Cylindrical Patents (Class 901/17)
  • Patent number: 9429934
    Abstract: A remote control station that controls a robot through a network. The remote control station transmits a robot control command that includes information to move the robot. The remote control station monitors at least one network parameter and scales the robot control command as a function of the network parameter. For example, the remote control station can monitor network latency and scale the robot control command to slow down the robot with an increase in the latency of the network. Such an approach can reduce the amount of overshoot or overcorrection by a user driving the robot.
    Type: Grant
    Filed: October 15, 2013
    Date of Patent: August 30, 2016
    Assignee: INTOUCH TECHNOLOGIES, INC.
    Inventors: Amante Mangaser, Jonathan Southard, Marco Pinter, John Cody Herzog, Charles Steve Jordan, Yulun Wang, James Rosenthal
  • 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: 8997438
    Abstract: A robotic case packing system loads articles from one conveyor into containers on another conveyor using a robotic pick and place mechanism and a set of pivoting bins. A controller moves the robotic mechanism in first picking movements to pick and place articles from the conveyor into the first bin. Once the first bin is full, the controller pivots the first bin to allow the articles stacked in the first bin to be loaded into a container held below. While the first bin is pivoting, the controller moves the robotic mechanism to pick and place articles from the conveyor into the second bin. The process repeats with the controller pivoting the second bin during the picking movements used to fill the first bin and vice versa.
    Type: Grant
    Filed: September 18, 2012
    Date of Patent: April 7, 2015
    Inventor: David M. Fallas
  • Patent number: 8992160
    Abstract: A transfer robot according to an embodiment includes an arm and a body. The arm is provided, at a terminal end thereof, with a robot hand transferring a thin plate-like workpiece, and operates in horizontal directions. The body includes a lifting and lowering mechanism that lifts and lowers the arm. In the transfer robot, at least a part of the body is disposed outside a side wall of a transfer room that is connected to an opening and closing device opening and closing a storage container for the thin plate-like workpiece and to a processing room processing the thin plate-like workpiece.
    Type: Grant
    Filed: November 1, 2012
    Date of Patent: March 31, 2015
    Assignee: Kabushiki Kaisha Yaskawa Denki
    Inventor: Masatoshi Furuichi
  • Patent number: 8951002
    Abstract: A dual arm robot assembly has two arms each having a set of joint/link pairs that, in conjunction with an actuator assembly. Define at least three degrees of freedom to provide independent horizontal translation and rotation of a distalmost link. A vertical motion mechanism is also provided.
    Type: Grant
    Filed: February 18, 2011
    Date of Patent: February 10, 2015
    Assignee: Brooks Automation, Inc.
    Inventor: Izya Kremerman
  • Patent number: 8920103
    Abstract: A rotary end effector for use for the high speed handling of workpieces, such as solar cells, is disclosed. The rotary end effector is capable of infinite rotation. The rotary end effector has a gripper bracket, capable of supporting a plurality of grippers, arranged in any configuration, such as a 4×1 linear array. Each gripper is in communication with a suction system, wherein, in some embodiments, each gripper can be selectively enabled and disabled. Provisions are also made to allow electrical components, such as proximity sensors, to be mounted on the rotating gripper bracket. In another embodiment, an end effector with multiple surfaces, each with a plurality of grippers, is used.
    Type: Grant
    Filed: May 10, 2012
    Date of Patent: December 30, 2014
    Assignee: Varian Semiconductor Equipment Associates, Inc.
    Inventors: Jason Schaller, Robert Vopat
  • Patent number: 8918212
    Abstract: A bend sensor is used to determine force applied to a robotic arm. The force may be an external force applied to the arm, an internal actuation force, or both. In some aspects, a stiffening element is used to restore the arm to a minimum kinematic energy state. In other aspects, the stiffening element is eliminated, and the arm is fully actuated.
    Type: Grant
    Filed: June 24, 2009
    Date of Patent: December 23, 2014
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: David Q. Larkin, Vincent Duindam
  • Patent number: 8892260
    Abstract: A system including a mobile telepresence robot, a telepresence computing device in wireless communication with the robot, and a host computing device in wireless communication with the robot and the telepresence computing device. The host computing device relays User Datagram Protocol traffic between the robot and the telepresence computing device through a firewall.
    Type: Grant
    Filed: September 30, 2013
    Date of Patent: November 18, 2014
    Assignee: iRobot Corporation
    Inventors: Matthew Cross, Tony L. Campbell
  • 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: 8723957
    Abstract: Provided is a method which reduces the power consumption of a camera for detecting a user's gesture, in a device that detects the user's gesture and performs a command corresponding to the detected gesture. Moreover, provided is a method which turns off a camera or drives the camera in an ultra low power mode when there is no user input, and detects presence of a user to activate the camera.
    Type: Grant
    Filed: December 2, 2010
    Date of Patent: May 13, 2014
    Assignee: LG Electronics Inc.
    Inventors: Sungun Kim, Soungmin Im
  • Patent number: 8577501
    Abstract: A remote control unit configured to wirelessly control a mobile robot moving through an environment and having a robot camera. The remote control unit comprises a privacy button operable by a local user and configured to engage a privacy mode of the mobile robot, and a wireless transmitter configured to emit a wireless control signal to the mobile robot based on input from a keypad of the RC unit. The wireless control signal is configured to cause the robot camera to block the field of view of the robot camera such that the environment of the mobile robot is obscured when the privacy mode of the mobile robot is engaged.
    Type: Grant
    Filed: July 31, 2012
    Date of Patent: November 5, 2013
    Assignee: iRobot Corporation
    Inventors: Matthew Cross, Tony Campbell
  • Patent number: 8483930
    Abstract: A robot and so forth capable of avoiding the mutual interference of a plurality of active sensors mounted on the other robots so that a task may be smoothly executed by each of a plurality of robots are provided. If an active sensor mounted on each of the plurality of robots (R) may mutually interfere with each other and if the degree of contribution of the active sensor to a task being executed by the self robot (R) is lower than that of the active sensor of the other robot (R) to the task being executed by the other robot (R), the sensitivity of the active sensor of the self robot (R) is decreased. As a result thereof, the mutual interference of the active sensors can be avoided, and the robot (R) can be prevented from causing trouble to the task.
    Type: Grant
    Filed: October 7, 2008
    Date of Patent: July 9, 2013
    Assignee: Honda Motor Co., Ltd.
    Inventors: Yuichiro Kawaguchi, Taro Yokoyama
  • Patent number: 8479607
    Abstract: A work transfer apparatus includes a work carrying mechanism, a driving source that drives the work carrying mechanism, a sealed box that accommodates the driving source in a hermetically sealed state, and a coolant circulation path provided in the sealed box for cooling the driving source. The sealed box includes a box body with an opening, and a partition lid for closing the opening. The partition lid includes an outer plate member and an inner plate member superposed on the outer plate member. The coolant circulation path is disposed at the interface between the outer plate member and the inner plate member.
    Type: Grant
    Filed: December 24, 2009
    Date of Patent: July 9, 2013
    Assignee: DAIHEN Corporation
    Inventors: Kunio Fukuma, Hideki Matsuo
  • Patent number: 8444368
    Abstract: This invention provides a substrate transport apparatus (100) which transports a substrate (W) placed on a hand portion (10) to a processing apparatus or a predetermined storage unit. The substrate transport apparatus (100) includes a moving means (20) for supporting the proximal side (10b) of the hand portion (10) serving as one end of the hand portion (10), and reciprocally moving the hand portion (10) in the direction of its extension, a tilt detection means (30) for detecting the tilt of a distal end (10a) of the hand portion (10) with respect to the horizontal direction, which accompanies flexure of the hand portion (10) upon placing the substrate (W) on the hand portion (10), and a tilt correction means (40) for generating a pitching motion of the hand portion (10) as a whole so as to cancel the tilt of the distal end (10a) of the hand portion (10).
    Type: Grant
    Filed: June 4, 2010
    Date of Patent: May 21, 2013
    Assignee: Hirata Corporation
    Inventor: Kouji Irie
  • 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: 8272830
    Abstract: A method and apparatus for a transfer robot that may be used in a vacuum environment is described. The transfer robot includes a lift assembly comprising a first platform and a second platform coupled to the first platform by a plurality of support members, the plurality of support members comprising a first pair of support members and a second pair of support members, a first drive assembly coupled to a portion of the plurality of support members, the first drive assembly providing a motive force to the plurality of support members to move the second platform in a first linear direction relative to the first platform, and an end effector disposed on the second platform and movable in a second linear direction by a second drive assembly, the second linear direction being orthogonal to the first linear direction.
    Type: Grant
    Filed: October 7, 2008
    Date of Patent: September 25, 2012
    Assignee: Applied Materials, Inc.
    Inventors: Shinichi Kurita, Takayuki Matsumoto, Suhail Anwar
  • Patent number: 8240971
    Abstract: A handling manipulator assembly comprises a vertical extending main support (2) arranged on a rotary plate (3). Arranged on the main support (2) is a vertically travelling vertical carriage (9) to which a horizontal extension arm (12) is secured. Mounted on the horizontal extension arm (12) is an articulated arm (14) provided at the end with a manipulator gripper (18). Such a handling manipulator assembly (1) is suitable to advantage to feed/remove tools or workpieces to/from a machine tool provided with a front portal.
    Type: Grant
    Filed: April 2, 2008
    Date of Patent: August 14, 2012
    Assignee: Erowa AG
    Inventor: Bruno Sandmeier
  • Patent number: 8095237
    Abstract: A method of three-dimensional object location and guidance to allow robotic manipulation of an object with variable position and orientation using a sensor array which is a collection of one or more sensors capable of forming a single image.
    Type: Grant
    Filed: August 6, 2003
    Date of Patent: January 10, 2012
    Assignee: RoboticVISIONTech LLC
    Inventors: Babak Habibi, Simona Pescaru, Mohammad Sameti, Remus Florinel Boca
  • Patent number: 8024071
    Abstract: Based upon a force in a vertical direction exerted between an object and a hand and an angle made by the hand relative to a horizontal face, a transporting force estimation unit estimates a transporting force applied in the vertical direction by a person, and based upon the estimated force, a force controlling operation is carried out so as to set a force in the vertical direction of the robot arm of a robot system to a predetermined force.
    Type: Grant
    Filed: February 25, 2010
    Date of Patent: September 20, 2011
    Assignee: Panasonic Corporation
    Inventors: Mayumi Komatsu, Yasunao Okazaki
  • Publication number: 20110196533
    Abstract: The invention relates to a method for collision-free path planning for an industrial robot (1) which has a control device (9) and a robot arm (2) that is movable with the aid of the control device (9), to which an object (11) is attached, and in whose working space at least one obstacle (12) is situated.
    Type: Application
    Filed: February 1, 2011
    Publication date: August 11, 2011
    Applicant: KUKA ROBOTER GMBH
    Inventors: Christian Scheurer, Uwe Zimmermann
  • Patent number: 7988912
    Abstract: A microtiter plate transport device is configured to grip a microtiter plate in a first location. The microtiter plate transport device is configured to make a vertical approach to the microtiter plate and grip the microtiter plate in either a portrait orientation or a landscape orientation along either the opposing longer sides or the opposing shorter sides of the microtiter plate. The device comprises a Cartesian coordinate robot including a first gripping member and a second gripping member opposed to the first gripping member. The first gripping member and the second gripping member are supported by an arm configured to move along a vertical axis which extends between the first gripping member and the second gripping member. The first gripping member and the second gripping member are configured to rotate about the vertical axis.
    Type: Grant
    Filed: October 6, 2009
    Date of Patent: August 2, 2011
    Assignee: Beckman Coulter, Inc.
    Inventors: Samuel H. Rizzotte, Paul N. Avgerinos, Donald A. Turner
  • Publication number: 20110182702
    Abstract: A robot that includes an end effector for holding a substrate in a substantially horizontal state; a vertical driving unit for driving the end effector to move in a vertical direction; a horizontal driving unit for driving the vertical driving unit to move in a horizontal direction; and a rotation driving unit for rotating the horizontal driving unit about a rotation axis extending in the vertical direction. In this case, one end of the end effector is connected with the vertical driving unit. One end of the vertical driving unit is connected with the horizontal driving unit.
    Type: Application
    Filed: September 28, 2009
    Publication date: July 28, 2011
    Applicant: KAWASAKI JUKOGYO KABUSHIKI KAISHA
    Inventor: Yasuhiko Hashimoto
  • Patent number: 7736118
    Abstract: A transfer apparatus includes a stationary base, a swivel supported by the stationary base to be rotatable about a vertical axis, a guide member mounted on the swivel, a linear movement mechanism supported by the swivel or the guide member, a hand supported by the linear movement mechanism and moved by the linear movement mechanism for carrying a work along a straight and horizontal travel stroke, a drive source disposed inside the stationary base, and a transmission shaft disposed along the vertical axis to transmit drive power from the drive source to the linear movement mechanism. The swivel includes an upper section and a lower section detachably connected with each other. The upper section has a connecting member supported by the upper section to be rotatable about the vertical axis. The connecting member has a detachable engagement member for engagement with the transmission shaft from the above.
    Type: Grant
    Filed: April 16, 2008
    Date of Patent: June 15, 2010
    Assignee: DAIHEN Corporation
    Inventors: Takafumi Uratani, Daisuke Sado, Hideki Matsuo
  • Publication number: 20100126293
    Abstract: A robotic tool positioning system for positioning a first tool and a second tool. The system includes an inner shaft, a first tool arm and a first drive assembly. The first tool arm is connected to the lower portion of the inner shaft at the lower end thereof and extends radially outward therefrom, and has a first tool supporting surface disposed at a tool elevation for supporting the first tool thereon. The system further includes a tubular outer shaft, a second tool arm and a second drive assembly. A lower portion of the inner shaft extends through the tubular outer shaft. The second tool arm is connected to the tubular outer shaft at the lower end thereof, and has a second tool supporting surface disposed at the tool elevation for supporting the second tool thereon.
    Type: Application
    Filed: November 21, 2008
    Publication date: May 27, 2010
    Applicant: COMAU INC.
    Inventors: John Graham, Theodore Robert Brown, Aaron Alberts
  • Patent number: 7664570
    Abstract: The safety in robotic operations is enhanced and the floor space in a factory or the like is effectively utilized. A virtual safety barrier 50 including the trajectory of movement of a work or tool 7 mounted on a wrist 5 of a robot 1 in operation is defined in a memory. At least two three-dimensional spatial regions S (S1 to S3) including a part of the robot including the work or tool are defined. Predicted positions of the defined three-dimensional spatial regions obtained by trajectory calculations are matched with the virtual safety barrier 50, and if the predicted position of any one of the defined three-dimensional spatial regions based on trajectory calculations is included in the virtual safety barrier 50, a control is effected to stop the movement of the robot arms 3 and 4.
    Type: Grant
    Filed: April 22, 2004
    Date of Patent: February 16, 2010
    Assignee: Toyota Jidosha Kabushiki Kaisha
    Inventors: Kazutsugu Suita, Morihiko Okura
  • Publication number: 20090306812
    Abstract: The present invention relates to a method and a device for automatically stacking tires (4) on a support (1). According to the method, geometrical data of the tires (4) and/or a digital model of the tires (4) is provided, based on the geometrical data and/or the tire model and a predefinable size of the support (1), an algorithm calculates a stacking pattern for the tires (4) on the support (1) by taking into account a predefined size of the support, said stacking pattern making it possible to store the largest possible number of tires (4) in a stable manner on the support (1). Positional data of the tires (4) are adopted from the stacking pattern and associated trajectories of a handling device for stacking the tires (4) are generated and stored according to the stacking pattern.
    Type: Application
    Filed: November 7, 2006
    Publication date: December 10, 2009
    Inventors: Norbert Cottone, Daniel Kotzor, Torsten Albrecht, Martin Pechini
  • Patent number: 7615956
    Abstract: A robot, wherein the operating amounts of the first and second actuators are adjusted according to a torque necessary for maintaining a body member and an end member at specified angles in a mechanism in which the body member (361) and the end member (363) are rotatably connected to each other and first and second wires (366) connected to the end member are advanced and retreated by the first and second actuator (368).
    Type: Grant
    Filed: July 22, 2005
    Date of Patent: November 10, 2009
    Assignee: Toyota Jidosha Kabushiki Kaisha
    Inventor: Yuji Tsusaka
  • Patent number: 7592768
    Abstract: A robot joint structure ? is composed of a metacarpal member 30 and a proximal member 40 swingably connected through a hinge 31 to a side end portion of the metacarpal member 30. The proximal member 40 includes a linear guide device 44 for an MP joint having a moving member movable in association with a self swing motion thereof, and by connecting a rod 32a and the moving member through a link mechanism 50, a driving force of an air-cylinder 32 is transmitted to the proximal member 40. On the other hand, a second robot joint structure ? is also provided with linear guide devices 48, 66, 74 and link mechanisms 69, 75, to which a driving force of the air-cylinder 62 is transmitted through a drive shaft 63 in association with a rod 62a. A robot finger is constructed by the first and second robot joint structures. According to such structures, smooth joint motion can be realized, and the robot joint structure and the robot finger having improved gripping force can be provided.
    Type: Grant
    Filed: November 1, 2005
    Date of Patent: September 22, 2009
    Assignee: THK Co., Ltd.
    Inventors: Takeki Shirai, Kaoru Hoshide, Koji Ozawa
  • Publication number: 20090126524
    Abstract: In one of a pair of supporting pillars, a clearance is formed in a side of a moving space of a side of a main robot body. Then, when the main robot body stops in the position immediately near the supporting pillar and an arm is turned, the range in which the arm can turn is expanded without contacting the supporting pillar.
    Type: Application
    Filed: November 3, 2008
    Publication date: May 21, 2009
    Applicant: DENSO WAVE INCORPORATED
    Inventor: Shigeru Takeda
  • Patent number: 7503356
    Abstract: There is provided a low-cost liquid supply apparatus using a system in which a liquid nozzle is moved, the apparatus being configured so that the installation area of the apparatus is small, a liquid vessel can be installed or removed easily without being hindered by equipment for moving the liquid nozzle, and further the number of parts is small. The liquid nozzle is attached to an arm capable of being turned reversibly around a turning shaft, and the movement of the liquid nozzle is controlled by the turning angle of the arm for either one axis of the X-axis and the Y-axis and is controlled by changing the length of the arm from the turning shaft for the other axis.
    Type: Grant
    Filed: May 12, 2006
    Date of Patent: March 17, 2009
    Assignee: Uniflows Co., Ltd.
    Inventor: Hideyuki Morikawa
  • Publication number: 20090055019
    Abstract: An interactive system for interacting with a sentient being. The system includes a robotic companion of which the sentient being may be a user and an entity which employs the robot as a participant in an activity involving the user. The robotic companion responds to inputs from an environment that includes the user during the activity. The robotic companion is capable of social and affective behavior either under control of the entity or in response to the environment. The entity may provide an interface by which an operator may control the robotic companion. Example applications for the interactive system include as a system for communicating with patients that have difficulties communicating verbally, a system for teaching remotely-located students or students with communication difficulties, a system for facilitating social interaction between a remotely-located relative and a child, and systems in which the user and the robot interact with an entity such as a smart book.
    Type: Application
    Filed: May 8, 2008
    Publication date: February 26, 2009
    Applicant: Massachusetts Institute of Technology
    Inventors: Walter Dan Stiehl, Cynthia Breazeal, Jun Ki Lee, Allan Z. Maymin, Heather Knight, Robert L. Toscano, Iris M. Cheung
  • Publication number: 20080264195
    Abstract: An industrial robot including a drive package with a motor and a gear between an output shaft of the motor and a third shaft of the robot in immediate proximity to the third shaft for rotation of an upper arm of the robot relative to a lower arm. The gear is a multistage gear transmission with parallel gear-wheel axes and one of the gear wheels of the gear is secured to the third shaft.
    Type: Application
    Filed: February 13, 2006
    Publication date: October 30, 2008
    Applicant: ABB AB
    Inventors: Jan Larsson, Karl-Gunnar Johnsson, Mars Olsson, Bo Toresson, Stig Persson, Tommi Paananen
  • Publication number: 20080147333
    Abstract: A number of wafer center finding methods and systems are disclosed herein that improve upon existing techniques used in semiconductor manufacturing.
    Type: Application
    Filed: February 15, 2008
    Publication date: June 19, 2008
    Inventors: Peter van der Meulen, Forrest T. Buzan
  • Patent number: 7386408
    Abstract: A parallel kinematic machine has a parallel kinematic mechanism including an end effecter and a parallel link mechanism. A numerical control device controls a position and orientation of the end effecter based on kinematics of the parallel kinematic mechanism. A posture setter sets an adjustment tool on the end effecter in a known posture in a reference coordinate system defined outside the parallel kinematic mechanism based on a measurement method. A data acquirer acquires data in accordance with a measurement method selecting code for designating the measurement method used by the posture setter in setting the adjustment tool in the known posture, and defines a correlation between kinematic parameters for the parallel kinematic mechanism and the reference coordinate system. A calculator calculates the kinematic parameters based on the acquired data by using a relational expression describing forward kinematics of the parallel kinematic mechanism.
    Type: Grant
    Filed: September 25, 2006
    Date of Patent: June 10, 2008
    Inventors: Nobutaka Nishibashi, Kazuaki Yagi
  • Publication number: 20080121064
    Abstract: A substrate handling robot having a robot body and a robot arm with an end effector is configured to exhibit angular (?), radial (R) and Z motion. A pair of coaxial shafts link the robot arm to respective motors dedicated to angular (?) and radial (R) motions. The motors are stationarily mounted with respect to the robot body. The shafts are rotatably supported by a floating platform which is motivated in the Z direction by a third motor also stationarily mounted with respect to the robot body. The third motor is coupled to the platform by a Z motion linkage. The first and second motors are coupled to the coaxial shafts by angular and radial motion linkages each of which includes primary and secondary timing belts whose relative motions are synchronized with the Z motion linkage to achieve controllable independent angular (?), radial (R) and Z motions in a simple, light-weight package.
    Type: Application
    Filed: June 28, 2006
    Publication date: May 29, 2008
    Applicant: Genmark Automation, Inc.
    Inventor: Alexander Todorov
  • Patent number: 7189049
    Abstract: The present invention relates to a method for rapid transfer of a work object in both the horizontal and vertical directions using a robot unit (10) having a gripping mechanism (12) preferably from one workstation (3) to another (4), the work piece (2) weighing between one kilo and forty kilos and the transfer in the horizontal direction being at least one meter but less than ten meters and at least partially being effected along an essentially horizontally extending beam unit (20), and the gripping mechanism (12) being arranged in such a way that, at least in one end situation (E1) along the beam (20), it can collect and/or deliver a work object (2) in a position (E2) situated beyond the end situation (E1) along the said horizontal beam (20), which robot unit is controlled by means of a control unit (50) and is driven by means of a belt member (24) and at least two motors (26, 27) comprising rotor units connected to drive wheels (26A, 27A) for the said belt member (24), the said motors (26, 27) being immovab
    Type: Grant
    Filed: July 5, 2000
    Date of Patent: March 13, 2007
    Assignee: Binar Aktiebolag (publ)
    Inventors: Stefan Blomgren, Ingemar Pettersson
  • Patent number: 7121198
    Abstract: The screen-printing machine (10) comprises: a print station (12); at least one support surface (40A, 40B) for supporting the objects away from the print station (12); and at least one transfer device (18, 20) for transferring an object, which transfer device comprises a manipulator arm (54) equipped with an end clamp (56), the arm (54) being hinged relative to the support surface (40A, 40B) about a pivot axis (Z1-Z1) and the clamp (56) being hinged relative to the arm (54) about a tilt axis. The pivot axis (Z1-Z1) of the arm (54) defines with the normal to the support surface (40A, 40B) a non-zero angle of inclination that is less than 45°. Application to printing flasks.
    Type: Grant
    Filed: December 14, 2004
    Date of Patent: October 17, 2006
    Assignee: Machines Dubuit
    Inventor: Francois Dumenil
  • Patent number: 7066707
    Abstract: An integrated system is disclosed for workpiece handling and/or inspection at the front end of a tool. The system comprises a rigid member of unitary construction such as a metal plate which mounts to the front of a tool associated with a semiconductor process. The front end components, including the load port assemblies, prealigners and workpiece handling robot, are mounted to the plate to provide precise and repeatable positioning of the front end components with respect to each other.
    Type: Grant
    Filed: March 1, 2002
    Date of Patent: June 27, 2006
    Assignee: Asyst Technologies, Inc.
    Inventors: Anthony C. Bonora, Richard H. Gould, Roger G. Hine, Michael Krolak, Jerry A. Speasl
  • Publication number: 20040052627
    Abstract: A device for operating an articulated arm of a large manipulator connected to a boom base. The large manipulator comprises an articulated boom (22), composed of three boom arms (23 to 27), the boom arms of which may each be pivoted around mutually parallel horizontal articulation axis (28 to 32), in a limited manner. Furthermore, a control device (74), for the boom displacement is provided, which may be controlled from a remote controller (50) over a data transmission path (68).
    Type: Application
    Filed: June 2, 2003
    Publication date: March 18, 2004
    Inventors: Kurt Rau, Hartmut Benckert
  • Patent number: 6594342
    Abstract: An anti-scatter grid for radiography includes a plurality of generally radiation absorbing elements and a plurality of generally non-radiation absorbing elements in which the generally non-radiation absorbing elements include a plurality of voids. Desirably, the non-radiation absorbing elements include an epoxy or polymeric material and a plurality of hollow microspheres. Disclosed is also an apparatus for forming an anti-scatter grid in which the apparatus includes a pivoting arm and surface for use in aligning a plurality of spaced-apart generally radiation absorbing elements relative to a radiation source.
    Type: Grant
    Filed: July 8, 2002
    Date of Patent: July 15, 2003
    Assignee: General Electric Company
    Inventor: Donald Earl Castleberry
  • Patent number: 6459956
    Abstract: A robot system including a robot body, a plurality of safety devices to stop the operation of the robot body, connecting portions respectively disposed between the plurality of safety devices, and output device to transmit an output signal to external equipment. The safety devices are respectively connected in series to each other, and the output device is removably connected to at least one of the plurality of connecting portions. The robot body includes a plurality of robot bodies, and respective ones of the plurality of robot bodies are connected to the plurality of safety devices.
    Type: Grant
    Filed: March 21, 2001
    Date of Patent: October 1, 2002
    Assignee: Matsushita Electric Industrial Co., Ltd.
    Inventor: Kazunori Matsumoto
  • Patent number: 6430473
    Abstract: A power assist apparatus includes an autonomously mobile base on which a manipulator for holding a load is mounted. The movement of the mobile base is controlled such that when the manipulator tip is within a prescribed operating region relative to the mobile base, the mobile base is maintained stationary, but when the manipulator tip moves outside the operating region, the mobile base is moved to decrease the distance between the mobile base and the manipulator tip. The power assist apparatus assists with the carrying of loads by amplifying an operational force applied to the manipulator.
    Type: Grant
    Filed: October 13, 2000
    Date of Patent: August 6, 2002
    Assignee: Agency of Industrial Science & Technology, Ministry of International Trade & Industry
    Inventors: Hyoung-Ki Lee, Hirohiko Arai, Kazuo Tanie
  • Patent number: 6374996
    Abstract: The present invention relates to a circuit board carrier including a carrier sliding between a conveyor and a holder disposed at the lower part of a main machine. The carrier includes a sliding rail disposed at the top of a main machine above the conveyor and the holder; a sliding base being on the sliding rail by means of a sliding recess thereof; a sliding rod disposed above the sliding base and being vertically spaced to the sliding rail; a sliding seat being slid on the sliding rod by means of a sliding piece and having a shaft post at the top thereof; a pivot sleeve pivoted on the shaft post of the sliding seat by means of a bearing thereof and having a connection groove; a turning arm, one end of which is connected to the connection groove of the pivot sleeve while the other end thereof is connected to a motor and a driving axle of a reduction machine; and a suction unit installed under the sliding base.
    Type: Grant
    Filed: July 3, 2000
    Date of Patent: April 23, 2002
    Inventor: Tsung-Chang Hsieh
  • Patent number: 6374982
    Abstract: A robotic arm has a pair of gripper fingers designed to grip a variety of containers, including capped and uncapped test tubes as well as containers having unique gripping means. The fingers each have upper and lower projections separated by a groove, the respective projections facing each other when mounted to grippers on the robotic arm. The projections and groove serve to firmly hold the containers as well as self-align the unique gripping means on initially unaligned containers within the fingers as the fingers close around the containers. The fingers have clearance to avoid contact with caps on capped test tubes. Stops are provided at the top of each finger to engage one another and prevent fully closed fingers from deforming. The robotic arm may be transported along a rail mounted above the instrument and a gripper assembly, having a gripper arm, mounted to the robotic arm may be rotated above the instrument to move the container to various locations within the instrument.
    Type: Grant
    Filed: March 24, 2000
    Date of Patent: April 23, 2002
    Assignee: Bayer Corporation
    Inventors: Beri Cohen, Thomas W. DeYoung, Krunoslav Esteban Draganovic, Lev Vant, Richard S. Antoszewski, Joseph J. Zelezniak, Edward R. Sieger, Jr.
  • Patent number: 6293750
    Abstract: A robotic arm has a pair of gripper fingers designed to grip a variety of containers, including capped and uncapped test tubes as well as containers having unique gripping means. The fingers each have upper and lower projections separated by a groove, the respective projections facing each other when mounted to grippers on the robotic arm. The projections and groove serve to firmly hold the containers as well as self-align the unique gripping means on initially unaligned containers within the fingers as the fingers close around the containers. The fingers have clearance to avoid contact with caps on capped test tubes. Stops are provided at the top of each finger to engage one another and prevent fully closed fingers from deforming. The robotic arm may be transported along a rail mounted above the instrument and a gripper assembly, having a gripper arm, mounted to the robotic arm may be rotated above the instrument to move the container to various locations within the instrument.
    Type: Grant
    Filed: March 24, 2000
    Date of Patent: September 25, 2001
    Assignee: Bayer Corporation
    Inventors: Beri Cohen, Thomas W. DeYoung, Krunoslav Esteban Draganovic, Lev Vant, Richard S. Antoszewski, Joseph J. Zelezniak, Edward R. Sieger, Jr.
  • Patent number: 5908122
    Abstract: Methods and apparatuses for reducing the oscillatory motion of rotary crane payloads during operator-commanded or computer-controlled maneuvers. An Input-shaping filter receives input signals from multiple operator input devices and converts them into output signals readable by the crane controller to dampen the payload tangential and radial sway associated with rotation of the jib. The input signals are characterized by a hub rotation trajectory .gamma.(t), which includes a jib angular acceleration .gamma., a trolley acceleration x, and a load-line length velocity L. The system state variables are characterized by a tangential rotation angle .theta.(t) and a radial rotation angle .phi.(t) of the load-line. The coupled equations of motion governing the filter are non-linear and configuration-dependent. In one embodiment, a filter is provided between the operator and the crane for filtering undesired frequencies from the angular .gamma. and trolley x velocities to suppress payload oscillation.
    Type: Grant
    Filed: February 28, 1997
    Date of Patent: June 1, 1999
    Assignee: Sandia Corporation
    Inventors: Rush D. Robinett, Gordon G. Parker, John T. Feddema, Clark R. Dohrmann, Ben J. Petterson
  • Patent number: 5894754
    Abstract: The system for producing bent sheet-metal articles comprises a bending machine (80) having a punch (84) and a die (86) which cooperate with each other and define a bending space, and a manipulator (64) having a movable head (76) which can grip a piece of sheet metal and place it in the bending space. Each piece to be bent has its own gripper and the head (76) of the manipulator (64) has rapid-attachment means for gripping and releasing the gripper associated with each piece. A table for defining the position of a piece to be bent, a manipulator for gripping and moving a piece of sheet metal by means of a floating head, a bending machine comprising an auxiliary structure for measuring the relative displacement of the punch and the die, and a device for automatically replacing tools of the bending machine are also described.
    Type: Grant
    Filed: November 12, 1997
    Date of Patent: April 20, 1999
    Assignees: Amada Company, Limited, CREA S.r.l.
    Inventor: Franco Sartorio
  • Patent number: 5855540
    Abstract: A system for performing work in a hot cell includes a support arm having a first end and a second end and a movable arm having an end selectively engageable with the first end to form a rigid connection. Complementary coupling devices are disposed on the first end of the support arm and on the end of the movable arm and mate together when the movable arm is joined to the support arm.
    Type: Grant
    Filed: July 21, 1997
    Date of Patent: January 5, 1999
    Assignee: Par Systems, Inc.
    Inventors: Albert J. Sturm, Jr., Thomas E. Marrinan, Fred W. Hanson, Dean R. LaValle
  • Patent number: 5847528
    Abstract: The subject invention provides a parallel or closed loop mechanism for moving and positioning a member in space. The mechanism includes three branches each provided with at least two link members being serially connected together by a spherical elbow joint whereby the first and second link members are rotatable with respect to each other about any axis passing through a center of the first joint. The mechanism is provided with actuators for moving each branch and the first links of each branch are rigidly connected at an end portion thereof to the actuator means. The mechanism includes three revolute joints each defining a longitudinal axis of rotation. Each revolute joint is connected to an associated second link member so that the longitudinal axes of all third joints intersect at a point and the revolute joints are interconnected so that the three branches form three parallel or closed loops.
    Type: Grant
    Filed: May 19, 1995
    Date of Patent: December 8, 1998
    Assignee: Canadian Space Agency
    Inventors: Raymond Chung-Ying Hui, Vincent Hayward, Alain Gerard Ouellet, Walter Peruzzini, Pedro Gregorio, Andrew Wang, George Vukovich
  • Patent number: 5741113
    Abstract: A multiple link robot arm mechanism uses first and second motors capable of synchronized operation to permit movement of the robot arm hand along a curvilinear path as the extension of the hand changes. A motor controller controls the first and second motors in two preferred operational states to enable the robot arm mechanism to perform two principal motion sequences. The first operational state maintains the position of the first motor and rotates the second motor so that the mechanical linkage causes linear displacement (i.e., extension or retraction) of the hand. The second operational state rotates the first and second motors so that a mechanical linkage causes angular displacement of the hand about a shoulder axis. The second operational state can provide an indefinite number of travel paths for the hand, depending on coordination of the control of the first and second motors.
    Type: Grant
    Filed: July 10, 1995
    Date of Patent: April 21, 1998
    Assignee: Kensington Laboratories, Inc.
    Inventors: Paul Bacchi, Paul S. Filipski