) in an initial position and transport it to a final position.
    Type: Application
    Filed: May 5, 2011
    Publication date: March 22, 2012
    Inventors: Jorge Lopez-Carrasco Picado, José Manuel Santos Gómez